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This commit is contained in:
janik
2025-12-19 17:49:10 +07:00
parent b92a583b4d
commit 70b20af874
44 changed files with 11261 additions and 7991 deletions
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26
code/Core/Inc/crc.h Normal file
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@@ -0,0 +1,26 @@
/*
* crc.h
*
* Created on: 19 Dec 2025
* Author: janik
*/
#ifndef INC_CRC_H_
#define INC_CRC_H_
#include <stdint.h>
#include <stddef.h>
typedef struct {
uint32_t crc;
} CRC8_107;
static inline void CRC8_107_init(CRC8_107 *ctx)
{
ctx->crc = 0x0u;
}
void CRC8_107_add(CRC8_107 *ctx, uint8_t data);
uint8_t CRC8_107_getChecksum(const CRC8_107 *ctx);
#endif /* INC_CRC_H_ */

140
code/Core/Inc/photon_protocol.h Normal file
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@@ -0,0 +1,140 @@
/*
* photon_protocol.h
*
* Created on: 19 Dec 2025
* Author: janik
*/
#ifndef INC_PHOTON_PROTOCOL_H_
#define INC_PHOTON_PROTOCOL_H_
#define UUID_LENGTH 12 // 12 8bit values
#define PHOTON_NETWORK_CONTROLLER_ADDRESS 0x00
#define PHOTON_NETWORK_BROADCAST_ADDRESS 0xFF
#define VENDOR_SPECIFIC_OPTIONS_LENGTH 16
typedef enum {
STATUS_OK = 0x00,
STATUS_WRONG_FEEDER_ID = 0x01,
STATUS_COULDNT_REACH = 0x02,
STATUS_UNINITIALIZED_FEEDER = 0x03,
STATUS_FEEDING_IN_PROGRESS = 0x04,
STATUS_FAIL = 0x05,
STATUS_TIMEOUT = 0xFE,
STATUS_UNKNOWN_ERROR = 0xFF
} FeederStatus;
typedef enum {
// Unicast Commands
GET_FEEDER_ID = 0x01,
INITIALIZE_FEEDER = 0x02,
GET_VERSION = 0x03,
MOVE_FEED_FORWARD = 0x04,
MOVE_FEED_BACKWARD = 0x05,
MOVE_FEED_STATUS = 0x06,
VENDOR_OPTIONS = 0xbf,
// Broadcast Commands
GET_FEEDER_ADDRESS = 0xc0,
IDENTIFY_FEEDER = 0xc1,
PROGRAM_FEEDER_FLOOR = 0xc2,
UNINITIALIZED_FEEDERS_RESPOND = 0xc3
// EXTENDED_COMMAND = 0xff, Unused, reserved for future use
} FeederCommand;
/* ---------- Packet Header ---------- */
typedef struct __attribute__((packed)) {
uint8_t toAddress;
uint8_t fromAddress;
uint8_t packetId;
uint8_t payloadLength;
uint8_t crc;
} PhotonPacketHeader;
/* ---------- Command Payloads ---------- */
typedef struct __attribute__((packed)) {
uint8_t distance;
} MoveCommand;
typedef struct __attribute__((packed)) {
uint8_t uuid[UUID_LENGTH];
} GetFeederAddressCommand;
typedef struct __attribute__((packed)) {
uint8_t uuid[UUID_LENGTH];
} InitializeFeederCommand;
typedef struct __attribute__((packed)) {
uint8_t options[VENDOR_SPECIFIC_OPTIONS_LENGTH];
} VendorOptionsCommand;
typedef struct __attribute__((packed)) {
uint8_t uuid[UUID_LENGTH];
uint8_t address;
} ProgramFeederFloorAddressCommand;
typedef struct __attribute__((packed)) {
uint8_t uuid[UUID_LENGTH];
} IdentifyFeederCommand;
/* ---------- Full Command Packet ---------- */
typedef struct __attribute__((packed)) {
PhotonPacketHeader header;
uint8_t commandId;
union {
MoveCommand move;
GetFeederAddressCommand getFeederAddress;
InitializeFeederCommand initializeFeeder;
VendorOptionsCommand vendorOptions;
ProgramFeederFloorAddressCommand programFeederFloorAddress;
IdentifyFeederCommand identifyFeeder;
} payload;
} PhotonCommand;
/* ---------- Response Payloads ---------- */
typedef struct __attribute__((packed)) {
uint8_t uuid[UUID_LENGTH];
} GetFeederIdResponse;
typedef struct __attribute__((packed)) {
uint8_t uuid[UUID_LENGTH];
} InitializeFeederResponse;
typedef struct __attribute__((packed)) {
uint8_t version;
} GetProtocolVersionResponse;
typedef struct __attribute__((packed)) {
uint16_t expectedFeedTime;
} FeedDistanceResponse;
typedef struct __attribute__((packed)) {
uint8_t options[VENDOR_SPECIFIC_OPTIONS_LENGTH];
} VendorOptionsResponse;
/* ---------- Full Response Packet ---------- */
typedef struct __attribute__((packed)) {
PhotonPacketHeader header;
uint8_t status;
union {
GetFeederIdResponse getFeederId;
InitializeFeederResponse initializeFeeder;
GetProtocolVersionResponse protocolVersion;
FeedDistanceResponse expectedTimeToFeed;
VendorOptionsResponse vendorOptions;
} payload;
} PhotonResponse;
#endif /* INC_PHOTON_PROTOCOL_H_ */

