diff --git a/Inc/adc.h b/Inc/adc.h
index 96ddbec5ea0f6a257298d395a7e2769921b754a1..b905f32086d1aeeedd83e238269de3204c335b4e 100644
--- a/Inc/adc.h
+++ b/Inc/adc.h
@@ -1,12 +1,12 @@
/**
******************************************************************************
- * File Name : ADC.h
- * Description : This file provides code for the configuration
- * of the ADC instances.
+ * @file adc.h
+ * @brief This file contains all the function prototypes for
+ * the adc.c file
******************************************************************************
* @attention
*
- * <h2><center>© Copyright (c) 2020 STMicroelectronics.
+ * <h2><center>© Copyright (c) 2021 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
@@ -17,10 +17,11 @@
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __adc_H
-#define __adc_H
+#ifndef __ADC_H__
+#define __ADC_H__
+
#ifdef __cplusplus
- extern "C" {
+extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
@@ -45,14 +46,7 @@ void MX_ADC1_Init(void);
#ifdef __cplusplus
}
#endif
-#endif /*__ adc_H */
-
-/**
- * @}
- */
-/**
- * @}
- */
+#endif /* __ADC_H__ */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/Inc/can.h b/Inc/can.h
index 8e586fd26015883575faf25e3eb0929b94ecd4c3..887eb3db4d3ddf46658434124c2c72ca8eb9f024 100644
--- a/Inc/can.h
+++ b/Inc/can.h
@@ -1,12 +1,12 @@
/**
******************************************************************************
- * File Name : CAN.h
- * Description : This file provides code for the configuration
- * of the CAN instances.
+ * @file can.h
+ * @brief This file contains all the function prototypes for
+ * the can.c file
******************************************************************************
* @attention
*
- * <h2><center>© Copyright (c) 2020 STMicroelectronics.
+ * <h2><center>© Copyright (c) 2021 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
@@ -17,10 +17,11 @@
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __can_H
-#define __can_H
+#ifndef __CAN_H__
+#define __CAN_H__
+
#ifdef __cplusplus
- extern "C" {
+extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
@@ -45,14 +46,7 @@ void MX_CAN1_Init(void);
#ifdef __cplusplus
}
#endif
-#endif /*__ can_H */
-
-/**
- * @}
- */
-/**
- * @}
- */
+#endif /* __CAN_H__ */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/Inc/dma.h b/Inc/dma.h
index 9e0bca14286becb63824e7794a9ef2be35b69400..6999589f99ac5adfb9c52ae1b573ffa78373ed30 100644
--- a/Inc/dma.h
+++ b/Inc/dma.h
@@ -1,12 +1,12 @@
/**
******************************************************************************
- * File Name : dma.h
- * Description : This file contains all the function prototypes for
- * the dma.c file
+ * @file dma.h
+ * @brief This file contains all the function prototypes for
+ * the dma.c file
******************************************************************************
* @attention
*
- * <h2><center>© Copyright (c) 2020 STMicroelectronics.
+ * <h2><center>© Copyright (c) 2021 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
@@ -17,11 +17,11 @@
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __dma_H
-#define __dma_H
+#ifndef __DMA_H__
+#define __DMA_H__
#ifdef __cplusplus
- extern "C" {
+extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
@@ -47,10 +47,6 @@ void MX_DMA_Init(void);
}
#endif
-#endif /* __dma_H */
-
-/**
- * @}
- */
+#endif /* __DMA_H__ */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/Inc/gpio.h b/Inc/gpio.h
index aad10e5740d2bbfe53584feda20b794b7d929282..0fcdee96540601989ceddc6f9d534308c6caf2bf 100644
--- a/Inc/gpio.h
+++ b/Inc/gpio.h
@@ -1,12 +1,12 @@
/**
******************************************************************************
- * File Name : gpio.h
- * Description : This file contains all the functions prototypes for
- * the gpio
+ * @file gpio.h
+ * @brief This file contains all the function prototypes for
+ * the gpio.c file
******************************************************************************
* @attention
*
- * <h2><center>© Copyright (c) 2020 STMicroelectronics.
