mirror of
https://github.com/EFeru/hoverboard-sideboard-hack-STM.git
synced 2025-08-17 00:56:10 +00:00
Initial commit
This commit is contained in:
EmanuelFeru
64
Src/dma.c
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64
Src/dma.c
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@@ -0,0 +1,64 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* File Name : dma.c
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||||
* Description : This file provides code for the configuration
|
||||
* of all the requested memory to memory DMA transfers.
|
||||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* <h2><center>© Copyright (c) 2020 STMicroelectronics.
|
||||
* All rights reserved.</center></h2>
|
||||
*
|
||||
* This software component is licensed by ST under BSD 3-Clause license,
|
||||
* the "License"; You may not use this file except in compliance with the
|
||||
* License. You may obtain a copy of the License at:
|
||||
* opensource.org/licenses/BSD-3-Clause
|
||||
*
|
||||
******************************************************************************
|
||||
*/
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||||
/* Includes ------------------------------------------------------------------*/
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||||
#include "dma.h"
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|
||||
/* USER CODE BEGIN 0 */
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||||
|
||||
/* USER CODE END 0 */
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||||
|
||||
/*----------------------------------------------------------------------------*/
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||||
/* Configure DMA */
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||||
/*----------------------------------------------------------------------------*/
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||||
|
||||
/* USER CODE BEGIN 1 */
|
||||
|
||||
/* USER CODE END 1 */
|
||||
|
||||
/**
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||||
* Enable DMA controller clock
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*/
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void MX_DMA_Init(void)
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{
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/* DMA controller clock enable */
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__HAL_RCC_DMA1_CLK_ENABLE();
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/* DMA interrupt init */
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||||
/* DMA1_Channel6_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(DMA1_Channel6_IRQn, 0, 0);
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HAL_NVIC_EnableIRQ(DMA1_Channel6_IRQn);
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/* DMA1_Channel7_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(DMA1_Channel7_IRQn, 0, 0);
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HAL_NVIC_EnableIRQ(DMA1_Channel7_IRQn);
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||||
|
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}
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||||
|
||||
/* USER CODE BEGIN 2 */
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||||
|
||||
/* USER CODE END 2 */
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||||
|
||||
/**
|
||||
* @}
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||||
*/
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||||
|
||||
/**
|
||||
* @}
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||||
*/
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||||
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||||
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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94
Src/gpio.c
Normal file
94
Src/gpio.c
Normal file
@@ -0,0 +1,94 @@
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||||
/**
|
||||
******************************************************************************
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||||
* File Name : gpio.c
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||||
* Description : This file provides code for the configuration
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||||
* of all used GPIO pins.
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||||
******************************************************************************
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||||
* @attention
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||||
*
|
||||
* <h2><center>© Copyright (c) 2020 STMicroelectronics.
|
||||
* All rights reserved.</center></h2>
|
||||
*
|
||||
* This software component is licensed by ST under BSD 3-Clause license,
|
||||
* the "License"; You may not use this file except in compliance with the
|
||||
* License. You may obtain a copy of the License at:
|
||||
* opensource.org/licenses/BSD-3-Clause
|
||||
*
|
||||
******************************************************************************
|
||||
*/
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||||
|
||||
/* Includes ------------------------------------------------------------------*/
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#include "gpio.h"
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/* USER CODE BEGIN 0 */
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||||
|
||||
/* USER CODE END 0 */
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||||
|
||||
/*----------------------------------------------------------------------------*/
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||||
/* Configure GPIO */
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||||
/*----------------------------------------------------------------------------*/
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||||
/* USER CODE BEGIN 1 */
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||||
|
||||
/* USER CODE END 1 */
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||||
|
||||
/** Configure pins as
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* Analog
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* Input
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* Output
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* EVENT_OUT
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* EXTI
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*/
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void MX_GPIO_Init(void)
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{
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GPIO_InitTypeDef GPIO_InitStruct = {0};
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/* GPIO Ports Clock Enable */
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__HAL_RCC_GPIOC_CLK_ENABLE();
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__HAL_RCC_GPIOA_CLK_ENABLE();
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__HAL_RCC_GPIOB_CLK_ENABLE();
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/*Configure GPIO pin Output Level */
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HAL_GPIO_WritePin(GPIOA, LED1_Pin|AUX2_Pin, GPIO_PIN_RESET);
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/*Configure GPIO pin Output Level */
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HAL_GPIO_WritePin(GPIOB, LED5_Pin|LED4_Pin|LED3_Pin|LED2_Pin, GPIO_PIN_RESET);
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/*Configure GPIO pins : PCPin PCPin */
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GPIO_InitStruct.Pin = SENSOR2_Pin|AUX1_PU_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
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/*Configure GPIO pins : PAPin PAPin */
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GPIO_InitStruct.Pin = LED1_Pin|AUX2_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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/*Configure GPIO pin : PtPin */
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GPIO_InitStruct.Pin = SENSOR1_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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HAL_GPIO_Init(SENSOR1_GPIO_Port, &GPIO_InitStruct);
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/*Configure GPIO pin : PtPin */
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GPIO_InitStruct.Pin = AUX3_PU_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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HAL_GPIO_Init(AUX3_PU_GPIO_Port, &GPIO_InitStruct);
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/*Configure GPIO pins : PBPin PBPin PBPin PBPin */
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GPIO_InitStruct.Pin = LED5_Pin|LED4_Pin|LED3_Pin|LED2_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
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}
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/* USER CODE BEGIN 2 */
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||||
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/* USER CODE END 2 */
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||||
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||||
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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113
Src/i2c.c
Normal file
113
Src/i2c.c
Normal file
@@ -0,0 +1,113 @@
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/**
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******************************************************************************
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* File Name : I2C.c
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* Description : This file provides code for the configuration
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* of the I2C instances.
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******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* <h2><center>© Copyright (c) 2020 STMicroelectronics.
|
||||
* All rights reserved.</center></h2>
|
||||
*
|
||||
* This software component is licensed by ST under BSD 3-Clause license,
|
||||
* the "License"; You may not use this file except in compliance with the
|
||||
* License. You may obtain a copy of the License at:
|
||||
* opensource.org/licenses/BSD-3-Clause
|
||||
*
|
||||
******************************************************************************
|
||||
*/
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||||
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||||
/* Includes ------------------------------------------------------------------*/
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#include "i2c.h"
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/* USER CODE BEGIN 0 */
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||||
|
||||
/* USER CODE END 0 */
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||||
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||||
I2C_HandleTypeDef hi2c1;
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/* I2C1 init function */
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void MX_I2C1_Init(void)
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{
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hi2c1.Instance = I2C1;
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hi2c1.Init.ClockSpeed = MPU_I2C_SPEED;
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hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_16_9;
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hi2c1.Init.OwnAddress1 = 0;
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hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
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hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
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hi2c1.Init.OwnAddress2 = 0;
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hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
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hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
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if (HAL_I2C_Init(&hi2c1) != HAL_OK)
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{
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Error_Handler();
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}
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}
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void HAL_I2C_MspInit(I2C_HandleTypeDef* i2cHandle)
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{
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||||
GPIO_InitTypeDef GPIO_InitStruct = {0};
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if(i2cHandle->Instance==I2C1)
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{
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||||
/* USER CODE BEGIN I2C1_MspInit 0 */
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||||
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||||
/* USER CODE END I2C1_MspInit 0 */
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||||
|
||||
__HAL_RCC_GPIOB_CLK_ENABLE();
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/**I2C1 GPIO Configuration
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||||
PB6 ------> I2C1_SCL
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PB7 ------> I2C1_SDA
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||||
*/
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||||
GPIO_InitStruct.Pin = MPU_SCL_Pin|MPU_SDA_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
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HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
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/* I2C1 clock enable */
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__HAL_RCC_I2C1_CLK_ENABLE();
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/* I2C1 interrupt Init */
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HAL_NVIC_SetPriority(I2C1_EV_IRQn, 0, 0);
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HAL_NVIC_EnableIRQ(I2C1_EV_IRQn);
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HAL_NVIC_SetPriority(I2C1_ER_IRQn, 0, 0);
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||||
HAL_NVIC_EnableIRQ(I2C1_ER_IRQn);
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||||
/* USER CODE BEGIN I2C1_MspInit 1 */
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||||
|
||||
/* USER CODE END I2C1_MspInit 1 */
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||||
}
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||||
}
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||||
void HAL_I2C_MspDeInit(I2C_HandleTypeDef* i2cHandle)
|
||||
{
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||||
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if(i2cHandle->Instance==I2C1)
|
||||
{
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||||
/* USER CODE BEGIN I2C1_MspDeInit 0 */
|
||||
|
||||
/* USER CODE END I2C1_MspDeInit 0 */
|
||||
/* Peripheral clock disable */
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__HAL_RCC_I2C1_CLK_DISABLE();
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/**I2C1 GPIO Configuration
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PB6 ------> I2C1_SCL
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PB7 ------> I2C1_SDA
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*/
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HAL_GPIO_DeInit(GPIOB, MPU_SCL_Pin|MPU_SDA_Pin);
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||||
/* I2C1 interrupt Deinit */
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HAL_NVIC_DisableIRQ(I2C1_EV_IRQn);
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HAL_NVIC_DisableIRQ(I2C1_ER_IRQn);
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||||
/* USER CODE BEGIN I2C1_MspDeInit 1 */
|
||||
|
||||
/* USER CODE END I2C1_MspDeInit 1 */
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||||
}
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||||
}
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||||
|
||||
/* USER CODE BEGIN 1 */
|
||||
|
||||
/* USER CODE END 1 */
|
||||
|
||||
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
|
||||
368
Src/main.c
Normal file
368
Src/main.c
Normal file
@@ -0,0 +1,368 @@
|
||||
/* USER CODE BEGIN Header */
|
||||
/**
|
||||
* This file is part of the hoverboard-sideboard-hack project.
