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4 Commits
ec9fa4bb0f
...
ceb9602c3c
Author | SHA1 | Date |
---|---|---|
Jasper Blanckenburg | ceb9602c3c | |
Jasper Blanckenburg | 2a824f1662 | |
Jasper Blanckenburg | 9fa034f10f | |
Jasper Blanckenburg | 38590d433b |
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@ -1,6 +1,8 @@
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#ifndef __LEDS_H
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#define __LEDS_H
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void leds_init();
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#include "stm32g4xx_hal.h"
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void leds_init(TIM_HandleTypeDef* timer);
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#endif // __LEDS_H
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@ -41,7 +41,7 @@ extern "C" {
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/* Exported constants --------------------------------------------------------*/
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/* USER CODE BEGIN EC */
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#define MAIN_LOOP_PERIOD 50 /* ms */
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/* USER CODE END EC */
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/* Exported macro ------------------------------------------------------------*/
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@ -49,6 +49,8 @@ extern "C" {
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/* USER CODE END EM */
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void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim);
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/* Exported functions prototypes ---------------------------------------------*/
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void Error_Handler(void);
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@ -96,7 +98,7 @@ void Error_Handler(void);
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#define ENC1B_Pin GPIO_PIN_7
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#define ENC1B_GPIO_Port GPIOB
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/* USER CODE BEGIN Private defines */
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#define TOP_PWM_TIM_CHANNEL TIM_CHANNEL_1
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/* USER CODE END Private defines */
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#ifdef __cplusplus
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@ -62,7 +62,7 @@
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/*#define HAL_SMBUS_MODULE_ENABLED */
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/*#define HAL_SPI_MODULE_ENABLED */
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/*#define HAL_SRAM_MODULE_ENABLED */
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/*#define HAL_TIM_MODULE_ENABLED */
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#define HAL_TIM_MODULE_ENABLED
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/*#define HAL_UART_MODULE_ENABLED */
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/*#define HAL_USART_MODULE_ENABLED */
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/*#define HAL_WWDG_MODULE_ENABLED */
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@ -4,6 +4,20 @@
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#include "events.h"
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#include "stm32g4xx_hal.h"
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#include "stm32g4xx_hal_gpio.h"
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typedef struct {
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GPIO_PinState left;
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GPIO_PinState right;
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GPIO_PinState r2d;
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GPIO_PinState enter;
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GPIO_PinState enc0a;
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GPIO_PinState enc0b;
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GPIO_PinState enc1a;
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GPIO_PinState enc1b;
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} ButtonsState;
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ButtonsState get_buttons_state();
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void handle_button_press(const ButtonPressEvent* ev);
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@ -4,13 +4,21 @@
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#include "state.h"
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#include "stm32g4xx_hal.h"
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#include "stm32g4xx_hal_def.h"
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#include "stm32g4xx_hal_fdcan.h"
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#define CAN_ID_MISSION_SELECT 0x400
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#define CAN_ID_BUTTONS 0x401
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#define CAN_ID_AS_MISSION_FB 0x410
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#define CAN_BUTTONS_LEFT (1 << 0)
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#define CAN_BUTTONS_RIGHT (1 << 1)
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#define CAN_BUTTONS_R2D (1 << 2)
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#define CAN_BUTTONS_ENTER (1 << 3)
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void vehicle_init(FDCAN_HandleTypeDef* handle);
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void vehicle_send_mission_select(Mission mission);
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HAL_StatusTypeDef vehicle_send_mission_select(Mission mission);
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HAL_StatusTypeDef vehicle_send_buttons();
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#endif // __VEHICLE_H
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@ -4,17 +4,21 @@
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#include "stm32g4xx_hal.h"
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#include "stm32g4xx_hal_gpio.h"
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#include "stm32g4xx_hal_tim.h"
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void leds_init(TIM_HandleTypeDef* timer) {
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if (HAL_TIM_PWM_Start(timer, TOP_PWM_TIM_CHANNEL) != HAL_OK) {
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Error_Handler();
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}
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void leds_init() {
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HAL_GPIO_WritePin(LED_NOE_GPIO_Port, LED_NOE_Pin, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(LED_NCLR_GPIO_Port, LED_NCLR_Pin, GPIO_PIN_SET);
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HAL_GPIO_WritePin(LED_OCLK_GPIO_Port, LED_OCLK_Pin, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(LED_ICLK_GPIO_Port, LED_ICLK_Pin, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(TOP_PWM_GPIO_Port, TOP_PWM_Pin, GPIO_PIN_SET);
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HAL_Delay(10);
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for (int i = 0; i < 12; i++) {
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GPIO_PinState state = (i % 2 == 0) ? GPIO_PIN_SET : GPIO_PIN_RESET;
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GPIO_PinState state = GPIO_PIN_RESET;
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HAL_GPIO_WritePin(LED_SER_GPIO_Port, LED_SER_Pin, state);
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HAL_Delay(5);
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HAL_GPIO_WritePin(LED_ICLK_GPIO_Port, LED_ICLK_Pin, GPIO_PIN_SET);
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@ -29,6 +29,7 @@
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#include "stm32g4xx_hal.h"
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#include "stm32g4xx_hal_gpio.h"
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#include "stm32g4xx_hal_tim.h"
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#include <stdint.h>
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@ -55,6 +56,8 @@ FDCAN_HandleTypeDef hfdcan1;
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I2C_HandleTypeDef hi2c2;
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TIM_HandleTypeDef htim2;
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/* USER CODE BEGIN PV */
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/* USER CODE END PV */
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@ -65,13 +68,21 @@ static void MX_GPIO_Init(void);
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static void MX_ADC1_Init(void);
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static void MX_FDCAN1_Init(void);
