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working version 1

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This commit is contained in:
Johannes Paehr
2026-01-02 20:44:24 +01:00
parent 9559c516d1
commit 6b55dea700
23 changed files with 1407 additions and 1018 deletions
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24
.clang-format Normal file
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---
# We'll use defaults from the LLVM style, but with 4 columns indentation.
BasedOnStyle: LLVM
IndentWidth: 4
---
Language: Cpp
# Force pointers to the type for C++.
DerivePointerAlignment: false
PointerAlignment: Middle
AlignTrailingComments: true
BreakBeforeBraces: Custom
BraceWrapping:
BeforeElse: true
AllowShortBlocksOnASingleLine: false
AllowShortFunctionsOnASingleLine: InlineOnly
---
Language: JavaScript
# Use 100 columns for JS.
ColumnLimit: 100
---
Language: Proto
# Don't format .proto files.
DisableFormat: true
...

11
.clangd Normal file
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@@ -0,0 +1,11 @@
CompileFlags:
Add:
- '-ferror-limit=0'
- '-Wno-implicit-int'
CompilationDatabase: build/Debug
Diagnostics:
Suppress:
- unused-includes
- unknown_typename
- unknown_typename_suggest
- typename_requires_specqual

30
.mxproject Normal file
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File diff suppressed because one or more lines are too long

224
.settings/bundles-lock.store.json Normal file
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@@ -0,0 +1,224 @@
{
"resolved": [
{
"name": "cmake",
"version": "4.0.1+st.3",
"platform": "darwin",
"selected_by": [
{
"name": "cmake",
"version": "4.0.1+st.3"
}
]
},
{
"name": "cmake",
"version": "4.0.1+st.3",
"platform": "x86_64-linux",
"selected_by": [
{
"name": "cmake",
"version": "4.0.1+st.3"
}
]
},
{
"name": "cmake",
"version": "4.0.1+st.3",
"platform": "x86_64-windows",
"selected_by": [
{
"name": "cmake",
"version": "4.0.1+st.3"
}
]
},
{
"name": "gnu-tools-for-stm32",
"version": "14.3.1+st.2",
"platform": "aarch64-darwin",
"selected_by": [
{
"name": "gnu-tools-for-stm32",
"version": "14.3.1+st.2"
}
]
},
{
"name": "gnu-tools-for-stm32",
"version": "14.3.1+st.2",
"platform": "x86_64-darwin",
"selected_by": [
{
"name": "gnu-tools-for-stm32",
"version": "14.3.1+st.2"
}
]
},
{
"name": "gnu-tools-for-stm32",
"version": "14.3.1+st.2",
"platform": "x86_64-linux",
"selected_by": [
{
"name": "gnu-tools-for-stm32",
"version": "14.3.1+st.2"
}
]
},
{
"name": "gnu-tools-for-stm32",
"version": "14.3.1+st.2",
"platform": "x86_64-windows",
"selected_by": [
{
"name": "gnu-tools-for-stm32",
"version": "14.3.1+st.2"
}
]
},
{
"name": "gnu-tools-for-stm32-14_3_1-description",
"version": "1.0.1+st.1",
"platform": "all",
"selected_by": [
{
"name": "gnu-tools-for-stm32-14_3_1-description",
"version": ">=0.0.1"
}
]
},
{
"name": "ninja",
"version": "1.13.1+st.1",
"platform": "darwin",
"selected_by": [
{
"name": "ninja",
"version": "1.13.1+st.1"
}
]
},
{
"name": "ninja",
"version": "1.13.1+st.1",
"platform": "x86_64-linux",
"selected_by": [
{
"name": "ninja",
"version": "1.13.1+st.1"
}
]
},
{
"name": "ninja",
"version": "1.13.1+st.1",
"platform": "x86_64-windows",
"selected_by": [
{
"name": "ninja",
"version": "1.13.1+st.1"
}
]
},
{
"name": "programmer",
"version": "2.21.0",
"platform": "darwin",
"selected_by": [
{
"name": "programmer",
"version": "2.21.0"
}
]
},
{
"name": "programmer",
"version": "2.21.0",
"platform": "x86_64-linux",
"selected_by": [
{
"name": "programmer",
"version": "2.21.0"
}
]
},
{
"name": "programmer",
"version": "2.21.0",
"platform": "x86_64-windows",
"selected_by": [
{
"name": "programmer",
"version": "2.21.0"
}
]
},
{
"name": "st-arm-clangd",
"version": "19.1.2+st.3",
"platform": "darwin",
"selected_by": [
{
"name": "st-arm-clangd",
"version": "19.1.2+st.3"
}
]
},
{
"name": "st-arm-clangd",
"version": "19.1.2+st.3",
"platform": "x86_64-linux",
"selected_by": [
{
"name": "st-arm-clangd",
"version": "19.1.2+st.3"
}
]
},
{
"name": "st-arm-clangd",
"version": "19.1.2+st.3",
"platform": "x86_64-windows",
"selected_by": [
{
"name": "st-arm-clangd",
"version": "19.1.2+st.3"
}
]
},
{
"name": "stlink-gdbserver",
"version": "7.12.0+st.2",
"platform": "darwin",
"selected_by": [
{
"name": "stlink-gdbserver",
"version": "7.12.0+st.2"
}
]
},
{
"name": "stlink-gdbserver",
"version": "7.12.0+st.2",
"platform": "x86_64-linux",
"selected_by": [
{
"name": "stlink-gdbserver",
"version": "7.12.0+st.2"
}
]
},
{
"name": "stlink-gdbserver",
"version": "7.12.0+st.2",
"platform": "x86_64-windows",
"selected_by": [
{
"name": "stlink-gdbserver",
"version": "7.12.0+st.2"
}
]
}
]
}

28
.settings/bundles.store.json Normal file
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@@ -0,0 +1,28 @@
{
"bundles": [
{
"name": "cmake",
"version": "4.0.1+st.3"
},
{
"name": "ninja",
"version": "1.13.1+st.1"
},
{
"name": "gnu-tools-for-stm32",
"version": "14.3.1+st.2"
},
{
"name": "st-arm-clangd",
"version": "19.1.2+st.3"
},
{
"name": "programmer",
"version": "2.21.0"
},
{
"name": "stlink-gdbserver",
"version": "7.12.0+st.2"
}
]
}

6
.settings/ide.store.json Normal file
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@@ -0,0 +1,6 @@
{
"device": "STM32G030F6P6",
"core": "Cortex-M0+",
"order": 0,
"toolchain": "GCC"
}

10
.vscode/c_cpp_properties.json vendored
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@@ -1,16 +1,8 @@
{
"version": 4,
"configurations": [
{
/**
* ms-vscode.cmake-tools plugin should be installed.
*
* It provides data for C/C++ plugin,
* such as include paths, browse paths, defines, etc.
*/
"name": "STM32",
"configurationProvider": "ms-vscode.cmake-tools",
"intelliSenseMode": "${default}"
"compileCommands": "${workspaceFolder}/build/Debug/compile_commands.json"
}
]
}

