HydroBot/protomodule-firmware Changeset - a6cb9f350919

Changeset - a6cb9f350919

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matthewreed - 8 years ago 2017-10-05 14:16:09

Updated to hydrobot baseline functionality

10 files changed with 300 insertions and 299 deletions:

.hgsubstate

Inc/config.h

Inc/gpio.h

Inc/stm32f0xx_it.h

Inc/system.h

Makefile

STM32F042K6Tx_FLASH.ld

Src/gpio.c

125

Src/main.c

284

Src/system.c

0 comments (0 inline, 0 general)

.hgsubstate

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		~~5b244673cf7f522b38dd6ac9ab8c45f334cdaf28~~ hydrobot-sharedlibs
		20618713ba15db54576863ba8bbf58ce14418d54 hydrobot-sharedlibs

Inc/config.h

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@@ new file 100644 @@
 #ifndef _CONFIG_H_
 #define _CONFIG_H_
 #include "stm32f0xx_hal.h"
 #define DEFAULT_CAN_ID 0x208
 #define DEFAULT_BROADCAST_ID 0x00000000
 #define DEFAULT_DATA_RATE 1000
 #define DEFAULT_LED_BRIGHTNESS 100
 typedef struct {
     uint8_t x;
     uint16_t y;
     uint32_t z;
 } flash_user_vars_t;
 #endif //_CONFIG_H_

Inc/gpio.h

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@@ new file 100644 @@
 #ifndef _GPIO_H_
 #define _GPIO_H_
 #include "stm32f0xx_hal.h"
 #include <stdbool.h>
 #include <led.h>
 #include <protocol.h>
 #include <config.h>
 #define GPIO_NUM_LEDS 3
 typedef struct {
     uint16_t pin;
     GPIO_TypeDef* port;
     TIM_HandleTypeDef* timer;
     uint16_t channel;
 } gpio_led_t;
 void gpio_init(void);
 bool gpio_set_led(led_name_t led, bool value);
 bool gpio_toggle_led(led_name_t led);
 bool gpio_set_led_brightness(uint8_t brightness);
 #endif /*_GPIO_H_ */

Inc/stm32f0xx_it.h

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@@ @@ -31,32 +31,33 @@ @@
   ******************************************************************************
   */
 /* Define to prevent recursive inclusion -------------------------------------*/
 #ifndef __STM32F0xx_IT_H
 #define __STM32F0xx_IT_H
 #ifdef __cplusplus
  extern "C" {
 #endif
 /* Includes ------------------------------------------------------------------*/
 #include "stm32f0xx_hal.h"
 #include "main.h"
 /* Exported types ------------------------------------------------------------*/
 /* Exported constants --------------------------------------------------------*/
 /* Exported macro ------------------------------------------------------------*/
 /* Exported functions ------------------------------------------------------- */
 void NMI_Handler(void);
 void HardFault_Handler(void);
 void SVC_Handler(void);
 void PendSV_Handler(void);
 void SysTick_Handler(void);
 void CEC_CAN_IRQHandler(void);
 #ifdef __cplusplus
+}
 #endif
 #endif /* __STM32F0xx_IT_H */
 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

Inc/system.h

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@@ new file 100644 @@
 #ifndef _SYSTEM_H
 #define _SYSTEM_H
 #include <stdbool.h>
 #include "stm32f0xx_hal.h"
 void system_init(void);
 #endif //_SYSTEM_H

