From 086f09b2b0a65ca4eb101977e89b4ba24d4b6ffa Mon Sep 17 00:00:00 2001
From: Charles <charles.sirois14@gmail.com>
Date: Sun, 16 Feb 2020 14:26:31 -0500
Subject: [PATCH] Setup du can
---
.../MDK-ARM/GM6020_demo.uvoptx | 10 +-
.../MDK-ARM/GM6020_demo/GM6020_demo.hex | 155 +-
Controle_moteurs_PID/Src/main.c | 1 +
Standard_robot/.mxproject | 10 +-
Standard_robot/Inc/main.h | 15 +
Standard_robot/Inc/stm32f4xx_hal_conf.h | 10 +-
Standard_robot/Inc/stm32f4xx_it.h | 2 +
.../MDK-ARM/Standard_robot.uvguix.charl | 351 ++--
Standard_robot/MDK-ARM/Standard_robot.uvoptx | 272 ++-
Standard_robot/MDK-ARM/Standard_robot.uvprojx | 237 ++-
.../MDK-ARM/Standard_robot/Standard_robot.hex | 1865 ++++++++++-------
Standard_robot/Src/can.c | 117 ++
Standard_robot/Src/gpio.c | 45 +
Standard_robot/Src/main.c | 78 +-
Standard_robot/Src/stm32f4xx_it.c | 29 +
Standard_robot/Src/tim.c | 165 ++
Standard_robot/Src/usart.c | 2 +-
Standard_robot/Standard_robot.ioc | 120 +-
18 files changed, 2210 insertions(+), 1274 deletions(-)
create mode 100644 Standard_robot/Src/can.c
create mode 100644 Standard_robot/Src/tim.c
diff --git a/Controle_moteurs_PID/MDK-ARM/GM6020_demo.uvoptx b/Controle_moteurs_PID/MDK-ARM/GM6020_demo.uvoptx
index b5a1baa..9d338d5 100644
--- a/Controle_moteurs_PID/MDK-ARM/GM6020_demo.uvoptx
+++ b/Controle_moteurs_PID/MDK-ARM/GM6020_demo.uvoptx
@@ -150,7 +150,7 @@
<SetRegEntry>
<Number>0</Number>
<Key>ST-LINKIII-KEIL_SWO</Key>
- <Name>-U-O142 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_2048.FLM -FS08000000 -FL0200000 -FP0($$Device:STM32F427IIHx$CMSIS\Flash\STM32F4xx_2048.FLM)</Name>
+ <Name>-U-O142 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_2048.FLM -FS08000000 -FL0200000 -FP0($$Device:STM32F427IIHx$CMSIS\Flash\STM32F4xx_2048.FLM)</Name>
</SetRegEntry>
</TargetDriverDllRegistry>
<Breakpoint/>
@@ -182,9 +182,9 @@
<DebugFlag>
<trace>0</trace>
<periodic>1</periodic>
- <aLwin>0</aLwin>
+ <aLwin>1</aLwin>
<aCover>0</aCover>
- <aSer1>1</aSer1>
+ <aSer1>0</aSer1>
<aSer2>0</aSer2>
<aPa>0</aPa>
<viewmode>1</viewmode>
@@ -199,7 +199,7 @@
<aLa>0</aLa>
<aPa1>0</aPa1>
<AscS4>0</AscS4>
- <aSer4>0</aSer4>
+ <aSer4>1</aSer4>
<StkLoc>0</StkLoc>
<TrcWin>0</TrcWin>
<newCpu>0</newCpu>
@@ -330,7 +330,7 @@
<Group>
<GroupName>Drivers/STM32F4xx_HAL_Driver</GroupName>
- <tvExp>1</tvExp>
+ <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
diff --git a/Controle_moteurs_PID/MDK-ARM/GM6020_demo/GM6020_demo.hex b/Controle_moteurs_PID/MDK-ARM/GM6020_demo/GM6020_demo.hex
index 4dce745..49ac1b3 100644
--- a/Controle_moteurs_PID/MDK-ARM/GM6020_demo/GM6020_demo.hex
+++ b/Controle_moteurs_PID/MDK-ARM/GM6020_demo/GM6020_demo.hex
@@ -1,5 +1,5 @@
:020000040800F2
-:1000000040060020C1010008431700082115000820
+:1000000048060020C1010008431700082115000818
:1000100041170008CD020008891A000800000000FE
:10002000000000000000000000000000671700084A
:10003000E9020008000000006517000869170008C1
@@ -26,7 +26,7 @@
:10018000DB010008DB010008DB010008DB010008DF
:10019000DB010008DB010008DB010008DB010008CF
:1001A0000000000000000000DB010008DFF80CD0B8
-:1001B00000F07AF8004800470D1B000840060020B8
+:1001B00000F07AF800480047551B00084806002068
:1001C0000648804706480047FEE7FEE7FEE7FEE7F1
:1001D000FEE7FEE7FEE7FEE7FEE7FEE7F1170008B1
:1001E000AD0100082DE9F05F0546002092469B46D0
@@ -43,9 +43,9 @@
:1002900002F00021704721FA02F3D040C2F120029F
:1002A0009140084319467047064C074D06E0E06848
:1002B00040F0010394E8070098471034AC42F6D3AD
-:1002C000FFF778FF5C1E00087C1E0008FEE70000B8
-:1002D000014800F087B9000088010020014800F0C3
-:1002E00081B90000880100207047704790F82020F5
+:1002C000FFF778FFB01E0008D01E0008FEE7000010
+:1002D000014800F087B900008C010020014800F0BF
+:1002E00081B900008C0100207047704790F82020F1
:1002F000012A09D090F82020022A05D0416A41F451
:100300008021416201207047006842690A434261CE
:1003100000207047F0B590F82040012C07D090F8ED
@@ -158,7 +158,7 @@
:1009C00052BA8A80BDF81E2052BACA80BDF82020D3
:1009D00052BA0A819DF822208A720188B1F5FA7F05
:1009E00006D1002101800648016881F48041016040
-:1009F00009B000BD006400401A000020EC01002096
+:1009F00009B000BD006400401A000020F001002092
:100A000014140240704770477047000070B50446E8
:100A100090F82000012804D0606A40F40020606251
:100A200018E0022084F820002068016821F001010C
@@ -236,7 +236,7 @@
:100EA0002878000706D52068296920F4604040EAC8
:100EB000C100206000F016F82168084AC1F3031150
:100EC000515CC840064908600020FFF7FDFE002085
-:100ED000C5E70000003C0240083802404C1E0008F4
+:100ED000C5E70000003C024008380240A01E0008A0
:100EE00014000020154810B5006810F00C021448DA
:100EF00013D01449042A0FD0082A0ED10F4C241FF6
:100F00002268236802F03F025B0207D52068C0F325
@@ -341,7 +341,7 @@
:1015300000214FF400228160C0E903124FF44012F1
:1015400042610176012242768176C1760177417748
:10155000FFF746F9002803D0BDE81040FEF7C5BEEE
-:1015600010BD000000640040880100202DE9F04714
+:1015600010BD0000006400408C0100202DE9F04710
:1015700086B014216846FEF76DFE374800240168E6
:1015800041F008010160016801F00801059101685E
:1015900041F001010160016801F00101059101685C
@@ -370,7 +370,7 @@
:101700000E48FFF759FE08B1FEF7EFFD0794089465
:1017100009944FF400500A94CDE90B4007A90748FB
:101720000D94FFF7B3FD08B1FEF7DFFD0348FFF7A7
-:1017300003FE10B010BD000000000140B001002009
+:1017300003FE10B010BD000000000140B401002005
:10174000FEE770470907090E002806DA00F00F00CF
:1017500000F1E02080F8141D704700F1E02080F8CF
:101760000014704770477047FFF78CBA30B593B0DC
@@ -423,71 +423,76 @@
:101A500005238D6824F4005444EA0534084DA84257
:101A600002D0084DA84204D14D6922F4804242EAD6
:101A700085124260C36149680164046230BD0000A0
-:101A80000000014000040140FEE702E008C8121F08
-:101A900008C1002AFAD170477047002001E001C157
-:101AA000121F002AFBD1704700B58BB00021012224
-:101AB000CDE90612059100910191029103910491E3
-:101AC0000E21CDE908216946FEF788FC0448FEF79F
-:101AD0009DFF02210248FEF709FC0BB000BD00008B
-:101AE0008801002010B5074C04216078207006485A
-:101AF000FFF7B8F8607010B92078012800D00020F6
-:101B000010BD000018000020000402402DED048BE1
-:101B100082B0FFF7BFF8FFF729FEFFF727FDFFF7B9
-:101B200001FDFFF7A3FD01223C216E48FFF79FF85E
-:101B300000F048F96C48FFF7B7FF00249FED6B8A6F
-:101B4000DFED6B8A6B4D00BF04EB8400F0EE481AAA
-:101B500000EBC40005EB8000B0EE612AB0EE001A85
-:101B6000F0EE680AB0EE000A00F029F9641CE4B255
-:101B7000032CE9D304249FED609ADFED608A9FED8A
-:101B8000608A00BF04EB8400F0EE491A00EBC40049
-:101B900005EB8000B0EE612AB0EE481AF0EE080ABC
-:101BA000B0EE680A00F00BF9641CE4B2072CE9D32C
-:101BB000DFF85081DFF850B1F3EE048AA9464FF008
-:101BC000000AB8F802004446401C00B2A8F802001F
-:101BD000FA2806D14D48A4F802A0416981F40061B9
-:101BE0004161FFF77FFFA0B194ED010ADFED480AE4
-:101BF000484930EE200A84ED010A2088D230208046
-:101C000010EE100A884204DD84ED018A4FF48760EB
-:101C10002080A04600254E464FEA0B0405EB450008
-:101C200004EB8007B7F9060000EE100A05EB85000B
-:101C300000EBC500F8EEC00A98ED010A06EB800043
-:101C400020EE280A00F06AF8BDEEC00A6D1CEDB265
-:101C500010EE100A032D7880E0D3B14604254646E5
-:101C600005EB450004EB8007B7F9060000EE100A0B
-:101C700005EB850000EBC501F8EEC00A09EB810019
-:101C800096ED010A00F04AF8BDEEC00A6D1CEDB2F7
-:101C900010EE100A072D7880E2D3B4F926000090E8
-:101CA000B4F91A30B4F90E20B4F90210002000F093
-:101CB0009FF8CDF800A0B4F94A30B4F93E20B4F949
-:101CC0003210012000F094F8134930880A685063FC
-:101CD0000A6890630968C86308640020FEF7CAFEBA
-:101CE0006FE70000001C02408801002000007A46D7
-:101CF0000AD7A33B1C0000200060EA4600002042F7
-:101D00000000000000000020EC0100200010024054
-:101D10000000704200003443B001002080ED050A4D
-:101D2000C0ED060A90ED071A70EE600A80ED081A01
-:101D3000C0ED070A90ED000A20EE202A80ED092A66
-:101D400090ED0A0AD0ED011A01EEA00A80ED0A0A10
-:101D5000D0ED021A11EEA01A80ED0B1AD0ED030A95
-:101D6000F1EE601AB4EEE10AF1EE10FA02D8B0EE2C
-:101D7000610A06E0B4EEE00AF1EE10FA01DBB0EE23
-:101D8000600A80ED0A0A32EE000A30EE010A80EDA8
-:101D90000C0AD0ED040AB1EE601AB4EEC10AF1EEFD
-:101DA00010FA02D8B0EE410A06E0B4EEE00AF1EE15
-:101DB00010FA01DBB0EE600A80ED0C0A704780EC8F
-:101DC000050A704710B500210848FFF78DFB042174
-:101DD0000648FFF789FB08210448FFF785FBBDE8AB
-:101DE00010400C210148FFF77FBB0000B00100202C
-:101DF00010B588B00A9C18B340F2FF100290002082
-:101E00000490059008200690080A8DF800008DF8CF
-:101E10000110100A8DF80200180A8DF804008DF8E0
-:101E20000530200A8DF806008DF803208DF8074054
-:101E300001236A4602A90448FEF76CFA08B010BDF7
-:101E40004FF40070DAE70000880100200000000075
-:101E50000000000001020304060708097C1E0008B8
-:101E6000000000201C0000008A1A0008981E0008CC
-:101E70001C000020240600009A1A00083804000004
-:101E80000000000001000000100000000000000041
-:081E90000024F4000000000032
+:101A80000000014000040140FEE70000014A024955
+:101A900000F013B8191B00081C00002002E008C861
+:101AA000121F08C1002AFAD170477047002001E0D8
+:101AB00001C1121F002AFBD170472DE9F0411646E3
+:101AC0000F460446002503E03946B047641C6D1CF0
+:101AD00020780028F8D12846BDE8F08100B58BB009
+:101AE00000210122CDE90612059100910191029198
+:101AF000039104910E21CDE908216946FEF76EFCA1
+:101B00000448FEF783FF02210248FEF7EFFB0BB00B
+:101B100000BD00008C01002038B504468DF800009F
+:101B200069460320ABBE204638BD000010B5074C07
+:101B30000421607820700648FFF794F8607010B9AF
+:101B40002078012800D0002010BD000018000020DF
+:101B5000000402402DED048B82B0FFF79BF8FFF7E5
+:101B600005FEFFF703FDFFF7DDFCFFF77FFD012218
+:101B70003C216F48FFF77BF800F04EF96D48FFF706
+:101B8000ADFF00249FED6C8ADFED6C8A6C4D00BFC9
+:101B900004EB8400F0EE481A00EBC40005EB800073
+:101BA000B0EE612AB0EE001AF0EE680AB0EE000A5C
+:101BB00000F02FF9641CE4B2032CE9D304249FED58
+:101BC000619ADFED618A9FED618A00BF04EB8400BA
+:101BD000F0EE491A00EBC40005EB8000B0EE612A7C
