Skip to content
GitLab
Commit d4513851 authored by Tannin Rachel's avatar Tannin Rachel
Browse files

软件I2C控制MPU6050(未完成版)

parent d5848884
Hide whitespace changes
Inline Side-by-side
Core/Inc/usart.h 0 → 100644
View file @ d4513851
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file usart.h
* @brief This file contains all the function prototypes for
* the usart.c file
******************************************************************************
* @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 */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __USART_H__
#define __USART_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern UART_HandleTypeDef huart1;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_USART1_UART_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __USART_H__ */
Core/Src/gpio.c 0 → 100644
View file @ d4513851
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file gpio.c
* @brief This file provides code for the configuration
* of all used GPIO pins.
******************************************************************************
* @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 "gpio.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/*----------------------------------------------------------------------------*/
/* Configure GPIO */
/*----------------------------------------------------------------------------*/
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/** Configure pins as
* Analog
* Input
* Output
* EVENT_OUT
* EXTI
*/
void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, I2C_SCL_Pin|I2C_SDA_Pin, GPIO_PIN_RESET);
/*Configure GPIO pins : PBPin PBPin */
GPIO_InitStruct.Pin = I2C_SCL_Pin|I2C_SDA_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
}
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
Core/Src/i2c.cpp 0 → 100644
View file @ d4513851
/**
* @file i2c.cpp
* @author zzy
* @brief
* @version 0.1
* @date 2023-05-13
*
* @copyright Copyright (c) 2023
*
*/
#include "i2c.h"
/**
* @brief IIC类的构造函数
*
* @param scl_gpio_port SCL的GPIO组号
* @param scl_pin SCL的GPIO端口号
* @param sda_gpio_port SDA的GPIO组号
* @param sda_pin SDA的GPIO端口号
*/
IIC::IIC(GPIO_TypeDef *scl_gpio_port, uint16_t scl_pin, GPIO_TypeDef *sda_gpio_port, uint16_t sda_pin)
{
this->SCL_GPIO_PORT = scl_gpio_port;
this->SCL_PIN = scl_pin;
this->SDA_GPIO_PORT = sda_gpio_port;
this->SDA_PIN = sda_pin;
}
/**
* @brief 向SDA中写入0或1
*
* @param PinState
*/
void IIC::WriteSDA(GPIO_PinState PinState)
{
HAL_GPIO_WritePin(this->SDA_GPIO_PORT, this->SDA_PIN, PinState);
}
/**
* @brief 向SCL中写入0或1
*
* @param PinState
*/
void IIC::WriteSCL(GPIO_PinState PinState)
{
HAL_GPIO_WritePin(this->SCL_GPIO_PORT, this->SCL_PIN, PinState);
}
/**
* @brief 读取SDA的值
*
* @return GPIO_PinState
*/
GPIO_PinState IIC::ReadSDA()
{
HAL_GPIO_ReadPin(this->SDA_GPIO_PORT, this->SDA_PIN);
}
/**
* @brief 读取SCL的值
*
* @return GPIO_PinState
*/
GPIO_PinState IIC::ReadSCL()
{
HAL_GPIO_ReadPin(this->SCL_GPIO_PORT, this->SCL_PIN);
}
/**
* @brief IIC专用延时函数
*
*/
void IIC::Delay()
{
int z = 0xff;
while (z--)
;
}
/**
* @brief 产生I2C起始信号
*
*/
