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Commit 2db9a85f authored by Sergi Hernandez's avatar Sergi Hernandez
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Partial upgrade to the new STM HAL firmware library.

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Makefile
+ 33
− 13
View file @ 2db9a85f
......@@ -2,22 +2,25 @@
# modified by zerom for WinARM 8/2010
PROJECT_NAME=darwin_firmware
TARGET_FILES=$(wildcard src/*.c)
#TARGET_FILES=$(wildcard src/*.c)
TARGET_FILES=src/cm730_fw.c
TARGET_FILES+=src/gpio.c
TARGET_FILES+=src/ram.c
TARGET_FILES+=src/stm32f1xx_hal_msp.c
TARGET_PROCESSOR=STM32F103RE
include ../../STM32_processor/libraries/f1/select_processor.mk
HAL_PATH=../../STM32_processor/hal/f1
STM32_LIB_PATH = ../../STM32_processor/libraries/f1/stm32_lib
DYNAMIXEL_LIB_PATH = ../../STM32_processor/libraries/
STM32_STARTUP_FILES_PATH = ../../STM32_processor/startup/f1
include $(HAL_PATH)/select_processor.mk
STM32_STARTUP_FILES_PATH = $(HAL_PATH)/startup_code/
STM32_LINKER_SCRIPTS_PATH = ./linker_script
BUILD_PATH=build
COMPILE_OPTS = -mlittle-endian -mcpu=cortex-m3 -mthumb -mthumb-interwork
COMPILE_OPTS += -Wall -g -O2 -fno-common -msoft-float
COMPILE_OPTS += -ffreestanding -nostdlib -D$(PROCESSOR_MACRO) -DHSE_VALUE=8000000
INCLUDE_DIRS = -I$(STM32_LIB_PATH)/include -I$(STM32_LIB_PATH)/include/core -I$(STM32_LIB_PATH)/include/devices -I${DYNAMIXEL_LIB_PATH}/include/dynamixel -I./include
LIBRARY_DIRS = -L$(STM32_LIB_PATH)/lib -L$(STM32_DSP_LIB_PATH)/lib -L$(DYNAMIXEL_LIB_PATH)/lib
COMPILE_OPTS += -ffreestanding -nostdlib -D$(PROCESSOR_MACRO)
INCLUDE_DIRS = -I$(HAL_PATH)/include -I$(HAL_PATH)/include/core -I$(HAL_PATH)/include/devices -I./include
TCHAIN_PREFIX=arm-none-eabi-
......@@ -28,7 +31,7 @@ AS = $(TCHAIN_PREFIX)gcc
ASFLAGS = $(COMPILE_OPTS) -c
LD = $(TCHAIN_PREFIX)gcc
LDFLAGS = -mthumb -mcpu=cortex-m3 -Wl,-Map=$@.map,-cref $(INCLUDE_DIRS) $(LIBRARY_DIRS) -T $(STM32_LINKER_SCRIPTS_PATH)/darwin.ld -nostartfiles
LDFLAGS = -mthumb -mcpu=cortex-m3 -Wl,-Map=$@.map,-cref $(INCLUDE_DIRS) -T $(STM32_LINKER_SCRIPTS_PATH)/darwin.ld --specs=nosys.specs
OBJCP = $(TCHAIN_PREFIX)objcopy
OBJCPFLAGS_HEX = -O ihex
......@@ -41,8 +44,21 @@ MAIN_OUT_HEX = $(BUILD_PATH)/$(PROJECT_NAME).hex
MAIN_OUT_BIN = $(BUILD_PATH)/$(PROJECT_NAME).bin
MAIN_OUT_LSS = $(BUILD_PATH)/$(PROJECT_NAME).lss
BIOLOID_OBJS_TMP = $(notdir $(TARGET_FILES:.c=.o))
BIOLOID_OBJS = $(patsubst %,$(BUILD_PATH)/%,$(BIOLOID_OBJS_TMP))
# add STM32 src files
TARGET_FILES+=$(HAL_PATH)/src/devices/system_stm32f1xx.c
TARGET_FILES+=$(HAL_PATH)/src/stm32f1xx_hal_gpio.c