|
||||
*
|
||||
* Copyright (C) 2020-2021 Emanuel FERU <aerdronix@gmail.com>
|
||||
*
|
||||
* This program is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
/* USER CODE END Header */
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "main.h"
|
||||
#include "dma.h"
|
||||
#include "i2c.h"
|
||||
#include "usart.h"
|
||||
#include "gpio.h"
|
||||
|
||||
/* Private includes ----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN Includes */
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "defines.h"
|
||||
#include "config.h"
|
||||
#include "util.h"
|
||||
#include "mpu6050.h"
|
||||
#include "mpu6050_dmp.h"
|
||||
/* USER CODE END Includes */
|
||||
|
||||
/* Private typedef -----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PTD */
|
||||
|
||||
/* USER CODE END PTD */
|
||||
|
||||
/* Private define ------------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PD */
|
||||
|
||||
/* USER CODE END PD */
|
||||
|
||||
/* Private macro -------------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PM */
|
||||
extern UART_HandleTypeDef huart2;
|
||||
uint8_t rxBuffer, userCommand = 0; // holds the user command input
|
||||
|
||||
void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
|
||||
{
|
||||
__HAL_UART_FLUSH_DRREGISTER(&huart2); // Clear the buffer to prevent overrun
|
||||
|
||||
#ifdef SERIAL_DEBUG
|
||||
if (rxBuffer != '\n' && rxBuffer != '\r') { // Do not accept 'new line' (ascii 10) and 'carriage return' (ascii 13) commands
|
||||
userCommand = rxBuffer;
|
||||
}
|
||||
#endif
|
||||
}
|
||||
/* USER CODE END PM */
|
||||
|
||||
/* Private variables ---------------------------------------------------------*/
|
||||
|
||||
/* USER CODE BEGIN PV */
|
||||
|
||||
/* USER CODE END PV */
|
||||
|
||||
/* Private function prototypes -----------------------------------------------*/
|
||||
void SystemClock_Config(void);
|
||||
/* USER CODE BEGIN PFP */
|
||||
|
||||
/* USER CODE END PFP */
|
||||
|
||||
/* Private user code ---------------------------------------------------------*/
|
||||
/* USER CODE BEGIN 0 */
|
||||
#ifdef SERIAL_CONTROL
|
||||
typedef struct{
|
||||
uint16_t start;
|
||||
int16_t roll;
|
||||
int16_t pitch;
|
||||
int16_t yaw;
|
||||
uint16_t sensors;
|
||||
uint16_t checksum;
|
||||
} SerialSideboard;
|
||||
SerialSideboard Sideboard;
|
||||
#endif
|
||||
|
||||
#ifdef SERIAL_FEEDBACK
|
||||
typedef struct{
|
||||
uint16_t start;
|
||||
int16_t cmd1;
|
||||
int16_t cmd2;
|
||||
int16_t speedR;
|
||||
int16_t speedL;
|
||||
int16_t speedR_meas;
|
||||
int16_t speedL_meas;
|
||||
int16_t batVoltage;
|
||||
int16_t boardTemp;
|
||||
int16_t checksum;
|
||||
} SerialFeedback;
|
||||
SerialFeedback Feedback;
|
||||
SerialFeedback NewFeedback;
|
||||
|
||||
static int16_t timeoutCntSerial = 0; // Timeout counter for Rx Serial command
|
||||
static uint8_t timeoutFlagSerial = 0; // Timeout Flag for Rx Serial command: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data)
|
||||
#endif
|
||||
|
||||
extern MPU_Data mpu; // holds the MPU-6050 data
|
||||
ErrorStatus mpuStatus = SUCCESS; // holds the MPU-6050 status: SUCCESS or ERROR
|
||||
|
||||
|
||||
uint8_t sensor1, sensor2; // holds the sensor1 and sensor 2 values
|
||||
|
||||
static uint32_t main_loop_counter; // main loop counter to perform task squeduling inside main()
|
||||
/* USER CODE END 0 */
|
||||
|
||||
/**
|
||||
* @brief The application entry point.
|
||||
* @retval int
|
||||
*/
|
||||
int main(void)
|
||||
{
|
||||
/* USER CODE BEGIN 1 */
|
||||
|
||||
/* USER CODE END 1 */
|
||||
|
||||
/* MCU Configuration--------------------------------------------------------*/
|
||||
|
||||
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
|
||||
HAL_Init();
|
||||
|
||||
/* USER CODE BEGIN Init */
|
||||
|
||||
/* USER CODE END Init */
|
||||
|
||||
/* Configure the system clock */
|
||||
SystemClock_Config();
|
||||
|
||||
/* USER CODE BEGIN SysInit */
|
||||
|
||||
/* USER CODE END SysInit */
|
||||
|
||||
/* Initialize all configured peripherals */
|
||||
MX_GPIO_Init();
|
||||
MX_DMA_Init();
|
||||
MX_USART2_UART_Init();
|
||||
MX_I2C1_Init();
|
||||
/* USER CODE BEGIN 2 */
|
||||
|
||||
#ifdef SERIAL_DEBUG
|
||||
__HAL_UART_FLUSH_DRREGISTER(&huart2);
|
||||
HAL_UART_Receive_DMA (&huart2, (uint8_t *)&rxBuffer, sizeof(rxBuffer));
|
||||
#endif
|
||||
#ifdef SERIAL_CONTROL
|
||||
__HAL_UART_FLUSH_DRREGISTER(&huart2);
|
||||
HAL_UART_Transmit_DMA(&huart2, (uint8_t *)&Sideboard, sizeof(Sideboard));
|
||||
#endif
|
||||
#ifdef SERIAL_FEEDBACK
|
||||
__HAL_UART_FLUSH_DRREGISTER(&huart2);
|
||||
HAL_UART_Receive_DMA (&huart2, (uint8_t *)&NewFeedback, sizeof(NewFeedback));
|
||||
#endif
|
||||
|
||||
introDemoLED(100); // Short LEDs intro demo with 100 ms delay. This also gives some time for the MPU-6050 to initialize.
