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Driver moteurs a finir, le reste est a peu pres en place. Grosse seance de test en prevision (moteurs, xbee, application, commandes, batterie)

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vezde 2023-03-31 15:17:01 +02:00
parent f319857e0d
commit c6ad9b7094
24 changed files with 1105 additions and 3818 deletions
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35
software/dumber3/.cproject
View file

@ -40,6 +40,7 @@
<listOptionValue builtIn="false" value="STM32L071xx"/>
</option>
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.includepaths.66916114" name="Include paths (-I)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.includepaths" useByScannerDiscovery="false" valueType="includePath">
<listOptionValue builtIn="false" value="../Application"/>
<listOptionValue builtIn="false" value="../Core/Inc"/>
<listOptionValue builtIn="false" value="../Drivers/STM32L0xx_HAL_Driver/Inc"/>
<listOptionValue builtIn="false" value="../Drivers/STM32L0xx_HAL_Driver/Inc/Legacy"/>
@ -99,7 +100,7 @@
</fileInfo>
<fileInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1504381080.1932647075" name="stm32l0xx_hal_dma.c" rcbsApplicability="disable" resourcePath="Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_dma.c" toolsToInvoke="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.1807227080">
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.1807227080" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646">
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.1457095105" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.o0" valueType="enumerated"/>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.1457095105" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.o0" valueType="enumerated"/>
<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1399198488" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
</tool>
<tool customBuildStep="true" id="org.eclipse.cdt.managedbuilder.ui.rcbs.737656347" name="Resource Custom Build Step">
@ -109,46 +110,22 @@
<outputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.outputtype.1151842665" name="Resource Custom Build Step Output Type"/>
</tool>
</fileInfo>
<fileInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1504381080.1164598906" name="sequenceur.c" rcbsApplicability="disable" resourcePath="Core/Src/sequenceur.c" toolsToInvoke="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.203102427">
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.203102427" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646">
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.1982433835" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.o0" valueType="enumerated"/>
<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1563034576" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
</tool>
<tool customBuildStep="true" id="org.eclipse.cdt.managedbuilder.ui.rcbs.628002234" name="Resource Custom Build Step">
<inputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.inputtype.2125150301" name="Resource Custom Build Step Input Type">
<additionalInput kind="additionalinputdependency" paths=""/>
</inputType>
<outputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.outputtype.87064345" name="Resource Custom Build Step Output Type"/>
</tool>
</fileInfo>
<fileInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1504381080.2043503841" name="main.c" rcbsApplicability="disable" resourcePath="Core/Src/main.c" toolsToInvoke="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.346617134">
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.346617134" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646">
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.1844790861" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.o0" valueType="enumerated"/>
<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1496459642" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
</tool>
<tool customBuildStep="true" id="org.eclipse.cdt.managedbuilder.ui.rcbs.216781005" name="Resource Custom Build Step">
<inputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.inputtype.2033552080" name="Resource Custom Build Step Input Type">
<additionalInput kind="additionalinputdependency" paths=""/>
<additionalInput kind="additionalinputdependency"/>
</inputType>
<outputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.outputtype.664489298" name="Resource Custom Build Step Output Type"/>
</tool>
</fileInfo>
<fileInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1504381080.48283877" name="xbee.c" rcbsApplicability="disable" resourcePath="Core/Src/xbee.c" toolsToInvoke="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.2062255075">
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.2062255075" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646">
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.386241063" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.o0" valueType="enumerated"/>
<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.272972962" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
</tool>
<tool customBuildStep="true" id="org.eclipse.cdt.managedbuilder.ui.rcbs.1129613589" name="Resource Custom Build Step">
<inputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.inputtype.75811459" name="Resource Custom Build Step Input Type">
<additionalInput kind="additionalinputdependency" paths=""/>
</inputType>
<outputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.outputtype.1306698389" name="Resource Custom Build Step Output Type"/>
</tool>
</fileInfo>
<sourceEntries>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Core"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Middlewares"/>
<entry excluding="XBEE" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Application"/>
<entry excluding="XBEE" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Core"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Middlewares"/>
</sourceEntries>
</configuration>
</storageModule>

27
software/dumber3/.mxproject
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File diff suppressed because one or more lines are too long

2
software/dumber3/.settings/com.st.stm32cube.ide.mcu.sfrview.prefs Normal file
View file

@ -0,0 +1,2 @@
eclipse.preferences.version=1
sfrviewstate={"fFavorites"\:{"fLists"\:{}},"fProperties"\:{"fNodeProperties"\:{}}}

5
software/dumber3/.settings/language.settings.xml
View file

@ -5,8 +5,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1151523151262932964" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1490091031643224932" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>
@ -18,7 +17,7 @@
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1151523151262932964" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1490091031643224932" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>

381
software/dumber3/Application/application.c
View file

@ -16,7 +16,39 @@
#include "batterie.h"
#include "messages.h"
void LEDS_Tests();
typedef enum {
stateStartup=0,
stateIdle,
stateRun,
stateInCharge,
stateInMouvement,
stateWatchdogDisable,
stateLowBatDisable
} APPLICATION_State;
typedef struct {
APPLICATION_State state;
uint8_t cmd;
uint16_t batteryVoltage;
char batteryUpdate;
char inCharge;
int32_t distance;
int32_t turns;
int32_t motor_left;
int32_t motor_right;
char endOfMouvement;
char powerOffRequired;
} APPLICATION_Infos;
typedef struct {
uint32_t startupCnt;
uint32_t inactivityCnt;
uint32_t watchdogCnt;
char watchdogEnabled;
char watchdogMissedCnt;
} APPLICATION_Timeout;
StaticTask_t xTaskApplicationMain;
@ -30,40 +62,17 @@ StaticTimer_t xBufferTimerTimeout;
TimerHandle_t xHandleTimerTimeout = NULL;
void vTimerTimeoutCallback( TimerHandle_t xTimer );
void LEDS_Tests();
void APPLICATION_MainThread(void* params);
void APPLICATION_TimeoutThread(void* params);
void APPLICATION_StateMachine();
LEDS_State APPLICATION_BatteryLevel(uint16_t voltage, char inCharge);
void APPLICATION_PowerOff();
uint16_t APPLICATION_CntTimeout;
uint16_t APPLICATION_CntPowerOff;
typedef enum {
stateStartup=0,
stateIdle,
stateRun,
stateInCharge,
stateInMouvement,
stateWatchdogDisable,
stateLowBatDisable
} APPLICATION_State;
typedef struct {
APPLICATION_State state;
CMD_Type cmd;
uint16_t batteryVoltage;
char batteryUpdate;
char inCharge;
int32_t distance;
int32_t turns;
int32_t motor_left;
int32_t motor_right;
char endOfMouvement;
char powerOffRequired;
} APPLICATION_Infos;
void APPLICATION_TransitionToNewState(APPLICATION_State new_state);
APPLICATION_Infos systemInfos = {0};
APPLICATION_Timeout systemTimeout = {0};
void APPLICATION_Init(void) {
/* Init des messages box */
@ -71,16 +80,11 @@ void APPLICATION_Init(void) {
/* Init de l'afficheur */
LEDS_Init();
//LEDS_Tests();
/* Init de la partie RF / reception des messages */
XBEE_Init();
//BATTERIE_Init();
//MOTEURS_Init();
//SEQUENCEUR_Init();
/*MOTEURS_Init();
MOTEURS_Test();*/
BATTERIE_Init();
MOTEURS_Init();
/* Create the task without using any dynamic memory allocation. */
xHandleApplicationMain = xTaskCreateStatic(
@ -96,16 +100,14 @@ void APPLICATION_Init(void) {
/* Create a periodic task without using any dynamic memory allocation. */
xHandleTimerTimeout = xTimerCreateStatic(
"Seq Timer",
//pdMS_TO_TICKS(100),
pdMS_TO_TICKS(2000),
pdMS_TO_TICKS(APPLICATION_PERIODE),
pdTRUE,
( void * ) 0,
vTimerTimeoutCallback,
&xBufferTimerTimeout);
xTimerStart(xHandleTimerTimeout,0 );
APPLICATION_CntTimeout =0;
APPLICATION_CntPowerOff=0;
APPLICATION_TransitionToNewState(stateStartup);
}
void APPLICATION_MainThread(void* params) {
@ -120,29 +122,49 @@ void APPLICATION_MainThread(void* params) {
switch (msg.id) {
case MSG_ID_XBEE_CMD:
cmd = (char*)msg.data;
decodedCmd = cmdDecode(cmd);
if (cmdIsValid(cmd)!= okANS)
cmdSendAnswer(errANS);
if (decodedCmd==CMD_DECODE_UNKNOWN)
cmdSendAnswer(ANS_UNKNOWN);
else {
decodedCmd = cmdDecode(cmd);
systemInfos.cmd = decodedCmd->type;
systemTimeout.inactivityCnt = 0;
if (decodedCmd==CMD_DECODE_INVALID)
cmdSendAnswer(errANS);
else if (decodedCmd==CMD_DECODE_UNKNOWN)
cmdSendAnswer(unknownANS);
else {
systemInfos.cmd = decodedCmd->type;
if (decodedCmd->type == moveCMD)
systemInfos.distance = ((CMD_Move*)decodedCmd)->distance;
else if (decodedCmd->type == turnCMD)
systemInfos.turns = ((CMD_Turn*)decodedCmd)->turns;
else if (decodedCmd->type == setMotorCMD) {
systemInfos.motor_left = ((CMD_SetMotor*)decodedCmd)->motor_left;
systemInfos.motor_right = ((CMD_SetMotor*)decodedCmd)->motor_right;
}
free(decodedCmd);
/* Manage answer to command, when possible
* (further treatment of the command will be done in APPLICATION_StateMachine) */
switch (decodedCmd->type) {
case CMD_PING:
case CMD_TEST:
case CMD_DEBUG:
case CMD_POWER_OFF:
cmdSendAnswer(ANS_OK);
break;
case CMD_GET_BATTERY:
cmdSendBatteryLevel(systemInfos.batteryVoltage);
break;
case CMD_GET_VERSION:
cmdSendVersion(SYSTEM_VERSION);
break;
case CMD_GET_BUSY_STATE:
if (systemInfos.state == stateInMouvement)
cmdSendBusyState(0x1);
else
cmdSendBusyState(0x0);
break;
case CMD_MOVE:
systemInfos.distance = ((CMD_Move*)decodedCmd)->distance;
break;
case CMD_TURN:
systemInfos.turns = ((CMD_Turn*)decodedCmd)->turns;
break;
default:
/* All others commands must be processed in state machine
* in order to find what action to do and what answer to give
*/
break;
}
free(decodedCmd);
}
free(cmd);
@ -168,7 +190,7 @@ void APPLICATION_MainThread(void* params) {
systemInfos.inCharge =0;
break;
case MSG_ID_MOTEURS_ARRET:
case MSG_ID_MOTEURS_STOP:
systemInfos.endOfMouvement= 1;
break;
@ -184,83 +206,98 @@ void APPLICATION_MainThread(void* params) {
void APPLICATION_StateMachine() {
LEDS_State ledState = leds_off;
if (systemInfos.powerOffRequired)
APPLICATION_PowerOff(); // system will halt here
if (systemInfos.inCharge) {
systemInfos.state = stateInCharge;
} else if (systemInfos.batteryUpdate) {
ledState = APPLICATION_BatteryLevel(systemInfos.batteryVoltage, systemInfos.inCharge);
APPLICATION_TransitionToNewState(stateInCharge);
}
if (systemInfos.batteryUpdate) {
if (ledState == leds_niveau_bat_0)
systemInfos.state= stateLowBatDisable;
}
switch (systemInfos.cmd) { // commands common to every state
case pingCMD:
break;
case getVersionCMD:
break;
case getBatteryVoltageCMD:
break;
case powerOffCMD:
break;
case resetCMD:
break;
case busyStateCMD:
break;
case testCMD:
break;
case debugCMD:
break;
default: // commands no common for every states
break;
}
switch (systemInfos.state) {
case stateStartup:
if (systemInfos.batteryUpdate) {
ledState = APPLICATION_BatteryLevel(systemInfos.batteryVoltage, systemInfos.inCharge);
MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, APPLICATION_Mailbox, (void*)&ledState);
vTaskDelay(pdMS_TO_TICKS(2000)); // wait 2s
systemInfos.state= stateIdle;
ledState = leds_idle;
MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, APPLICATION_Mailbox, (void*)&ledState);
}
break;
case stateIdle:
if (systemInfos.powerOffRequired)
APPLICATION_PowerOff();
break;
case stateRun:
if (systemInfos.powerOffRequired)
APPLICATION_PowerOff();
break;
case stateInCharge:
if (!systemInfos.inCharge) {
systemInfos.state = stateIdle;
ledState = leds_idle;
MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, APPLICATION_Mailbox, (void*)&ledState);
} else if (systemInfos.batteryUpdate) {
APPLICATION_TransitionToNewState(stateLowBatDisable);
else if (systemInfos.state==stateStartup) {
ledState = APPLICATION_BatteryLevel(systemInfos.batteryVoltage, systemInfos.inCharge);
MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, APPLICATION_Mailbox, (void*)&ledState);
}
break;
case stateInMouvement:
if (systemInfos.powerOffRequired)
APPLICATION_PowerOff();
break;
case stateWatchdogDisable:
if (systemInfos.powerOffRequired)
APPLICATION_PowerOff();
break;
case stateLowBatDisable:
ledState = leds_charge_bat_0;
MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, APPLICATION_Mailbox, (void*)&ledState);
}
vTaskDelay(pdMS_TO_TICKS(2000)); // wait 2s
if (systemInfos.cmd != CMD_NONE) {
/* a newer command just arrived, process it
* in this switch/case, we only care about state transition and command execution
*/
switch (systemInfos.cmd) {
case CMD_RESET:
if ((systemInfos.state == stateIdle) ||
(systemInfos.state == stateRun) ||
(systemInfos.state == stateInMouvement)) {
/* command RESET is only applicable in those 3 states, otherwise it is rejected */
cmdSendAnswer(ANS_OK);
APPLICATION_TransitionToNewState(stateIdle);
} else
cmdSendAnswer(ANS_ERR);
break;
case CMD_START_WITH_WATCHDOG:
case CMD_START_WITHOUT_WATCHDOG:
if (systemInfos.state == stateIdle) {
/* only state where START cmd is accepted */
cmdSendAnswer(ANS_OK);
APPLICATION_PowerOff();
break;
APPLICATION_TransitionToNewState(stateRun);
if (systemInfos.cmd == CMD_START_WITH_WATCHDOG) {
systemTimeout.watchdogEnabled = 1;
systemTimeout.watchdogCnt=0;
systemTimeout.watchdogMissedCnt=0;
}
} else
cmdSendAnswer(ANS_ERR);
break;
case CMD_RESET_WATCHDOG:
if ((systemInfos.state == stateRun) || (systemInfos.state == stateInMouvement)) {
if ((systemTimeout.watchdogEnabled ==0 ) ||
((systemTimeout.watchdogCnt>=APPLICATION_WATCHDOG_MIN) && (systemTimeout.watchdogCnt<=APPLICATION_WATCHDOG_MAX)))
cmdSendAnswer(ANS_OK);
else
cmdSendAnswer(ANS_ERR);
systemTimeout.watchdogCnt =0;
}
break;
case CMD_MOVE:
case CMD_TURN:
if (systemInfos.state == stateRun) { // only state where MOVE or TURN cmds are accepted
if (((systemInfos.cmd == CMD_MOVE) && (systemInfos.distance !=0)) ||
((systemInfos.cmd == CMD_TURN) && (systemInfos.turns !=0))) {
systemInfos.endOfMouvement = 0;
cmdSendAnswer(ANS_OK);
APPLICATION_TransitionToNewState(stateInMouvement);
} // if TURN and MOVE are sent without parameter, do nothing: we are still in run state
} else if (systemInfos.state == stateInMouvement) { // in this state, MOVE and TURN cmds are accepted only if they come with no parameter
if (((systemInfos.cmd == CMD_MOVE) && (systemInfos.distance ==0)) ||
((systemInfos.cmd == CMD_TURN) && (systemInfos.turns ==0))) {
systemInfos.endOfMouvement = 1;
cmdSendAnswer(ANS_OK);
}
} else
cmdSendAnswer(ANS_ERR);
break;
default: // commands no common for every states
break;
}
}
if (systemInfos.endOfMouvement) {
APPLICATION_TransitionToNewState(stateRun);
}
if (systemInfos.state== stateInCharge) {
if (!systemInfos.inCharge)
APPLICATION_TransitionToNewState(stateIdle);
else if (systemInfos.batteryUpdate) {
APPLICATION_TransitionToNewState(stateInCharge);
}
}
systemInfos.batteryUpdate = 0;
@ -269,6 +306,66 @@ void APPLICATION_StateMachine() {
systemInfos.powerOffRequired=0;
}
void APPLICATION_TransitionToNewState(APPLICATION_State new_state) {
LEDS_State ledState = leds_off;
uint32_t data;
switch (new_state) {
case stateStartup:
// nothing to do here
break;
case stateIdle:
ledState = leds_idle;
MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, APPLICATION_Mailbox, (void*)&ledState);
MESSAGE_SendMailbox(MOTEURS_Mailbox, MSG_ID_MOTEURS_STOP, APPLICATION_Mailbox, (void*)NULL);
systemTimeout.watchdogEnabled=0;
break;
case stateRun:
ledState = leds_run;
MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, APPLICATION_Mailbox, (void*)&ledState);
MESSAGE_SendMailbox(MOTEURS_Mailbox, MSG_ID_MOTEURS_STOP, APPLICATION_Mailbox, (void*)NULL);
break;
case stateInMouvement:
ledState = leds_run;
MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, APPLICATION_Mailbox, (void*)&ledState);
if (systemInfos.cmd == CMD_MOVE) {
data = systemInfos.distance;
MESSAGE_SendMailbox(MOTEURS_Mailbox, MSG_ID_MOTEURS_MOVE, APPLICATION_Mailbox, (void*)&data);
} else { /* obviously, cmd is CMD_TURN */
data = systemInfos.turns;
MESSAGE_SendMailbox(MOTEURS_Mailbox, MSG_ID_MOTEURS_TURN, APPLICATION_Mailbox, (void*)&data);
}
break;
case stateInCharge:
ledState = APPLICATION_BatteryLevel(systemInfos.batteryVoltage, systemInfos.inCharge);
MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, APPLICATION_Mailbox, (void*)&ledState);
systemTimeout.watchdogEnabled=0;
break;
case stateWatchdogDisable:
ledState = leds_erreur_1;
MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, APPLICATION_Mailbox, (void*)&ledState);
systemTimeout.watchdogEnabled=0;
break;
case stateLowBatDisable:
ledState = leds_charge_bat_0;
MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, APPLICATION_Mailbox, (void*)&ledState);
systemTimeout.watchdogEnabled=0;
vTaskDelay(pdMS_TO_TICKS(4000)); // wait 4s
/* send a message Button_Pressed to enable power off */
MESSAGE_SendMailbox(APPLICATION_Mailbox, MSG_ID_BUTTON_PRESSED, APPLICATION_Mailbox, (void*)NULL);
break;
default:
break;
}
systemInfos.state = new_state;
}
LEDS_State APPLICATION_BatteryLevel(uint16_t voltage, char inCharge) {
LEDS_State ledState=leds_niveau_bat_0;
@ -276,9 +373,35 @@ LEDS_State APPLICATION_BatteryLevel(uint16_t voltage, char inCharge) {
}
void APPLICATION_PowerOff() {
HAL_GPIO_WritePin(SHUTDOWN_GPIO_Port, SHUTDOWN_Pin, GPIO_PIN_RESET);
while (1){
__WFE(); // Attente infinie que le regulateur se coupe.
}
}
/* This task is called every 2s */
/* This task is called every 100 ms */
void vTimerTimeoutCallback( TimerHandle_t xTimer ) {
if (systemInfos.state == stateStartup) {
systemTimeout.startupCnt++;
if (systemTimeout.startupCnt++>=APPLICATION_STARTUP_DELAY)
APPLICATION_TransitionToNewState(stateIdle);
}
systemTimeout.inactivityCnt++;
if (systemTimeout.inactivityCnt>=APPLICATION_INACTIVITY_TIMEOUT)
/* send a message Button_Pressed to enable power off */
MESSAGE_SendMailbox(APPLICATION_Mailbox, MSG_ID_BUTTON_PRESSED, APPLICATION_Mailbox, (void*)NULL);
if (systemTimeout.watchdogEnabled) {
systemTimeout.watchdogCnt++;
if (systemTimeout.watchdogCnt>APPLICATION_WATCHDOG_MAX) {
systemTimeout.watchdogCnt=0;
systemTimeout.watchdogMissedCnt++;
if (systemTimeout.watchdogMissedCnt>=APPLICATION_WATCHDOG_MISSED_MAX)
APPLICATION_TransitionToNewState(stateWatchdogDisable);
}
}
}