TARGET_FILES+=$(HAL_PATH)/src/stm32f1xx_hal_cortex.c
TARGET_FILES+=$(HAL_PATH)/src/stm32f1xx_hal_rcc.c
TARGET_FILES+=$(HAL_PATH)/src/stm32f1xx_hal_pwr.c
TARGET_FILES+=$(HAL_PATH)/src/stm32f1xx_hal_tim.c
TARGET_FILES+=$(HAL_PATH)/src/stm32f1xx_hal_tim_ex.c
TARGET_FILES+=$(HAL_PATH)/src/stm32f1xx_hal_dma.c
TARGET_FILES+=$(HAL_PATH)/src/stm32f1xx_hal_flash.c
TARGET_FILES+=$(HAL_PATH)/src/stm32f1xx_hal_flash_ex.c
TARGET_FILES+=$(HAL_PATH)/src/stm32f1xx_hal.c
DARWIN_OBJS_TMP = $(notdir $(TARGET_FILES:.c=.o))
DARWIN_OBJS = $(patsubst %,$(BUILD_PATH)/%,$(DARWIN_OBJS_TMP))
all: $(MAIN_OUT_ELF) $(MAIN_OUT_HEX) $(MAIN_OUT_BIN) $(MAIN_OUT_LSS)
......@@ -51,9 +67,13 @@ mkdir_build:
$(BUILD_PATH)/%.o: src/%.c
$(CC) -c $(CFLAGS) -o $@ $<
$(BUILD_PATH)/%.o: $(HAL_PATH)/src/devices/%.c
$(CC) -c $(CFLAGS) -o $@ $<
$(BUILD_PATH)/%.o: $(HAL_PATH)/src/%.c
$(CC) -c $(CFLAGS) -o $@ $<
$(MAIN_OUT_ELF): mkdir_build $(BIOLOID_OBJS) $(BUID_PATH)/$(STARTUP_FILE:.s=.o) $(STM32_LIB_PATH)/lib/$(LIBRARY)
$(LD) $(LDFLAGS) $(BIOLOID_OBJS) $(BUILD_PATH)/$(STARTUP_FILE:.s=.o) $(STM32_LIB_PATH)/lib/$(LIBRARY) ${DYNAMIXEL_LIB_PATH}/lib/dynamixel.a -lm --output $@
$(MAIN_OUT_ELF): mkdir_build $(DARWIN_OBJS) $(BUID_PATH)/$(STARTUP_FILE:.s=.o)
$(LD) $(LDFLAGS) $(DARWIN_OBJS) $(BUILD_PATH)/$(STARTUP_FILE:.s=.o) --output $@
$(MAIN_OUT_HEX): $(MAIN_OUT_ELF)
$(OBJCP) $(OBJCPFLAGS_HEX) $< $@
......
include/adc_dma.h
+ 1
− 1
View file @ 2db9a85f
#ifndef _ADC_DMA_H
#define _ADC_DMA_H
#include "stm32f10x.h"
#include "stm32f1xx_hal_conf.h"
void adc_init(void);
......
include/eeprom.h
+ 1
− 1
View file @ 2db9a85f
......@@ -25,7 +25,7 @@
#define __EEPROM_H
/* Includes ------------------------------------------------------------------*/
#include "stm32f10x.h"
#include "stm32f1xx.h"
/* Exported constants --------------------------------------------------------*/
/* Define the size of the sectors to be used */
......
include/gpio.h
+ 1
− 1
View file @ 2db9a85f
#ifndef _GPIO_H
#define _GPIO_H
#include "stm32f10x.h"
#include "stm32f1xx_hal.h"
typedef enum {LED_TX,LED_RX,LED_2,LED_3,LED_4,LED_5_R,LED_5_G,LED_5_B,LED_6_R,LED_6_G,LED_6_B} led_t;
......
include/ram.h
+ 1
− 1
View file @ 2db9a85f
#ifndef _RAM_H
#define _RAM_H
#include "stm32f10x.h"
#include "stm32f1xx_hal.h"
#include "eeprom.h"
#define RAM_SUCCESS 0
......
include/stm32f1xx_hal_conf.h 0 → 100755
+ 367
− 0
View file @ 2db9a85f
/**
******************************************************************************
* @file stm32f1xx_hal_conf.h
* @author MCD Application Team
* @version V1.0.0
* @date 15-December-2014
* @brief HAL configuration template file.