void IIC::Start()
{
this->WriteSDA(GPIO_PIN_SET); // 需在SCL之前设定
this->WriteSCL(GPIO_PIN_SET); // SCL->高
this->Delay(); // 延时
this->WriteSDA(GPIO_PIN_RESET); // SDA由1->0,产生开始信号
this->Delay(); // 延时
this->WriteSCL(GPIO_PIN_RESET); // SCL->低
}
/**
* @brief 产生I2C结束信号
*
*/
void IIC::End()
{
this->WriteSDA(GPIO_PIN_RESET); // 在SCL之前拉低
this->WriteSCL(GPIO_PIN_SET); // SCL->高
this->Delay(); // 延时
this->WriteSDA(GPIO_PIN_SET); // SDA由0->1,产生结束信号
this->Delay();
}
/**
* @brief 发送应答码
*
* @param ack 0应答 1不应答
*/
void IIC::Send_ACK(uint8_t ack)
{
if (ack == 1)
this->WriteSDA(GPIO_PIN_SET); // 产生应答电平
else
this->WriteSDA(GPIO_PIN_RESET);
this->Delay();
this->WriteSCL(GPIO_PIN_SET); // 发送应答信号
this->Delay(); // 延时至少4us
this->WriteSCL(GPIO_PIN_RESET); // 整个期间保持应答信号
}
/**
* @brief 接收应答码
*
* @return uint8_t 应答码 0 应答 1 不应达
*/
uint8_t IIC::Get_ACK()
{
uint8_t ret; // 用来接收返回值
this->WriteSDA(GPIO_PIN_SET); // 电阻上拉,进入读
this->Delay();
this->WriteSCL(GPIO_PIN_SET); // 进入应答检测
this->Delay(); // 至少延时4us
ret = this->ReadSDA(); // 保存应答信号
this->WriteSCL(GPIO_PIN_RESET);
return ret;
}
/**
* @brief I2C写1Byte
*
* @param dat 1Byte数据
* @return uint8_t 应答结果 0应答 1不应答
*/
uint8_t IIC::SendByte(uint8_t dat)
{
uint8_t ack;
for (int i = 0; i < 8; i++)
{
// 高在前低在后
if (dat & 0x80)
this->WriteSDA(GPIO_PIN_SET);
else
this->WriteSDA(GPIO_PIN_RESET);
this->Delay();
this->WriteSCL(GPIO_PIN_SET);
this->Delay(); // 延时至少4us
this->WriteSCL(GPIO_PIN_RESET);
dat <<= 1; // 低位向高位移动
}
ack = this->Get_ACK();
return ack;
}
/**
* @brief IIC读取1Byte数据
*
* @param ack 0应答 1不应答
* @return uint8_t 读取到的数据
*/
uint8_t IIC::ReadByte(uint8_t ack)
{
uint8_t ret = 0;
this->WriteSDA(GPIO_PIN_SET);
for (int i = 0; i < 8; i++)
{
ret <<= 1;
this->WriteSCL(GPIO_PIN_SET);
this->Delay();
// 高在前低在后
if (this->ReadSDA())
{
ret++;
}
this->WriteSCL(GPIO_PIN_RESET);
this->Delay();
}
this->Send_ACK(ack);
return ret;
}
/**
* @brief I2C连续写
*
* @param addr 器件地址
* @param reg 寄存器地址
* @param len 长度
* @param buf 缓冲区地址
* @return uint8_t 状态 0成功 其他失败
*/
uint8_t IIC::WriteLen(uint8_t addr, uint8_t reg, uint8_t len, uint8_t *buf)
{
uint8_t i;
this->Start();
this->SendByte((addr << 1) | 0); // 发送器件地址+写命令
this->SendByte(reg); // 写寄存器地址
for (i = 0; i < len; i++)
{
this->SendByte(buf[i]); // 发送数据
}
this->End();
return 0;
}
/**
* @brief I2C连续读
*
* @param addr 器件地址
* @param reg 寄存器地址
* @param len 长度
* @param buf 缓冲区地址
* @return uint8_t 状态 0成功 其他失败
*/
uint8_t IIC::ReadLen(uint8_t addr, uint8_t reg, uint8_t len, uint8_t *buf)
{
this->Start();
this->SendByte((addr << 1) | 0); // 发送器件地址+写命令
this->SendByte(reg); // 写寄存器地址
this->Start();
this->SendByte((addr << 1) | 1); // 发送器件地址+读命令
while (len)
{
if (len == 1)
*buf = this->ReadByte(1); // 读数据,发送nACK
else
*buf = this->ReadByte(0); // 读数据,发送ACK
len--;
buf++;
}
this->End(); // 产生一个停止条件
return 0;
}
\ No newline at end of file
Core/Src/main.c 0 → 100644
View file @ d4513851
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @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 "main.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "start.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_TIM2_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