7
software/dumber3/Application/batterie.c
View file

@ -66,6 +66,10 @@ int BATTERIE_LireTension(uint16_t *val) {
void BATTERIE_VoltageThread(void* params) {
static uint16_t tension;
TickType_t xLastWakeTime;
// Initialise the xLastWakeTime variable with the current time.
xLastWakeTime = xTaskGetTickCount();
while (1) {
if (BATTERIE_LireTension(&tension) ==0) {
@ -77,7 +81,8 @@ void BATTERIE_VoltageThread(void* params) {
MESSAGE_SendMailbox(APPLICATION_Mailbox, MSG_ID_BAT_ADC_ERR, (QueueHandle_t)0x0, (void*)0x0);
}
vTaskDelay(pdMS_TO_TICKS(BATTERIE_PERIODE_SCRUTATION));
// Wait for the next cycle.
vTaskDelayUntil( &xLastWakeTime, pdMS_TO_TICKS(BATTERIE_PERIODE_SCRUTATION));
}
}

2
software/dumber3/Application/commands.c
View file

@ -80,7 +80,7 @@ void cmdSendVersion() {
XBEE_SendData((char*)&answer, sizeof (answer));
}
void cmdBusyState(uint8_t state) {
void cmdSendBusyState(uint8_t state) {
ANS_Busy_State answer;
answer.ans = ANS_OK;

3
software/dumber3/Application/commands.h
View file

@ -10,6 +10,7 @@
#include "application.h"
#define CMD_NONE 0x0
#define CMD_PING 0x1
#define CMD_RESET 0x2
#define CMD_START_WITH_WATCHDOG 0x3
@ -75,6 +76,6 @@ CMD_Generic* cmdDecode(char* cmd);
void cmdSendAnswer(uint8_t ans);
void cmdSendBatteryLevel(char level);
void cmdSendVersion();
void cmdBusyState(uint8_t state);
void cmdSendBusyState(uint8_t state);
#endif /* INC_CMD_H_ */

25
software/dumber3/Application/config.h
View file

@ -12,16 +12,29 @@
#define STACK_SIZE 0x100
#define PriorityMoteurs (configMAX_PRIORITIES -1)
#define PriorityMoteursAsservissement (configMAX_PRIORITIES -1)
#define PriorityXbeeRX (configMAX_PRIORITIES -2)
#define PriorityXbeeTX (configMAX_PRIORITIES -3)
#define PriorityBatterie (configMAX_PRIORITIES -4)
#define PriorityApplicationMain (configMAX_PRIORITIES -5)
#define PrioritySequenceurTimeout (configMAX_PRIORITIES -6)
#define PriorityLeds (configMAX_PRIORITIES -7)
#define PriorityMoteurs (configMAX_PRIORITIES -4)
#define PriorityBatterie (configMAX_PRIORITIES -5)
#define PriorityApplicationMain (configMAX_PRIORITIES -6)
#define PrioritySequenceurTimeout (configMAX_PRIORITIES -7)
#define PriorityLeds (configMAX_PRIORITIES -8)
/* Periodes des taches periodiques (en ms */
#define MOTEURS_PERIODE_ASSERVISSEMENT (5)
#define APPLICATION_PERIODE (100)
#define BATTERIE_PERIODE_SCRUTATION (1000)
#define LEDS_PERIODE (100)
#define BATTERIE_PERIODE_SCRUTATION 1000
#define XBEE_TX_SEMAPHORE_WAIT 500
#define XBEE_RX_BUFFER_MAX_LENGTH 50
#define APPLICATION_INACTIVITY_TIMEOUT (2*60*1000) // 2 minutes, expressed in ms
#define APPLICATION_WATCHDOG_MIN (900) // minimum time to wait before resetting watchdog, expressed in ms
#define APPLICATION_WATCHDOG_MAX (1100) // maximum time to wait before resetting watchdog, expressed in ms
#define APPLICATION_WATCHDOG_MISSED_MAX (3) // Maximum missed timeout reset before entering watchdog disabled state
#define APPLICATION_STARTUP_DELAY (3*1000) // Startup delay, expressed in ms
TickType_t msToTicks(TickType_t ms);

7
software/dumber3/Application/leds.c
View file

@ -169,9 +169,14 @@ void LEDS_Tests(void* params) {
void LEDS_AnimationThread(void* params) {
MESSAGE_Typedef msg;
uint8_t cnt=0;
TickType_t xLastWakeTime;
// Initialise the xLastWakeTime variable with the current time.
xLastWakeTime = xTaskGetTickCount();
while (1) {
vTaskDelay(pdMS_TO_TICKS(100));
// Wait for the next cycle.
vTaskDelayUntil( &xLastWakeTime, pdMS_TO_TICKS(LEDS_PERIODE));
msg = MESSAGE_ReadMailboxNoDelay(LEDS_Mailbox);
cnt++;

5
software/dumber3/Application/messages.h
View file

@ -34,8 +34,9 @@ extern QueueHandle_t APPLICATION_Mailbox;
#define MSG_ID_BUTTON_PRESSED 0x30
#define MSG_ID_MOTEURS_MARCHE 0x40
#define MSG_ID_MOTEURS_ARRET 0x41
#define MSG_ID_MOTEURS_STOP 0x40
#define MSG_ID_MOTEURS_MOVE 0x41
#define MSG_ID_MOTEURS_TURN 0x42
#define MSG_ID_XBEE_CMD 0x50