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static void MX_I2C2_Init(void);
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static void MX_TIM2_Init(void);
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/* USER CODE BEGIN PFP */
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/* USER CODE END PFP */
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/* Private user code ---------------------------------------------------------*/
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/* USER CODE BEGIN 0 */
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void loop_delay() {
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static uint32_t last_loop = 0;
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int32_t diff = MAIN_LOOP_PERIOD - (HAL_GetTick() - last_loop);
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if (diff > 0) {
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HAL_Delay(diff);
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}
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last_loop = HAL_GetTick();
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}
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/* USER CODE END 0 */
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/**
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@ -105,8 +116,9 @@ int main(void) {
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MX_ADC1_Init();
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MX_FDCAN1_Init();
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MX_I2C2_Init();
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MX_TIM2_Init();
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/* USER CODE BEGIN 2 */
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leds_init();
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leds_init(&htim2);
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state_init();
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vehicle_init(&hfdcan1);
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rpi_init(&hi2c2);
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@ -126,10 +138,8 @@ int main(void) {
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HAL_GPIO_WritePin(DISP_RESET_GPIO_Port, DISP_RESET_Pin, GPIO_PIN_SET);
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}
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handle_events();
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if (now - last_can > 100) {
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// vehicle_send_mission_select(MISSION_ACCELERATION);
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last_can = now;
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}
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vehicle_send_buttons();
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loop_delay();
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}
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/* USER CODE END 3 */
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}
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@ -323,6 +333,50 @@ static void MX_I2C2_Init(void) {
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/* USER CODE END I2C2_Init 2 */
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}
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/**
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* @brief TIM2 Initialization Function
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* @param None
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* @retval None
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*/
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static void MX_TIM2_Init(void) {
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/* USER CODE BEGIN TIM2_Init 0 */
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/* USER CODE END TIM2_Init 0 */
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TIM_MasterConfigTypeDef sMasterConfig = {0};
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TIM_OC_InitTypeDef sConfigOC = {0};
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/* USER CODE BEGIN TIM2_Init 1 */
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/* USER CODE END TIM2_Init 1 */
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htim2.Instance = TIM2;
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htim2.Init.Prescaler = 79;
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htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
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htim2.Init.Period = 255;
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htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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if (HAL_TIM_PWM_Init(&htim2) != HAL_OK) {
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Error_Handler();
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}
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sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
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sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
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if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) {
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Error_Handler();
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}
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sConfigOC.OCMode = TIM_OCMODE_PWM1;
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sConfigOC.Pulse = 31;
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sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
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sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
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if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) {
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Error_Handler();
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}
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/* USER CODE BEGIN TIM2_Init 2 */
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/* USER CODE END TIM2_Init 2 */
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HAL_TIM_MspPostInit(&htim2);
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}
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/**
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* @brief GPIO Initialization Function
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* @param None
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@ -337,17 +391,15 @@ static void MX_GPIO_Init(void) {
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/*Configure GPIO pin Output Level */
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HAL_GPIO_WritePin(GPIOA,
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TOP_PWM_Pin | LOGO_PWM_Pin | LED_ICLK_Pin | LED_OCLK_Pin |
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LED_NCLR_Pin | LED_SER_Pin | LED_NOE_Pin |
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DISP_RESET_Pin,
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LOGO_PWM_Pin | LED_ICLK_Pin | LED_OCLK_Pin | LED_NCLR_Pin |
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LED_SER_Pin | LED_NOE_Pin | DISP_RESET_Pin,
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GPIO_PIN_RESET);
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/*Configure GPIO pins : TOP_PWM_Pin LOGO_PWM_Pin LED_ICLK_Pin LED_OCLK_Pin
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LED_NCLR_Pin LED_SER_Pin LED_NOE_Pin DISP_RESET_Pin
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*/
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GPIO_InitStruct.Pin = TOP_PWM_Pin | LOGO_PWM_Pin | LED_ICLK_Pin |
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LED_OCLK_Pin | LED_NCLR_Pin | LED_SER_Pin |
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LED_NOE_Pin | DISP_RESET_Pin;
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/*Configure GPIO pins : LOGO_PWM_Pin LED_ICLK_Pin LED_OCLK_Pin LED_NCLR_Pin
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LED_SER_Pin LED_NOE_Pin DISP_RESET_Pin */
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GPIO_InitStruct.Pin = LOGO_PWM_Pin | LED_ICLK_Pin | LED_OCLK_Pin |
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LED_NCLR_Pin | LED_SER_Pin | LED_NOE_Pin |
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DISP_RESET_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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@ -57,6 +57,8 @@
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/* USER CODE BEGIN 0 */
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/* USER CODE END 0 */
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void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
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/**
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* Initializes the Global MSP.