+:101BE000B0EE481AF0EE080AB0EE680A00F011F9FB
+:101BF000641CE4B2072CE9D3DFF85481DFF854B158
+:101C0000F3EE048AA9464FF0000A53A0FFF73EFF07
+:101C1000B8F802004446401C00B2A8F80200FA28B6
+:101C200006D14F48A4F802A0416981F400614161E6
+:101C3000FFF77CFFA0B194ED010ADFED4A0A4A49A3
+:101C400030EE200A84ED010A2088D230208010EE88
+:101C5000100A884204DD84ED018A4FF487602080F9
+:101C6000A04600254E465C4605EB450004EB800788
+:101C7000B7F9060000EE100A05EB850000EBC50081
+:101C8000F8EEC00A98ED010A06EB800020EE280A63
+:101C900000F06EF8BDEEC00A6D1CEDB210EE100A39
+:101CA000032D7880E0D3B1460425464605EB450078
+:101CB00004EB8007B7F9060000EE100A05EB85007B
+:101CC00000EBC501F8EEC00A09EB810096ED010AB0
+:101CD00000F04EF8BDEEC00A6D1CEDB210EE100A19
+:101CE000072D7880E2D3B4F926000090B4F91A30B9
+:101CF000B4F90E20B4F90210002000F0A3F8CDF8DA
+:101D000000A0B4F94A30B4F93E20B4F932100120F1
+:101D100000F098F8154930880A6850630A689063A3
+:101D20000968C86308640020FEF7A4FE6DE70000A0
+:101D3000001C02408C01002000007A460AD7A33B19
+:101D4000200000200060EA46000020420000000061
+:101D500000000020F0010020544553540000000012
+:101D6000001002400000704200003443B401002023
+:101D700080ED050AC0ED060A90ED071A70EE600AC4
+:101D800080ED081AC0ED070A90ED000A20EE202A27
+:101D900080ED092A90ED0A0AD0ED011A01EEA00AA1
+:101DA00080ED0A0AD0ED021A11EEA01A80ED0B1A8E
+:101DB000D0ED030AF1EE601AB4EEE10AF1EE10FA8A
+:101DC00002D8B0EE610A06E0B4EEE00AF1EE10FAD5
+:101DD00001DBB0EE600A80ED0A0A32EE000A30EE56
+:101DE000010A80ED0C0AD0ED040AB1EE601AB4EEDF
+:101DF000C10AF1EE10FA02D8B0EE410A06E0B4EEE4
+:101E0000E00AF1EE10FA01DBB0EE600A80ED0C0A98
+:101E1000704780EC050A704710B500210848FFF7AD
+:101E200063FB04210648FFF75FFB08210448FFF726
+:101E30005BFBBDE810400C210148FFF755BB0000DB
+:101E4000B401002010B588B00A9C18B340F2FF100E
+:101E5000029000200490059008200690080A8DF852
+:101E600000008DF80110100A8DF80200180A8DF894
+:101E700004008DF80530200A8DF806008DF8032047
+:101E80008DF8074001236A4602A90448FEF742FA8A
+:101E900008B010BD4FF40070DAE700008C0100209C
+:101EA000000000000000000001020304060708090A
+:101EB000D01E000800000020200000009C1A00082E
+:101EC000F01E00082000002028060000AC1A0008C0
+:101ED00038040000000000000100000010000000B5
+:101EE000000000000024F4000000000000000000DA
:04000005080001AD41
:00000001FF
diff --git a/Controle_moteurs_PID/Src/main.c b/Controle_moteurs_PID/Src/main.c
index 96e79e1..f756465 100644
--- a/Controle_moteurs_PID/Src/main.c
+++ b/Controle_moteurs_PID/Src/main.c
@@ -137,6 +137,7 @@ int main(void)
/* USER CODE BEGIN WHILE */
while (1)
{
+ printf("TEST");
/* led blink */
led_cnt ++;
if (led_cnt == 250)
diff --git a/Standard_robot/.mxproject b/Standard_robot/.mxproject
index 4270762..881dc69 100644
--- a/Standard_robot/.mxproject
+++ b/Standard_robot/.mxproject
@@ -1,14 +1,14 @@
[PreviousGenFiles]
HeaderPath=D:/charl/Documents/Git/RM-Controle/Standard_robot/Inc
-HeaderFiles=gpio.h;stm32f4xx_it.h;stm32f4xx_hal_conf.h;main.h;dma.h;usart.h;adc.h;spi.h;
+HeaderFiles=gpio.h;stm32f4xx_it.h;stm32f4xx_hal_conf.h;main.h;dma.h;usart.h;adc.h;spi.h;can.h;tim.h;
SourcePath=D:/charl/Documents/Git/RM-Controle/Standard_robot/Src
-SourceFiles=gpio.c;stm32f4xx_it.c;stm32f4xx_hal_msp.c;main.c;dma.c;usart.c;adc.c;spi.c;
+SourceFiles=gpio.c;stm32f4xx_it.c;stm32f4xx_hal_msp.c;main.c;dma.c;usart.c;adc.c;spi.c;can.c;tim.c;
[PreviousLibFiles]
-LibFiles=Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h;Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h;Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f427xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Include/cmsis_armclang.h;Drivers/CMSIS/Include/cmsis_compiler.h;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/cmsis_iccarm.h;Drivers/CMSIS/Include/cmsis_version.h;Drivers/CMSIS/Include/core_armv8mbl.h;Drivers/CMSIS/Include/core_armv8mml.h;Drivers/CMSIS/Include/core_cm0.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/core_cm1.h;Drivers/CMSIS/Include/core_cm23.h;Drivers/CMSIS/Include/core_cm3.h;Drivers/CMSIS/Include/core_cm33.h;Drivers/CMSIS/Include/core_cm4.h;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/core_sc300.h;Drivers/CMSIS/Include/mpu_armv7.h;Drivers/CMSIS/Include/mpu_armv8.h;Drivers/CMSIS/Include/tz_context.h;
+LibFiles=Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h;Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h;Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f427xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Include/cmsis_armclang.h;Drivers/CMSIS/Include/cmsis_compiler.h;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/cmsis_iccarm.h;Drivers/CMSIS/Include/cmsis_version.h;Drivers/CMSIS/Include/core_armv8mbl.h;Drivers/CMSIS/Include/core_armv8mml.h;Drivers/CMSIS/Include/core_cm0.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/core_cm1.h;Drivers/CMSIS/Include/core_cm23.h;Drivers/CMSIS/Include/core_cm3.h;Drivers/CMSIS/Include/core_cm33.h;Drivers/CMSIS/Include/core_cm4.h;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/core_sc300.h;Drivers/CMSIS/Include/mpu_armv7.h;Drivers/CMSIS/Include/mpu_armv8.h;Drivers/CMSIS/Include/tz_context.h;
[PreviousUsedKeilFiles]
-SourceFiles=..\Src\main.c;..\Src\gpio.c;..\Src\adc.c;..\Src\dma.c;..\Src\spi.c;..\Src\usart.c;..\Src\stm32f4xx_it.c;..\Src\stm32f4xx_hal_msp.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;../\Src/system_stm32f4xx.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;../\Src/system_stm32f4xx.c;../Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;null;
+SourceFiles=..\Src\main.c;..\Src\gpio.c;..\Src\adc.c;..\Src\can.c;..\Src\dma.c;..\Src\spi.c;..\Src\tim.c;..\Src\usart.c;..\Src\stm32f4xx_it.c;..\Src\stm32f4xx_hal_msp.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;..\\Src/system_stm32f4xx.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;..\\Src/system_stm32f4xx.c;..\Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;;
HeaderPath=..\Drivers\STM32F4xx_HAL_Driver\Inc;..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy;..\Drivers\CMSIS\Device\ST\STM32F4xx\Include;..\Drivers\CMSIS\Include;..\Inc;
-CDefines=USE_HAL_DRIVER;STM32F427xx;USE_HAL_DRIVER;STM32F427xx;
+CDefines=USE_HAL_DRIVER;STM32F427xx;USE_HAL_DRIVER;USE_HAL_DRIVER;
diff --git a/Standard_robot/Inc/main.h b/Standard_robot/Inc/main.h
index 25ceb98..e64a228 100644
--- a/Standard_robot/Inc/main.h
+++ b/Standard_robot/Inc/main.h
@@ -17,6 +17,7 @@
*
******************************************************************************
*/
+#define LIMIT_MIN_MAX(x,min,max) (x) = (((x)<=(min))?(min):(((x)>=(max))?(max):(x)))
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
@@ -60,8 +61,22 @@ void Error_Handler(void);
/* Private defines -----------------------------------------------------------*/
#define OLED_DC_Pin GPIO_PIN_9
#define OLED_DC_GPIO_Port GPIOB
+#define POWER1_CTRL_Pin GPIO_PIN_2
+#define POWER1_CTRL_GPIO_Port GPIOH
+#define POWER2_CTRL_Pin GPIO_PIN_3
+#define POWER2_CTRL_GPIO_Port GPIOH
+#define POWER3_CTRL_Pin GPIO_PIN_4
+#define POWER3_CTRL_GPIO_Port GPIOH
#define LED_A_Pin GPIO_PIN_8
#define LED_A_GPIO_Port GPIOG
+#define POWER4_CTRL_Pin GPIO_PIN_5
+#define POWER4_CTRL_GPIO_Port GPIOH
+#define KEY_Pin GPIO_PIN_2
+#define KEY_GPIO_Port GPIOB
+#define LED_RED_Pin GPIO_PIN_11
+#define LED_RED_GPIO_Port GPIOE
+#define LED_GREEN_Pin GPIO_PIN_14
+#define LED_GREEN_GPIO_Port GPIOF
#define OLED_RST_Pin GPIO_PIN_10
#define OLED_RST_GPIO_Port GPIOB
/* USER CODE BEGIN Private defines */
diff --git a/Standard_robot/Inc/stm32f4xx_hal_conf.h b/Standard_robot/Inc/stm32f4xx_hal_conf.h
index 87bc481..3c27478 100644
--- a/Standard_robot/Inc/stm32f4xx_hal_conf.h
+++ b/Standard_robot/Inc/stm32f4xx_hal_conf.h
@@ -38,7 +38,7 @@
#define HAL_ADC_MODULE_ENABLED
/* #define HAL_CRYP_MODULE_ENABLED */
-/* #define HAL_CAN_MODULE_ENABLED */
+#define HAL_CAN_MODULE_ENABLED
/* #define HAL_CRC_MODULE_ENABLED */
/* #define HAL_CRYP_MODULE_ENABLED */
/* #define HAL_DAC_MODULE_ENABLED */
@@ -61,11 +61,12 @@
/* #define HAL_SD_MODULE_ENABLED */
/* #define HAL_MMC_MODULE_ENABLED */
#define HAL_SPI_MODULE_ENABLED
-/* #define HAL_TIM_MODULE_ENABLED */
+#define HAL_TIM_MODULE_ENABLED
#define HAL_UART_MODULE_ENABLED
/* #define HAL_USART_MODULE_ENABLED */
/* #define HAL_IRDA_MODULE_ENABLED */
/* #define HAL_SMARTCARD_MODULE_ENABLED */
+/* #define HAL_SMBUS_MODULE_ENABLED */
/* #define HAL_WWDG_MODULE_ENABLED */
/* #define HAL_PCD_MODULE_ENABLED */
/* #define HAL_HCD_MODULE_ENABLED */
@@ -77,7 +78,6 @@
/* #define HAL_SPDIFRX_MODULE_ENABLED */
/* #define HAL_DFSDM_MODULE_ENABLED */
/* #define HAL_LPTIM_MODULE_ENABLED */
-/* #define HAL_EXTI_MODULE_ENABLED */
#define HAL_GPIO_MODULE_ENABLED
#define HAL_EXTI_MODULE_ENABLED
#define HAL_DMA_MODULE_ENABLED
@@ -264,6 +264,10 @@
#include "stm32f4xx_hal_cryp.h"
#endif /* HAL_CRYP_MODULE_ENABLED */
+#ifdef HAL_SMBUS_MODULE_ENABLED
+#include "stm32f4xx_hal_smbus.h"
+#endif /* HAL_SMBUS_MODULE_ENABLED */
+
#ifdef HAL_DMA2D_MODULE_ENABLED
#include "stm32f4xx_hal_dma2d.h"
#endif /* HAL_DMA2D_MODULE_ENABLED */
diff --git a/Standard_robot/Inc/stm32f4xx_it.h b/Standard_robot/Inc/stm32f4xx_it.h
index 1c02bb8..482e4a5 100644
--- a/Standard_robot/Inc/stm32f4xx_it.h
+++ b/Standard_robot/Inc/stm32f4xx_it.h
@@ -56,6 +56,8 @@ void SVC_Handler(void);
void DebugMon_Handler(void);
void PendSV_Handler(void);
void SysTick_Handler(void);
+void CAN1_TX_IRQHandler(void);
+void CAN1_RX0_IRQHandler(void);
void USART1_IRQHandler(void);
void DMA2_Stream7_IRQHandler(void);
/* USER CODE BEGIN EFP */