461
software/dumber3/Application/moteurs.c
View file

@ -6,19 +6,41 @@
*/
#include "moteurs.h"
#include "timers.h"
//extern LPTIM_HandleTypeDef hlptim1;
/*
* Global informations
* Main clock: 6 Mhz
* Tim2 PWM Input (CH1): Encodeur droit PHB : 0 -> 65535
* TIM21 PWM Input (CH1): Encodeur Gauche PHA: 0 -> 65535
* TIM3: PWM Output moteur (0->200) (~30 Khz)
*/
extern TIM_HandleTypeDef htim2;
extern TIM_HandleTypeDef htim21;
extern TIM_HandleTypeDef htim3;
int16_t MOTEUR_CmdMoteurG;
int16_t MOTEUR_CmdMoteurD;
int16_t MOTEUR_ConsigneMoteurG;
int16_t MOTEUR_ConsigneMoteurD;
#define MOTEURS_MAX_COMMANDE 200
#define MOTEURS_MAX_CONSIGNE 100
#define MOTEURS_MAX_ENCODEUR 65535
int16_t MOTEUR_NBImpulsionsG;
int16_t MOTEUR_NBImpulsionsD;
typedef struct {
int16_t commande;
int16_t consigne;
uint16_t encodeur;
uint8_t moteurLent;
} MOTEURS_EtatMoteur;
typedef struct {
uint8_t type;
int16_t commande;
int16_t consigne;
uint32_t distance;
uint32_t tours;
} MOTEURS_EtatDiff;
MOTEURS_EtatMoteur MOTEURS_EtatMoteurGauche, MOTEURS_EtatMoteurDroit = {0};
MOTEURS_EtatDiff MOTEURS_EtatDifferentiel;
uint16_t MOTEUR_DerniereValEncodeursG;
uint16_t MOTEUR_DerniereValEncodeursD;
@ -29,13 +51,164 @@ uint16_t MOTEUR_DerniereValEncodeursD;
#define MOTEUR_Kp 15
#define MOTEUR_DELAY 3
/*
* Global informations
* Main clock: 6 Mhz
* Tim2 PWM range: 0 - 255 (freq: 23437,5 Mhz)
* TIM21: encodeur gauche (0 - 65535)
* LPTIM: encodeur droit (0 - 65535)
/***** Tasks part *****/
/* Tache moteurs (gestion des messages) */
StaticTask_t xTaskMoteurs;
StackType_t xStackMoteurs[ STACK_SIZE ];
TaskHandle_t xHandleMoteurs = NULL;
void MOTEURS_TachePrincipale(void* params);
/* Tache moteurs périodique (asservissement) */
StaticTask_t xTaskMoteursAsservissement;
StackType_t xStackMoteursAsservissement[ STACK_SIZE ];
TaskHandle_t xHandleMoteursAsservissement = NULL;
void MOTEURS_TacheAsservissement( void* params ) ;
/* Fonctions diverses */
void MOTEURS_Set(int16_t cmdGauche, int16_t cmdDroit);
void MOTEURS_DesactiveAlim(void);
void MOTEURS_ActiveAlim(void);
GPIO_PinState MOTEURS_EtatAlim(void);
uint16_t MOTEURS_CorrectionEncodeur(uint16_t encodeur);
/**
* @brief Fonction d'initialisation des moteurs
*
*/
void MOTEURS_Init(void) {
/* Désactive les alimentations des moteurs */
MOTEURS_DesactiveAlim();
/* Create the task without using any dynamic memory allocation. */
xHandleMoteurs = xTaskCreateStatic(
MOTEURS_TachePrincipale, /* Function that implements the task. */
"MOTEURS Principale", /* Text name for the task. */
STACK_SIZE, /* Number of indexes in the xStack array. */
NULL, /* Parameter passed into the task. */
PriorityMoteurs,/* Priority at which the task is created. */
xStackMoteurs, /* Array to use as the task's stack. */
&xTaskMoteurs); /* Variable to hold the task's data structure. */
vTaskResume(xHandleMoteurs);
/* Create the task without using any dynamic memory allocation. */
xHandleMoteursAsservissement = xTaskCreateStatic(
MOTEURS_TacheAsservissement, /* Function that implements the task. */
"MOTEURS Asservissement", /* Text name for the task. */
STACK_SIZE, /* Number of indexes in the xStack array. */
NULL, /* Parameter passed into the task. */
PriorityMoteursAsservissement,/* Priority at which the task is created. */
xStackMoteursAsservissement, /* Array to use as the task's stack. */
&xTaskMoteursAsservissement); /* Variable to hold the task's data structure. */
vTaskSuspend(xHandleMoteursAsservissement); // On ne lance la tache d'asservissement que lorsque'une commande moteur arrive
}
void MOTEURS_Avance(uint32_t distance) {
static uint32_t dist;
dist = distance;
MESSAGE_SendMailbox(MOTEURS_Mailbox, MSG_ID_MOTEURS_MOVE, APPLICATION_Mailbox, (void*)dist);
}
void MOTEURS_Tourne(uint32_t tours) {
static uint32_t turns;
turns = tours;
MESSAGE_SendMailbox(MOTEURS_Mailbox, MSG_ID_MOTEURS_TURN, APPLICATION_Mailbox, (void*)turns);
}
void MOTEURS_Stop(void) {
MESSAGE_SendMailbox(MOTEURS_Mailbox, MSG_ID_MOTEURS_STOP, APPLICATION_Mailbox, (void*)NULL);
}
/*
* @brief Tache de supervision des moteurs
* Gestion de la boite aux lettres moteurs, et supervision generale
* @params params non utilisé
*/
void MOTEURS_TachePrincipale(void* params) {
MESSAGE_Typedef msg;
uint32_t distance, tours;
while (1) {
msg = MESSAGE_ReadMailbox(MOTEURS_Mailbox);
switch (msg.id) {
case MSG_ID_MOTEURS_MOVE:
distance = *((uint32_t*)msg.data);
// TODO: trucs a faire ici
vTaskResume(xHandleMoteursAsservissement);
break;
case MSG_ID_MOTEURS_TURN:
tours = *((uint32_t*)msg.data);
// TODO: trucs a faire ici
vTaskResume(xHandleMoteursAsservissement);
break;
case MSG_ID_MOTEURS_STOP:
// TODO: trucs a faire ici
vTaskSuspend(xHandleMoteursAsservissement);
break;
default:
break;
}
}
}
/*
* @brief Tache d'asservissement, periodique (10ms)
*
* @params params non utilisé
*/
void MOTEURS_TacheAsservissement( void* params ) {
TickType_t xLastWakeTime;
int16_t deltaG, deltaD =0;
uint16_t encodeurGauche, encodeurDroit;
// Initialise the xLastWakeTime variable with the current time.
xLastWakeTime = xTaskGetTickCount();
for (;;) {
// Wait for the next cycle.
vTaskDelayUntil( &xLastWakeTime, pdMS_TO_TICKS(MOTEURS_PERIODE_ASSERVISSEMENT));
encodeurGauche = MOTEURS_CorrectionEncodeur(MOTEURS_EtatMoteurGauche.encodeur);
encodeurDroit = MOTEURS_CorrectionEncodeur(MOTEURS_EtatMoteurDroit.encodeur);
deltaG = MOTEURS_EtatMoteurGauche.consigne - encodeurGauche;
deltaD = MOTEURS_EtatMoteurDroit.consigne - encodeurDroit;
if (((MOTEURS_EtatMoteurDroit.consigne ==0) && (MOTEURS_EtatMoteurGauche.consigne ==0)) &&
((deltaD==0) && (deltaG==0))) MOTEURS_DesactiveAlim();
else MOTEURS_ActiveAlim();
if (deltaG !=0) {
MOTEURS_EtatMoteurGauche.commande = MOTEURS_EtatMoteurGauche.commande + MOTEUR_Kp*deltaG;
if (MOTEURS_EtatMoteurGauche.consigne>=0) {
if (MOTEURS_EtatMoteurGauche.commande>255) MOTEURS_EtatMoteurGauche.commande=255;
if (MOTEURS_EtatMoteurGauche.commande<0) MOTEURS_EtatMoteurGauche.commande=0;
} else {
if (MOTEURS_EtatMoteurGauche.commande>0) MOTEURS_EtatMoteurGauche.commande=0;
if (MOTEURS_EtatMoteurGauche.commande<-255) MOTEURS_EtatMoteurGauche.commande=-255;
}
}
if (deltaD !=0) {
MOTEURS_EtatMoteurDroit.commande = MOTEURS_EtatMoteurDroit.commande + MOTEUR_Kp*deltaD;
if (MOTEURS_EtatMoteurDroit.consigne>=0) {
if (MOTEURS_EtatMoteurDroit.commande>255) MOTEURS_EtatMoteurDroit.commande=255;
if (MOTEURS_EtatMoteurDroit.commande<0) MOTEURS_EtatMoteurDroit.commande=0;
} else {
if (MOTEURS_EtatMoteurDroit.commande>0) MOTEURS_EtatMoteurDroit.commande=0;
if (MOTEURS_EtatMoteurDroit.commande<-255) MOTEURS_EtatMoteurDroit.commande=-255;
}
}
MOTEURS_Set(MOTEURS_EtatMoteurGauche.commande, MOTEURS_EtatMoteurDroit.commande);
}
}
/**
*
@ -60,157 +233,143 @@ GPIO_PinState MOTEURS_EtatAlim(void) {
return HAL_GPIO_ReadPin(GPIOB, SHUTDOWN_5V_Pin);
}
int16_t MOTEUR_LireEncodeursGauche(void) {
uint16_t loc_val= htim21.Instance->CNT;
uint16_t overflow = htim21.Instance->SR;
int16_t val_end;
/**
* @brief Active les encodeurs et le régulateur des moteur si nécessaire et
* règle la commande du moteur (entre -MOTEURS_MAX_CONSIGNE et +MOTEURS_MAX_CONSIGNE)
*/
void MOTEURS_Set(int16_t cmdGauche, int16_t cmdDroit) {
uint8_t locValGauche, locValDroit;
htim21.Instance->SR = htim21.Instance->SR & ~(TIM_SR_UIF);
if (overflow & TIM_SR_UIF) {
val_end = 0xFFFF-loc_val + MOTEUR_DerniereValEncodeursG;
if (cmdGauche>=0) {
if (cmdGauche>MOTEURS_MAX_CONSIGNE)
locValGauche = MOTEURS_MAX_CONSIGNE;
else
locValGauche =(uint8_t)cmdGauche;
} else {
val_end = MOTEUR_DerniereValEncodeursG-loc_val;
if (cmdGauche < -MOTEURS_MAX_CONSIGNE)
locValGauche = MOTEURS_MAX_CONSIGNE;
else
locValGauche =(uint8_t)(-cmdGauche);
}
MOTEUR_DerniereValEncodeursG = loc_val;
return val_end;
}
int16_t MOTEUR_LireEncodeursDroit(void) {
// uint16_t loc_val= hlptim1.Instance->CNT;
// uint32_t status = hlptim1.Instance->ISR;
// int16_t val_end;
//
// hlptim1.Instance->ICR=0xFF; // refait descendre les flags ISR
//
// if (status & LPTIM_ISR_ARRM) {
// val_end = 0xFFFF-loc_val + MOTEUR_DerniereValEncodeursD;
// } else {
// val_end = MOTEUR_DerniereValEncodeursD-loc_val;
// }
//
// val_end= -val_end;
//
// MOTEUR_DerniereValEncodeursD = loc_val;
// return val_end;
return 0;
}
/**
*
*/
void MOTEURS_Init(void) {
/* Desactive les alimentations des moteurs */
MOTEURS_DesactiveAlim();
// /* Lance les timers (timers PWM + timers encodeurs) et regle tout à zero*/
// hlptim1.Instance->CR = LPTIM_CR_ENABLE;
// hlptim1.Instance->CR = LPTIM_CR_ENABLE | LPTIM_CR_CNTSTRT;
// hlptim1.Instance->ARR = 65535;
// hlptim1.Instance->CFGR = LPTIM_CFGR_ENC;
//
// hlptim1.Instance->CNT = 0;
htim21.Instance->ARR = 65535;
htim21.Instance->CR1 = htim21.Instance->CR1 | TIM_CR1_CEN| TIM_CR1_URS;
htim21.Instance->CNT = 0;
htim2.Instance->ARR = 255;
htim2.Instance->CNT = 0;
htim2.Instance->CCR1 = 0;
htim2.Instance->CCR2 = 0;
htim2.Instance->CCR3 = 0;
htim2.Instance->CCR4 = 0;
htim2.Instance->CR1 = htim2.Instance->CR1 | TIM_CR1_CEN;
htim2.Instance->CCER = TIM_CCER_CC1E | TIM_CCER_CC2E | TIM_CCER_CC3E | TIM_CCER_CC4E;
MOTEUR_CmdMoteurG =0;
MOTEUR_CmdMoteurD =0;
MOTEUR_ConsigneMoteurG =0;
MOTEUR_ConsigneMoteurD =0;
}
/**
* @brief Active les encodeurs et le regulateur des moteur si necessaire et
* regle la commande du moteur (entre -255 et +255)
*/
void MOTEURS_Set(uint8_t mot, int16_t val) {
uint8_t loc_val;
if (val>=0) {
if (val>255) loc_val = 255;
else loc_val =(uint8_t)val;
if (cmdDroit>=0) {
if (cmdDroit>MOTEURS_MAX_CONSIGNE)
locValDroit = MOTEURS_MAX_CONSIGNE;
else
locValDroit =(uint8_t)cmdDroit;
} else {
if (val < -255) loc_val = 255;
else loc_val =(uint8_t)(-val);
if (cmdDroit < -MOTEURS_MAX_CONSIGNE)
locValDroit = MOTEURS_MAX_CONSIGNE;
else
locValDroit =(uint8_t)(-cmdDroit);
}
if (MOTEURS_EtatAlim()==GPIO_PIN_RESET)
MOTEURS_ActiveAlim();
if (mot == MOTEUR_DROIT) {
if (val >=0) {
htim2.Instance->CCR1 = (uint16_t)loc_val;
htim2.Instance->CCR2 = 0;
} else {
htim2.Instance->CCR2 = (uint16_t)loc_val;
htim2.Instance->CCR1 = 0;
}
// Moteur droit
if (cmdDroit >=0) {
htim2.Instance->CCR1 = (uint16_t)locValDroit;
htim2.Instance->CCR2 = 0;
} else {
if (val >=0) {
htim2.Instance->CCR4 = (uint16_t)loc_val;
htim2.Instance->CCR3 = 0;
} else {
htim2.Instance->CCR3 = (uint16_t)loc_val;
htim2.Instance->CCR4 = 0;
}
htim2.Instance->CCR2 = (uint16_t)locValDroit;
htim2.Instance->CCR1 = 0;
}
// Moteur gauche
if (cmdGauche >=0) {
htim2.Instance->CCR4 = (uint16_t)locValGauche;
htim2.Instance->CCR3 = 0;
} else {
htim2.Instance->CCR3 = (uint16_t)locValGauche;
htim2.Instance->CCR4 = 0;
}
}
void MOTEURS_Test (void) {
int16_t deltaG, deltaD =0;
MOTEUR_LireEncodeursGauche();
MOTEUR_LireEncodeursDroit();
while (1) {
HAL_Delay(MOTEUR_DELAY);
MOTEUR_NBImpulsionsG = MOTEUR_LireEncodeursGauche();
MOTEUR_NBImpulsionsD = MOTEUR_LireEncodeursDroit();
deltaG = MOTEUR_ConsigneMoteurG - MOTEUR_NBImpulsionsG;
deltaD = MOTEUR_ConsigneMoteurD - MOTEUR_NBImpulsionsD;
if (((MOTEUR_ConsigneMoteurD ==0) && (MOTEUR_ConsigneMoteurG ==0)) &&
((deltaD==0) && (deltaG==0))) MOTEURS_DesactiveAlim();
else MOTEURS_ActiveAlim();
if (deltaG !=0) {
MOTEUR_CmdMoteurG = MOTEUR_CmdMoteurG + MOTEUR_Kp*deltaG;
if (MOTEUR_ConsigneMoteurG>=0) {
if (MOTEUR_CmdMoteurG>255) MOTEUR_CmdMoteurG=255;
if (MOTEUR_CmdMoteurG<0) MOTEUR_CmdMoteurG=0;
} else {
if (MOTEUR_CmdMoteurG>0) MOTEUR_CmdMoteurG=0;
if (MOTEUR_CmdMoteurG<-255) MOTEUR_CmdMoteurG=-255;
}
MOTEURS_Set(MOTEUR_GAUCHE, MOTEUR_CmdMoteurG);
}
if (deltaD !=0) {
MOTEUR_CmdMoteurD = MOTEUR_CmdMoteurD + MOTEUR_Kp*deltaD;
if (MOTEUR_ConsigneMoteurD>=0) {
if (MOTEUR_CmdMoteurD>255) MOTEUR_CmdMoteurD=255;
if (MOTEUR_CmdMoteurD<0) MOTEUR_CmdMoteurD=0;
} else {
if (MOTEUR_CmdMoteurD>0) MOTEUR_CmdMoteurD=0;
if (MOTEUR_CmdMoteurD<-255) MOTEUR_CmdMoteurD=-255;
}
MOTEURS_Set(MOTEUR_DROIT, MOTEUR_CmdMoteurD);
}
/*
* @brief Recupere les mesures brutes des encodeurs et les enregistre dans la structure moteur correspondante
*
* @param htim pointeur sur la reference du timer qui generé l'interruption
*/
void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) {
if (htim->Instance==TIM2) { /* moteur gauche */
MOTEURS_EtatMoteurGauche.encodeur = (uint16_t)TIM2->CCR1;
MOTEURS_EtatMoteurGauche.moteurLent = 0;
} else { /* moteur droit */
MOTEURS_EtatMoteurDroit.encodeur = (uint16_t)TIM21->CCR1;
MOTEURS_EtatMoteurDroit.moteurLent = 0;
}
}
/*
* @brief Gestionnaire d'interruption "overflow"
* Lorsque deux interruptions "overflow" sont arrivées sans que l'interruption capture n'arrive,
* cela signifie que le moteur est à l'arret.
* On met la valeur de l'encodeur à MOTEURS_MAX_ENCODEUR
*
* @param htim pointeur sur la reference du timer qui generé l'interruption
*/
void MOTEURS_TimerEncodeurUpdate (TIM_HandleTypeDef *htim) {
if (htim->Instance==TIM2) { /* moteur gauche */
if ((MOTEURS_EtatMoteurGauche.moteurLent++) >=2) {
MOTEURS_EtatMoteurGauche.encodeur = MOTEURS_MAX_ENCODEUR;
MOTEURS_EtatMoteurGauche.moteurLent = 0;
}
} else { /* moteur droit */
if ((MOTEURS_EtatMoteurDroit.moteurLent++) >=2) {
MOTEURS_EtatMoteurDroit.encodeur = MOTEURS_MAX_ENCODEUR;
MOTEURS_EtatMoteurDroit.moteurLent = 0;
}
}
}
typedef struct {
uint16_t encodeur;
uint16_t correction;
} MOTEURS_CorrectionPoint;
#define MOTEURS_MAX_CORRECTION_POINTS 8
const MOTEURS_CorrectionPoint MOTEURS_CorrectionPoints[MOTEURS_MAX_CORRECTION_POINTS]=
{
{MOTEURS_MAX_ENCODEUR-1, 1},
{4000, 50},
{1000, 80},
{500, 200},
{400, 400},
{300, 1000},
{200,3000},
{0,MOTEURS_MAX_ENCODEUR}
};
/*
* @brief Fonction de conversion des valeurs brutes de l'encodeur en valeur linearisées
*
* @param encodeur valeur brute de l'encodeur
* @return valeur linearisée
*/
uint16_t MOTEURS_CorrectionEncodeur(uint16_t encodeur) {
uint16_t correction=0;
uint8_t index=0;
int32_t pente, origine;
if (encodeur ==MOTEURS_MAX_ENCODEUR)
correction =0;
else { // recherche par dichotomie de l'intervale
while (index <MOTEURS_MAX_CORRECTION_POINTS) {
if ((MOTEURS_CorrectionPoints[index].encodeur>=encodeur) && (MOTEURS_CorrectionPoints[index+1].encodeur<encodeur)) {
// valeur trouvée, on sort
break;
} else
index++;
}
pente = 1000*(MOTEURS_CorrectionPoints[index].encodeur-MOTEURS_CorrectionPoints[index+1].encodeur)/(MOTEURS_CorrectionPoints[index].correction - MOTEURS_CorrectionPoints[index+1].correction);
origine = MOTEURS_CorrectionPoints[index].correction-((pente*MOTEURS_CorrectionPoints[index].encodeur)/1000);
correction = origine - ((pente*encodeur)/1000);
}
return correction;
}