137
code/Core/Inc/pid.h Normal file
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@@ -0,0 +1,137 @@
/*
* pid.h
*
* Created on: 19 Dec 2025
* Author: janik
*/
#ifndef INC_PID_H_
#define INC_PID_H_
// pid_motor_wrap_i32.h
typedef struct
{
// Gains
int32_t kp;
int32_t ki;
int32_t kd;
// State
int32_t integrator;
int32_t prev_error;
// Limits
int32_t integrator_min;
int32_t integrator_max;
int32_t out_max; // max |u|, e.g. 2400
// Slew limit
int32_t max_output_step; // max |u(k) - u(k-1)| per control step
int32_t last_output; // u(k-1)
} pid_i32_t;
typedef struct
{
uint16_t pwm; // 0..out_max
uint8_t dir; // 0 or 1
} pid_motor_cmd_t;
static inline int32_t clamp_i32(int32_t x, int32_t lo, int32_t hi)
{
if (x < lo) return lo;
if (x > hi) return hi;
return x;
}
static inline void pid_init(pid_i32_t *pid,
int32_t kp,
int32_t ki,
int32_t kd,
int32_t integrator_min,
int32_t integrator_max,
int32_t out_max,
int32_t max_output_step)
{
pid->kp = kp;
pid->ki = ki;
pid->kd = kd;
pid->integrator = 0;
pid->prev_error = 0;
pid->integrator_min = integrator_min;
pid->integrator_max = integrator_max;
pid->out_max = out_max;
pid->max_output_step = max_output_step;
pid->last_output = 0;
}
static inline void pid_reset(pid_i32_t *pid)
{
pid->integrator = 0;
pid->prev_error = 0;
pid->last_output = 0;
}
static inline pid_motor_cmd_t pid_update_motor(pid_i32_t *pid,
int32_t setpoint,
int32_t position)
{
pid_motor_cmd_t cmd;
// Basic PID (no overflow protection, as requested)
int32_t error = setpoint - position;
int32_t p = pid->kp * error;
int32_t i = pid->integrator + pid->ki * error;
i = clamp_i32(i, pid->integrator_min, pid->integrator_max);
pid->integrator = i;
int32_t d_error = error - pid->prev_error;
int32_t d = pid->kd * d_error;
pid->prev_error = error;
// Raw control effort
int32_t u_raw = p + i + d;
// Clamp to [-out_max, +out_max]
if (u_raw > pid->out_max) u_raw = pid->out_max;
if (u_raw < -pid->out_max) u_raw = -pid->out_max;
// ---------- Slew limit: avoid instant full reverse ----------
int32_t u_prev = pid->last_output;
int32_t u = u_raw;
int32_t max_step = pid->max_output_step;
if (max_step > 0) {
int32_t du = u_raw - u_prev;
if (du > max_step) {
u = u_prev + max_step;
} else if (du < -max_step) {
u = u_prev - max_step;
} else {
u = u_raw;
}
}
// Save for next time
pid->last_output = u;
// Map signed u to dir + pwm
if (u >= 0) {
cmd.dir = 1;
cmd.pwm = (uint16_t)u;
} else {
cmd.dir = 0;
cmd.pwm = (uint16_t)(-u);
}
if (cmd.pwm > pid->out_max)
cmd.pwm = (uint16_t)pid->out_max;
return cmd;
}
#endif /* INC_PID_H_ */

1
code/Core/Inc/stm32c0xx_it.h
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@@ -53,6 +53,7 @@ void PendSV_Handler(void);
void SysTick_Handler(void);
void EXTI4_15_IRQHandler(void);
void DMA1_Channel1_IRQHandler(void);
void DMA1_Channel2_3_IRQHandler(void);
void TIM14_IRQHandler(void);
void TIM16_IRQHandler(void);
void TIM17_IRQHandler(void);

24
code/Core/Src/crc.c Normal file
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@@ -0,0 +1,24 @@
/*
* crc.c
*
* Created on: 19 Dec 2025
* Author: janik
*/
#include "crc.h"
void CRC8_107_add(CRC8_107 *ctx, uint8_t data)
{
ctx->crc ^= ((uint32_t)data << 8);
for (size_t bit_n = 0; bit_n < 8; bit_n++) {
if (ctx->crc & 0x8000u) {
ctx->crc ^= ((uint32_t)0x1070u << 3); // same as 0x8380
}
ctx->crc <<= 1;
}
}
uint8_t CRC8_107_getChecksum(const CRC8_107 *ctx)
{
return (uint8_t)(ctx->crc >> 8);
}