diff --git a/Standard_robot/MDK-ARM/Standard_robot.uvguix.charl b/Standard_robot/MDK-ARM/Standard_robot.uvguix.charl
index 9088ab2..0c49e01 100644
--- a/Standard_robot/MDK-ARM/Standard_robot.uvguix.charl
+++ b/Standard_robot/MDK-ARM/Standard_robot.uvguix.charl
@@ -6,7 +6,7 @@
<Header>### uVision Project, (C) Keil Software</Header>
<PrjGuiSettings>
- <LastAddFilePath>D:\charl\Documents\Git\RM-Controle\Standard_robot\BSP\Device</LastAddFilePath>
+ <LastAddFilePath>D:\charl\Documents\Git\RM-Controle\Standard_robot\BSP\Driver</LastAddFilePath>
</PrjGuiSettings>
<ViewPool/>
@@ -93,8 +93,8 @@
<flags>2</flags>
<showCmd>3</showCmd>
<MinPosition>
- <xPos>-32000</xPos>
- <yPos>-32000</yPos>
+ <xPos>-1</xPos>
+ <yPos>-1</yPos>
</MinPosition>
<MaxPosition>
<xPos>-1</xPos>
@@ -110,8 +110,8 @@
<MDIClientArea>
<RegID>0</RegID>
<MDITabState>
- <Len>636</Len>
- <Data>0100000004000000010000000100000001000000010000000000000002000000000000000100000001000000000000002800000028000000010000000500000001000000010000003C443A5C636861726C5C446F63756D656E74735C4769745C524D2D436F6E74726F6C655C5374616E646172645F726F626F745C5372635C6D61696E2E6300000000066D61696E2E6300000000C5D4F200FFFFFFFF47443A5C636861726C5C446F63756D656E74735C4769745C524D2D436F6E74726F6C655C5374616E646172645F726F626F745C4253505C4472697665725C6273705F6F6C65642E63000000000A6273705F6F6C65642E6300000000FFDC7800FFFFFFFF47443A5C636861726C5C446F63756D656E74735C4769745C524D2D436F6E74726F6C655C5374616E646172645F726F626F745C4253505C4472697665725C6273705F6F6C65642E68000000000A6273705F6F6C65642E6800000000F0A0A100FFFFFFFF43443A5C636861726C5C446F63756D656E74735C4769745C524D2D436F6E74726F6C655C5374616E646172645F726F626F745C4253505C4465766963655C6F6C65642E6300000000066F6C65642E6300000000F0A0A100FFFFFFFF43443A5C636861726C5C446F63756D656E74735C4769745C524D2D436F6E74726F6C655C5374616E646172645F726F626F745C4253505C4465766963655C6F6C65642E6800000000066F6C65642E6800000000BCA8E100FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD500010000000000000002000000D1000000660000005805000070020000</Data>
+ <Len>720</Len>
+ <Data>0100000004000000010000000100000001000000010000000000000002000000000000000100000001000000000000002800000028000000010000000600000005000000010000003C443A5C636861726C5C446F63756D656E74735C4769745C524D2D436F6E74726F6C655C5374616E646172645F726F626F745C5372635C6D61696E2E6300000000066D61696E2E6300000000C5D4F200FFFFFFFF47443A5C636861726C5C446F63756D656E74735C4769745C524D2D436F6E74726F6C655C5374616E646172645F726F626F745C4253505C4472697665725C6273705F6F6C65642E63000000000A6273705F6F6C65642E6300000000FFDC7800FFFFFFFF47443A5C636861726C5C446F63756D656E74735C4769745C524D2D436F6E74726F6C655C5374616E646172645F726F626F745C4253505C4472697665725C6273705F6F6C65642E68000000000A6273705F6F6C65642E6800000000BECEA100FFFFFFFF43443A5C636861726C5C446F63756D656E74735C4769745C524D2D436F6E74726F6C655C5374616E646172645F726F626F745C4253505C4465766963655C6F6C65642E6300000000066F6C65642E6300000000F0A0A100FFFFFFFF43443A5C636861726C5C446F63756D656E74735C4769745C524D2D436F6E74726F6C655C5374616E646172645F726F626F745C4253505C4465766963655C6F6C65642E6800000000066F6C65642E6800000000BCA8E100FFFFFFFF3C443A5C636861726C5C446F63756D656E74735C4769745C524D2D436F6E74726F6C655C5374616E646172645F726F626F745C496E635C6D61696E2E6800000000066D61696E2E68000000009CC1B600FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD500010000000000000002000000AF00000066000000580500008E020000</Data>
</MDITabState>
</MDIClientArea>
<ViewEx>
@@ -134,7 +134,7 @@
</RectRecentDocked>
<RectRecentFloat>
<Len>16</Len>
- <Data>AF00000066000000F2030000DB000000</Data>
+ <Data>A4000000BB0000009D02000030010000</Data>
</RectRecentFloat>
</Window>
<Window>
@@ -150,11 +150,11 @@
<RecentRowIndex>0</RecentRowIndex>
<RectRecentDocked>
<Len>16</Len>
- <Data>0300000066000000CA00000040020000</Data>
+ <Data>0300000066000000A80000005E020000</Data>
</RectRecentDocked>
<RectRecentFloat>
<Len>16</Len>
- <Data>3C00000053000000E7000000FE000000</Data>
+ <Data>A4000000BB0000004F01000066010000</Data>
</RectRecentFloat>
</Window>
<Window>
@@ -170,11 +170,11 @@
<RecentRowIndex>0</RecentRowIndex>
<RectRecentDocked>
<Len>16</Len>
- <Data>0300000066000000CA00000040020000</Data>
+ <Data>0300000066000000A80000005E020000</Data>
</RectRecentDocked>
<RectRecentFloat>
<Len>16</Len>
- <Data>3C000000530000000601000027020000</Data>
+ <Data>A4000000BB0000006E0100008F020000</Data>
</RectRecentFloat>
</Window>
<Window>
@@ -190,11 +190,11 @@
<RecentRowIndex>0</RecentRowIndex>
<RectRecentDocked>
<Len>16</Len>
- <Data>03000000C4010000EF0300001D020000</Data>
+ <Data>00000000C1010000F203000036020000</Data>
</RectRecentDocked>
<RectRecentFloat>
<Len>16</Len>
- <Data>3C0000005300000035020000C8000000</Data>
+ <Data>A4000000BB0000009D02000030010000</Data>
</RectRecentFloat>
</Window>
<Window>
@@ -210,11 +210,11 @@
<RecentRowIndex>0</RecentRowIndex>
<RectRecentDocked>
<Len>16</Len>
- <Data>03000000C4010000EF0300001D020000</Data>
+ <Data>03000000C4010000EF03000009020000</Data>
</RectRecentDocked>
<RectRecentFloat>
<Len>16</Len>
- <Data>3C0000005300000035020000C8000000</Data>
+ <Data>A4000000BB0000009D02000030010000</Data>
</RectRecentFloat>
</Window>
<Window>
@@ -230,11 +230,11 @@
<RecentRowIndex>0</RecentRowIndex>
<RectRecentDocked>
<Len>16</Len>
- <Data>03000000C4010000EF0300001D020000</Data>
+ <Data>03000000C4010000EF03000009020000</Data>
</RectRecentDocked>
<RectRecentFloat>
<Len>16</Len>
- <Data>3C0000005300000035020000C8000000</Data>
+ <Data>A4000000BB0000009D02000030010000</Data>
</RectRecentFloat>
</Window>
<Window>
@@ -250,11 +250,11 @@
<RecentRowIndex>0</RecentRowIndex>
<RectRecentDocked>
<Len>16</Len>
- <Data>03000000C4010000EF0300001D020000</Data>
+ <Data>03000000C4010000EF03000009020000</Data>
</RectRecentDocked>
<RectRecentFloat>
<Len>16</Len>
- <Data>3C0000005300000035020000C8000000</Data>
+ <Data>A4000000BB0000009D02000030010000</Data>
</RectRecentFloat>
</Window>
<Window>
@@ -270,11 +270,11 @@
<RecentRowIndex>0</RecentRowIndex>
<RectRecentDocked>
<Len>16</Len>
- <Data>4A03000066000000EF030000A4010000</Data>
+ <Data>4A03000066000000EF030000E1000000</Data>
</RectRecentDocked>
<RectRecentFloat>
<Len>16</Len>
- <Data>3C00000053000000E7000000FE000000</Data>
+ <Data>A4000000BB0000004F01000066010000</Data>
</RectRecentFloat>
</Window>
<Window>
@@ -294,7 +294,7 @@
</RectRecentDocked>
<RectRecentFloat>
<Len>16</Len>
- <Data>3C0000005300000035020000C8000000</Data>
+ <Data>A4000000BB0000009D02000030010000</Data>
</RectRecentFloat>
</Window>
<Window>
@@ -314,7 +314,7 @@
</RectRecentDocked>
<RectRecentFloat>
<Len>16</Len>
- <Data>3C00000053000000E7000000FE000000</Data>
+ <Data>A4000000BB0000004F01000066010000</Data>
</RectRecentFloat>
</Window>
<Window>
@@ -330,11 +330,11 @@
<RecentRowIndex>0</RecentRowIndex>
<RectRecentDocked>
<Len>16</Len>
- <Data>03000000C4010000EF0300001D020000</Data>
+ <Data>03000000C4010000EF03000009020000</Data>
</RectRecentDocked>
<RectRecentFloat>
<Len>16</Len>
- <Data>3C00000053000000E7000000FE000000</Data>
+ <Data>A4000000BB0000004F01000066010000</Data>
</RectRecentFloat>
</Window>
<Window>
@@ -350,11 +350,11 @@
<RecentRowIndex>0</RecentRowIndex>
<RectRecentDocked>
<Len>16</Len>
- <Data>03000000C4010000EF0300001D020000</Data>
+ <Data>03000000C4010000EF03000009020000</Data>
</RectRecentDocked>
<RectRecentFloat>
<Len>16</Len>
- <Data>3C00000053000000E7000000FE000000</Data>
+ <Data>A4000000BB0000004F01000066010000</Data>
</RectRecentFloat>
</Window>
<Window>
@@ -370,11 +370,11 @@
<RecentRowIndex>0</RecentRowIndex>
<RectRecentDocked>
<Len>16</Len>
- <Data>03000000C4010000EF0300001D020000</Data>
+ <Data>03000000C4010000EF03000009020000</Data>
</RectRecentDocked>
<RectRecentFloat>
<Len>16</Len>
- <Data>3C0000005300000035020000C8000000</Data>
+ <Data>A4000000BB0000009D02000030010000</Data>
</RectRecentFloat>
</Window>
<Window>
@@ -390,11 +390,11 @@
<RecentRowIndex>0</RecentRowIndex>
<RectRecentDocked>
<Len>16</Len>
- <Data>03000000C4010000EF0300001D020000</Data>
+ <Data>03000000C4010000EF03000009020000</Data>
</RectRecentDocked>
<RectRecentFloat>
<Len>16</Len>
- <Data>3C0000005300000035020000C8000000</Data>
+ <Data>A4000000BB0000009D02000030010000</Data>
</RectRecentFloat>
</Window>
<Window>
@@ -410,11 +410,11 @@
<RecentRowIndex>0</RecentRowIndex>
<RectRecentDocked>
<Len>16</Len>
- <Data>03000000C4010000EF0300001D020000</Data>
+ <Data>03000000C4010000EF03000009020000</Data>
</RectRecentDocked>
<RectRecentFloat>
<Len>16</Len>
- <Data>3C0000005300000035020000C8000000</Data>
+ <Data>A4000000BB0000009D02000030010000</Data>
</RectRecentFloat>
</Window>
<Window>
@@ -430,11 +430,11 @@
<RecentRowIndex>0</RecentRowIndex>
<RectRecentDocked>
<Len>16</Len>
- <Data>03000000C4010000EF0300001D020000</Data>
+ <Data>03000000C4010000EF03000009020000</Data>
</RectRecentDocked>
<RectRecentFloat>
<Len>16</Len>
- <Data>3C0000005300000035020000C8000000</Data>
+ <Data>A4000000BB0000009D02000030010000</Data>
</RectRecentFloat>
</Window>
<Window>
@@ -450,11 +450,11 @@
<RecentRowIndex>0</RecentRowIndex>
<RectRecentDocked>
<Len>16</Len>
- <Data>0300000066000000CA00000040020000</Data>
+ <Data>0300000066000000A80000005E020000</Data>
</RectRecentDocked>
<RectRecentFloat>
<Len>16</Len>
- <Data>3C000000530000000601000027020000</Data>
+ <Data>A4000000BB0000006E0100008F020000</Data>
</RectRecentFloat>
</Window>
<Window>
@@ -470,11 +470,11 @@
<RecentRowIndex>0</RecentRowIndex>
<RectRecentDocked>
<Len>16</Len>
- <Data>0300000066000000CA00000040020000</Data>
+ <Data>0300000066000000A80000005E020000</Data>