setup();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
loop();
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
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_MUL9;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
while (1)
{
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
Core/Src/mpu6050.cpp 0 → 100644
View file @ d4513851
/**
* @file mpu6050.cpp
* @author zzy
* @brief
* @version 0.1
* @date 2023-05-12
*
* @copyright Copyright (c) 2023
*
*/
#include "mpu6050.h"
#include "usart.h"
#include <stdio.h>
uint32_t timer;
Kalman_t KalmanX = {
.Q_angle = 0.001f,
.Q_bias = 0.003f,
.R_measure = 0.03f};
Kalman_t KalmanY = {
.Q_angle = 0.001f,
.Q_bias = 0.003f,
.R_measure = 0.03f};
/**
* @brief MPU6050构造函数
*
* @param addr 器件地址
*/
MPU6050::MPU6050(uint16_t addr)
{
this->__addr__ = addr;
}
/**
* @brief MUP6050 I2C写一个字节
*
* @param reg 寄存器地址
* @param data 数据
* @return uint8_t 0成功 其他失败
*/
uint8_t MPU6050::WriteByte(uint8_t reg, uint8_t data)
{
iic.Start();
iic.SendByte((this->__addr__ << 1) | 0); // 发送器件地址+写命令
iic.SendByte(reg); // 写寄存器地址
iic.SendByte(data); // 发送数据
iic.End();
return 0;
}
/**
* @brief MUP6050 I2C读一个字节
*
* @param reg 寄存器地址
* @return uint8_t 读取到的数据
*/
uint8_t MPU6050::ReadByte(uint8_t reg)
{
uint8_t res;
iic.Start();
iic.SendByte((this->__addr__ << 1) | 0); // 发送器件地址+写命令
iic.SendByte(reg); // 写寄存器地址
iic.Start();
iic.SendByte((this->__addr__ << 1) | 1); // 发送器件地址+读命令
res = iic.ReadByte(1); // 读取数据,发送nACK
iic.End(); // 产生一个停止条件
return res;
}
/**
* @brief MPU6050的初始化
*
* @return uint8_t 若初始化成功则返回1，否则返回0
*/
uint8_t MPU6050::init()
{
uint8_t res;
this->WriteByte(MPU_PWR_MGMT1_REG, 0X80); // 复位MPU6050
HAL_Delay(100);
MPU_Write_Byte(MPU_PWR_MGMT1_REG, 0X00); // 唤醒MPU6050
MPU_Set_Gyro_Fsr(3); // 陀螺仪传感器,±2000dps
MPU_Set_Accel_Fsr(0); // 加速度传感器,±2g
MPU_Set_Rate(50); // 设置采样率50Hz
MPU_Write_Byte(MPU_INT_EN_REG, 0X00); // 关闭所有中断
MPU_Write_Byte(MPU_USER_CTRL_REG, 0X00); // I2C主模式关闭
MPU_Write_Byte(MPU_FIFO_EN_REG, 0X00); // 关闭FIFO
MPU_Write_Byte(MPU_INTBP_CFG_REG, 0X80); // INT引脚低电平有效
res = MPU_Read_Byte(MPU_DEVICE_ID_REG);
if (res == MPU_ADDR) // 器件ID正确
{
MPU_Write_Byte(MPU_PWR_MGMT1_REG, 0X01); // 设置CLKSEL,PLL X轴为参考
MPU_Write_Byte(MPU_PWR_MGMT2_REG, 0X00); // 加速度与陀螺仪都工作
MPU_Set_Rate(50); // 设置采样率为50Hz
}
else
return 1;
return 0;
}
/**
* @brief 读取加速度值
*
* @param DataStruct 用于存储MPU6050获取到的参数结构体
*/
void MPU6050::Read_Accel(MPU6050_t *DataStruct)
{
uint8_t Rec_Data[6];
// Read 6 BYTES of data starting from ACCEL_XOUT_H register
HAL_iic.Mem_Read(this->__I2Cx__, this->__addr__, ACCEL_XOUT_H_REG, 1, Rec_Data, 6, this->__timeout__);
DataStruct->Accel_X_RAW = (int16_t)(Rec_Data[0] << 8 | Rec_Data[1]);
DataStruct->Accel_Y_RAW = (int16_t)(Rec_Data[2] << 8 | Rec_Data[3]);
DataStruct->Accel_Z_RAW = (int16_t)(Rec_Data[4] << 8 | Rec_Data[5]);
/*** convert the RAW values into acceleration in 'g'
we have to divide according to the Full scale value set in FS_SEL
I have configured FS_SEL = 0. So I am dividing by 16384.0
for more details check ACCEL_CONFIG Register ****/