+ * <h2><center>© Copyright (c) 2021 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
@@ -16,12 +16,12 @@
*
******************************************************************************
*/
-
/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __gpio_H
-#define __gpio_H
+#ifndef __GPIO_H__
+#define __GPIO_H__
+
#ifdef __cplusplus
- extern "C" {
+extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
@@ -44,14 +44,6 @@ void MX_GPIO_Init(void);
#ifdef __cplusplus
}
#endif
-#endif /*__ pinoutConfig_H */
-
-/**
- * @}
- */
-
-/**
- * @}
- */
+#endif /*__ GPIO_H__ */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/Inc/spi.h b/Inc/spi.h
index 9493e6b521f84ebc237a381ae734f93d033480c5..2cc0b7fe439cf484380dffa5d5c14ffe139825bc 100644
--- a/Inc/spi.h
+++ b/Inc/spi.h
@@ -1,12 +1,12 @@
/**
******************************************************************************
- * File Name : SPI.h
- * Description : This file provides code for the configuration
- * of the SPI instances.
+ * @file spi.h
+ * @brief This file contains all the function prototypes for
+ * the spi.c file
******************************************************************************
* @attention
*
- * <h2><center>© Copyright (c) 2020 STMicroelectronics.
+ * <h2><center>© Copyright (c) 2021 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
@@ -17,10 +17,11 @@
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __spi_H
-#define __spi_H
+#ifndef __SPI_H__
+#define __SPI_H__
+
#ifdef __cplusplus
- extern "C" {
+extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
@@ -45,14 +46,7 @@ void MX_SPI1_Init(void);
#ifdef __cplusplus
}
#endif
-#endif /*__ spi_H */
-
-/**
- * @}
- */
-/**
- * @}
- */
+#endif /* __SPI_H__ */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/Inc/tim.h b/Inc/tim.h
index d9b335e04cbedc5aeb6962731fc028c1c5aaff67..81922b9f0f988e8b76abf51ce8e759d938b16391 100644
--- a/Inc/tim.h
+++ b/Inc/tim.h
@@ -1,12 +1,12 @@
/**
******************************************************************************
- * File Name : TIM.h
- * Description : This file provides code for the configuration
- * of the TIM instances.
+ * @file tim.h
+ * @brief This file contains all the function prototypes for
+ * the tim.c file
******************************************************************************
* @attention
*
- * <h2><center>© Copyright (c) 2020 STMicroelectronics.
+ * <h2><center>© Copyright (c) 2021 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
@@ -17,10 +17,11 @@
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __tim_H
-#define __tim_H
+#ifndef __TIM_H__
+#define __TIM_H__
+
#ifdef __cplusplus
- extern "C" {
+extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
@@ -47,14 +48,7 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
#ifdef __cplusplus
}
#endif
-#endif /*__ tim_H */
-
-/**
- * @}
- */
-/**
- * @}
- */
+#endif /* __TIM_H__ */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/Inc/usart.h b/Inc/usart.h
index 0703120ecb25e130a57b24f76c7166bdced54755..ab4a913e83f0f9ef10275e111c837b02ab1723e6 100644
--- a/Inc/usart.h
+++ b/Inc/usart.h
@@ -1,12 +1,12 @@
/**
******************************************************************************
- * File Name : USART.h
- * Description : This file provides code for the configuration
- * of the USART instances.
+ * @file usart.h
+ * @brief This file contains all the function prototypes for
+ * the usart.c file
******************************************************************************
* @attention
*
- * <h2><center>© Copyright (c) 2020 STMicroelectronics.