61
.vscode/launch.json vendored
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@@ -1,61 +0,0 @@
{
// Use IntelliSense to learn about possible attributes.
// Hover to view descriptions of existing attributes.
// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
"version": "0.2.0",
"configurations": [
{
"name": "Build & Debug Microcontroller - ST-Link",
"cwd": "${workspaceFolder}",
"type": "cortex-debug",
"executable": "${command:cmake.launchTargetPath}",
// Let CMake extension decide executable: "${command:cmake.launchTargetPath}"
// Or fixed file path: "${workspaceFolder}/path/to/filename.elf"
"request": "launch",
"servertype": "stlink",
"device": "STM32G030F6Px", //MCU used
"interface": "swd",
"serialNumber": "", //Set ST-Link ID if you use multiple at the same time
"runToEntryPoint": "main",
"svdFile": "${config:STM32VSCodeExtension.cubeCLT.path}/STMicroelectronics_CMSIS_SVD/STM32G030.svd",
"v1": false, //Change it depending on ST Link version
"serverpath": "${config:STM32VSCodeExtension.cubeCLT.path}/STLink-gdb-server/bin/ST-LINK_gdbserver",
"stm32cubeprogrammer":"${config:STM32VSCodeExtension.cubeCLT.path}/STM32CubeProgrammer/bin",
"stlinkPath": "${config:STM32VSCodeExtension.cubeCLT.path}/STLink-gdb-server/bin/ST-LINK_gdbserver",
"armToolchainPath": "${config:STM32VSCodeExtension.cubeCLT.path}/GNU-tools-for-STM32/bin",
"gdbPath":"${config:STM32VSCodeExtension.cubeCLT.path}/GNU-tools-for-STM32/bin/arm-none-eabi-gdb",
"serverArgs": [
"-m","0",
],
//"preLaunchTask": "Build + Flash"
/* If you use external loader, add additional arguments */
//"serverArgs": ["--extload", "path/to/ext/loader.stldr"],
},
{
"name": "Attach to Microcontroller - ST-Link",
"cwd": "${workspaceFolder}",
"type": "cortex-debug",
"executable": "${command:cmake.launchTargetPath}",
// Let CMake extension decide executable: "${command:cmake.launchTargetPath}"
// Or fixed file path: "${workspaceFolder}/path/to/filename.elf"
"request": "attach",
"servertype": "stlink",
"device": "STM32G030F6Px", //MCU used
"interface": "swd",
"serialNumber": "", //Set ST-Link ID if you use multiple at the same time
"runToEntryPoint": "main",
"svdFile": "${config:STM32VSCodeExtension.cubeCLT.path}/STMicroelectronics_CMSIS_SVD/STM32G030.svd",
"v1": false, //Change it depending on ST Link version
"serverpath": "${config:STM32VSCodeExtension.cubeCLT.path}/STLink-gdb-server/bin/ST-LINK_gdbserver",
"stm32cubeprogrammer":"${config:STM32VSCodeExtension.cubeCLT.path}/STM32CubeProgrammer/bin",
"stlinkPath": "${config:STM32VSCodeExtension.cubeCLT.path}/STLink-gdb-server/bin/ST-LINK_gdbserver",
"armToolchainPath": "${config:STM32VSCodeExtension.cubeCLT.path}/GNU-tools-for-STM32/bin",
"gdbPath":"${config:STM32VSCodeExtension.cubeCLT.path}/GNU-tools-for-STM32/bin/arm-none-eabi-gdb",
"serverArgs": [
"-m","0",
],
/* If you use external loader, add additional arguments */
//"serverArgs": ["--extload", "path/to/ext/loader.stldr"],
}
]
}

15
.vscode/settings.json vendored Normal file
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@@ -0,0 +1,15 @@
{
"cmake.cmakePath": "cube-cmake",
"cmake.configureArgs": [
"-DCMAKE_COMMAND=cube-cmake"
],
"cmake.preferredGenerators": [
"Ninja"
],
"stm32cube-ide-clangd.path": "cube",
"stm32cube-ide-clangd.arguments": [
"starm-clangd",
"--query-driver=${env:CUBE_BUNDLE_PATH}/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-gcc",
"--query-driver=${env:CUBE_BUNDLE_PATH}/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-g++"
]
}

14
CMakeLists.txt
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@@ -15,14 +15,13 @@ set(CMAKE_C_EXTENSIONS ON)
# Define the build type
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE "Debug")
# set(CMAKE_BUILD_TYPE "Debug")
set(CMAKE_BUILD_TYPE "Release")
endif()
# Set the project name
set(CMAKE_PROJECT_NAME G0Test1)
# Include toolchain file
include("cmake/gcc-arm-none-eabi.cmake")
# Enable compile command to ease indexing with e.g. clangd
@@ -59,6 +58,15 @@ target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE
# Add user defined include paths
)
# get_target_property(APP_SOURCES ${CMAKE_PROJECT_NAME} SOURCES)
# list(REMOVE_ITEM APP_SOURCES
# ${CMAKE_CURRENT_SOURCE_DIR}/Core/Src/main.c
# )
# set_property(TARGET ${CMAKE_PROJECT_NAME} PROPERTY SOURCES "${APP_SOURCES}"
# ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/TLE5012.cpp
# )
# Add project symbols (macros)
target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
# Add user defined symbols

13
Core/Inc/TLE5012.hpp
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@@ -2,15 +2,18 @@
#define TLE5012
#include "stm32g030xx.h"
#include "stm32g0xx_hal.h"
#define RW 0x8000U
#define AVAL 0x0020U
#define SAFETY 0x0001U
#include <cstdint>
constexpr uint16_t RW = 0x8000U;
constexpr uint16_t AVAL = 0x0020U;
constexpr uint16_t SAFETY = 0x0001U;
class Tle5012 {
public:
Tle5012(GPIO_TypeDef *csPort, uint16_t csPin, SPI_HandleTypeDef *spiHandler);
double getAngel();
Tle5012(GPIO_TypeDef * csPort, uint16_t csPin,
SPI_HandleTypeDef * spiHandler);
uint16_t getAngel();
private:
GPIO_TypeDef * csPort;

6
Core/Inc/main.h
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@@ -49,6 +49,8 @@ extern "C" {
/* USER CODE END EM */
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
/* Exported functions prototypes ---------------------------------------------*/
void Error_Handler(void);
@@ -57,6 +59,10 @@ void Error_Handler(void);
/* USER CODE END EFP */
/* Private defines -----------------------------------------------------------*/
#define CS_Sensor_Pin GPIO_PIN_1
#define CS_Sensor_GPIO_Port GPIOA
#define BRAKE_Pin GPIO_PIN_2
#define BRAKE_GPIO_Port GPIOA
/* USER CODE BEGIN Private defines */

2
Core/Inc/stm32g0xx_hal_conf.h
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@@ -54,7 +54,7 @@ extern "C" {
/* #define HAL_SMARTCARD_MODULE_ENABLED */
/* #define HAL_SMBUS_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_WWDG_MODULE_ENABLED */

1
Core/Inc/stm32g0xx_it.h
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@@ -52,6 +52,7 @@ void SVC_Handler(void);
void PendSV_Handler(void);
void SysTick_Handler(void);
void DMA1_Channel1_IRQHandler(void);
void DMA1_Ch4_5_DMAMUX1_OVR_IRQHandler(void);
void SPI2_IRQHandler(void);
/* USER CODE BEGIN EFP */

34
Core/Src/TLE5012.cpp
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@@ -4,19 +4,16 @@
#include "stm32g0xx_hal_spi.h"
#include <stdint.h>
Tle5012::Tle5012(GPIO_TypeDef * csPort, uint16_t csPin, SPI_HandleTypeDef *spiHandler){
Tle5012::Tle5012(GPIO_TypeDef * csPort, uint16_t csPin,
SPI_HandleTypeDef * spiHandler) {
this->csPort = csPort;
this->csPin = csPin;
this->spiHandler = spiHandler;
}
double Tle5012::getAngel(){
uint16_t Tle5012::getAngel() {
// enable chip select
HAL_GPIO_WritePin(this->csPort, this->csPin, GPIO_PIN_RESET);
// uint16_t command = 0b1000000000100001;
uint16_t command = RW | AVAL | SAFETY;
@@ -30,7 +27,9 @@ double Tle5012::getAngel(){
HAL_SPI_Transmit(this->spiHandler, formatedCommand, 2, 100);
HAL_SPI_Receive(this->spiHandler, angle, 4, 0xFFFF);
// HAL_SPI_TransmitReceive(this->spiHandler, formatedCommand, angle, 6, 1);
// HAL_SPI_Receive(&hspi1, (uint8_t *)(&safety), 2, 0xFF);
HAL_GPIO_WritePin(this->csPort, this->csPin, GPIO_PIN_SET);
int16_t signedAngle = ((angle[0] << 8 | angle[1]) & 0x3FFF);
bool bitSet = 0;
@@ -42,14 +41,19 @@ double Tle5012::getAngel(){
bitSet = 0;
}
double angleDeg = 360.0 / 32768.0 * signedAngle;
// double angleDeg = 360.0 / 128.0 * ((angle[0] >> 8) & 0x7F);
// disable chip select
HAL_GPIO_WritePin(this->csPort, this->csPin, GPIO_PIN_SET);
return angleDeg;
// normalize range
uint16_t normalizedValue;
if (signedAngle < 0) {
normalizedValue = -signedAngle;
}
else {
normalizedValue = 16383 + (16383 - signedAngle);
}
// double angleDeg = 360.0 / 32768.0 * signedAngle;
// double angleDeg = 360.0 / 128.0 * ((angle[0] >> 8) & 0x7F);
// disable chip select
return normalizedValue;
}