* This file should be copied to the application folder and renamed
* to stm32f1xx_hal_conf.h.
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32F1xx_HAL_CONF_H
#define __STM32F1xx_HAL_CONF_H
#ifdef __cplusplus
extern "C" {
#endif
/* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/
/* ########################## Module Selection ############################## */
/**
* @brief This is the list of modules to be used in the HAL driver
*/
#define HAL_MODULE_ENABLED
//#define HAL_ADC_MODULE_ENABLED
//#define HAL_CAN_MODULE_ENABLED
//#define HAL_CEC_MODULE_ENABLED
#define HAL_CORTEX_MODULE_ENABLED
//#define HAL_CRC_MODULE_ENABLED
//#define HAL_DAC_MODULE_ENABLED
#define HAL_DMA_MODULE_ENABLED
//#define HAL_ETH_MODULE_ENABLED
#define HAL_FLASH_MODULE_ENABLED
#define HAL_GPIO_MODULE_ENABLED
//#define HAL_HCD_MODULE_ENABLED
//#define HAL_I2C_MODULE_ENABLED
//#define HAL_I2S_MODULE_ENABLED
//#define HAL_IRDA_MODULE_ENABLED
//#define HAL_IWDG_MODULE_ENABLED
//#define HAL_NAND_MODULE_ENABLED
//#define HAL_NOR_MODULE_ENABLED
//#define HAL_PCCARD_MODULE_ENABLED
//#define HAL_PCD_MODULE_ENABLED
#define HAL_PWR_MODULE_ENABLED
#define HAL_RCC_MODULE_ENABLED
//#define HAL_RTC_MODULE_ENABLED
//#define HAL_SD_MODULE_ENABLED
//#define HAL_SMARTCARD_MODULE_ENABLED
//#define HAL_SPI_MODULE_ENABLED
//#define HAL_SRAM_MODULE_ENABLED
#define HAL_TIM_MODULE_ENABLED
//#define HAL_UART_MODULE_ENABLED
//#define HAL_USART_MODULE_ENABLED
//#define HAL_WWDG_MODULE_ENABLED
/* ########################## Oscillator Values adaptation ####################*/
/**
* @brief Adjust the value of External High Speed oscillator (HSE) used in your application.
* This value is used by the RCC HAL module to compute the system frequency
* (when HSE is used as system clock source, directly or through the PLL).
*/
#if !defined (HSE_VALUE)
#if defined(USE_STM3210C_EVAL)
#define HSE_VALUE ((uint32_t)25000000) /*!< Value of the External oscillator in Hz */
#else
#define HSE_VALUE ((uint32_t)8000000) /*!< Value of the External oscillator in Hz */
#endif
#endif /* HSE_VALUE */
#if !defined (HSE_STARTUP_TIMEOUT)
#define HSE_STARTUP_TIMEOUT ((uint32_t)5000) /*!< Time out for HSE start up, in ms */
#endif /* HSE_STARTUP_TIMEOUT */
/**
* @brief Internal High Speed oscillator (HSI) value.
* This value is used by the RCC HAL module to compute the system frequency
* (when HSI is used as system clock source, directly or through the PLL).
*/
#if !defined (HSI_VALUE)
#define HSI_VALUE ((uint32_t)8000000) /*!< Value of the Internal oscillator in Hz*/
#endif /* HSI_VALUE */
/**
* @brief External Low Speed oscillator (LSE) value.