+ * <h2><center>© Copyright (c) 2021 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
@@ -17,10 +17,11 @@
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __usart_H
-#define __usart_H
+#ifndef __USART_H__
+#define __USART_H__
+
#ifdef __cplusplus
- extern "C" {
+extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
@@ -49,14 +50,7 @@ void MX_USART6_UART_Init(void);
#ifdef __cplusplus
}
#endif
-#endif /*__ usart_H */
-
-/**
- * @}
- */
-/**
- * @}
- */
+#endif /* __USART_H__ */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/MDK-ARM/RobotMaster_allRobots.uvoptx b/MDK-ARM/RobotMaster_allRobots.uvoptx
index bf268d5c572e030d201e428835bc053d2399cf98..98449611447213513ee7f12825b7a1121ab8085c 100644
--- a/MDK-ARM/RobotMaster_allRobots.uvoptx
+++ b/MDK-ARM/RobotMaster_allRobots.uvoptx
@@ -645,7 +645,7 @@
<Group>
<GroupName>Libraries</GroupName>
- <tvExp>1</tvExp>
+ <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
diff --git a/MDK-ARM/RobotMaster_allRobots.uvprojx b/MDK-ARM/RobotMaster_allRobots.uvprojx
index 415dbc7820bd0ca65aedce3d51e9f700368b35e2..2be0c052787c40e3c03bcaedbee1c0de22a693f5 100644
--- a/MDK-ARM/RobotMaster_allRobots.uvprojx
+++ b/MDK-ARM/RobotMaster_allRobots.uvprojx
@@ -50,8 +50,8 @@
</TargetStatus>
<OutputDirectory>.\bin\</OutputDirectory>
<OutputName>RobotMaster_allRobots</OutputName>
- <CreateExecutable>1</CreateExecutable>
- <CreateLib>0</CreateLib>
+ <CreateExecutable>0</CreateExecutable>
+ <CreateLib>1</CreateLib>
<CreateHexFile>1</CreateHexFile>
<DebugInformation>1</DebugInformation>
<BrowseInformation>1</BrowseInformation>
@@ -339,7 +339,7 @@
<MiscControls></MiscControls>
<Define>USE_HAL_DRIVER,STM32F427xx,USE_HAL_DRIVER,STM32F427xx</Define>
<Undefine></Undefine>
- <IncludePath>../Inc; ../Drivers/STM32F4xx_HAL_Driver/Inc; ../Drivers/CMSIS/Device/ST/STM32F4xx/Include; ../Drivers/CMSIS/Include</IncludePath>
+ <IncludePath>../Inc; ../Drivers/STM32F4xx_HAL_Driver/Inc; ../Drivers/CMSIS/Device/ST/STM32F4xx/Include; ../Drivers/CMSIS/Include</IncludePath>
</VariousControls>
</Cads>
<Aads>
diff --git a/MDK-ARM/bin/ArInp.Scr b/MDK-ARM/bin/ArInp.Scr
new file mode 100644
index 0000000000000000000000000000000000000000..2f468247efba4c7a9cd65b795de887e1caaee617
--- /dev/null
+++ b/MDK-ARM/bin/ArInp.Scr
@@ -0,0 +1,42 @@
+--create .\bin\RobotMaster_allRobots.lib
+.\bin\adc.o
+.\bin\can.o
+.\bin\dma.o
+.\bin\gpio.o
+.\bin\main.o
+.\bin\spi.o
+.\bin\tim.o
+.\bin\usart.o
+.\bin\stm32f4xx_hal_msp.o
+.\bin\stm32f4xx_it.o
+.\bin\system_stm32f4xx.o
+.\bin\startup_stm32f427xx.o
+.\bin\stm32f4xx_hal.o
+.\bin\stm32f4xx_hal_adc.o
+.\bin\stm32f4xx_hal_adc_ex.o
+.\bin\stm32f4xx_hal_can.o
+.\bin\stm32f4xx_hal_cortex.o
+.\bin\stm32f4xx_hal_dma.o
+.\bin\stm32f4xx_hal_dma_ex.o
+.\bin\stm32f4xx_hal_exti.o
+.\bin\stm32f4xx_hal_flash.o
+.\bin\stm32f4xx_hal_flash_ex.o
+.\bin\stm32f4xx_hal_flash_ramfunc.o
+.\bin\stm32f4xx_hal_gpio.o
+.\bin\stm32f4xx_hal_pwr.o
+.\bin\stm32f4xx_hal_pwr_ex.o
+.\bin\stm32f4xx_hal_rcc.o
+.\bin\stm32f4xx_hal_rcc_ex.o
+.\bin\stm32f4xx_hal_spi.o
+.\bin\stm32f4xx_hal_tim.o
+.\bin\stm32f4xx_hal_tim_ex.o