370
Core/Src/main.c
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@@ -1,370 +0,0 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
SPI_HandleTypeDef hspi1;
SPI_HandleTypeDef hspi2;
DMA_HandleTypeDef hdma_spi2_tx;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_DMA_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_SPI1_Init(void);
static void MX_SPI2_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_USART1_UART_Init();
MX_SPI1_Init();
MX_SPI2_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Configure the main internal regulator output voltage
*/
HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1);
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSIDiv = RCC_HSI_DIV1;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV1;
RCC_OscInitStruct.PLL.PLLN = 10;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV4;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV2;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
{
Error_Handler();
}
}
/**
* @brief SPI1 Initialization Function
* @param None
* @retval None
*/
static void MX_SPI1_Init(void)
{
/* USER CODE BEGIN SPI1_Init 0 */
/* USER CODE END SPI1_Init 0 */
/* USER CODE BEGIN SPI1_Init 1 */
/* USER CODE END SPI1_Init 1 */
/* SPI1 parameter configuration*/
hspi1.Instance = SPI1;
hspi1.Init.Mode = SPI_MODE_MASTER;
hspi1.Init.Direction = SPI_DIRECTION_2LINES;
hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
hspi1.Init.CLKPhase = SPI_PHASE_2EDGE;
hspi1.Init.NSS = SPI_NSS_SOFT;
hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_64;
hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
hspi1.Init.CRCPolynomial = 7;
hspi1.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE;
hspi1.Init.NSSPMode = SPI_NSS_PULSE_DISABLE;
if (HAL_SPI_Init(&hspi1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN SPI1_Init 2 */
/* USER CODE END SPI1_Init 2 */
}
/**
* @brief SPI2 Initialization Function
* @param None
* @retval None
*/
static void MX_SPI2_Init(void)
{
/* USER CODE BEGIN SPI2_Init 0 */
/* USER CODE END SPI2_Init 0 */
/* USER CODE BEGIN SPI2_Init 1 */
/* USER CODE END SPI2_Init 1 */
/* SPI2 parameter configuration*/
hspi2.Instance = SPI2;
hspi2.Init.Mode = SPI_MODE_MASTER;
hspi2.Init.Direction = SPI_DIRECTION_2LINES;
hspi2.Init.DataSize = SPI_DATASIZE_8BIT;
hspi2.Init.CLKPolarity = SPI_POLARITY_LOW;
hspi2.Init.CLKPhase = SPI_PHASE_1EDGE;
hspi2.Init.NSS = SPI_NSS_SOFT;
hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8;
hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB;
hspi2.Init.TIMode = SPI_TIMODE_DISABLE;
hspi2.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
hspi2.Init.CRCPolynomial = 7;
hspi2.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE;
hspi2.Init.NSSPMode = SPI_NSS_PULSE_ENABLE;
if (HAL_SPI_Init(&hspi2) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN SPI2_Init 2 */
/* USER CODE END SPI2_Init 2 */
}
/**
* @brief USART1 Initialization Function
* @param None
* @retval None
*/
static void MX_USART1_UART_Init(void)
{
/* USER CODE BEGIN USART1_Init 0 */
/* USER CODE END USART1_Init 0 */
/* USER CODE BEGIN USART1_Init 1 */
/* USER CODE END USART1_Init 1 */
huart1.Instance = USART1;
huart1.Init.BaudRate = 9600;
huart1.Init.WordLength = UART_WORDLENGTH_8B;
huart1.Init.StopBits = UART_STOPBITS_1;
huart1.Init.Parity = UART_PARITY_NONE;
huart1.Init.Mode = UART_MODE_TX_RX;
huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart1.Init.OverSampling = UART_OVERSAMPLING_16;
huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
huart1.Init.ClockPrescaler = UART_PRESCALER_DIV1;
huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetTxFifoThreshold(&huart1, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetRxFifoThreshold(&huart1, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_DisableFifoMode(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
/* USER CODE END USART1_Init 2 */
}
/**
* Enable DMA controller clock
*/
static void MX_DMA_Init(void)
{
/* DMA controller clock enable */
__HAL_RCC_DMA1_CLK_ENABLE();
/* DMA interrupt init */
/* DMA1_Channel1_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_7, GPIO_PIN_RESET);
/*Configure GPIO pin : PA7 */
GPIO_InitStruct.Pin = GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
while (1)
{
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