7
software/dumber3/Application/moteurs.h
View file

@ -12,6 +12,11 @@
void MOTEURS_Init(void);
//void MOTEURS_Set(uint8_t mot, int16_t val);
void MOTEURS_Test (void);
//void MOTEURS_Test (void);
void MOTEURS_Avance(uint32_t distance);
void MOTEURS_Tourne(uint32_t tours);
void MOTEURS_Stop(void);
void MOTEURS_TimerEncodeurUpdate (TIM_HandleTypeDef *htim);
#endif /* INC_MOTEURS_H_ */

6
software/dumber3/Core/Inc/FreeRTOSConfig.h
View file

@ -51,7 +51,6 @@
#if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
#include <stdint.h>
extern uint32_t SystemCoreClock;
void xPortSysTickHandler(void);
#endif
#define configENABLE_FPU 0
#define configENABLE_MPU 0
@ -91,6 +90,9 @@
#define configTIMER_QUEUE_LENGTH 10
#define configTIMER_TASK_STACK_DEPTH 256
/* The following flag must be enabled only when using newlib */
#define configUSE_NEWLIB_REENTRANT 1
/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */
#define INCLUDE_vTaskPrioritySet 1
@ -131,7 +133,7 @@ standard names. */
/* IMPORTANT: This define is commented when used with STM32Cube firmware, when the timebase source is SysTick,
to prevent overwriting SysTick_Handler defined within STM32Cube HAL */
/* #define xPortSysTickHandler SysTick_Handler */
#define xPortSysTickHandler SysTick_Handler
/* USER CODE BEGIN Defines */
/* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */

2
software/dumber3/Core/Inc/main.h
View file

@ -67,7 +67,7 @@ void Error_Handler(void);
#define ENC_PHA_GAUCHE_GPIO_Port GPIOA
#define ENC_PHA_DROIT_Pin GPIO_PIN_2
#define ENC_PHA_DROIT_GPIO_Port GPIOA
#define ENC_PHB_DROIT_Pin GPIO_PIN_3
#define ENC_PHB_DROIT_Pin GPIO_PIN_4
#define ENC_PHB_DROIT_GPIO_Port GPIOA
#define ENC_PHB_GAUCHE_Pin GPIO_PIN_5
#define ENC_PHB_GAUCHE_GPIO_Port GPIOA

2
software/dumber3/Core/Inc/stm32l0xx_hal_conf.h
View file

@ -47,7 +47,7 @@
/*#define HAL_I2S_MODULE_ENABLED */
/*#define HAL_IWDG_MODULE_ENABLED */
/*#define HAL_LCD_MODULE_ENABLED */
#define HAL_LPTIM_MODULE_ENABLED
/*#define HAL_LPTIM_MODULE_ENABLED */
/*#define HAL_RNG_MODULE_ENABLED */
/*#define HAL_RTC_MODULE_ENABLED */
/*#define HAL_SPI_MODULE_ENABLED */

5
software/dumber3/Core/Inc/stm32l0xx_it.h
View file

@ -49,12 +49,13 @@
/* Exported functions prototypes ---------------------------------------------*/
void NMI_Handler(void);
void HardFault_Handler(void);
void SysTick_Handler(void);
void EXTI2_3_IRQHandler(void);
void EXTI4_15_IRQHandler(void);
void DMA1_Channel2_3_IRQHandler(void);
void ADC1_COMP_IRQHandler(void);
void LPTIM1_IRQHandler(void);
void TIM2_IRQHandler(void);
void TIM6_IRQHandler(void);
void TIM21_IRQHandler(void);
void LPUART1_IRQHandler(void);
/* USER CODE BEGIN EFP */

219
software/dumber3/Core/Src/main.c
View file

@ -44,8 +44,6 @@
/* Private variables ---------------------------------------------------------*/
ADC_HandleTypeDef hadc;
LPTIM_HandleTypeDef hlptim1;
UART_HandleTypeDef hlpuart1;
DMA_HandleTypeDef hdma_lpuart1_tx;
DMA_HandleTypeDef hdma_lpuart1_rx;
@ -53,6 +51,7 @@ DMA_HandleTypeDef hdma_lpuart1_rx;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim21;
TIM_HandleTypeDef htim22;
/* Definitions for defaultTask */
osThreadId_t defaultTaskHandle;
@ -74,7 +73,7 @@ static void MX_TIM2_Init(void);
static void MX_TIM3_Init(void);
static void MX_TIM21_Init(void);
static void MX_ADC_Init(void);
static void MX_LPTIM1_Init(void);
static void MX_TIM22_Init(void);
void StartDefaultTask(void *argument);
/* USER CODE BEGIN PFP */
@ -120,7 +119,7 @@ int main(void)
MX_TIM3_Init();
MX_TIM21_Init();
MX_ADC_Init();
MX_LPTIM1_Init();
MX_TIM22_Init();
/* USER CODE BEGIN 2 */
APPLICATION_Init();
/* USER CODE END 2 */
@ -214,10 +213,8 @@ void SystemClock_Config(void)
{
Error_Handler();
}
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_LPUART1|RCC_PERIPHCLK_LPTIM1;
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_LPUART1;
PeriphClkInit.Lpuart1ClockSelection = RCC_LPUART1CLKSOURCE_PCLK1;
PeriphClkInit.LptimClockSelection = RCC_LPTIM1CLKSOURCE_PCLK;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
Error_Handler();
@ -280,38 +277,6 @@ static void MX_ADC_Init(void)
}
/**
* @brief LPTIM1 Initialization Function
* @param None
* @retval None
*/
static void MX_LPTIM1_Init(void)
{
/* USER CODE BEGIN LPTIM1_Init 0 */
/* USER CODE END LPTIM1_Init 0 */
/* USER CODE BEGIN LPTIM1_Init 1 */
/* USER CODE END LPTIM1_Init 1 */
hlptim1.Instance = LPTIM1;
hlptim1.Init.Clock.Source = LPTIM_CLOCKSOURCE_APBCLOCK_LPOSC;
hlptim1.Init.Clock.Prescaler = LPTIM_PRESCALER_DIV1;
hlptim1.Init.Trigger.Source = LPTIM_TRIGSOURCE_SOFTWARE;
hlptim1.Init.OutputPolarity = LPTIM_OUTPUTPOLARITY_HIGH;
hlptim1.Init.UpdateMode = LPTIM_UPDATE_IMMEDIATE;
hlptim1.Init.CounterSource = LPTIM_COUNTERSOURCE_INTERNAL;
if (HAL_LPTIM_Init(&hlptim1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN LPTIM1_Init 2 */
/* USER CODE END LPTIM1_Init 2 */
}
/**
* @brief LPUART1 Initialization Function
* @param None
@ -358,28 +323,53 @@ static void MX_TIM2_Init(void)
/* USER CODE END TIM2_Init 0 */
TIM_Encoder_InitTypeDef sConfig = {0};
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_SlaveConfigTypeDef sSlaveConfig = {0};
TIM_IC_InitTypeDef sConfigIC = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
/* USER CODE BEGIN TIM2_Init 1 */
/* USER CODE END TIM2_Init 1 */
htim2.Instance = TIM2;
htim2.Init.Prescaler = 0;
htim2.Init.Prescaler = 9;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 65535;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sConfig.IC1Filter = 0;
sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sConfig.IC2Filter = 0;
if (HAL_TIM_Encoder_Init(&htim2, &sConfig) != HAL_OK)
if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_IC_Init(&htim2) != HAL_OK)
{
Error_Handler();
}
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_RESET;
sSlaveConfig.InputTrigger = TIM_TS_TI1FP1;
sSlaveConfig.TriggerPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
sSlaveConfig.TriggerPrescaler = TIM_ICPSC_DIV1;
sSlaveConfig.TriggerFilter = 0;
if (HAL_TIM_SlaveConfigSynchro(&htim2, &sSlaveConfig) != HAL_OK)
{
Error_Handler();
}
sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
sConfigIC.ICFilter = 0;
if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_FALLING;
sConfigIC.ICSelection = TIM_ICSELECTION_INDIRECTTI;
if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
@ -417,7 +407,7 @@ static void MX_TIM3_Init(void)
htim3.Instance = TIM3;
htim3.Init.Prescaler = 0;
htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
htim3.Init.Period = 65535;
htim3.Init.Period = 199;
htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
@ -482,28 +472,53 @@ static void MX_TIM21_Init(void)
/* USER CODE END TIM21_Init 0 */
TIM_Encoder_InitTypeDef sConfig = {0};
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_SlaveConfigTypeDef sSlaveConfig = {0};
TIM_IC_InitTypeDef sConfigIC = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
/* USER CODE BEGIN TIM21_Init 1 */
/* USER CODE END TIM21_Init 1 */
htim21.Instance = TIM21;
htim21.Init.Prescaler = 0;
htim21.Init.Prescaler = 9;
htim21.Init.CounterMode = TIM_COUNTERMODE_UP;
htim21.Init.Period = 65535;
htim21.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim21.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sConfig.IC1Filter = 0;
sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sConfig.IC2Filter = 0;
if (HAL_TIM_Encoder_Init(&htim21, &sConfig) != HAL_OK)
if (HAL_TIM_Base_Init(&htim21) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim21, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_IC_Init(&htim21) != HAL_OK)
{
Error_Handler();
}
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_RESET;
sSlaveConfig.InputTrigger = TIM_TS_TI1FP1;
sSlaveConfig.TriggerPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
sSlaveConfig.TriggerPrescaler = TIM_ICPSC_DIV1;
sSlaveConfig.TriggerFilter = 0;
if (HAL_TIM_SlaveConfigSynchro(&htim21, &sSlaveConfig) != HAL_OK)
{
Error_Handler();
}
sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
sConfigIC.ICFilter = 0;
if (HAL_TIM_IC_ConfigChannel(&htim21, &sConfigIC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_FALLING;
sConfigIC.ICSelection = TIM_ICSELECTION_INDIRECTTI;
if (HAL_TIM_IC_ConfigChannel(&htim21, &sConfigIC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
@ -519,6 +534,54 @@ static void MX_TIM21_Init(void)
}
/**
* @brief TIM22 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM22_Init(void)
{
/* USER CODE BEGIN TIM22_Init 0 */
/* USER CODE END TIM22_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
/* USER CODE BEGIN TIM22_Init 1 */
/* USER CODE END TIM22_Init 1 */
htim22.Instance = TIM22;
htim22.Init.Prescaler = 0;
htim22.Init.CounterMode = TIM_COUNTERMODE_UP;
htim22.Init.Period = 65535;
htim22.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim22.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim22) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_ETRMODE2;
sClockSourceConfig.ClockPolarity = TIM_CLOCKPOLARITY_NONINVERTED;
sClockSourceConfig.ClockPrescaler = TIM_CLOCKPRESCALER_DIV1;
sClockSourceConfig.ClockFilter = 0;
if (HAL_TIM_ConfigClockSource(&htim22, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim22, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM22_Init 2 */
/* USER CODE END TIM22_Init 2 */
}
/**
* Enable DMA controller clock
*/
@ -558,6 +621,12 @@ static void MX_GPIO_Init(void)
HAL_GPIO_WritePin(GPIOA, LED_SEG_D_Pin|LED_SEG_E_Pin|XBEE_RESET_Pin|LED_SEG_F_Pin
|LED_SEG_G_Pin|LED_SEG_DP_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : ENC_PHA_GAUCHE_Pin */
GPIO_InitStruct.Pin = ENC_PHA_GAUCHE_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(ENC_PHA_GAUCHE_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : LED_SEG_A_Pin LED_SEG_B_Pin LED_SEG_C_Pin SHUTDOWN_ENCODERS_Pin
SHUTDOWN_5V_Pin */
GPIO_InitStruct.Pin = LED_SEG_A_Pin|LED_SEG_B_Pin|LED_SEG_C_Pin|SHUTDOWN_ENCODERS_Pin
@ -652,6 +721,28 @@ void StartDefaultTask(void *argument)
/* USER CODE END 5 */
}
/**
* @brief Period elapsed callback in non blocking mode
* @note This function is called when TIM6 interrupt took place, inside
* HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
* a global variable "uwTick" used as application time base.
* @param htim : TIM handle
* @retval None
*/
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
/* USER CODE BEGIN Callback 0 */
/* USER CODE END Callback 0 */
if (htim->Instance == TIM6) {
HAL_IncTick();
}
/* USER CODE BEGIN Callback 1 */
if ((htim->Instance == TIM2) || (htim->Instance == TIM21)) /* Timers des encodeurs */
MOTEURS_TimerEncodeurUpdate(htim);
/* USER CODE END Callback 1 */
}
/**
* @brief This function is executed in case of error occurrence.
* @retval None