217
code/Core/Src/main.c
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@@ -21,6 +21,12 @@
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "photon_protocol.h"
#include <stdio.h>
#include <string.h>
#include <stdint.h>
#include "pid.h"
#include "crc.h"
/* USER CODE END Includes */
@@ -37,6 +43,12 @@
#define CNT_MAX 65535
#define CNT_LIMIT_ZONE 1000
#define UUID_LENGTH 12 // 12 8bit values
#define PHOTON_NETWORK_CONTROLLER_ADDRESS 0x00
#define PHOTON_NETWORK_BROADCAST_ADDRESS 0xFF
#define PWM_MAX 2400
#define MAX_PWM_DIFFERENCE 10
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
@@ -51,16 +63,35 @@ TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim14;
TIM_HandleTypeDef htim16;
TIM_HandleTypeDef htim17;
DMA_HandleTypeDef hdma_tim3_up;
UART_HandleTypeDef huart1;
UART_HandleTypeDef huart2;
DMA_HandleTypeDef hdma_usart2_rx;
DMA_HandleTypeDef hdma_usart2_tx;
/* USER CODE BEGIN PV */
uint8_t sw1_pressed,sw2_pressed = 0;
int32_t encoder_count_extra=0;
uint16_t encoder_previous=0;
uint8_t UUID[UUID_LENGTH];
uint8_t is_initialized=0;
uint8_t network_buffer_RX[64];
uint8_t msg_buffer1_empty = 1;
uint8_t msg_buffer2_empty = 1;
uint8_t msg_buffer1 [64];
uint8_t msg_buffer2 [64];
uint8_t DMA_buffer[64];
uint8_t my_address = 0xFF;
int32_t total_count = 0;
int32_t target_count = 0;
int32_t kp = 4;
int32_t ki = 1;
int32_t kd = 0;
int32_t i_min = -500;
int32_t i_max = 500;
int32_t pid_max_step = 10;
pid_i32_t motor_pid;
pid_motor_cmd_t motor_cmd;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
@@ -76,6 +107,10 @@ static void MX_TIM17_Init(void);
static void MX_TIM14_Init(void);
/* USER CODE BEGIN PFP */
void set_LED (uint8_t R, uint8_t G, uint8_t B);
void handleRS485Message(uint8_t *buffer, uint8_t size);
void set_Feeder_PWM(uint16_t PWM, uint8_t direction);
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
@@ -101,6 +136,8 @@ int main(void)
/* USER CODE BEGIN Init */
pid_init(&motor_pid,kp,ki,kd,i_min,i_max,PWM_MAX,pid_max_step);
/* USER CODE END Init */
/* Configure the system clock */
@@ -122,12 +159,67 @@ int main(void)
MX_TIM14_Init();
/* USER CODE BEGIN 2 */
uint32_t * puuid = (uint32_t *)UUID;
*puuid = HAL_GetUIDw0();
*(puuid+1) = HAL_GetUIDw1();
*(puuid+2) = HAL_GetUIDw2();
HAL_UARTEx_ReceiveToIdle_DMA (&huart2,DMA_buffer,64);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
if (sw1_pressed)
{
uint16_t time_pressed = htim16.Instance->CNT;
if ((HAL_GPIO_ReadPin(SW1_GPIO_Port,SW1_Pin)) && (time_pressed > 750)) // button still pressed
{
// todo long button action
}
else if (!HAL_GPIO_ReadPin(SW1_GPIO_Port,SW1_Pin) && (time_pressed <= 750) && (time_pressed >75)) // release in short window
{
// todo short button action
sw1_pressed = 0;
}
else if (!HAL_GPIO_ReadPin(SW1_GPIO_Port,SW1_Pin)) sw1_pressed = 0; // release in long window
}
if (sw2_pressed)
{
uint16_t time_pressed = htim17.Instance->CNT;
if ((HAL_GPIO_ReadPin(SW2_GPIO_Port,SW2_Pin)) && (time_pressed > 750)) // button still pressed
{
// todo long button action
}
else if (!HAL_GPIO_ReadPin(SW2_GPIO_Port,SW2_Pin) && (time_pressed <= 750)) // release in short window
{
// todo short button action
sw2_pressed = 0;
}
else if (!HAL_GPIO_ReadPin(SW2_GPIO_Port,SW2_Pin)) sw2_pressed = 0; // release in long window
}
if (!msg_buffer2_empty) // msg 2 buffer has a message
{
// decode message from msg_buffer2
for (uint8_t i = 0; i<64 ; i++)
{
msg_buffer2[i]=0;
}
msg_buffer2_empty = 1;
}
if (!msg_buffer1_empty)
{
for (uint8_t i = 0; i<64 ; i++)
{
msg_buffer1[i]=0;
}
msg_buffer1_empty = 1;
}
/* USER CODE END WHILE */
@@ -476,7 +568,7 @@ static void MX_USART2_UART_Init(void)
/* USER CODE END USART2_Init 1 */
huart2.Instance = USART2;
huart2.Init.BaudRate = 115200;
huart2.Init.BaudRate = 57600;
huart2.Init.WordLength = UART_WORDLENGTH_8B;
huart2.Init.StopBits = UART_STOPBITS_1;
huart2.Init.Parity = UART_PARITY_NONE;
@@ -490,11 +582,11 @@ static void MX_USART2_UART_Init(void)
{
Error_Handler();
}
if (HAL_UARTEx_SetTxFifoThreshold(&huart2, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
if (HAL_UARTEx_SetTxFifoThreshold(&huart2, UART_TXFIFO_THRESHOLD_1_2) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetRxFifoThreshold(&huart2, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
if (HAL_UARTEx_SetRxFifoThreshold(&huart2, UART_RXFIFO_THRESHOLD_1_2) != HAL_OK)
{
Error_Handler();
}
@@ -521,6 +613,9 @@ static void MX_DMA_Init(void)
/* DMA1_Channel1_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
/* DMA1_Channel2_3_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel2_3_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel2_3_IRQn);
}
@@ -595,8 +690,20 @@ void HAL_TIM_PeriodElapsedCallback (TIM_HandleTypeDef * htim)
return;
}
int32_t total_count = (encoder_count_extra * CNT_MAX) + count;
// todo run PID on target position with previous error and current error (assume previous target == current target)
total_count = (encoder_count_extra * CNT_MAX) + count;
if (total_count > INT32_MAX/2)
{
total_count-= INT32_MAX/4;
target_count-= INT32_MAX/4;
}
else if (total_count < INT32_MIN/2)
{
total_count+= INT32_MAX/4;
target_count+= INT32_MAX/4;
}
motor_cmd = pid_update_motor(&motor_pid,target_count,total_count);
set_Feeder_PWM(motor_cmd.pwm,motor_cmd.dir);
}
if (htim == &htim3) return; // PWM timer
@@ -638,6 +745,102 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
}
}
void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
{
if (Size > 64) return; // todo error handling
if (msg_buffer1_empty)
{
memcpy(DMA_buffer,msg_buffer1,Size);
msg_buffer1_empty = 0;
}
else if (msg_buffer2_empty)
{
memcpy(DMA_buffer,msg_buffer2,Size);
msg_buffer2_empty = 0;
}
else // no free buffer available todo error handling
{
return;
}
HAL_UARTEx_ReceiveToIdle_DMA(&huart2, DMA_buffer, 64);
}
void set_LED (uint8_t R, uint8_t G, uint8_t B)
{
if (R) R = GPIO_PIN_SET;
if (G) G = GPIO_PIN_SET;
if (B) B = GPIO_PIN_SET;
HAL_GPIO_WritePin(LED_R_GPIO_Port,LED_R_Pin,R);
HAL_GPIO_WritePin(LED_G_GPIO_Port,LED_G_Pin,G);
HAL_GPIO_WritePin(LED_B_GPIO_Port,LED_B_Pin,B);
}
void handleRS485Message(uint8_t *buffer, uint8_t size)
{
PhotonPacketHeader *header = (PhotonPacketHeader *) buffer;
// check if message is for this device or is broadcast
if (!(header->toAddress == PHOTON_NETWORK_BROADCAST_ADDRESS))
{
if (!(header->toAddress == my_address))
{
return;
}
}
else // this message is relevant to this device
{
PhotonCommand *command = (PhotonCommand *) buffer;
PhotonResponse response;
response.header.fromAddress = my_address;
response.header.packetId = command->header.packetId;
response.header.toAddress = command->header.fromAddress;
switch (command->commandId)
{
case GET_FEEDER_ID:
break;
case INITIALIZE_FEEDER:
break;
case GET_VERSION:
break;
case MOVE_FEED_FORWARD:
break;
case MOVE_FEED_BACKWARD:
break;
case MOVE_FEED_STATUS:
break;
case VENDOR_OPTIONS:
break;
case GET_FEEDER_ADDRESS:
break;
case IDENTIFY_FEEDER:
break;
case PROGRAM_FEEDER_FLOOR:
break;
case UNINITIALIZED_FEEDERS_RESPOND:
break;
default:
// todo error handling
break;
}
}
}
void set_Feeder_PWM(uint16_t PWM, uint8_t direction)
{
if (direction)
{
htim1.Instance->CCR1 = PWM;
htim1.Instance->CCR2 = 0;
}
else
{
htim1.Instance->CCR1 = 0;
htim1.Instance->CCR2 = PWM;
}
}
/* USER CODE END 4 */