Makefile

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@@ @@ -27,128 +27,135 @@ OPT = -Og @@
 #######################################
 # paths
 #######################################
 # source path
 SOURCES_DIR =  \
 Drivers/CMSIS \
 Drivers/STM32F0xx_HAL_Driver \
 Application/MAKEFILE \
 Application \
 Application/User \
 Drivers
 # firmware library path
 PERIFLIB_PATH =
 # Build path
 BUILD_DIR = build
 ######################################
 # source
 ######################################
 # C sources
 C_SOURCES =  \
 Src/system_stm32f0xx.c \
 Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_can.c \
 Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_i2c_ex.c \
 Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_rcc_ex.c \
 Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal.c \
 Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_pwr.c \
 Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_dma.c \
 Src/stm32f0xx_hal_msp.c \
 Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_i2c.c \
 Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_flash.c \
 Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_pwr_ex.c \
 Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_tim_ex.c \
 Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_flash_ex.c \
 Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_tim.c \
 Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_rcc.c \
 Src/stm32f0xx_it.c \
 Src/main.c \
 Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_gpio.c \
 Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_cortex.c
 Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_cortex.c \
 Src/gpio.c \
 Src/main.c \
 Src/stm32f0xx_hal_msp.c \
 Src/stm32f0xx_it.c \
 Src/system_stm32f0xx.c \
 Src/system.c \
 hydrobot-sharedlibs/src/can_buffer.c \
 hydrobot-sharedlibs/src/can.c \
 hydrobot-sharedlibs/src/flash.c \
 hydrobot-sharedlibs/src/led.c \
 hydrobot-sharedlibs/src/protocol.c
 # ASM sources
 ASM_SOURCES =  \
 startup_stm32f042x6.s
 ######################################
 # firmware library
 ######################################
 PERIFLIB_SOURCES =
 #######################################
 # binaries
 #######################################
 BINPATH =
 PREFIX = arm-none-eabi-
 CC = $(BINPATH)/$(PREFIX)gcc
 AS = $(BINPATH)/$(PREFIX)gcc -x assembler-with-cpp
 CP = $(BINPATH)/$(PREFIX)objcopy
 AR = $(BINPATH)/$(PREFIX)ar
 SZ = $(BINPATH)/$(PREFIX)size
 CC = $(PREFIX)gcc
 AS = $(PREFIX)gcc -x assembler-with-cpp
 CP = $(PREFIX)objcopy
 AR = $(PREFIX)ar
 SZ = $(PREFIX)size
 HEX = $(CP) -O ihex
 BIN = $(CP) -O binary -S
 #######################################
 # CFLAGS
 #######################################
 # cpu
 CPU = -mcpu=cortex-m0
 # fpu
 # NONE for Cortex-M0/M0+/M3
 # float-abi
 # mcu
 MCU = $(CPU) -mthumb $(FPU) $(FLOAT-ABI)
 # macros for gcc
 # AS defines
 AS_DEFS =
 # C defines
 C_DEFS =  \
 -DUSE_HAL_DRIVER \
 -DSTM32F042x6
 # AS includes
 AS_INCLUDES =
 # C includes
 C_INCLUDES =  \
 -IInc \
 -IDrivers/STM32F0xx_HAL_Driver/Inc \
 -IDrivers/STM32F0xx_HAL_Driver/Inc/Legacy \
 -IDrivers/CMSIS/Device/ST/STM32F0xx/Include \
 -IDrivers/CMSIS/Include
 -IDrivers/CMSIS/Include \
 -Ihydrobot-sharedlibs/inc
 # compile gcc flags
 ASFLAGS = $(MCU) $(AS_DEFS) $(AS_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections
 CFLAGS = $(MCU) $(C_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections
 ifeq ($(DEBUG), 1)
 CFLAGS += -g -gdwarf-2
 endif
 # Generate dependency information
 CFLAGS += -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)"
 #######################################
 # LDFLAGS
 #######################################
 # link script
 LDSCRIPT = STM32F042K6Tx_FLASH.ld
 # libraries
 LIBS = -lc -lm -lnosys
 LIBDIR =