|
||||
if(mpu_config()) { // IMU MPU-6050 config
|
||||
mpuStatus = ERROR;
|
||||
}
|
||||
mpu_handle_input('h'); // Print the User Help commands to serial
|
||||
|
||||
/* USER CODE END 2 */
|
||||
|
||||
/* Infinite loop */
|
||||
/* USER CODE BEGIN WHILE */
|
||||
while (1)
|
||||
{
|
||||
HAL_Delay(DELAY_IN_MAIN_LOOP);
|
||||
|
||||
// ==================================== LEDs Handling ====================================
|
||||
// HAL_GPIO_TogglePin(LED4_GPIO_Port, LED4_Pin); // Toggle BLUE1 LED
|
||||
if (SUCCESS == mpuStatus) {
|
||||
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET); // Turn on GREEN LED
|
||||
} else {
|
||||
HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_SET); // Turn on RED LED
|
||||
}
|
||||
|
||||
// ==================================== USER Handling ====================================
|
||||
#ifdef SERIAL_DEBUG
|
||||
// Get the user Input as one character from Serial
|
||||
if (userCommand != 0) { // Check the availability of a user command set by the UART DMA
|
||||
log_i("Command = %c\n", userCommand);
|
||||
mpu_handle_input(userCommand);
|
||||
userCommand = 0;
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
// ==================================== MPU-6050 Handling ====================================
|
||||
// Get MPU data. Because the MPU-6050 interrupt pin is not wired we have to check DMP data by pooling periodically
|
||||
if (SUCCESS == mpuStatus) {
|
||||
mpu_get_data();
|
||||
}
|
||||
// Print MPU data to Console
|
||||
if (main_loop_counter % 50 == 0 && SUCCESS == mpuStatus) {
|
||||
mpu_print_to_console();
|
||||
}
|
||||
|
||||
|
||||
// ==================================== SENSORS Handling ====================================
|
||||
// SENSOR1
|
||||
if (HAL_GPIO_ReadPin(SENSOR1_GPIO_Port, SENSOR1_Pin)) {
|
||||
sensor1 = 1;
|
||||
// Sensor ACTIVE: Do something here
|
||||
HAL_GPIO_WritePin(LED4_GPIO_Port, LED4_Pin, GPIO_PIN_SET);
|
||||
consoleLog("-- SENSOR 1 Active --\n");
|
||||
HAL_Delay(50);
|
||||
} else {
|
||||
sensor1 = 0;
|
||||
HAL_GPIO_WritePin(LED4_GPIO_Port, LED4_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
|
||||
// SENSOR2
|
||||
if (HAL_GPIO_ReadPin(SENSOR2_GPIO_Port, SENSOR2_Pin)) {
|
||||
sensor2 = 1;
|
||||
// Sensor ACTIVE: Do something here
|
||||
HAL_GPIO_WritePin(LED5_GPIO_Port, LED5_Pin, GPIO_PIN_SET);
|
||||
consoleLog("-- SENSOR 2 Active --\n");
|
||||
HAL_Delay(50);
|
||||
} else {
|
||||
sensor2 = 0;
|
||||
HAL_GPIO_WritePin(LED5_GPIO_Port, LED5_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
|
||||
|
||||
// ==================================== SERIAL Tx/Rx Handling ====================================
|
||||
#ifdef SERIAL_CONTROL
|
||||
if (main_loop_counter % 50 == 0) { // Transmit Tx data periodically using DMA
|
||||
Sideboard.start = (uint16_t)SERIAL_START_FRAME;
|
||||
Sideboard.roll = (int16_t)mpu.euler.roll;
|
||||
Sideboard.pitch = (int16_t)mpu.euler.pitch;
|
||||
Sideboard.yaw = (int16_t)mpu.euler.yaw;
|
||||
Sideboard.sensors = (uint16_t)(sensor1 | (sensor2 << 1));
|
||||
Sideboard.checksum = (uint16_t)(Sideboard.start ^ Sideboard.roll ^ Sideboard.pitch ^ Sideboard.yaw ^ Sideboard.sensors);
|
||||
|
||||
HAL_UART_Transmit_DMA (&huart2, (uint8_t *)&Sideboard, sizeof(Sideboard));
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef SERIAL_FEEDBACK
|
||||
uint16_t checksum;
|
||||
checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR ^ NewFeedback.speedL
|
||||
^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp);
|
||||
if (NewFeedback.start == SERIAL_START_FRAME && NewFeedback.checksum == checksum) {
|
||||
if (timeoutFlagSerial) { // Check for previous timeout flag
|
||||
if (timeoutCntSerial-- <= 0) // Timeout de-qualification
|
||||
timeoutFlagSerial = 0; // Timeout flag cleared
|
||||
} else {
|
||||
memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback)); // Copy the new data
|
||||
NewFeedback.start = 0xFFFF; // Change the Start Frame for timeout detection in the next cycle
|
||||
timeoutCntSerial = 0; // Reset the timeout counter
|
||||
}
|
||||
} else {
|
||||
if (timeoutCntSerial++ >= SERIAL_TIMEOUT) { // Timeout qualification
|
||||
timeoutFlagSerial = 1; // Timeout detected
|
||||
timeoutCntSerial = SERIAL_TIMEOUT; // Limit timout counter value
|
||||
}
|
||||
// Check periodically the received Start Frame. If it is NOT OK, most probably we are out-of-sync. Try to re-sync by reseting the DMA
|
||||
if (main_loop_counter % 50 == 0 && NewFeedback.start != SERIAL_START_FRAME && NewFeedback.start != 0xFFFF) {
|
||||
HAL_UART_DMAStop(&huart2);
|
||||
HAL_UART_Receive_DMA(&huart2, (uint8_t *)&NewFeedback, sizeof(NewFeedback));
|
||||
NewFeedback.start = 0xFFFF; // Change the Start Frame to avoid entering again here if no data is received
|
||||
}
|
||||
}
|
||||
|
||||
if (timeoutFlagSerial) { // In case of timeout bring the system to a Safe State and indicate error if desired
|
||||
HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_SET); // Turn on Red LED
|
||||
} else {
|
||||
HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_RESET); // Follow the Normal behavior
|
||||
}
|
||||
#endif
|
||||
|
||||
main_loop_counter++;
|
||||
|
||||
/* USER CODE END WHILE */
|
||||
|
||||
/* USER CODE BEGIN 3 */
|
||||
}
|
||||
/* USER CODE END 3 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief System Clock Configuration
|
||||
* @retval None
|
||||
*/
|
||||
void SystemClock_Config(void)
|
||||
{
|
||||
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
|
||||
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
|
||||
|
||||
/** Initializes the CPU, AHB and APB busses clocks
|
||||
*/
|
||||
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
|
||||
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
|
||||
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
|
||||
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
|
||||
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI_DIV2;
|
||||
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL16;
|
||||
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
/** Initializes the CPU, AHB and APB busses clocks
|
||||
*/
|
||||
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|
||||
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
|
||||
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
|
||||
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
|
||||
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
|
||||
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
|
||||
|
||||
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
}
|
||||
|
||||
/* USER CODE BEGIN 4 */
|
||||
|
||||
/* USER CODE END 4 */
|
||||
|
||||
/**
|
||||
* @brief This function is executed in case of error occurrence.
|
||||
* @retval None
|
||||
*/
|
||||
void Error_Handler(void)
|
||||
{
|
||||
/* USER CODE BEGIN Error_Handler_Debug */
|
||||
/* User can add his own implementation to report the HAL error return state */
|
||||
|
||||
/* USER CODE END Error_Handler_Debug */
|
||||
}
|
||||
|
||||
#ifdef USE_FULL_ASSERT
|
||||
/**
|
||||
* @brief Reports the name of the source file and the source line number
|
||||
* where the assert_param error has occurred.
|
||||
* @param file: pointer to the source file name
|
||||
* @param line: assert_param error line source number
|
||||
* @retval None
|
||||
*/
|
||||
void assert_failed(uint8_t *file, uint32_t line)
|
||||
{
|
||||
/* USER CODE BEGIN 6 */
|
||||
/* User can add his own implementation to report the file name and line number,
|
||||
tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
|
||||
/* USER CODE END 6 */
|
||||
}
|
||||
#endif /* USE_FULL_ASSERT */
|
||||
|
||||
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
|
||||
3918
Src/mpu6050.c
Normal file
3918
Src/mpu6050.c
Normal file
File diff suppressed because it is too large
Load Diff
1336
Src/mpu6050_dmp.c
Normal file
1336
Src/mpu6050_dmp.c
Normal file
File diff suppressed because it is too large
Load Diff
88
Src/stm32f1xx_hal_msp.c
Normal file
88
Src/stm32f1xx_hal_msp.c
Normal file
@@ -0,0 +1,88 @@
|
||||
/* USER CODE BEGIN Header */
|
||||
/**
|
||||
******************************************************************************
|
||||
* File Name : stm32f1xx_hal_msp.c
|
||||
* Description : This file provides code for the MSP Initialization
|
||||
* and de-Initialization codes.
|
||||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* <h2><center>© Copyright (c) 2020 STMicroelectronics.
|
||||
* All rights reserved.</center></h2>
|
||||
*
|
||||
* This software component is licensed by ST under BSD 3-Clause license,
|
||||
* the "License"; You may not use this file except in compliance with the
|
||||
* License. You may obtain a copy of the License at:
|
||||
* opensource.org/licenses/BSD-3-Clause
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
/* USER CODE END Header */
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "main.h"
|
||||
/* USER CODE BEGIN Includes */
|
||||
|
||||
/* USER CODE END Includes */
|
||||
|
||||
/* Private typedef -----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN TD */
|
||||
|
||||
/* USER CODE END TD */
|
||||
|
||||
/* Private define ------------------------------------------------------------*/
|
||||
/* USER CODE BEGIN Define */
|
||||
|
||||
/* USER CODE END Define */
|
||||
|
||||
/* Private macro -------------------------------------------------------------*/
|
||||
/* USER CODE BEGIN Macro */
|
||||
|
||||
/* USER CODE END Macro */
|
||||
|
||||
/* Private variables ---------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PV */
|
||||
|
||||
/* USER CODE END PV */
|
||||
|
||||
/* Private function prototypes -----------------------------------------------*/
|
||||
/* USER CODE BEGIN PFP */
|
||||
|
||||
/* USER CODE END PFP */
|
||||
|
||||
/* External functions --------------------------------------------------------*/
|
||||
/* USER CODE BEGIN ExternalFunctions */
|
||||
|
||||
/* USER CODE END ExternalFunctions */
|
||||
|
||||
/* USER CODE BEGIN 0 */
|
||||
|
||||
/* USER CODE END 0 */
|
||||
/**
|
||||
* Initializes the Global MSP.