62
code/Core/Src/stm32c0xx_hal_msp.c
View File

@@ -23,7 +23,9 @@
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern DMA_HandleTypeDef hdma_tim3_up;
extern DMA_HandleTypeDef hdma_usart2_rx;
extern DMA_HandleTypeDef hdma_usart2_tx;
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */
@@ -173,24 +175,6 @@ void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* htim_encoder)
GPIO_InitStruct.Alternate = GPIO_AF1_TIM3;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/* TIM3 DMA Init */
/* TIM3_UP Init */
hdma_tim3_up.Instance = DMA1_Channel1;
hdma_tim3_up.Init.Request = DMA_REQUEST_TIM3_UP;
hdma_tim3_up.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_tim3_up.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_tim3_up.Init.MemInc = DMA_MINC_ENABLE;
hdma_tim3_up.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
hdma_tim3_up.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
hdma_tim3_up.Init.Mode = DMA_NORMAL;
hdma_tim3_up.Init.Priority = DMA_PRIORITY_LOW;
if (HAL_DMA_Init(&hdma_tim3_up) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(htim_encoder,hdma[TIM_DMA_ID_UPDATE],hdma_tim3_up);
/* USER CODE BEGIN TIM3_MspInit 1 */
/* USER CODE END TIM3_MspInit 1 */
@@ -321,8 +305,6 @@ void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* htim_encoder)
*/
HAL_GPIO_DeInit(GPIOC, QUAD_A_Pin|QUAD_B_Pin);
/* TIM3 DMA DeInit */
HAL_DMA_DeInit(htim_encoder->hdma[TIM_DMA_ID_UPDATE]);
/* USER CODE BEGIN TIM3_MspDeInit 1 */
/* USER CODE END TIM3_MspDeInit 1 */
@@ -396,6 +378,41 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
GPIO_InitStruct.Alternate = GPIO_AF1_USART2;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USART2 DMA Init */
/* USART2_RX Init */
hdma_usart2_rx.Instance = DMA1_Channel2;
hdma_usart2_rx.Init.Request = DMA_REQUEST_USART2_RX;
hdma_usart2_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_usart2_rx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_usart2_rx.Init.MemInc = DMA_MINC_ENABLE;
hdma_usart2_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_usart2_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_usart2_rx.Init.Mode = DMA_NORMAL;
hdma_usart2_rx.Init.Priority = DMA_PRIORITY_MEDIUM;
if (HAL_DMA_Init(&hdma_usart2_rx) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(huart,hdmarx,hdma_usart2_rx);
/* USART2_TX Init */
hdma_usart2_tx.Instance = DMA1_Channel1;
hdma_usart2_tx.Init.Request = DMA_REQUEST_USART2_TX;
hdma_usart2_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
hdma_usart2_tx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_usart2_tx.Init.MemInc = DMA_MINC_ENABLE;
hdma_usart2_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_usart2_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_usart2_tx.Init.Mode = DMA_NORMAL;
hdma_usart2_tx.Init.Priority = DMA_PRIORITY_HIGH;
if (HAL_DMA_Init(&hdma_usart2_tx) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(huart,hdmatx,hdma_usart2_tx);
/* USER CODE BEGIN USART2_MspInit 1 */
/* USER CODE END USART2_MspInit 1 */
@@ -444,6 +461,9 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_1|GPIO_PIN_4|GPIO_PIN_5);
/* USART2 DMA DeInit */
HAL_DMA_DeInit(huart->hdmarx);
HAL_DMA_DeInit(huart->hdmatx);
/* USER CODE BEGIN USART2_MspDeInit 1 */
/* USER CODE END USART2_MspDeInit 1 */