</RectRecentDocked>
<RectRecentFloat>
<Len>16</Len>
- <Data>3C000000530000000601000027020000</Data>
+ <Data>A4000000BB0000006E0100008F020000</Data>
</RectRecentFloat>
</Window>
<Window>
@@ -490,11 +490,11 @@
<RecentRowIndex>0</RecentRowIndex>
<RectRecentDocked>
<Len>16</Len>
- <Data>00000000710200005805000048030000</Data>
+ <Data>000000008F0200005805000048030000</Data>
</RectRecentDocked>
<RectRecentFloat>
<Len>16</Len>
- <Data>3C0000005300000035020000C8000000</Data>
+ <Data>A4000000BB0000009D02000030010000</Data>
</RectRecentFloat>
</Window>
<Window>
@@ -514,7 +514,7 @@
</RectRecentDocked>
<RectRecentFloat>
<Len>16</Len>
- <Data>3C0000005300000035020000C8000000</Data>
+ <Data>A4000000BB0000009D02000030010000</Data>
</RectRecentFloat>
</Window>
<Window>
@@ -530,11 +530,11 @@
<RecentRowIndex>0</RecentRowIndex>
<RectRecentDocked>
<Len>16</Len>
- <Data>0300000074020000550500002F030000</Data>
+ <Data>0300000092020000EF030000D7020000</Data>
</RectRecentDocked>
<RectRecentFloat>
<Len>16</Len>
- <Data>3C0000005300000035020000C8000000</Data>
+ <Data>A4000000BB0000009D02000030010000</Data>
</RectRecentFloat>
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<Window>
@@ -550,11 +550,11 @@
<RecentRowIndex>0</RecentRowIndex>
<RectRecentDocked>
<Len>16</Len>
- <Data>B200000066000000EF030000AB000000</Data>
+ <Data>AF00000063000000F2030000C4000000</Data>
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<RectRecentFloat>
<Len>16</Len>
- <Data>3C0000005300000035020000C8000000</Data>
+ <Data>A4000000BB0000009D02000030010000</Data>
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</Window>
<Window>
@@ -574,7 +574,7 @@
</RectRecentDocked>
<RectRecentFloat>
<Len>16</Len>
- <Data>3C0000005300000035020000C8000000</Data>
+ <Data>A4000000BB0000009D02000030010000</Data>
</RectRecentFloat>
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<Window>
@@ -610,11 +610,11 @@
<RecentRowIndex>0</RecentRowIndex>
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<Len>16</Len>
- <Data>4A03000066000000EF030000A4010000</Data>
+ <Data>4703000063000000F2030000BD010000</Data>
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<RectRecentFloat>
<Len>16</Len>
- <Data>3C00000053000000E7000000FE000000</Data>
+ <Data>A4000000BB0000004F01000066010000</Data>
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<Window>
@@ -630,11 +630,11 @@
<RecentRowIndex>0</RecentRowIndex>
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<Len>16</Len>
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+ <Data>00000000C1010000F203000022020000</Data>
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<RectRecentFloat>
<Len>16</Len>
- <Data>3C0000005300000035020000C8000000</Data>
+ <Data>A4000000BB0000009D02000030010000</Data>
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<Window>
@@ -654,7 +654,7 @@
</RectRecentDocked>
<RectRecentFloat>
<Len>16</Len>
- <Data>3C0000005300000035020000C8000000</Data>
+ <Data>A4000000BB0000009D02000030010000</Data>
</RectRecentFloat>
</Window>
<Window>
@@ -674,7 +674,7 @@
</RectRecentDocked>
<RectRecentFloat>
<Len>16</Len>
- <Data>3C0000005300000035020000C8000000</Data>
+ <Data>A4000000BB0000009D02000030010000</Data>
</RectRecentFloat>
</Window>
<Window>
@@ -690,11 +690,11 @@
<RecentRowIndex>0</RecentRowIndex>
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<Len>16</Len>
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+ <Data>AF00000063000000F2030000C4000000</Data>
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<Len>16</Len>
- <Data>3C00000053000000E7000000FE000000</Data>
+ <Data>A4000000BB0000004F01000066010000</Data>
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<Window>
@@ -714,7 +714,7 @@
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<RectRecentFloat>
<Len>16</Len>
- <Data>3C0000005300000035020000C8000000</Data>
+ <Data>A4000000BB0000009D02000030010000</Data>
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<Window>
@@ -730,11 +730,11 @@
<RecentRowIndex>0</RecentRowIndex>
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<Len>16</Len>
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+ <Data>4A03000066000000EF0300002B010000</Data>
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<RectRecentFloat>
<Len>16</Len>
- <Data>3C00000053000000E7000000FE000000</Data>
+ <Data>A4000000BB0000004F01000066010000</Data>
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<Window>
@@ -750,11 +750,11 @@
<RecentRowIndex>0</RecentRowIndex>
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<Len>16</Len>
- <Data>4A03000066000000EF030000A4010000</Data>
+ <Data>4A03000066000000EF0300002B010000</Data>
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<RectRecentFloat>
<Len>16</Len>
- <Data>3C00000053000000E7000000FE000000</Data>
+ <Data>A4000000BB0000004F01000066010000</Data>
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@@ -770,11 +770,11 @@
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+ <Data>4A03000066000000EF0300002B010000</Data>
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<Len>16</Len>
- <Data>3C00000053000000E7000000FE000000</Data>
+ <Data>A4000000BB0000004F01000066010000</Data>
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@@ -790,11 +790,11 @@
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+ <Data>4A03000066000000EF0300002B010000</Data>
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+ <Data>A4000000BB0000004F01000066010000</Data>
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<Window>
@@ -810,11 +810,11 @@
<RecentRowIndex>0</RecentRowIndex>
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<Len>16</Len>
- <Data>4A03000066000000EF030000A4010000</Data>
+ <Data>4A03000066000000EF0300002B010000</Data>
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<Len>16</Len>
- <Data>3C00000053000000E7000000FE000000</Data>
+ <Data>A4000000BB0000004F01000066010000</Data>
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<Window>
@@ -830,11 +830,11 @@
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<Len>16</Len>
- <Data>3C00000053000000E7000000FE000000</Data>
+ <Data>A4000000BB0000004F01000066010000</Data>
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@@ -850,11 +850,11 @@
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+ <Data>4A03000066000000EF0300002B010000</Data>
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<Len>16</Len>
- <Data>3C00000053000000E7000000FE000000</Data>
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@@ -870,11 +870,11 @@
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+ <Data>4A03000066000000EF0300002B010000</Data>
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<Len>16</Len>
- <Data>3C00000053000000E7000000FE000000</Data>
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@@ -890,11 +890,11 @@
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<OriginalItems>
<Len>898</Len>
@@ -1862,21 +1862,21 @@
<ActiveMDIGroup>0</ActiveMDIGroup>
<MDIGroup>
<Size>100</Size>
- <ActiveTab>1</ActiveTab>
+ <ActiveTab>5</ActiveTab>
<Doc>
<Name>../Src/main.c</Name>
- <ColumnNumber>26</ColumnNumber>
- <TopLine>116</TopLine>
- <CurrentLine>128</CurrentLine>
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</Doc>
<Doc>
<Name>..\BSP\Driver\bsp_oled.c</Name>
- <ColumnNumber>18</ColumnNumber>
- <TopLine>83</TopLine>
- <CurrentLine>269</CurrentLine>
+ <ColumnNumber>1</ColumnNumber>
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<Folding>1</Folding>
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@@ -1902,12 +1902,21 @@
<Doc>
<Name>../BSP/Device/oled.h</Name>
<ColumnNumber>47</ColumnNumber>
- <TopLine>3</TopLine>
+ <TopLine>1</TopLine>
<CurrentLine>28</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
</Doc>
+ <Doc>
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+ <CurrentLine>20</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
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</MDIGroup>
</MDIGroups>
diff --git a/Standard_robot/MDK-ARM/Standard_robot.uvoptx b/Standard_robot/MDK-ARM/Standard_robot.uvoptx
index b2f22d1..3c8374c 100644
--- a/Standard_robot/MDK-ARM/Standard_robot.uvoptx
+++ b/Standard_robot/MDK-ARM/Standard_robot.uvoptx
@@ -183,7 +183,7 @@
<Group>
<GroupName>Application/MDK-ARM</GroupName>
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<RteFlg>0</RteFlg>
@@ -211,7 +211,7 @@
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<FileNumber>2</FileNumber>
<FileType>1</FileType>
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+ <tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>../Src/main.c</PathWithFileName>
@@ -250,6 +250,18 @@
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
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+ <FilenameWithoutPath>can.c</FilenameWithoutPath>
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+ <bShared>0</bShared>
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<PathWithFileName>../Src/dma.c</PathWithFileName>
<FilenameWithoutPath>dma.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
@@ -257,7 +269,7 @@
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<File>
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<tvExpOptDlg>0</tvExpOptDlg>
@@ -269,7 +281,19 @@
</File>
<File>
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+ <tvExp>0</tvExp>
+ <tvExpOptDlg>0</tvExpOptDlg>
+ <bDave2>0</bDave2>
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+ <FilenameWithoutPath>tim.c</FilenameWithoutPath>