365
Core/Src/main.cpp
View File

@@ -18,29 +18,19 @@
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32g030xx.h"
#include "stm32g0xx_hal.h"
#include "stm32g0xx_hal_gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "TLE5012.hpp"
#include "stm32g030xx.h"
#include "stm32g0xx_hal.h"
#include "stm32g0xx_hal_gpio.h"
#include "stm32g0xx_hal_tim.h"
#include "stm32g0xx_hal_uart.h"
#include <cstdint>
#include <stdint.h>
#define NUM_LED 10
#define READ_BLOCK_CRC 0x8088
// TLE5012 sensor
#define READ_SENSOR 0x8000 // READ
#define REG_AVAL (0x0020U)
#define UPD_low 0x0000
#define SAFE_low 0x0000 //!< \brief switch of safety word generation
#define SAFE_high 0x0001
#define WRITE_SENSOR 0x5000
constexpr uint8_t NUM_LED = 10;
uint8_t buffer[24 * NUM_LED];
@@ -49,7 +39,6 @@ struct color{
uint8_t green;
uint8_t blue;
};
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -72,6 +61,9 @@ SPI_HandleTypeDef hspi1;
SPI_HandleTypeDef hspi2;
DMA_HandleTypeDef hdma_spi2_tx;
TIM_HandleTypeDef htim1;
DMA_HandleTypeDef hdma_tim1_ch4;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
@@ -85,16 +77,15 @@ static void MX_DMA_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_SPI1_Init(void);
static void MX_SPI2_Init(void);
static void MX_TIM1_Init(void);
/* USER CODE BEGIN PFP */
void setLED(uint8_t led, uint8_t RED, uint8_t GREEN, uint8_t BLUE);
void ws2812_spi(struct color * led_data);
void angleToCharArray(double angle, char * charAngle);
uint16_t mapToRange(uint16_t minIn, uint16_t maxIn, uint16_t minOut,
uint16_t maxOut, uint16_t input);
// void getAngle(uint8_t * angle);
// void setOneSensor();
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
@@ -106,16 +97,17 @@ void angleToCharArray(double angle, char* charAngle);
* @brief The application entry point.
* @retval int
*/
int main(void)
{
int main(void) {
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* MCU
* Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
/* Reset of all peripherals, Initializes the Flash interface and the
* Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
@@ -134,149 +126,48 @@ int main(void)
MX_DMA_Init();
MX_USART1_UART_Init();
MX_SPI1_Init();
MX_SPI2_Init();
// MX_SPI2_Init();
MX_TIM1_Init();
/* USER CODE BEGIN 2 */
// HAL_DMA_Init(&hdma_spi2_tx);
// disable brake
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_2, GPIO_PIN_SET);
struct color led_data[NUM_LED];
for(uint8_t i = 0; i < NUM_LED; i++){
led_data[i].red = 10;
led_data[i].blue = 10;
led_data[i].green = 10;
}
ws2812_spi(led_data);
int i = 0;
uint8_t angle[6];
Tle5012 AngleSensor = Tle5012(GPIOA, GPIO_PIN_1, &hspi1);
Tle5012 AngleSensor = Tle5012(GPIOA, GPIO_PIN_7, &hspi1);
// setOneSensor();
uint16_t dutyCycle = 0;
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_4);
TIM1->CCR4 = 0;
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
while (1) {
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
// HAL_GPIO_TogglePin(GPIOA, GPIO_PIN_4);
// HAL_Delay(1000);
// HAL_UART_Transmit(&huart1, buffer, sizeof(buffer), 10000);
// setLED(0, 50, 1, 20);
uint16_t angleSensor = AngleSensor.getAngel();
// uint32_t retcode = HAL_SPI_Transmit_DMA(&hspi1, uint8_t *pData, uint16_t Size)
// build read command
dutyCycle = mapToRange(12600, 16100, 0, 1000, angleSensor);
// uint16_t READ_COMMAND =
// HAL_SPI_TransmitReceive_DMA(&hspi1, uint8_t *pTxData, uint8_t *pRxData, uint16_t Size)
// uint32_t retcode = HAL_SPI_Transmit_DMA(&hspi2, buffer, 24*NUM_LED);
// uint8_t maxBrightness = 50;
// uint8_t delay = 10;
// for(uint8_t i = 0; i < maxBrightness; i++){
// led_data[0].blue = i;
// led_data[0].red = 0;
// led_data[0].green = 0;
// ws2812_spi(led_data);
// HAL_Delay(delay);
// }
// ws2812_spi(led_data);
// for(uint8_t i = 0; i < maxBrightness; i++){
// led_data[0].blue = 0;
// led_data[0].red = i;
// led_data[0].green = 0;
// ws2812_spi(led_data);
// HAL_Delay(delay);
// }
// for(uint8_t i = 0; i < maxBrightness; i++){
// led_data[0].blue = 0;
// led_data[0].red = 0;
// led_data[0].green = i;
// ws2812_spi(led_data);
// HAL_Delay(delay);
// }
// for(uint8_t i = 0; i < maxBrightness; i++){
// led_data[1].blue = i;
// led_data[1].red = 0;
// led_data[1].green = 0;
// ws2812_spi(led_data);
// HAL_Delay(delay);
// }
// for(uint8_t i = 0; i < maxBrightness; i++){
// led_data[1].blue = 0;
// led_data[1].red = i;
// led_data[1].green = 0;
// ws2812_spi(led_data);
// HAL_Delay(delay);
// }
// for(uint8_t i = 0; i < maxBrightness; i++){
// led_data[1].blue = 0;
// led_data[1].red = 0;
// led_data[1].green = i;
// ws2812_spi(led_data);
// HAL_Delay(delay);
// }
// getAngle(angle);
// uint16_t command = READ_SENSOR | REG_AVAL | UPD_low | SAFE_low;
// HAL_GPIO_WritePin(GPIOA, GPIO_PIN_7, GPIO_PIN_SET);
// HAL_Delay(1);
// HAL_GPIO_WritePin(GPIOA, GPIO_PIN_7, GPIO_PIN_RESET);
// uint16_t command = 0b1000000000100001;
// // 1000000000100001
// uint8_t formatedCommand[6] = {0};
// formatedCommand[0] = (uint8_t)(command >> 8);
// formatedCommand[1] = (uint8_t)command;
// uint16_t angle[3] = {0};
// uint16_t safety;
// // HAL_SPI_TransmitReceive_DMA(&hspi1,formatedCommand, angle, 6);
// HAL_SPI_Transmit(&hspi1, formatedCommand, 2, 100);
// HAL_SPI_Receive(&hspi1, (uint8_t *)(angle), 4, 0xFFFF);
// // HAL_SPI_Receive(&hspi1, (uint8_t *)(&safety), 2, 0xFF);
// double angleDeg = 360.0 / 32768.0 * (angle[0] & 0x7FFF);
// HAL_GPIO_WritePin(GPIOA, GPIO_PIN_7, GPIO_PIN_SET);
// // HAL_SPI_Transmit(&hspi1,formatedCommand,2,1000);
// // HAL_SPI_Receive(&hspi1, angle, 2, 1000);
// HAL_Delay(10);
double angle = AngleSensor.getAngel();
if(angle < 0){
angle *= 1;
if (dutyCycle < 100) {
dutyCycle = 0;
// enable brake
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_2, GPIO_PIN_RESET);
}
for(uint8_t i = 0; i < NUM_LED; i++){
led_data[i].red = (uint8_t)angle;
led_data[i].blue = 180-(uint8_t)angle;
led_data[i].green = (uint8_t)angle*0;
else {
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_2, GPIO_PIN_SET);
}
ws2812_spi(led_data);
// char buf2[] = "Hallo Welt\n";
// HAL_UART_Transmit(&huart1, (uint8_t*)buf2, sizeof(buf2), 1000);
char charAngle[6] = {0};
charAngle[5] = '\n';
angleToCharArray(angle, charAngle);
HAL_UART_Transmit(&huart1, (uint8_t*)charAngle, sizeof(charAngle), 1000);
HAL_Delay(100);
if (dutyCycle > 950) {
dutyCycle = 1000;
}
TIM1->CCR4 = dutyCycle;
HAL_Delay(5);
}
/* USER CODE END 3 */
}
@@ -285,8 +176,7 @@ int main(void)
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
void SystemClock_Config(void) {
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
@@ -307,21 +197,19 @@ void SystemClock_Config(void)
RCC_OscInitStruct.PLL.PLLN = 10;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV4;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1;
RCC_ClkInitStruct.ClockType =
RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV2;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
{
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK) {
Error_Handler();
}
}
@@ -331,8 +219,7 @@ void SystemClock_Config(void)
* @param None
* @retval None
*/
static void MX_SPI1_Init(void)
{
static void MX_SPI1_Init(void) {
/* USER CODE BEGIN SPI1_Init 0 */
@@ -344,35 +231,31 @@ static void MX_SPI1_Init(void)
/* SPI1 parameter configuration*/
hspi1.Instance = SPI1;
hspi1.Init.Mode = SPI_MODE_MASTER;
hspi1.Init.Direction = SPI_DIRECTION_2LINES;
hspi1.Init.Direction = SPI_DIRECTION_1LINE;
hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
hspi1.Init.CLKPhase = SPI_PHASE_2EDGE;
hspi1.Init.NSS = SPI_NSS_SOFT;
hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_64;
hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_4;
hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
hspi1.Init.CRCPolynomial = 7;
hspi1.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE;
hspi1.Init.NSSPMode = SPI_NSS_PULSE_DISABLE;
if (HAL_SPI_Init(&hspi1) != HAL_OK)
{
if (HAL_SPI_Init(&hspi1) != HAL_OK) {
Error_Handler();
}
/* USER CODE BEGIN SPI1_Init 2 */
/* USER CODE END SPI1_Init 2 */
}
/**
* @brief SPI2 Initialization Function
* @param None
* @retval None
*/
static void MX_SPI2_Init(void)
{
static void MX_SPI2_Init(void) {
/* USER CODE BEGIN SPI2_Init 0 */
@@ -396,14 +279,88 @@ static void MX_SPI2_Init(void)
hspi2.Init.CRCPolynomial = 7;
hspi2.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE;
hspi2.Init.NSSPMode = SPI_NSS_PULSE_ENABLE;
if (HAL_SPI_Init(&hspi2) != HAL_OK)
{
if (HAL_SPI_Init(&hspi2) != HAL_OK) {
Error_Handler();
}
/* USER CODE BEGIN SPI2_Init 2 */
/* USER CODE END SPI2_Init 2 */
}
/**
* @brief TIM1 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM1_Init(void) {
/* USER CODE BEGIN TIM1_Init 0 */
/* USER CODE END TIM1_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
/* USER CODE BEGIN TIM1_Init 1 */
/* USER CODE END TIM1_Init 1 */
htim1.Instance = TIM1;
htim1.Init.Prescaler = 20 - 1;
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
htim1.Init.Period = 1000 - 1;
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim1.Init.RepetitionCounter = 0;
htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim1) != HAL_OK) {
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) {
Error_Handler();
}
if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) {
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) !=
HAL_OK) {
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_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_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.BreakFilter = 0;
sBreakDeadTimeConfig.BreakAFMode = TIM_BREAK_AFMODE_INPUT;
sBreakDeadTimeConfig.Break2State = TIM_BREAK2_DISABLE;
sBreakDeadTimeConfig.Break2Polarity = TIM_BREAK2POLARITY_HIGH;
sBreakDeadTimeConfig.Break2Filter = 0;
sBreakDeadTimeConfig.Break2AFMode = TIM_BREAK_AFMODE_INPUT;
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) !=
HAL_OK) {
Error_Handler();
}
/* USER CODE BEGIN TIM1_Init 2 */
/* USER CODE END TIM1_Init 2 */
HAL_TIM_MspPostInit(&htim1);
}
/**
@@ -411,8 +368,7 @@ static void MX_SPI2_Init(void)
* @param None
* @retval None
*/
static void MX_USART1_UART_Init(void)
{
static void MX_USART1_UART_Init(void) {
/* USER CODE BEGIN USART1_Init 0 */
@@ -432,33 +388,29 @@ static void MX_USART1_UART_Init(void)
huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
huart1.Init.ClockPrescaler = UART_PRESCALER_DIV1;
huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
if (HAL_UART_Init(&huart1) != HAL_OK) {
Error_Handler();
}
if (HAL_UARTEx_SetTxFifoThreshold(&huart1, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
{
if (HAL_UARTEx_SetTxFifoThreshold(&huart1, UART_TXFIFO_THRESHOLD_1_8) !=
HAL_OK) {
Error_Handler();
}
if (HAL_UARTEx_SetRxFifoThreshold(&huart1, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
{
if (HAL_UARTEx_SetRxFifoThreshold(&huart1, UART_RXFIFO_THRESHOLD_1_8) !=
HAL_OK) {
Error_Handler();
}
if (HAL_UARTEx_DisableFifoMode(&huart1) != HAL_OK)
{
if (HAL_UARTEx_DisableFifoMode(&huart1) != HAL_OK) {
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
/* USER CODE END USART1_Init 2 */
}
/**
* Enable DMA controller clock
*/
static void MX_DMA_Init(void)
{
static void MX_DMA_Init(void) {
/* DMA controller clock enable */
__HAL_RCC_DMA1_CLK_ENABLE();
@@ -467,7 +419,6 @@ static void MX_DMA_Init(void)
/* DMA1_Channel1_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
}
/**
@@ -475,10 +426,10 @@ static void MX_DMA_Init(void)
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
static void MX_GPIO_Init(void) {
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */
@@ -487,21 +438,35 @@ static void MX_GPIO_Init(void)
__HAL_RCC_GPIOA_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_7, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOA, CS_Sensor_Pin | BRAKE_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : PA7 */
GPIO_InitStruct.Pin = GPIO_PIN_7;
/*Configure GPIO pins : CS_Sensor_Pin BRAKE_Pin */
GPIO_InitStruct.Pin = CS_Sensor_Pin | BRAKE_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}
/* USER CODE BEGIN 4 */
uint16_t mapToRange(uint16_t minIn, uint16_t maxIn, uint16_t minOut,
uint16_t maxOut, uint16_t input) {
float m = (float)(maxOut - minOut) / (maxIn - minIn);
float b = minOut - m * minIn;
uint16_t valToRet = input * m + b;
if (valToRet > maxOut) {
return 0;
}
return uint16_t(input * m + b);
// minIn should be lower than maxIn
}
// void setLED(uint8_t led, uint8_t RED, uint8_t GREEN, uint8_t BLUE){
// LED_DATA[led][0] = led;
// LED_DATA[led][1] = GREEN;
@@ -509,7 +474,6 @@ static void MX_GPIO_Init(void)
// LED_DATA[led][3] = BLUE;
// }
// void setOneSensor(){
// uint8_t command[4] = {0};
@@ -524,7 +488,8 @@ static void MX_GPIO_Init(void)
void ws2812_spi(struct color * led_data) {
int index = 0;
for (uint8_t x = 0; x < NUM_LED; x++) {
uint32_t color = led_data[x].green << 16 | led_data[x].red << 8 | led_data[x].blue;
uint32_t color =
led_data[x].green << 16 | led_data[x].red << 8 | led_data[x].blue;
// index = 0;
for (int i = 23; i >= 0; i--) {
if (((color >> i) & 0x01) == 1) {
@@ -558,25 +523,21 @@ void angleToCharArray(double angle, char* charAngle){
angleInt /= 10;
charAngle[1] = angleInt % 10 + 48;
}
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
void Error_Handler(void) {
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
/* User can add his own implementation to report the HAL error return state
*/
__disable_irq();
while (1)
{
while (1) {
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
@@ -585,11 +546,11 @@ void Error_Handler(void)
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
void assert_failed(uint8_t * file, uint32_t line) {
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* User can add his own implementation to report the file name and line
number, ex: printf("Wrong parameters value: file %s on line %d\r\n",
file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