|
||||
*/
|
||||
void HAL_MspInit(void)
|
||||
{
|
||||
/* USER CODE BEGIN MspInit 0 */
|
||||
|
||||
/* USER CODE END MspInit 0 */
|
||||
|
||||
__HAL_RCC_AFIO_CLK_ENABLE();
|
||||
__HAL_RCC_PWR_CLK_ENABLE();
|
||||
|
||||
/* System interrupt init*/
|
||||
|
||||
/** NOJTAG: JTAG-DP Disabled and SW-DP Enabled
|
||||
*/
|
||||
__HAL_AFIO_REMAP_SWJ_NOJTAG();
|
||||
|
||||
/* USER CODE BEGIN MspInit 1 */
|
||||
|
||||
/* USER CODE END MspInit 1 */
|
||||
}
|
||||
|
||||
/* USER CODE BEGIN 1 */
|
||||
|
||||
/* USER CODE END 1 */
|
||||
|
||||
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
|
||||
277
Src/stm32f1xx_it.c
Normal file
277
Src/stm32f1xx_it.c
Normal file
@@ -0,0 +1,277 @@
|
||||
/* USER CODE BEGIN Header */
|
||||
/**
|
||||
******************************************************************************
|
||||
* @file stm32f1xx_it.c
|
||||
* @brief Interrupt Service Routines.
|
||||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* <h2><center>© Copyright (c) 2020 STMicroelectronics.
|
||||
* All rights reserved.</center></h2>
|
||||
*
|
||||
* This software component is licensed by ST under BSD 3-Clause license,
|
||||
* the "License"; You may not use this file except in compliance with the
|
||||
* License. You may obtain a copy of the License at:
|
||||
* opensource.org/licenses/BSD-3-Clause
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
/* USER CODE END Header */
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "main.h"
|
||||
#include "stm32f1xx_it.h"
|
||||
/* Private includes ----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN Includes */
|
||||
|
||||
/* USER CODE END Includes */
|
||||
|
||||
/* Private typedef -----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN TD */
|
||||
|
||||
/* USER CODE END TD */
|
||||
|
||||
/* Private define ------------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PD */
|
||||
|
||||
/* USER CODE END PD */
|
||||
|
||||
/* Private macro -------------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PM */
|
||||
|
||||
/* USER CODE END PM */
|
||||
|
||||
/* Private variables ---------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PV */
|
||||
|
||||
/* USER CODE END PV */
|
||||
|
||||
/* Private function prototypes -----------------------------------------------*/
|
||||
/* USER CODE BEGIN PFP */
|
||||
|
||||
/* USER CODE END PFP */
|
||||
|
||||
/* Private user code ---------------------------------------------------------*/
|
||||
/* USER CODE BEGIN 0 */
|
||||
|
||||
/* USER CODE END 0 */
|
||||
|
||||
/* External variables --------------------------------------------------------*/
|
||||
extern I2C_HandleTypeDef hi2c1;
|
||||
extern DMA_HandleTypeDef hdma_usart2_rx;
|
||||
extern DMA_HandleTypeDef hdma_usart2_tx;
|
||||
extern UART_HandleTypeDef huart2;
|
||||
/* USER CODE BEGIN EV */
|
||||
|
||||
/* USER CODE END EV */
|
||||
|
||||
/******************************************************************************/
|
||||
/* Cortex-M3 Processor Interruption and Exception Handlers */
|
||||
/******************************************************************************/
|
||||
/**
|
||||
* @brief This function handles Non maskable interrupt.
|
||||
*/
|
||||
void NMI_Handler(void)
|
||||
{
|
||||
/* USER CODE BEGIN NonMaskableInt_IRQn 0 */
|
||||
|
||||
/* USER CODE END NonMaskableInt_IRQn 0 */
|
||||
/* USER CODE BEGIN NonMaskableInt_IRQn 1 */
|
||||
|
||||
/* USER CODE END NonMaskableInt_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles Hard fault interrupt.
|
||||
*/
|
||||
void HardFault_Handler(void)
|
||||
{
|
||||
/* USER CODE BEGIN HardFault_IRQn 0 */
|
||||
|
||||
/* USER CODE END HardFault_IRQn 0 */
|
||||
while (1)
|
||||
{
|
||||
/* USER CODE BEGIN W1_HardFault_IRQn 0 */
|
||||
/* USER CODE END W1_HardFault_IRQn 0 */
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles Memory management fault.
|
||||
*/
|
||||
void MemManage_Handler(void)
|
||||
{
|
||||
/* USER CODE BEGIN MemoryManagement_IRQn 0 */
|
||||
|
||||
/* USER CODE END MemoryManagement_IRQn 0 */
|
||||
while (1)
|
||||
{
|
||||
/* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */
|
||||
/* USER CODE END W1_MemoryManagement_IRQn 0 */
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles Prefetch fault, memory access fault.
|
||||
*/
|
||||
void BusFault_Handler(void)
|
||||
{
|
||||
/* USER CODE BEGIN BusFault_IRQn 0 */
|
||||
|
||||
/* USER CODE END BusFault_IRQn 0 */
|
||||
while (1)
|
||||
{
|
||||
/* USER CODE BEGIN W1_BusFault_IRQn 0 */
|
||||
/* USER CODE END W1_BusFault_IRQn 0 */
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles Undefined instruction or illegal state.
|
||||
*/
|
||||
void UsageFault_Handler(void)
|
||||
{
|
||||
/* USER CODE BEGIN UsageFault_IRQn 0 */
|
||||
|
||||
/* USER CODE END UsageFault_IRQn 0 */
|
||||
while (1)
|
||||
{
|
||||
/* USER CODE BEGIN W1_UsageFault_IRQn 0 */
|
||||
/* USER CODE END W1_UsageFault_IRQn 0 */
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles System service call via SWI instruction.
|
||||
*/
|
||||
void SVC_Handler(void)
|
||||
{
|
||||
/* USER CODE BEGIN SVCall_IRQn 0 */
|
||||
|
||||
/* USER CODE END SVCall_IRQn 0 */
|
||||
/* USER CODE BEGIN SVCall_IRQn 1 */
|
||||
|
||||
/* USER CODE END SVCall_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles Debug monitor.
|
||||
*/
|
||||
void DebugMon_Handler(void)
|
||||
{
|
||||
/* USER CODE BEGIN DebugMonitor_IRQn 0 */
|
||||
|
||||
/* USER CODE END DebugMonitor_IRQn 0 */
|
||||
/* USER CODE BEGIN DebugMonitor_IRQn 1 */
|
||||
|
||||
/* USER CODE END DebugMonitor_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles Pendable request for system service.
|
||||
*/
|
||||
void PendSV_Handler(void)
|
||||
{
|
||||
/* USER CODE BEGIN PendSV_IRQn 0 */
|
||||
|
||||
/* USER CODE END PendSV_IRQn 0 */
|
||||
/* USER CODE BEGIN PendSV_IRQn 1 */
|
||||
|
||||
/* USER CODE END PendSV_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles System tick timer.
|
||||
*/
|
||||
void SysTick_Handler(void)
|
||||
{
|
||||
/* USER CODE BEGIN SysTick_IRQn 0 */
|
||||
|
||||
/* USER CODE END SysTick_IRQn 0 */
|
||||
HAL_IncTick();
|
||||
/* USER CODE BEGIN SysTick_IRQn 1 */
|
||||
|
||||
/* USER CODE END SysTick_IRQn 1 */
|
||||
}
|
||||
|
||||
/******************************************************************************/
|
||||
/* STM32F1xx Peripheral Interrupt Handlers */
|
||||
/* Add here the Interrupt Handlers for the used peripherals. */
|
||||
/* For the available peripheral interrupt handler names, */
|
||||
/* please refer to the startup file (startup_stm32f1xx.s). */
|
||||
/******************************************************************************/
|
||||
|
||||
/**
|
||||
* @brief This function handles DMA1 channel6 global interrupt.
|
||||
*/
|
||||
void DMA1_Channel6_IRQHandler(void)
|
||||
{
|
||||
/* USER CODE BEGIN DMA1_Channel6_IRQn 0 */
|
||||
HAL_NVIC_ClearPendingIRQ(DMA1_Channel6_IRQn);
|
||||
/* USER CODE END DMA1_Channel6_IRQn 0 */
|
||||
HAL_DMA_IRQHandler(&hdma_usart2_rx);
|
||||
/* USER CODE BEGIN DMA1_Channel6_IRQn 1 */
|
||||
|
||||
/* USER CODE END DMA1_Channel6_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles DMA1 channel7 global interrupt.