STM32F042K6Tx_FLASH.ld

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@@ @@ -21,49 +21,50 @@ @@
 **  (c)Copyright Ac6.
 **  You may use this file as-is or modify it according to the needs of your
 **  project. Distribution of this file (unmodified or modified) is not
 **  permitted. Ac6 permit registered System Workbench for MCU users the
 **  rights to distribute the assembled, compiled & linked contents of this
 **  file as part of an application binary file, provided that it is built
 **  using the System Workbench for MCU toolchain.
 **
 *****************************************************************************
 */
 /* Entry Point */
 ENTRY(Reset_Handler)
 /* Highest address of the user mode stack */
 _estack = 0x20001800;    /* end of RAM */
 /* Generate a link error if heap and stack don't fit into RAM */
 _Min_Heap_Size = 0x200;      /* required amount of heap  */
 _Min_Stack_Size = 0x400; /* required amount of stack */
 /* Specify the memory areas */
 MEMORY
+{
 RAM (xrw)      : ORIGIN = 0x20000000, LENGTH = 6K
 FLASH (rx)      : ORIGIN = 0x8000000, LENGTH = 32K
 FLASH (rx)      : ORIGIN = 0x8000000, LENGTH = 31K
 EEPROM (xrw)    : ORIGIN = 0x8007C00, LENGTH = 1K
+}
 /* Define output sections */
 SECTIONS
+{
   /* The startup code goes first into FLASH */
   .isr_vector :
+  {
     . = ALIGN(4);
     KEEP(*(.isr_vector)) /* Startup code */
     . = ALIGN(4);
   } >FLASH
   /* The program code and other data goes into FLASH */
   .text :
+  {
     . = ALIGN(4);
     *(.text)           /* .text sections (code) */
     *(.text*)          /* .text* sections (code) */
     *(.glue_7)         /* glue arm to thumb code */
     *(.glue_7t)        /* glue thumb to arm code */
     *(.eh_frame)
     KEEP (*(.init))
@@ @@ -132,38 +133,43 @@ SECTIONS @@
+  {
     /* This is used by the startup in order to initialize the .bss secion */
     _sbss = .;         /* define a global symbol at bss start */
     __bss_start__ = _sbss;
     *(.bss)
     *(.bss*)
     *(COMMON)
     . = ALIGN(4);
     _ebss = .;         /* define a global symbol at bss end */
     __bss_end__ = _ebss;
   } >RAM
   /* User_heap_stack section, used to check that there is enough RAM left */
   ._user_heap_stack :
+  {
     . = ALIGN(8);
     PROVIDE ( end = . );
     PROVIDE ( _end = . );
     . = . + _Min_Heap_Size;
     . = . + _Min_Stack_Size;
     . = ALIGN(8);
   } >RAM
   .eeprom :
+  {
     . = ALIGN(4);
       *(.eeprom)
     . = ALIGN(4);
   } >EEPROM
   /* Remove information from the standard libraries */
   /DISCARD/ :
+  {
     libc.a ( * )
     libm.a ( * )
     libgcc.a ( * )
+  }
   .ARM.attributes 0 : { *(.ARM.attributes) }
+}