+ <RteFlg>0</RteFlg>
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<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -281,7 +305,7 @@
</File>
<File>
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+ <FileNumber>10</FileNumber>
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<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -293,7 +317,7 @@
</File>
<File>
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<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -306,86 +330,154 @@
</Group>
<Group>
- <GroupName>Drivers/STM32F4xx_HAL_Driver</GroupName>
+ <GroupName>Drivers/CMSIS</GroupName>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
<File>
<GroupNumber>3</GroupNumber>
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+ <FileNumber>12</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
- <PathWithFileName>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c</PathWithFileName>
- <FilenameWithoutPath>stm32f4xx_hal_adc.c</FilenameWithoutPath>
+ <PathWithFileName>../Src/system_stm32f4xx.c</PathWithFileName>
+ <FilenameWithoutPath>system_stm32f4xx.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
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+
+ <Group>
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+ <tvExp>1</tvExp>
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<File>
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- <FileNumber>11</FileNumber>
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+ <FileNumber>13</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
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- <FilenameWithoutPath>stm32f4xx_hal_adc_ex.c</FilenameWithoutPath>
+ <PathWithFileName>..\BSP\Driver\bsp_usart.c</PathWithFileName>
+ <FilenameWithoutPath>bsp_usart.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
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- <FileNumber>12</FileNumber>
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<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
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- <FilenameWithoutPath>stm32f4xx_hal_spi.c</FilenameWithoutPath>
+ <PathWithFileName>..\BSP\Driver\bsp_oled.c</PathWithFileName>
+ <FilenameWithoutPath>bsp_oled.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
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<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
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- <FilenameWithoutPath>stm32f4xx_hal_tim.c</FilenameWithoutPath>
+ <PathWithFileName>..\BSP\Driver\bsp_can.c</PathWithFileName>
+ <FilenameWithoutPath>bsp_can.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
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<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
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- <FilenameWithoutPath>stm32f4xx_hal_tim_ex.c</FilenameWithoutPath>
+ <PathWithFileName>..\BSP\Driver\bsp_key.c</PathWithFileName>
+ <FilenameWithoutPath>bsp_key.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
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<File>
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- <FilenameWithoutPath>stm32f4xx_hal_uart.c</FilenameWithoutPath>
+ <PathWithFileName>..\BSP\Device\oled.c</PathWithFileName>
+ <FilenameWithoutPath>oled.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
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+ <tvExp>0</tvExp>
+ <tvExpOptDlg>0</tvExpOptDlg>
+ <bDave2>0</bDave2>
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+ <FilenameWithoutPath>pid.c</FilenameWithoutPath>
+ <RteFlg>0</RteFlg>
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+ <Group>
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+ <FileType>1</FileType>
+ <tvExp>0</tvExp>
+ <tvExpOptDlg>0</tvExpOptDlg>
+ <bDave2>0</bDave2>
+ <PathWithFileName>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c</PathWithFileName>
+ <FilenameWithoutPath>stm32f4xx_hal_adc.c</FilenameWithoutPath>
+ <RteFlg>0</RteFlg>
+ <bShared>0</bShared>
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+ <File>
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+ <FileNumber>20</FileNumber>
+ <FileType>1</FileType>
+ <tvExp>0</tvExp>
+ <tvExpOptDlg>0</tvExpOptDlg>
+ <bDave2>0</bDave2>
+ <PathWithFileName>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c</PathWithFileName>
+ <FilenameWithoutPath>stm32f4xx_hal_adc_ex.c</FilenameWithoutPath>
+ <RteFlg>0</RteFlg>
+ <bShared>0</bShared>
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<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -396,8 +488,8 @@
<bShared>0</bShared>
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<File>
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<tvExp>0</tvExp>
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@@ -408,8 +500,8 @@
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<File>
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<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
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<bShared>0</bShared>
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<File>
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<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -432,8 +524,8 @@
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<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -444,8 +536,8 @@
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<File>
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<File>
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+ <PathWithFileName>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c</PathWithFileName>
+ <FilenameWithoutPath>stm32f4xx_hal_can.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
- </Group>
-
- <Group>
- <GroupName>BSP</GroupName>
- <tvExp>1</tvExp>
- <tvExpOptDlg>0</tvExpOptDlg>
- <cbSel>0</cbSel>
- <RteFlg>0</RteFlg>
<File>
- <GroupNumber>5</GroupNumber>
- <FileNumber>30</FileNumber>
+ <GroupNumber>7</GroupNumber>
+ <FileNumber>35</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
- <PathWithFileName>..\BSP\Driver\bsp_usart.c</PathWithFileName>
- <FilenameWithoutPath>bsp_usart.c</FilenameWithoutPath>
+ <PathWithFileName>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c</PathWithFileName>
+ <FilenameWithoutPath>stm32f4xx_hal_spi.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
- <GroupNumber>5</GroupNumber>
- <FileNumber>31</FileNumber>
+ <GroupNumber>7</GroupNumber>
+ <FileNumber>36</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
- <PathWithFileName>..\BSP\Driver\bsp_oled.c</PathWithFileName>
- <FilenameWithoutPath>bsp_oled.c</FilenameWithoutPath>
+ <PathWithFileName>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c</PathWithFileName>
+ <FilenameWithoutPath>stm32f4xx_hal_tim.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
- </Group>
-
- <Group>
- <GroupName>Device</GroupName>
- <tvExp>1</tvExp>
- <tvExpOptDlg>0</tvExpOptDlg>
- <cbSel>0</cbSel>
- <RteFlg>0</RteFlg>
<File>
- <GroupNumber>6</GroupNumber>
- <FileNumber>32</FileNumber>
+ <GroupNumber>7</GroupNumber>
+ <FileNumber>37</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
- <PathWithFileName>..\BSP\Device\oled.c</PathWithFileName>
- <FilenameWithoutPath>oled.c</FilenameWithoutPath>
+ <PathWithFileName>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c</PathWithFileName>
+ <FilenameWithoutPath>stm32f4xx_hal_tim_ex.c</FilenameWithoutPath>
+ <RteFlg>0</RteFlg>
+ <bShared>0</bShared>
+ </File>
+ <File>
+ <GroupNumber>7</GroupNumber>
+ <FileNumber>38</FileNumber>
+ <FileType>1</FileType>
+ <tvExp>0</tvExp>
+ <tvExpOptDlg>0</tvExpOptDlg>
+ <bDave2>0</bDave2>
+ <PathWithFileName>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c</PathWithFileName>
+ <FilenameWithoutPath>stm32f4xx_hal_uart.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
diff --git a/Standard_robot/MDK-ARM/Standard_robot.uvprojx b/Standard_robot/MDK-ARM/Standard_robot.uvprojx
index cf9749d..2e6d708 100644
--- a/Standard_robot/MDK-ARM/Standard_robot.uvprojx
+++ b/Standard_robot/MDK-ARM/Standard_robot.uvprojx
@@ -338,7 +338,7 @@
<MiscControls></MiscControls>
<Define>USE_HAL_DRIVER,STM32F427xx,USE_HAL_DRIVER,STM32F427xx</Define>
<Undefine></Undefine>
- <IncludePath>../Inc;../Drivers/STM32F4xx_HAL_Driver/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Drivers/CMSIS/Include;../BSP/Algorithm;../BSP/Controller;../BSP/Device;../BSP/Driver;../BSP/Modules</IncludePath>
+ <IncludePath>../Inc; ../Drivers/STM32F4xx_HAL_Driver/Inc; ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy; ../Drivers/CMSIS/Device/ST/STM32F4xx/Include; ../Drivers/CMSIS/Include; ../BSP/Algorithm; ../BSP/Controller; ../BSP/Device; ../BSP/Driver; ../BSP/Modules</IncludePath>
</VariousControls>
</Cads>
<Aads>
@@ -407,6 +407,11 @@
<FileType>1</FileType>
<FilePath>../Src/adc.c</FilePath>
</File>
+ <File>
+ <FileName>can.c</FileName>
+ <FileType>1</FileType>
+ <FilePath>../Src/can.c</FilePath>
+ </File>
<File>
<FileName>dma.c</FileName>
<FileType>1</FileType>
@@ -417,6 +422,11 @@
<FileType>1</FileType>
<FilePath>../Src/spi.c</FilePath>
</File>
+ <File>
+ <FileName>tim.c</FileName>
+ <FileType>1</FileType>
+ <FilePath>../Src/tim.c</FilePath>
+ </File>
<File>
<FileName>usart.c</FileName>
<FileType>1</FileType>
@@ -434,106 +444,6 @@
</File>
</Files>
</Group>
- <Group>
- <GroupName>Drivers/STM32F4xx_HAL_Driver</GroupName>
- <Files>
- <File>
- <FileName>stm32f4xx_hal_adc.c</FileName>