209
software/dumber3/Core/Src/stm32l0xx_hal_msp.c
View file

@ -150,56 +150,6 @@ void HAL_ADC_MspDeInit(ADC_HandleTypeDef* hadc)
}
/**
* @brief LPTIM MSP Initialization
* This function configures the hardware resources used in this example
* @param hlptim: LPTIM handle pointer
* @retval None
*/
void HAL_LPTIM_MspInit(LPTIM_HandleTypeDef* hlptim)
{
if(hlptim->Instance==LPTIM1)
{
/* USER CODE BEGIN LPTIM1_MspInit 0 */
/* USER CODE END LPTIM1_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_LPTIM1_CLK_ENABLE();
/* LPTIM1 interrupt Init */
HAL_NVIC_SetPriority(LPTIM1_IRQn, 3, 0);
HAL_NVIC_EnableIRQ(LPTIM1_IRQn);
/* USER CODE BEGIN LPTIM1_MspInit 1 */
/* USER CODE END LPTIM1_MspInit 1 */
}
}
/**
* @brief LPTIM MSP De-Initialization
* This function freeze the hardware resources used in this example
* @param hlptim: LPTIM handle pointer
* @retval None
*/
void HAL_LPTIM_MspDeInit(LPTIM_HandleTypeDef* hlptim)
{
if(hlptim->Instance==LPTIM1)
{
/* USER CODE BEGIN LPTIM1_MspDeInit 0 */
/* USER CODE END LPTIM1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_LPTIM1_CLK_DISABLE();
/* LPTIM1 interrupt DeInit */
HAL_NVIC_DisableIRQ(LPTIM1_IRQn);
/* USER CODE BEGIN LPTIM1_MspDeInit 1 */
/* USER CODE END LPTIM1_MspDeInit 1 */
}
}
/**
* @brief UART MSP Initialization
* This function configures the hardware resources used in this example
@ -225,7 +175,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
GPIO_InitStruct.Pin = USART_TX_Pin|USART_RX_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF4_LPUART1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
@ -310,15 +260,15 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
}
/**
* @brief TIM_Encoder MSP Initialization
* @brief TIM_Base MSP Initialization
* This function configures the hardware resources used in this example
* @param htim_encoder: TIM_Encoder handle pointer
* @param htim_base: TIM_Base handle pointer
* @retval None
*/
void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* htim_encoder)
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(htim_encoder->Instance==TIM2)
if(htim_base->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspInit 0 */
@ -328,16 +278,8 @@ void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* htim_encoder)
__HAL_RCC_GPIOA_CLK_ENABLE();
/**TIM2 GPIO Configuration
PA1 ------> TIM2_CH2
PA5 ------> TIM2_CH1
*/
GPIO_InitStruct.Pin = ENC_PHA_GAUCHE_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM2;
HAL_GPIO_Init(ENC_PHA_GAUCHE_GPIO_Port, &GPIO_InitStruct);
GPIO_InitStruct.Pin = ENC_PHB_GAUCHE_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
@ -345,11 +287,25 @@ void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* htim_encoder)
GPIO_InitStruct.Alternate = GPIO_AF5_TIM2;
HAL_GPIO_Init(ENC_PHB_GAUCHE_GPIO_Port, &GPIO_InitStruct);
/* TIM2 interrupt Init */
HAL_NVIC_SetPriority(TIM2_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(TIM2_IRQn);
/* USER CODE BEGIN TIM2_MspInit 1 */
/* USER CODE END TIM2_MspInit 1 */
}
else if(htim_encoder->Instance==TIM21)
else if(htim_base->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspInit 0 */
/* USER CODE END TIM3_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM3_CLK_ENABLE();
/* USER CODE BEGIN TIM3_MspInit 1 */
/* USER CODE END TIM3_MspInit 1 */
}
else if(htim_base->Instance==TIM21)
{
/* USER CODE BEGIN TIM21_MspInit 0 */
@ -360,40 +316,43 @@ void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* htim_encoder)
__HAL_RCC_GPIOA_CLK_ENABLE();
/**TIM21 GPIO Configuration
PA2 ------> TIM21_CH1
PA3 ------> TIM21_CH2
*/
GPIO_InitStruct.Pin = ENC_PHA_DROIT_Pin|ENC_PHB_DROIT_Pin;
GPIO_InitStruct.Pin = ENC_PHA_DROIT_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF0_TIM21;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
HAL_GPIO_Init(ENC_PHA_DROIT_GPIO_Port, &GPIO_InitStruct);
/* TIM21 interrupt Init */
HAL_NVIC_SetPriority(TIM21_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(TIM21_IRQn);
/* USER CODE BEGIN TIM21_MspInit 1 */
/* USER CODE END TIM21_MspInit 1 */
}
}
/**
* @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==TIM3)
else if(htim_base->Instance==TIM22)
{
/* USER CODE BEGIN TIM3_MspInit 0 */
/* USER CODE BEGIN TIM22_MspInit 0 */
/* USER CODE END TIM3_MspInit 0 */
/* USER CODE END TIM22_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM3_CLK_ENABLE();
/* USER CODE BEGIN TIM3_MspInit 1 */
__HAL_RCC_TIM22_CLK_ENABLE();
/* USER CODE END TIM3_MspInit 1 */
__HAL_RCC_GPIOA_CLK_ENABLE();
/**TIM22 GPIO Configuration
PA4 ------> TIM22_ETR
*/
GPIO_InitStruct.Pin = ENC_PHB_DROIT_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF5_TIM22;
HAL_GPIO_Init(ENC_PHB_DROIT_GPIO_Port, &GPIO_InitStruct);
/* USER CODE BEGIN TIM22_MspInit 1 */
/* USER CODE END TIM22_MspInit 1 */
}
}
@ -425,7 +384,7 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
GPIO_InitStruct.Pin = PWM_A_DROIT_Pin|PWM_B_DROIT_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
@ -436,14 +395,14 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
}
/**
* @brief TIM_Encoder MSP De-Initialization
* @brief TIM_Base MSP De-Initialization
* This function freeze the hardware resources used in this example
* @param htim_encoder: TIM_Encoder handle pointer
* @param htim_base: TIM_Base handle pointer
* @retval None
*/
void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* htim_encoder)
void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
{
if(htim_encoder->Instance==TIM2)
if(htim_base->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspDeInit 0 */
@ -452,45 +411,17 @@ void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* htim_encoder)
__HAL_RCC_TIM2_CLK_DISABLE();
/**TIM2 GPIO Configuration
PA1 ------> TIM2_CH2
PA5 ------> TIM2_CH1
*/
HAL_GPIO_DeInit(GPIOA, ENC_PHA_GAUCHE_Pin|ENC_PHB_GAUCHE_Pin);
HAL_GPIO_DeInit(ENC_PHB_GAUCHE_GPIO_Port, ENC_PHB_GAUCHE_Pin);
/* TIM2 interrupt DeInit */
HAL_NVIC_DisableIRQ(TIM2_IRQn);
/* USER CODE BEGIN TIM2_MspDeInit 1 */
/* USER CODE END TIM2_MspDeInit 1 */
}
else if(htim_encoder->Instance==TIM21)
{
/* USER CODE BEGIN TIM21_MspDeInit 0 */
/* USER CODE END TIM21_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM21_CLK_DISABLE();
/**TIM21 GPIO Configuration
PA2 ------> TIM21_CH1
PA3 ------> TIM21_CH2
*/
HAL_GPIO_DeInit(GPIOA, ENC_PHA_DROIT_Pin|ENC_PHB_DROIT_Pin);
/* USER CODE BEGIN TIM21_MspDeInit 1 */
/* USER CODE END TIM21_MspDeInit 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==TIM3)
else if(htim_base->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspDeInit 0 */
@ -501,6 +432,42 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
/* USER CODE END TIM3_MspDeInit 1 */
}
else if(htim_base->Instance==TIM21)
{
/* USER CODE BEGIN TIM21_MspDeInit 0 */
/* USER CODE END TIM21_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM21_CLK_DISABLE();
/**TIM21 GPIO Configuration
PA2 ------> TIM21_CH1
*/
HAL_GPIO_DeInit(ENC_PHA_DROIT_GPIO_Port, ENC_PHA_DROIT_Pin);
/* TIM21 interrupt DeInit */
HAL_NVIC_DisableIRQ(TIM21_IRQn);
/* USER CODE BEGIN TIM21_MspDeInit 1 */
/* USER CODE END TIM21_MspDeInit 1 */
}
else if(htim_base->Instance==TIM22)
{
/* USER CODE BEGIN TIM22_MspDeInit 0 */
/* USER CODE END TIM22_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM22_CLK_DISABLE();
/**TIM22 GPIO Configuration
PA4 ------> TIM22_ETR
*/
HAL_GPIO_DeInit(ENC_PHB_DROIT_GPIO_Port, ENC_PHB_DROIT_Pin);
/* USER CODE BEGIN TIM22_MspDeInit 1 */
/* USER CODE END TIM22_MspDeInit 1 */
}
}

137
software/dumber3/Core/Src/stm32l0xx_hal_timebase_tim.c Normal file
View file

@ -0,0 +1,137 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32l0xx_hal_timebase_TIM.c
* @brief HAL time base based on the hardware TIM.
******************************************************************************
* @attention
*
* Copyright (c) 2023 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 "stm32l0xx_hal.h"
#include "stm32l0xx_hal_tim.h"
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
TIM_HandleTypeDef htim6;
/* Private function prototypes -----------------------------------------------*/
/* Private functions ---------------------------------------------------------*/
/**
* @brief This function configures the TIM6 as a time base source.
* The time source is configured to have 1ms time base with a dedicated
* Tick interrupt priority.
* @note This function is called automatically at the beginning of program after
* reset by HAL_Init() or at any time when clock is configured, by HAL_RCC_ClockConfig().
* @param TickPriority: Tick interrupt priority.
* @retval HAL status
*/
HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
{
RCC_ClkInitTypeDef clkconfig;
uint32_t uwTimclock, uwAPB1Prescaler;
uint32_t uwPrescalerValue;
uint32_t pFLatency;
HAL_StatusTypeDef status;
/*Configure the TIM6 IRQ priority */
HAL_NVIC_SetPriority(TIM6_IRQn, TickPriority ,0);
/* Enable the TIM6 global Interrupt */
HAL_NVIC_EnableIRQ(TIM6_IRQn);
/* Enable TIM6 clock */
__HAL_RCC_TIM6_CLK_ENABLE();
/* Get clock configuration */
HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);
/* Get APB1 prescaler */
uwAPB1Prescaler = clkconfig.APB1CLKDivider;
/* Compute TIM6 clock */
if (uwAPB1Prescaler == RCC_HCLK_DIV1)
{
uwTimclock = HAL_RCC_GetPCLK1Freq();
}
else
{
uwTimclock = 2UL * HAL_RCC_GetPCLK1Freq();
}
/* Compute the prescaler value to have TIM6 counter clock equal to 1MHz */
uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000U) - 1U);
/* Initialize TIM6 */
htim6.Instance = TIM6;
/* Initialize TIMx peripheral as follow:
+ Period = [(TIM6CLK/1000) - 1]. to have a (1/1000) s time base.
+ Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock.
+ ClockDivision = 0
+ Counter direction = Up
*/
htim6.Init.Period = (1000000U / 1000U) - 1U;
htim6.Init.Prescaler = uwPrescalerValue;
htim6.Init.ClockDivision = 0;
htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
status = HAL_TIM_Base_Init(&htim6);
if (status == HAL_OK)
{
/* Start the TIM time Base generation in interrupt mode */
status = HAL_TIM_Base_Start_IT(&htim6);
if (status == HAL_OK)
{
if (TickPriority < (1UL << __NVIC_PRIO_BITS))
{
/* Configure the TIM IRQ priority */
HAL_NVIC_SetPriority(TIM6_IRQn, TickPriority, 0U);
uwTickPrio = TickPriority;
}
else
{
status = HAL_ERROR;
}
}
}
/* Return function status */
return status;
}
/**
* @brief Suspend Tick increment.
* @note Disable the tick increment by disabling TIM6 update interrupt.
* @param None
* @retval None
*/
void HAL_SuspendTick(void)
{
/* Disable TIM6 update Interrupt */
__HAL_TIM_DISABLE_IT(&htim6, TIM_IT_UPDATE);
}
/**
* @brief Resume Tick increment.
* @note Enable the tick increment by Enabling TIM6 update interrupt.
* @param None
* @retval None
*/
void HAL_ResumeTick(void)
{
/* Enable TIM6 Update interrupt */
__HAL_TIM_ENABLE_IT(&htim6, TIM_IT_UPDATE);
}

71
software/dumber3/Core/Src/stm32l0xx_it.c
View file

@ -21,8 +21,6 @@
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32l0xx_it.h"
#include "FreeRTOS.h"
#include "task.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
@ -59,10 +57,13 @@
/* External variables --------------------------------------------------------*/
extern ADC_HandleTypeDef hadc;
extern LPTIM_HandleTypeDef hlptim1;
extern DMA_HandleTypeDef hdma_lpuart1_tx;
extern DMA_HandleTypeDef hdma_lpuart1_rx;
extern UART_HandleTypeDef hlpuart1;
extern TIM_HandleTypeDef htim2;
extern TIM_HandleTypeDef htim21;
extern TIM_HandleTypeDef htim6;
/* USER CODE BEGIN EV */
/* USER CODE END EV */
@ -100,28 +101,6 @@ void HardFault_Handler(void)
}
}
/**
* @brief This function handles System tick timer.
*/
void SysTick_Handler(void)
{
/* USER CODE BEGIN SysTick_IRQn 0 */
/* USER CODE END SysTick_IRQn 0 */
HAL_IncTick();
#if (INCLUDE_xTaskGetSchedulerState == 1 )
if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED)
{
#endif /* INCLUDE_xTaskGetSchedulerState */
xPortSysTickHandler();
#if (INCLUDE_xTaskGetSchedulerState == 1 )
}
#endif /* INCLUDE_xTaskGetSchedulerState */
/* USER CODE BEGIN SysTick_IRQn 1 */
/* USER CODE END SysTick_IRQn 1 */
}
/******************************************************************************/
/* STM32L0xx Peripheral Interrupt Handlers */
/* Add here the Interrupt Handlers for the used peripherals. */
@ -187,17 +166,45 @@ void ADC1_COMP_IRQHandler(void)
}
/**
* @brief This function handles LPTIM1 global interrupt / LPTIM1 wake-up interrupt through EXTI line 29.
* @brief This function handles TIM2 global interrupt.
*/
void LPTIM1_IRQHandler(void)
void TIM2_IRQHandler(void)
{
/* USER CODE BEGIN LPTIM1_IRQn 0 */
/* USER CODE BEGIN TIM2_IRQn 0 */
/* USER CODE END LPTIM1_IRQn 0 */
HAL_LPTIM_IRQHandler(&hlptim1);
/* USER CODE BEGIN LPTIM1_IRQn 1 */
/* USER CODE END TIM2_IRQn 0 */
HAL_TIM_IRQHandler(&htim2);
/* USER CODE BEGIN TIM2_IRQn 1 */
/* USER CODE END LPTIM1_IRQn 1 */
/* USER CODE END TIM2_IRQn 1 */
}
/**
* @brief This function handles TIM6 global interrupt.
*/
void TIM6_IRQHandler(void)
{
/* USER CODE BEGIN TIM6_IRQn 0 */
/* USER CODE END TIM6_IRQn 0 */
HAL_TIM_IRQHandler(&htim6);
/* USER CODE BEGIN TIM6_IRQn 1 */
/* USER CODE END TIM6_IRQn 1 */
}
/**
* @brief This function handles TIM21 global interrupt.
*/
void TIM21_IRQHandler(void)
{
/* USER CODE BEGIN TIM21_IRQn 0 */
/* USER CODE END TIM21_IRQn 0 */
HAL_TIM_IRQHandler(&htim21);
/* USER CODE BEGIN TIM21_IRQn 1 */
/* USER CODE END TIM21_IRQn 1 */
}
/**

771
software/dumber3/Drivers/STM32L0xx_HAL_Driver/Inc/stm32l0xx_hal_lptim.h
View file

