├── drone_main_1.1 ├── Debug │ ├── Core │ │ ├── Src │ │ │ ├── gps_parse.su │ │ │ ├── mpu6050_yedek.su │ │ │ ├── sysmem.d │ │ │ ├── syscalls.d │ │ │ ├── sysmem.su │ │ │ ├── gps_parse.d │ │ │ ├── mpu6050_yedek.d │ │ │ ├── adc_Battery.su │ │ │ ├── pid.d │ │ │ ├── FIRFilter.d │ │ │ ├── desktop.ini │ │ │ ├── pid.su │ │ │ ├── FIRFilter.su │ │ │ ├── gps.o │ │ │ ├── pid.o │ │ │ ├── e220.o │ │ │ ├── main.o │ │ │ ├── sysmem.o │ │ │ ├── compass.o │ │ │ ├── failsafe.o │ │ │ ├── gy63-i2c.o │ │ │ ├── mpu6050.o │ │ │ ├── pwm_esc.o │ │ │ ├── receiver.o │ │ │ ├── syscalls.o │ │ │ ├── FIRFilter.o │ │ │ ├── adc_Battery.o │ │ │ ├── gps_parse.o │ │ │ ├── nmea_parse.o │ │ │ ├── system_stm32f4xx.su │ │ │ ├── log_to_flash.o │ │ │ ├── mpu6050_yedek.o │ │ │ ├── stm32f4xx_it.o │ │ │ ├── system_stm32f4xx.o │ │ │ ├── stm32f4xx_hal_msp.o │ │ │ ├── gps.su │ │ │ ├── nmea_parse.su │ │ │ ├── compass.su │ │ │ ├── pwm_esc.su │ │ │ ├── mpu6050.su │ │ │ ├── failsafe.su │ │ │ ├── log_to_flash.su │ │ │ ├── gy63-i2c.su │ │ │ ├── e220.su │ │ │ ├── stm32f4xx_hal_msp.su │ │ │ ├── syscalls.su │ │ │ ├── receiver.su │ │ │ ├── main.su │ │ │ ├── stm32f4xx_it.su │ │ │ ├── subdir.mk │ │ │ ├── system_stm32f4xx.d │ │ │ ├── gps.d │ │ │ ├── nmea_parse.d │ │ │ ├── stm32f4xx_hal_msp.d │ │ │ ├── e220.d │ │ │ ├── pwm_esc.d │ │ │ └── gy63-i2c.d │ │ ├── Startup │ │ │ ├── startup_stm32f413zhtx.d │ │ │ ├── desktop.ini │ │ │ ├── startup_stm32f413zhtx.o │ │ │ └── subdir.mk │ │ ├── desktop.ini │ │ └── subdir.mk │ ├── Drivers │ │ ├── STM32F4xx_HAL_Driver │ │ │ ├── Src │ │ │ │ ├── stm32f4xx_ll_adc.su │ │ │ │ ├── stm32f4xx_hal_flash_ramfunc.su │ │ │ │ ├── desktop.ini │ │ │ │ ├── stm32f4xx_ll_adc.d │ │ │ │ ├── stm32f4xx_hal.o │ │ │ │ ├── stm32f4xx_hal_adc.o │ │ │ │ ├── stm32f4xx_hal_dma.o │ │ │ │ ├── stm32f4xx_hal_i2c.o │ │ │ │ ├── stm32f4xx_hal_pwr.o │ │ │ │ ├── stm32f4xx_hal_rcc.o │ │ │ │ ├── stm32f4xx_hal_tim.o │ │ │ │ ├── stm32f4xx_ll_adc.o │ │ │ │ ├── stm32f4xx_hal_exti.o │ │ │ │ ├── stm32f4xx_hal_flash.o │ │ │ │ ├── stm32f4xx_hal_gpio.o │ │ │ │ ├── stm32f4xx_hal_iwdg.o │ │ │ │ ├── stm32f4xx_hal_uart.o │ │ │ │ ├── stm32f4xx_hal_adc_ex.o │ │ │ │ ├── stm32f4xx_hal_cortex.o │ │ │ │ ├── stm32f4xx_hal_dma_ex.o │ │ │ │ ├── stm32f4xx_hal_flash_ex.o │ │ │ │ ├── stm32f4xx_hal_i2c_ex.o │ │ │ │ ├── stm32f4xx_hal_pwr_ex.o │ │ │ │ ├── stm32f4xx_hal_rcc_ex.o │ │ │ │ ├── stm32f4xx_hal_tim_ex.o │ │ │ │ ├── stm32f4xx_hal_flash_ramfunc.o │ │ │ │ ├── stm32f4xx_hal_iwdg.su │ │ │ │ ├── stm32f4xx_hal_i2c_ex.su │ │ │ │ ├── stm32f4xx_hal_dma_ex.su │ │ │ │ ├── stm32f4xx_hal_gpio.su │ │ │ │ ├── stm32f4xx_hal_exti.su │ │ │ │ ├── stm32f4xx_hal_rcc_ex.su │ │ │ │ ├── stm32f4xx_hal_pwr_ex.su │ │ │ │ ├── stm32f4xx_hal_rcc.su │ │ │ │ ├── stm32f4xx_hal_dma.su │ │ │ │ ├── stm32f4xx_hal_adc_ex.su │ │ │ │ ├── stm32f4xx_hal_flash.su │ │ │ │ ├── stm32f4xx_hal_pwr.su │ │ │ │ ├── stm32f4xx_hal_flash_ex.su │ │ │ │ ├── stm32f4xx_hal.su │ │ │ │ ├── stm32f4xx_hal_adc.su │ │ │ │ ├── stm32f4xx_hal_cortex.su │ │ │ │ ├── stm32f4xx_hal.d │ │ │ │ ├── stm32f4xx_hal_adc.d │ │ │ │ ├── stm32f4xx_hal_dma.d │ │ │ │ ├── stm32f4xx_hal_exti.d │ │ │ │ ├── stm32f4xx_hal_gpio.d │ │ │ │ ├── stm32f4xx_hal_i2c.d │ │ │ │ ├── stm32f4xx_hal_iwdg.d │ │ │ │ ├── stm32f4xx_hal_pwr.d │ │ │ │ ├── stm32f4xx_hal_rcc.d │ │ │ │ └── stm32f4xx_hal_tim.d │ │ │ └── desktop.ini │ │ └── desktop.ini │ ├── desktop.ini │ ├── Middlewares │ │ ├── ST │ │ │ ├── desktop.ini │ │ │ └── STM32_USB_Device_Library │ │ │ │ ├── desktop.ini │ │ │ │ ├── Core │ │ │ │ ├── desktop.ini │ │ │ │ └── Src │ │ │ │ │ ├── desktop.ini │ │ │ │ │ └── subdir.mk │ │ │ │ └── Class │ │ │ │ ├── CDC │ │ │ │ ├── desktop.ini │ │ │ │ └── Src │ │ │ │ │ ├── desktop.ini │ │ │ │ │ └── subdir.mk │ │ │ │ └── desktop.ini │ │ └── desktop.ini │ ├── USB_DEVICE │ │ ├── App │ │ │ ├── desktop.ini │ │ │ └── subdir.mk │ │ ├── desktop.ini │ │ └── Target │ │ │ ├── desktop.ini │ │ │ └── subdir.mk │ ├── drone_main_1.1.elf │ ├── objects.mk │ ├── sources.mk │ ├── objects.list │ └── makefile ├── desktop.ini ├── Core │ ├── desktop.ini │ ├── Inc │ │ ├── desktop.ini │ │ ├── stm32f4xx_it.h │ │ └── main.h │ ├── Src │ │ ├── desktop.ini │ │ ├── adc_Battery.c │ │ ├── adc_Battery.h │ │ ├── pid.h │ │ ├── FIRFilter.h │ │ ├── pwm_esc.h │ │ ├── failsafe.h │ │ ├── receiver.h │ │ ├── compass.h │ │ ├── pwm_esc.c │ │ ├── failsafe.c │ │ ├── FIRFilter.c │ │ ├── gy63-i2c.h │ │ ├── pid.c │ │ ├── mpu6050.h │ │ ├── log_to_flash.h │ │ ├── gps.h │ │ ├── e220.h │ │ ├── sysmem.c │ │ ├── syscalls.c │ │ └── log_to_flash.c │ └── Startup │ │ └── desktop.ini ├── .settings │ ├── desktop.ini │ ├── com.st.stm32cube.ide.mcu.sfrview.prefs │ ├── stm32cubeıde.project.prefs │ └── language.settings.xml ├── Drivers │ ├── desktop.ini │ ├── CMSIS │ │ ├── desktop.ini │ │ ├── Device │ │ │ ├── desktop.ini │ │ │ └── ST │ │ │ │ ├── desktop.ini │ │ │ │ └── STM32F4xx │ │ │ │ ├── desktop.ini │ │ │ │ ├── Source │ │ │ │ ├── desktop.ini │ │ │ │ └── Templates │ │ │ │ │ └── desktop.ini │ │ │ │ ├── Include │ │ │ │ ├── desktop.ini │ │ │ │ └── system_stm32f4xx.h │ │ │ │ └── LICENSE.txt │ │ └── Include │ │ │ ├── desktop.ini │ │ │ ├── cmsis_version.h │ │ │ └── tz_context.h │ └── STM32F4xx_HAL_Driver │ │ ├── desktop.ini │ │ ├── Inc │ │ ├── desktop.ini │ │ ├── Legacy │ │ │ └── desktop.ini │ │ ├── stm32f4xx_hal_flash_ramfunc.h │ │ ├── stm32f4xx_hal_dma_ex.h │ │ └── stm32f4xx_hal_i2c_ex.h │ │ ├── Src │ │ └── desktop.ini │ │ └── LICENSE.txt ├── USB_DEVICE │ ├── desktop.ini │ ├── App │ │ └── desktop.ini │ └── Target │ │ └── desktop.ini ├── Middlewares │ ├── ST │ │ ├── desktop.ini │ │ └── STM32_USB_Device_Library │ │ │ ├── desktop.ini │ │ │ ├── Class │ │ │ ├── desktop.ini │ │ │ └── CDC │ │ │ │ ├── desktop.ini │ │ │ │ ├── Inc │ │ │ │ └── desktop.ini │ │ │ │ └── Src │ │ │ │ └── desktop.ini │ │ │ └── Core │ │ │ ├── desktop.ini │ │ │ ├── Inc │ │ │ └── desktop.ini │ │ │ └── Src │ │ │ └── desktop.ini │ └── desktop.ini └── .project ├── circuit ├── ground_station.pdf ├── flight_controller.pdf ├── ground_station.SchDoc └── flight_controller.SchDoc └── README.md /drone_main_1.1/Debug/Core/Src/gps_parse.su: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Core/Src/mpu6050_yedek.su: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_adc.su: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Core/Src/sysmem.d: -------------------------------------------------------------------------------- 1 | Core/Src/sysmem.o: ../Core/Src/sysmem.c 2 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Core/Src/syscalls.d: -------------------------------------------------------------------------------- 1 | Core/Src/syscalls.o: ../Core/Src/syscalls.c 2 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Core/Src/sysmem.su: -------------------------------------------------------------------------------- 1 | ../Core/Src/sysmem.c:53:7:_sbrk 32 static 2 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.su: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Core/Src/gps_parse.d: -------------------------------------------------------------------------------- 1 | Core/Src/gps_parse.o: ../Core/Src/gps_parse.c 2 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Core/Src/mpu6050_yedek.d: -------------------------------------------------------------------------------- 1 | Core/Src/mpu6050_yedek.o: ../Core/Src/mpu6050_yedek.c 2 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Core/Src/adc_Battery.su: -------------------------------------------------------------------------------- 1 | ../Core/Src/adc_Battery.c:10:6:start_reading_battery 8 static 2 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Core/Src/pid.d: -------------------------------------------------------------------------------- 1 | Core/Src/pid.o: ../Core/Src/pid.c ../Core/Src/pid.h 2 | ../Core/Src/pid.h: 3 | -------------------------------------------------------------------------------- /drone_main_1.1/desktop.ini: -------------------------------------------------------------------------------- 1 | [.ShellClassInfo] 2 | IconResource=C:\Program Files\Google\Drive File Stream\72.0.3.0\GoogleDriveFS.exe,23 3 | -------------------------------------------------------------------------------- /drone_main_1.1/Core/desktop.ini: -------------------------------------------------------------------------------- 1 | [.ShellClassInfo] 2 | IconResource=C:\Program Files\Google\Drive File Stream\72.0.3.0\GoogleDriveFS.exe,23 3 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/desktop.ini: -------------------------------------------------------------------------------- 1 | [.ShellClassInfo] 2 | IconResource=C:\Program Files\Google\Drive File Stream\72.0.3.0\GoogleDriveFS.exe,23 3 | -------------------------------------------------------------------------------- /drone_main_1.1/.settings/desktop.ini: -------------------------------------------------------------------------------- 1 | [.ShellClassInfo] 2 | IconResource=C:\Program Files\Google\Drive File Stream\72.0.3.0\GoogleDriveFS.exe,23 3 | -------------------------------------------------------------------------------- /drone_main_1.1/Core/Inc/desktop.ini: -------------------------------------------------------------------------------- 1 | [.ShellClassInfo] 2 | IconResource=C:\Program Files\Google\Drive File Stream\72.0.3.0\GoogleDriveFS.exe,23 3 | -------------------------------------------------------------------------------- /drone_main_1.1/Core/Src/desktop.ini: -------------------------------------------------------------------------------- 1 | [.ShellClassInfo] 2 | IconResource=C:\Program Files\Google\Drive File Stream\72.0.3.0\GoogleDriveFS.exe,23 3 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Core/Src/FIRFilter.d: -------------------------------------------------------------------------------- 1 | Core/Src/FIRFilter.o: ../Core/Src/FIRFilter.c ../Core/Src/FIRFilter.h 2 | ../Core/Src/FIRFilter.h: 3 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Core/Startup/startup_stm32f413zhtx.d: -------------------------------------------------------------------------------- 1 | Core/Startup/startup_stm32f413zhtx.o: \ 2 | ../Core/Startup/startup_stm32f413zhtx.s 3 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Core/desktop.ini: -------------------------------------------------------------------------------- 1 | [.ShellClassInfo] 2 | IconResource=C:\Program Files\Google\Drive File Stream\72.0.3.0\GoogleDriveFS.exe,23 3 | -------------------------------------------------------------------------------- /drone_main_1.1/Drivers/desktop.ini: -------------------------------------------------------------------------------- 1 | [.ShellClassInfo] 2 | IconResource=C:\Program Files\Google\Drive File Stream\72.0.3.0\GoogleDriveFS.exe,23 3 | 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-------------------------------------------------------------------------------- /circuit/flight_controller.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/saahinduran/STM32-Based-Quadcopter-Flight-Controller-Software/HEAD/circuit/flight_controller.pdf -------------------------------------------------------------------------------- /circuit/ground_station.SchDoc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/saahinduran/STM32-Based-Quadcopter-Flight-Controller-Software/HEAD/circuit/ground_station.SchDoc -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Core/Src/pid.su: -------------------------------------------------------------------------------- 1 | ../Core/Src/pid.c:11:8:getControlSignal 88 static 2 | ../Core/Src/pid.c:31:8:getControlSignal_roll_pitch 88 static 3 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Core/Startup/desktop.ini: -------------------------------------------------------------------------------- 1 | [.ShellClassInfo] 2 | IconResource=C:\Program Files\Google\Drive File Stream\72.0.3.0\GoogleDriveFS.exe,23 3 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Middlewares/ST/desktop.ini: -------------------------------------------------------------------------------- 1 | [.ShellClassInfo] 2 | IconResource=C:\Program Files\Google\Drive File Stream\72.0.3.0\GoogleDriveFS.exe,23 3 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Middlewares/desktop.ini: -------------------------------------------------------------------------------- 1 | [.ShellClassInfo] 2 | IconResource=C:\Program Files\Google\Drive File Stream\72.0.3.0\GoogleDriveFS.exe,23 3 | 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-------------------------------------------------------------------------------- /drone_main_1.1/USB_DEVICE/Target/desktop.ini: -------------------------------------------------------------------------------- 1 | [.ShellClassInfo] 2 | IconResource=C:\Program Files\Google\Drive File Stream\72.0.3.0\GoogleDriveFS.exe,23 3 | -------------------------------------------------------------------------------- /circuit/flight_controller.SchDoc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/saahinduran/STM32-Based-Quadcopter-Flight-Controller-Software/HEAD/circuit/flight_controller.SchDoc -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Core/Src/FIRFilter.su: -------------------------------------------------------------------------------- 1 | ../Core/Src/FIRFilter.c:13:6:FIRFilter_Init 24 static 2 | ../Core/Src/FIRFilter.c:30:7:FIRFilter_Update 24 static 3 | 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../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c:126:19:HAL_I2CEx_ConfigDigitalFilter 24 static 3 | -------------------------------------------------------------------------------- /drone_main_1.1/Core/Src/adc_Battery.c: -------------------------------------------------------------------------------- 1 | /* 2 | * adc_Battery.c 3 | * 4 | * Created on: Feb 24, 2023 5 | * Author: sahin 6 | */ 7 | 8 | #include "adc_Battery.h" 9 | //Starts the ADC reading with DMA 10 | void start_reading_battery(){ 11 | HAL_ADC_Start_DMA(&hadc1,&battery_raw_data,1); 12 | } 13 | 14 | 15 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Core/Src/nmea_parse.su: -------------------------------------------------------------------------------- 1 | ../Core/Src/nmea_parse.c:10:5:gps_checksum 32 static 2 | ../Core/Src/nmea_parse.c:33:5:nmea_GPGGA 232 static 3 | ../Core/Src/nmea_parse.c:93:5:nmea_GPGSA 152 static 4 | ../Core/Src/nmea_parse.c:118:5:nmea_GPGLL 232 static 5 | ../Core/Src/nmea_parse.c:166:6:nmea_parse 40 static 6 | -------------------------------------------------------------------------------- /drone_main_1.1/.settings/stm32cubeıde.project.prefs: -------------------------------------------------------------------------------- 1 | 635E684B79701B039C64EA45C3F84D30=4BDEE3AB7A6784A34A2EE2433E15A930 2 | 66BE74F758C12D739921AEA421D593D3=1 3 | 8DF89ED150041C4CBC7CB9A9CAA90856=46EB144481DF93FA70736ACDBF7C1F14 4 | DC22A860405A8BF2F2C095E5B6529F12=46EB144481DF93FA70736ACDBF7C1F14 5 | eclipse.preferences.version=1 6 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Core/Src/compass.su: -------------------------------------------------------------------------------- 1 | ../Core/Src/compass.c:24:6:i2c_disconnected_compass 16 static 2 | ../Core/Src/compass.c:51:6:compass_read_corrected 40 static 3 | ../Core/Src/compass.c:77:6:compass_read 24 static 4 | ../Core/Src/compass.c:89:6:compas_calibrate 16 static 5 | ../Core/Src/compass.c:129:5:compass_connect 32 static 6 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/objects.mk: -------------------------------------------------------------------------------- 1 | ################################################################################ 2 | # Automatically-generated file. Do not edit! 3 | # Toolchain: GNU Tools for STM32 (10.3-2021.10) 4 | ################################################################################ 5 | 6 | USER_OBJS := 7 | 8 | LIBS := 9 | 10 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Core/Src/pwm_esc.su: -------------------------------------------------------------------------------- 1 | ../Core/Src/pwm_esc.c:22:7:map 24 static 2 | ../Core/Src/pwm_esc.c:27:6:activate_motors 8 static 3 | ../Core/Src/pwm_esc.c:35:6:changespeedM1 16 static 4 | ../Core/Src/pwm_esc.c:50:6:changespeedM2 16 static 5 | ../Core/Src/pwm_esc.c:61:6:changespeedM3 16 static 6 | ../Core/Src/pwm_esc.c:71:6:changespeedM4 16 static 7 | -------------------------------------------------------------------------------- /drone_main_1.1/Core/Src/adc_Battery.h: -------------------------------------------------------------------------------- 1 | /* 2 | * adc_Battery.h 3 | * 4 | * Created on: Feb 24, 2023 5 | * Author: sahin 6 | */ 7 | 8 | #ifndef SRC_ADC_BATTERY_H_ 9 | #define SRC_ADC_BATTERY_H_ 10 | 11 | #include "main.h" 12 | extern uint32_t battery_raw_data; 13 | extern ADC_HandleTypeDef hadc1; 14 | 15 | 16 | void start_reading_battery(); 17 | #endif /* SRC_ADC_BATTERY_H_ */ 18 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Core/Src/mpu6050.su: -------------------------------------------------------------------------------- 1 | ../Core/Src/mpu6050.c:69:6:MPU6050_Read_All 56 static 2 | ../Core/Src/mpu6050.c:110:6:calibrate_yaw 56 static 3 | ../Core/Src/mpu6050.c:134:6:calibrate_ACC 48 static 4 | ../Core/Src/mpu6050.c:155:6:calibrate_Benim 48 static 5 | ../Core/Src/mpu6050.c:177:9:MPU6050_Init_Benim 40 static 6 | ../Core/Src/mpu6050.c:222:6:MPU6050_Read_All_Benim 88 static 7 | ../Core/Src/mpu6050.c:328:6:calibrate_mpu6050 8 static 8 | -------------------------------------------------------------------------------- /drone_main_1.1/Drivers/CMSIS/Device/ST/STM32F4xx/LICENSE.txt: -------------------------------------------------------------------------------- 1 | This software component is provided to you as part of a software package and 2 | applicable license terms are in the Package_license file. If you received this 3 | software component outside of a package or without applicable license terms, 4 | the terms of the Apache-2.0 license shall apply. 5 | You may obtain a copy of the Apache-2.0 at: 6 | https://opensource.org/licenses/Apache-2.0 7 | -------------------------------------------------------------------------------- /drone_main_1.1/Drivers/STM32F4xx_HAL_Driver/LICENSE.txt: -------------------------------------------------------------------------------- 1 | This software component is provided to you as part of a software package and 2 | applicable license terms are in the Package_license file. If you received this 3 | software component outside of a package or without applicable license terms, 4 | the terms of the BSD-3-Clause license shall apply. 5 | You may obtain a copy of the BSD-3-Clause at: 6 | https://opensource.org/licenses/BSD-3-Clause 7 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Core/Src/failsafe.su: -------------------------------------------------------------------------------- 1 | ../Core/Src/failsafe.c:13:6:i2c_disconnected 16 static 2 | ../Core/Src/failsafe.c:40:6:failsafe_handler 8 static 3 | ../Core/Src/failsafe.c:46:6:red_led_on 8 static 4 | ../Core/Src/failsafe.c:49:6:red_led_off 8 static 5 | ../Core/Src/failsafe.c:52:6:green_led_on 8 static 6 | ../Core/Src/failsafe.c:55:6:green_led_off 8 static 7 | ../Core/Src/failsafe.c:58:6:blue_led_on 8 static 8 | ../Core/Src/failsafe.c:61:6:blue_led_off 8 static 9 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Core/subdir.mk: -------------------------------------------------------------------------------- 1 | ################################################################################ 2 | # Automatically-generated file. Do not edit! 3 | # Toolchain: GNU Tools for STM32 (10.3-2021.10) 4 | ################################################################################ 5 | 6 | # Add inputs and outputs from these tool invocations to the build variables 7 | 8 | # Each subdirectory must supply rules for building sources it contributes 9 | 10 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.su: -------------------------------------------------------------------------------- 1 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c:100:19:HAL_DMAEx_MultiBufferStart 32 static 2 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c:154:19:HAL_DMAEx_MultiBufferStart_IT 32 static 3 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c:239:19:HAL_DMAEx_ChangeMemory 24 static 4 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c:276:13:DMA_MultiBufferSetConfig 24 static 5 | -------------------------------------------------------------------------------- /drone_main_1.1/Core/Src/pid.h: -------------------------------------------------------------------------------- 1 | /* 2 | * pid.h 3 | * 4 | * Created on: 24 Kas 2022 5 | * Author: sahin 6 | */ 7 | 8 | #ifndef SRC_PID_H_ 9 | #define SRC_PID_H_ 10 | 11 | 12 | double getControlSignal(double error, double kp, double ki, double kd, 13 | double* pid_i, double* last_error, double delta_time_in_seconds); 14 | double getControlSignal_roll_pitch(double error, double kp, double ki, double kd, double* pid_i, double* last_error, double delta_time_in_seconds); 15 | #endif /* SRC_PID_H_ */ 16 | -------------------------------------------------------------------------------- /drone_main_1.1/Core/Src/FIRFilter.h: -------------------------------------------------------------------------------- 1 | /* 2 | * FIRFilter.h 3 | * 4 | * Created on: Dec 1, 2022 5 | * Author: sahin 6 | */ 7 | 8 | #ifndef SRC_FIRFILTER_H_ 9 | #define SRC_FIRFILTER_H_ 10 | 11 | #include 12 | 13 | #define FIR_FILTER_LENGTH 50 14 | 15 | typedef struct { 16 | float buf[FIR_FILTER_LENGTH]; 17 | uint8_t bufIndex; 18 | 19 | float out; 20 | } FIRFilter; 21 | 22 | void FIRFilter_Init(FIRFilter *fir); 23 | float FIRFilter_Update(FIRFilter *fir, float inp); 24 | 25 | #endif /* SRC_FIRFILTER_H_ */ 26 | -------------------------------------------------------------------------------- /drone_main_1.1/Core/Src/pwm_esc.h: -------------------------------------------------------------------------------- 1 | /* 2 | * pwm_esc.h 3 | * 4 | * Created on: Nov 26, 2022 5 | * Author: Administrator 6 | */ 7 | 8 | #ifndef HWDRIVERS_ESC_PWM_H_ 9 | #define HWDRIVERS_ESC_PWM_H_ 10 | float map(int kanal,int kumanda_min, int kumanda_max, int istenen_aralık_alt, int istenen_aralık_üst); 11 | void changespeedM1(int *duty_cycle_1,int MIN_Duty_cycle); 12 | void changespeedM2(int *duty_cycle_2,int MIN_Duty_cycle); 13 | void changespeedM3(int *duty_cycle_3,int MIN_Duty_cycle); 14 | void changespeedM4(int *duty_cycle_4,int MIN_Duty_cycle); 15 | void activate_motors(); 16 | 17 | #endif /* HWDRIVERS_ESC_PWM_H_ */ 18 | -------------------------------------------------------------------------------- /drone_main_1.1/Core/Src/failsafe.h: -------------------------------------------------------------------------------- 1 | /* 2 | * failsafe.h 3 | * 4 | * Created on: Feb 24, 2023 5 | * Author: sahin 6 | */ 7 | 8 | #ifndef SRC_FAILSAFE_H_ 9 | #define SRC_FAILSAFE_H_ 10 | 11 | #include "main.h" 12 | 13 | void failsafe_handler(); 14 | void i2c_disconnected(); 15 | void red_led_on(); 16 | void red_led_off(); 17 | void green_led_on(); 18 | void green_led_off(); 19 | void blue_led_on(); 20 | void blue_led_off(); 21 | //HAL_GPIO_WritePin(GPIOB, LED1_Pin, SET); // GREEN LED 22 | //HAL_GPIO_WritePin(GPIOB, LED2_Pin, SET); // BLUE LED 23 | //HAL_GPIO_WritePin(GPIOB, LED3_Pin, SET); // RED LED 24 | #endif /* SRC_FAILSAFE_H_ */ 25 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/sources.mk: -------------------------------------------------------------------------------- 1 | ################################################################################ 2 | # Automatically-generated file. Do not edit! 3 | # Toolchain: GNU Tools for STM32 (10.3-2021.10) 4 | ################################################################################ 5 | 6 | ELF_SRCS := 7 | OBJ_SRCS := 8 | S_SRCS := 9 | C_SRCS := 10 | S_UPPER_SRCS := 11 | O_SRCS := 12 | SIZE_OUTPUT := 13 | OBJDUMP_LIST := 14 | SU_FILES := 15 | EXECUTABLES := 16 | OBJS := 17 | MAP_FILES := 18 | S_DEPS := 19 | S_UPPER_DEPS := 20 | C_DEPS := 21 | 22 | # Every subdirectory with source files must be described here 23 | SUBDIRS := \ 24 | Core/Src \ 25 | Core/Startup \ 26 | Drivers/STM32F4xx_HAL_Driver/Src \ 27 | 28 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Core/Src/log_to_flash.su: -------------------------------------------------------------------------------- 1 | ../Core/Src/log_to_flash.c:18:6:flash_write_calib_data_byte 32 static 2 | ../Core/Src/log_to_flash.c:29:6:flash_write_calib_data_four_byte 32 static 3 | ../Core/Src/log_to_flash.c:38:6:flash_write_calib_data_compass 32 static 4 | ../Core/Src/log_to_flash.c:51:6:read_calib_value 32 static 5 | ../Core/Src/log_to_flash.c:57:6:flash_init_for_log 8 static 6 | ../Core/Src/log_to_flash.c:71:6:flash_init_for_calibration 8 static 7 | ../Core/Src/log_to_flash.c:77:9:log_write 40 static 8 | ../Core/Src/log_to_flash.c:90:6:fill_calibration_buffer 8 static 9 | ../Core/Src/log_to_flash.c:102:6:fill_calibration_buffer_compass 4 static 10 | ../Core/Src/log_to_flash.c:114:6:fill_calibration_buffer_uint 24 static 11 | -------------------------------------------------------------------------------- /drone_main_1.1/Core/Src/receiver.h: -------------------------------------------------------------------------------- 1 | /* 2 | * receiver.h 3 | * 4 | * Created on: Nov 26, 2022 5 | * Author: sahin 6 | */ 7 | 8 | #ifndef SRC_RECEIVER_H_ 9 | #define SRC_RECEIVER_H_ 10 | #include "main.h" 11 | struct receiverdata 12 | { 13 | 14 | float rollPulse,yawPulse,pitchPulse; 15 | 16 | }; 17 | 18 | void calculate_motor_powers(); 19 | void calculate_pid_altitude(); 20 | void reset_alt_pid(); 21 | void reset_gps_pid(); 22 | void decode_rf(); 23 | void altitude_hold(); 24 | void gps_hold(); 25 | void reset_pid(); 26 | int calibrate_esc_and_rc(); 27 | void waiting_for_arm(); 28 | void stop_motors(); 29 | int decode_receiver(); 30 | int startup_handler(); 31 | int arm_handler(); 32 | uint8_t connect_receiver(void); 33 | #endif /* SRC_RECEIVER_H_ */ 34 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.su: -------------------------------------------------------------------------------- 1 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c:164:6:HAL_GPIO_Init 40 static 2 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c:294:6:HAL_GPIO_DeInit 32 static 3 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c:375:15:HAL_GPIO_ReadPin 24 static 4 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c:410:6:HAL_GPIO_WritePin 16 static 5 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c:433:6:HAL_GPIO_TogglePin 24 static 6 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c:458:19:HAL_GPIO_LockPin 24 static 7 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c:492:6:HAL_GPIO_EXTI_IRQHandler 16 static 8 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c:507:13:HAL_GPIO_EXTI_Callback 16 static 9 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Core/Src/gy63-i2c.su: -------------------------------------------------------------------------------- 1 | ../Core/Src/gy63-i2c.c:32:6:MS5611_Initilize 8 static 2 | ../Core/Src/gy63-i2c.c:44:6:MS5611_Reset 16 static 3 | ../Core/Src/gy63-i2c.c:53:6:MS5611_StartCommunication 8 static 4 | ../Core/Src/gy63-i2c.c:57:6:MS5611_StopCommunication 8 static 5 | ../Core/Src/gy63-i2c.c:61:6:MS5611_ReadPROM 16 static 6 | ../Core/Src/gy63-i2c.c:123:6:MS5611_setMyGround 16 static 7 | ../Core/Src/gy63-i2c.c:137:6:MS5611_ReadTemperature 32 static 8 | ../Core/Src/gy63-i2c.c:162:6:MS5611_ReadPressure 192 static 9 | ../Core/Src/gy63-i2c.c:196:6:MS5611_ReadAltitude1 8 static 10 | ../Core/Src/gy63-i2c.c:204:6:MS5611_ReadAltitude2 16 static 11 | ../Core/Src/gy63-i2c.c:212:6:MS5611_Request_Pressure 16 static 12 | ../Core/Src/gy63-i2c.c:217:6:MS5611_Request_Temp 16 static 13 | ../Core/Src/gy63-i2c.c:223:6:baro_read 16 static 14 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Core/Src/e220.su: -------------------------------------------------------------------------------- 1 | ../Core/Src/e220.c:14:6:E220_init_declare_pins 24 static 2 | ../Core/Src/e220.c:28:8:E220_enter_config_mode 24 static 3 | ../Core/Src/e220.c:50:8:E220_read_register 24 static 4 | ../Core/Src/e220.c:68:8:E220_write_register 24 static 5 | ../Core/Src/e220.c:90:8:E220_read_register_all 24 static 6 | ../Core/Src/e220.c:106:8:E220_enter_normal_mode 16 static 7 | ../Core/Src/e220.c:117:8:E220_transmit_payload 24 static 8 | ../Core/Src/e220.c:123:8:E220_transmit_payload_DMA 24 static 9 | ../Core/Src/e220.c:129:8:E220_transmit_payload_DMA_v2 24 static 10 | ../Core/Src/e220.c:138:8:E220_receive_payload 24 static 