- <FileType>1</FileType>
- <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c</FilePath>
- </File>
- <File>
- <FileName>stm32f4xx_hal_adc_ex.c</FileName>
- <FileType>1</FileType>
- <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c</FilePath>
- </File>
- <File>
- <FileName>stm32f4xx_hal_spi.c</FileName>
- <FileType>1</FileType>
- <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c</FilePath>
- </File>
- <File>
- <FileName>stm32f4xx_hal_tim.c</FileName>
- <FileType>1</FileType>
- <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c</FilePath>
- </File>
- <File>
- <FileName>stm32f4xx_hal_tim_ex.c</FileName>
- <FileType>1</FileType>
- <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c</FilePath>
- </File>
- <File>
- <FileName>stm32f4xx_hal_uart.c</FileName>
- <FileType>1</FileType>
- <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c</FilePath>
- </File>
- <File>
- <FileName>stm32f4xx_hal_rcc.c</FileName>
- <FileType>1</FileType>
- <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c</FilePath>
- </File>
- <File>
- <FileName>stm32f4xx_hal_rcc_ex.c</FileName>
- <FileType>1</FileType>
- <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c</FilePath>
- </File>
- <File>
- <FileName>stm32f4xx_hal_flash.c</FileName>
- <FileType>1</FileType>
- <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c</FilePath>
- </File>
- <File>
- <FileName>stm32f4xx_hal_flash_ex.c</FileName>
- <FileType>1</FileType>
- <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c</FilePath>
- </File>
- <File>
- <FileName>stm32f4xx_hal_flash_ramfunc.c</FileName>
- <FileType>1</FileType>
- <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c</FilePath>
- </File>
- <File>
- <FileName>stm32f4xx_hal_gpio.c</FileName>
- <FileType>1</FileType>
- <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c</FilePath>
- </File>
- <File>
- <FileName>stm32f4xx_hal_dma_ex.c</FileName>
- <FileType>1</FileType>
- <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c</FilePath>
- </File>
- <File>
- <FileName>stm32f4xx_hal_dma.c</FileName>
- <FileType>1</FileType>
- <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c</FilePath>
- </File>
- <File>
- <FileName>stm32f4xx_hal_pwr.c</FileName>
- <FileType>1</FileType>
- <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c</FilePath>
- </File>
- <File>
- <FileName>stm32f4xx_hal_pwr_ex.c</FileName>
- <FileType>1</FileType>
- <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c</FilePath>
- </File>
- <File>
- <FileName>stm32f4xx_hal_cortex.c</FileName>
- <FileType>1</FileType>
- <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c</FilePath>
- </File>
- <File>
- <FileName>stm32f4xx_hal.c</FileName>
- <FileType>1</FileType>
- <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c</FilePath>
- </File>
- <File>
- <FileName>stm32f4xx_hal_exti.c</FileName>
- <FileType>1</FileType>
- <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c</FilePath>
- </File>
- </Files>
- </Group>
<Group>
<GroupName>Drivers/CMSIS</GroupName>
<Files>
@@ -557,6 +467,16 @@
<FileType>1</FileType>
<FilePath>..\BSP\Driver\bsp_oled.c</FilePath>
</File>
+ <File>
+ <FileName>bsp_can.c</FileName>
+ <FileType>1</FileType>
+ <FilePath>..\BSP\Driver\bsp_can.c</FilePath>
+ </File>
+ <File>
+ <FileName>bsp_key.c</FileName>
+ <FileType>1</FileType>
+ <FilePath>..\BSP\Driver\bsp_key.c</FilePath>
+ </File>
</Files>
</Group>
<Group>
@@ -638,6 +558,121 @@
</File>
</Files>
</Group>
+ <Group>
+ <GroupName>Algorithm</GroupName>
+ <Files>
+ <File>
+ <FileName>pid.c</FileName>
+ <FileType>1</FileType>
+ <FilePath>..\BSP\Algorithm\pid.c</FilePath>
+ </File>
+ </Files>
+ </Group>
+ <Group>
+ <GroupName>Drivers/STM32F4xx_HAL_Driver</GroupName>
+ <Files>
+ <File>
+ <FileName>stm32f4xx_hal_adc.c</FileName>
+ <FileType>1</FileType>
+ <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c</FilePath>
+ </File>
+ <File>
+ <FileName>stm32f4xx_hal_adc_ex.c</FileName>
+ <FileType>1</FileType>
+ <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c</FilePath>
+ </File>
+ <File>
+ <FileName>stm32f4xx_hal_rcc.c</FileName>
+ <FileType>1</FileType>
+ <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c</FilePath>
+ </File>
+ <File>
+ <FileName>stm32f4xx_hal_rcc_ex.c</FileName>
+ <FileType>1</FileType>
+ <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c</FilePath>
+ </File>
+ <File>
+ <FileName>stm32f4xx_hal_flash.c</FileName>
+ <FileType>1</FileType>
+ <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c</FilePath>
+ </File>
+ <File>
+ <FileName>stm32f4xx_hal_flash_ex.c</FileName>
+ <FileType>1</FileType>
+ <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c</FilePath>
+ </File>
+ <File>
+ <FileName>stm32f4xx_hal_flash_ramfunc.c</FileName>
+ <FileType>1</FileType>
+ <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c</FilePath>
+ </File>
+ <File>
+ <FileName>stm32f4xx_hal_gpio.c</FileName>
+ <FileType>1</FileType>
+ <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c</FilePath>
+ </File>
+ <File>
+ <FileName>stm32f4xx_hal_dma_ex.c</FileName>
+ <FileType>1</FileType>
+ <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c</FilePath>
+ </File>
+ <File>
+ <FileName>stm32f4xx_hal_dma.c</FileName>
+ <FileType>1</FileType>
+ <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c</FilePath>
+ </File>
+ <File>
+ <FileName>stm32f4xx_hal_pwr.c</FileName>
+ <FileType>1</FileType>
+ <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c</FilePath>
+ </File>
+ <File>
+ <FileName>stm32f4xx_hal_pwr_ex.c</FileName>
+ <FileType>1</FileType>
+ <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c</FilePath>
+ </File>
+ <File>
+ <FileName>stm32f4xx_hal_cortex.c</FileName>
+ <FileType>1</FileType>
+ <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c</FilePath>
+ </File>
+ <File>
+ <FileName>stm32f4xx_hal.c</FileName>
+ <FileType>1</FileType>
+ <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c</FilePath>
+ </File>
+ <File>
+ <FileName>stm32f4xx_hal_exti.c</FileName>
+ <FileType>1</FileType>
+ <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c</FilePath>
+ </File>
+ <File>
+ <FileName>stm32f4xx_hal_can.c</FileName>
+ <FileType>1</FileType>
+ <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c</FilePath>
+ </File>
+ <File>
+ <FileName>stm32f4xx_hal_spi.c</FileName>
+ <FileType>1</FileType>
+ <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c</FilePath>
+ </File>
+ <File>
+ <FileName>stm32f4xx_hal_tim.c</FileName>
+ <FileType>1</FileType>
+ <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c</FilePath>
+ </File>
+ <File>
+ <FileName>stm32f4xx_hal_tim_ex.c</FileName>
+ <FileType>1</FileType>
+ <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c</FilePath>
+ </File>
+ <File>
+ <FileName>stm32f4xx_hal_uart.c</FileName>
+ <FileType>1</FileType>
+ <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c</FilePath>
+ </File>
+ </Files>
+ </Group>
<Group>
<GroupName>::CMSIS</GroupName>
</Group>
diff --git a/Standard_robot/MDK-ARM/Standard_robot/Standard_robot.hex b/Standard_robot/MDK-ARM/Standard_robot/Standard_robot.hex
index 3571b7f..6b6a86f 100644
--- a/Standard_robot/MDK-ARM/Standard_robot/Standard_robot.hex
+++ b/Standard_robot/MDK-ARM/Standard_robot/Standard_robot.hex
@@ -1,18 +1,18 @@
:020000040800F2
-:1000000050090020C1010008471E0008891C000893
-:10001000451E0008710800083D220008000000008D
-:10002000000000000000000000000000391F000870
-:10003000FD08000800000000491E00083B1F0008E2
+:10000000880B0020C10100083F2A0008A92600082B
+:100010003D2A000871080008813000080000000037
+:10002000000000000000000000000000312B00086C
+:100030001509000800000000412A0008332B0008C1
:10004000DB010008DB010008DB010008DB01000820
:10005000DB010008DB010008DB010008DB01000810
:10006000DB010008DB010008DB010008DB01000800
:10007000DB010008DB010008DB010008DB010008F0
-:10008000DB010008DB010008DB010008DB010008E0
-:10009000DB010008DB010008DB010008DB010008D0
+:10008000DB010008DB010008DB0100088108000833
+:1000900075080008DB010008DB010008DB0100082F
:1000A000DB010008DB010008DB010008DB010008C0
:1000B000DB010008DB010008DB010008DB010008B0
:1000C000DB010008DB010008DB010008DB010008A0
-:1000D000DB01000831220008DB010008DB01000819
+:1000D000DB01000875300008DB010008DB010008C7
:1000E000DB010008DB010008DB010008DB01000880
:1000F000DB010008DB010008DB010008DB01000870
:10010000DB010008DB010008DB010008DB0100085F
@@ -20,15 +20,15 @@
:10012000DB010008DB010008DB010008DB0100083F
:10013000DB010008DB010008DB010008DB0100082F
:10014000DB010008DB010008DB010008DB0100081F
-:10015000DB010008DB01000875080008DB0100086E
+:10015000DB010008DB0100088D080008DB01000856
:10016000DB010008DB010008DB010008DB010008FF
:10017000DB010008DB010008DB01000800000000D3
:10018000DB010008DB010008DB010008DB010008DF
:10019000DB010008DB010008DB010008DB010008CF
:1001A0000000000000000000DB010008DFF80CD0B8
-:1001B00000F048FA00480047612B00085009002071
+:1001B00000F048FA00480047093A0008880B002080
:1001C0000648804706480047FEE7FEE7FEE7FEE7F1
-:1001D000FEE7FEE7FEE7FEE7FEE7FEE7C51F0008D5
+:1001D000FEE7FEE7FEE7FEE7FEE7FEE7BD2B0008D1
:1001E000AD0100082DE9F05F0546002092469B46D0
:1001F00088460646814640241BE02846414647463D
:10020000224600F057F853465A46C01A914110D37F
@@ -101,7 +101,7 @@
:100630001C464FF00043524263EB0403994208BF4B
:10064000904230BD064C074D06E0E06840F00103E3
:1006500094E8070098471034AC42F6D3FFF7AAFDA0
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+:10066000784A0008984A0008202A06DBCB17203A6F