@ -1,771 +0,0 @@
/**
******************************************************************************
* @file stm32l0xx_hal_lptim.h
* @author MCD Application Team
* @brief Header file of LPTIM HAL module.
******************************************************************************
* @attention
*
* Copyright (c) 2016 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.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef STM32L0xx_HAL_LPTIM_H
#define STM32L0xx_HAL_LPTIM_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32l0xx_hal_def.h"
/** @addtogroup STM32L0xx_HAL_Driver
* @{
*/
#if defined (LPTIM1)
/** @addtogroup LPTIM
* @{
*/
/* Exported types ------------------------------------------------------------*/
/** @defgroup LPTIM_Exported_Types LPTIM Exported Types
* @{
*/
#define LPTIM_EXTI_LINE_WAKEUPTIMER_EVENT EXTI_IMR_IM29 /*!< External interrupt line 29 Connected to the LPTIM EXTI Line */
/**
* @brief LPTIM Clock configuration definition
*/
typedef struct
{
uint32_t Source; /*!< Selects the clock source.
This parameter can be a value of @ref LPTIM_Clock_Source */
uint32_t Prescaler; /*!< Specifies the counter clock Prescaler.
This parameter can be a value of @ref LPTIM_Clock_Prescaler */
} LPTIM_ClockConfigTypeDef;
/**
* @brief LPTIM Clock configuration definition
*/
typedef struct
{
uint32_t Polarity; /*!< Selects the polarity of the active edge for the counter unit
if the ULPTIM input is selected.
Note: This parameter is used only when Ultra low power clock source is used.
Note: If the polarity is configured on 'both edges', an auxiliary clock
(one of the Low power oscillator) must be active.
This parameter can be a value of @ref LPTIM_Clock_Polarity */
uint32_t SampleTime; /*!< Selects the clock sampling time to configure the clock glitch filter.
Note: This parameter is used only when Ultra low power clock source is used.
This parameter can be a value of @ref LPTIM_Clock_Sample_Time */
} LPTIM_ULPClockConfigTypeDef;
/**
* @brief LPTIM Trigger configuration definition
*/
typedef struct
{
uint32_t Source; /*!< Selects the Trigger source.
This parameter can be a value of @ref LPTIM_Trigger_Source */
uint32_t ActiveEdge; /*!< Selects the Trigger active edge.
Note: This parameter is used only when an external trigger is used.
This parameter can be a value of @ref LPTIM_External_Trigger_Polarity */
uint32_t SampleTime; /*!< Selects the trigger sampling time to configure the clock glitch filter.
Note: This parameter is used only when an external trigger is used.
This parameter can be a value of @ref LPTIM_Trigger_Sample_Time */
} LPTIM_TriggerConfigTypeDef;
/**
* @brief LPTIM Initialization Structure definition
*/
typedef struct
{
LPTIM_ClockConfigTypeDef Clock; /*!< Specifies the clock parameters */
LPTIM_ULPClockConfigTypeDef UltraLowPowerClock;/*!< Specifies the Ultra Low Power clock parameters */
LPTIM_TriggerConfigTypeDef Trigger; /*!< Specifies the Trigger parameters */
uint32_t OutputPolarity; /*!< Specifies the Output polarity.
This parameter can be a value of @ref LPTIM_Output_Polarity */
uint32_t UpdateMode; /*!< Specifies whether the update of the autoreload and the compare
values is done immediately or after the end of current period.
This parameter can be a value of @ref LPTIM_Updating_Mode */
uint32_t CounterSource; /*!< Specifies whether the counter is incremented each internal event
or each external event.
This parameter can be a value of @ref LPTIM_Counter_Source */
} LPTIM_InitTypeDef;
/**
* @brief HAL LPTIM State structure definition
*/
typedef enum
{
HAL_LPTIM_STATE_RESET = 0x00U, /*!< Peripheral not yet initialized or disabled */
HAL_LPTIM_STATE_READY = 0x01U, /*!< Peripheral Initialized and ready for use */
HAL_LPTIM_STATE_BUSY = 0x02U, /*!< An internal process is ongoing */
HAL_LPTIM_STATE_TIMEOUT = 0x03U, /*!< Timeout state */
HAL_LPTIM_STATE_ERROR = 0x04U /*!< Internal Process is ongoing */
} HAL_LPTIM_StateTypeDef;
/**
* @brief LPTIM handle Structure definition
*/
#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1)
typedef struct __LPTIM_HandleTypeDef
#else
typedef struct
#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */
{
LPTIM_TypeDef *Instance; /*!< Register base address */
LPTIM_InitTypeDef Init; /*!< LPTIM required parameters */
HAL_StatusTypeDef Status; /*!< LPTIM peripheral status */
HAL_LockTypeDef Lock; /*!< LPTIM locking object */
__IO HAL_LPTIM_StateTypeDef State; /*!< LPTIM peripheral state */
#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1)
void (* MspInitCallback)(struct __LPTIM_HandleTypeDef *hlptim); /*!< LPTIM Base Msp Init Callback */
void (* MspDeInitCallback)(struct __LPTIM_HandleTypeDef *hlptim); /*!< LPTIM Base Msp DeInit Callback */
void (* CompareMatchCallback)(struct __LPTIM_HandleTypeDef *hlptim); /*!< Compare match Callback */
void (* AutoReloadMatchCallback)(struct __LPTIM_HandleTypeDef *hlptim); /*!< Auto-reload match Callback */
void (* TriggerCallback)(struct __LPTIM_HandleTypeDef *hlptim); /*!< External trigger event detection Callback */
void (* CompareWriteCallback)(struct __LPTIM_HandleTypeDef *hlptim); /*!< Compare register write complete Callback */
void (* AutoReloadWriteCallback)(struct __LPTIM_HandleTypeDef *hlptim); /*!< Auto-reload register write complete Callback */
void (* DirectionUpCallback)(struct __LPTIM_HandleTypeDef *hlptim); /*!< Up-counting direction change Callback */
void (* DirectionDownCallback)(struct __LPTIM_HandleTypeDef *hlptim); /*!< Down-counting direction change Callback */
#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */
} LPTIM_HandleTypeDef;
#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1)
/**
* @brief HAL LPTIM Callback ID enumeration definition
*/
typedef enum
{
HAL_LPTIM_MSPINIT_CB_ID = 0x00U, /*!< LPTIM Base Msp Init Callback ID */
HAL_LPTIM_MSPDEINIT_CB_ID = 0x01U, /*!< LPTIM Base Msp DeInit Callback ID */
HAL_LPTIM_COMPARE_MATCH_CB_ID = 0x02U, /*!< Compare match Callback ID */
HAL_LPTIM_AUTORELOAD_MATCH_CB_ID = 0x03U, /*!< Auto-reload match Callback ID */
HAL_LPTIM_TRIGGER_CB_ID = 0x04U, /*!< External trigger event detection Callback ID */
HAL_LPTIM_COMPARE_WRITE_CB_ID = 0x05U, /*!< Compare register write complete Callback ID */
HAL_LPTIM_AUTORELOAD_WRITE_CB_ID = 0x06U, /*!< Auto-reload register write complete Callback ID */
HAL_LPTIM_DIRECTION_UP_CB_ID = 0x07U, /*!< Up-counting direction change Callback ID */
HAL_LPTIM_DIRECTION_DOWN_CB_ID = 0x08U, /*!< Down-counting direction change Callback ID */
} HAL_LPTIM_CallbackIDTypeDef;
/**
* @brief HAL TIM Callback pointer definition
*/
typedef void (*pLPTIM_CallbackTypeDef)(LPTIM_HandleTypeDef *hlptim); /*!< pointer to the LPTIM callback function */
#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */
/**
* @}
*/
/* Exported constants --------------------------------------------------------*/
/** @defgroup LPTIM_Exported_Constants LPTIM Exported Constants
* @{
*/
/** @defgroup LPTIM_Clock_Source LPTIM Clock Source
* @{
*/
#define LPTIM_CLOCKSOURCE_APBCLOCK_LPOSC 0x00000000U
#define LPTIM_CLOCKSOURCE_ULPTIM LPTIM_CFGR_CKSEL
/**
* @}
*/
/** @defgroup LPTIM_Clock_Prescaler LPTIM Clock Prescaler
* @{
*/
#define LPTIM_PRESCALER_DIV1 0x00000000U
#define LPTIM_PRESCALER_DIV2 LPTIM_CFGR_PRESC_0
#define LPTIM_PRESCALER_DIV4 LPTIM_CFGR_PRESC_1
#define LPTIM_PRESCALER_DIV8 (LPTIM_CFGR_PRESC_0 | LPTIM_CFGR_PRESC_1)
#define LPTIM_PRESCALER_DIV16 LPTIM_CFGR_PRESC_2
#define LPTIM_PRESCALER_DIV32 (LPTIM_CFGR_PRESC_0 | LPTIM_CFGR_PRESC_2)
#define LPTIM_PRESCALER_DIV64 (LPTIM_CFGR_PRESC_1 | LPTIM_CFGR_PRESC_2)
#define LPTIM_PRESCALER_DIV128 LPTIM_CFGR_PRESC
/**
* @}
*/
/** @defgroup LPTIM_Output_Polarity LPTIM Output Polarity
* @{
*/
#define LPTIM_OUTPUTPOLARITY_HIGH 0x00000000U
#define LPTIM_OUTPUTPOLARITY_LOW LPTIM_CFGR_WAVPOL
/**
* @}
*/
/** @defgroup LPTIM_Clock_Sample_Time LPTIM Clock Sample Time
* @{
*/
#define LPTIM_CLOCKSAMPLETIME_DIRECTTRANSITION 0x00000000U
#define LPTIM_CLOCKSAMPLETIME_2TRANSITIONS LPTIM_CFGR_CKFLT_0
#define LPTIM_CLOCKSAMPLETIME_4TRANSITIONS LPTIM_CFGR_CKFLT_1
#define LPTIM_CLOCKSAMPLETIME_8TRANSITIONS LPTIM_CFGR_CKFLT
/**
* @}
*/
/** @defgroup LPTIM_Clock_Polarity LPTIM Clock Polarity
* @{
*/
#define LPTIM_CLOCKPOLARITY_RISING 0x00000000U
#define LPTIM_CLOCKPOLARITY_FALLING LPTIM_CFGR_CKPOL_0
#define LPTIM_CLOCKPOLARITY_RISING_FALLING LPTIM_CFGR_CKPOL_1
/**
* @}
*/
/** @defgroup LPTIM_Trigger_Source LPTIM Trigger Source
* @{
*/
#define LPTIM_TRIGSOURCE_SOFTWARE 0x0000FFFFU
#define LPTIM_TRIGSOURCE_0 0x00000000U
#define LPTIM_TRIGSOURCE_1 LPTIM_CFGR_TRIGSEL_0
#define LPTIM_TRIGSOURCE_2 LPTIM_CFGR_TRIGSEL_1
#define LPTIM_TRIGSOURCE_3 (LPTIM_CFGR_TRIGSEL_0 | LPTIM_CFGR_TRIGSEL_1)
#define LPTIM_TRIGSOURCE_4 LPTIM_CFGR_TRIGSEL_2
#define LPTIM_TRIGSOURCE_5 (LPTIM_CFGR_TRIGSEL_0 | LPTIM_CFGR_TRIGSEL_2)
#define LPTIM_TRIGSOURCE_6 (LPTIM_CFGR_TRIGSEL_1 | LPTIM_CFGR_TRIGSEL_2)
#define LPTIM_TRIGSOURCE_7 LPTIM_CFGR_TRIGSEL
/**
* @}
*/
/** @defgroup LPTIM_External_Trigger_Polarity LPTIM External Trigger Polarity
* @{
*/
#define LPTIM_ACTIVEEDGE_RISING LPTIM_CFGR_TRIGEN_0
#define LPTIM_ACTIVEEDGE_FALLING LPTIM_CFGR_TRIGEN_1
#define LPTIM_ACTIVEEDGE_RISING_FALLING LPTIM_CFGR_TRIGEN
/**
* @}
*/
/** @defgroup LPTIM_Trigger_Sample_Time LPTIM Trigger Sample Time
* @{
*/
#define LPTIM_TRIGSAMPLETIME_DIRECTTRANSITION 0x00000000U
#define LPTIM_TRIGSAMPLETIME_2TRANSITIONS LPTIM_CFGR_TRGFLT_0
#define LPTIM_TRIGSAMPLETIME_4TRANSITIONS LPTIM_CFGR_TRGFLT_1
#define LPTIM_TRIGSAMPLETIME_8TRANSITIONS LPTIM_CFGR_TRGFLT
/**
* @}
*/
/** @defgroup LPTIM_Updating_Mode LPTIM Updating Mode
* @{
*/
#define LPTIM_UPDATE_IMMEDIATE 0x00000000U
#define LPTIM_UPDATE_ENDOFPERIOD LPTIM_CFGR_PRELOAD
/**
* @}
*/
/** @defgroup LPTIM_Counter_Source LPTIM Counter Source
* @{
*/
#define LPTIM_COUNTERSOURCE_INTERNAL 0x00000000U
#define LPTIM_COUNTERSOURCE_EXTERNAL LPTIM_CFGR_COUNTMODE
/**
* @}
*/
/** @defgroup LPTIM_Flag_Definition LPTIM Flags Definition
* @{
*/
#define LPTIM_FLAG_DOWN LPTIM_ISR_DOWN
#define LPTIM_FLAG_UP LPTIM_ISR_UP
#define LPTIM_FLAG_ARROK LPTIM_ISR_ARROK
#define LPTIM_FLAG_CMPOK LPTIM_ISR_CMPOK
#define LPTIM_FLAG_EXTTRIG LPTIM_ISR_EXTTRIG
#define LPTIM_FLAG_ARRM LPTIM_ISR_ARRM
#define LPTIM_FLAG_CMPM LPTIM_ISR_CMPM
/**
* @}
*/
/** @defgroup LPTIM_Interrupts_Definition LPTIM Interrupts Definition
* @{
*/
#define LPTIM_IT_DOWN LPTIM_IER_DOWNIE
#define LPTIM_IT_UP LPTIM_IER_UPIE
#define LPTIM_IT_ARROK LPTIM_IER_ARROKIE
#define LPTIM_IT_CMPOK LPTIM_IER_CMPOKIE
#define LPTIM_IT_EXTTRIG LPTIM_IER_EXTTRIGIE
#define LPTIM_IT_ARRM LPTIM_IER_ARRMIE
#define LPTIM_IT_CMPM LPTIM_IER_CMPMIE
/**
* @}
*/
/**
* @}
*/
/* Exported macros -----------------------------------------------------------*/
/** @defgroup LPTIM_Exported_Macros LPTIM Exported Macros
* @{
*/
/** @brief Reset LPTIM handle state.
* @param __HANDLE__ LPTIM handle
* @retval None
*/
#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1)
#define __HAL_LPTIM_RESET_HANDLE_STATE(__HANDLE__) do { \
(__HANDLE__)->State = HAL_LPTIM_STATE_RESET; \
(__HANDLE__)->MspInitCallback = NULL; \
(__HANDLE__)->MspDeInitCallback = NULL; \
} while(0)
#else
#define __HAL_LPTIM_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_LPTIM_STATE_RESET)
#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */
/**
* @brief Enable the LPTIM peripheral.
* @param __HANDLE__ LPTIM handle
* @retval None
*/
#define __HAL_LPTIM_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR |= (LPTIM_CR_ENABLE))
/**
* @brief Disable the LPTIM peripheral.
* @param __HANDLE__ LPTIM handle
* @note The following sequence is required to solve LPTIM disable HW limitation.
* Please check Errata Sheet ES0335 for more details under "MCU may remain
* stuck in LPTIM interrupt when entering Stop mode" section.
* @note Please call @ref HAL_LPTIM_GetState() after a call to __HAL_LPTIM_DISABLE to
* check for TIMEOUT.
* @retval None
*/
#define __HAL_LPTIM_DISABLE(__HANDLE__) LPTIM_Disable(__HANDLE__)
/**
* @brief Start the LPTIM peripheral in Continuous mode.
* @param __HANDLE__ LPTIM handle
* @retval None
*/
#define __HAL_LPTIM_START_CONTINUOUS(__HANDLE__) ((__HANDLE__)->Instance->CR |= LPTIM_CR_CNTSTRT)
/**
* @brief Start the LPTIM peripheral in single mode.
* @param __HANDLE__ LPTIM handle
* @retval None
*/
#define __HAL_LPTIM_START_SINGLE(__HANDLE__) ((__HANDLE__)->Instance->CR |= LPTIM_CR_SNGSTRT)
/**
* @brief Write the passed parameter in the Autoreload register.
* @param __HANDLE__ LPTIM handle
* @param __VALUE__ Autoreload value
* @retval None
* @note The ARR register can only be modified when the LPTIM instance is enabled.
*/
#define __HAL_LPTIM_AUTORELOAD_SET(__HANDLE__ , __VALUE__) ((__HANDLE__)->Instance->ARR = (__VALUE__))
/**
* @brief Write the passed parameter in the Compare register.
* @param __HANDLE__ LPTIM handle
* @param __VALUE__ Compare value
* @retval None
* @note The CMP register can only be modified when the LPTIM instance is enabled.
*/
#define __HAL_LPTIM_COMPARE_SET(__HANDLE__ , __VALUE__) ((__HANDLE__)->Instance->CMP = (__VALUE__))
/**
* @brief Check whether the specified LPTIM flag is set or not.
* @param __HANDLE__ LPTIM handle
* @param __FLAG__ LPTIM flag to check
* This parameter can be a value of:
* @arg LPTIM_FLAG_DOWN : Counter direction change up Flag.
* @arg LPTIM_FLAG_UP : Counter direction change down to up Flag.
* @arg LPTIM_FLAG_ARROK : Autoreload register update OK Flag.
* @arg LPTIM_FLAG_CMPOK : Compare register update OK Flag.
* @arg LPTIM_FLAG_EXTTRIG : External trigger edge event Flag.
* @arg LPTIM_FLAG_ARRM : Autoreload match Flag.
* @arg LPTIM_FLAG_CMPM : Compare match Flag.