11 | ../Core/Src/e220.c:146:8:E220_receive_payload_DMA 24 static 12 | ../Core/Src/e220.c:155:8:E220_set_packetsize_32k 24 static 13 | ../Core/Src/e220.c:164:8:E220_set_datarate_62k 24 static 14 | ../Core/Src/e220.c:173:6:E220_reset 16 static 15 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Core/Src/stm32f4xx_hal_msp.su: -------------------------------------------------------------------------------- 1 | ../Core/Src/stm32f4xx_hal_msp.c:76:6:HAL_MspInit 16 static 2 | ../Core/Src/stm32f4xx_hal_msp.c:98:6:HAL_ADC_MspInit 48 static 3 | ../Core/Src/stm32f4xx_hal_msp.c:150:6:HAL_ADC_MspDeInit 16 static 4 | ../Core/Src/stm32f4xx_hal_msp.c:180:6:HAL_I2C_MspInit 64 static 5 | ../Core/Src/stm32f4xx_hal_msp.c:272:6:HAL_I2C_MspDeInit 16 static 6 | ../Core/Src/stm32f4xx_hal_msp.c:343:6:HAL_TIM_PWM_MspInit 24 static 7 | ../Core/Src/stm32f4xx_hal_msp.c:365:6:HAL_TIM_Base_MspInit 24 static 8 | ../Core/Src/stm32f4xx_hal_msp.c:392:6:HAL_TIM_MspPostInit 40 static 9 | ../Core/Src/stm32f4xx_hal_msp.c:427:6:HAL_TIM_PWM_MspDeInit 16 static 10 | ../Core/Src/stm32f4xx_hal_msp.c:449:6:HAL_TIM_Base_MspDeInit 16 static 11 | ../Core/Src/stm32f4xx_hal_msp.c:482:6:HAL_UART_MspInit 72 static 12 | ../Core/Src/stm32f4xx_hal_msp.c:687:6:HAL_UART_MspDeInit 16 static 13 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Core/Src/syscalls.su: -------------------------------------------------------------------------------- 1 | ../Core/Src/syscalls.c:44:6:initialise_monitor_handles 4 static 2 | ../Core/Src/syscalls.c:48:5:_getpid 4 static 3 | ../Core/Src/syscalls.c:53:5:_kill 16 static 4 | ../Core/Src/syscalls.c:61:6:_exit 16 static 5 | ../Core/Src/syscalls.c:67:27:_read 32 static 6 | ../Core/Src/syscalls.c:80:27:_write 32 static 7 | ../Core/Src/syscalls.c:92:5:_close 16 static 8 | ../Core/Src/syscalls.c:99:5:_fstat 16 static 9 | ../Core/Src/syscalls.c:106:5:_isatty 16 static 10 | ../Core/Src/syscalls.c:112:5:_lseek 24 static 11 | ../Core/Src/syscalls.c:120:5:_open 12 static 12 | ../Core/Src/syscalls.c:128:5:_wait 16 static 13 | ../Core/Src/syscalls.c:135:5:_unlink 16 static 14 | ../Core/Src/syscalls.c:142:5:_times 16 static 15 | ../Core/Src/syscalls.c:148:5:_stat 16 static 16 | ../Core/Src/syscalls.c:155:5:_link 16 static 17 | ../Core/Src/syscalls.c:163:5:_fork 8 static 18 | ../Core/Src/syscalls.c:169:5:_execve 24 static 19 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Core/Src/receiver.su: -------------------------------------------------------------------------------- 1 | ../Core/Src/receiver.c:66:6:calculate_motor_powers 16 static 2 | ../Core/Src/receiver.c:120:6:calculate_pid_altitude 32 static 3 | ../Core/Src/receiver.c:131:6:calculate_pid_gps 40 static 4 | ../Core/Src/receiver.c:149:6:reset_alt_pid 4 static 5 | ../Core/Src/receiver.c:154:6:reset_gps_pid 4 static 6 | ../Core/Src/receiver.c:163:5:calibrate_esc_and_rc 16 static 7 | ../Core/Src/receiver.c:186:6:stop_motors 8 static 8 | ../Core/Src/receiver.c:193:6:waiting_for_arm 16 static 9 | ../Core/Src/receiver.c:221:9:connect_receiver 16 static 10 | ../Core/Src/receiver.c:243:5:decode_receiver 4 static 11 | ../Core/Src/receiver.c:272:5:startup_handler 16 static 12 | ../Core/Src/receiver.c:331:5:arm_handler 16 static 13 | ../Core/Src/receiver.c:361:6:altitude_hold 8 static 14 | ../Core/Src/receiver.c:387:6:decode_rf 16 static 15 | ../Core/Src/receiver.c:400:6:gps_hold 8 static 16 | ../Core/Src/receiver.c:436:6:reset_pid 4 static 17 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.su: -------------------------------------------------------------------------------- 1 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c:142:19:HAL_EXTI_SetConfigLine 32 static 2 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c:237:19:HAL_EXTI_GetConfigLine 32 static 3 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c:316:19:HAL_EXTI_ClearConfigLine 32 static 4 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c:369:19:HAL_EXTI_RegisterCallback 32 static 5 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c:394:19:HAL_EXTI_GetHandle 16 static 6 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c:434:6:HAL_EXTI_IRQHandler 24 static 7 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c:466:10:HAL_EXTI_GetPending 32 static 8 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c:495:6:HAL_EXTI_ClearPending 24 static 9 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c:516:6:HAL_EXTI_GenerateSWI 24 static 10 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.su: -------------------------------------------------------------------------------- 1 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c:1276:19:HAL_RCCEx_PeriphCLKConfig 40 static 2 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c:1634:6:HAL_RCCEx_GetPeriphCLKConfig 24 static 3 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c:1730:10:HAL_RCCEx_GetPeriphCLKFreq 32 static 4 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c:2766:6:HAL_RCCEx_SelectLSEMode 16 static 5 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c:2803:19:HAL_RCCEx_EnablePLLI2S 24 static 6 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c:2886:19:HAL_RCCEx_DisablePLLI2S 16 static 7 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c:3143:19:HAL_RCC_DeInit 16 static 8 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c:3333:19:HAL_RCC_OscConfig 32 static 9 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c:3703:6:HAL_RCC_GetOscConfig 16 static 10 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Core/Src/main.su: -------------------------------------------------------------------------------- 1 | ../Core/Src/main.c:244:5:main 32 static 2 | ../Core/Src/main.c:502:6:SystemClock_Config 88 static 3 | ../Core/Src/main.c:551:13:MX_ADC1_Init 24 static 4 | ../Core/Src/main.c:603:13:MX_I2C1_Init 8 static 5 | ../Core/Src/main.c:637:13:MX_I2C2_Init 8 static 6 | ../Core/Src/main.c:671:13:MX_I2C3_Init 8 static 7 | ../Core/Src/main.c:705:13:MX_IWDG_Init 8 static 8 | ../Core/Src/main.c:733:13:MX_TIM1_Init 80 static 9 | ../Core/Src/main.c:810:13:MX_TIM2_Init 32 static 10 | ../Core/Src/main.c:855:13:MX_TIM3_Init 32 static 11 | ../Core/Src/main.c:900:13:MX_UART5_Init 8 static 12 | ../Core/Src/main.c:933:13:MX_UART7_Init 8 static 13 | ../Core/Src/main.c:966:13:MX_USART2_UART_Init 8 static 14 | ../Core/Src/main.c:999:13:MX_USART6_UART_Init 8 static 15 | ../Core/Src/main.c:1030:13:MX_DMA_Init 16 static 16 | ../Core/Src/main.c:1064:13:MX_GPIO_Init 48 static 17 | ../Core/Src/main.c:1098:6:HAL_UART_TxCpltCallback 16 static 18 | ../Core/Src/main.c:1118:6:fill_buffer 8 static 19 | ../Core/Src/main.c:1186:6:Error_Handler 4 static,ignoring_inline_asm 20 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Core/Src/stm32f4xx_it.su: -------------------------------------------------------------------------------- 1 | ../Core/Src/stm32f4xx_it.c:75:6:NMI_Handler 4 static 2 | ../Core/Src/stm32f4xx_it.c:90:6:HardFault_Handler 4 static 3 | ../Core/Src/stm32f4xx_it.c:105:6:MemManage_Handler 4 static 4 | ../Core/Src/stm32f4xx_it.c:120:6:BusFault_Handler 4 static 5 | ../Core/Src/stm32f4xx_it.c:135:6:UsageFault_Handler 4 static 6 | ../Core/Src/stm32f4xx_it.c:150:6:SVC_Handler 4 static 7 | ../Core/Src/stm32f4xx_it.c:163:6:DebugMon_Handler 4 static 8 | ../Core/Src/stm32f4xx_it.c:176:6:PendSV_Handler 4 static 9 | ../Core/Src/stm32f4xx_it.c:189:6:SysTick_Handler 8 static 10 | ../Core/Src/stm32f4xx_it.c:210:6:DMA1_Stream0_IRQHandler 8 static 11 | ../Core/Src/stm32f4xx_it.c:224:6:DMA1_Stream1_IRQHandler 8 static 12 | ../Core/Src/stm32f4xx_it.c:238:6:DMA1_Stream5_IRQHandler 8 static 13 | ../Core/Src/stm32f4xx_it.c:252:6:DMA1_Stream7_IRQHandler 8 static 14 | ../Core/Src/stm32f4xx_it.c:266:6:UART5_IRQHandler 8 static 15 | ../Core/Src/stm32f4xx_it.c:280:6:DMA2_Stream0_IRQHandler 8 static 16 | ../Core/Src/stm32f4xx_it.c:294:6:DMA2_Stream2_IRQHandler 8 static 17 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Core/Startup/subdir.mk: -------------------------------------------------------------------------------- 1 | ################################################################################ 2 | # Automatically-generated file. Do not edit! 3 | # Toolchain: GNU Tools for STM32 (10.3-2021.10) 4 | ################################################################################ 5 | 6 | # Add inputs and outputs from these tool invocations to the build variables 7 | S_SRCS += \ 8 | ../Core/Startup/startup_stm32f413zhtx.s 9 | 10 | OBJS += \ 11 | ./Core/Startup/startup_stm32f413zhtx.o 12 | 13 | S_DEPS += \ 14 | ./Core/Startup/startup_stm32f413zhtx.d 15 | 16 | 17 | # Each subdirectory must supply rules for building sources it contributes 18 | Core/Startup/%.o: ../Core/Startup/%.s Core/Startup/subdir.mk 19 | arm-none-eabi-gcc -mcpu=cortex-m4 -g3 -DDEBUG -c -x assembler-with-cpp -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@" "$<" 20 | 21 | clean: clean-Core-2f-Startup 22 | 23 | clean-Core-2f-Startup: 24 | -$(RM) ./Core/Startup/startup_stm32f413zhtx.d ./Core/Startup/startup_stm32f413zhtx.o 25 | 26 | .PHONY: clean-Core-2f-Startup 27 | 28 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.su: -------------------------------------------------------------------------------- 1 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c:141:19:HAL_PWREx_EnableBkUpReg 16 static 2 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c:165:19:HAL_PWREx_DisableBkUpReg 16 static 3 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c:189:6:HAL_PWREx_EnableFlashPowerDown 4 static 4 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c:198:6:HAL_PWREx_DisableFlashPowerDown 4 static 5 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c:211:10:HAL_PWREx_GetVoltageRange 4 static 6 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c:288:19:HAL_PWREx_ControlVoltageScaling 32 static 7 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c:359:6:HAL_PWREx_EnableMainRegulatorLowVoltage 4 static 8 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c:370:6:HAL_PWREx_DisableMainRegulatorLowVoltage 4 static 9 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c:381:6:HAL_PWREx_EnableLowRegulatorLowVoltage 4 static 10 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c:392:6:HAL_PWREx_DisableLowRegulatorLowVoltage 4 static 11 | -------------------------------------------------------------------------------- /drone_main_1.1/.project: -------------------------------------------------------------------------------- 1 | 2 | 3 | drone_main_1.1 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.MCUSingleCpuProjectNature 28 | com.st.stm32cube.ide.mcu.MCURootProjectNature 29 | org.eclipse.cdt.managedbuilder.core.managedBuildNature 30 | org.eclipse.cdt.managedbuilder.core.ScannerConfigNature 31 | 32 | 33 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.su: -------------------------------------------------------------------------------- 1 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c:200:26:HAL_RCC_DeInit 4 static 2 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c:219:26:HAL_RCC_OscConfig 32 static 3 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c:591:19:HAL_RCC_ClockConfig 24 static 4 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c:775:6:HAL_RCC_MCOConfig 56 static 5 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c:841:6:HAL_RCC_EnableCSS 4 static 6 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c:850:6:HAL_RCC_DisableCSS 4 static 7 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c:885:17:HAL_RCC_GetSysClockFreq 96 static 8 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c:941:10:HAL_RCC_GetHCLKFreq 4 static 9 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c:952:10:HAL_RCC_GetPCLK1Freq 8 static 10 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c:964:10:HAL_RCC_GetPCLK2Freq 8 static 11 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c:977:13:HAL_RCC_GetOscConfig 16 static 12 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c:1056:6:HAL_RCC_GetClockConfig 16 static 13 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c:1082:6:HAL_RCC_NMI_IRQHandler 8 static 14 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c:1099:13:HAL_RCC_CSSCallback 4 static 15 | -------------------------------------------------------------------------------- /drone_main_1.1/Core/Src/compass.h: -------------------------------------------------------------------------------- 1 | /* 2 | * compass.h 3 | * 4 | * Created on: 17 Mar 2023 5 | * Author: sahin 6 | */ 7 | 8 | #ifndef SRC_COMPASS_H_ 9 | #define SRC_COMPASS_H_ 10 | #include "main.h" 11 | #include "mpu6050.h" 12 | 13 | 14 | 15 | 16 | extern MPU6050_t MPU6050_1; 17 | extern double angle_pitch_output, angle_roll_output , angle_yaw_rate_output; 18 | extern char buffer[25]; 19 | extern int _channels[12]; 20 | extern uint8_t gps_buffer[100]; 21 | extern int16_t MagX,MagY,MagZ; 22 | extern uint8_t data_compass[13]; 23 | extern uint8_t MAGZ[6]; 24 | extern float heading; 25 | extern HAL_StatusTypeDef result_compass; 26 | extern int16_t compass_offset_y; //Add the y-offset to the raw value. 27 | extern float compass_scale_y; //Scale the y-value so it matches the other axis. 28 | extern int16_t compass_offset_z; //Add the z-offset to the raw value. 