|
||||
*/
|
||||
void DMA1_Channel7_IRQHandler(void)
|
||||
{
|
||||
/* USER CODE BEGIN DMA1_Channel7_IRQn 0 */
|
||||
|
||||
/* USER CODE END DMA1_Channel7_IRQn 0 */
|
||||
HAL_DMA_IRQHandler(&hdma_usart2_tx);
|
||||
/* USER CODE BEGIN DMA1_Channel7_IRQn 1 */
|
||||
|
||||
/* USER CODE END DMA1_Channel7_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles I2C1 event interrupt.
|
||||
*/
|
||||
void I2C1_EV_IRQHandler(void)
|
||||
{
|
||||
/* USER CODE BEGIN I2C1_EV_IRQn 0 */
|
||||
|
||||
/* USER CODE END I2C1_EV_IRQn 0 */
|
||||
HAL_I2C_EV_IRQHandler(&hi2c1);
|
||||
/* USER CODE BEGIN I2C1_EV_IRQn 1 */
|
||||
|
||||
/* USER CODE END I2C1_EV_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles I2C1 error interrupt.
|
||||
*/
|
||||
void I2C1_ER_IRQHandler(void)
|
||||
{
|
||||
/* USER CODE BEGIN I2C1_ER_IRQn 0 */
|
||||
|
||||
/* USER CODE END I2C1_ER_IRQn 0 */
|
||||
HAL_I2C_ER_IRQHandler(&hi2c1);
|
||||
/* USER CODE BEGIN I2C1_ER_IRQn 1 */
|
||||
|
||||
/* USER CODE END I2C1_ER_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles USART2 global interrupt.
|
||||
*/
|
||||
void USART2_IRQHandler(void)
|
||||
{
|
||||
/* USER CODE BEGIN USART2_IRQn 0 */
|
||||
|
||||
/* USER CODE END USART2_IRQn 0 */
|
||||
HAL_UART_IRQHandler(&huart2);
|
||||
/* USER CODE BEGIN USART2_IRQn 1 */
|
||||
|
||||
/* USER CODE END USART2_IRQn 1 */
|
||||
}
|
||||
|
||||
/* USER CODE BEGIN 1 */
|
||||
|
||||
/* USER CODE END 1 */
|
||||
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
|
||||
448
Src/system_stm32f1xx.c
Normal file
448
Src/system_stm32f1xx.c
Normal file
@@ -0,0 +1,448 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @file system_stm32f1xx.c
|
||||
* @author MCD Application Team
|
||||
* @version V4.2.0
|
||||
* @date 31-March-2017
|
||||
* @brief CMSIS Cortex-M3 Device Peripheral Access Layer System Source File.
|
||||
*
|
||||
* 1. This file provides two functions and one global variable to be called from
|
||||
* user application:
|
||||
* - SystemInit(): Setups the system clock (System clock source, PLL Multiplier
|
||||
* factors, AHB/APBx prescalers and Flash settings).
|
||||
* This function is called at startup just after reset and
|
||||
* before branch to main program. This call is made inside
|
||||
* the "startup_stm32f1xx_xx.s" file.
|
||||
*
|
||||
* - SystemCoreClock variable: Contains the core clock (HCLK), it can be used
|
||||
* by the user application to setup the SysTick
|
||||
* timer or configure other parameters.
|
||||
*
|
||||
* - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must
|
||||
* be called whenever the core clock is changed
|
||||
* during program execution.
|
||||
*
|
||||
* 2. After each device reset the HSI (8 MHz) is used as system clock source.
|
||||
* Then SystemInit() function is called, in "startup_stm32f1xx_xx.s" file, to
|
||||
* configure the system clock before to branch to main program.
|
||||
*
|
||||
* 4. The default value of HSE crystal is set to 8 MHz (or 25 MHz, depending on
|
||||
* the product used), refer to "HSE_VALUE".
|
||||
* When HSE is used as system clock source, directly or through PLL, and you
|
||||
* are using different crystal you have to adapt the HSE value to your own
|
||||
* configuration.
|
||||
*
|
||||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* <h2><center>© COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without modification,
|
||||
* are permitted provided that the following conditions are met:
|
||||
* 1. Redistributions of source code must retain the above copyright notice,
|
||||
* this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright notice,
|
||||
* this list of conditions and the following disclaimer in the documentation
|
||||
* and/or other materials provided with the distribution.
|
||||
* 3. Neither the name of STMicroelectronics nor the names of its contributors
|
||||
* may be used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
|
||||
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
|
||||
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
||||
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
|
||||
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||||
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
|
||||
/** @addtogroup CMSIS
|
||||
* @{
|
||||
*/
|
||||
|
||||
/** @addtogroup stm32f1xx_system
|
||||
* @{
|
||||
*/
|
||||
|
||||
/** @addtogroup STM32F1xx_System_Private_Includes
|
||||
* @{
|
||||
*/
|
||||
|
||||
#include "stm32f1xx.h"
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/** @addtogroup STM32F1xx_System_Private_TypesDefinitions
|
||||
* @{
|
||||
*/
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/** @addtogroup STM32F1xx_System_Private_Defines
|
||||
* @{
|
||||
*/
|
||||
|
||||
#if !defined (HSE_VALUE)
|
||||
#define HSE_VALUE 8000000U /*!< Default value of the External oscillator in Hz.
|
||||
This value can be provided and adapted by the user application. */
|
||||
#endif /* HSE_VALUE */
|
||||
|
||||
#if !defined (HSI_VALUE)
|
||||
#define HSI_VALUE 8000000U /*!< Default value of the Internal oscillator in Hz.
|
||||
This value can be provided and adapted by the user application. */
|
||||
#endif /* HSI_VALUE */
|
||||
|
||||
/*!< Uncomment the following line if you need to use external SRAM */
|
||||
#if defined(STM32F100xE) || defined(STM32F101xE) || defined(STM32F101xG) || defined(STM32F103xE) || defined(STM32F103xG)
|
||||
/* #define DATA_IN_ExtSRAM */
|
||||
#endif /* STM32F100xE || STM32F101xE || STM32F101xG || STM32F103xE || STM32F103xG */
|
||||
|
||||
/*!< Uncomment the following line if you need to relocate your vector Table in
|
||||
Internal SRAM. */
|
||||
/* #define VECT_TAB_SRAM */
|
||||
#define VECT_TAB_OFFSET 0x00000000U /*!< Vector Table base offset field.
|
||||
This value must be a multiple of 0x200. */
|
||||
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/** @addtogroup STM32F1xx_System_Private_Macros
|
||||
* @{
|
||||
*/
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/** @addtogroup STM32F1xx_System_Private_Variables
|
||||
* @{
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* Clock Definitions
|
||||
*******************************************************************************/
|
||||
#if defined(STM32F100xB) ||defined(STM32F100xE)
|
||||
uint32_t SystemCoreClock = 24000000U; /*!< System Clock Frequency (Core Clock) */
|
||||
#else /*!< HSI Selected as System Clock source */
|
||||
uint32_t SystemCoreClock = 72000000U; /*!< System Clock Frequency (Core Clock) */
|
||||
#endif
|
||||
|
||||
const uint8_t AHBPrescTable[16U] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9};
|
||||
const uint8_t APBPrescTable[8U] = {0, 0, 0, 0, 1, 2, 3, 4};
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/** @addtogroup STM32F1xx_System_Private_FunctionPrototypes
|
||||
* @{
|
||||
*/
|
||||
|
||||
#if defined(STM32F100xE) || defined(STM32F101xE) || defined(STM32F101xG) || defined(STM32F103xE) || defined(STM32F103xG)
|
||||
#ifdef DATA_IN_ExtSRAM
|
||||
static void SystemInit_ExtMemCtl(void);
|
||||
#endif /* DATA_IN_ExtSRAM */
|
||||
#endif /* STM32F100xE || STM32F101xE || STM32F101xG || STM32F103xE || STM32F103xG */
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/** @addtogroup STM32F1xx_System_Private_Functions
|
||||
* @{
|
||||
*/
|
||||
|
||||
/**
|
||||
* @brief Setup the microcontroller system
|
||||
* Initialize the Embedded Flash Interface, the PLL and update the
|
||||
* SystemCoreClock variable.
|
||||
* @note This function should be used only after reset.