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*/
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@ -315,6 +317,76 @@ void HAL_I2C_MspDeInit(I2C_HandleTypeDef* hi2c)
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}
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/**
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* @brief TIM_PWM MSP Initialization
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* This function configures the hardware resources used in this example
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* @param htim_pwm: TIM_PWM handle pointer
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* @retval None
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*/
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void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* htim_pwm)
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{
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if(htim_pwm->Instance==TIM2)
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{
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/* USER CODE BEGIN TIM2_MspInit 0 */
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/* USER CODE END TIM2_MspInit 0 */
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/* Peripheral clock enable */
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__HAL_RCC_TIM2_CLK_ENABLE();
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/* USER CODE BEGIN TIM2_MspInit 1 */
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/* USER CODE END TIM2_MspInit 1 */
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}
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}
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void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
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{
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GPIO_InitTypeDef GPIO_InitStruct = {0};
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if(htim->Instance==TIM2)
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{
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/* USER CODE BEGIN TIM2_MspPostInit 0 */
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/* USER CODE END TIM2_MspPostInit 0 */
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__HAL_RCC_GPIOA_CLK_ENABLE();
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/**TIM2 GPIO Configuration
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PA0 ------> TIM2_CH1
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*/
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GPIO_InitStruct.Pin = TOP_PWM_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_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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GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
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HAL_GPIO_Init(TOP_PWM_GPIO_Port, &GPIO_InitStruct);
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/* USER CODE BEGIN TIM2_MspPostInit 1 */
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/* USER CODE END TIM2_MspPostInit 1 */
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}
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}
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/**
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* @brief TIM_PWM MSP De-Initialization
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* This function freeze the hardware resources used in this example
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* @param htim_pwm: TIM_PWM handle pointer
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* @retval None
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*/
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void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* htim_pwm)
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{
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if(htim_pwm->Instance==TIM2)
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{
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/* USER CODE BEGIN TIM2_MspDeInit 0 */
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/* USER CODE END TIM2_MspDeInit 0 */
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/* Peripheral clock disable */
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__HAL_RCC_TIM2_CLK_DISABLE();
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/* USER CODE BEGIN TIM2_MspDeInit 1 */
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/* USER CODE END TIM2_MspDeInit 1 */
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}
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}
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/* USER CODE BEGIN 1 */
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/* USER CODE END 1 */
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@ -5,30 +5,58 @@
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#include "state.h"
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#include "vehicle.h"
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#include "stm32g4xx_hal.h"
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#include "stm32g4xx_hal_gpio.h"
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#include <stdint.h>
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#define MIN_PRESS_INTERVAL 100
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void HAL_GPIO_EXTI_Callback(uint16_t pin) {