29 | extern float compass_scale_z; //Scale the z-value so it matches the other axis. 30 | extern int16_t compass_offset_x; 31 | extern int16_t compass_cal_values[6]; 32 | extern int compass_calibrated; 33 | extern float Xsf,Ysf,Xoff,Yoff; 34 | extern I2C_HandleTypeDef hi2c3; 35 | void i2c_disconnected_compass(); 36 | void compass_read_corrected(); 37 | void compass_read(); 38 | void compas_calibrate(); 39 | int compass_connect(); 40 | 41 | 42 | #endif /* SRC_COMPASS_H_ */ 43 | -------------------------------------------------------------------------------- /drone_main_1.1/Core/Src/pwm_esc.c: -------------------------------------------------------------------------------- 1 | /* 2 | * pwm=esc.c 3 | * 4 | * Created on: Nov 26, 2022 5 | * Author: Administrator 6 | */ 7 | 8 | 9 | #include "pwm_esc.h" 10 | #include "main.h" 11 | #include 12 | extern TIM_HandleTypeDef htim1; 13 | 14 | 15 | // motors won't start if this function is not called 16 | void activate_motors(){ 17 | HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); 18 | HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); 19 | HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); 20 | HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_4); 21 | 22 | } 23 | 24 | void changespeedM1(int *duty_cycle_1,int MIN_Duty_cycle){ 25 | if (*duty_cycle_1<=MIN_Duty_cycle){ 26 | TIM1->CCR1= MIN_Duty_cycle; 27 | } 28 | else 29 | { 30 | TIM1->CCR1= *duty_cycle_1; 31 | } 32 | 33 | 34 | 35 | //ESC_PWM_degisken=*duty_cycle_1; 36 | } 37 | 38 | 39 | void changespeedM2(int *duty_cycle_2,int MIN_Duty_cycle){ 40 | if(*duty_cycle_2<=MIN_Duty_cycle){ 41 | TIM1->CCR2= MIN_Duty_cycle; 42 | } 43 | else{ 44 | TIM1->CCR2= *duty_cycle_2; 45 | 46 | } 47 | } 48 | 49 | 50 | void changespeedM3(int *duty_cycle_3,int MIN_Duty_cycle){ 51 | if(*duty_cycle_3<=MIN_Duty_cycle){ 52 | TIM1->CCR3= MIN_Duty_cycle; 53 | } 54 | else{ 55 | TIM1->CCR3= *duty_cycle_3; 56 | 57 | } 58 | } 59 | 60 | void changespeedM4(int *duty_cycle_4,int MIN_Duty_cycle){ 61 | if (*duty_cycle_4<=MIN_Duty_cycle){ 62 | TIM1->CCR4=MIN_Duty_cycle; 63 | } 64 | else{ 65 | TIM1->CCR4=*duty_cycle_4; 66 | 67 | } 68 | } 69 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.su: -------------------------------------------------------------------------------- 1 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c:170:19:HAL_DMA_Init 32 static 2 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c:309:19:HAL_DMA_DeInit 24 static 3 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c:407:19:HAL_DMA_Start 32 static 4 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c:451:19:HAL_DMA_Start_IT 32 static 5 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c:513:19:HAL_DMA_Abort 24 static 6 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c:580:19:HAL_DMA_Abort_IT 16 static 7 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c:610:19:HAL_DMA_PollForTransfer 48 static 8 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c:746:6:HAL_DMA_IRQHandler 32 static 9 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c:967:19:HAL_DMA_RegisterCallback 32 static 10 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c:1029:19:HAL_DMA_UnRegisterCallback 24 static 11 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c:1114:22:HAL_DMA_GetState 16 static 12 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c:1125:10:HAL_DMA_GetError 16 static 13 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c:1151:13:DMA_SetConfig 24 static 14 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c:1185:17:DMA_CalcBaseAndBitshift 24 static 15 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c:1213:26:DMA_CheckFifoParam 24 static 16 | -------------------------------------------------------------------------------- /drone_main_1.1/Core/Src/failsafe.c: -------------------------------------------------------------------------------- 1 | /* 2 | * failsafe.c 3 | * 4 | * Created on: Feb 24, 2023 5 | * Author: sahin 6 | */ 7 | #include "failsafe.h" 8 | #include "pwm_esc.h" 9 | #include "receiver.h" 10 | 11 | extern I2C_HandleTypeDef hi2c2; 12 | /// this function rescues the hang i2c bus that is connected to imu 13 | void i2c_disconnected(){ 14 | //PF0 and PF1 are corresponding I2C pins (SCL and SDA) 15 | uint16_t data; 16 | HAL_I2C_DeInit(&hi2c2); 17 | data=GPIOF->MODER; 18 | data= data & ~0b1111; 19 | data= data | 0b0101; 20 | GPIOF->MODER=data; 21 | 22 | 23 | data=GPIOF->OTYPER; 24 | 25 | data = data & ~0b11; 26 | GPIOF->OTYPER=data; 27 | 28 | data=GPIOF->AFR[0]; 29 | data= data & ~0b11111111; 30 | GPIOF->AFR[0]=data; 31 | 32 | for(int i=0;i<14;i++) // either 9 or 14 33 | { 34 | HAL_GPIO_TogglePin(GPIOF, GPIO_PIN_1); 35 | } 36 | 37 | HAL_I2C_Init(&hi2c2); 38 | } 39 | // worst scenerio, shut the motors and wait for watchdog to reset the mcu 40 | void failsafe_handler() 41 | { 42 | stop_motors(); 43 | while(1); 44 | 45 | } 46 | void red_led_on(){ 47 | HAL_GPIO_WritePin(GPIOB, LED3_Pin, SET); 48 | } 49 | void red_led_off(){ 50 | HAL_GPIO_WritePin(GPIOB, LED3_Pin, RESET); 51 | } 52 | void green_led_on(){ 53 | HAL_GPIO_WritePin(GPIOB, LED1_Pin, SET); 54 | } 55 | void green_led_off(){ 56 | HAL_GPIO_WritePin(GPIOB, LED1_Pin, RESET); 57 | } 58 | void blue_led_on(){ 59 | HAL_GPIO_WritePin(GPIOB, LED2_Pin, SET); 60 | } 61 | void blue_led_off(){ 62 | HAL_GPIO_WritePin(GPIOB, LED2_Pin, RESET); 63 | } 64 | 65 | -------------------------------------------------------------------------------- /drone_main_1.1/Core/Src/FIRFilter.c: -------------------------------------------------------------------------------- 1 | /* 2 | * FIRFilter.c 3 | * 4 | * Created on: Dec 1, 2022 5 | * Author: sahin 6 | */ 7 | 8 | #include "FIRFilter.h" 9 | 10 | static float FIR_IMPULSE_RESPONSE[FIR_FILTER_LENGTH] = {0.1f, 0.1f, 0.1f, 0.1f, 0.1f, 0.1f, 0.1f, 0.1f, 0.1f, 0.1f}; 11 | 12 | 13 | void FIRFilter_Init(FIRFilter *fir) { 14 | 15 | /* Clear filter buffer */ 16 | for (uint8_t n = 0; n < FIR_FILTER_LENGTH; n++) { 17 | 18 | fir->buf[n] = 0.0f; 19 | 20 | } 21 | 22 | /* Reset buffer index */ 23 | fir->bufIndex = 0; 24 | 25 | /* Clear filter output */ 26 | fir->out = 0.0f; 27 | 28 | } 29 | 30 | float FIRFilter_Update(FIRFilter *fir, float inp) { 31 | 32 | /* Store latest sample in buffer */ 33 | fir->buf[fir->bufIndex] = inp; 34 | 35 | /* Increment buffer index and wrap around if necessary */ 36 | fir->bufIndex++; 37 | 38 | if (fir->bufIndex == FIR_FILTER_LENGTH) { 39 | 40 | fir->bufIndex = 0; 41 | 42 | } 43 | 44 | /* Compute new output sample (via convolution) */ 45 | fir->out = 0.0f; 46 | 47 | uint8_t sumIndex = fir->bufIndex; 48 | 49 | for (uint8_t n = 0; n < FIR_FILTER_LENGTH; n++) { 50 | 51 | /* Decrement index and wrap if necessary */ 52 | if (sumIndex > 0) { 53 | 54 | sumIndex--; 55 | 56 | } else { 57 | 58 | sumIndex = FIR_FILTER_LENGTH - 1; 59 | 60 | } 61 | 62 | /* Multiply impulse response with shifted input sample and add to output */ 63 | fir->out += FIR_IMPULSE_RESPONSE[n] * fir->buf[sumIndex]; 64 | 65 | } 66 | 67 | /* Return filtered output */ 68 | return fir->out; 69 | 70 | } 71 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # STM32-Based-Quadcopter-Flight-Controller-Software 2 | This is a quadcopter flight controller software developed by me for undergraduate graduation project. The project is written in C language and STM32CubeIDE was used. 3 | 4 | Flight Software Has The Following Features: 5 | 1) Angle Mode Flight 6 | 2) GPS & Altitude Hold Flight (In Order To Compansate Position and Altitude Drift For Image Processing) 7 | 3) Go To a Single GPS Point Function (Not Working So Properly Right Now) 8 | 4) Telemetry Module Sending the Status Data of Quad (My Teammate Will Share the Source Codes of The Ground Station Software Soon) 9 | 5) Fail-safe (In Case of Connection Loss Between MCU and Transmitter, Motors Stop) 10 | 6) Independent Watchdog Timer (So You Can Add Code and Check If It Will Exceed Normal Runtime of The Loop) 11 | 7) Calibration Processes for Magnetometer, Gyroscope&Accelerometer. 12 | 8) Battery Voltage Observation 13 | 9) Driver for MPU6050, MS5611,U-Blox M8N GPS, HMC5883L Compass 14 | 10) Flight Logging: If Enabled, Flight Log Data Such as Gyro Data, Compass Data, Barometer and GPS Data is Written Into Embedded Flash of the Microcontroller (Embedded Flash Then Can Be Read and Flight Log Data Plotted via MATLAB Script That We Will Share Soon) 15 | 16 | Note: Detailed documentation and a guidance about how you can deploy the code to your microcontroller will be added soon. 17 | 18 | See the videos of the quad in following channel: https://www.youtube.com/@sahinduran66 19 | 20 | Note: You may find the circuit schematics in the circuit folder. Credit: Şeyda Nur KAS 21 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/USB_DEVICE/Target/subdir.mk: -------------------------------------------------------------------------------- 1 | ################################################################################ 2 | # Automatically-generated file. Do not edit! 3 | # Toolchain: GNU Tools for STM32 (10.3-2021.10) 4 | ################################################################################ 5 | 6 | # Add inputs and outputs from these tool invocations to the build variables 7 | C_SRCS += \ 8 | ../USB_DEVICE/Target/usbd_conf.c 9 | 10 | OBJS += \ 11 | ./USB_DEVICE/Target/usbd_conf.o 12 | 13 | C_DEPS += \ 14 | ./USB_DEVICE/Target/usbd_conf.d 15 | 16 | 17 | # Each subdirectory must supply rules for building sources it contributes 18 | USB_DEVICE/Target/%.o USB_DEVICE/Target/%.su: ../USB_DEVICE/Target/%.c USB_DEVICE/Target/subdir.mk 19 | arm-none-eabi-gcc "$<" -mcpu=cortex-m4 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F413xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I../USB_DEVICE/App -I../USB_DEVICE/Target -I../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@" 20 | 21 | clean: clean-USB_DEVICE-2f-Target 22 | 23 | clean-USB_DEVICE-2f-Target: 24 | -$(RM) ./USB_DEVICE/Target/usbd_conf.d ./USB_DEVICE/Target/usbd_conf.o ./USB_DEVICE/Target/usbd_conf.su 25 | 26 | .PHONY: clean-USB_DEVICE-2f-Target 27 | 28 | -------------------------------------------------------------------------------- /drone_main_1.1/Core/Src/gy63-i2c.h: -------------------------------------------------------------------------------- 1 | /* 2 | * gy63-i2c.h 3 | * 4 | * Created on: Feb 10, 2023 5 | * Author: Administrator 6 | */ 7 | 8 | #ifndef SRC_GY63_I2C_H_ 9 | #define SRC_GY63_I2C_H_ 10 | struct GY63_t { 11 | uint16_t C[8]; 12 | uint32_t D1,D2; 13 | int32_t dT; 14 | int64_t TEMP; 15 | float float_TEMP; 16 | int32_t P; 17 | float float_P; 18 | int64_t OFF; 19 | int64_t SENS; 20 | float ALT; 21 | float GROUND; 22 | int64_t T2; 23 | int64_t OFF2; 24 | int64_t SENS2; 25 | 26 | }; 27 | 28 | 29 | //Register mapı bulan aasyalı kardeşimize teşekkürler ♥ 定义器件在IIC总线中的从地址 30 | 31 | 32 | #define MS5611_RST 0x1E 33 | 34 | #define MS5611_D1_OSR_256 0x40 35 | #define MS5611_D1_OSR_512 0x42 36 | #define MS5611_D1_OSR_1024 0x44 37 | #define MS5611_D1_OSR_2048 0x46 38 | #define MS5611_D1_OSR_4096 0x48 39 | 40 | #define MS5611_D2_OSR_256 0x50 41 | #define MS5611_D2_OSR_512 0x52 42 | #define MS5611_D2_OSR_1024 0x54 43 | #define MS5611_D2_OSR_2048 0x56 44 | #define MS5611_D2_OSR_4096 0x58 45 | 46 | #define MS5611_ADC_RD 0x00 47 | #define MS5611_PROM_RD 0xA0 48 | #define MS5611_PROM_CRC 0xAE 49 | 50 | void MS5611_Initilize(); 51 | void MS5611_Reset(); 52 | void MS5611_ReadPROM(); 53 | void MS5611_ReadPressure(); 54 | void MS5611_ReadTemperature(); 55 | void MS5611_ReadAltitude1(); 56 | void MS5611_ReadAltitude2(); 57 | void MS5611_StartCommunication(); 58 | void MS5611_StopCommunication(); 59 | void MS5611_Request_Pressure(); 60 | void MS5611_Request_Temp(); 61 | void MS5611_setMyGround(); 62 | void baro_read(); 63 | 64 | 65 | #endif /* SRC_GY63_I2C_H_ */ 66 | -------------------------------------------------------------------------------- /drone_main_1.1/Core/Src/pid.c: -------------------------------------------------------------------------------- 1 | /* 2 | * pid.c 3 | * 4 | * Created on: 24 Kas 2022 5 | * Author: sahin 6 | */ 7 | #define MAX_CONTROL_SIGNAL 400 8 | #define MIN_CONTROL_SIGNAL -400 9 | #include "pid.h" 10 | 11 | double getControlSignal(double error, double kp, double ki, double kd, double* pid_i, double* last_error, double delta_time_in_seconds) 12 | { 13 | double pid_p = error; 14 | double pid_d = (error - *last_error); 15 | *pid_i += error ; 16 | if(*pid_i>100)*pid_i=100; // anti wind-up precaution 17 | if(*pid_i<-100)*pid_i=-100; // anti wind-up precaution 18 | double control_signal = (kp * pid_p) + (ki * (*pid_i)) + (kd * pid_d); 19 | *last_error = error; 20 | 21 | 22 | if(control_signal>MAX_CONTROL_SIGNAL) 23 | return MAX_CONTROL_SIGNAL; 24 | else if (control_signal50/ki)*pid_i=50/ki; // anti wind-up precaution 37 | if(*pid_i<-50/ki)*pid_i=-50/ki; // anti wind-up precaution 38 | double control_signal = (kp * pid_p) + (ki * (*pid_i)) + (kd * pid_d); 39 | *last_error = error; 40 | 41 | 42 | if(control_signal>MAX_CONTROL_SIGNAL) 43 | return MAX_CONTROL_SIGNAL; 44 | else if (control_signal 13 | #include "main.h" 14 | #include 15 | 16 | // MPU6050 structure 17 | typedef struct { 18 | 19 | int16_t Accel_X_RAW; 20 | int16_t Accel_Y_RAW; 21 | int16_t Accel_Z_RAW; 22 | double Ax; 23 | double Ay; 24 | double Az; 25 | 26 | int16_t Gyro_X_RAW; 27 | int16_t Gyro_Y_RAW; 28 | int16_t Gyro_Z_RAW; 29 | double Gx; 30 | double Gy; 31 | double Gz; 32 | 33 | float Accel_X_Raw_Offset,Accel_Y_Raw_Offset,Accel_Z_Raw_Rate; 34 | float Temperature; 35 | 36 | double yaw_calibration_value; 37 | double roll_calibration_value; 38 | double pitch_calibration_value; 39 | float temp_calibration_value; 40 | 41 | double acc_total_vector ,angle_pitch_acc , angle_roll_acc ; 42 | double angle_pitch,angle_roll,angle_yaw; 43 | float angle_pitch_acc_calib,angle_roll_acc_calib; 44 | float accel_in_z,velocity_in_z; 45 | double Accel_Z_Calib; 46 | 47 | 48 | } MPU6050_t; 49 | 50 | 51 | 52 | //void update_filter(float input); 53 | 54 | void MPU6050_Read_All(I2C_HandleTypeDef *I2Cx, MPU6050_t *DataStruct); 55 | 56 | 57 | bool calibrate_yaw(I2C_HandleTypeDef *I2Cx, MPU6050_t *DataStruct); 58 | bool calibrate_ACC(I2C_HandleTypeDef *I2Cx, MPU6050_t *DataStruct); 59 | uint8_t MPU6050_Init_Benim(I2C_HandleTypeDef *I2Cx); 60 | void MPU6050_Read_All_Benim(I2C_HandleTypeDef *I2Cx, MPU6050_t *DataStruct); 61 | void calibrate_mpu6050(); 62 | 63 | #endif /* SRC_MPU6050_H_ */ 64 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.su: -------------------------------------------------------------------------------- 1 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c:146:19:HAL_ADCEx_InjectedStart 32 static 2 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c:249:19:HAL_ADCEx_InjectedStart_IT 32 static 3 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c:360:19:HAL_ADCEx_InjectedStop 24 static 4 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c:414:19:HAL_ADCEx_InjectedPollForConversion 24 static 5 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c:485:19:HAL_ADCEx_InjectedStop_IT 24 static 6 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c:547:10:HAL_ADCEx_InjectedGetValue 24 static 7 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c:598:19:HAL_ADCEx_MultiModeStart_DMA 