|
||||
* @param None
|
||||
* @retval None
|
||||
*/
|
||||
void SystemInit (void)
|
||||
{
|
||||
/* Reset the RCC clock configuration to the default reset state(for debug purpose) */
|
||||
/* Set HSION bit */
|
||||
RCC->CR |= 0x00000001U;
|
||||
|
||||
/* Reset SW, HPRE, PPRE1, PPRE2, ADCPRE and MCO bits */
|
||||
#if !defined(STM32F105xC) && !defined(STM32F107xC)
|
||||
RCC->CFGR &= 0xF8FF0000U;
|
||||
#else
|
||||
RCC->CFGR &= 0xF0FF0000U;
|
||||
#endif /* STM32F105xC */
|
||||
|
||||
/* Reset HSEON, CSSON and PLLON bits */
|
||||
RCC->CR &= 0xFEF6FFFFU;
|
||||
|
||||
/* Reset HSEBYP bit */
|
||||
RCC->CR &= 0xFFFBFFFFU;
|
||||
|
||||
/* Reset PLLSRC, PLLXTPRE, PLLMUL and USBPRE/OTGFSPRE bits */
|
||||
RCC->CFGR &= 0xFF80FFFFU;
|
||||
|
||||
#if defined(STM32F105xC) || defined(STM32F107xC)
|
||||
/* Reset PLL2ON and PLL3ON bits */
|
||||
RCC->CR &= 0xEBFFFFFFU;
|
||||
|
||||
/* Disable all interrupts and clear pending bits */
|
||||
RCC->CIR = 0x00FF0000U;
|
||||
|
||||
/* Reset CFGR2 register */
|
||||
RCC->CFGR2 = 0x00000000U;
|
||||
#elif defined(STM32F100xB) || defined(STM32F100xE)
|
||||
/* Disable all interrupts and clear pending bits */
|
||||
RCC->CIR = 0x009F0000U;
|
||||
|
||||
/* Reset CFGR2 register */
|
||||
RCC->CFGR2 = 0x00000000U;
|
||||
#else
|
||||
/* Disable all interrupts and clear pending bits */
|
||||
RCC->CIR = 0x009F0000U;
|
||||
#endif /* STM32F105xC */
|
||||
|
||||
#if defined(STM32F100xE) || defined(STM32F101xE) || defined(STM32F101xG) || defined(STM32F103xE) || defined(STM32F103xG)
|
||||
#ifdef DATA_IN_ExtSRAM
|
||||
SystemInit_ExtMemCtl();
|
||||
#endif /* DATA_IN_ExtSRAM */
|
||||
#endif
|
||||
|
||||
#ifdef VECT_TAB_SRAM
|
||||
SCB->VTOR = SRAM_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM. */
|
||||
#else
|
||||
SCB->VTOR = FLASH_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal FLASH. */
|
||||
#endif
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Update SystemCoreClock variable according to Clock Register Values.
|
||||
* The SystemCoreClock variable contains the core clock (HCLK), it can
|
||||
* be used by the user application to setup the SysTick timer or configure
|
||||
* other parameters.
|
||||
*
|
||||
* @note Each time the core clock (HCLK) changes, this function must be called
|
||||
* to update SystemCoreClock variable value. Otherwise, any configuration
|
||||
* based on this variable will be incorrect.
|
||||
*
|
||||
* @note - The system frequency computed by this function is not the real
|
||||
* frequency in the chip. It is calculated based on the predefined
|
||||
* constant and the selected clock source:
|
||||
*
|
||||
* - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(*)
|
||||
*
|
||||
* - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(**)
|
||||
*
|
||||
* - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(**)
|
||||
* or HSI_VALUE(*) multiplied by the PLL factors.
|
||||
*
|
||||
* (*) HSI_VALUE is a constant defined in stm32f1xx.h file (default value
|
||||
* 8 MHz) but the real value may vary depending on the variations
|
||||
* in voltage and temperature.
|
||||
*
|
||||
* (**) HSE_VALUE is a constant defined in stm32f1xx.h file (default value
|
||||
* 8 MHz or 25 MHz, depending on the product used), user has to ensure
|
||||
* that HSE_VALUE is same as the real frequency of the crystal used.
|
||||
* Otherwise, this function may have wrong result.
|
||||
*
|
||||
* - The result of this function could be not correct when using fractional
|
||||
* value for HSE crystal.
|
||||
* @param None
|
||||
* @retval None
|
||||
*/
|
||||
void SystemCoreClockUpdate (void)
|
||||
{
|
||||
uint32_t tmp = 0U, pllmull = 0U, pllsource = 0U;
|
||||
|
||||
#if defined(STM32F105xC) || defined(STM32F107xC)
|
||||
uint32_t prediv1source = 0U, prediv1factor = 0U, prediv2factor = 0U, pll2mull = 0U;
|
||||
#endif /* STM32F105xC */
|
||||
|
||||
#if defined(STM32F100xB) || defined(STM32F100xE)
|
||||
uint32_t prediv1factor = 0U;
|
||||
#endif /* STM32F100xB or STM32F100xE */
|
||||
|
||||
/* Get SYSCLK source -------------------------------------------------------*/
|
||||
tmp = RCC->CFGR & RCC_CFGR_SWS;
|
||||
|
||||
switch (tmp)
|
||||
{
|
||||
case 0x00U: /* HSI used as system clock */
|
||||
SystemCoreClock = HSI_VALUE;
|
||||
break;
|
||||
case 0x04U: /* HSE used as system clock */
|
||||
SystemCoreClock = HSE_VALUE;
|
||||
break;
|
||||
case 0x08U: /* PLL used as system clock */
|
||||
|
||||
/* Get PLL clock source and multiplication factor ----------------------*/
|
||||
pllmull = RCC->CFGR & RCC_CFGR_PLLMULL;
|
||||
pllsource = RCC->CFGR & RCC_CFGR_PLLSRC;
|
||||
|
||||
#if !defined(STM32F105xC) && !defined(STM32F107xC)
|
||||
pllmull = ( pllmull >> 18U) + 2U;
|
||||
|
||||
if (pllsource == 0x00U)
|
||||
{
|
||||
/* HSI oscillator clock divided by 2 selected as PLL clock entry */
|
||||
SystemCoreClock = (HSI_VALUE >> 1U) * pllmull;
|
||||
}
|
||||
else
|
||||
{
|
||||
#if defined(STM32F100xB) || defined(STM32F100xE)
|
||||
prediv1factor = (RCC->CFGR2 & RCC_CFGR2_PREDIV1) + 1U;
|
||||
/* HSE oscillator clock selected as PREDIV1 clock entry */
|
||||
SystemCoreClock = (HSE_VALUE / prediv1factor) * pllmull;
|
||||
#else
|
||||
/* HSE selected as PLL clock entry */
|
||||
if ((RCC->CFGR & RCC_CFGR_PLLXTPRE) != (uint32_t)RESET)
|
||||
{/* HSE oscillator clock divided by 2 */
|
||||
SystemCoreClock = (HSE_VALUE >> 1U) * pllmull;
|
||||
}
|
||||
else
|
||||
{
|
||||
SystemCoreClock = HSE_VALUE * pllmull;
|
||||
}
|
||||
#endif
|
||||
}
|
||||
#else
|
||||
pllmull = pllmull >> 18U;
|
||||
|
||||
if (pllmull != 0x0DU)
|
||||
{
|
||||
pllmull += 2U;
|
||||
}
|
||||
else
|
||||
{ /* PLL multiplication factor = PLL input clock * 6.5 */
|
||||
pllmull = 13U / 2U;
|
||||
}
|
||||
|
||||
if (pllsource == 0x00U)
|
||||
{
|
||||
/* HSI oscillator clock divided by 2 selected as PLL clock entry */
|
||||
SystemCoreClock = (HSI_VALUE >> 1U) * pllmull;
|
||||
}
|
||||
else
|
||||
{/* PREDIV1 selected as PLL clock entry */
|
||||
|
||||
/* Get PREDIV1 clock source and division factor */
|
||||
prediv1source = RCC->CFGR2 & RCC_CFGR2_PREDIV1SRC;
|
||||
prediv1factor = (RCC->CFGR2 & RCC_CFGR2_PREDIV1) + 1U;
|
||||
|
||||
if (prediv1source == 0U)
|
||||
{
|
||||
/* HSE oscillator clock selected as PREDIV1 clock entry */
|
||||
SystemCoreClock = (HSE_VALUE / prediv1factor) * pllmull;
|
||||
}
|
||||
else
|
||||
{/* PLL2 clock selected as PREDIV1 clock entry */
|
||||
|
||||
/* Get PREDIV2 division factor and PLL2 multiplication factor */
|
||||
prediv2factor = ((RCC->CFGR2 & RCC_CFGR2_PREDIV2) >> 4U) + 1U;
|
||||
pll2mull = ((RCC->CFGR2 & RCC_CFGR2_PLL2MUL) >> 8U) + 2U;
|
||||
SystemCoreClock = (((HSE_VALUE / prediv2factor) * pll2mull) / prediv1factor) * pllmull;
|
||||
}
|
||||
}
|
||||
#endif /* STM32F105xC */
|
||||
break;
|
||||
|
||||
default:
|
||||
SystemCoreClock = HSI_VALUE;
|
||||
break;
|
||||
}
|
||||
|
||||
/* Compute HCLK clock frequency ----------------*/
|
||||
/* Get HCLK prescaler */
|
||||
tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4U)];
|
||||
/* HCLK clock frequency */
|
||||
SystemCoreClock >>= tmp;
|
||||
}
|
||||
|
||||
#if defined(STM32F100xE) || defined(STM32F101xE) || defined(STM32F101xG) || defined(STM32F103xE) || defined(STM32F103xG)
|
||||
/**
|
||||
* @brief Setup the external memory controller. Called in startup_stm32f1xx.s
|
||||
* before jump to __main
|
||||
* @param None
|
||||
* @retval None
|
||||
*/
|
||||
#ifdef DATA_IN_ExtSRAM
|
||||
/**
|
||||
* @brief Setup the external memory controller.