* This value is used by the UART, RTC HAL module to compute the system frequency
*/
#if !defined (LSE_VALUE)
#define LSE_VALUE ((uint32_t)32768) /*!< Value of the External oscillator in Hz*/
#endif /* LSE_VALUE */
#if !defined (LSE_STARTUP_TIMEOUT)
#define LSE_STARTUP_TIMEOUT ((uint32_t)5000) /*!< Time out for LSE start up, in ms */
#endif /* HSE_STARTUP_TIMEOUT */
/* Tip: To avoid modifying this file each time you need to use different HSE,
=== you can define the HSE value in your toolchain compiler preprocessor. */
/* ########################### System Configuration ######################### */
/**
* @brief This is the HAL system configuration section
*/
#define VDD_VALUE ((uint32_t)3300) /*!< Value of VDD in mv */
#define TICK_INT_PRIORITY ((uint32_t)0x000F) /*!< tick interrupt priority */
#define USE_RTOS 0
#define PREFETCH_ENABLE 1
/* ########################## Assert Selection ############################## */
/**
* @brief Uncomment the line below to expanse the "assert_param" macro in the
* HAL drivers code
*/
/*#define USE_FULL_ASSERT 1*/
/* ################## Ethernet peripheral configuration ##################### */
/* Section 1 : Ethernet peripheral configuration */
/* MAC ADDRESS: MAC_ADDR0:MAC_ADDR1:MAC_ADDR2:MAC_ADDR3:MAC_ADDR4:MAC_ADDR5 */
#define MAC_ADDR0 2
#define MAC_ADDR1 0
#define MAC_ADDR2 0
#define MAC_ADDR3 0
#define MAC_ADDR4 0
#define MAC_ADDR5 0
/* Definition of the Ethernet driver buffers size and count */
#define ETH_RX_BUF_SIZE ETH_MAX_PACKET_SIZE /* buffer size for receive */
#define ETH_TX_BUF_SIZE ETH_MAX_PACKET_SIZE /* buffer size for transmit */
#define ETH_RXBUFNB ((uint32_t)8) /* 4 Rx buffers of size ETH_RX_BUF_SIZE */
#define ETH_TXBUFNB ((uint32_t)4) /* 4 Tx buffers of size ETH_TX_BUF_SIZE */
/* Section 2: PHY configuration section */
/* DP83848 PHY Address*/
#define DP83848_PHY_ADDRESS 0x01
/* PHY Reset delay these values are based on a 1 ms Systick interrupt*/
#define PHY_RESET_DELAY ((uint32_t)0x000000FF)
/* PHY Configuration delay */
#define PHY_CONFIG_DELAY ((uint32_t)0x00000FFF)
#define PHY_READ_TO ((uint32_t)0x0000FFFF)
#define PHY_WRITE_TO ((uint32_t)0x0000FFFF)
/* Section 3: Common PHY Registers */
#define PHY_BCR ((uint16_t)0x00) /*!< Transceiver Basic Control Register */
#define PHY_BSR ((uint16_t)0x01) /*!< Transceiver Basic Status Register */
#define PHY_RESET ((uint16_t)0x8000) /*!< PHY Reset */
#define PHY_LOOPBACK ((uint16_t)0x4000) /*!< Select loop-back mode */
#define PHY_FULLDUPLEX_100M ((uint16_t)0x2100) /*!< Set the full-duplex mode at 100 Mb/s */
#define PHY_HALFDUPLEX_100M ((uint16_t)0x2000) /*!< Set the half-duplex mode at 100 Mb/s */
#define PHY_FULLDUPLEX_10M ((uint16_t)0x0100) /*!< Set the full-duplex mode at 10 Mb/s */
#define PHY_HALFDUPLEX_10M ((uint16_t)0x0000) /*!< Set the half-duplex mode at 10 Mb/s */