111
Core/Src/stm32g0xx_hal_msp.c
View File

@@ -25,6 +25,8 @@
/* USER CODE END Includes */
extern DMA_HandleTypeDef hdma_spi2_tx;
extern DMA_HandleTypeDef hdma_tim1_ch4;
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */
@@ -58,6 +60,8 @@ extern DMA_HandleTypeDef hdma_spi2_tx;
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
/**
* Initializes the Global MSP.
*/
@@ -97,11 +101,10 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* hspi)
__HAL_RCC_GPIOA_CLK_ENABLE();
/**SPI1 GPIO Configuration
PA1 ------> SPI1_SCK
PA2 ------> SPI1_MOSI
PA6 ------> SPI1_MISO
PA5 ------> SPI1_SCK
PA7 ------> SPI1_MOSI
*/
GPIO_InitStruct.Pin = GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_6;
GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
@@ -185,11 +188,10 @@ void HAL_SPI_MspDeInit(SPI_HandleTypeDef* hspi)
__HAL_RCC_SPI1_CLK_DISABLE();
/**SPI1 GPIO Configuration
PA1 ------> SPI1_SCK
PA2 ------> SPI1_MOSI
PA6 ------> SPI1_MISO
PA5 ------> SPI1_SCK
PA7 ------> SPI1_MOSI
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_6);
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_5|GPIO_PIN_7);
/* USER CODE BEGIN SPI1_MspDeInit 1 */
@@ -222,6 +224,99 @@ void HAL_SPI_MspDeInit(SPI_HandleTypeDef* hspi)
}
/**
* @brief TIM_Base MSP Initialization
* This function configures the hardware resources used in this example
* @param htim_base: TIM_Base handle pointer
* @retval None
*/
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
{
if(htim_base->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspInit 0 */
/* USER CODE END TIM1_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM1_CLK_ENABLE();
/* TIM1 DMA Init */
/* TIM1_CH4 Init */
hdma_tim1_ch4.Instance = DMA1_Channel4;
hdma_tim1_ch4.Init.Request = DMA_REQUEST_TIM1_CH4;
hdma_tim1_ch4.Init.Direction = DMA_MEMORY_TO_PERIPH;
hdma_tim1_ch4.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_tim1_ch4.Init.MemInc = DMA_MINC_ENABLE;
hdma_tim1_ch4.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
hdma_tim1_ch4.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
hdma_tim1_ch4.Init.Mode = DMA_NORMAL;
hdma_tim1_ch4.Init.Priority = DMA_PRIORITY_LOW;
if (HAL_DMA_Init(&hdma_tim1_ch4) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(htim_base,hdma[TIM_DMA_ID_CC4],hdma_tim1_ch4);
/* USER CODE BEGIN TIM1_MspInit 1 */
/* USER CODE END TIM1_MspInit 1 */
}
}
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(htim->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspPostInit 0 */
/* USER CODE END TIM1_MspPostInit 0 */
__HAL_RCC_GPIOA_CLK_ENABLE();
/**TIM1 GPIO Configuration
PA11 [PA9] ------> TIM1_CH4
*/
GPIO_InitStruct.Pin = GPIO_PIN_11;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN TIM1_MspPostInit 1 */
/* USER CODE END TIM1_MspPostInit 1 */
}
}
/**
* @brief TIM_Base MSP De-Initialization
* This function freeze the hardware resources used in this example
* @param htim_base: TIM_Base handle pointer
* @retval None
*/
void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
{
if(htim_base->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspDeInit 0 */
/* USER CODE END TIM1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM1_CLK_DISABLE();
/* TIM1 DMA DeInit */
HAL_DMA_DeInit(htim_base->hdma[TIM_DMA_ID_CC4]);
/* USER CODE BEGIN TIM1_MspDeInit 1 */
/* USER CODE END TIM1_MspDeInit 1 */
}
}
/**
* @brief UART MSP Initialization
* This function configures the hardware resources used in this example

15
Core/Src/stm32g0xx_it.c
View File

@@ -57,6 +57,7 @@
/* External variables --------------------------------------------------------*/
extern DMA_HandleTypeDef hdma_spi2_tx;
extern SPI_HandleTypeDef hspi2;
extern DMA_HandleTypeDef hdma_tim1_ch4;
/* USER CODE BEGIN EV */
/* USER CODE END EV */
@@ -155,6 +156,20 @@ void DMA1_Channel1_IRQHandler(void)
/* USER CODE END DMA1_Channel1_IRQn 1 */
}
/**
* @brief This function handles DMA1 channel 4, channel 5 and DMAMUX1 interrupts.
*/
void DMA1_Ch4_5_DMAMUX1_OVR_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Ch4_5_DMAMUX1_OVR_IRQn 0 */
/* USER CODE END DMA1_Ch4_5_DMAMUX1_OVR_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_tim1_ch4);
/* USER CODE BEGIN DMA1_Ch4_5_DMAMUX1_OVR_IRQn 1 */
/* USER CODE END DMA1_Ch4_5_DMAMUX1_OVR_IRQn 1 */
}
/**
* @brief This function handles SPI2 global interrupt.
*/