32 static 8 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c:725:19:HAL_ADCEx_MultiModeStop_DMA 24 static 9 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c:778:10:HAL_ADCEx_MultiModeGetValue 24 static 10 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c:797:13:HAL_ADCEx_InjectedConvCpltCallback 16 static 11 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c:814:19:HAL_ADCEx_InjectedConfigChannel 24 static 12 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c:978:19:HAL_ADCEx_MultiModeConfigChannel 24 static 13 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c:1025:13:ADC_MultiModeDMAConvCplt 24 static 14 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c:1078:13:ADC_MultiModeDMAHalfConvCplt 24 static 15 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c:1091:13:ADC_MultiModeDMAError 24 static 16 | -------------------------------------------------------------------------------- /drone_main_1.1/Core/Src/log_to_flash.h: -------------------------------------------------------------------------------- 1 | /* 2 | * log_to_flash.h 3 | * 4 | * Created on: Feb 25, 2023 5 | * Author: sahin 6 | */ 7 | 8 | #ifndef SRC_LOG_TO_FLASH_H_ 9 | #define SRC_LOG_TO_FLASH_H_ 10 | 11 | #include "main.h" 12 | 13 | #define PACKET_SIZE 34 14 | #define Sector5_Address 0x08020000 // - 0x0803 FFFF 128 Kbyte 15 | #define Sector6_Address 0x08040000 // - 0x0805 FFFF 128 Kbyte 16 | #define Sector7_Address 0x08060000 // - 0x0807 FFFF 128 Kbyte 17 | #define Sector8_Address 0x08080000 // - 0x0809 FFFF 128 Kbyte 18 | #define Sector9_Address 0x080A0000 // - 0x080B FFFF 128 Kbyte 19 | #define Sector10_Address 0x080C0000 // - 0x080D FFFF 128 Kbyte 20 | #define Sector11_Address 0x080E0000 // - 0x080F FFFF 128 Kbyte 21 | #define Sector12_Address 0x080100000 // - 0x0811 FFFF 128 Kbyte 22 | #define Sector13_Address 0x08120000 // - 0x0813 FFFF 128 Kbyte 23 | #define Sector14_Address 0x08140000 // - 0x0815 FFFF 128 Kbyte 24 | #define Sector15_Address 0x08160000 // - 0x0817 FFFF 128 Kbyte 25 | 26 | 27 | 28 | void flash_write_calib_data_byte(uint8_t* data_ptr,uint16_t data_amount); 29 | void flash_write_calib_data_four_byte(uint32_t* data_ptr,uint16_t data_amount); 30 | void flash_write_calib_data_compass(uint32_t* data_ptr,uint16_t data_amount); 31 | void read_calib_value(uint32_t Flash_address,uint8_t data_amount,float* calib_buffer); 32 | void flash_init_for_log(void); 33 | void flash_init_for_calibration(void); 34 | void fill_calibration_buffer(); 35 | void fill_calibration_buffer_compass(); 36 | void fill_calibration_buffer_uint(uint32_t* memory_data_buffer, float* calibration_data_ptr); 37 | 38 | uint8_t log_write(uint8_t *data, uint64_t *address_counter); 39 | 40 | 41 | 42 | #endif /* SRC_LOG_TO_FLASH_H_ */ 43 | -------------------------------------------------------------------------------- /drone_main_1.1/Core/Src/gps.h: -------------------------------------------------------------------------------- 1 | /* 2 | * gps.h 3 | * 4 | * Created on: Mar 18, 2023 5 | * Author: sahin 6 | */ 7 | 8 | #ifndef SRC_GPS_H_ 9 | #define SRC_GPS_H_ 10 | 11 | int gps_decode(uint8_t *message,uint32_t*latitude,uint32_t *longitude); 12 | int gps_init(); 13 | int is_gps_connected(); 14 | void calc_gps(double x1,double y1,double x2,double y2,double *result); 15 | #include "main.h" 16 | #include 17 | //uint8_t disable_GLL[]={0xB5 ,0x62 ,0x06 ,0x01 ,0x03 ,0x00 ,0xF0 ,0x01 ,0x00 ,0xFB ,0x11}; 18 | //uint8_t disable_GSA[]={0xB5, 0x62, 0x06 ,0x01 ,0x03, 0x00, 0xF0 ,0x02 ,0x00 ,0xFC, 0x13}; 19 | //uint8_t disable_GSV[]={0xB5, 0x62 ,0x06, 0x01, 0x03 ,0x00 ,0xF0, 0x03, 0x00 ,0xFD ,0x15}; 20 | //uint8_t disable_RMC[]={0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xF0 ,0x04 ,0x00 ,0xFE, 0x17}; 21 | //uint8_t disable_VTG[]={0xB5, 0x62 ,0x06 ,0x01 ,0x03 ,0x00 ,0xF0 ,0x05 ,0x00 ,0xFF ,0x19}; 22 | //uint8_t disable_GGA[]={0xB5, 0x62 ,0x06 ,0x01 ,0x03 ,0x00 ,0xF0 ,0x00 ,0x00 ,0xFA ,0x0F}; 23 | //uint8_t enable_UBX[]={0xB5, 0x62 , 0x06, 0x01 ,0x03 ,0x00 ,0x01 ,0x07, 0x01,0x13 ,0x51}; 24 | //uint8_t uart_115200[]={0xB5, 0x62, 0x06, 0x00, 0x14, 0x00, 0x01, 0x00, 0x00, 0x00, 0xD0, 0x08, 0x00, 0x00, 0x00, 0xC2, 0x01, 0x00, 0x07, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0xC0, 0x7E}; 25 | //uint8_t HZ_10[]={0xB5, 0x62, 0x06, 0x08, 0x06, 0x00, 0x64, 0x00, 0x01, 0x00, 0x01 ,0x00, 0x7A, 0x12}; 26 | //B5 62 06 01 03 00 01 07 01 13 51 27 | char message[] = "$GNGGA,123519,4807.038,N,2113.000,E,1,08,0.9,545.4,M,46.9,M,,*42"; 28 | char *Lat[2]; 29 | char *Lon[2]; 30 | char *Lat_1; 31 | char *Lat_2; 32 | char *Lon_1; 33 | char *Lon_2; 34 | char *delp; 35 | uint32_t latitude,longitude; 36 | int cnt_gps=0; 37 | 38 | 39 | 40 | 41 | #endif /* SRC_GPS_H_ */ 42 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.su: -------------------------------------------------------------------------------- 1 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c:154:19:HAL_FLASH_Program 32 static 2 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c:212:19:HAL_FLASH_Program_IT 32 static 3 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c:259:6:HAL_FLASH_IRQHandler 16 static 4 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c:382:13:HAL_FLASH_EndOfOperationCallback 16 static 5 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c:399:13:HAL_FLASH_OperationErrorCallback 16 static 6 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c:431:19:HAL_FLASH_Unlock 16 static 7 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c:455:19:HAL_FLASH_Lock 4 static 8 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c:467:19:HAL_FLASH_OB_Unlock 4 static 9 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c:487:19:HAL_FLASH_OB_Lock 4 static 10 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c:499:19:HAL_FLASH_OB_Launch 8 static 11 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c:536:10:HAL_FLASH_GetError 4 static 12 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c:550:19:FLASH_WaitForLastOperation 24 static 13 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c:610:13:FLASH_Program_DoubleWord 24 static,ignoring_inline_asm 14 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c:644:13:FLASH_Program_Word 16 static 15 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c:669:13:FLASH_Program_HalfWord 16 static 16 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c:694:13:FLASH_Program_Byte 16 static 17 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c:711:13:FLASH_SetErrorCode 4 static 18 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.su: -------------------------------------------------------------------------------- 1 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c:90:6:HAL_PWR_DeInit 4 static 2 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c:108:6:HAL_PWR_EnableBkUpAccess 16 static 3 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c:128:6:HAL_PWR_DisableBkUpAccess 16 static 4 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c:266:6:HAL_PWR_ConfigPVD 16 static 5 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c:309:6:HAL_PWR_EnablePVD 4 static 6 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c:318:6:HAL_PWR_DisablePVD 4 static 7 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c:332:6:HAL_PWR_EnableWakeUpPin 16 static 8 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c:350:6:HAL_PWR_DisableWakeUpPin 16 static 9 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c:379:6:HAL_PWR_EnterSLEEPMode 16 static,ignoring_inline_asm 10 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c:422:6:HAL_PWR_EnterSTOPMode 16 static,ignoring_inline_asm 11 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c:461:6:HAL_PWR_EnterSTANDBYMode 4 static,ignoring_inline_asm 12 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c:482:6:HAL_PWR_PVD_IRQHandler 8 static 13 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c:499:13:HAL_PWR_PVDCallback 4 static 14 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c:514:6:HAL_PWR_EnableSleepOnExit 4 static 15 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c:526:6:HAL_PWR_DisableSleepOnExit 4 static 16 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c:538:6:HAL_PWR_EnableSEVOnPend 4 static 17 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c:550:6:HAL_PWR_DisableSEVOnPend 4 static 18 | -------------------------------------------------------------------------------- /drone_main_1.1/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 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/objects.list: -------------------------------------------------------------------------------- 1 | "./Core/Src/adc_Battery.o" 2 | "./Core/Src/compass.o" 3 | "./Core/Src/e220.o" 4 | "./Core/Src/failsafe.o" 5 | "./Core/Src/gps.o" 6 | "./Core/Src/gy63-i2c.o" 7 | "./Core/Src/log_to_flash.o" 8 | "./Core/Src/main.o" 9 | "./Core/Src/mpu6050.o" 10 | "./Core/Src/pid.o" 11 | "./Core/Src/pwm_esc.o" 12 | "./Core/Src/receiver.o" 13 | "./Core/Src/stm32f4xx_hal_msp.o" 14 | "./Core/Src/stm32f4xx_it.o" 15 | "./Core/Src/syscalls.o" 16 | "./Core/Src/sysmem.o" 17 | "./Core/Src/system_stm32f4xx.o" 18 | "./Core/Startup/startup_stm32f413zhtx.o" 19 | "./Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.o" 20 | "./Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.o" 21 | "./Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.o" 22 | "./Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.o" 23 | "./Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.o" 24 | "./Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.o" 25 | "./Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.o" 26 | "./Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.o" 27 | "./Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.o" 28 | "./Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.o" 29 | "./Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.o" 30 | "./Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.o" 31 | "./Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.o" 32 | "./Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_iwdg.o" 33 | "./Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.o" 34 | "./Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.o" 35 | "./Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.o" 36 | "./Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.o" 37 | "./Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.o" 38 | "./Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.o" 39 | "./Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.o" 40 | "./Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_adc.o" 41 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/USB_DEVICE/App/subdir.mk: -------------------------------------------------------------------------------- 1 | ################################################################################ 2 | # Automatically-generated file. Do not edit! 3 | # Toolchain: GNU Tools for STM32 (10.3-2021.10) 4 | ################################################################################ 5 | 6 | # Add inputs and outputs from these tool invocations to the build variables 7 | C_SRCS += \ 8 | ../USB_DEVICE/App/usb_device.c \ 9 | ../USB_DEVICE/App/usbd_cdc_if.c \ 10 | ../USB_DEVICE/App/usbd_desc.c 11 | 12 | OBJS += \ 13 | ./USB_DEVICE/App/usb_device.o \ 14 | ./USB_DEVICE/App/usbd_cdc_if.o \ 15 | ./USB_DEVICE/App/usbd_desc.o 16 | 17 | C_DEPS += \ 18 | ./USB_DEVICE/App/usb_device.d \ 19 | ./USB_DEVICE/App/usbd_cdc_if.d \ 20 | ./USB_DEVICE/App/usbd_desc.d 21 | 22 | 23 | # Each subdirectory must supply rules for building sources it contributes 24 | USB_DEVICE/App/%.o USB_DEVICE/App/%.su: ../USB_DEVICE/App/%.c USB_DEVICE/App/subdir.mk 25 | arm-none-eabi-gcc "$<" -mcpu=cortex-m4 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F413xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I../USB_DEVICE/App -I../USB_DEVICE/Target -I../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@" 26 | 27 | clean: clean-USB_DEVICE-2f-App 28 | 29 | clean-USB_DEVICE-2f-App: 30 | -$(RM) ./USB_DEVICE/App/usb_device.d ./USB_DEVICE/App/usb_device.o ./USB_DEVICE/App/usb_device.su ./USB_DEVICE/App/usbd_cdc_if.d ./USB_DEVICE/App/usbd_cdc_if.o ./USB_DEVICE/App/usbd_cdc_if.su ./USB_DEVICE/App/usbd_desc.d ./USB_DEVICE/App/usbd_desc.o ./USB_DEVICE/App/usbd_desc.su 31 | 32 | .PHONY: clean-USB_DEVICE-2f-App 33 | 34 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/subdir.mk: -------------------------------------------------------------------------------- 1 | ################################################################################ 2 | # Automatically-generated file. Do not edit! 3 | # Toolchain: GNU Tools for STM32 (10.3-2021.10) 4 | ################################################################################ 5 | 6 | # Add inputs and outputs from these tool invocations to the build variables 7 | C_SRCS += \ 8 | ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c 9 | 10 | OBJS += \ 11 | ./Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.o 12 | 13 | C_DEPS += \ 14 | ./Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.d 15 | 16 | 17 | # Each subdirectory must supply rules for building sources it contributes 18 | Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/%.o Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/%.su: ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/%.c Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/subdir.mk 19 | arm-none-eabi-gcc "$<" -mcpu=cortex-m4 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F413xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I../USB_DEVICE/App -I../USB_DEVICE/Target -I../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@" 20 | 21 | clean: clean-Middlewares-2f-ST-2f-STM32_USB_Device_Library-2f-Class-2f-CDC-2f-Src 22 | 23 | clean-Middlewares-2f-ST-2f-STM32_USB_Device_Library-2f-Class-2f-CDC-2f-Src: 24 | -$(RM) ./Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.d ./Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.o ./Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.su 25 | 26 | .PHONY: clean-Middlewares-2f-ST-2f-STM32_USB_Device_Library-2f-Class-2f-CDC-2f-Src 27 | 28 | -------------------------------------------------------------------------------- /drone_main_1.1/Core/Src/e220.h: -------------------------------------------------------------------------------- 1 | /* 2 | * e220.h 3 | * 4 | * Created on: Feb 18, 2023 5 | * Author: sahin 6 | */ 7 | 8 | #ifndef SRC_E220_H_ 9 | #define SRC_E220_H_ 10 | 11 | 12 | #include "main.h" 13 | 14 | 15 | struct LoRa_Handler{ 16 | UART_HandleTypeDef *uart_handler; 17 | GPIO_TypeDef *M_GPIO_PORT; 18 | GPIO_TypeDef *AUX_GPIO_PORT; 19 | uint16_t M0_PIN; 20 | uint16_t M1_PIN; 21 | uint16_t MAUX_PIN; 22 | 23 | }; 24 | 25 | #define CMD_SET_REG 0xC0 // COMMAND FOR SETTING REGISTER 26 | #define CMD_READ_REG 0xC1 // COMMAND FOR READING REGISTER 27 | #define REG_ADD_H 0x0 // DEVICE ADDRESS HIGH BYTE 28 | #define REG_ADD_L 0x1 // DEVICE ADDRESS LOW BYTE 29 | #define REG0 0x2 // UART CONFIGURATION REGISTER 30 | #define REG1 0x3 // RF CONFIGURATION REGISTER 31 | #define REG2 0x4 // CHANNEL CONTROL 32 | #define REG3 0x5 // TRANSMISSION PARAMETER CONTROL 33 | #define KEY_H 0x6 // PASSWORD KEY HIGH BYTE 34 | #define KEY_L 0x7 // PASSWORD KEY LOW BYTE 35 | 36 | int8_t E220_read_register(struct LoRa_Handler *LoRa,uint8_t reg); 37 | int8_t E220_write_register(struct LoRa_Handler *LoRa,uint8_t reg,uint8_t parameter); 38 | int8_t E220_enter_config_mode(struct LoRa_Handler *LoRa); 39 | int8_t E220_read_register_all(struct LoRa_Handler *LoRa,uint8_t *data); 40 | int8_t E220_enter_normal_mode(struct LoRa_Handler *LoRa); 41 | int8_t E220_transmit_payload(struct LoRa_Handler *LoRa,uint8_t *data,uint8_t datasize); 42 | int8_t E220_transmit_payload_DMA(struct LoRa_Handler *LoRa,uint8_t *data,uint8_t datasize); 43 | int8_t E220_transmit_payload_DMA_v2(struct LoRa_Handler *LoRa,uint8_t *data,uint8_t datasize); 44 | int8_t E220_receive_payload(struct LoRa_Handler *LoRa,uint8_t *data,uint8_t datasize); 45 | int8_t E220_receive_payload_DMA(struct LoRa_Handler *LoRa,uint8_t *data,uint8_t datasize); 46 | int8_t E220_set_packetsize_32k(struct LoRa_Handler *LoRa); 47 | int8_t E220_set_datarate_62k(struct LoRa_Handler *LoRa); 48 | void E220_init_declare_pins(struct LoRa_Handler *LoRa, GPIO_TypeDef *M_GPIO_PORT, 49 | GPIO_TypeDef *AUX_GPIO_PORT, uint16_t M0_PIN,uint16_t M1_PIN,uint16_t MAUX_PIN, 50 | UART_HandleTypeDef *uart_handler); 51 | 52 | void E220_reset(struct LoRa_Handler *LoRa); 53 | 54 | 55 | #endif /* SRC_E220_H_ */ 56 | -------------------------------------------------------------------------------- /drone_main_1.1/.settings/language.settings.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.su: -------------------------------------------------------------------------------- 1 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c:160:19:HAL_FLASHEx_Erase 24 static 2 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c:231:19:HAL_FLASHEx_Erase_IT 24 static 3 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c:284:19:HAL_FLASHEx_OBProgram 24 static 4 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c:343:6:HAL_FLASHEx_OBGetConfig 16 static 5 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c:372:19:HAL_FLASHEx_AdvOBProgram 24 static 6 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c:428:6:HAL_FLASHEx_AdvOBGetConfig 16 static 7 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c:460:19:HAL_FLASHEx_OB_SelectPCROP 16 static 8 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c:485:19:HAL_FLASHEx_OB_DeSelectPCROP 16 static 9 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c:951:13:FLASH_MassErase 16 static 10 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c:980:6:FLASH_Erase_Sector 24 static 11 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c:1030:26:FLASH_OB_EnableWRP 24 static 12 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c:1066:26:FLASH_OB_DisableWRP 24 static 13 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c:1099:26:FLASH_OB_EnablePCROP 24 static 14 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c:1127:26:FLASH_OB_DisablePCROP 24 static 15 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c:1160:26:FLASH_OB_RDP_LevelConfig 24 static 16 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c:1194:26:FLASH_OB_UserConfig 24 static 17 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c:1229:26:FLASH_OB_BOR_LevelConfig 16 static 18 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c:1247:16:FLASH_OB_GetUser 4 static 19 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c:1257:17:FLASH_OB_GetWRP 4 static 20 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c:1271:16:FLASH_OB_GetRDP 16 static 21 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c:1299:16:FLASH_OB_GetBOR 4 static 22 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c:1309:6:FLASH_FlushCaches 4 static 23 | -------------------------------------------------------------------------------- /drone_main_1.1/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) 2023 STMicroelectronics. 10 | * All rights reserved. 11 | * 12 | * This software is licensed under terms that can be found in the LICENSE file 13 | * in the root directory of this software component. 14 | * If no LICENSE file comes with this software, it is provided AS-IS. 15 | * 16 | ****************************************************************************** 17 | */ 18 | /* USER CODE END Header */ 19 | 20 | /* Define to prevent recursive inclusion -------------------------------------*/ 21 | #ifndef __STM32F4xx_IT_H 22 | #define __STM32F4xx_IT_H 23 | 24 | #ifdef __cplusplus 25 | extern "C" { 26 | #endif 27 | 28 | /* Private includes ----------------------------------------------------------*/ 29 | /* USER CODE BEGIN Includes */ 30 | 31 | /* USER CODE END Includes */ 32 | 33 | /* Exported types ------------------------------------------------------------*/ 34 | /* USER CODE BEGIN ET */ 35 | 36 | /* USER CODE END ET */ 37 | 38 | /* Exported constants --------------------------------------------------------*/ 39 | /* USER CODE BEGIN EC */ 40 | 41 | /* USER CODE END EC */ 42 | 43 | /* Exported macro ------------------------------------------------------------*/ 44 | /* USER CODE BEGIN EM */ 45 | 46 | /* USER CODE END EM */ 47 | 48 | /* Exported functions prototypes ---------------------------------------------*/ 49 | void NMI_Handler(void); 50 | void HardFault_Handler(void); 51 | void MemManage_Handler(void); 52 | void BusFault_Handler(void); 53 | void UsageFault_Handler(void); 54 | void SVC_Handler(void); 55 | void DebugMon_Handler(void); 56 | void PendSV_Handler(void); 57 | void SysTick_Handler(void); 58 | void DMA1_Stream0_IRQHandler(void); 59 | void DMA1_Stream1_IRQHandler(void); 60 | void DMA1_Stream5_IRQHandler(void); 61 | void DMA1_Stream7_IRQHandler(void); 62 | void UART5_IRQHandler(void); 63 | void DMA2_Stream0_IRQHandler(void); 64 | void DMA2_Stream2_IRQHandler(void); 65 | /* USER CODE BEGIN EFP */ 66 | 67 | /* USER CODE END EFP */ 68 | 69 | #ifdef __cplusplus 70 | } 71 | #endif 72 | 73 | #endif /* __STM32F4xx_IT_H */ 74 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.su: -------------------------------------------------------------------------------- 1 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c:157:19:HAL_Init 8 static 2 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c:190:19:HAL_DeInit 8 static 3 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c:219:13:HAL_MspInit 4 static 4 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c:230:13:HAL_MspDeInit 4 static 5 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c:253:26:HAL_InitTick 16 static 6 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c:312:13:HAL_IncTick 4 static 7 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c:323:17:HAL_GetTick 4 static 8 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c:332:10:HAL_GetTickPrio 4 static 9 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c:341:19:HAL_SetTickFreq 24 static 10 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c:373:21:HAL_GetTickFreq 4 static 11 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c:389:13:HAL_Delay 24 static 12 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c:415:13:HAL_SuspendTick 4 static 13 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c:431:13:HAL_ResumeTick 4 static 14 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c:441:10:HAL_GetHalVersion 4 static 15 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c:450:10:HAL_GetREVID 4 static 16 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c:459:10:HAL_GetDEVID 4 static 17 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c:468:6:HAL_DBGMCU_EnableDBGSleepMode 4 static 18 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c:477:6:HAL_DBGMCU_DisableDBGSleepMode 4 static 19 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c:486:6:HAL_DBGMCU_EnableDBGStopMode 4 static 20 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c:495:6:HAL_DBGMCU_DisableDBGStopMode 4 static 21 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c:504:6:HAL_DBGMCU_EnableDBGStandbyMode 4 static 22 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c:513:6:HAL_DBGMCU_DisableDBGStandbyMode 4 static 23 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c:524:6:HAL_EnableCompensationCell 4 static 24 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c:535:6:HAL_DisableCompensationCell 4 static 25 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c:544:10:HAL_GetUIDw0 4 static 26 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c:553:10:HAL_GetUIDw1 4 static 27 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c:562:10:HAL_GetUIDw2 4 static 28 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.su: -------------------------------------------------------------------------------- 1 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c:311:19:HAL_ADC_Init 24 static 2 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c:405:19:HAL_ADC_DeInit 24 static 3 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c:662:13:HAL_ADC_MspInit 16 static 4 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c:677:13:HAL_ADC_MspDeInit 16 static 5 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c:716:19:HAL_ADC_Start 24 static 6 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c:839:19:HAL_ADC_Stop 16 static 7 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c:882:19:HAL_ADC_PollForConversion 24 static 8 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c:971:19:HAL_ADC_PollForEvent 32 static 9 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c:1037:19:HAL_ADC_Start_IT 24 static 10 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c:1162:19:HAL_ADC_Stop_IT 16 static 11 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c:1199:6:HAL_ADC_IRQHandler 32 static 12 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c:1364:19:HAL_ADC_Start_DMA 32 static 13 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c:1512:19:HAL_ADC_Stop_DMA 24 static 14 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c:1568:10:HAL_ADC_GetValue 16 static 15 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c:1580:13:HAL_ADC_ConvCpltCallback 16 static 16 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c:1595:13:HAL_ADC_ConvHalfCpltCallback 16 static 17 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c:1610:13:HAL_ADC_LevelOutOfWindowCallback 16 static 18 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c:1631:13:HAL_ADC_ErrorCallback 16 static 19 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c:1669:19:HAL_ADC_ConfigChannel 24 static 20 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c:1792:19:HAL_ADC_AnalogWDGConfig 16 static 21 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c:1874:10:HAL_ADC_GetState 16 static 22 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c:1886:10:HAL_ADC_GetError 16 static 23 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c:1906:13:ADC_Init 24 static 24 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c:1994:13:ADC_DMAConvCplt 24 static 25 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c:2063:13:ADC_DMAHalfConvCplt 24 static 26 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c:2080:13:ADC_DMAError 24 static 27 | -------------------------------------------------------------------------------- /drone_main_1.1/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 is licensed under terms that can be found in the LICENSE file in 13 | * the root directory of this software component. 