#define PHY_AUTONEGOTIATION ((uint16_t)0x1000) /*!< Enable auto-negotiation function */
#define PHY_RESTART_AUTONEGOTIATION ((uint16_t)0x0200) /*!< Restart auto-negotiation function */
#define PHY_POWERDOWN ((uint16_t)0x0800) /*!< Select the power down mode */
#define PHY_ISOLATE ((uint16_t)0x0400) /*!< Isolate PHY from MII */
#define PHY_AUTONEGO_COMPLETE ((uint16_t)0x0020) /*!< Auto-Negotiation process completed */
#define PHY_LINKED_STATUS ((uint16_t)0x0004) /*!< Valid link established */
#define PHY_JABBER_DETECTION ((uint16_t)0x0002) /*!< Jabber condition detected */
/* Section 4: Extended PHY Registers */
#define PHY_SR ((uint16_t)0x10) /*!< PHY status register Offset */
#define PHY_MICR ((uint16_t)0x11) /*!< MII Interrupt Control Register */
#define PHY_MISR ((uint16_t)0x12) /*!< MII Interrupt Status and Misc. Control Register */
#define PHY_LINK_STATUS ((uint16_t)0x0001) /*!< PHY Link mask */
#define PHY_SPEED_STATUS ((uint16_t)0x0002) /*!< PHY Speed mask */
#define PHY_DUPLEX_STATUS ((uint16_t)0x0004) /*!< PHY Duplex mask */
#define PHY_MICR_INT_EN ((uint16_t)0x0002) /*!< PHY Enable interrupts */
#define PHY_MICR_INT_OE ((uint16_t)0x0001) /*!< PHY Enable output interrupt events */
#define PHY_MISR_LINK_INT_EN ((uint16_t)0x0020) /*!< Enable Interrupt on change of link status */
#define PHY_LINK_INTERRUPT ((uint16_t)0x2000) /*!< PHY link status interrupt mask */
/* Includes ------------------------------------------------------------------*/
/**
* @brief Include module's header file
*/
#ifdef HAL_RCC_MODULE_ENABLED
#include "stm32f1xx_hal_rcc.h"
#endif /* HAL_RCC_MODULE_ENABLED */
#ifdef HAL_GPIO_MODULE_ENABLED
#include "stm32f1xx_hal_gpio.h"
#endif /* HAL_GPIO_MODULE_ENABLED */
#ifdef HAL_DMA_MODULE_ENABLED
#include "stm32f1xx_hal_dma.h"
#endif /* HAL_DMA_MODULE_ENABLED */
#ifdef HAL_ETH_MODULE_ENABLED
#include "stm32f1xx_hal_eth.h"
#endif /* HAL_ETH_MODULE_ENABLED */
#ifdef HAL_CAN_MODULE_ENABLED
#include "stm32f1xx_hal_can.h"
#endif /* HAL_CAN_MODULE_ENABLED */
#ifdef HAL_CEC_MODULE_ENABLED
#include "stm32f1xx_hal_cec.h"
#endif /* HAL_CEC_MODULE_ENABLED */
#ifdef HAL_CORTEX_MODULE_ENABLED
#include "stm32f1xx_hal_cortex.h"
#endif /* HAL_CORTEX_MODULE_ENABLED */
#ifdef HAL_ADC_MODULE_ENABLED
#include "stm32f1xx_hal_adc.h"
#endif /* HAL_ADC_MODULE_ENABLED */
#ifdef HAL_CRC_MODULE_ENABLED
#include "stm32f1xx_hal_crc.h"
#endif /* HAL_CRC_MODULE_ENABLED */
#ifdef HAL_DAC_MODULE_ENABLED
#include "stm32f1xx_hal_dac.h"
#endif /* HAL_DAC_MODULE_ENABLED */
#ifdef HAL_FLASH_MODULE_ENABLED
#include "stm32f1xx_hal_flash.h"
#endif /* HAL_FLASH_MODULE_ENABLED */
#ifdef HAL_SRAM_MODULE_ENABLED
#include "stm32f1xx_hal_sram.h"
#endif /* HAL_SRAM_MODULE_ENABLED */
#ifdef HAL_NOR_MODULE_ENABLED
#include "stm32f1xx_hal_nor.h"
#endif /* HAL_NOR_MODULE_ENABLED */
#ifdef HAL_I2C_MODULE_ENABLED