92
G0Test1.ioc
View File

@@ -3,7 +3,8 @@ CAD.formats=
CAD.pinconfig=
CAD.provider=
Dma.Request0=SPI2_TX
Dma.RequestsNb=1
Dma.Request1=TIM1_CH4
Dma.RequestsNb=2
Dma.SPI2_TX.0.Direction=DMA_MEMORY_TO_PERIPH
Dma.SPI2_TX.0.EventEnable=DISABLE
Dma.SPI2_TX.0.Instance=DMA1_Channel1
@@ -21,6 +22,23 @@ Dma.SPI2_TX.0.SyncEnable=DISABLE
Dma.SPI2_TX.0.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
Dma.SPI2_TX.0.SyncRequestNumber=1
Dma.SPI2_TX.0.SyncSignalID=NONE
Dma.TIM1_CH4.1.Direction=DMA_MEMORY_TO_PERIPH
Dma.TIM1_CH4.1.EventEnable=DISABLE
Dma.TIM1_CH4.1.Instance=DMA1_Channel4
Dma.TIM1_CH4.1.MemDataAlignment=DMA_MDATAALIGN_HALFWORD
Dma.TIM1_CH4.1.MemInc=DMA_MINC_ENABLE
Dma.TIM1_CH4.1.Mode=DMA_NORMAL
Dma.TIM1_CH4.1.PeriphDataAlignment=DMA_PDATAALIGN_HALFWORD
Dma.TIM1_CH4.1.PeriphInc=DMA_PINC_DISABLE
Dma.TIM1_CH4.1.Polarity=HAL_DMAMUX_REQ_GEN_RISING
Dma.TIM1_CH4.1.Priority=DMA_PRIORITY_LOW
Dma.TIM1_CH4.1.RequestNumber=1
Dma.TIM1_CH4.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
Dma.TIM1_CH4.1.SignalID=NONE
Dma.TIM1_CH4.1.SyncEnable=DISABLE
Dma.TIM1_CH4.1.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
Dma.TIM1_CH4.1.SyncRequestNumber=1
Dma.TIM1_CH4.1.SyncSignalID=NONE
File.Version=6
GPIO.groupedBy=Group By Peripherals
KeepUserPlacement=false
@@ -32,30 +50,34 @@ Mcu.IP2=RCC
Mcu.IP3=SPI1
Mcu.IP4=SPI2
Mcu.IP5=SYS
Mcu.IP6=USART1
Mcu.IPNb=7
Mcu.IP6=TIM1
Mcu.IP7=USART1
Mcu.IPNb=8
Mcu.Name=STM32G030F6Px
Mcu.Package=TSSOP20
Mcu.Pin0=PB7
Mcu.Pin1=PC14-OSC32_IN (PC14)
Mcu.Pin10=PA13
Mcu.Pin11=PA14-BOOT0
Mcu.Pin12=PB6
Mcu.Pin13=VP_SYS_VS_Systick
Mcu.Pin10=PA11 [PA9]
Mcu.Pin11=PA13
Mcu.Pin12=PA14-BOOT0
Mcu.Pin13=PB6
Mcu.Pin14=VP_SYS_VS_Systick
Mcu.Pin15=VP_TIM1_VS_ClockSourceINT
Mcu.Pin2=PC15-OSC32_OUT (PC15)
Mcu.Pin3=PA0
Mcu.Pin4=PA1
Mcu.Pin5=PA2
Mcu.Pin6=PA3
Mcu.Pin7=PA4
Mcu.Pin8=PA6
Mcu.Pin8=PA5
Mcu.Pin9=PA7
Mcu.PinsNb=14
Mcu.PinsNb=16
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32G030F6Px
MxCube.Version=6.13.0
MxDb.Version=DB.6.0.130
MxCube.Version=6.16.1
MxDb.Version=DB.6.0.161
NVIC.DMA1_Ch4_5_DMAMUX1_OVR_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
NVIC.DMA1_Channel1_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
NVIC.ForceEnableDMAVector=true
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
@@ -66,23 +88,30 @@ NVIC.SVC_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
NVIC.SysTick_IRQn=true\:3\:0\:false\:false\:true\:false\:true\:false
PA0.Mode=Full_Duplex_Master
PA0.Signal=SPI2_SCK
PA1.Mode=Full_Duplex_Master
PA1.Signal=SPI1_SCK
PA1.GPIOParameters=GPIO_Label
PA1.GPIO_Label=CS_Sensor
PA1.Locked=true
PA1.Signal=GPIO_Output
PA11\ [PA9].Signal=S_TIM1_CH4
PA13.Mode=Serial_Wire
PA13.Signal=SYS_SWDIO
PA14-BOOT0.Mode=Serial_Wire
PA14-BOOT0.Signal=SYS_SWCLK
PA14-BOOT0__PA15.StandardMode=true
PA2.Mode=Full_Duplex_Master
PA2.Signal=SPI1_MOSI
PA2.GPIOParameters=GPIO_Label
PA2.GPIO_Label=BRAKE
PA2.Locked=true
PA2.Signal=GPIO_Output
PA3.Mode=Full_Duplex_Master
PA3.Signal=SPI2_MISO
PA4.Mode=Full_Duplex_Master
PA4.Signal=SPI2_MOSI
PA6.Mode=Full_Duplex_Master
PA6.Signal=SPI1_MISO
PA5.Locked=true
PA5.Mode=Simplex_Bidirectional_Master
PA5.Signal=SPI1_SCK
PA7.Locked=true
PA7.Signal=GPIO_Output
PA7.Mode=Simplex_Bidirectional_Master
PA7.Signal=SPI1_MOSI
PB0__PB1__PB2__PA8.StandardMode=true
PB3__PB4__PB5__PB6.StandardMode=true
PB6.Mode=Asynchronous
@@ -95,9 +124,17 @@ PC14-OSC32_IN\ (PC14).Signal=RCC_OSC32_IN
PC14-OSC32_IN\ (PC14)__PB9.StandardMode=true
PC15-OSC32_OUT\ (PC15).Mode=LSE-External-Oscillator
PC15-OSC32_OUT\ (PC15).Signal=RCC_OSC32_OUT
PCC.Checker=false
PCC.Line=STM32G0x0 Value line
PCC.MCU=STM32G030F6Px
PCC.PartNumber=STM32G030F6Px
PCC.Series=STM32G0
PCC.Temperature=25
PCC.Vdd=3.0
PinOutPanel.RotationAngle=0
ProjectManager.AskForMigrate=true
ProjectManager.BackupPrevious=false
ProjectManager.CompilerLinker=GCC
ProjectManager.CompilerOptimize=6
ProjectManager.ComputerToolchain=false
ProjectManager.CoupleFile=false
@@ -107,6 +144,7 @@ ProjectManager.DeletePrevious=true
ProjectManager.DeviceId=STM32G030F6Px
ProjectManager.FirmwarePackage=STM32Cube FW_G0 V1.6.2
ProjectManager.FreePins=false
ProjectManager.FreePinsContext=
ProjectManager.HalAssertFull=false
ProjectManager.HeapSize=0x200
ProjectManager.KeepUserCode=true
@@ -126,7 +164,7 @@ ProjectManager.ToolChainLocation=
ProjectManager.UAScriptAfterPath=
ProjectManager.UAScriptBeforePath=
ProjectManager.UnderRoot=false
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_SPI1_Init-SPI1-false-HAL-true,6-MX_SPI2_Init-SPI2-false-HAL-true
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_SPI1_Init-SPI1-false-HAL-true,6-MX_SPI2_Init-SPI2-false-HAL-true,7-MX_TIM1_Init-TIM1-false-HAL-true
RCC.ADCFreq_Value=40000000
RCC.AHBCLKDivider=RCC_SYSCLK_DIV2
RCC.AHBFreq_Value=20000000
@@ -155,8 +193,13 @@ RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
RCC.USART1Freq_Value=20000000
RCC.VCOInputFreq_Value=16000000
RCC.VCOOutputFreq_Value=160000000
SPI1.Direction=SPI_DIRECTION_2LINES
SPI1.IPParameters=VirtualType,Mode,Direction
SH.S_TIM1_CH4.0=TIM1_CH4,PWM Generation4 CH4
SH.S_TIM1_CH4.ConfNb=1
SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_4
SPI1.CLKPhase=SPI_PHASE_2EDGE
SPI1.CalculateBaudRate=5.0 MBits/s
SPI1.Direction=SPI_DIRECTION_1LINE
SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,CLKPhase,BaudRatePrescaler
SPI1.Mode=SPI_MODE_MASTER
SPI1.VirtualType=VM_MASTER
SPI2.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_8
@@ -165,9 +208,16 @@ SPI2.Direction=SPI_DIRECTION_2LINES
SPI2.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler
SPI2.Mode=SPI_MODE_MASTER
SPI2.VirtualType=VM_MASTER
TIM1.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_DISABLE
TIM1.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
TIM1.IPParameters=Channel-PWM Generation4 CH4,AutoReloadPreload,Prescaler,Period
TIM1.Period=1000-1
TIM1.Prescaler=20-1
USART1.BaudRate=9600
USART1.IPParameters=VirtualMode-Asynchronous,BaudRate
USART1.VirtualMode-Asynchronous=VM_ASYNC
VP_SYS_VS_Systick.Mode=SysTick
VP_SYS_VS_Systick.Signal=SYS_VS_Systick
VP_TIM1_VS_ClockSourceINT.Mode=Internal
VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT
board=custom