DataStruct->Ax = DataStruct->Accel_X_RAW / 16384.0;
DataStruct->Ay = DataStruct->Accel_Y_RAW / 16384.0;
DataStruct->Az = DataStruct->Accel_Z_RAW / 14418.0;
}
/**
* @brief 读取角度值
*
* @param DataStruct 用于存储MPU6050获取到的参数结构体
*/
void MPU6050::Read_Gyro(MPU6050_t *DataStruct)
{
uint8_t Rec_Data[6];
// Read 6 BYTES of data starting from GYRO_XOUT_H register
HAL_iic.Mem_Read(this->__I2Cx__, this->__addr__, GYRO_XOUT_H_REG, 1, Rec_Data, 6, this->__timeout__);
DataStruct->Gyro_X_RAW = (int16_t)(Rec_Data[0] << 8 | Rec_Data[1]);
DataStruct->Gyro_Y_RAW = (int16_t)(Rec_Data[2] << 8 | Rec_Data[3]);
DataStruct->Gyro_Z_RAW = (int16_t)(Rec_Data[4] << 8 | Rec_Data[5]);
/*** convert the RAW values into dps (�/s)
we have to divide according to the Full scale value set in FS_SEL
I have configured FS_SEL = 0. So I am dividing by 131.0
for more details check GYRO_CONFIG Register ****/
DataStruct->Gx = DataStruct->Gyro_X_RAW / 131.0;
DataStruct->Gy = DataStruct->Gyro_Y_RAW / 131.0;
DataStruct->Gz = DataStruct->Gyro_Z_RAW / 131.0;
}
/**
* @brief 读取温度值
*
* @param DataStruct 用于存储MPU6050获取到的参数结构体
*/
void MPU6050::Read_Temp(MPU6050_t *DataStruct)
{
uint8_t Rec_Data[2];
int16_t temp;
// Read 2 BYTES of data starting from TEMP_OUT_H_REG register
HAL_iic.Mem_Read(this->__I2Cx__, this->__addr__, TEMP_OUT_H_REG, 1, Rec_Data, 2, this->__timeout__);
temp = (int16_t)(Rec_Data[0] << 8 | Rec_Data[1]);
DataStruct->Temperature = (float)((int16_t)temp / (float)340.0 + (float)36.53);
}
/**
* @brief 读取所有信息
*
* @param DataStruct 用于存储MPU6050获取到的参数结构体
*/
void MPU6050::Read_All(MPU6050_t *DataStruct)
{
uint8_t Rec_Data[14];
int16_t temp;
// Read 14 BYTES of data starting from ACCEL_XOUT_H register
// Accel and gyro's x, y and z data is seriate, so just read 14 bytes for the first register
HAL_iic.Mem_Read(this->__I2Cx__, this->__addr__, ACCEL_XOUT_H_REG, 1, Rec_Data, 14, this->__timeout__);
DataStruct->Accel_X_RAW = (int16_t)(Rec_Data[0] << 8 | Rec_Data[1]);
DataStruct->Accel_Y_RAW = (int16_t)(Rec_Data[2] << 8 | Rec_Data[3]);
DataStruct->Accel_Z_RAW = (int16_t)(Rec_Data[4] << 8 | Rec_Data[5]);
temp = (int16_t)(Rec_Data[6] << 8 | Rec_Data[7]);
DataStruct->Gyro_X_RAW = (int16_t)(Rec_Data[8] << 8 | Rec_Data[9]);
DataStruct->Gyro_Y_RAW = (int16_t)(Rec_Data[10] << 8 | Rec_Data[11]);
DataStruct->Gyro_Z_RAW = (int16_t)(Rec_Data[12] << 8 | Rec_Data[13]);
DataStruct->Ax = DataStruct->Accel_X_RAW / 16384.0; // unit: g
DataStruct->Ay = DataStruct->Accel_Y_RAW / 16384.0;
DataStruct->Az = DataStruct->Accel_Z_RAW / 14418.0;
DataStruct->Temperature = (float)((int16_t)temp / (float)340.0 + (float)36.53);
DataStruct->Gx = DataStruct->Gyro_X_RAW / 131.0;
DataStruct->Gy = DataStruct->Gyro_Y_RAW / 131.0;
DataStruct->Gz = DataStruct->Gyro_Z_RAW / 131.0;
// Kalman angle solve
double dt = (double)(HAL_GetTick() - timer) / 1000;
timer = HAL_GetTick();
double roll;
double roll_sqrt = sqrt(
DataStruct->Accel_X_RAW * DataStruct->Accel_X_RAW + DataStruct->Accel_Z_RAW * DataStruct->Accel_Z_RAW);
if (roll_sqrt != 0.0)
{
roll = atan(DataStruct->Accel_Y_RAW / roll_sqrt) * RAD_TO_DEG;