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static uint32_t last_presses[4] = {0, 0, 0, 0};
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Event ev;
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GPIO_PinState state = HAL_GPIO_ReadPin(GPIOB, pin);
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ev.type = state;
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uint32_t now = HAL_GetTick();
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switch (pin) {
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case BTN0_Pin:
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case BTN0_Pin: {
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if (now - last_presses[0] < MIN_PRESS_INTERVAL) {
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return;
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}
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last_presses[0] = now;
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ev.type = EV_BTN_PRESS;
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ev.btn_press = BTN_PRESS_PREV;
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break;
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case BTN1_Pin:
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}
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case BTN1_Pin: {
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if (now - last_presses[1] < MIN_PRESS_INTERVAL) {
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return;
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}
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last_presses[1] = now;
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ev.type = EV_BTN_PRESS;
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ev.btn_press = BTN_PRESS_R2D;
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break;
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case BTN2_Pin:
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}
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case BTN2_Pin: {
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if (now - last_presses[2] < MIN_PRESS_INTERVAL) {
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return;
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}
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last_presses[2] = now;
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ev.type = EV_BTN_PRESS;
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ev.btn_press = BTN_PRESS_OK;
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break;
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case BTN3_Pin:
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}
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case BTN3_Pin: {
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if (now - last_presses[3] < MIN_PRESS_INTERVAL) {
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return;
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}
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last_presses[3] = now;
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ev.type = EV_BTN_PRESS;
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ev.btn_press = BTN_PRESS_NEXT;
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break;
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}
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default:
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Error_Handler();
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}
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@ -75,3 +103,16 @@ void handle_button_press_mission_select(const ButtonPressEvent* ev) {
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}
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}
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}
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ButtonsState get_buttons_state() {
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ButtonsState result;
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result.left = HAL_GPIO_ReadPin(BTN0_GPIO_Port, BTN0_Pin);
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result.right = HAL_GPIO_ReadPin(BTN3_GPIO_Port, BTN3_Pin);
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result.r2d = HAL_GPIO_ReadPin(BTN1_GPIO_Port, BTN1_Pin);
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result.enter = HAL_GPIO_ReadPin(BTN2_GPIO_Port, BTN2_Pin);
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result.enc0a = HAL_GPIO_ReadPin(ENC0A_GPIO_Port, ENC0A_Pin);
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result.enc0b = HAL_GPIO_ReadPin(ENC0B_GPIO_Port, ENC0B_Pin);
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result.enc1a = HAL_GPIO_ReadPin(ENC1A_GPIO_Port, ENC1A_Pin);
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result.enc1b = HAL_GPIO_ReadPin(ENC1B_GPIO_Port, ENC1B_Pin);
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return result;
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}
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@ -2,6 +2,7 @@
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#include "main.h"
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#include "state.h"
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#include "user_inputs.h"
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#include "stm32g4xx_hal_def.h"
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#include "stm32g4xx_hal_fdcan.h"