+.\bin\stm32f4xx_hal_uart.o
+.\bin\pid.o
+.\bin\boarda_handle.o
+.\bin\oled.o
+.\bin\oled_debug.o
+.\bin\receiver_radiocontroller.o
+.\bin\referee_system.o
+.\bin\motors.o
+.\bin\robot_configuration.o
+.\bin\traitement.o
diff --git a/MDK-ARM/bin/RobotMaster_allRobots.hex b/MDK-ARM/bin/RobotMaster_allRobots.hex
deleted file mode 100644
index bee464b19352562a1a5ef76c4522d8e967429636..0000000000000000000000000000000000000000
--- a/MDK-ARM/bin/RobotMaster_allRobots.hex
+++ /dev/null
@@ -1,1264 +0,0 @@
-:020000040800F2
-:10000000C0180020C5010008D72B0008B927000838
-:10001000D52B0008DD080008693300080000000047
-:10002000000000000000000000000000352D000866
-:10003000CD09000800000000452C0008372D0008FD
-:10004000DF010008DF010008DF010008DF01000810
-:10005000DF010008DF010008DF010008DF01000800
-:10006000DF010008DF010008DF010008DF010008F0
-:10007000DF010008DF010008DF010008DF010008E0
-:10008000DF010008DF010008DF010008ED080008BB
-:10009000E1080008DF010008DF010008DF010008B7
-:1000A000DF010008DF010008DF010008DF010008B0
-:1000B000DF010008DF010008DF010008DF010008A0
-:1000C000DF010008DF010008DF010008DF01000890
-:1000D000DF010008A9320008DF010008DF01000885
-:1000E000DF010008DF010008DF010008DF01000870
-:1000F000DF010008DF010008DF010008DF01000860
-:10010000DF010008DF010008DF010008DF0100084F
-:10011000DF010008DF010008DF010008DF0100083F
-:10012000DF010008F908000805090008DF010008E0
-:10013000DF010008DF010008DF010008DF0100081F
-:10014000DF010008DF010008DF010008DF0100080F
-:10015000DF010008110900081D0900080D3300081F
-:10016000DF010008DF010008DF010008DF010008EF
-:10017000DF010008DF010008DF01000800000000C7
-:10018000DF010008DF010008DF010008DF010008CF
-:10019000DF010008DF010008DF010008DF010008BF
-:1001A0000000000000000000DF010008DFF810D0B0
-:1001B00000F0EEFA0048004711360008AFF3008067
-:1001C000C01800200648804706480047FEE7FEE7C3
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diff --git a/MDK-ARM/bin/RobotMaster_allRobots.lib b/MDK-ARM/bin/RobotMaster_allRobots.lib
new file mode 100644
index 0000000000000000000000000000000000000000..d3d7c903589c03c3f82c3b4e1797c1af067818d0
Binary files /dev/null and b/MDK-ARM/bin/RobotMaster_allRobots.lib differ
diff --git a/MDK-ARM/bin/startup_stm32f427xx._ia b/MDK-ARM/bin/startup_stm32f427xx._ia
deleted file mode 100644
index 7bf361fc7b0a8e3d6edb5a8ffe8bed2575f2b953..0000000000000000000000000000000000000000
--- a/MDK-ARM/bin/startup_stm32f427xx._ia
+++ /dev/null
@@ -1,6 +0,0 @@
---cpu Cortex-M4.fp.sp --pd "__EVAL SETA 1" -g --apcs=interwork --pd "__MICROLIB SETA 1"
--I.\RTE\_RobotMaster_allRobots
--IC:\Users\sfaguet\AppData\Local\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include
--IC:\Users\sfaguet\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\2.15.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include
---pd "__UVISION_VERSION SETA 532" --pd "_RTE_ SETA 1" --pd "STM32F427xx SETA 1" --pd "_RTE_ SETA 1"
---list ..\..\startup_stm32f427xx.lst --xref -o .\bin\startup_stm32f427xx.o --depend .\bin\startup_stm32f427xx.d "startup_stm32f427xx.s"
\ No newline at end of file