}
else
{
roll = 0.0;
}
double pitch = atan2(-DataStruct->Accel_X_RAW, DataStruct->Accel_Z_RAW) * RAD_TO_DEG;
if ((pitch < -90 && DataStruct->KalmanAngleY > 90) || (pitch > 90 && DataStruct->KalmanAngleY < -90))
{
KalmanY.angle = pitch;
DataStruct->KalmanAngleY = pitch;
}
else
{
DataStruct->KalmanAngleY = Kalman_getAngle(&KalmanY, pitch, DataStruct->Gy, dt);
}
if (fabs(DataStruct->KalmanAngleY) > 90)
DataStruct->Gx = -DataStruct->Gx;
DataStruct->KalmanAngleX = Kalman_getAngle(&KalmanX, roll, DataStruct->Gx, dt);
}
/**
* @brief
*
* @param Kalman Kalman滤波所需数据结构体
* @param newAngle 角度值
* @param newRate
* @param dt 采样周期
* @return double 滤波后的角度值
*/
double MPU6050::Kalman_getAngle(Kalman_t *Kalman, double newAngle, double newRate, double dt)
{
double rate = newRate - Kalman->bias;
Kalman->angle += dt * rate;
Kalman->P[0][0] += dt * (dt * Kalman->P[1][1] - Kalman->P[0][1] - Kalman->P[1][0] + Kalman->Q_angle);
Kalman->P[0][1] -= dt * Kalman->P[1][1];
Kalman->P[1][0] -= dt * Kalman->P[1][1];
Kalman->P[1][1] += Kalman->Q_bias * dt;
double S = Kalman->P[0][0] + Kalman->R_measure;
double K[2];
K[0] = Kalman->P[0][0] / S;
K[1] = Kalman->P[1][0] / S;
double y = newAngle - Kalman->angle;
Kalman->angle += K[0] * y;
Kalman->bias += K[1] * y;
double P00_temp = Kalman->P[0][0];
double P01_temp = Kalman->P[0][1];
Kalman->P[0][0] -= K[0] * P00_temp;
Kalman->P[0][1] -= K[0] * P01_temp;
Kalman->P[1][0] -= K[1] * P00_temp;
Kalman->P[1][1] -= K[1] * P01_temp;
return Kalman->angle;
}
\ No newline at end of file
Core/Src/start.cpp 0 → 100644
View file @ d4513851
#include "start.h"
#include "main.h"
#include "usart.h"
#include <string>
#include <stdio.h>
#include <stm32f1xx.h>
#include "mpu6050.h"
MPU6050 mpu(&hi2c1, 0xD0, 1000);
MPU6050_t DataStruct;
uint8_t success = 0;
/**
* @brief 初始化函数
*
*/
void setup()
{
success = mpu.init();
if(success)
{
printf("mpu6050 init success!\r\n");
}
else
{
printf("mpu6050 init failed!\r\n");
}
}
/**
* @brief loop循环
*
*/
void loop()
{
// if(success)
// {
// mpu.Read_All(&DataStruct);
// printf("gx:%d\r\n",DataStruct.Gx);
// printf("gy:%d\r\n",DataStruct.Gy);
// printf("gz:%d\r\n",DataStruct.Gz);
// }
}
Core/Src/stm32f1xx_hal_msp.c 0 → 100644
View file @ d4513851
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32f1xx_hal_msp.c
* @brief This file provides code for the MSP Initialization
* and de-Initialization codes.
******************************************************************************
* @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 "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */
/* USER CODE END TD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN Define */
/* USER CODE END Define */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN Macro */
/* USER CODE END Macro */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* External functions --------------------------------------------------------*/
/* USER CODE BEGIN ExternalFunctions */
/* USER CODE END ExternalFunctions */
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* Initializes the Global MSP.