Src/gpio.c

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@@ new file 100644 @@
 #include "gpio.h"
 TIM_HandleTypeDef htim1;
 uint8_t led_brightness = 0;
 gpio_led_t led1 = {GPIO_PIN_10, GPIOA, &htim1, TIM_CHANNEL_3};
 gpio_led_t led2 = {GPIO_PIN_9, GPIOA, &htim1, TIM_CHANNEL_2};
 gpio_led_t led3 = {GPIO_PIN_8, GPIOA, &htim1, TIM_CHANNEL_1};
 gpio_led_t* leds[GPIO_NUM_LEDS] = {&led1, &led2, &led3};
 void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
 void gpio_init(void)
+{
     /* GPIO Ports Clock Enable */
     __HAL_RCC_GPIOF_CLK_ENABLE();
     __HAL_RCC_GPIOA_CLK_ENABLE();
 //    /*Configure GPIO pin Output Level */
 //    HAL_GPIO_WritePin(GPIOA, LED3_Pin|LED2_Pin|LED1_Pin, GPIO_PIN_RESET);
 //
 //    /*Configure GPIO pins : PAPin PAPin PAPin */
 //    GPIO_InitStruct.Pin = LED3_Pin|LED2_Pin|LED1_Pin;
 //    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
 //    GPIO_InitStruct.Pull = GPIO_NOPULL;
 //    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
 //    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
     TIM_ClockConfigTypeDef sClockSourceConfig;
     TIM_MasterConfigTypeDef sMasterConfig;
     TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig;
     TIM_OC_InitTypeDef sConfigOC;
     htim1.Instance = TIM1;
     htim1.Init.Prescaler = 0;
     htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
     htim1.Init.Period = 0xFFF;
     htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
     htim1.Init.RepetitionCounter = 0;
     HAL_TIM_Base_Init(&htim1);
     sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
     HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig);
     HAL_TIM_PWM_Init(&htim1);
     sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
     sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
     HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig);
     sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
     sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
     sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
     sBreakDeadTimeConfig.DeadTime = 0;
     sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
     sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
     sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
     HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig);
     sConfigOC.OCMode = TIM_OCMODE_PWM1;
     sConfigOC.Pulse = 0;
     sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
     sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
     sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
     sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
     sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
     HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1);
     HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2);
     HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3);
     HAL_TIM_MspPostInit(&htim1);
     HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
     HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
     HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);
+}
 bool gpio_set_led(led_name_t led, bool value)
+{
     bool result = true;
     __HAL_TIM_SET_COMPARE(leds[led]->timer, leds[led]->channel, (uint16_t)(led_brightness * 40.95 * value));
     return result;
+}
 bool gpio_toggle_led(led_name_t led)
+{
     bool result = true;
     if (__HAL_TIM_GET_COMPARE(leds[led]->timer, leds[led]->channel))
+    {
         __HAL_TIM_SET_COMPARE(leds[led]->timer, leds[led]->channel, 0);
+    }
     else
+    {
         __HAL_TIM_SET_COMPARE(leds[led]->timer, leds[led]->channel, (uint16_t)(led_brightness * 40.95));
+    }
     return result;
+}
 bool gpio_set_led_brightness(uint8_t brightness)
+{
     bool result = true;
     led_brightness = brightness;
     for (uint8_t i = 0; i < GPIO_NUM_LEDS; i++)
+    {
         gpio_led_t* led = leds[i];
         if (__HAL_TIM_GET_COMPARE(led->timer, led->channel))
+        {
             __HAL_TIM_SET_COMPARE(led->timer, led->channel, (uint16_t)(led_brightness * 40.95));
+        }
+    }
     return result;
+}