19
code/Core/Src/stm32c0xx_it.c
View File

@@ -55,10 +55,11 @@
/* USER CODE END 0 */
/* External variables --------------------------------------------------------*/
extern DMA_HandleTypeDef hdma_tim3_up;
extern TIM_HandleTypeDef htim14;
extern TIM_HandleTypeDef htim16;
extern TIM_HandleTypeDef htim17;
extern DMA_HandleTypeDef hdma_usart2_rx;
extern DMA_HandleTypeDef hdma_usart2_tx;
/* USER CODE BEGIN EV */
/* USER CODE END EV */
@@ -166,12 +167,26 @@ void DMA1_Channel1_IRQHandler(void)
/* USER CODE BEGIN DMA1_Channel1_IRQn 0 */
/* USER CODE END DMA1_Channel1_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_tim3_up);
HAL_DMA_IRQHandler(&hdma_usart2_tx);
/* USER CODE BEGIN DMA1_Channel1_IRQn 1 */
/* USER CODE END DMA1_Channel1_IRQn 1 */
}
/**
* @brief This function handles DMA1 channel 2 and channel 3 interrupts.
*/
void DMA1_Channel2_3_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Channel2_3_IRQn 0 */
/* USER CODE END DMA1_Channel2_3_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart2_rx);
/* USER CODE BEGIN DMA1_Channel2_3_IRQn 1 */
/* USER CODE END DMA1_Channel2_3_IRQn 1 */
}
/**
* @brief This function handles TIM14 global interrupt.
*/

34
code/Debug/Core/Src/main.cyclo
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@@ -1,13 +1,21 @@
../Core/Src/main.c:85:5:main 1
../Core/Src/main.c:136:6:SystemClock_Config 3
../Core/Src/main.c:175:13:MX_TIM1_Init 10
../Core/Src/main.c:269:13:MX_TIM3_Init 3
../Core/Src/main.c:318:13:MX_TIM16_Init 2
../Core/Src/main.c:350:13:MX_TIM17_Init 2
../Core/Src/main.c:382:13:MX_USART1_UART_Init 5
../Core/Src/main.c:430:13:MX_USART2_UART_Init 5
../Core/Src/main.c:476:13:MX_DMA_Init 1
../Core/Src/main.c:494:13:MX_GPIO_Init 1
../Core/Src/main.c:544:6:HAL_TIM_PeriodElapsedCallback 1
../Core/Src/main.c:561:6:HAL_GPIO_EXTI_Callback 5
../Core/Src/main.c:590:6:Error_Handler 1
../Core/Inc/pid.h:39:23:clamp_i32 3
../Core/Inc/pid.h:46:20:pid_init 1
../Core/Inc/pid.h:77:31:pid_update_motor 8
../Core/Src/main.c:124:5:main 18
../Core/Src/main.c:234:6:SystemClock_Config 3
../Core/Src/main.c:273:13:MX_TIM1_Init 10
../Core/Src/main.c:367:13:MX_TIM3_Init 3
../Core/Src/main.c:416:13:MX_TIM14_Init 2
../Core/Src/main.c:447:13:MX_TIM16_Init 2
../Core/Src/main.c:479:13:MX_TIM17_Init 2
../Core/Src/main.c:511:13:MX_USART1_UART_Init 5
../Core/Src/main.c:559:13:MX_USART2_UART_Init 5
../Core/Src/main.c:605:13:MX_DMA_Init 1
../Core/Src/main.c:626:13:MX_GPIO_Init 1
../Core/Src/main.c:676:6:HAL_TIM_PeriodElapsedCallback 11
../Core/Src/main.c:724:6:HAL_GPIO_EXTI_Callback 5
../Core/Src/main.c:746:6:HAL_UARTEx_RxEventCallback 4
../Core/Src/main.c:766:6:set_LED 4
../Core/Src/main.c:776:6:handleRS485Message 1
../Core/Src/main.c:794:6:set_Feeder_PWM 2
../Core/Src/main.c:815:6:Error_Handler 1

5
code/Debug/Core/Src/main.d
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@@ -28,7 +28,8 @@ Core/Src/main.o: ../Core/Src/main.c ../Core/Inc/main.h \
../Drivers/STM32C0xx_HAL_Driver/Inc/stm32c0xx_hal_tim.h \
../Drivers/STM32C0xx_HAL_Driver/Inc/stm32c0xx_hal_tim_ex.h \
../Drivers/STM32C0xx_HAL_Driver/Inc/stm32c0xx_hal_uart.h \
../Drivers/STM32C0xx_HAL_Driver/Inc/stm32c0xx_hal_uart_ex.h
../Drivers/STM32C0xx_HAL_Driver/Inc/stm32c0xx_hal_uart_ex.h \
../Core/Inc/photon_protocol.h ../Core/Inc/pid.h
../Core/Inc/main.h:
../Drivers/STM32C0xx_HAL_Driver/Inc/stm32c0xx_hal.h:
../Drivers/STM32C0xx_HAL_Driver/Inc/stm32c0xx_ll_system.h:
@@ -60,3 +61,5 @@ Core/Src/main.o: ../Core/Src/main.c ../Core/Inc/main.h \
../Drivers/STM32C0xx_HAL_Driver/Inc/stm32c0xx_hal_tim_ex.h:
../Drivers/STM32C0xx_HAL_Driver/Inc/stm32c0xx_hal_uart.h:
../Drivers/STM32C0xx_HAL_Driver/Inc/stm32c0xx_hal_uart_ex.h:
../Core/Inc/photon_protocol.h:
../Core/Inc/pid.h:

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34
code/Debug/Core/Src/main.su
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@@ -1,13 +1,21 @@
../Core/Src/main.c:85:5:main 8 static
../Core/Src/main.c:136:6:SystemClock_Config 64 static
../Core/Src/main.c:175:13:MX_TIM1_Init 120 static
../Core/Src/main.c:269:13:MX_TIM3_Init 64 static
../Core/Src/main.c:318:13:MX_TIM16_Init 8 static
../Core/Src/main.c:350:13:MX_TIM17_Init 8 static
../Core/Src/main.c:382:13:MX_USART1_UART_Init 8 static
../Core/Src/main.c:430:13:MX_USART2_UART_Init 8 static
../Core/Src/main.c:476:13:MX_DMA_Init 16 static
../Core/Src/main.c:494:13:MX_GPIO_Init 56 static
../Core/Src/main.c:544:6:HAL_TIM_PeriodElapsedCallback 16 static
../Core/Src/main.c:561:6:HAL_GPIO_EXTI_Callback 16 static
../Core/Src/main.c:590:6:Error_Handler 8 static,ignoring_inline_asm
../Core/Inc/pid.h:39:23:clamp_i32 24 static
../Core/Inc/pid.h:46:20:pid_init 24 static
../Core/Inc/pid.h:77:31:pid_update_motor 72 static
../Core/Src/main.c:124:5:main 56 static
../Core/Src/main.c:234:6:SystemClock_Config 64 static
../Core/Src/main.c:273:13:MX_TIM1_Init 120 static
../Core/Src/main.c:367:13:MX_TIM3_Init 64 static
../Core/Src/main.c:416:13:MX_TIM14_Init 8 static
../Core/Src/main.c:447:13:MX_TIM16_Init 8 static
../Core/Src/main.c:479:13:MX_TIM17_Init 8 static
../Core/Src/main.c:511:13:MX_USART1_UART_Init 8 static
../Core/Src/main.c:559:13:MX_USART2_UART_Init 8 static
../Core/Src/main.c:605:13:MX_DMA_Init 16 static
../Core/Src/main.c:626:13:MX_GPIO_Init 56 static
../Core/Src/main.c:676:6:HAL_TIM_PeriodElapsedCallback 24 static
../Core/Src/main.c:724:6:HAL_GPIO_EXTI_Callback 16 static
../Core/Src/main.c:746:6:HAL_UARTEx_RxEventCallback 16 static
../Core/Src/main.c:766:6:set_LED 24 static
../Core/Src/main.c:776:6:handleRS485Message 24 static
../Core/Src/main.c:794:6:set_Feeder_PWM 16 static
../Core/Src/main.c:815:6:Error_Handler 8 static,ignoring_inline_asm

16
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@@ -1,8 +1,8 @@
../Core/Src/stm32c0xx_hal_msp.c:66:6:HAL_MspInit 1
../Core/Src/stm32c0xx_hal_msp.c:89:6:HAL_TIM_Base_MspInit 4
../Core/Src/stm32c0xx_hal_msp.c:139:6:HAL_TIM_Encoder_MspInit 3
../Core/Src/stm32c0xx_hal_msp.c:188:6:HAL_TIM_MspPostInit 2
../Core/Src/stm32c0xx_hal_msp.c:230:6:HAL_TIM_Base_MspDeInit 4
../Core/Src/stm32c0xx_hal_msp.c:280:6:HAL_TIM_Encoder_MspDeInit 2
../Core/Src/stm32c0xx_hal_msp.c:311:6:HAL_UART_MspInit 4
../Core/Src/stm32c0xx_hal_msp.c:384:6:HAL_UART_MspDeInit 3
../Core/Src/stm32c0xx_hal_msp.c:68:6:HAL_MspInit 1
../Core/Src/stm32c0xx_hal_msp.c:91:6:HAL_TIM_Base_MspInit 5
../Core/Src/stm32c0xx_hal_msp.c:155:6:HAL_TIM_Encoder_MspInit 2
../Core/Src/stm32c0xx_hal_msp.c:186:6:HAL_TIM_MspPostInit 2
../Core/Src/stm32c0xx_hal_msp.c:228:6:HAL_TIM_Base_MspDeInit 5
../Core/Src/stm32c0xx_hal_msp.c:292:6:HAL_TIM_Encoder_MspDeInit 2
../Core/Src/stm32c0xx_hal_msp.c:321:6:HAL_UART_MspInit 6
../Core/Src/stm32c0xx_hal_msp.c:429:6:HAL_UART_MspDeInit 3

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16
code/Debug/Core/Src/stm32c0xx_hal_msp.su
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@@ -1,8 +1,8 @@
../Core/Src/stm32c0xx_hal_msp.c:66:6:HAL_MspInit 16 static
../Core/Src/stm32c0xx_hal_msp.c:89:6:HAL_TIM_Base_MspInit 32 static
../Core/Src/stm32c0xx_hal_msp.c:139:6:HAL_TIM_Encoder_MspInit 56 static
../Core/Src/stm32c0xx_hal_msp.c:188:6:HAL_TIM_MspPostInit 48 static
../Core/Src/stm32c0xx_hal_msp.c:230:6:HAL_TIM_Base_MspDeInit 16 static
../Core/Src/stm32c0xx_hal_msp.c:280:6:HAL_TIM_Encoder_MspDeInit 16 static
../Core/Src/stm32c0xx_hal_msp.c:311:6:HAL_UART_MspInit 88 static
../Core/Src/stm32c0xx_hal_msp.c:384:6:HAL_UART_MspDeInit 16 static
../Core/Src/stm32c0xx_hal_msp.c:68:6:HAL_MspInit 16 static
../Core/Src/stm32c0xx_hal_msp.c:91:6:HAL_TIM_Base_MspInit 32 static
../Core/Src/stm32c0xx_hal_msp.c:155:6:HAL_TIM_Encoder_MspInit 56 static
../Core/Src/stm32c0xx_hal_msp.c:186:6:HAL_TIM_MspPostInit 48 static
../Core/Src/stm32c0xx_hal_msp.c:228:6:HAL_TIM_Base_MspDeInit 16 static
../Core/Src/stm32c0xx_hal_msp.c:292:6:HAL_TIM_Encoder_MspDeInit 16 static
../Core/Src/stm32c0xx_hal_msp.c:321:6:HAL_UART_MspInit 88 static
../Core/Src/stm32c0xx_hal_msp.c:429:6:HAL_UART_MspDeInit 16 static