#include "stm32f1xx_hal_i2c.h"
#endif /* HAL_I2C_MODULE_ENABLED */
#ifdef HAL_I2S_MODULE_ENABLED
#include "stm32f1xx_hal_i2s.h"
#endif /* HAL_I2S_MODULE_ENABLED */
#ifdef HAL_IWDG_MODULE_ENABLED
#include "stm32f1xx_hal_iwdg.h"
#endif /* HAL_IWDG_MODULE_ENABLED */
#ifdef HAL_PWR_MODULE_ENABLED
#include "stm32f1xx_hal_pwr.h"
#endif /* HAL_PWR_MODULE_ENABLED */
#ifdef HAL_RTC_MODULE_ENABLED
#include "stm32f1xx_hal_rtc.h"
#endif /* HAL_RTC_MODULE_ENABLED */
#ifdef HAL_PCCARD_MODULE_ENABLED
#include "stm32f1xx_hal_pccard.h"
#endif /* HAL_PCCARD_MODULE_ENABLED */
#ifdef HAL_SD_MODULE_ENABLED
#include "stm32f1xx_hal_sd.h"
#endif /* HAL_SD_MODULE_ENABLED */
#ifdef HAL_NAND_MODULE_ENABLED
#include "stm32f1xx_hal_nand.h"
#endif /* HAL_NAND_MODULE_ENABLED */
#ifdef HAL_SPI_MODULE_ENABLED
#include "stm32f1xx_hal_spi.h"
#endif /* HAL_SPI_MODULE_ENABLED */
#ifdef HAL_TIM_MODULE_ENABLED
#include "stm32f1xx_hal_tim.h"
#endif /* HAL_TIM_MODULE_ENABLED */
#ifdef HAL_UART_MODULE_ENABLED
#include "stm32f1xx_hal_uart.h"
#endif /* HAL_UART_MODULE_ENABLED */
#ifdef HAL_USART_MODULE_ENABLED
#include "stm32f1xx_hal_usart.h"
#endif /* HAL_USART_MODULE_ENABLED */
#ifdef HAL_IRDA_MODULE_ENABLED
#include "stm32f1xx_hal_irda.h"
#endif /* HAL_IRDA_MODULE_ENABLED */
#ifdef HAL_SMARTCARD_MODULE_ENABLED
#include "stm32f1xx_hal_smartcard.h"
#endif /* HAL_SMARTCARD_MODULE_ENABLED */
#ifdef HAL_WWDG_MODULE_ENABLED
#include "stm32f1xx_hal_wwdg.h"
#endif /* HAL_WWDG_MODULE_ENABLED */
#ifdef HAL_PCD_MODULE_ENABLED
#include "stm32f1xx_hal_pcd.h"
#endif /* HAL_PCD_MODULE_ENABLED */
#ifdef HAL_HCD_MODULE_ENABLED
#include "stm32f1xx_hal_hcd.h"
#endif /* HAL_HCD_MODULE_ENABLED */
/* Exported macro ------------------------------------------------------------*/
#ifdef USE_FULL_ASSERT
/**
* @brief The assert_param macro is used for function's parameters check.
* @param expr: If expr is false, it calls assert_failed function
* which reports the name of the source file and the source
* line number of the call that failed.
* If expr is true, it returns no value.
* @retval None
*/
#define assert_param(expr) ((expr) ? (void)0 : assert_failed((uint8_t *)__FILE__, __LINE__))
/* Exported functions ------------------------------------------------------- */
void assert_failed(uint8_t* file, uint32_t line);
#else
#define assert_param(expr) ((void)0)
#endif /* USE_FULL_ASSERT */
#ifdef __cplusplus
}
#endif
#endif /* __STM32F1xx_HAL_CONF_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
include/system_stm32f10x.h deleted 100755 → 0
+ 0
− 98
View file @ caa35aef
/**
******************************************************************************
* @file system_stm32f10x.h
* @author MCD Application Team
* @version V3.5.0
* @date 11-March-2011
* @brief CMSIS Cortex-M3 Device Peripheral Access Layer System Header File.