Src/main.c

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 /**
   ******************************************************************************
   * File Name          : main.c
   * Description        : Main program body
   ******************************************************************************
   ** This notice applies to any and all portions of this file
   * that are not between comment pairs USER CODE BEGIN and
   * USER CODE END. Other portions of this file, whether
   * inserted by the user or by software development tools
   * are owned by their respective copyright owners.
+  *
   * COPYRIGHT(c) 2017 STMicroelectronics
+  *
   * Redistribution and use in source and binary forms, with or without modification,
   * are permitted provided that the following conditions are met:
   *   1. Redistributions of source code must retain the above copyright notice,
   *      this list of conditions and the following disclaimer.
   *   2. Redistributions in binary form must reproduce the above copyright notice,
   *      this list of conditions and the following disclaimer in the documentation
   *      and/or other materials provided with the distribution.
   *   3. Neither the name of STMicroelectronics nor the names of its contributors
   *      may be used to endorse or promote products derived from this software
   *      without specific prior written permission.
+  *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
   * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
   * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
   * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
   * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
   * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
   * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
   * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  *
   ******************************************************************************
   */
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
 #include "stm32f0xx_hal.h"
 /* USER CODE BEGIN Includes */
 /* USER CODE END Includes */
 /* Private variables ---------------------------------------------------------*/
 CAN_HandleTypeDef hcan;
 TIM_HandleTypeDef htim1;
 /* USER CODE BEGIN PV */
 /* Private variables ---------------------------------------------------------*/
 /* USER CODE END PV */
 #include "can.h"
 #include "gpio.h"
 #include "system.h"
 #include "led.h"
 #include "protocol.h"
 /* Private function prototypes -----------------------------------------------*/
 void SystemClock_Config(void);
 static void MX_GPIO_Init(void);
 static void MX_CAN_Init(void);
 static void MX_TIM1_Init(void);
 void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
 /* USER CODE BEGIN PFP */
 /* Private function prototypes -----------------------------------------------*/
 /* USER CODE END PFP */
 /* USER CODE BEGIN 0 */
 /* USER CODE END 0 */
 int main(void)
+{
   /* USER CODE BEGIN 1 */
   /* USER CODE END 1 */
   /* MCU Configuration----------------------------------------------------------*/
   /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
   HAL_Init();
   /* USER CODE BEGIN Init */
     HAL_Init();
     system_init();
     gpio_init();
   /* USER CODE END Init */
   /* Configure the system clock */
   SystemClock_Config();
   /* USER CODE BEGIN SysInit */
     protocol_init(PROTOMODULE);
   /* USER CODE END SysInit */
   /* Initialize all configured peripherals */
   MX_GPIO_Init();
   MX_CAN_Init();
   MX_TIM1_Init();
     led_init();
     led_blink(LED_STATUS, 2000);
     led_blink_once(LED_CAN, 2000);
     led_set(LED_ERROR, 0);
   /* USER CODE BEGIN 2 */
   /* USER CODE END 2 */
   /* Infinite loop */
   /* USER CODE BEGIN WHILE */
   while (1)
+  {
   /* USER CODE END WHILE */
   /* USER CODE BEGIN 3 */
     uint32_t loop_timer_1ms = 0;
     uint32_t loop_timer_10ms = 0;
     uint32_t loop_timer_200ms = 0;
     uint32_t loop_timer_1s = 0;
     uint32_t loop_timer_2s = 0;
     uint32_t loop_timer_data = 0;
+  }
   /* USER CODE END 3 */
+}
     while (1)
+    {
         can_receive();
 /** System Clock Configuration
 */
 void SystemClock_Config(void)
+{
   RCC_OscInitTypeDef RCC_OscInitStruct;
   RCC_ClkInitTypeDef RCC_ClkInitStruct;
         if (HAL_GetTick() - loop_timer_1ms >= 1)
+        {
             can_process_receive_buffer();
             led_update_all();
     /**Initializes the CPU, AHB and APB busses clocks
     */
   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
   RCC_OscInitStruct.HSEState = RCC_HSE_ON;
   RCC_OscInitStruct.HSIState = RCC_HSI_ON;
   RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
   RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
   RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL4;
   RCC_OscInitStruct.PLL.PREDIV = RCC_PREDIV_DIV1;
   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
+  {
     _Error_Handler(__FILE__, __LINE__);
+  }
             loop_timer_1ms = HAL_GetTick();
+        }
         if (HAL_GetTick() - loop_timer_10ms >= 10)
+        {
     /**Initializes the CPU, AHB and APB busses clocks
     */
   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                               |RCC_CLOCKTYPE_PCLK1;
   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
   RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
   RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
             loop_timer_10ms = HAL_GetTick();
+        }
   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
+  {
     _Error_Handler(__FILE__, __LINE__);
+  }
         if (HAL_GetTick() - loop_timer_200ms >= 200)
+        {
             loop_timer_200ms = HAL_GetTick();
+        }
     /**Configure the Systick interrupt time
     */
   HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
     /**Configure the Systick
     */
   HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