249
STM32G030XX_FLASH.ld Normal file
View File

@@ -0,0 +1,249 @@
/*
******************************************************************************
**
** File : LinkerScript.ld
**
** Author : STM32CubeMX
**
** Abstract : Linker script for STM32G030F6Px series
** 32Kbytes FLASH and 8Kbytes RAM
**
** Set heap size, stack size and stack location according
** to application requirements.
**
** Set memory bank area and size if external memory is used.
**
** Target : STMicroelectronics STM32
**
** Distribution: The file is distributed “as is,” without any warranty
** of any kind.
**
*****************************************************************************
** @attention
**
** <h2><center>&copy; COPYRIGHT(c) 2025 STMicroelectronics</center></h2>
**
** Redistribution and use in source and binary forms, with or without modification,
** are permitted provided that the following conditions are met:
** 1. Redistributions of source code must retain the above copyright notice,
** this list of conditions and the following disclaimer.
** 2. Redistributions in binary form must reproduce the above copyright notice,
** this list of conditions and the following disclaimer in the documentation
** and/or other materials provided with the distribution.
** 3. Neither the name of STMicroelectronics nor the names of its contributors
** may be used to endorse or promote products derived from this software
** without specific prior written permission.
**
** THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
** AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
** IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
** DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
** FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
** DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
** SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
** CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
** OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
** OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
**
*****************************************************************************
*/
/* Entry Point */
ENTRY(Reset_Handler)
/* Specify the memory areas */
MEMORY
{
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 8K
FLASH (rx) : ORIGIN = 0x8000000, LENGTH = 32K
}
/* Highest address of the user mode stack */
_estack = ORIGIN(RAM) + LENGTH(RAM); /* end of RAM */
/* Generate a link error if heap and stack don't fit into RAM */
_Min_Heap_Size = 0x200; /* required amount of heap */
_Min_Stack_Size = 0x400; /* required amount of stack */
/* Define output sections */
SECTIONS
{
/* The startup code goes first into FLASH */
.isr_vector :
{
. = ALIGN(4);
KEEP(*(.isr_vector)) /* Startup code */
. = ALIGN(4);
} >FLASH
/* The program code and other data goes into FLASH */
.text :
{
. = ALIGN(4);
*(.text) /* .text sections (code) */
*(.text*) /* .text* sections (code) */
*(.glue_7) /* glue arm to thumb code */
*(.glue_7t) /* glue thumb to arm code */
*(.eh_frame)
KEEP (*(.init))
KEEP (*(.fini))
. = ALIGN(4);
_etext = .; /* define a global symbols at end of code */
} >FLASH
/* Constant data goes into FLASH */
.rodata :
{
. = ALIGN(4);
*(.rodata) /* .rodata sections (constants, strings, etc.) */
*(.rodata*) /* .rodata* sections (constants, strings, etc.) */
. = ALIGN(4);
} >FLASH
.ARM.extab (READONLY) : /* The "READONLY" keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
{
. = ALIGN(4);
*(.ARM.extab* .gnu.linkonce.armextab.*)
. = ALIGN(4);
} >FLASH
.ARM (READONLY) : /* The "READONLY" keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
{
. = ALIGN(4);
__exidx_start = .;
*(.ARM.exidx*)
__exidx_end = .;
. = ALIGN(4);
} >FLASH
.preinit_array (READONLY) : /* The "READONLY" keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
{
. = ALIGN(4);
PROVIDE_HIDDEN (__preinit_array_start = .);
KEEP (*(.preinit_array*))
PROVIDE_HIDDEN (__preinit_array_end = .);
. = ALIGN(4);
} >FLASH
.init_array (READONLY) : /* The "READONLY" keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
{
. = ALIGN(4);
PROVIDE_HIDDEN (__init_array_start = .);
KEEP (*(SORT(.init_array.*)))
KEEP (*(.init_array*))
PROVIDE_HIDDEN (__init_array_end = .);
. = ALIGN(4);
} >FLASH
.fini_array (READONLY) : /* The "READONLY" keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
{
. = ALIGN(4);
PROVIDE_HIDDEN (__fini_array_start = .);
KEEP (*(SORT(.fini_array.*)))
KEEP (*(.fini_array*))
PROVIDE_HIDDEN (__fini_array_end = .);
. = ALIGN(4);
} >FLASH
/* used by the startup to initialize data */
_sidata = LOADADDR(.data);
/* Initialized data sections goes into RAM, load LMA copy after code */
.data :
{
. = ALIGN(4);
_sdata = .; /* create a global symbol at data start */
*(.data) /* .data sections */
*(.data*) /* .data* sections */
*(.RamFunc) /* .RamFunc sections */
*(.RamFunc*) /* .RamFunc* sections */
. = ALIGN(4);
} >RAM AT> FLASH
/* Initialized TLS data section */
.tdata : ALIGN(4)
{
*(.tdata .tdata.* .gnu.linkonce.td.*)
. = ALIGN(4);
_edata = .; /* define a global symbol at data end */
PROVIDE(__data_end = .);
PROVIDE(__tdata_end = .);
} >RAM AT> FLASH
PROVIDE( __tdata_start = ADDR(.tdata) );
PROVIDE( __tdata_size = __tdata_end - __tdata_start );
PROVIDE( __data_start = ADDR(.data) );
PROVIDE( __data_size = __data_end - __data_start );
PROVIDE( __tdata_source = LOADADDR(.tdata) );
PROVIDE( __tdata_source_end = LOADADDR(.tdata) + SIZEOF(.tdata) );
PROVIDE( __tdata_source_size = __tdata_source_end - __tdata_source );
PROVIDE( __data_source = LOADADDR(.data) );
PROVIDE( __data_source_end = __tdata_source_end );
PROVIDE( __data_source_size = __data_source_end - __data_source );
/* Uninitialized data section */
.tbss (NOLOAD) : ALIGN(4)
{
/* This is used by the startup in order to initialize the .bss secion */
_sbss = .; /* define a global symbol at bss start */
__bss_start__ = _sbss;
*(.tbss .tbss.*)
. = ALIGN(4);
PROVIDE( __tbss_end = . );
} >RAM
PROVIDE( __tbss_start = ADDR(.tbss) );
PROVIDE( __tbss_size = __tbss_end - __tbss_start );
PROVIDE( __tbss_offset = ADDR(.tbss) - ADDR(.tdata) );
PROVIDE( __tls_base = __tdata_start );
PROVIDE( __tls_end = __tbss_end );
PROVIDE( __tls_size = __tls_end - __tls_base );
PROVIDE( __tls_align = MAX(ALIGNOF(.tdata), ALIGNOF(.tbss)) );
PROVIDE( __tls_size_align = (__tls_size + __tls_align - 1) & ~(__tls_align - 1) );
PROVIDE( __arm32_tls_tcb_offset = MAX(8, __tls_align) );
PROVIDE( __arm64_tls_tcb_offset = MAX(16, __tls_align) );
.bss (NOLOAD) : ALIGN(4)
{
*(.bss)
*(.bss*)
*(COMMON)
. = ALIGN(4);
_ebss = .; /* define a global symbol at bss end */
__bss_end__ = _ebss;
PROVIDE( __bss_end = .);
} >RAM
PROVIDE( __non_tls_bss_start = ADDR(.bss) );
PROVIDE( __bss_start = __tbss_start );
PROVIDE( __bss_size = __bss_end - __bss_start );
/* User_heap_stack section, used to check that there is enough RAM left */
._user_heap_stack (NOLOAD) :
{
. = ALIGN(8);
PROVIDE ( end = . );
PROVIDE ( _end = . );
. = . + _Min_Heap_Size;
. = . + _Min_Stack_Size;
. = ALIGN(8);
} >RAM
/* Remove information from the standard libraries */
/DISCARD/ :
{
libc.a:* ( * )
libm.a:* ( * )
libgcc.a:* ( * )
}
}