diff --git a/RobotMaster_allRobots.ioc b/RobotMaster_allRobots.ioc
index 6331b3fe005646c0a529c6896c106f04a63997e4..fddf82c1ef491d52bc0c4f017f42515887d1859f 100644
--- a/RobotMaster_allRobots.ioc
+++ b/RobotMaster_allRobots.ioc
@@ -27,7 +27,7 @@ PG2.Locked=true
PG6.GPIO_Label=BOARD_LED_C
RCC.PLLQCLKFreq_Value=84000000
PG3.GPIOParameters=GPIO_Label
-ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-MX_DMA_Init-DMA-false-HAL-true,3-SystemClock_Config-RCC-false-HAL-false,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_SPI1_Init-SPI1-false-HAL-true,6-MX_USART1_UART_Init-USART1-false-HAL-true,7-MX_USART6_UART_Init-USART6-false-HAL-true,8-MX_CAN1_Init-CAN1-false-HAL-true,9-MX_UART8_Init-UART8-false-HAL-true
+ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-MX_DMA_Init-DMA-false-HAL-true,3-SystemClock_Config-RCC-false-HAL-false,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_SPI1_Init-SPI1-false-HAL-true,6-MX_USART1_UART_Init-USART1-false-HAL-true,7-MX_USART6_UART_Init-USART6-false-HAL-true,8-MX_CAN1_Init-CAN1-false-HAL-true,9-MX_UART8_Init-UART8-false-HAL-true,10-MX_TIM1_Init-TIM1-false-HAL-true
PD0.GPIO_Label=CAN1_RX
RCC.RTCFreq_Value=32000
PA6.GPIO_Label=OLED_Analog
@@ -107,7 +107,7 @@ PG14.Mode=Asynchronous
PG1.GPIOParameters=GPIO_Label
Dma.USART6_RX.2.Priority=DMA_PRIORITY_LOW
ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.25.2
-MxDb.Version=DB.6.0.0
+MxDb.Version=DB.6.0.10
PE0.GPIOParameters=GPIO_Label
ProjectManager.BackupPrevious=false
RCC.VCOInputFreq_Value=2000000
@@ -165,6 +165,7 @@ PB10.GPIOParameters=GPIO_Label
NVIC.USART1_IRQn=true\:0\:0\:false\:false\:true\:true\:true
Dma.Request0=USART1_RX
SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_64
+CAN1.CalculateTimeBit=1071.42
Dma.USART1_RX.0.Instance=DMA2_Stream2
ProjectManager.CustomerFirmwarePackage=
RCC.SAI_AClocksFreq_Value=24500000
@@ -197,8 +198,9 @@ PG5.Signal=GPIO_Output
PG9.Signal=USART6_RX
PG3.Locked=true
PG1.Locked=true
-CAN1.IPParameters=CalculateTimeQuantum,Prescaler,BS1,BS2,ABOM
+CAN1.IPParameters=CalculateTimeQuantum,Prescaler,BS1,BS2,ABOM,CalculateTimeBit,CalculateBaudRate
PE1.Mode=Asynchronous
+CAN1.CalculateBaudRate=933333
PG9.Mode=Asynchronous
PD1.Signal=CAN1_TX
ProjectManager.DefaultFWLocation=true
@@ -221,7 +223,7 @@ PH4.Signal=GPIO_Output
CAN1.BS2=CAN_BS2_4TQ
Dma.USART6_RX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
PH4.Locked=true
-CAN1.BS1=CAN_BS1_9TQ
+CAN1.BS1=CAN_BS1_10TQ
ProjectManager.TargetToolchain=MDK-ARM V5.27
PB10.GPIO_Label=OLED_RST
Dma.USART6_RX.2.MemInc=DMA_MINC_ENABLE
@@ -257,13 +259,13 @@ PG1.GPIO_Label=BOARD_LED_H
ProjectManager.LastFirmware=true
PF14.GPIOParameters=GPIO_Label
Dma.USART6_TX.3.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-PD1.Mode=Master
+PD1.Mode=CAN_Activate
PH4.GPIO_Label=BOARD_POWER3_CTRL
Dma.USART6_RX.2.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.USART6_RX.2.Mode=DMA_CIRCULAR
PH0/OSC_IN.Signal=RCC_OSC_IN
RCC.APB2Freq_Value=84000000
-MxCube.Version=6.0.1
+MxCube.Version=6.1.1
USART1.Mode=MODE_TX_RX
PG4.GPIOParameters=GPIO_Label
SH.S_TIM1_CH2.0=TIM1_CH2,PWM Generation2 CH2