14 | * If no LICENSE file comes with this software, it is provided AS-IS. 15 | ****************************************************************************** 16 | */ 17 | 18 | /* Define to prevent recursive inclusion -------------------------------------*/ 19 | #ifndef __STM32F4xx_FLASH_RAMFUNC_H 20 | #define __STM32F4xx_FLASH_RAMFUNC_H 21 | 22 | #ifdef __cplusplus 23 | extern "C" { 24 | #endif 25 | #if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) || defined(STM32F411xE) || defined(STM32F446xx) || defined(STM32F412Zx) ||\ 26 | defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) 27 | 28 | /* Includes ------------------------------------------------------------------*/ 29 | #include "stm32f4xx_hal_def.h" 30 | 31 | /** @addtogroup STM32F4xx_HAL_Driver 32 | * @{ 33 | */ 34 | 35 | /** @addtogroup FLASH_RAMFUNC 36 | * @{ 37 | */ 38 | 39 | /* Exported types ------------------------------------------------------------*/ 40 | /* Exported macro ------------------------------------------------------------*/ 41 | /* Exported functions --------------------------------------------------------*/ 42 | /** @addtogroup FLASH_RAMFUNC_Exported_Functions 43 | * @{ 44 | */ 45 | 46 | /** @addtogroup FLASH_RAMFUNC_Exported_Functions_Group1 47 | * @{ 48 | */ 49 | __RAM_FUNC HAL_StatusTypeDef HAL_FLASHEx_StopFlashInterfaceClk(void); 50 | __RAM_FUNC HAL_StatusTypeDef HAL_FLASHEx_StartFlashInterfaceClk(void); 51 | __RAM_FUNC HAL_StatusTypeDef HAL_FLASHEx_EnableFlashSleepMode(void); 52 | __RAM_FUNC HAL_StatusTypeDef HAL_FLASHEx_DisableFlashSleepMode(void); 53 | /** 54 | * @} 55 | */ 56 | 57 | /** 58 | * @} 59 | */ 60 | 61 | /** 62 | * @} 63 | */ 64 | 65 | /** 66 | * @} 67 | */ 68 | 69 | #endif /* STM32F410xx || STM32F411xE || STM32F446xx || STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx */ 70 | #ifdef __cplusplus 71 | } 72 | #endif 73 | 74 | 75 | #endif /* __STM32F4xx_FLASH_RAMFUNC_H */ 76 | 77 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Middlewares/ST/STM32_USB_Device_Library/Core/Src/subdir.mk: -------------------------------------------------------------------------------- 1 | ################################################################################ 2 | # Automatically-generated file. Do not edit! 3 | # Toolchain: GNU Tools for STM32 (10.3-2021.10) 4 | ################################################################################ 5 | 6 | # Add inputs and outputs from these tool invocations to the build variables 7 | C_SRCS += \ 8 | ../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c \ 9 | ../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c \ 10 | ../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c 11 | 12 | OBJS += \ 13 | ./Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.o \ 14 | ./Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.o \ 15 | ./Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.o 16 | 17 | C_DEPS += \ 18 | ./Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.d \ 19 | ./Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.d \ 20 | ./Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.d 21 | 22 | 23 | # Each subdirectory must supply rules for building sources it contributes 24 | Middlewares/ST/STM32_USB_Device_Library/Core/Src/%.o Middlewares/ST/STM32_USB_Device_Library/Core/Src/%.su: ../Middlewares/ST/STM32_USB_Device_Library/Core/Src/%.c Middlewares/ST/STM32_USB_Device_Library/Core/Src/subdir.mk 25 | arm-none-eabi-gcc "$<" -mcpu=cortex-m4 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F413xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I../USB_DEVICE/App -I../USB_DEVICE/Target -I../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@" 26 | 27 | clean: clean-Middlewares-2f-ST-2f-STM32_USB_Device_Library-2f-Core-2f-Src 28 | 29 | clean-Middlewares-2f-ST-2f-STM32_USB_Device_Library-2f-Core-2f-Src: 30 | -$(RM) ./Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.d ./Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.o ./Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.su ./Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.d ./Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.o ./Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.su ./Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.d ./Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.o ./Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.su 31 | 32 | .PHONY: clean-Middlewares-2f-ST-2f-STM32_USB_Device_Library-2f-Core-2f-Src 33 | 34 | -------------------------------------------------------------------------------- /drone_main_1.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h: -------------------------------------------------------------------------------- 1 | /** 2 | ****************************************************************************** 3 | * @file system_stm32f4xx.h 4 | * @author MCD Application Team 5 | * @brief CMSIS Cortex-M4 Device System Source File for STM32F4xx devices. 6 | ****************************************************************************** 7 | * @attention 8 | * 9 | * Copyright (c) 2017 STMicroelectronics. 10 | * All rights reserved. 11 | * 12 | * This software is licensed under terms that can be found in the LICENSE file 13 | * in the root directory of this software component. 14 | * If no LICENSE file comes with this software, it is provided AS-IS. 15 | * 16 | ****************************************************************************** 17 | */ 18 | 19 | /** @addtogroup CMSIS 20 | * @{ 21 | */ 22 | 23 | /** @addtogroup stm32f4xx_system 24 | * @{ 25 | */ 26 | 27 | /** 28 | * @brief Define to prevent recursive inclusion 29 | */ 30 | #ifndef __SYSTEM_STM32F4XX_H 31 | #define __SYSTEM_STM32F4XX_H 32 | 33 | #ifdef __cplusplus 34 | extern "C" { 35 | #endif 36 | 37 | /** @addtogroup STM32F4xx_System_Includes 38 | * @{ 39 | */ 40 | 41 | /** 42 | * @} 43 | */ 44 | 45 | 46 | /** @addtogroup STM32F4xx_System_Exported_types 47 | * @{ 48 | */ 49 | /* This variable is updated in three ways: 50 | 1) by calling CMSIS function SystemCoreClockUpdate() 51 | 2) by calling HAL API function HAL_RCC_GetSysClockFreq() 52 | 3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency 53 | Note: If you use this function to configure the system clock; then there 54 | is no need to call the 2 first functions listed above, since SystemCoreClock 55 | variable is updated automatically. 56 | */ 57 | extern uint32_t SystemCoreClock; /*!< System Clock Frequency (Core Clock) */ 58 | 59 | extern const uint8_t AHBPrescTable[16]; /*!< AHB prescalers table values */ 60 | extern const uint8_t APBPrescTable[8]; /*!< APB prescalers table values */ 61 | 62 | /** 63 | * @} 64 | */ 65 | 66 | /** @addtogroup STM32F4xx_System_Exported_Constants 67 | * @{ 68 | */ 69 | 70 | /** 71 | * @} 72 | */ 73 | 74 | /** @addtogroup STM32F4xx_System_Exported_Macros 75 | * @{ 76 | */ 77 | 78 | /** 79 | * @} 80 | */ 81 | 82 | /** @addtogroup STM32F4xx_System_Exported_Functions 83 | * @{ 84 | */ 85 | 86 | extern void SystemInit(void); 87 | extern void SystemCoreClockUpdate(void); 88 | /** 89 | * @} 90 | */ 91 | 92 | #ifdef __cplusplus 93 | } 94 | #endif 95 | 96 | #endif /*__SYSTEM_STM32F4XX_H */ 97 | 98 | /** 99 | * @} 100 | */ 101 | 102 | /** 103 | * @} 104 | */ 105 | -------------------------------------------------------------------------------- /drone_main_1.1/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 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.su: -------------------------------------------------------------------------------- 1 | ../Drivers/CMSIS/Include/core_cm4.h:1657:22:__NVIC_SetPriorityGrouping 24 static 2 | ../Drivers/CMSIS/Include/core_cm4.h:1676:26:__NVIC_GetPriorityGrouping 4 static 3 | ../Drivers/CMSIS/Include/core_cm4.h:1688:22:__NVIC_EnableIRQ 16 static 4 | ../Drivers/CMSIS/Include/core_cm4.h:1724:22:__NVIC_DisableIRQ 16 static,ignoring_inline_asm 5 | ../Drivers/CMSIS/Include/core_cm4.h:1743:26:__NVIC_GetPendingIRQ 16 static 6 | ../Drivers/CMSIS/Include/core_cm4.h:1762:22:__NVIC_SetPendingIRQ 16 static 7 | ../Drivers/CMSIS/Include/core_cm4.h:1777:22:__NVIC_ClearPendingIRQ 16 static 8 | ../Drivers/CMSIS/Include/core_cm4.h:1794:26:__NVIC_GetActive 16 static 9 | ../Drivers/CMSIS/Include/core_cm4.h:1816:22:__NVIC_SetPriority 16 static 10 | ../Drivers/CMSIS/Include/core_cm4.h:1838:26:__NVIC_GetPriority 16 static 11 | ../Drivers/CMSIS/Include/core_cm4.h:1863:26:NVIC_EncodePriority 40 static 12 | ../Drivers/CMSIS/Include/core_cm4.h:1890:22:NVIC_DecodePriority 40 static 13 | ../Drivers/CMSIS/Include/core_cm4.h:1939:34:__NVIC_SystemReset 4 static,ignoring_inline_asm 14 | ../Drivers/CMSIS/Include/core_cm4.h:2022:26:SysTick_Config 16 static 15 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c:141:6:HAL_NVIC_SetPriorityGrouping 16 static 16 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c:163:6:HAL_NVIC_SetPriority 32 static 17 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c:185:6:HAL_NVIC_EnableIRQ 16 static 18 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c:201:6:HAL_NVIC_DisableIRQ 16 static 19 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c:214:6:HAL_NVIC_SystemReset 8 static 20 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c:227:10:HAL_SYSTICK_Config 16 static 21 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c:256:6:HAL_MPU_Disable 4 static,ignoring_inline_asm 22 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c:279:6:HAL_MPU_Enable 16 static,ignoring_inline_asm 23 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c:298:6:HAL_MPU_ConfigRegion 16 static 24 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c:342:10:HAL_NVIC_GetPriorityGrouping 8 static 25 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c:369:6:HAL_NVIC_GetPriority 24 static 26 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c:384:6:HAL_NVIC_SetPendingIRQ 16 static 27 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c:402:10:HAL_NVIC_GetPendingIRQ 16 static 28 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c:418:6:HAL_NVIC_ClearPendingIRQ 16 static 29 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c:435:10:HAL_NVIC_GetActive 16 static 30 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c:452:6:HAL_SYSTICK_CLKSourceConfig 16 static 31 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c:470:6:HAL_SYSTICK_IRQHandler 8 static 32 | ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c:479:13:HAL_SYSTICK_Callback 4 static 33 | -------------------------------------------------------------------------------- /drone_main_1.1/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) 2022 STMicroelectronics. 14 | * All rights reserved. 15 | * 16 | * This software is licensed under terms that can be found in the LICENSE file 17 | * in the root directory of this software component. 18 | * If no LICENSE file comes with this software, it is provided AS-IS. 19 | * 20 | ****************************************************************************** 21 | */ 22 | 23 | /* Includes */ 24 | #include 25 | #include 26 | 27 | /** 28 | * Pointer to the current high watermark of the heap usage 29 | */ 30 | static uint8_t *__sbrk_heap_end = NULL; 31 | 32 | /** 33 | * @brief _sbrk() allocates memory to the newlib heap and is used by malloc 34 | * and others from the C library 35 | * 36 | * @verbatim 37 | * ############################################################################ 38 | * # .data # .bss # newlib heap # MSP stack # 39 | * # # # # Reserved by _Min_Stack_Size # 40 | * ############################################################################ 41 | * ^-- RAM start ^-- _end _estack, RAM end --^ 42 | * @endverbatim 43 | * 44 | * This implementation starts allocating at the '_end' linker symbol 45 | * The '_Min_Stack_Size' linker symbol reserves a memory for the MSP stack 46 | * The implementation considers '_estack' linker symbol to be RAM end 47 | * NOTE: If the MSP stack, at any point during execution, grows larger than the 48 | * reserved size, please increase the '_Min_Stack_Size'. 49 | * 50 | * @param incr Memory size 51 | * @return Pointer to allocated memory 52 | */ 53 | void *_sbrk(ptrdiff_t incr) 54 | { 55 | extern uint8_t _end; /* Symbol defined in the linker script */ 56 | extern uint8_t _estack; /* Symbol defined in the linker script */ 57 | extern uint32_t _Min_Stack_Size; /* Symbol defined in the linker script */ 58 | const uint32_t stack_limit = (uint32_t)&_estack - (uint32_t)&_Min_Stack_Size; 59 | const uint8_t *max_heap = (uint8_t *)stack_limit; 60 | uint8_t *prev_heap_end; 61 | 62 | /* Initialize heap end at first call */ 63 | if (NULL == __sbrk_heap_end) 64 | { 65 | __sbrk_heap_end = &_end; 66 | } 67 | 68 | /* Protect heap from growing into the reserved MSP stack */ 69 | if (__sbrk_heap_end + incr > max_heap) 70 | { 71 | errno = ENOMEM; 72 | return (void *)-1; 73 | } 74 | 75 | prev_heap_end = __sbrk_heap_end; 76 | 77 | __sbrk_heap_end += incr; 78 | 79 | return (void *)prev_heap_end; 80 | } 81 | -------------------------------------------------------------------------------- /drone_main_1.1/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 is licensed under terms that can be found in the LICENSE file in 13 | * the root directory of this software component. 14 | * If no LICENSE file comes with this software, it is provided AS-IS. 15 | * 16 | ****************************************************************************** 17 | */ 18 | 19 | /* Define to prevent recursive inclusion -------------------------------------*/ 20 | #ifndef __STM32F4xx_HAL_DMA_EX_H 21 | #define __STM32F4xx_HAL_DMA_EX_H 22 | 23 | #ifdef __cplusplus 24 | extern "C" { 25 | #endif 26 | 27 | /* Includes ------------------------------------------------------------------*/ 28 | #include "stm32f4xx_hal_def.h" 29 | 30 | /** @addtogroup STM32F4xx_HAL_Driver 31 | * @{ 32 | */ 33 | 34 | /** @addtogroup DMAEx 35 | * @{ 36 | */ 37 | 38 | /* Exported types ------------------------------------------------------------*/ 39 | /** @defgroup DMAEx_Exported_Types DMAEx Exported Types 40 | * @brief DMAEx Exported types 41 | * @{ 42 | */ 43 | 44 | /** 45 | * @brief HAL DMA Memory definition 46 | */ 47 | typedef enum 48 | { 49 | MEMORY0 = 0x00U, /*!< Memory 0 */ 50 | MEMORY1 = 0x01U /*!< Memory 1 */ 51 | }HAL_DMA_MemoryTypeDef; 52 | 53 | /** 54 | * @} 55 | */ 56 | 57 | /* Exported functions --------------------------------------------------------*/ 58 | /** @defgroup DMAEx_Exported_Functions DMAEx Exported Functions 59 | * @brief DMAEx Exported functions 60 | * @{ 61 | */ 62 | 63 | /** @defgroup DMAEx_Exported_Functions_Group1 Extended features functions 64 | * @brief Extended features functions 65 | * @{ 66 | */ 67 | 68 | /* IO operation functions *******************************************************/ 69 | HAL_StatusTypeDef HAL_DMAEx_MultiBufferStart(DMA_HandleTypeDef *hdma, uint32_t SrcAddress, uint32_t DstAddress, uint32_t SecondMemAddress, uint32_t DataLength); 70 | HAL_StatusTypeDef HAL_DMAEx_MultiBufferStart_IT(DMA_HandleTypeDef *hdma, uint32_t SrcAddress, uint32_t DstAddress, uint32_t SecondMemAddress, uint32_t DataLength); 71 | HAL_StatusTypeDef HAL_DMAEx_ChangeMemory(DMA_HandleTypeDef *hdma, uint32_t Address, HAL_DMA_MemoryTypeDef memory); 72 | 73 | /** 74 | * @} 75 | */ 76 | /** 77 | * @} 78 | */ 79 | 80 | /* Private functions ---------------------------------------------------------*/ 81 | /** @defgroup DMAEx_Private_Functions DMAEx Private Functions 82 | * @brief DMAEx Private functions 83 | * @{ 84 | */ 85 | /** 86 | * @} 87 | */ 88 | 89 | /** 90 | * @} 91 | */ 92 | 93 | /** 94 | * @} 95 | */ 96 | 97 | #ifdef __cplusplus 98 | } 99 | #endif 100 | 101 | #endif /*__STM32F4xx_HAL_DMA_EX_H*/ 102 | 103 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/makefile: -------------------------------------------------------------------------------- 1 | ################################################################################ 2 | # Automatically-generated file. Do not edit! 3 | # Toolchain: GNU Tools for STM32 (10.3-2021.10) 4 | ################################################################################ 5 | 6 | -include ../makefile.init 7 | 8 | RM := rm -rf 9 | 10 | # All of the sources participating in the build are defined here 11 | -include sources.mk 12 | -include Drivers/STM32F4xx_HAL_Driver/Src/subdir.mk 13 | -include Core/Startup/subdir.mk 14 | -include Core/Src/subdir.mk 15 | -include objects.mk 16 | 17 | ifneq ($(MAKECMDGOALS),clean) 18 | ifneq ($(strip $(S_DEPS)),) 19 | -include $(S_DEPS) 20 | endif 21 | ifneq ($(strip $(S_UPPER_DEPS)),) 22 | -include $(S_UPPER_DEPS) 23 | endif 24 | ifneq ($(strip $(C_DEPS)),) 25 | -include $(C_DEPS) 26 | endif 27 | endif 28 | 29 | -include ../makefile.defs 30 | 31 | OPTIONAL_TOOL_DEPS := \ 32 | $(wildcard ../makefile.defs) \ 33 | $(wildcard ../makefile.init) \ 34 | $(wildcard ../makefile.targets) \ 35 | 36 | 37 | BUILD_ARTIFACT_NAME := drone_main_1.1 38 | BUILD_ARTIFACT_EXTENSION := elf 39 | BUILD_ARTIFACT_PREFIX := 40 | BUILD_ARTIFACT := $(BUILD_ARTIFACT_PREFIX)$(BUILD_ARTIFACT_NAME)$(if $(BUILD_ARTIFACT_EXTENSION),.