* @retval The state of the specified flag (SET or RESET).
*/
#define __HAL_LPTIM_GET_FLAG(__HANDLE__, __FLAG__) (((__HANDLE__)->Instance->ISR &(__FLAG__)) == (__FLAG__))
/**
* @brief Clear the specified LPTIM flag.
* @param __HANDLE__ LPTIM handle.
* @param __FLAG__ LPTIM flag to clear.
* This parameter can be a value of:
* @arg LPTIM_FLAG_DOWN : Counter direction change up Flag.
* @arg LPTIM_FLAG_UP : Counter direction change down to up Flag.
* @arg LPTIM_FLAG_ARROK : Autoreload register update OK Flag.
* @arg LPTIM_FLAG_CMPOK : Compare register update OK Flag.
* @arg LPTIM_FLAG_EXTTRIG : External trigger edge event Flag.
* @arg LPTIM_FLAG_ARRM : Autoreload match Flag.
* @arg LPTIM_FLAG_CMPM : Compare match Flag.
* @retval None.
*/
#define __HAL_LPTIM_CLEAR_FLAG(__HANDLE__, __FLAG__) ((__HANDLE__)->Instance->ICR = (__FLAG__))
/**
* @brief Enable the specified LPTIM interrupt.
* @param __HANDLE__ LPTIM handle.
* @param __INTERRUPT__ LPTIM interrupt to set.
* This parameter can be a value of:
* @arg LPTIM_IT_DOWN : Counter direction change up Interrupt.
* @arg LPTIM_IT_UP : Counter direction change down to up Interrupt.
* @arg LPTIM_IT_ARROK : Autoreload register update OK Interrupt.
* @arg LPTIM_IT_CMPOK : Compare register update OK Interrupt.
* @arg LPTIM_IT_EXTTRIG : External trigger edge event Interrupt.
* @arg LPTIM_IT_ARRM : Autoreload match Interrupt.
* @arg LPTIM_IT_CMPM : Compare match Interrupt.
* @retval None.
* @note The LPTIM interrupts can only be enabled when the LPTIM instance is disabled.
*/
#define __HAL_LPTIM_ENABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->IER |= (__INTERRUPT__))
/**
* @brief Disable the specified LPTIM interrupt.
* @param __HANDLE__ LPTIM handle.
* @param __INTERRUPT__ LPTIM interrupt to set.
* This parameter can be a value of:
* @arg LPTIM_IT_DOWN : Counter direction change up Interrupt.
* @arg LPTIM_IT_UP : Counter direction change down to up Interrupt.
* @arg LPTIM_IT_ARROK : Autoreload register update OK Interrupt.
* @arg LPTIM_IT_CMPOK : Compare register update OK Interrupt.
* @arg LPTIM_IT_EXTTRIG : External trigger edge event Interrupt.
* @arg LPTIM_IT_ARRM : Autoreload match Interrupt.
* @arg LPTIM_IT_CMPM : Compare match Interrupt.
* @retval None.
* @note The LPTIM interrupts can only be disabled when the LPTIM instance is disabled.
*/
#define __HAL_LPTIM_DISABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->IER &= (~(__INTERRUPT__)))
/**
* @brief Check whether the specified LPTIM interrupt source is enabled or not.
* @param __HANDLE__ LPTIM handle.
* @param __INTERRUPT__ LPTIM interrupt to check.
* This parameter can be a value of:
* @arg LPTIM_IT_DOWN : Counter direction change up Interrupt.
* @arg LPTIM_IT_UP : Counter direction change down to up Interrupt.
* @arg LPTIM_IT_ARROK : Autoreload register update OK Interrupt.
* @arg LPTIM_IT_CMPOK : Compare register update OK Interrupt.
* @arg LPTIM_IT_EXTTRIG : External trigger edge event Interrupt.
* @arg LPTIM_IT_ARRM : Autoreload match Interrupt.
* @arg LPTIM_IT_CMPM : Compare match Interrupt.
* @retval Interrupt status.
*/
#define __HAL_LPTIM_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) ((((__HANDLE__)->Instance->IER\
& (__INTERRUPT__)) == (__INTERRUPT__)) ? SET : RESET)
/**
* @brief Enable interrupt on the LPTIM Wake-up Timer associated Exti line.
* @retval None
*/
#define __HAL_LPTIM_WAKEUPTIMER_EXTI_ENABLE_IT() (EXTI->IMR\
|= LPTIM_EXTI_LINE_WAKEUPTIMER_EVENT)
/**
* @brief Disable interrupt on the LPTIM Wake-up Timer associated Exti line.
* @retval None
*/
#define __HAL_LPTIM_WAKEUPTIMER_EXTI_DISABLE_IT() (EXTI->IMR\
&= ~(LPTIM_EXTI_LINE_WAKEUPTIMER_EVENT))
/**
* @brief Enable event on the LPTIM Wake-up Timer associated Exti line.
* @retval None.
*/
#define __HAL_LPTIM_WAKEUPTIMER_EXTI_ENABLE_EVENT() (EXTI->EMR\
|= LPTIM_EXTI_LINE_WAKEUPTIMER_EVENT)
/**
* @brief Disable event on the LPTIM Wake-up Timer associated Exti line.
* @retval None.
*/
#define __HAL_LPTIM_WAKEUPTIMER_EXTI_DISABLE_EVENT() (EXTI->EMR\
&= ~(LPTIM_EXTI_LINE_WAKEUPTIMER_EVENT))
/**
* @}
*/
/* Exported functions --------------------------------------------------------*/
/** @defgroup LPTIM_Exported_Functions LPTIM Exported Functions
* @{
*/
/** @addtogroup LPTIM_Exported_Functions_Group1
* @brief Initialization and Configuration functions.
* @{
*/
/* Initialization/de-initialization functions ********************************/
HAL_StatusTypeDef HAL_LPTIM_Init(LPTIM_HandleTypeDef *hlptim);
HAL_StatusTypeDef HAL_LPTIM_DeInit(LPTIM_HandleTypeDef *hlptim);
/* MSP functions *************************************************************/
void HAL_LPTIM_MspInit(LPTIM_HandleTypeDef *hlptim);
void HAL_LPTIM_MspDeInit(LPTIM_HandleTypeDef *hlptim);
/**
* @}
*/
/** @addtogroup LPTIM_Exported_Functions_Group2
* @brief Start-Stop operation functions.
* @{
*/
/* Start/Stop operation functions *********************************************/
/* ################################# PWM Mode ################################*/
/* Blocking mode: Polling */
HAL_StatusTypeDef HAL_LPTIM_PWM_Start(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Pulse);
HAL_StatusTypeDef HAL_LPTIM_PWM_Stop(LPTIM_HandleTypeDef *hlptim);
/* Non-Blocking mode: Interrupt */
HAL_StatusTypeDef HAL_LPTIM_PWM_Start_IT(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Pulse);
HAL_StatusTypeDef HAL_LPTIM_PWM_Stop_IT(LPTIM_HandleTypeDef *hlptim);
/* ############################# One Pulse Mode ##############################*/
/* Blocking mode: Polling */
HAL_StatusTypeDef HAL_LPTIM_OnePulse_Start(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Pulse);
HAL_StatusTypeDef HAL_LPTIM_OnePulse_Stop(LPTIM_HandleTypeDef *hlptim);
/* Non-Blocking mode: Interrupt */
HAL_StatusTypeDef HAL_LPTIM_OnePulse_Start_IT(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Pulse);
HAL_StatusTypeDef HAL_LPTIM_OnePulse_Stop_IT(LPTIM_HandleTypeDef *hlptim);
/* ############################## Set once Mode ##############################*/
/* Blocking mode: Polling */
HAL_StatusTypeDef HAL_LPTIM_SetOnce_Start(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Pulse);
HAL_StatusTypeDef HAL_LPTIM_SetOnce_Stop(LPTIM_HandleTypeDef *hlptim);
/* Non-Blocking mode: Interrupt */
HAL_StatusTypeDef HAL_LPTIM_SetOnce_Start_IT(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Pulse);
HAL_StatusTypeDef HAL_LPTIM_SetOnce_Stop_IT(LPTIM_HandleTypeDef *hlptim);
/* ############################### Encoder Mode ##############################*/
/* Blocking mode: Polling */
HAL_StatusTypeDef HAL_LPTIM_Encoder_Start(LPTIM_HandleTypeDef *hlptim, uint32_t Period);
HAL_StatusTypeDef HAL_LPTIM_Encoder_Stop(LPTIM_HandleTypeDef *hlptim);
/* Non-Blocking mode: Interrupt */
HAL_StatusTypeDef HAL_LPTIM_Encoder_Start_IT(LPTIM_HandleTypeDef *hlptim, uint32_t Period);
HAL_StatusTypeDef HAL_LPTIM_Encoder_Stop_IT(LPTIM_HandleTypeDef *hlptim);
/* ############################# Time out Mode ##############################*/
/* Blocking mode: Polling */
HAL_StatusTypeDef HAL_LPTIM_TimeOut_Start(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Timeout);
HAL_StatusTypeDef HAL_LPTIM_TimeOut_Stop(LPTIM_HandleTypeDef *hlptim);
/* Non-Blocking mode: Interrupt */
HAL_StatusTypeDef HAL_LPTIM_TimeOut_Start_IT(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Timeout);
HAL_StatusTypeDef HAL_LPTIM_TimeOut_Stop_IT(LPTIM_HandleTypeDef *hlptim);
/* ############################## Counter Mode ###############################*/
/* Blocking mode: Polling */
HAL_StatusTypeDef HAL_LPTIM_Counter_Start(LPTIM_HandleTypeDef *hlptim, uint32_t Period);
HAL_StatusTypeDef HAL_LPTIM_Counter_Stop(LPTIM_HandleTypeDef *hlptim);
/* Non-Blocking mode: Interrupt */
HAL_StatusTypeDef HAL_LPTIM_Counter_Start_IT(LPTIM_HandleTypeDef *hlptim, uint32_t Period);
HAL_StatusTypeDef HAL_LPTIM_Counter_Stop_IT(LPTIM_HandleTypeDef *hlptim);
/**
* @}
*/
/** @addtogroup LPTIM_Exported_Functions_Group3
* @brief Read operation functions.
* @{
*/
/* Reading operation functions ************************************************/
uint32_t HAL_LPTIM_ReadCounter(const LPTIM_HandleTypeDef *hlptim);
uint32_t HAL_LPTIM_ReadAutoReload(const LPTIM_HandleTypeDef *hlptim);
uint32_t HAL_LPTIM_ReadCompare(const LPTIM_HandleTypeDef *hlptim);
/**
* @}
*/
/** @addtogroup LPTIM_Exported_Functions_Group4
* @brief LPTIM IRQ handler and callback functions.
* @{
*/
/* LPTIM IRQ functions *******************************************************/
void HAL_LPTIM_IRQHandler(LPTIM_HandleTypeDef *hlptim);
/* CallBack functions ********************************************************/
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim);
void HAL_LPTIM_AutoReloadMatchCallback(LPTIM_HandleTypeDef *hlptim);
void HAL_LPTIM_TriggerCallback(LPTIM_HandleTypeDef *hlptim);
void HAL_LPTIM_CompareWriteCallback(LPTIM_HandleTypeDef *hlptim);
void HAL_LPTIM_AutoReloadWriteCallback(LPTIM_HandleTypeDef *hlptim);
void HAL_LPTIM_DirectionUpCallback(LPTIM_HandleTypeDef *hlptim);
void HAL_LPTIM_DirectionDownCallback(LPTIM_HandleTypeDef *hlptim);
/* Callbacks Register/UnRegister functions ***********************************/
#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1)
HAL_StatusTypeDef HAL_LPTIM_RegisterCallback(LPTIM_HandleTypeDef *lphtim, HAL_LPTIM_CallbackIDTypeDef CallbackID,
pLPTIM_CallbackTypeDef pCallback);
HAL_StatusTypeDef HAL_LPTIM_UnRegisterCallback(LPTIM_HandleTypeDef *lphtim, HAL_LPTIM_CallbackIDTypeDef CallbackID);
#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */
/**
* @}
*/
/** @addtogroup LPTIM_Group5
* @brief Peripheral State functions.
* @{
*/
/* Peripheral State functions ************************************************/
HAL_LPTIM_StateTypeDef HAL_LPTIM_GetState(const LPTIM_HandleTypeDef *hlptim);
/**
* @}
*/
/**
* @}
*/
/* Private types -------------------------------------------------------------*/
/** @defgroup LPTIM_Private_Types LPTIM Private Types
* @{
*/
/**
* @}
*/
/* Private variables ---------------------------------------------------------*/
/** @defgroup LPTIM_Private_Variables LPTIM Private Variables
* @{
*/
/**
* @}
*/
/* Private constants ---------------------------------------------------------*/
/** @defgroup LPTIM_Private_Constants LPTIM Private Constants
* @{
*/
/**
* @}
*/
/* Private macros ------------------------------------------------------------*/
/** @defgroup LPTIM_Private_Macros LPTIM Private Macros
* @{
*/
#define IS_LPTIM_CLOCK_SOURCE(__SOURCE__) (((__SOURCE__) == LPTIM_CLOCKSOURCE_ULPTIM) || \
((__SOURCE__) == LPTIM_CLOCKSOURCE_APBCLOCK_LPOSC))
#define IS_LPTIM_CLOCK_PRESCALER(__PRESCALER__) (((__PRESCALER__) == LPTIM_PRESCALER_DIV1 ) || \
((__PRESCALER__) == LPTIM_PRESCALER_DIV2 ) || \
((__PRESCALER__) == LPTIM_PRESCALER_DIV4 ) || \
((__PRESCALER__) == LPTIM_PRESCALER_DIV8 ) || \
((__PRESCALER__) == LPTIM_PRESCALER_DIV16 ) || \
((__PRESCALER__) == LPTIM_PRESCALER_DIV32 ) || \
((__PRESCALER__) == LPTIM_PRESCALER_DIV64 ) || \
((__PRESCALER__) == LPTIM_PRESCALER_DIV128))
#define IS_LPTIM_CLOCK_PRESCALERDIV1(__PRESCALER__) ((__PRESCALER__) == LPTIM_PRESCALER_DIV1)
#define IS_LPTIM_OUTPUT_POLARITY(__POLARITY__) (((__POLARITY__) == LPTIM_OUTPUTPOLARITY_LOW ) || \
((__POLARITY__) == LPTIM_OUTPUTPOLARITY_HIGH))
#define IS_LPTIM_CLOCK_SAMPLE_TIME(__SAMPLETIME__) (((__SAMPLETIME__) == LPTIM_CLOCKSAMPLETIME_DIRECTTRANSITION) || \
((__SAMPLETIME__) == LPTIM_CLOCKSAMPLETIME_2TRANSITIONS) || \
((__SAMPLETIME__) == LPTIM_CLOCKSAMPLETIME_4TRANSITIONS) || \
((__SAMPLETIME__) == LPTIM_CLOCKSAMPLETIME_8TRANSITIONS))
#define IS_LPTIM_CLOCK_POLARITY(__POLARITY__) (((__POLARITY__) == LPTIM_CLOCKPOLARITY_RISING) || \
((__POLARITY__) == LPTIM_CLOCKPOLARITY_FALLING) || \
((__POLARITY__) == LPTIM_CLOCKPOLARITY_RISING_FALLING))
#define IS_LPTIM_TRG_SOURCE(__TRIG__) (((__TRIG__) == LPTIM_TRIGSOURCE_SOFTWARE) || \
((__TRIG__) == LPTIM_TRIGSOURCE_0) || \
((__TRIG__) == LPTIM_TRIGSOURCE_1) || \
((__TRIG__) == LPTIM_TRIGSOURCE_2) || \
((__TRIG__) == LPTIM_TRIGSOURCE_3) || \
((__TRIG__) == LPTIM_TRIGSOURCE_4) || \
((__TRIG__) == LPTIM_TRIGSOURCE_5) || \
((__TRIG__) == LPTIM_TRIGSOURCE_6) || \
((__TRIG__) == LPTIM_TRIGSOURCE_7))
#define IS_LPTIM_EXT_TRG_POLARITY(__POLARITY__) (((__POLARITY__) == LPTIM_ACTIVEEDGE_RISING ) || \
((__POLARITY__) == LPTIM_ACTIVEEDGE_FALLING ) || \
((__POLARITY__) == LPTIM_ACTIVEEDGE_RISING_FALLING ))
#define IS_LPTIM_TRIG_SAMPLE_TIME(__SAMPLETIME__) (((__SAMPLETIME__) == LPTIM_TRIGSAMPLETIME_DIRECTTRANSITION) || \
((__SAMPLETIME__) == LPTIM_TRIGSAMPLETIME_2TRANSITIONS ) || \
((__SAMPLETIME__) == LPTIM_TRIGSAMPLETIME_4TRANSITIONS ) || \
((__SAMPLETIME__) == LPTIM_TRIGSAMPLETIME_8TRANSITIONS ))
#define IS_LPTIM_UPDATE_MODE(__MODE__) (((__MODE__) == LPTIM_UPDATE_IMMEDIATE) || \
((__MODE__) == LPTIM_UPDATE_ENDOFPERIOD))
#define IS_LPTIM_COUNTER_SOURCE(__SOURCE__) (((__SOURCE__) == LPTIM_COUNTERSOURCE_INTERNAL) || \
((__SOURCE__) == LPTIM_COUNTERSOURCE_EXTERNAL))
#define IS_LPTIM_AUTORELOAD(__AUTORELOAD__) ((0x00000001UL <= (__AUTORELOAD__)) &&\
((__AUTORELOAD__) <= 0x0000FFFFUL))
#define IS_LPTIM_COMPARE(__COMPARE__) ((__COMPARE__) <= 0x0000FFFFUL)
#define IS_LPTIM_PERIOD(__PERIOD__) ((0x00000001UL <= (__PERIOD__)) &&\
((__PERIOD__) <= 0x0000FFFFUL))
#define IS_LPTIM_PULSE(__PULSE__) ((__PULSE__) <= 0x0000FFFFUL)
/**
* @}
*/
/* Private functions ---------------------------------------------------------*/
/** @defgroup LPTIM_Private_Functions LPTIM Private Functions
* @{
*/
void LPTIM_Disable(LPTIM_HandleTypeDef *hlptim);
/**
* @}
*/
/**
* @}
*/
#endif /* LPTIM1 */
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* STM32L0xx_HAL_LPTIM_H */