         if (HAL_GetTick() - loop_timer_1s >= 1000)
+        {
   /* SysTick_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
+}
 /* CAN init function */
 static void MX_CAN_Init(void)
+{
             loop_timer_1s = HAL_GetTick();
+        }
         if (HAL_GetTick() - loop_timer_2s >= 2000)
+        {
   hcan.Instance = CAN;
   hcan.Init.Prescaler = 16;
   hcan.Init.Mode = CAN_MODE_NORMAL;
   hcan.Init.SJW = CAN_SJW_1TQ;
   hcan.Init.BS1 = CAN_BS1_1TQ;
   hcan.Init.BS2 = CAN_BS2_1TQ;
   hcan.Init.TTCM = DISABLE;
   hcan.Init.ABOM = DISABLE;
   hcan.Init.AWUM = DISABLE;
   hcan.Init.NART = DISABLE;
   hcan.Init.RFLM = DISABLE;
   hcan.Init.TXFP = DISABLE;
   if (HAL_CAN_Init(&hcan) != HAL_OK)
+  {
     _Error_Handler(__FILE__, __LINE__);
+  }
             loop_timer_2s = HAL_GetTick();
+        }
         if (HAL_GetTick() - loop_timer_data >= (protocol_get_settings()->val.data_rate))
+        {
             loop_timer_data = HAL_GetTick();
+        }
+    }
+}
 /* TIM1 init function */
 static void MX_TIM1_Init(void)
 bool protocol_set_output(protocol_message_t* message)
+{
   TIM_MasterConfigTypeDef sMasterConfig;
   TIM_OC_InitTypeDef sConfigOC;
   TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig;
   htim1.Instance = TIM1;
   htim1.Init.Prescaler = 0;
   htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
   htim1.Init.Period = 0;
   htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim1.Init.RepetitionCounter = 0;
   htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
   if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
+  {
     _Error_Handler(__FILE__, __LINE__);
+  }
   sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
   sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
   if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
+  {
     _Error_Handler(__FILE__, __LINE__);
+  }
     bool result = false;
   sConfigOC.OCMode = TIM_OCMODE_PWM1;
   sConfigOC.Pulse = 0;
   sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
   sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
   sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
   sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
   sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
   if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
     _Error_Handler(__FILE__, __LINE__);
+  }
   if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
     _Error_Handler(__FILE__, __LINE__);
+  }
     return result;
+}
   if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
     _Error_Handler(__FILE__, __LINE__);
+  }
 bool protocol_get_data(protocol_message_t* message)
+{
     bool result = false;
   sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
   sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
   sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
   sBreakDeadTimeConfig.DeadTime = 0;
   sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
   sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
   sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
   if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
+  {
     _Error_Handler(__FILE__, __LINE__);
+  }
   HAL_TIM_MspPostInit(&htim1);
     return result;
+}
 /** Configure pins as
         * Analog
         * Input
         * Output
         * EVENT_OUT
         * EXTI
 */
 static void MX_GPIO_Init(void)
 bool protocol_config(protocol_message_t* message)
+{
     bool result = false;
     protocol_data_key_t data = (protocol_data_key_t)(uint16_t)message->data.float_data;
   /* GPIO Ports Clock Enable */
   __HAL_RCC_GPIOF_CLK_ENABLE();
   __HAL_RCC_GPIOA_CLK_ENABLE();
     return result;
+}
 /* USER CODE BEGIN 4 */
 /* USER CODE END 4 */
 /**
   * @brief  This function is executed in case of error occurrence.
   * @param  None
   * @retval None
   */
 void _Error_Handler(char * file, int line)
 bool protocol_calibrate(protocol_message_t* message)
+{
   /* USER CODE BEGIN Error_Handler_Debug */
   /* User can add his own implementation to report the HAL error return state */
   while(1)
+  {
+  }
   /* USER CODE END Error_Handler_Debug */
+}
 #ifdef USE_FULL_ASSERT
     bool result = false;
 /**
    * @brief Reports the name of the source file and the source line number
    * where the assert_param error has occurred.
    * @param file: pointer to the source file name
    * @param line: assert_param error line source number
    * @retval None
    */
 void assert_failed(uint8_t* file, uint32_t line)
+{
   /* USER CODE BEGIN 6 */
   /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
   /* USER CODE END 6 */
     return result;
+}
 #endif
 /**
   * @}
   */
 /**
   * @}
 */
 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

Src/system.c

➞

Show inline comments

@@ new file 100644 @@
 #include "system.h"
 void system_init(void)
+{
     RCC_OscInitTypeDef RCC_OscInitStruct;
     RCC_ClkInitTypeDef RCC_ClkInitStruct;
     RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
     RCC_OscInitStruct.HSEState = RCC_HSE_ON;
     RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
     RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
     RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL4;
     RCC_OscInitStruct.PLL.PREDIV = RCC_PREDIV_DIV1;
     HAL_RCC_OscConfig(&RCC_OscInitStruct);
     RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK|RCC_CLOCKTYPE_PCLK1;
     RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
     RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
     RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
     HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1);
     HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
     HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
     /* SysTick_IRQn interrupt configuration */
     HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
+}

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