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:10068000C2F12002914008431946704710B5141E6C
:1006900073F1000408DA401C41F1000192185B413B
@@ -134,787 +134,1066 @@
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diff --git a/Standard_robot/Src/can.c b/Standard_robot/Src/can.c
new file mode 100644
index 0000000..dc0dc5c
--- /dev/null
+++ b/Standard_robot/Src/can.c
@@ -0,0 +1,117 @@
+/**
+ ******************************************************************************
+ * File Name : CAN.c
+ * Description : This file provides code for the configuration
+ * of the CAN 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 "can.h"
+
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+
+CAN_HandleTypeDef hcan1;
+
+/* CAN1 init function */
+void MX_CAN1_Init(void)
+{
+
+ hcan1.Instance = CAN1;
+ hcan1.Init.Prescaler = 3;
+ hcan1.Init.Mode = CAN_MODE_NORMAL;
+ hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
+ hcan1.Init.TimeSeg1 = CAN_BS1_9TQ;
+ hcan1.Init.TimeSeg2 = CAN_BS2_4TQ;
+ hcan1.Init.TimeTriggeredMode = DISABLE;
+ hcan1.Init.AutoBusOff = ENABLE;
+ hcan1.Init.AutoWakeUp = DISABLE;
+ hcan1.Init.AutoRetransmission = DISABLE;
+ hcan1.Init.ReceiveFifoLocked = DISABLE;
+ hcan1.Init.TransmitFifoPriority = DISABLE;
+ if (HAL_CAN_Init(&hcan1) != HAL_OK)
+ {
+ Error_Handler();
+ }
+
+}
+
+void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
+{
+
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
+ if(canHandle->Instance==CAN1)
+ {
+ /* USER CODE BEGIN CAN1_MspInit 0 */
+
+ /* USER CODE END CAN1_MspInit 0 */
+ /* CAN1 clock enable */
+ __HAL_RCC_CAN1_CLK_ENABLE();
+
+ __HAL_RCC_GPIOD_CLK_ENABLE();
+ /**CAN1 GPIO Configuration
+ PD0 ------> CAN1_RX
+ PD1 ------> CAN1_TX
+ */
+ GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
+ GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+ GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
+ HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
+
+ /* CAN1 interrupt Init */
+ HAL_NVIC_SetPriority(CAN1_TX_IRQn, 0, 0);
+ HAL_NVIC_EnableIRQ(CAN1_TX_IRQn);
+ HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 0, 0);
+ HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
+ /* USER CODE BEGIN CAN1_MspInit 1 */
+
+ /* USER CODE END CAN1_MspInit 1 */
+ }
+}
+
+void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
+{
+
+ if(canHandle->Instance==CAN1)
+ {
+ /* USER CODE BEGIN CAN1_MspDeInit 0 */
+
+ /* USER CODE END CAN1_MspDeInit 0 */
+ /* Peripheral clock disable */
+ __HAL_RCC_CAN1_CLK_DISABLE();
+
+ /**CAN1 GPIO Configuration
+ PD0 ------> CAN1_RX
+ PD1 ------> CAN1_TX
+ */
+ HAL_GPIO_DeInit(GPIOD, GPIO_PIN_0|GPIO_PIN_1);
+
+ /* CAN1 interrupt Deinit */
+ HAL_NVIC_DisableIRQ(CAN1_TX_IRQn);
+ HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
+ /* USER CODE BEGIN CAN1_MspDeInit 1 */
+
+ /* USER CODE END CAN1_MspDeInit 1 */
+ }
+}
+
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/Standard_robot/Src/gpio.c b/Standard_robot/Src/gpio.c
index 69a65cb..c661604 100644
--- a/Standard_robot/Src/gpio.c
+++ b/Standard_robot/Src/gpio.c
@@ -45,15 +45,27 @@ void MX_GPIO_Init(void)
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
+ __HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOG_CLK_ENABLE();
+ __HAL_RCC_GPIOE_CLK_ENABLE();
+ __HAL_RCC_GPIOF_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, OLED_DC_Pin|OLED_RST_Pin, GPIO_PIN_RESET);
+ /*Configure GPIO pin Output Level */
+ HAL_GPIO_WritePin(GPIOH, POWER1_CTRL_Pin|POWER2_CTRL_Pin|POWER4_CTRL_Pin, GPIO_PIN_RESET);
+
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LED_A_GPIO_Port, LED_A_Pin, GPIO_PIN_RESET);
+ /*Configure GPIO pin Output Level */
+ HAL_GPIO_WritePin(LED_RED_GPIO_Port, LED_RED_Pin, GPIO_PIN_RESET);
+
+ /*Configure GPIO pin Output Level */
+ HAL_GPIO_WritePin(LED_GREEN_GPIO_Port, LED_GREEN_Pin, GPIO_PIN_RESET);
+
/*Configure GPIO pins : PBPin PBPin */
GPIO_InitStruct.Pin = OLED_DC_Pin|OLED_RST_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
@@ -61,6 +73,19 @@ void MX_GPIO_Init(void)
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+ /*Configure GPIO pins : PHPin PHPin PHPin */
+ GPIO_InitStruct.Pin = POWER1_CTRL_Pin|POWER2_CTRL_Pin|POWER4_CTRL_Pin;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+ HAL_GPIO_Init(GPIOH, &GPIO_InitStruct);
+
+ /*Configure GPIO pin : PtPin */
+ GPIO_InitStruct.Pin = POWER3_CTRL_Pin;
+ GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ HAL_GPIO_Init(POWER3_CTRL_GPIO_Port, &GPIO_InitStruct);
+
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = LED_A_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
@@ -68,6 +93,26 @@ void MX_GPIO_Init(void)
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LED_A_GPIO_Port, &GPIO_InitStruct);
+ /*Configure GPIO pin : PtPin */
+ GPIO_InitStruct.Pin = KEY_Pin;
+ GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ HAL_GPIO_Init(KEY_GPIO_Port, &GPIO_InitStruct);
+
+ /*Configure GPIO pin : PtPin */
+ GPIO_InitStruct.Pin = LED_RED_Pin;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+ HAL_GPIO_Init(LED_RED_GPIO_Port, &GPIO_InitStruct);
+
+ /*Configure GPIO pin : PtPin */
+ GPIO_InitStruct.Pin = LED_GREEN_Pin;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+ HAL_GPIO_Init(LED_GREEN_GPIO_Port, &GPIO_InitStruct);
+
}
/* USER CODE BEGIN 2 */
diff --git a/Standard_robot/Src/main.c b/Standard_robot/Src/main.c
index 6142dca..30a8159 100644
--- a/Standard_robot/Src/main.c
+++ b/Standard_robot/Src/main.c
@@ -21,8 +21,10 @@
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "adc.h"
+#include "can.h"
#include "dma.h"
#include "spi.h"
+#include "tim.h"
#include "usart.h"
#include "gpio.h"
@@ -31,6 +33,11 @@
#include "bsp_oled.h"
#include "bsp_usart.h"
+#include "bsp_key.h"
+#include "bsp_led.h"
+#include "bsp_can.h"
+
+#include "pid.h"
#include "oled.h"
#include "string.h"
@@ -54,7 +61,10 @@
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
-
+extern moto_info_t motor_info[MOTOR_MAX_NUM];
+int16_t led_cnt;
+pid_struct_t motor_pid[7];
+float target_speed;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
@@ -101,34 +111,90 @@ int main(void)
MX_USART1_UART_Init();
MX_ADC1_Init();
MX_SPI1_Init();
+ MX_CAN1_Init();
+ MX_TIM1_Init();
/* USER CODE BEGIN 2 */
- usart1_tx_dma_init();
+ HAL_GPIO_WritePin(GPIOH, POWER1_CTRL_Pin|POWER2_CTRL_Pin|POWER3_CTRL_Pin|POWER4_CTRL_Pin, GPIO_PIN_SET); // switch on 24v power
+ //Init OLED
oled_init();
oled_clear(Pen_Clear);
oled_LOGO();
oled_refresh_gram();
HAL_GPIO_WritePin(LED_A_GPIO_Port, LED_A_Pin, GPIO_PIN_RESET);
-
HAL_Delay(500);
oled_clear(Pen_Clear);
oled_refresh_gram();
+
+ can_user_init(&hcan1); // config can filter, start can
+ for (uint8_t i = 0; i < 3; i++)
+ {
+ pid_init(&motor_pid[i], 2, 0.005, 2, 16000, 16000); //init pid parameter chassis, kp=2, ki=0.005, kd=2, output limit = 16000
+ }
+ for (uint8_t i = 4; i < 7; i++)
+ {
+ pid_init(&motor_pid[i], 40, 3, 0, 30000, 30000); //init pid parameter gimbal, kp=40, ki=3, kd=0, output limit = 30000
+ }
+
/* USER CODE END 2 */
+
+
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
-
- /* USER CODE BEGIN 3 */
+
+ /* USER CODE BEGIN 3 */
oled_print_button(1, 1);
- HAL_Delay(100);
+
+ /* led blink */
+ led_cnt ++;
+ if (led_cnt == 250)
+ {
+ led_cnt = 0;
+ LED_RED_TOGGLE(); //blink cycle 500ms
+ }
+
+ /* scan is key be pressd down to change target speed and pwm pulse */
+ if (key_scan())
+ {
+ target_speed += 60.0f; // target speed increase 60rpm
+ if (target_speed > 180) // if current speed = 180, press key to stop motor
+ {
+ target_speed = 0;
+ }
+ }
+
+ /* motor speed pid calc */
+ for (uint8_t i = 0; i < 3; i++)
+ {
+ motor_info[i].set_voltage = pid_calc(&motor_pid[i], target_speed*20, motor_info[i].rotor_speed);
+ }
+ for (uint8_t i = 4; i < 7; i++)
+ {
+ motor_info[i].set_voltage = pid_calc(&motor_pid[i], target_speed, motor_info[i].rotor_speed);
+ }
+ /* send motor control message through can bus*/
+ set_motor_voltage(0,
+ motor_info[0].set_voltage,
+ motor_info[1].set_voltage,
+ motor_info[2].set_voltage,
+ motor_info[3].set_voltage);
+
+ set_motor_voltage(1,
+ motor_info[4].set_voltage,
+ motor_info[5].set_voltage,
+ motor_info[6].set_voltage,
+ 0);
+
}
+ HAL_Delay(10);
/* USER CODE END 3 */
}
diff --git a/Standard_robot/Src/stm32f4xx_it.c b/Standard_robot/Src/stm32f4xx_it.c
index 25e8ef6..c808776 100644
--- a/Standard_robot/Src/stm32f4xx_it.c
+++ b/Standard_robot/Src/stm32f4xx_it.c
@@ -56,6 +56,7 @@
/* USER CODE END 0 */
/* External variables --------------------------------------------------------*/
+extern CAN_HandleTypeDef hcan1;
extern DMA_HandleTypeDef hdma_usart1_tx;
extern UART_HandleTypeDef huart1;
/* USER CODE BEGIN EV */
@@ -198,6 +199,34 @@ void SysTick_Handler(void)
/* please refer to the startup file (startup_stm32f4xx.s). */
/******************************************************************************/
+/**
+ * @brief This function handles CAN1 TX interrupts.
+ */
+void CAN1_TX_IRQHandler(void)
+{
+ /* USER CODE BEGIN CAN1_TX_IRQn 0 */
+
+ /* USER CODE END CAN1_TX_IRQn 0 */
+ HAL_CAN_IRQHandler(&hcan1);
+ /* USER CODE BEGIN CAN1_TX_IRQn 1 */
+
+ /* USER CODE END CAN1_TX_IRQn 1 */
+}
+
+/**
+ * @brief This function handles CAN1 RX0 interrupts.
+ */
+void CAN1_RX0_IRQHandler(void)
+{
+ /* USER CODE BEGIN CAN1_RX0_IRQn 0 */
+
+ /* USER CODE END CAN1_RX0_IRQn 0 */
+ HAL_CAN_IRQHandler(&hcan1);
+ /* USER CODE BEGIN CAN1_RX0_IRQn 1 */
+
+ /* USER CODE END CAN1_RX0_IRQn 1 */
+}
+
/**
* @brief This function handles USART1 global interrupt.