2450
software/dumber3/Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_lptim.c
View file

File diff suppressed because it is too large Load diff

84
software/dumber3/Dumber3.ioc
View file

@ -31,10 +31,11 @@ FREERTOS.INCLUDE_xEventGroupSetBitFromISR=1
FREERTOS.INCLUDE_xTaskAbortDelay=1
FREERTOS.INCLUDE_xTaskGetCurrentTaskHandle=1
FREERTOS.INCLUDE_xTaskGetHandle=1
FREERTOS.IPParameters=Tasks01,configTICK_RATE_HZ,configUSE_TICKLESS_IDLE,INCLUDE_xTaskGetHandle,INCLUDE_xTaskAbortDelay,INCLUDE_xEventGroupSetBitFromISR,INCLUDE_pcTaskGetTaskName,INCLUDE_xTaskGetCurrentTaskHandle,configTOTAL_HEAP_SIZE
FREERTOS.IPParameters=Tasks01,configTICK_RATE_HZ,configUSE_TICKLESS_IDLE,INCLUDE_xTaskGetHandle,INCLUDE_xTaskAbortDelay,INCLUDE_xEventGroupSetBitFromISR,INCLUDE_pcTaskGetTaskName,INCLUDE_xTaskGetCurrentTaskHandle,configTOTAL_HEAP_SIZE,configUSE_NEWLIB_REENTRANT
FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
FREERTOS.configTICK_RATE_HZ=1000
FREERTOS.configTOTAL_HEAP_SIZE=1024
FREERTOS.configUSE_NEWLIB_REENTRANT=1
FREERTOS.configUSE_TICKLESS_IDLE=1
File.Version=6
GPIO.groupedBy=Group By Peripherals
@ -46,15 +47,15 @@ Mcu.CPN=STM32L071CBT3
Mcu.Family=STM32L0
Mcu.IP0=ADC
Mcu.IP1=DMA
Mcu.IP10=TIM21
Mcu.IP10=TIM22
Mcu.IP2=FREERTOS
Mcu.IP3=LPTIM1
Mcu.IP4=LPUART1
Mcu.IP5=NVIC
Mcu.IP6=RCC
Mcu.IP7=SYS
Mcu.IP8=TIM2
Mcu.IP9=TIM3
Mcu.IP3=LPUART1
Mcu.IP4=NVIC
Mcu.IP5=RCC
Mcu.IP6=SYS
Mcu.IP7=TIM2
Mcu.IP8=TIM3
Mcu.IP9=TIM21
Mcu.IPNb=11
Mcu.Name=STM32L071C(B-Z)Tx
Mcu.Package=LQFP48
@ -81,17 +82,18 @@ Mcu.Pin26=PB7
Mcu.Pin27=PB8
Mcu.Pin28=PB9
Mcu.Pin29=VP_FREERTOS_VS_CMSIS_V2
Mcu.Pin3=PA3
Mcu.Pin30=VP_LPTIM1_VS_LPTIM_counterModeInternalClock
Mcu.Pin31=VP_SYS_VS_Systick
Mcu.Pin3=PA4
Mcu.Pin30=VP_SYS_VS_tim6
Mcu.Pin31=VP_TIM2_VS_ClockSourceINT
Mcu.Pin32=VP_TIM3_VS_ClockSourceINT
Mcu.Pin33=VP_TIM21_VS_ClockSourceINT
Mcu.Pin4=PA5
Mcu.Pin5=PA6
Mcu.Pin6=PA7
Mcu.Pin7=PB0
Mcu.Pin8=PB1
Mcu.Pin9=PB10
Mcu.PinsNb=33
Mcu.PinsNb=34
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32L071CBTx
@ -103,7 +105,6 @@ NVIC.EXTI2_3_IRQn=true\:3\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.EXTI4_15_IRQn=true\:3\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.ForceEnableDMAVector=true
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.LPTIM1_IRQn=true\:3\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.LPUART1_IRQn=true\:3\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.PendSV_IRQn=true\:3\:0\:false\:false\:false\:true\:false\:false\:false
@ -111,7 +112,12 @@ NVIC.SVC_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:true
NVIC.SavedPendsvIrqHandlerGenerated=true
NVIC.SavedSvcallIrqHandlerGenerated=true
NVIC.SavedSystickIrqHandlerGenerated=true
NVIC.SysTick_IRQn=true\:3\:0\:false\:false\:true\:true\:false\:true\:false
NVIC.SysTick_IRQn=true\:3\:0\:false\:false\:false\:true\:false\:true\:false
NVIC.TIM21_IRQn=true\:1\:0\:true\:false\:true\:false\:true\:true\:true
NVIC.TIM2_IRQn=true\:1\:0\:true\:false\:true\:false\:true\:true\:true
NVIC.TIM6_IRQn=true\:3\:0\:true\:false\:true\:false\:true\:true\:true
NVIC.TimeBase=TIM6_IRQn
NVIC.TimeBaseIP=TIM6
PA0.GPIOParameters=GPIO_Label
PA0.GPIO_Label=BATTERY_SENSE
PA0.Mode=IN0
@ -119,7 +125,7 @@ PA0.Signal=ADC_IN0
PA1.GPIOParameters=GPIO_Label
PA1.GPIO_Label=ENC_PHA_GAUCHE
PA1.Locked=true
PA1.Signal=S_TIM2_CH2
PA1.Signal=GPIO_Input
PA10.GPIOParameters=GPIO_Label
PA10.GPIO_Label=XBEE_RESET
PA10.Locked=true
@ -144,10 +150,9 @@ PA2.GPIOParameters=GPIO_Label
PA2.GPIO_Label=ENC_PHA_DROIT
PA2.Locked=true
PA2.Signal=S_TIM21_CH1
PA3.GPIOParameters=GPIO_Label
PA3.GPIO_Label=ENC_PHB_DROIT
PA3.Locked=true
PA3.Signal=S_TIM21_CH2
PA4.GPIOParameters=GPIO_Label
PA4.GPIO_Label=ENC_PHB_DROIT
PA4.Signal=S_TIM22_ETR
PA5.GPIOParameters=GPIO_Label
PA5.GPIO_Label=ENC_PHB_GAUCHE
PA5.Locked=true
@ -170,21 +175,23 @@ PA9.Locked=true
PA9.Signal=GPIO_Output
PB0.GPIOParameters=GPIO_Speed,GPIO_Label
PB0.GPIO_Label=PWM_A_DROIT
PB0.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PB0.GPIO_Speed=GPIO_SPEED_FREQ_LOW
PB0.Locked=true
PB0.Signal=S_TIM3_CH3
PB1.GPIOParameters=GPIO_Speed,GPIO_Label
PB1.GPIO_Label=PWM_B_DROIT
PB1.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PB1.GPIO_Speed=GPIO_SPEED_FREQ_LOW
PB1.Locked=true
PB1.Signal=S_TIM3_CH4
PB10.GPIOParameters=GPIO_Label
PB10.GPIOParameters=GPIO_Speed,GPIO_Label
PB10.GPIO_Label=USART_TX
PB10.GPIO_Speed=GPIO_SPEED_FREQ_LOW
PB10.Locked=true
PB10.Mode=Asynchronous
PB10.Signal=LPUART1_TX
PB11.GPIOParameters=GPIO_Label
PB11.GPIOParameters=GPIO_Speed,GPIO_Label
PB11.GPIO_Label=USART_RX
PB11.GPIO_Speed=GPIO_SPEED_FREQ_LOW
PB11.Locked=true
PB11.Mode=Asynchronous
PB11.Signal=LPUART1_RX
@ -264,7 +271,7 @@ ProjectManager.StackSize=0x200
ProjectManager.TargetToolchain=STM32CubeIDE
ProjectManager.ToolChainLocation=
ProjectManager.UnderRoot=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_LPUART1_UART_Init-LPUART1-false-HAL-true,5-MX_TIM2_Init-TIM2-false-HAL-true,6-MX_TIM3_Init-TIM3-false-HAL-true,7-MX_TIM21_Init-TIM21-false-HAL-true,8-MX_ADC_Init-ADC-false-HAL-true,9-MX_LPTIM1_Init-LPTIM1-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_LPUART1_UART_Init-LPUART1-false-HAL-true,5-MX_TIM2_Init-TIM2-false-HAL-true,6-MX_TIM3_Init-TIM3-false-HAL-true,7-MX_TIM21_Init-TIM21-false-HAL-true,8-MX_ADC_Init-ADC-false-HAL-true,9-MX_TIM22_Init-TIM22-false-HAL-true
RCC.ADCFreq_Value=4000000
RCC.AHBFreq_Value=6000000
RCC.APB1Freq_Value=6000000
@ -304,14 +311,12 @@ SH.GPXTI3.0=GPIO_EXTI3
SH.GPXTI3.ConfNb=1
SH.GPXTI4.0=GPIO_EXTI4
SH.GPXTI4.ConfNb=1
SH.S_TIM21_CH1.0=TIM21_CH1,Encoder_Interface
SH.S_TIM21_CH1.0=TIM21_CH1,PWM_Input_1
SH.S_TIM21_CH1.ConfNb=1
SH.S_TIM21_CH2.0=TIM21_CH2,Encoder_Interface
SH.S_TIM21_CH2.ConfNb=1
SH.S_TIM2_CH1.0=TIM2_CH1,Encoder_Interface
SH.S_TIM22_ETR.0=TIM22_ETR,ClockSourceETR_Mode2
SH.S_TIM22_ETR.ConfNb=1
SH.S_TIM2_CH1.0=TIM2_CH1,PWM_Input_1
SH.S_TIM2_CH1.ConfNb=1
SH.S_TIM2_CH2.0=TIM2_CH2,Encoder_Interface
SH.S_TIM2_CH2.ConfNb=1
SH.S_TIM3_CH1.0=TIM3_CH1,PWM Generation1 CH1
SH.S_TIM3_CH1.ConfNb=1
SH.S_TIM3_CH2.0=TIM3_CH2,PWM Generation2 CH2
@ -320,17 +325,24 @@ SH.S_TIM3_CH3.0=TIM3_CH3,PWM Generation3 CH3
SH.S_TIM3_CH3.ConfNb=1
SH.S_TIM3_CH4.0=TIM3_CH4,PWM Generation4 CH4
SH.S_TIM3_CH4.ConfNb=1
TIM2.IPParameters=Prescaler
TIM2.Prescaler=9
TIM21.IPParameters=Prescaler
TIM21.Prescaler=9
TIM3.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
TIM3.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
TIM3.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
TIM3.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
TIM3.IPParameters=Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4,Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2
TIM3.IPParameters=Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4,Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Period
TIM3.Period=199
VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2
VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2
VP_LPTIM1_VS_LPTIM_counterModeInternalClock.Mode=Counts__internal_clock_event_00
VP_LPTIM1_VS_LPTIM_counterModeInternalClock.Signal=LPTIM1_VS_LPTIM_counterModeInternalClock
VP_SYS_VS_Systick.Mode=SysTick
VP_SYS_VS_Systick.Signal=SYS_VS_Systick
VP_SYS_VS_tim6.Mode=TIM6
VP_SYS_VS_tim6.Signal=SYS_VS_tim6
VP_TIM21_VS_ClockSourceINT.Mode=Internal
VP_TIM21_VS_ClockSourceINT.Signal=TIM21_VS_ClockSourceINT
VP_TIM2_VS_ClockSourceINT.Mode=Internal
VP_TIM2_VS_ClockSourceINT.Signal=TIM2_VS_ClockSourceINT
VP_TIM3_VS_ClockSourceINT.Mode=Internal
VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT
board=custom