@@ -283,10 +285,10 @@ PG14.GPIO_Label=RefereeSystem_Tx
ProjectManager.FreePins=false
RCC.IPParameters=48MHZClocksFreq_Value,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2CLKDivider,APB2Freq_Value,APB2TimFreq_Value,CortexFreq_Value,EthernetFreq_Value,FCLKCortexFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI_VALUE,I2SClocksFreq_Value,LSE_VALUE,LSI_VALUE,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLM,PLLN,PLLQCLKFreq_Value,PLLSourceVirtual,RTCFreq_Value,RTCHSEDivFreq_Value,SAI_AClocksFreq_Value,SAI_BClocksFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VCOSAIOutputFreq_Value,VCOSAIOutputFreq_ValueQ,VcooutputI2S,VcooutputI2SQ
PE11.Locked=true
-ProjectManager.AskForMigrate=true
+ProjectManager.AskForMigrate=false
Mcu.Name=STM32F427I(G-I)Hx
PE0.Signal=UART8_RX
-PD0.Mode=Master
+PD0.Mode=CAN_Activate
Mcu.Pin26=PG2
Mcu.Pin27=PG1
RCC.RTCHSEDivFreq_Value=6000000
diff --git a/Src/adc.c b/Src/adc.c
index aaf49fd5dff5944ec49ec05cf65a3df293ea4cea..d1d5647db8a2023bd7f4fb84f5cd72131af995b3 100644
--- a/Src/adc.c
+++ b/Src/adc.c
@@ -1,12 +1,12 @@
/**
******************************************************************************
- * File Name : ADC.c
- * Description : This file provides code for the configuration
- * of the ADC instances.
+ * @file adc.c
+ * @brief This file provides code for the configuration
+ * of the ADC instances.
******************************************************************************
* @attention
*
- * <h2><center>© Copyright (c) 2020 STMicroelectronics.
+ * <h2><center>© Copyright (c) 2021 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
diff --git a/Src/can.c b/Src/can.c
index 7211603992e2be1992b18962c038661d3730cc0c..103c1bd197b48166ef418278241a32fc7363c143 100644
--- a/Src/can.c
+++ b/Src/can.c
@@ -1,12 +1,12 @@
/**
******************************************************************************
- * File Name : CAN.c
- * Description : This file provides code for the configuration
- * of the CAN instances.
+ * @file can.c
+ * @brief This file provides code for the configuration
+ * of the CAN instances.
******************************************************************************
* @attention
*
- * <h2><center>© Copyright (c) 2020 STMicroelectronics.
+ * <h2><center>© Copyright (c) 2021 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
@@ -34,7 +34,7 @@ void MX_CAN1_Init(void)
hcan1.Init.Prescaler = 3;
hcan1.Init.Mode = CAN_MODE_NORMAL;
hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
- hcan1.Init.TimeSeg1 = CAN_BS1_9TQ;
+ hcan1.Init.TimeSeg1 = CAN_BS1_10TQ;
hcan1.Init.TimeSeg2 = CAN_BS2_4TQ;
hcan1.Init.TimeTriggeredMode = DISABLE;
hcan1.Init.AutoBusOff = ENABLE;
diff --git a/Src/dma.c b/Src/dma.c
index 99d37e9ac052454145b2dbceef5c21cb80bbe15c..e18e3747912349474b898d586a1c5cec4da9b5b7 100644
--- a/Src/dma.c
+++ b/Src/dma.c
@@ -1,12 +1,12 @@
/**
******************************************************************************
- * File Name : dma.c
- * Description : This file provides code for the configuration
- * of all the requested memory to memory DMA transfers.