65
cmake/starm-clang.cmake Normal file
View File

@@ -0,0 +1,65 @@
set(CMAKE_SYSTEM_NAME Generic)
set(CMAKE_SYSTEM_PROCESSOR arm)
set(CMAKE_C_COMPILER_ID Clang)
set(CMAKE_CXX_COMPILER_ID Clang)
# Some default llvm settings
set(TOOLCHAIN_PREFIX starm-)
set(CMAKE_C_COMPILER ${TOOLCHAIN_PREFIX}clang)
set(CMAKE_ASM_COMPILER ${CMAKE_C_COMPILER})
set(CMAKE_CXX_COMPILER ${TOOLCHAIN_PREFIX}clang++)
set(CMAKE_LINKER ${TOOLCHAIN_PREFIX}clang)
set(CMAKE_OBJCOPY ${TOOLCHAIN_PREFIX}objcopy)
set(CMAKE_SIZE ${TOOLCHAIN_PREFIX}size)
set(CMAKE_EXECUTABLE_SUFFIX_ASM ".elf")
set(CMAKE_EXECUTABLE_SUFFIX_C ".elf")
set(CMAKE_EXECUTABLE_SUFFIX_CXX ".elf")
set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
# STARM_TOOLCHAIN_CONFIG allows you to choose the toolchain configuration.
# Possible values are:
# "STARM_HYBRID" : Hybrid configuration using starm-clang Assemler and Compiler and GNU Linker
# "STARM_NEWLIB" : starm-clang toolchain with NEWLIB C library
# "STARM_PICOLIBC" : starm-clang toolchain with PICOLIBC C library
set(STARM_TOOLCHAIN_CONFIG "STARM_PICOLIBC")
if(STARM_TOOLCHAIN_CONFIG STREQUAL "STARM_HYBRID")
set(TOOLCHAIN_MULTILIBS "--multi-lib-config=\"$ENV{CLANG_GCC_CMSIS_COMPILER}/multilib.gnu_tools_for_stm32.yaml\" --gcc-toolchain=\"$ENV{GCC_TOOLCHAIN_ROOT}/..\"")
elseif (STARM_TOOLCHAIN_CONFIG STREQUAL "STARM_NEWLIB")
set(TOOLCHAIN_MULTILIBS "--config=newlib.cfg")
endif()
# MCU specific flags
set(TARGET_FLAGS "-mcpu=cortex-m0plus ${TOOLCHAIN_MULTILIBS}")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${TARGET_FLAGS}")
set(CMAKE_ASM_FLAGS "${CMAKE_C_FLAGS} -x assembler-with-cpp -MP")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -fdata-sections -ffunction-sections")
set(CMAKE_C_FLAGS_DEBUG "-Og -g3")
set(CMAKE_C_FLAGS_RELEASE "-Oz -g0")
set(CMAKE_CXX_FLAGS_DEBUG "-Og -g3")
set(CMAKE_CXX_FLAGS_RELEASE "-Oz -g0")
set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS} -fno-rtti -fno-exceptions -fno-threadsafe-statics")
set(CMAKE_EXE_LINKER_FLAGS "${TARGET_FLAGS}")
if (STARM_TOOLCHAIN_CONFIG STREQUAL "STARM_HYBRID")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} --gcc-specs=nano.specs")
set(TOOLCHAIN_LINK_LIBRARIES "m")
elseif(STARM_TOOLCHAIN_CONFIG STREQUAL "STARM_NEWLIB")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -lcrt0-nosys")
elseif(STARM_TOOLCHAIN_CONFIG STREQUAL "STARM_PICOLIBC")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -lcrt0-hosted -z norelro")
endif()
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -T \"${CMAKE_SOURCE_DIR}/STM32G030XX_FLASH.ld\"")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,-Map=${CMAKE_PROJECT_NAME}.map -Wl,--gc-sections")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -z noexecstack")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--print-memory-usage ")

119
cmake/stm32cubemx/CMakeLists.txt
View File

@@ -1,62 +1,95 @@
cmake_minimum_required(VERSION 3.22)
project(stm32cubemx)
add_library(stm32cubemx INTERFACE)
# Enable CMake support for ASM and C languages
enable_language(C ASM)
target_compile_definitions(stm32cubemx INTERFACE
# STM32CubeMX generated symbols (macros)
set(MX_Defines_Syms
USE_HAL_DRIVER
STM32G030xx
$<$<CONFIG:Debug>:DEBUG>
)
target_include_directories(stm32cubemx INTERFACE
../../Core/Inc
../../Drivers/STM32G0xx_HAL_Driver/Inc
../../Drivers/STM32G0xx_HAL_Driver/Inc/Legacy
../../Drivers/CMSIS/Device/ST/STM32G0xx/Include
../../Drivers/CMSIS/Include
# STM32CubeMX generated include paths
set(MX_Include_Dirs
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Inc
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32G0xx_HAL_Driver/Inc
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32G0xx_HAL_Driver/Inc/Legacy
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/CMSIS/Device/ST/STM32G0xx/Include
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/CMSIS/Include
)
target_sources(stm32cubemx INTERFACE
../../Core/Src/main.cpp
../../Core/Src/stm32g0xx_it.c
../../Core/Src/stm32g0xx_hal_msp.c
../../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_spi.c
../../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_spi_ex.c
../../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_rcc.c
../../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_rcc_ex.c
../../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_ll_rcc.c
../../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_flash.c
../../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_flash_ex.c
../../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_gpio.c
../../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_dma.c
../../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_dma_ex.c
../../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_pwr.c
../../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_pwr_ex.c
../../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_cortex.c
../../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal.c
../../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_exti.c
../../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_uart.c
../../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_uart_ex.c
../../Core/Src/system_stm32g0xx.c
../../Core/Src/sysmem.c
../../Core/Src/TLE5012.cpp
../../Core/Src/syscalls.c
../../startup_stm32g030xx.s
# STM32CubeMX generated application sources
set(MX_Application_Src
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/main.cpp
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/TLE5012.cpp
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/stm32g0xx_it.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/stm32g0xx_hal_msp.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/sysmem.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/syscalls.c
${CMAKE_CURRENT_SOURCE_DIR}/../../startup_stm32g030xx.s
)
target_link_directories(stm32cubemx INTERFACE
# STM32 HAL/LL Drivers
set(STM32_Drivers_Src
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/system_stm32g0xx.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_spi.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_spi_ex.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_rcc.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_rcc_ex.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_ll_rcc.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_flash.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_flash_ex.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_gpio.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_dma.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_dma_ex.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_pwr.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_pwr_ex.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_cortex.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_exti.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_tim.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_tim_ex.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_uart.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_uart_ex.c
)
target_link_libraries(stm32cubemx INTERFACE
# Drivers Midllewares
# Link directories setup
set(MX_LINK_DIRS
)
# Project static libraries
set(MX_LINK_LIBS
STM32_Drivers
${TOOLCHAIN_LINK_LIBRARIES}
)
# Interface library for includes and symbols
add_library(stm32cubemx INTERFACE)
target_include_directories(stm32cubemx INTERFACE ${MX_Include_Dirs})
target_compile_definitions(stm32cubemx INTERFACE ${MX_Defines_Syms})
# Create STM32_Drivers static library
add_library(STM32_Drivers OBJECT)
target_sources(STM32_Drivers PRIVATE ${STM32_Drivers_Src})
target_link_libraries(STM32_Drivers PUBLIC stm32cubemx)
# Add STM32CubeMX generated application sources to the project
target_sources(${CMAKE_PROJECT_NAME} PRIVATE ${MX_Application_Src})
# Link directories setup
target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE ${MX_LINK_DIRS})
# Add libraries to the project
target_link_libraries(${CMAKE_PROJECT_NAME} ${MX_LINK_LIBS})
# Add the map file to the list of files to be removed with 'clean' target
set_target_properties(${CMAKE_PROJECT_NAME} PROPERTIES ADDITIONAL_CLEAN_FILES ${CMAKE_PROJECT_NAME}.map)
# Validate that STM32CubeMX code is compatible with C standard
if(CMAKE_C_STANDARD LESS 11)
if((CMAKE_C_STANDARD EQUAL 90) OR (CMAKE_C_STANDARD EQUAL 99))
message(ERROR "Generated code requires C11 or higher")
endif()