*/
diff --git a/Standard_robot/Src/tim.c b/Standard_robot/Src/tim.c
new file mode 100644
index 0000000..e3ea8b8
--- /dev/null
+++ b/Standard_robot/Src/tim.c
@@ -0,0 +1,165 @@
+/**
+ ******************************************************************************
+ * File Name : TIM.c
+ * Description : This file provides code for the configuration
+ * of the TIM 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 "tim.h"
+
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+
+TIM_HandleTypeDef htim1;
+
+/* TIM1 init function */
+void MX_TIM1_Init(void)
+{
+ TIM_MasterConfigTypeDef sMasterConfig = {0};
+ TIM_OC_InitTypeDef sConfigOC = {0};
+ TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
+
+ htim1.Instance = TIM1;
+ htim1.Init.Prescaler = 167;
+ htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
+ htim1.Init.Period = 20000;
+ htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+ htim1.Init.RepetitionCounter = 0;
+ htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+ if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+ sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+ if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ sConfigOC.OCMode = TIM_OCMODE_PWM1;
+ sConfigOC.Pulse = 1000;
+ sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+ sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
+ sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+ sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
+ sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
+ if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
+ sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
+ sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
+ sBreakDeadTimeConfig.DeadTime = 0;
+ sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
+ sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
+ sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
+ if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ HAL_TIM_MspPostInit(&htim1);
+
+}
+
+void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle)
+{
+
+ if(tim_pwmHandle->Instance==TIM1)
+ {
+ /* USER CODE BEGIN TIM1_MspInit 0 */
+
+ /* USER CODE END TIM1_MspInit 0 */
+ /* TIM1 clock enable */
+ __HAL_RCC_TIM1_CLK_ENABLE();
+ /* USER CODE BEGIN TIM1_MspInit 1 */
+
+ /* USER CODE END TIM1_MspInit 1 */
+ }
+}
+void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
+{
+
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
+ if(timHandle->Instance==TIM1)
+ {
+ /* USER CODE BEGIN TIM1_MspPostInit 0 */
+
+ /* USER CODE END TIM1_MspPostInit 0 */
+
+ __HAL_RCC_GPIOA_CLK_ENABLE();
+ __HAL_RCC_GPIOE_CLK_ENABLE();
+ /**TIM1 GPIO Configuration
+ PA9 ------> TIM1_CH2
+ PA8 ------> TIM1_CH1
+ PE13 ------> TIM1_CH3
+ PE14 ------> TIM1_CH4
+ */
+ GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_8;
+ GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+ GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
+ HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+ GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14;
+ GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+ GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
+ HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
+
+ /* USER CODE BEGIN TIM1_MspPostInit 1 */
+
+ /* USER CODE END TIM1_MspPostInit 1 */
+ }
+
+}
+
+void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle)
+{
+
+ if(tim_pwmHandle->Instance==TIM1)
+ {
+ /* USER CODE BEGIN TIM1_MspDeInit 0 */
+
+ /* USER CODE END TIM1_MspDeInit 0 */
+ /* Peripheral clock disable */
+ __HAL_RCC_TIM1_CLK_DISABLE();
+ /* USER CODE BEGIN TIM1_MspDeInit 1 */
+
+ /* USER CODE END TIM1_MspDeInit 1 */
+ }
+}
+
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/Standard_robot/Src/usart.c b/Standard_robot/Src/usart.c
index 8aafaf2..4d313ae 100644
--- a/Standard_robot/Src/usart.c
+++ b/Standard_robot/Src/usart.c
@@ -66,7 +66,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
*/
GPIO_InitStruct.Pin = GPIO_PIN_7|GPIO_PIN_6;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
- GPIO_InitStruct.Pull = GPIO_PULLUP;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
diff --git a/Standard_robot/Standard_robot.ioc b/Standard_robot/Standard_robot.ioc
index dbfc3f9..ed03171 100644
--- a/Standard_robot/Standard_robot.ioc
+++ b/Standard_robot/Standard_robot.ioc
@@ -6,6 +6,12 @@ ADC1.NbrOfConversionFlag=1
ADC1.Rank-0\#ChannelRegularConversion=1
ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
ADC1.master=1
+CAN1.ABOM=ENABLE
+CAN1.BS1=CAN_BS1_9TQ
+CAN1.BS2=CAN_BS2_4TQ
+CAN1.CalculateTimeQuantum=71.42857142857143
+CAN1.IPParameters=CalculateTimeQuantum,Prescaler,ABOM,BS1,BS2
+CAN1.Prescaler=3
Dma.Request0=USART1_TX
Dma.RequestsNb=1
Dma.USART1_TX.0.Direction=DMA_MEMORY_TO_PERIPH
@@ -19,41 +25,60 @@ Dma.USART1_TX.0.PeriphInc=DMA_PINC_DISABLE
Dma.USART1_TX.0.Priority=DMA_PRIORITY_LOW
Dma.USART1_TX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
File.Version=6
+GPIO.groupedBy=Group By Peripherals
KeepUserPlacement=false
Mcu.Family=STM32F4
Mcu.IP0=ADC1
-Mcu.IP1=DMA
-Mcu.IP2=NVIC
-Mcu.IP3=RCC
-Mcu.IP4=SPI1
-Mcu.IP5=SYS
-Mcu.IP6=USART1
-Mcu.IPNb=7
+Mcu.IP1=CAN1
+Mcu.IP2=DMA
+Mcu.IP3=NVIC
+Mcu.IP4=RCC
+Mcu.IP5=SPI1
+Mcu.IP6=SYS
+Mcu.IP7=TIM1
+Mcu.IP8=USART1
+Mcu.IPNb=9
Mcu.Name=STM32F427I(G-I)Hx
Mcu.Package=UFBGA176
Mcu.Pin0=PB4
Mcu.Pin1=PB3
-Mcu.Pin10=PA6
-Mcu.Pin11=PA7
-Mcu.Pin12=PB10
-Mcu.Pin13=VP_SYS_VS_Systick
+Mcu.Pin10=PH2
+Mcu.Pin11=PA8
+Mcu.Pin12=PH0/OSC_IN
+Mcu.Pin13=PH3
+Mcu.Pin14=PH1/OSC_OUT
+Mcu.Pin15=PH4
+Mcu.Pin16=PG8
+Mcu.Pin17=PH5
+Mcu.Pin18=PB2/BOOT1
+Mcu.Pin19=PE13
Mcu.Pin2=PA14
+Mcu.Pin20=PA6
+Mcu.Pin21=PE11
+Mcu.Pin22=PE14
+Mcu.Pin23=PA7
+Mcu.Pin24=PF14
+Mcu.Pin25=PB10
+Mcu.Pin26=VP_SYS_VS_Systick
Mcu.Pin3=PA13
Mcu.Pin4=PB9
Mcu.Pin5=PB7
Mcu.Pin6=PB6
-Mcu.Pin7=PH0/OSC_IN
-Mcu.Pin8=PH1/OSC_OUT
-Mcu.Pin9=PG8
-Mcu.PinsNb=14
+Mcu.Pin7=PD0
+Mcu.Pin8=PD1
+Mcu.Pin9=PA9
+Mcu.PinsNb=27
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32F427IIHx
-MxCube.Version=5.3.0
-MxDb.Version=DB.5.0.30
+MxCube.Version=5.5.0
+MxDb.Version=DB.5.0.50
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.CAN1_RX0_IRQn=true\:0\:0\:false\:false\:true\:true\:true
+NVIC.CAN1_TX_IRQn=true\:0\:0\:false\:false\:true\:true\:true
NVIC.DMA2_Stream7_IRQn=true\:0\:0\:false\:false\:true\:false\:true
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.ForceEnableDMAVector=true
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false
NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false
@@ -71,10 +96,16 @@ PA6.Signal=ADCx_IN6
PA7.Locked=true
PA7.Mode=Full_Duplex_Master
PA7.Signal=SPI1_MOSI
+PA8.Signal=S_TIM1_CH1
+PA9.Signal=S_TIM1_CH2
PB10.GPIOParameters=GPIO_Label
PB10.GPIO_Label=OLED_RST
PB10.Locked=true
PB10.Signal=GPIO_Output
+PB2/BOOT1.GPIOParameters=GPIO_Label
+PB2/BOOT1.GPIO_Label=KEY
+PB2/BOOT1.Locked=true
+PB2/BOOT1.Signal=GPIO_Input
PB3.Mode=Full_Duplex_Master
PB3.Signal=SPI1_SCK
PB4.Mode=Full_Duplex_Master
@@ -95,6 +126,24 @@ PCC.Seq0=0
PCC.Series=STM32F4
PCC.Temperature=25
PCC.Vdd=3.3
+PD0.Locked=true
+PD0.Mode=Master
+PD0.Signal=CAN1_RX
+PD1.Locked=true
+PD1.Mode=Master
+PD1.Signal=CAN1_TX
+PE11.GPIOParameters=GPIO_Label
+PE11.GPIO_Label=LED_RED
+PE11.Locked=true
+PE11.Signal=GPIO_Output
+PE13.Locked=true
+PE13.Signal=S_TIM1_CH3
+PE14.Locked=true
+PE14.Signal=S_TIM1_CH4
+PF14.GPIOParameters=GPIO_Label
+PF14.GPIO_Label=LED_GREEN
+PF14.Locked=true
+PF14.Signal=GPIO_Output
PG8.GPIOParameters=GPIO_Label
PG8.GPIO_Label=LED_A
PG8.Locked=true
@@ -103,6 +152,22 @@ PH0/OSC_IN.Mode=HSE-External-Oscillator
PH0/OSC_IN.Signal=RCC_OSC_IN
PH1/OSC_OUT.Mode=HSE-External-Oscillator
PH1/OSC_OUT.Signal=RCC_OSC_OUT
+PH2.GPIOParameters=GPIO_Label
+PH2.GPIO_Label=POWER1_CTRL
+PH2.Locked=true
+PH2.Signal=GPIO_Output
+PH3.GPIOParameters=GPIO_Label
+PH3.GPIO_Label=POWER2_CTRL
+PH3.Locked=true
+PH3.Signal=GPIO_Output
+PH4.GPIOParameters=GPIO_Label
+PH4.GPIO_Label=POWER3_CTRL
+PH4.Locked=true
+PH4.Signal=GPIO_Input
+PH5.GPIOParameters=GPIO_Label
+PH5.GPIO_Label=POWER4_CTRL
+PH5.Locked=true
+PH5.Signal=GPIO_Output
PinOutPanel.CurrentBGAView=Top
PinOutPanel.RotationAngle=0
ProjectManager.AskForMigrate=true
@@ -131,7 +196,7 @@ ProjectManager.StackSize=0x400
ProjectManager.TargetToolchain=MDK-ARM V5
ProjectManager.ToolChainLocation=
ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_USART1_UART_Init-USART1-false-HAL-true,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_SPI1_Init-SPI1-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_USART1_UART_Init-USART1-false-HAL-true,5-MX_ADC1_Init-ADC1-false-HAL-true,6-MX_SPI1_Init-SPI1-false-HAL-true,7-MX_CAN1_Init-CAN1-false-HAL-true,8-MX_TIM1_Init-TIM1-false-HAL-true
RCC.48MHZClocksFreq_Value=84000000
RCC.AHBFreq_Value=168000000
RCC.APB1CLKDivider=RCC_HCLK_DIV4
@@ -172,12 +237,31 @@ RCC.VcooutputI2S=192000000
RCC.VcooutputI2SQ=192000000
SH.ADCx_IN6.0=ADC1_IN6,IN6
SH.ADCx_IN6.ConfNb=1
+SH.S_TIM1_CH1.0=TIM1_CH1,PWM Generation1 CH1
+SH.S_TIM1_CH1.ConfNb=1
+SH.S_TIM1_CH2.0=TIM1_CH2,PWM Generation2 CH2
+SH.S_TIM1_CH2.ConfNb=1
+SH.S_TIM1_CH3.0=TIM1_CH3,PWM Generation3 CH3
+SH.S_TIM1_CH3.ConfNb=1
+SH.S_TIM1_CH4.0=TIM1_CH4,PWM Generation4 CH4
+SH.S_TIM1_CH4.ConfNb=1
SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_64
SPI1.CalculateBaudRate=1.3125 MBits/s
SPI1.Direction=SPI_DIRECTION_2LINES
SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler
SPI1.Mode=SPI_MODE_MASTER
SPI1.VirtualType=VM_MASTER
+TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+TIM1.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
+TIM1.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
+TIM1.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
+TIM1.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4,Prescaler,Period,Pulse-PWM Generation1 CH1,Pulse-PWM Generation2 CH2,Pulse-PWM Generation3 CH3,Pulse-PWM Generation4 CH4
+TIM1.Period=20000
+TIM1.Prescaler=167
+TIM1.Pulse-PWM\ Generation1\ CH1=1000
+TIM1.Pulse-PWM\ Generation2\ CH2=1000
+TIM1.Pulse-PWM\ Generation3\ CH3=1000
+TIM1.Pulse-PWM\ Generation4\ CH4=1000
USART1.IPParameters=VirtualMode
USART1.VirtualMode=VM_ASYNC
VP_SYS_VS_Systick.Mode=SysTick
--
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