+ * @file dma.c
+ * @brief This file provides code for the configuration
+ * of all the requested memory to memory DMA transfers.
******************************************************************************
* @attention
*
- * <h2><center>© Copyright (c) 2020 STMicroelectronics.
+ * <h2><center>© Copyright (c) 2021 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
@@ -61,12 +61,4 @@ void MX_DMA_Init(void)
/* USER CODE END 2 */
-/**
- * @}
- */
-
-/**
- * @}
- */
-
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/Src/gpio.c b/Src/gpio.c
index c49798fb04241b7132561b02d1bae0f53a90323f..960e9b3c3a2094fa1ea0f42f6bedcb94c35ccc50 100644
--- a/Src/gpio.c
+++ b/Src/gpio.c
@@ -1,12 +1,12 @@
/**
******************************************************************************
- * File Name : gpio.c
- * Description : This file provides code for the configuration
- * of all used GPIO pins.
+ * @file gpio.c
+ * @brief This file provides code for the configuration
+ * of all used GPIO pins.
******************************************************************************
* @attention
*
- * <h2><center>© Copyright (c) 2020 STMicroelectronics.
+ * <h2><center>© Copyright (c) 2021 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
@@ -19,6 +19,7 @@
/* Includes ------------------------------------------------------------------*/
#include "gpio.h"
+
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
diff --git a/Src/motors.c b/Src/motors.c
index 1cbee49d8d0751fa48537ab2f9f24cdca29e0d22..baff08b1c4f1b3290a887fc50ef4db523ded38ad 100644
--- a/Src/motors.c
+++ b/Src/motors.c
@@ -86,6 +86,11 @@ void add_consigne_position(motor_t* motor, float value, float coeff){
/* Initialise le CAN 1 */
void can1_init(){
+ hcan1.Init.TimeSeg1 = CAN_BS1_9TQ;
+ if (HAL_CAN_Init(&hcan1) != HAL_OK)
+ {
+ Error_Handler();
+ }
CAN_FilterTypeDef can_filter;
can_filter.FilterBank = 0; // filter 0
diff --git a/Src/spi.c b/Src/spi.c
index 56e800066d0786ceb02607043380c7dd0389f0ec..d69e2bc2cb85da1cdcb6e81413ba59109a40aba4 100644
--- a/Src/spi.c
+++ b/Src/spi.c
@@ -1,12 +1,12 @@
/**
******************************************************************************
- * File Name : SPI.c
- * Description : This file provides code for the configuration
- * of the SPI instances.
+ * @file spi.c
+ * @brief This file provides code for the configuration
+ * of the SPI instances.
******************************************************************************
* @attention
*
- * <h2><center>© Copyright (c) 2020 STMicroelectronics.
+ * <h2><center>© Copyright (c) 2021 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
diff --git a/Src/tim.c b/Src/tim.c
index f3aa9079fe1ffc0210ad177031a07073b502fc6c..cb3c4ab1d277260b47fd1397b91dea21da406594 100644
--- a/Src/tim.c
+++ b/Src/tim.c
@@ -1,12 +1,12 @@
/**
******************************************************************************
- * File Name : TIM.c
- * Description : This file provides code for the configuration
- * of the TIM instances.
+ * @file tim.c
+ * @brief This file provides code for the configuration
+ * of the TIM instances.
******************************************************************************
* @attention
*
- * <h2><center>© Copyright (c) 2020 STMicroelectronics.
+ * <h2><center>© Copyright (c) 2021 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
diff --git a/Src/usart.c b/Src/usart.c
index 2ac04ea5451e515ce629435806c456733df5d444..e2d5a4ae13e8489a9e10d87f6ed4baf2f9e27768 100644
--- a/Src/usart.c
+++ b/Src/usart.c
@@ -1,12 +1,12 @@
/**
******************************************************************************
- * File Name : USART.c
- * Description : This file provides code for the configuration
- * of the USART instances.
+ * @file usart.c
+ * @brief This file provides code for the configuration
+ * of the USART instances.
******************************************************************************
* @attention
*
- * <h2><center>© Copyright (c) 2020 STMicroelectronics.
+ * <h2><center>© Copyright (c) 2021 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,