|
||||
* Called in startup_stm32f1xx_xx.s/.c before jump to main.
|
||||
* This function configures the external SRAM mounted on STM3210E-EVAL
|
||||
* board (STM32 High density devices). This SRAM will be used as program
|
||||
* data memory (including heap and stack).
|
||||
* @param None
|
||||
* @retval None
|
||||
*/
|
||||
void SystemInit_ExtMemCtl(void)
|
||||
{
|
||||
__IO uint32_t tmpreg;
|
||||
/*!< FSMC Bank1 NOR/SRAM3 is used for the STM3210E-EVAL, if another Bank is
|
||||
required, then adjust the Register Addresses */
|
||||
|
||||
/* Enable FSMC clock */
|
||||
RCC->AHBENR = 0x00000114U;
|
||||
|
||||
/* Delay after an RCC peripheral clock enabling */
|
||||
tmpreg = READ_BIT(RCC->AHBENR, RCC_AHBENR_FSMCEN);
|
||||
|
||||
/* Enable GPIOD, GPIOE, GPIOF and GPIOG clocks */
|
||||
RCC->APB2ENR = 0x000001E0U;
|
||||
|
||||
/* Delay after an RCC peripheral clock enabling */
|
||||
tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_IOPDEN);
|
||||
|
||||
(void)(tmpreg);
|
||||
|
||||
/* --------------- SRAM Data lines, NOE and NWE configuration ---------------*/
|
||||
/*---------------- SRAM Address lines configuration -------------------------*/
|
||||
/*---------------- NOE and NWE configuration --------------------------------*/
|
||||
/*---------------- NE3 configuration ----------------------------------------*/
|
||||
/*---------------- NBL0, NBL1 configuration ---------------------------------*/
|
||||
|
||||
GPIOD->CRL = 0x44BB44BBU;
|
||||
GPIOD->CRH = 0xBBBBBBBBU;
|
||||
|
||||
GPIOE->CRL = 0xB44444BBU;
|
||||
GPIOE->CRH = 0xBBBBBBBBU;
|
||||
|
||||
GPIOF->CRL = 0x44BBBBBBU;
|
||||
GPIOF->CRH = 0xBBBB4444U;
|
||||
|
||||
GPIOG->CRL = 0x44BBBBBBU;
|
||||
GPIOG->CRH = 0x444B4B44U;
|
||||
|
||||
/*---------------- FSMC Configuration ---------------------------------------*/
|
||||
/*---------------- Enable FSMC Bank1_SRAM Bank ------------------------------*/
|
||||
|
||||
FSMC_Bank1->BTCR[4U] = 0x00001091U;
|
||||
FSMC_Bank1->BTCR[5U] = 0x00110212U;
|
||||
}
|
||||
#endif /* DATA_IN_ExtSRAM */
|
||||
#endif /* STM32F100xE || STM32F101xE || STM32F101xG || STM32F103xE || STM32F103xG */
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
|
||||
155
Src/usart.c
Normal file
155
Src/usart.c
Normal file
@@ -0,0 +1,155 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* File Name : USART.c
|
||||
* Description : This file provides code for the configuration
|
||||
* of the USART instances.
|
||||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* <h2><center>© Copyright (c) 2020 STMicroelectronics.
|
||||
* All rights reserved.</center></h2>
|
||||
*
|
||||
* This software component is licensed by ST under BSD 3-Clause license,
|
||||
* the "License"; You may not use this file except in compliance with the
|
||||
* License. You may obtain a copy of the License at:
|
||||
* opensource.org/licenses/BSD-3-Clause
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "usart.h"
|
||||
|
||||
/* USER CODE BEGIN 0 */
|
||||
|
||||
/* USER CODE END 0 */
|
||||
|
||||
UART_HandleTypeDef huart2;
|
||||
DMA_HandleTypeDef hdma_usart2_rx;
|
||||
DMA_HandleTypeDef hdma_usart2_tx;
|
||||
|
||||
/* USART2 init function */
|
||||
|
||||
void MX_USART2_UART_Init(void)
|
||||
{
|
||||
|
||||
huart2.Instance = USART2;
|
||||
huart2.Init.BaudRate = USART_MAIN_BAUD;
|
||||
huart2.Init.WordLength = UART_WORDLENGTH_8B;
|
||||
huart2.Init.StopBits = UART_STOPBITS_1;
|
||||
huart2.Init.Parity = UART_PARITY_NONE;
|
||||
huart2.Init.Mode = UART_MODE_TX_RX;
|
||||
huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
|
||||
huart2.Init.OverSampling = UART_OVERSAMPLING_16;
|
||||
if (HAL_UART_Init(&huart2) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
|
||||
{
|
||||
|
||||
GPIO_InitTypeDef GPIO_InitStruct = {0};
|
||||
if(uartHandle->Instance==USART2)
|
||||
{
|
||||
/* USER CODE BEGIN USART2_MspInit 0 */
|
||||
|
||||
/* USER CODE END USART2_MspInit 0 */
|
||||
/* USART2 clock enable */
|
||||
__HAL_RCC_USART2_CLK_ENABLE();
|
||||
|
||||
__HAL_RCC_GPIOA_CLK_ENABLE();
|
||||
/**USART2 GPIO Configuration
|
||||
PA2 ------> USART2_TX
|
||||
PA3 ------> USART2_RX
|
||||
*/
|
||||
GPIO_InitStruct.Pin = GPIO_PIN_2;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
|
||||
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
|
||||
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
|
||||
|
||||
GPIO_InitStruct.Pin = GPIO_PIN_3;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
|
||||
GPIO_InitStruct.Pull = GPIO_PULLUP;
|
||||
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
|
||||
|
||||
/* USART2 DMA Init */
|
||||
/* USART2_RX Init */
|
||||
hdma_usart2_rx.Instance = DMA1_Channel6;
|
||||
hdma_usart2_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
|
||||
hdma_usart2_rx.Init.PeriphInc = DMA_PINC_DISABLE;
|
||||
hdma_usart2_rx.Init.MemInc = DMA_MINC_ENABLE;
|
||||
hdma_usart2_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
|
||||
hdma_usart2_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
|
||||
hdma_usart2_rx.Init.Mode = DMA_CIRCULAR;
|
||||
hdma_usart2_rx.Init.Priority = DMA_PRIORITY_LOW;
|
||||
if (HAL_DMA_Init(&hdma_usart2_rx) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
|
||||
__HAL_LINKDMA(uartHandle,hdmarx,hdma_usart2_rx);
|
||||
|
||||
/* USART2_TX Init */
|
||||
hdma_usart2_tx.Instance = DMA1_Channel7;
|
||||
hdma_usart2_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
|
||||
hdma_usart2_tx.Init.PeriphInc = DMA_PINC_DISABLE;
|
||||
hdma_usart2_tx.Init.MemInc = DMA_MINC_ENABLE;
|
||||
hdma_usart2_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
|
||||
hdma_usart2_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
|
||||
hdma_usart2_tx.Init.Mode = DMA_NORMAL;
|
||||
hdma_usart2_tx.Init.Priority = DMA_PRIORITY_LOW;
|
||||
if (HAL_DMA_Init(&hdma_usart2_tx) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
|
||||
__HAL_LINKDMA(uartHandle,hdmatx,hdma_usart2_tx);
|
||||
|
||||
/* USART2 interrupt Init */
|
||||
HAL_NVIC_SetPriority(USART2_IRQn, 0, 0);
|
||||
HAL_NVIC_EnableIRQ(USART2_IRQn);
|
||||
/* USER CODE BEGIN USART2_MspInit 1 */
|
||||
// DMA1_Channel7->CPAR = (uint32_t) & (USART2->DR);
|
||||
// DMA1_Channel7->CNDTR = 0;
|
||||
// DMA1->IFCR = DMA_IFCR_CTCIF7 | DMA_IFCR_CHTIF7 | DMA_IFCR_CGIF7;
|
||||
/* USER CODE END USART2_MspInit 1 */
|
||||
}
|
||||
}
|
||||
|
||||
void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
|
||||
{
|
||||
|
||||
if(uartHandle->Instance==USART2)
|
||||
{
|
||||
/* USER CODE BEGIN USART2_MspDeInit 0 */
|
||||
|
||||
/* USER CODE END USART2_MspDeInit 0 */
|
||||
/* Peripheral clock disable */
|
||||
__HAL_RCC_USART2_CLK_DISABLE();
|
||||
|
||||
/**USART2 GPIO Configuration
|
||||
PA2 ------> USART2_TX
|
||||
PA3 ------> USART2_RX
|
||||
*/
|
||||
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_2|GPIO_PIN_3);
|
||||
|
||||
/* USART2 DMA DeInit */
|
||||
HAL_DMA_DeInit(uartHandle->hdmarx);
|
||||
HAL_DMA_DeInit(uartHandle->hdmatx);
|
||||
|
||||
/* USART2 interrupt Deinit */
|
||||
HAL_NVIC_DisableIRQ(USART2_IRQn);
|
||||
/* USER CODE BEGIN USART2_MspDeInit 1 */
|
||||
|
||||
/* USER CODE END USART2_MspDeInit 1 */
|
||||
}
|
||||
}
|
||||
|
||||
/* USER CODE BEGIN 1 */
|
||||
|
||||
/* USER CODE END 1 */
|
||||
|
||||
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
|
||||
177
Src/util.c
Normal file
177
Src/util.c
Normal file
@@ -0,0 +1,177 @@
|
||||
/**
|
||||
* This file is part of the hoverboard-sideboard-hack project.