******************************************************************************
* @attention
*
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
* TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
* DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
* FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
* CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*
* <h2><center>&copy; COPYRIGHT 2011 STMicroelectronics</center></h2>
******************************************************************************
*/
/** @addtogroup CMSIS
* @{
*/
/** @addtogroup stm32f10x_system
* @{
*/
/**
* @brief Define to prevent recursive inclusion
*/
#ifndef __SYSTEM_STM32F10X_H
#define __SYSTEM_STM32F10X_H
#ifdef __cplusplus
extern "C" {
#endif
/** @addtogroup STM32F10x_System_Includes
* @{
*/
/**
* @}
*/
/** @addtogroup STM32F10x_System_Exported_types
* @{
*/
extern uint32_t SystemCoreClock; /*!< System Clock Frequency (Core Clock) */
/**
* @}
*/
/** @addtogroup STM32F10x_System_Exported_Constants
* @{
*/
/**
* @}
*/
/** @addtogroup STM32F10x_System_Exported_Macros
* @{
*/
/**
* @}
*/
/** @addtogroup STM32F10x_System_Exported_Functions
* @{
*/
extern void SystemInit(void);
extern void SystemCoreClockUpdate(void);
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /*__SYSTEM_STM32F10X_H */
/**
* @}
*/
/**
* @}
*/
/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/
src/cm730_fw.c
+ 43
− 37
View file @ 2db9a85f
#include "stm32f10x.h"
#include "stm32f1xx_hal.h"
#include "gpio.h"
#include "time.h"
#include "eeprom.h"
#include "motion_manager.h"
#include "action.h"
#include "walking.h"
#include "joint_motion.h"
#include "head_tracking.h"
#include "grippers.h"
#include "dynamixel_slave_uart_dma.h"
#include "dynamixel_master_uart_dma.h"
#include "ram.h"
#include "imu.h"
#include "adc_dma.h"
#include "comm.h"
#include <math.h>
//#include "time.h"
//#include "eeprom.h"
//#include "motion_manager.h"
//#include "action.h"
//#include "walking.h"
//#include "joint_motion.h"
//#include "head_tracking.h"
//#include "grippers.h"
//#include "dynamixel_slave_uart_dma.h"
//#include "dynamixel_master_uart_dma.h"
//#include "ram.h"
//#include "imu.h"
//#include "adc_dma.h"
//#include "comm.h"
//#include <math.h>
int main(void)
{
uint16_t eeprom_data;
uint16_t period,count=0;
// uint16_t eeprom_data;
// uint16_t period,count=0;
/* initialize EEPROM */
EE_Init();
// EE_Init();
// initialize the Dynamixel RAM memory space
ram_init();
// ram_init();
/* initialize the 1ms system timer */
time_init();
// time_init();
/* initialize the gpio */
gpio_init();
// gpio_init();
/* initialize the dynamixel master interface */
dyn_master_init();
dyn_master_set_timeout(50);
// dyn_master_init();
// dyn_master_set_timeout(50);
/* initialize the dynamixel slave interface*/
dyn_slave_init();
EE_ReadVariable(DEVICE_ID_OFFSET,&eeprom_data);
dyn_slave_set_address((uint8_t)eeprom_data);
EE_ReadVariable(RETURN_DELAY_OFFSET,&eeprom_data);
dyn_slave_set_return_delay((uint8_t)eeprom_data);
EE_ReadVariable(RETURN_LEVEL_OFFSET,&eeprom_data);
dyn_slave_set_return_level((uint8_t)eeprom_data);
// dyn_slave_init();
// EE_ReadVariable(DEVICE_ID_OFFSET,&eeprom_data);
// dyn_slave_set_address((uint8_t)eeprom_data);
// EE_ReadVariable(RETURN_DELAY_OFFSET,&eeprom_data);
// dyn_slave_set_return_delay((uint8_t)eeprom_data);
// EE_ReadVariable(RETURN_LEVEL_OFFSET,&eeprom_data);
// dyn_slave_set_return_level((uint8_t)eeprom_data);
// initialize motion manager
// EE_ReadVariable(MM_PERIOD_OFFSET,&eeprom_data);
// period=eeprom_data&0x00FF;
......@@ -50,15 +50,21 @@ int main(void)
// initialize imu
// imu_init();
// initialize adc
adc_init();
gpio_blink_led(LED_5_R,1000);
comm_init();
// adc_init();
// gpio_blink_led(LED_5_R,1000);
// comm_init();
dyn_master_enable_power();
delay_ms(1000);
// dyn_master_enable_power();
// delay_ms(1000);
comm_start();
// comm_start();
/* initialize the HAL module */
HAL_Init();
/* initialize the GPIO module */
gpio_init();
gpio_blink_led(LED_2,1000);
while(1); /* main function does not return */
}
src/gpio.c
+ 216
− 304
View file @ 2db9a85f
This diff is collapsed.