20
code/Debug/Core/Src/stm32c0xx_it.cyclo
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@@ -1,9 +1,11 @@
../Core/Src/stm32c0xx_it.c:71:6:NMI_Handler 1
../Core/Src/stm32c0xx_it.c:86:6:HardFault_Handler 1
../Core/Src/stm32c0xx_it.c:101:6:SVC_Handler 1
../Core/Src/stm32c0xx_it.c:114:6:PendSV_Handler 1
../Core/Src/stm32c0xx_it.c:127:6:SysTick_Handler 1
../Core/Src/stm32c0xx_it.c:148:6:EXTI4_15_IRQHandler 1
../Core/Src/stm32c0xx_it.c:163:6:DMA1_Channel1_IRQHandler 1
../Core/Src/stm32c0xx_it.c:177:6:TIM16_IRQHandler 1
../Core/Src/stm32c0xx_it.c:191:6:TIM17_IRQHandler 1
../Core/Src/stm32c0xx_it.c:73:6:NMI_Handler 1
../Core/Src/stm32c0xx_it.c:88:6:HardFault_Handler 1
../Core/Src/stm32c0xx_it.c:103:6:SVC_Handler 1
../Core/Src/stm32c0xx_it.c:116:6:PendSV_Handler 1
../Core/Src/stm32c0xx_it.c:129:6:SysTick_Handler 1
../Core/Src/stm32c0xx_it.c:150:6:EXTI4_15_IRQHandler 1
../Core/Src/stm32c0xx_it.c:165:6:DMA1_Channel1_IRQHandler 1
../Core/Src/stm32c0xx_it.c:179:6:DMA1_Channel2_3_IRQHandler 1
../Core/Src/stm32c0xx_it.c:193:6:TIM14_IRQHandler 1
../Core/Src/stm32c0xx_it.c:207:6:TIM16_IRQHandler 1
../Core/Src/stm32c0xx_it.c:221:6:TIM17_IRQHandler 1

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20
code/Debug/Core/Src/stm32c0xx_it.su
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@@ -1,9 +1,11 @@
../Core/Src/stm32c0xx_it.c:71:6:NMI_Handler 8 static
../Core/Src/stm32c0xx_it.c:86:6:HardFault_Handler 8 static
../Core/Src/stm32c0xx_it.c:101:6:SVC_Handler 8 static
../Core/Src/stm32c0xx_it.c:114:6:PendSV_Handler 8 static
../Core/Src/stm32c0xx_it.c:127:6:SysTick_Handler 8 static
../Core/Src/stm32c0xx_it.c:148:6:EXTI4_15_IRQHandler 8 static
../Core/Src/stm32c0xx_it.c:163:6:DMA1_Channel1_IRQHandler 8 static
../Core/Src/stm32c0xx_it.c:177:6:TIM16_IRQHandler 8 static
../Core/Src/stm32c0xx_it.c:191:6:TIM17_IRQHandler 8 static
../Core/Src/stm32c0xx_it.c:73:6:NMI_Handler 8 static
../Core/Src/stm32c0xx_it.c:88:6:HardFault_Handler 8 static
../Core/Src/stm32c0xx_it.c:103:6:SVC_Handler 8 static
../Core/Src/stm32c0xx_it.c:116:6:PendSV_Handler 8 static
../Core/Src/stm32c0xx_it.c:129:6:SysTick_Handler 8 static
../Core/Src/stm32c0xx_it.c:150:6:EXTI4_15_IRQHandler 8 static
../Core/Src/stm32c0xx_it.c:165:6:DMA1_Channel1_IRQHandler 8 static
../Core/Src/stm32c0xx_it.c:179:6:DMA1_Channel2_3_IRQHandler 8 static
../Core/Src/stm32c0xx_it.c:193:6:TIM14_IRQHandler 8 static
../Core/Src/stm32c0xx_it.c:207:6:TIM16_IRQHandler 8 static
../Core/Src/stm32c0xx_it.c:221:6:TIM17_IRQHandler 8 static