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@ -47,7 +48,7 @@ void vehicle_init(FDCAN_HandleTypeDef* handle) {
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}
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}
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void vehicle_send_mission_select(Mission mission) {
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HAL_StatusTypeDef vehicle_send_mission_select(Mission mission) {
|
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// TODO: Automatically resend this until it's acknowledged
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||||
FDCAN_TxHeaderTypeDef header;
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||||
header.Identifier = CAN_ID_MISSION_SELECT;
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|
@ -62,9 +63,28 @@ void vehicle_send_mission_select(Mission mission) {
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|||
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uint8_t data[1];
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data[0] = mission;
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if (HAL_FDCAN_AddMessageToTxFifoQ(can, &header, data) != HAL_OK) {
|
||||
Error_Handler();
|
||||
return HAL_FDCAN_AddMessageToTxFifoQ(can, &header, data);
|
||||
}
|
||||
|
||||
HAL_StatusTypeDef vehicle_send_buttons() {
|
||||
FDCAN_TxHeaderTypeDef header;
|
||||
header.Identifier = CAN_ID_BUTTONS;
|
||||
header.IdType = FDCAN_STANDARD_ID;
|
||||
header.TxFrameType = FDCAN_DATA_FRAME;
|
||||
header.DataLength = FDCAN_DLC_BYTES_1;
|
||||
header.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
|
||||
header.BitRateSwitch = FDCAN_BRS_OFF;
|
||||
header.FDFormat = FDCAN_CLASSIC_CAN;
|
||||
header.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
|
||||
header.MessageMarker = 0;
|
||||
|
||||
ButtonsState buttons = get_buttons_state();
|
||||
uint8_t data[1];
|
||||
data[0] = (buttons.left ? CAN_BUTTONS_LEFT : 0) |
|
||||
(buttons.right ? CAN_BUTTONS_RIGHT : 0) |
|
||||
(buttons.r2d ? CAN_BUTTONS_R2D : 0) |
|
||||
(buttons.enter ? CAN_BUTTONS_ENTER : 0);
|
||||
return HAL_FDCAN_AddMessageToTxFifoQ(can, &header, data);
|
||||
}
|
||||
|
||||
/* BEGIN CAN MESSAGE HANDLERS { */
|
||||
|
|
2
Makefile
2
Makefile
|
@ -1,5 +1,5 @@
|
|||
##########################################################################################################################
|
||||
# File automatically-generated by tool: [projectgenerator] version: [3.16.0] date: [Sat May 28 19:05:06 CEST 2022]
|
||||
# File automatically-generated by tool: [projectgenerator] version: [3.16.0] date: [Sun May 29 02:01:26 CEST 2022]
|
||||
##########################################################################################################################
|
||||
|
||||
# ------------------------------------------------
|
||||
|
|
|
@ -154,7 +154,8 @@ CFLAGS = $(MCU) $(C_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-
|
|||
CXXFLAGS = $(MCU) $(CXX_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections -feliminate-unused-debug-types
|
||||
|
||||
ifeq ($(DEBUG), 1)
|
||||
CFLAGS += -g -gdwarf-2
|
||||
CFLAGS += -g -gdwarf -ggdb
|
||||
CXXFLAGS += -g -gdwarf -ggdb
|
||||
endif
|
||||
|
||||
# Add additional flags
|
||||
|
@ -243,6 +244,12 @@ erase: $(BUILD_DIR)/$(TARGET).elf
|
|||
clean:
|
||||
-rm -fR $(BUILD_DIR)
|
||||
|
||||
#######################################
|
||||
# custom makefile rules
|
||||
#######################################
|
||||
|
||||
|
||||
|
||||
#######################################
|
||||
# dependencies
|
||||
#######################################
|
||||
|
|
|
@ -32,7 +32,8 @@ Mcu.IP2=I2C2
|
|||
Mcu.IP3=NVIC
|
||||
Mcu.IP4=RCC
|
||||
Mcu.IP5=SYS
|
||||
Mcu.IPNb=6
|
||||
Mcu.IP6=TIM2
|
||||
Mcu.IPNb=7
|
||||
Mcu.Name=STM32G441CBTx
|
||||
Mcu.Package=LQFP48
|
||||
Mcu.Pin0=PA0
|
||||
|
@ -83,7 +84,7 @@ NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
|
|||
PA0.GPIOParameters=GPIO_Label
|
||||
PA0.GPIO_Label=TOP_PWM
|
||||
PA0.Locked=true
|
||||
PA0.Signal=GPIO_Output
|
||||
PA0.Signal=S_TIM2_CH1
|
||||
PA1.GPIOParameters=GPIO_Label
|
||||
PA1.GPIO_Label=LOGO_PWM
|
||||
PA1.Locked=true
|
||||
|
@ -198,7 +199,7 @@ ProjectManager.StackSize=0x400
|
|||
ProjectManager.TargetToolchain=Makefile
|
||||
ProjectManager.ToolChainLocation=
|
||||
ProjectManager.UnderRoot=false
|
||||
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_ADC1_Init-ADC1-false-HAL-true,4-MX_FDCAN1_Init-FDCAN1-false-HAL-true,5-MX_I2C2_Init-I2C2-false-HAL-true
|
||||
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_ADC1_Init-ADC1-false-HAL-true,4-MX_FDCAN1_Init-FDCAN1-false-HAL-true,5-MX_I2C2_Init-I2C2-false-HAL-true,6-MX_TIM2_Init-TIM2-false-HAL-true
|
||||
RCC.ADC12Freq_Value=80000000
|
||||
RCC.AHBFreq_Value=80000000
|
||||
RCC.APB1Freq_Value=80000000
|
||||
|
@ -249,6 +250,13 @@ SH.GPXTI14.0=GPIO_EXTI14
|
|||
SH.GPXTI14.ConfNb=1
|
||||
SH.GPXTI15.0=GPIO_EXTI15
|
||||
SH.GPXTI15.ConfNb=1
|
||||
SH.S_TIM2_CH1.0=TIM2_CH1,PWM Generation1 CH1
|
||||
SH.S_TIM2_CH1.ConfNb=1
|
||||
TIM2.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
|
||||
TIM2.IPParameters=Channel-PWM Generation1 CH1,Prescaler,PeriodNoDither,PulseNoDither_1
|
||||
TIM2.PeriodNoDither=255
|
||||
TIM2.Prescaler=79
|
||||
TIM2.PulseNoDither_1=31
|
||||
VP_SYS_VS_DBSignals.Mode=DisableDeadBatterySignals
|
||||
VP_SYS_VS_DBSignals.Signal=SYS_VS_DBSignals
|
||||
VP_SYS_VS_Systick.Mode=SysTick
|
||||
|
|
Loading…
Reference in New Issue