src/ram.c
+ 2
− 2
View file @ 2db9a85f
......@@ -9,7 +9,7 @@ void ram_init(void)
for(i=0;i<RAM_SIZE;i++)
ram_data[i]=0x00;
// read contents from EEPROM to RAM
if(EE_ReadVariable(DEVICE_MODEL_OFFSET,&eeprom_data)==0)
/* if(EE_ReadVariable(DEVICE_MODEL_OFFSET,&eeprom_data)==0)
ram_data[DEVICE_MODEL_OFFSET]=(uint8_t)(eeprom_data&0x00FF);
if(EE_ReadVariable(DEVICE_MODEL_OFFSET+1,&eeprom_data)==0)
ram_data[DEVICE_MODEL_OFFSET+1]=(uint8_t)(eeprom_data&0x00FF);
......@@ -26,7 +26,7 @@ void ram_init(void)
if(EE_ReadVariable(MM_PERIOD_OFFSET+1,&eeprom_data)==0)
ram_data[MM_PERIOD_OFFSET+1]=(uint8_t)eeprom_data;
if(EE_ReadVariable(RETURN_LEVEL_OFFSET,&eeprom_data)==0)
ram_data[RETURN_LEVEL_OFFSET]=(uint8_t)eeprom_data;
ram_data[RETURN_LEVEL_OFFSET]=(uint8_t)eeprom_data;*/
}
inline void ram_read_byte(uint8_t address,uint8_t *data)
......
src/stm32f1xx_hal_msp.c 0 → 100755
+ 151
− 0
View file @ 2db9a85f
/**
******************************************************************************
* @file stm32f1xx_hal_msp_template.c
* @author MCD Application Team
* @version V1.0.0
* @date 15-December-2014
* @brief HAL BSP module.
* This file template is located in the HAL folder and should be copied
* to the user folder.
*
@verbatim
===============================================================================
##### How to use this driver #####
===============================================================================
[..]
This file is generated automatically by MicroXplorer and eventually modified
by the user
@endverbatim
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "stm32f1xx_hal.h"
/** @addtogroup STM32F1xx_HAL_Driver
* @{
*/
/** @defgroup HAL_MSP HAL_MSP
* @brief HAL MSP module.
* @{
*/
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/* Private function prototypes -----------------------------------------------*/
/* Private functions ---------------------------------------------------------*/
/** @defgroup HAL_MSP_Exported_Functions HAL MSP Exported Functions
* @{
*/
/**
* @brief Initializes the Global MSP.
* @retval None
*/
void HAL_MspInit(void)
{
/* NOTE : This function is generated automatically by MicroXplorer and eventually
modified by the user
*/
RCC_ClkInitTypeDef RCC_ClkInitStruct;
RCC_OscInitTypeDef RCC_OscInitStruct;
/* Set Interrupt Group Priority */
HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_2);// 4 priorities, 4 subpriorities
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL2;
HAL_RCC_OscConfig(&RCC_OscInitStruct);
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_SYSCLK|RCC_CLOCKTYPE_PCLK1;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2);
__HAL_RCC_AFIO_CLK_ENABLE();
}
/**
* @brief DeInitializes the Global MSP.
* @retval None
*/
void HAL_MspDeInit(void)
{
/* NOTE : This function is generated automatically by MicroXplorer and eventually
modified by the user
*/
}
/**
* @brief Initializes the PPP MSP.
* @retval None
*/
void HAL_PPP_MspInit(void)
{
/* NOTE : This function is generated automatically by MicroXplorer and eventually
modified by the user
*/
}
/**
* @brief DeInitializes the PPP MSP.
* @retval None
*/
void HAL_PPP_MspDeInit(void)
{
/* NOTE : This function is generated automatically by MicroXplorer and eventually
modified by the user
*/
}
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
src/system_stm32f10x.c deleted 100755 → 0
+ 0
− 1097
View file @ caa35aef
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