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code/feeder_mk2.ioc
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@@ -2,25 +2,43 @@
CAD.formats=[]
CAD.pinconfig=Dual
CAD.provider=
Dma.Request0=TIM3_UP
Dma.RequestsNb=1
Dma.TIM3_UP.0.Direction=DMA_PERIPH_TO_MEMORY
Dma.TIM3_UP.0.EventEnable=DISABLE
Dma.TIM3_UP.0.Instance=DMA1_Channel1
Dma.TIM3_UP.0.MemDataAlignment=DMA_MDATAALIGN_HALFWORD
Dma.TIM3_UP.0.MemInc=DMA_MINC_ENABLE
Dma.TIM3_UP.0.Mode=DMA_NORMAL
Dma.TIM3_UP.0.PeriphDataAlignment=DMA_PDATAALIGN_HALFWORD
Dma.TIM3_UP.0.PeriphInc=DMA_PINC_DISABLE
Dma.TIM3_UP.0.Polarity=HAL_DMAMUX_REQ_GEN_RISING
Dma.TIM3_UP.0.Priority=DMA_PRIORITY_LOW
Dma.TIM3_UP.0.RequestNumber=1
Dma.TIM3_UP.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
Dma.TIM3_UP.0.SignalID=NONE
Dma.TIM3_UP.0.SyncEnable=DISABLE
Dma.TIM3_UP.0.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
Dma.TIM3_UP.0.SyncRequestNumber=1
Dma.TIM3_UP.0.SyncSignalID=NONE
Dma.Request0=USART2_RX
Dma.Request1=USART2_TX
Dma.RequestsNb=2
Dma.USART2_RX.0.Direction=DMA_PERIPH_TO_MEMORY
Dma.USART2_RX.0.EventEnable=DISABLE
Dma.USART2_RX.0.Instance=DMA1_Channel2
Dma.USART2_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.USART2_RX.0.MemInc=DMA_MINC_ENABLE
Dma.USART2_RX.0.Mode=DMA_NORMAL
Dma.USART2_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.USART2_RX.0.PeriphInc=DMA_PINC_DISABLE
Dma.USART2_RX.0.Polarity=HAL_DMAMUX_REQ_GEN_RISING
Dma.USART2_RX.0.Priority=DMA_PRIORITY_MEDIUM
Dma.USART2_RX.0.RequestNumber=1
Dma.USART2_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
Dma.USART2_RX.0.SignalID=NONE
Dma.USART2_RX.0.SyncEnable=DISABLE
Dma.USART2_RX.0.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
Dma.USART2_RX.0.SyncRequestNumber=1
Dma.USART2_RX.0.SyncSignalID=NONE
Dma.USART2_TX.1.Direction=DMA_MEMORY_TO_PERIPH
Dma.USART2_TX.1.EventEnable=DISABLE
Dma.USART2_TX.1.Instance=DMA1_Channel1
Dma.USART2_TX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.USART2_TX.1.MemInc=DMA_MINC_ENABLE
Dma.USART2_TX.1.Mode=DMA_NORMAL
Dma.USART2_TX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.USART2_TX.1.PeriphInc=DMA_PINC_DISABLE
Dma.USART2_TX.1.Polarity=HAL_DMAMUX_REQ_GEN_RISING
Dma.USART2_TX.1.Priority=DMA_PRIORITY_HIGH
Dma.USART2_TX.1.RequestNumber=1
Dma.USART2_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
Dma.USART2_TX.1.SignalID=NONE
Dma.USART2_TX.1.SyncEnable=DISABLE
Dma.USART2_TX.1.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
Dma.USART2_TX.1.SyncRequestNumber=1
Dma.USART2_TX.1.SyncSignalID=NONE
File.Version=6
GPIO.groupedBy=Group By Peripherals
KeepUserPlacement=false
@@ -77,6 +95,7 @@ Mcu.UserName=STM32C051C6Tx
MxCube.Version=6.15.0
MxDb.Version=DB.6.0.150
NVIC.DMA1_Channel1_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
NVIC.DMA1_Channel2_3_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
NVIC.EXTI4_15_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
NVIC.ForceEnableDMAVector=true
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
@@ -199,7 +218,7 @@ ProjectManager.ToolChainLocation=
ProjectManager.UAScriptAfterPath=
ProjectManager.UAScriptBeforePath=
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_TIM1_Init-TIM1-false-HAL-true,5-MX_TIM3_Init-TIM3-false-HAL-true,6-MX_USART1_UART_Init-USART1-false-HAL-true,7-MX_USART2_UART_Init-USART2-false-HAL-true,8-MX_TIM16_Init-TIM16-false-HAL-true,9-MX_TIM17_Init-TIM17-false-HAL-true,0-MX_CORTEX_M0+_Init-CORTEX_M0+-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_TIM1_Init-TIM1-false-HAL-true,5-MX_TIM3_Init-TIM3-false-HAL-true,6-MX_USART1_UART_Init-USART1-false-HAL-true,7-MX_USART2_UART_Init-USART2-false-HAL-true,8-MX_TIM16_Init-TIM16-false-HAL-true,9-MX_TIM17_Init-TIM17-false-HAL-true,10-MX_TIM14_Init-TIM14-false-HAL-true,0-MX_CORTEX_M0+_Init-CORTEX_M0+-false-HAL-true
RCC.ADCFreq_Value=48000000
RCC.AHBFreq_Value=48000000
RCC.APBFreq_Value=48000000
@@ -256,7 +275,10 @@ TIM3.EncoderMode=TIM_ENCODERMODE_TI12
TIM3.IPParameters=EncoderMode
USART1.IPParameters=VirtualMode-Asynchronous
USART1.VirtualMode-Asynchronous=VM_ASYNC
USART2.IPParameters=VirtualMode-Asynchronous,VirtualMode-Hardware Flow Control (RS485)
USART2.BaudRate=57600
USART2.IPParameters=VirtualMode-Asynchronous,VirtualMode-Hardware Flow Control (RS485),BaudRate,TXFIFOThreshold,RXFIFOThreshold
USART2.RXFIFOThreshold=RXFIFO_THRESHOLD_HALFFULL
USART2.TXFIFOThreshold=TXFIFO_THRESHOLD_HALFFULL
USART2.VirtualMode-Asynchronous=VM_ASYNC
USART2.VirtualMode-Hardware\ Flow\ Control\ (RS485)=VM_ASYNC
VP_SYS_VS_Systick.Mode=SysTick