*/
void HAL_MspInit(void)
{
/* USER CODE BEGIN MspInit 0 */
/* USER CODE END MspInit 0 */
__HAL_RCC_AFIO_CLK_ENABLE();
__HAL_RCC_PWR_CLK_ENABLE();
/* System interrupt init*/
/** NOJTAG: JTAG-DP Disabled and SW-DP Enabled
*/
__HAL_AFIO_REMAP_SWJ_NOJTAG();
/* USER CODE BEGIN MspInit 1 */
/* USER CODE END MspInit 1 */
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
Core/Src/stm32f1xx_it.c 0 → 100644
View file @ d4513851
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32f1xx_it.c
* @brief Interrupt Service Routines.
******************************************************************************
* @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 "main.h"
#include "stm32f1xx_it.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */
/* USER CODE END TD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/* External variables --------------------------------------------------------*/
/* USER CODE BEGIN EV */
/* USER CODE END EV */
/******************************************************************************/
/* Cortex-M3 Processor Interruption and Exception Handlers */
/******************************************************************************/
/**
* @brief This function handles Non maskable interrupt.
*/
void NMI_Handler(void)
{
/* USER CODE BEGIN NonMaskableInt_IRQn 0 */
/* USER CODE END NonMaskableInt_IRQn 0 */
/* USER CODE BEGIN NonMaskableInt_IRQn 1 */
while (1)
{
}
/* USER CODE END NonMaskableInt_IRQn 1 */
}
/**
* @brief This function handles Hard fault interrupt.
*/
void HardFault_Handler(void)
{
/* USER CODE BEGIN HardFault_IRQn 0 */
/* USER CODE END HardFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_HardFault_IRQn 0 */
/* USER CODE END W1_HardFault_IRQn 0 */
}
}
/**
* @brief This function handles Memory management fault.
*/
void MemManage_Handler(void)
{
/* USER CODE BEGIN MemoryManagement_IRQn 0 */
/* USER CODE END MemoryManagement_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */
/* USER CODE END W1_MemoryManagement_IRQn 0 */
}
}
/**
* @brief This function handles Prefetch fault, memory access fault.
*/
void BusFault_Handler(void)
{
/* USER CODE BEGIN BusFault_IRQn 0 */
/* USER CODE END BusFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_BusFault_IRQn 0 */
/* USER CODE END W1_BusFault_IRQn 0 */
}
}
/**
* @brief This function handles Undefined instruction or illegal state.
*/
void UsageFault_Handler(void)
{
/* USER CODE BEGIN UsageFault_IRQn 0 */
/* USER CODE END UsageFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_UsageFault_IRQn 0 */
/* USER CODE END W1_UsageFault_IRQn 0 */
}
}
/**
* @brief This function handles System service call via SWI instruction.
*/
void SVC_Handler(void)
{
/* USER CODE BEGIN SVCall_IRQn 0 */
/* USER CODE END SVCall_IRQn 0 */
/* USER CODE BEGIN SVCall_IRQn 1 */
/* USER CODE END SVCall_IRQn 1 */
}
/**
* @brief This function handles Debug monitor.
*/
void DebugMon_Handler(void)
{
/* USER CODE BEGIN DebugMonitor_IRQn 0 */
/* USER CODE END DebugMonitor_IRQn 0 */
/* USER CODE BEGIN DebugMonitor_IRQn 1 */
/* USER CODE END DebugMonitor_IRQn 1 */
}
/**
* @brief This function handles Pendable request for system service.
*/
void PendSV_Handler(void)
{
/* USER CODE BEGIN PendSV_IRQn 0 */
/* USER CODE END PendSV_IRQn 0 */
/* USER CODE BEGIN PendSV_IRQn 1 */
/* USER CODE END PendSV_IRQn 1 */
}
/**
* @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();
/* USER CODE BEGIN SysTick_IRQn 1 */
/* USER CODE END SysTick_IRQn 1 */
}
/******************************************************************************/
/* STM32F1xx Peripheral Interrupt Handlers */
/* Add here the Interrupt Handlers for the used peripherals. */
/* For the available peripheral interrupt handler names, */
/* please refer to the startup file (startup_stm32f1xx.s). */
/******************************************************************************/
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
Core/Src/syscalls.c 0 → 100644
View file @ d4513851
/**
******************************************************************************
* @file syscalls.c
* @author Auto-generated by STM32CubeIDE
* @brief STM32CubeIDE Minimal System calls file
*
* For more information about which c-functions
* need which of these lowlevel functions
* please consult the Newlib libc-manual
******************************************************************************
* @attention
*
* Copyright (c) 2022 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.