$(BUILD_ARTIFACT_EXTENSION),) 41 | 42 | # Add inputs and outputs from these tool invocations to the build variables 43 | EXECUTABLES += \ 44 | drone_main_1.1.elf \ 45 | 46 | MAP_FILES += \ 47 | drone_main_1.1.map \ 48 | 49 | SIZE_OUTPUT += \ 50 | default.size.stdout \ 51 | 52 | OBJDUMP_LIST += \ 53 | drone_main_1.1.list \ 54 | 55 | 56 | # All Target 57 | all: main-build 58 | 59 | # Main-build Target 60 | main-build: drone_main_1.1.elf secondary-outputs 61 | 62 | # Tool invocations 63 | drone_main_1.1.elf drone_main_1.1.map: $(OBJS) $(USER_OBJS) C:\Users\sahin\STM32CubeIDE\workspace_1.9.0\drone_main_1.1\STM32F413ZHTX_FLASH.ld makefile objects.list $(OPTIONAL_TOOL_DEPS) 64 | arm-none-eabi-gcc -o "drone_main_1.1.elf" @"objects.list" $(USER_OBJS) $(LIBS) -mcpu=cortex-m4 -T"C:\Users\sahin\STM32CubeIDE\workspace_1.9.0\drone_main_1.1\STM32F413ZHTX_FLASH.ld" --specs=nosys.specs -Wl,-Map="drone_main_1.1.map" -Wl,--gc-sections -static --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -Wl,--start-group -lc -lm -Wl,--end-group 65 | @echo 'Finished building target: $@' 66 | @echo ' ' 67 | 68 | default.size.stdout: $(EXECUTABLES) makefile objects.list $(OPTIONAL_TOOL_DEPS) 69 | arm-none-eabi-size $(EXECUTABLES) 70 | @echo 'Finished building: $@' 71 | @echo ' ' 72 | 73 | drone_main_1.1.list: $(EXECUTABLES) makefile objects.list $(OPTIONAL_TOOL_DEPS) 74 | arm-none-eabi-objdump -h -S $(EXECUTABLES) > "drone_main_1.1.list" 75 | @echo 'Finished building: $@' 76 | @echo ' ' 77 | 78 | # Other Targets 79 | clean: 80 | -$(RM) default.size.stdout drone_main_1.1.elf drone_main_1.1.list drone_main_1.1.map 81 | -@echo ' ' 82 | 83 | secondary-outputs: $(SIZE_OUTPUT) $(OBJDUMP_LIST) 84 | 85 | fail-specified-linker-script-missing: 86 | @echo 'Error: Cannot find the specified linker script. Check the linker settings in the build configuration.' 87 | @exit 2 88 | 89 | warn-no-linker-script-specified: 90 | @echo 'Warning: No linker script specified. Check the linker settings in the build configuration.' 91 | 92 | .PHONY: all clean dependents main-build fail-specified-linker-script-missing warn-no-linker-script-specified 93 | 94 | -include ../makefile.targets 95 | -------------------------------------------------------------------------------- /drone_main_1.1/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c_ex.h: -------------------------------------------------------------------------------- 1 | /** 2 | ****************************************************************************** 3 | * @file stm32f4xx_hal_i2c_ex.h 4 | * @author MCD Application Team 5 | * @brief Header file of I2C HAL Extension module. 6 | ****************************************************************************** 7 | * @attention 8 | * 9 | * Copyright (c) 2016 STMicroelectronics. 10 | * All rights reserved. 11 | * 12 | * This software is licensed under terms that can be found in the LICENSE file 13 | * in the root directory of this software component. 14 | * If no LICENSE file comes with this software, it is provided AS-IS. 15 | * 16 | ****************************************************************************** 17 | */ 18 | 19 | /* Define to prevent recursive inclusion -------------------------------------*/ 20 | #ifndef __STM32F4xx_HAL_I2C_EX_H 21 | #define __STM32F4xx_HAL_I2C_EX_H 22 | 23 | #ifdef __cplusplus 24 | extern "C" { 25 | #endif 26 | 27 | #if defined(I2C_FLTR_ANOFF)&&defined(I2C_FLTR_DNF) 28 | /* Includes ------------------------------------------------------------------*/ 29 | #include "stm32f4xx_hal_def.h" 30 | 31 | /** @addtogroup STM32F4xx_HAL_Driver 32 | * @{ 33 | */ 34 | 35 | /** @addtogroup I2CEx 36 | * @{ 37 | */ 38 | 39 | /* Exported types ------------------------------------------------------------*/ 40 | /* Exported constants --------------------------------------------------------*/ 41 | /** @defgroup I2CEx_Exported_Constants I2C Exported Constants 42 | * @{ 43 | */ 44 | 45 | /** @defgroup I2CEx_Analog_Filter I2C Analog Filter 46 | * @{ 47 | */ 48 | #define I2C_ANALOGFILTER_ENABLE 0x00000000U 49 | #define I2C_ANALOGFILTER_DISABLE I2C_FLTR_ANOFF 50 | /** 51 | * @} 52 | */ 53 | 54 | /** 55 | * @} 56 | */ 57 | 58 | /* Exported macro ------------------------------------------------------------*/ 59 | /* Exported functions --------------------------------------------------------*/ 60 | /** @addtogroup I2CEx_Exported_Functions 61 | * @{ 62 | */ 63 | 64 | /** @addtogroup I2CEx_Exported_Functions_Group1 65 | * @{ 66 | */ 67 | /* Peripheral Control functions ************************************************/ 68 | HAL_StatusTypeDef HAL_I2CEx_ConfigAnalogFilter(I2C_HandleTypeDef *hi2c, uint32_t AnalogFilter); 69 | HAL_StatusTypeDef HAL_I2CEx_ConfigDigitalFilter(I2C_HandleTypeDef *hi2c, uint32_t DigitalFilter); 70 | /** 71 | * @} 72 | */ 73 | 74 | /** 75 | * @} 76 | */ 77 | /* Private types -------------------------------------------------------------*/ 78 | /* Private variables ---------------------------------------------------------*/ 79 | /* Private constants ---------------------------------------------------------*/ 80 | /** @defgroup I2CEx_Private_Constants I2C Private Constants 81 | * @{ 82 | */ 83 | 84 | /** 85 | * @} 86 | */ 87 | 88 | /* Private macros ------------------------------------------------------------*/ 89 | /** @defgroup I2CEx_Private_Macros I2C Private Macros 90 | * @{ 91 | */ 92 | #define IS_I2C_ANALOG_FILTER(FILTER) (((FILTER) == I2C_ANALOGFILTER_ENABLE) || \ 93 | ((FILTER) == I2C_ANALOGFILTER_DISABLE)) 94 | #define IS_I2C_DIGITAL_FILTER(FILTER) ((FILTER) <= 0x0000000FU) 95 | /** 96 | * @} 97 | */ 98 | 99 | /** 100 | * @} 101 | */ 102 | 103 | /** 104 | * @} 105 | */ 106 | 107 | #endif 108 | 109 | #ifdef __cplusplus 110 | } 111 | #endif 112 | 113 | #endif /* __STM32F4xx_HAL_I2C_EX_H */ 114 | 115 | 116 | -------------------------------------------------------------------------------- /drone_main_1.1/Debug/Core/Src/subdir.mk: -------------------------------------------------------------------------------- 1 | ################################################################################ 2 | # Automatically-generated file. Do not edit! 3 | # Toolchain: GNU Tools for STM32 (10.3-2021.10) 4 | ################################################################################ 5 | 6 | # Add inputs and outputs from these tool invocations to the build variables 7 | C_SRCS += \ 8 | ../Core/Src/adc_Battery.c \ 9 | ../Core/Src/compass.c \ 10 | ../Core/Src/e220.c \ 11 | ../Core/Src/failsafe.c \ 12 | ../Core/Src/gps.c \ 13 | ../Core/Src/gy63-i2c.c \ 14 | ../Core/Src/log_to_flash.c \ 15 | ../Core/Src/main.c \ 16 | ../Core/Src/mpu6050.c \ 17 | ../Core/Src/pid.c \ 18 | ../Core/Src/pwm_esc.c \ 19 | ../Core/Src/receiver.c \ 20 | ../Core/Src/stm32f4xx_hal_msp.c \ 21 | ../Core/Src/stm32f4xx_it.c \ 22 | ../Core/Src/syscalls.c \ 23 | ../Core/Src/sysmem.c \ 24 | ../Core/Src/system_stm32f4xx.c 25 | 26 | OBJS += \ 27 | ./Core/Src/adc_Battery.o \ 28 | ./Core/Src/compass.o \ 29 | ./Core/Src/e220.o \ 30 | ./Core/Src/failsafe.o \ 31 | ./Core/Src/gps.o \ 32 | ./Core/Src/gy63-i2c.o \ 33 | ./Core/Src/log_to_flash.o \ 34 | ./Core/Src/main.o \ 35 | ./Core/Src/mpu6050.o \ 36 | ./Core/Src/pid.o \ 37 | ./Core/Src/pwm_esc.o \ 38 | ./Core/Src/receiver.o \ 39 | ./Core/Src/stm32f4xx_hal_msp.o \ 40 | ./Core/Src/stm32f4xx_it.o \ 41 | ./Core/Src/syscalls.o \ 42 | ./Core/Src/sysmem.o \ 43 | ./Core/Src/system_stm32f4xx.o 44 | 45 | C_DEPS += \ 46 | ./Core/Src/adc_Battery.d \ 47 | ./Core/Src/compass.d \ 48 | ./Core/Src/e220.d \ 49 | ./Core/Src/failsafe.d \ 50 | ./Core/Src/gps.d \ 51 | ./Core/Src/gy63-i2c.d \ 52 | ./Core/Src/log_to_flash.d \ 53 | ./Core/Src/main.d \ 54 | ./Core/Src/mpu6050.d \ 55 | ./Core/Src/pid.d \ 56 | ./Core/Src/pwm_esc.d \ 57 | ./Core/Src/receiver.d \ 58 | ./Core/Src/stm32f4xx_hal_msp.d \ 59 | ./Core/Src/stm32f4xx_it.d \ 60 | ./Core/Src/syscalls.d \ 61 | ./Core/Src/sysmem.d \ 62 | ./Core/Src/system_stm32f4xx.d 63 | 64 | 65 | # Each subdirectory must supply rules for building sources it contributes 66 | Core/Src/%.o Core/Src/%.su: ../Core/Src/%.c Core/Src/subdir.mk 67 | arm-none-eabi-gcc "$<" -mcpu=cortex-m4 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F413xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@" 68 | 69 | clean: clean-Core-2f-Src 70 | 71 | clean-Core-2f-Src: 72 | -$(RM) ./Core/Src/adc_Battery.d ./Core/Src/adc_Battery.o ./Core/Src/adc_Battery.su ./Core/Src/compass.d ./Core/Src/compass.o ./Core/Src/compass.su ./Core/Src/e220.d ./Core/Src/e220.o ./Core/Src/e220.su ./Core/Src/failsafe.d ./Core/Src/failsafe.o ./Core/Src/failsafe.su ./Core/Src/gps.d ./Core/Src/gps.o ./Core/Src/gps.su ./Core/Src/gy63-i2c.d ./Core/Src/gy63-i2c.o ./Core/Src/gy63-i2c.su ./Core/Src/log_to_flash.d ./Core/Src/log_to_flash.o ./Core/Src/log_to_flash.su ./Core/Src/main.d ./Core/Src/main.o ./Core/Src/main.su ./Core/Src/mpu6050.d ./Core/Src/mpu6050.o ./Core/Src/mpu6050.su ./Core/Src/pid.d ./Core/Src/pid.o ./Core/Src/pid.su ./Core/Src/pwm_esc.d ./Core/Src/pwm_esc.o ./Core/Src/pwm_esc.su ./Core/Src/receiver.d ./Core/Src/receiver.o ./Core/Src/receiver.su ./Core/Src/stm32f4xx_hal_msp.d ./Core/Src/stm32f4xx_hal_msp.o ./Core/Src/stm32f4xx_hal_msp.su ./Core/Src/stm32f4xx_it.d ./Core/Src/stm32f4xx_it.o ./Core/Src/stm32f4xx_it.su ./Core/Src/syscalls.d ./Core/Src/syscalls.o ./Core/Src/syscalls.su ./Core/Src/sysmem.d ./Core/Src/sysmem.o ./Core/Src/sysmem.su ./Core/Src/system_stm32f4xx.d ./Core/Src/system_stm32f4xx.o ./Core/Src/system_stm32f4xx.su 73 | 74 | .PHONY: clean-Core-2f-Src 75 | 76 | -------------------------------------------------------------------------------- /drone_main_1.1/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) 2020-2022 STMicroelectronics. 14 | * All rights reserved. 15 | * 16 | * This software is licensed under terms that can be found in the LICENSE file 17 | * in the root directory of this software component. 18 | * If no LICENSE file comes with this software, it is provided AS-IS. 19 | * 20 | ****************************************************************************** 21 | */ 22 | 23 | /* Includes */ 24 | #include 25 | #include 26 | #include 27 | #include 28 | #include 29 | #include 30 | #include 31 | #include 32 | 33 | 34 | /* Variables */ 35 | extern int __io_putchar(int ch) __attribute__((weak)); 36 | extern int __io_getchar(void) __attribute__((weak)); 37 | 38 | 39 | char *__env[1] = { 0 }; 40 | char **environ = __env; 41 | 42 | 43 | /* Functions */ 44 | void initialise_monitor_handles() 45 | { 46 | } 47 | 48 | int _getpid(void) 49 | { 50 | return 1; 51 | } 52 | 53 | int _kill(int pid, int sig) 54 | { 55 | (void)pid; 56 | (void)sig; 57 | errno = EINVAL; 58 | return -1; 59 | } 60 | 61 | void _exit (int status) 62 | { 63 | _kill(status, -1); 64 | while (1) {} /* Make sure we hang here */ 65 | } 66 | 67 | __attribute__((weak)) int _read(int file, char *ptr, int len) 68 | { 69 | (void)file; 70 | int DataIdx; 71 | 72 | for (DataIdx = 0; DataIdx < len; DataIdx++) 73 | { 74 | *ptr++ = __io_getchar(); 75 | } 76 | 77 | return len; 78 | } 79 | 80 | __attribute__((weak)) int _write(int file, char *ptr, int len) 81 | { 82 | (void)file; 83 | int DataIdx; 84 | 85 | for (DataIdx = 0; DataIdx < len; DataIdx++) 86 | { 87 | __io_putchar(*ptr++); 88 | } 89 | return len; 90 | } 91 | 92 | int _close(int file) 93 | { 94 | (void)file; 95 | return -1; 96 | } 97 | 98 | 99 | int _fstat(int file, struct stat *st) 100 | { 101 | (void)file; 102 | st->st_mode = S_IFCHR; 103 | return 0; 104 | } 105 | 106 | int _isatty(int file) 107 | { 108 | (void)file; 109 | return 1; 110 | } 111 | 112 | int _lseek(int file, int ptr, int dir) 113 | { 114 | (void)file; 115 | (void)ptr; 116 | (void)dir; 117 | return 0; 118 | } 119 | 120 | int _open(char *path, int flags, ...) 121 | { 122 | (void)path; 123 | (void)flags; 124 | /* Pretend like we always fail */ 125 | return -1; 126 | } 127 | 128 | int _wait(int *status) 129 | { 130 | (void)status; 131 | errno = ECHILD; 132 | return -1; 133 | } 134 | 135 | int _unlink(char *name) 136 | { 137 | (void)name; 138 | errno = ENOENT; 139 | return -1; 140 | } 141 | 142 | int _times(struct tms *buf) 143 | { 144 | (void)buf; 145 | return -1; 146 | } 147 | 148 | int _stat(char *file, struct stat *st) 149 | { 150 | (void)file; 151 | st->st_mode = S_IFCHR; 152 | return 0; 153 | } 154 | 155 | int _link(char *old, char *new) 156 | { 157 | (void)old; 158 | (void)new; 159 | errno = EMLINK; 160 | return -1; 161 | } 162 | 163 | int _fork(void) 164 | { 165 | errno = EAGAIN; 166 | return -1; 167 | } 168 | 169 | int _execve(char *name, char **argv, char **env) 170 | { 171 | (void)name; 172 | (void)argv; 173 | (void)env; 174 | errno = ENOMEM; 175 | return -1; 176 | } 177 | -------------------------------------------------------------------------------- /drone_main_1.1/Core/Src/log_to_flash.c: -------------------------------------------------------------------------------- 1 | /* 2 | * log_to_flash.c 3 | * 4 | * Created on: Feb 25, 2023 5 | * Author: sahin 6 | */ 7 | #include "log_to_flash.h" 8 | #include "main.h" 9 | #include "mpu6050.h" 10 | 11 | 12 | 13 | extern float calibration_buffer_float[5]; 14 | extern float imu_calibration_values[5]; 15 | extern MPU6050_t MPU6050_1; 16 | extern float Xsf,Ysf,Xoff,Yoff,Zsf,Zoff; 17 | 18 | void flash_write_calib_data_byte(uint8_t* data_ptr,uint16_t data_amount){ 19 | 20 | flash_init_for_calibration(); 21 | 22 | int i=0; 23 | for(i=0;i