|
||||
*
|
||||
* Copyright (C) 2020-2021 Emanuel FERU <aerdronix@gmail.com>
|
||||
*
|
||||
* This program is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
// Includes
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "stm32f1xx_hal.h"
|
||||
#include "usart.h"
|
||||
#include "i2c.h"
|
||||
#include "defines.h"
|
||||
#include "config.h"
|
||||
#include "util.h"
|
||||
|
||||
extern UART_HandleTypeDef huart2;
|
||||
extern I2C_HandleTypeDef hi2c1;
|
||||
|
||||
/* =========================== General Functions =========================== */
|
||||
|
||||
void consoleLog(char *message)
|
||||
{
|
||||
#ifdef SERIAL_DEBUG
|
||||
log_i("%s", message);
|
||||
#endif
|
||||
}
|
||||
|
||||
void get_tick_count_ms(unsigned long *count)
|
||||
{
|
||||
*count = HAL_GetTick();
|
||||
}
|
||||
|
||||
/* retarget the C library printf function to the USART */
|
||||
#ifdef SERIAL_DEBUG
|
||||
#ifdef __GNUC__
|
||||
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
|
||||
#else
|
||||
#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
|
||||
#endif
|
||||
PUTCHAR_PROTOTYPE
|
||||
{
|
||||
HAL_UART_Transmit(&huart2, (uint8_t *)&ch, 1, 1000);
|
||||
return ch;
|
||||
}
|
||||
|
||||
#ifdef __GNUC__
|
||||
int _write(int file, char *ptr, int len)
|
||||
{
|
||||
int DataIdx;
|
||||
for (DataIdx = 0; DataIdx < len; DataIdx++) { __io_putchar( *ptr++ );}
|
||||
return len;
|
||||
}
|
||||
#endif
|
||||
#endif
|
||||
|
||||
void introDemoLED(uint32_t tDelay)
|
||||
{
|
||||
int i;
|
||||
|
||||
for (i = 0; i < 6; i++) {
|
||||
HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_SET);
|
||||
HAL_GPIO_WritePin(LED3_GPIO_Port, LED3_Pin, GPIO_PIN_RESET);
|
||||
HAL_Delay(tDelay);
|
||||
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET);
|
||||
HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_RESET);
|
||||
HAL_Delay(tDelay);
|
||||
HAL_GPIO_WritePin(LED3_GPIO_Port, LED3_Pin, GPIO_PIN_SET);
|
||||
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
|
||||
HAL_Delay(tDelay);
|
||||
}
|
||||
|
||||
for (i = 0; i < 2; i++) {
|
||||
HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_SET);
|
||||
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET);
|
||||
HAL_GPIO_WritePin(LED3_GPIO_Port, LED3_Pin, GPIO_PIN_SET);
|
||||
HAL_GPIO_WritePin(LED4_GPIO_Port, LED4_Pin, GPIO_PIN_SET);
|
||||
HAL_GPIO_WritePin(LED5_GPIO_Port, LED5_Pin, GPIO_PIN_SET);
|
||||
HAL_Delay(tDelay);
|
||||
HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_RESET);
|
||||
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
|
||||
HAL_GPIO_WritePin(LED3_GPIO_Port, LED3_Pin, GPIO_PIN_RESET);
|
||||
HAL_GPIO_WritePin(LED4_GPIO_Port, LED4_Pin, GPIO_PIN_RESET);
|
||||
HAL_GPIO_WritePin(LED5_GPIO_Port, LED5_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/* =========================== I2C WRITE Functions =========================== */
|
||||
|
||||
/*
|
||||
* write bytes to chip register
|
||||
*/
|
||||
int8_t i2c_writeBytes(uint8_t slaveAddr, uint8_t regAddr, uint8_t length, uint8_t *data)
|
||||
{
|
||||
// !! Using the I2C Interrupt will fail writing the DMP.. could be that DMP memory writing requires more time !! So use the I2C without interrupt.
|
||||
// HAL_I2C_Mem_Write_IT(&hi2c1, slaveAddr << 1, regAddr, 1, data, length);
|
||||
// while(HAL_I2C_STATE_READY != HAL_I2C_GetState(&hi2c1)); // Wait until all data bytes are sent/received
|
||||
// return 0;
|
||||
|
||||
return HAL_I2C_Mem_Write(&hi2c1, slaveAddr << 1, regAddr, 1, data, length, 100); // Address is shifted one position to the left. LSB is reserved for the Read/Write bit.
|
||||
|
||||
}
|
||||
|
||||
/*
|
||||
* write 1 byte to chip register
|
||||
*/
|
||||
int8_t i2c_writeByte(uint8_t slaveAddr, uint8_t regAddr, uint8_t data)
|
||||
{
|
||||
return i2c_writeBytes(slaveAddr, regAddr, 1, &data);
|
||||
}
|
||||
|
||||
/*
|
||||
* write one bit to chip register
|
||||
*/
|
||||
int8_t i2c_writeBit(uint8_t slaveAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data) {
|
||||
uint8_t b;
|
||||
i2c_readByte(slaveAddr, regAddr, &b);
|
||||
b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum));
|
||||
return i2c_writeByte(slaveAddr, regAddr, b);
|
||||
}
|
||||
|
||||
/* =========================== I2C READ Functions =========================== */
|
||||
|
||||
/*
|
||||
* read bytes from chip register
|
||||
*/
|
||||
int8_t i2c_readBytes(uint8_t slaveAddr, uint8_t regAddr, uint8_t length, uint8_t *data)
|
||||
{
|
||||
// !! Using the I2C Interrupt will fail writing the DMP.. could be that DMP memory writing requires more time !! So use the I2C without interrupt.
|
||||
// HAL_I2C_Mem_Read(&hi2c1, slaveAddr << 1, regAddr, 1, data, length);
|
||||
// while(HAL_I2C_STATE_READY != HAL_I2C_GetState(&hi2c1)); // Wait until all data bytes are sent/received
|
||||
// return 0;
|
||||
|
||||
return HAL_I2C_Mem_Read(&hi2c1, slaveAddr << 1, regAddr, 1, data, length, 100); // Address is shifted one position to the left. LSB is reserved for the Read/Write bit.
|
||||
|
||||
}
|
||||
|
||||
/*
|
||||
* read 1 byte from chip register
|
||||
*/
|
||||
int8_t i2c_readByte(uint8_t slaveAddr, uint8_t regAddr, uint8_t *data)
|
||||
{
|
||||
return i2c_readBytes(slaveAddr, regAddr, 1, data);
|
||||
}
|
||||
|
||||
/*
|
||||
* read 1 bit from chip register
|
||||
*/
|
||||
int8_t i2c_readBit(uint8_t slaveAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data)
|
||||
{
|
||||
uint8_t b;
|
||||
int8_t status = i2c_readByte(slaveAddr, regAddr, &b);
|
||||
*data = b & (1 << bitNum);
|
||||
return status;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user