*
******************************************************************************
*/
/* Includes */
#include <sys/stat.h>
#include <stdlib.h>
#include <errno.h>
#include <stdio.h>
#include <signal.h>
#include <time.h>
#include <sys/time.h>
#include <sys/times.h>
/* Variables */
extern int __io_putchar(int ch) __attribute__((weak));
extern int __io_getchar(void) __attribute__((weak));
char *__env[1] = { 0 };
char **environ = __env;
/* Functions */
void initialise_monitor_handles()
{
}
int _getpid(void)
{
return 1;
}
int _kill(int pid, int sig)
{
errno = EINVAL;
return -1;
}
void _exit (int status)
{
_kill(status, -1);
while (1) {} /* Make sure we hang here */
}
__attribute__((weak)) int _read(int file, char *ptr, int len)
{
int DataIdx;
for (DataIdx = 0; DataIdx < len; DataIdx++)
{
*ptr++ = __io_getchar();
}
return len;
}
__attribute__((weak)) int _write(int file, char *ptr, int len)
{
int DataIdx;
for (DataIdx = 0; DataIdx < len; DataIdx++)
{
__io_putchar(*ptr++);
}
return len;
}
int _close(int file)
{
return -1;
}
int _fstat(int file, struct stat *st)
{
st->st_mode = S_IFCHR;
return 0;
}
int _isatty(int file)
{
return 1;
}
int _lseek(int file, int ptr, int dir)
{
return 0;
}
int _open(char *path, int flags, ...)
{
/* Pretend like we always fail */
return -1;
}
int _wait(int *status)
{
errno = ECHILD;
return -1;
}
int _unlink(char *name)
{
errno = ENOENT;
return -1;
}
int _times(struct tms *buf)
{
return -1;
}
int _stat(char *file, struct stat *st)
{
st->st_mode = S_IFCHR;
return 0;
}
int _link(char *old, char *new)
{
errno = EMLINK;
return -1;
}
int _fork(void)
{
errno = EAGAIN;
return -1;
}
int _execve(char *name, char **argv, char **env)
{
errno = ENOMEM;
return -1;
}
Core/Src/sysmem.c 0 → 100644
View file @ d4513851
/**
******************************************************************************
* @file sysmem.c
* @author Generated by STM32CubeIDE
* @brief STM32CubeIDE System Memory calls file
*
* For more information about which C functions
* need which of these lowlevel functions
* please consult the newlib libc manual
******************************************************************************
* @attention
*
* Copyright (c) 2022 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.
*
******************************************************************************
*/
/* Includes */
#include <errno.h>
#include <stdint.h>
/**
* Pointer to the current high watermark of the heap usage
*/
static uint8_t *__sbrk_heap_end = NULL;
/**
* @brief _sbrk() allocates memory to the newlib heap and is used by malloc
* and others from the C library
*
* @verbatim
* ############################################################################
* # .data # .bss # newlib heap # MSP stack #
* # # # # Reserved by _Min_Stack_Size #
* ############################################################################
* ^-- RAM start ^-- _end _estack, RAM end --^
* @endverbatim
*
* This implementation starts allocating at the '_end' linker symbol
* The '_Min_Stack_Size' linker symbol reserves a memory for the MSP stack
* The implementation considers '_estack' linker symbol to be RAM end
* NOTE: If the MSP stack, at any point during execution, grows larger than the
* reserved size, please increase the '_Min_Stack_Size'.
*
* @param incr Memory size
* @return Pointer to allocated memory
*/
void *_sbrk(ptrdiff_t incr)
{
extern uint8_t _end; /* Symbol defined in the linker script */
extern uint8_t _estack; /* Symbol defined in the linker script */
extern uint32_t _Min_Stack_Size; /* Symbol defined in the linker script */
const uint32_t stack_limit = (uint32_t)&_estack - (uint32_t)&_Min_Stack_Size;
const uint8_t *max_heap = (uint8_t *)stack_limit;
uint8_t *prev_heap_end;
/* Initialize heap end at first call */
if (NULL == __sbrk_heap_end)
{
__sbrk_heap_end = &_end;
}
/* Protect heap from growing into the reserved MSP stack */
if (__sbrk_heap_end + incr > max_heap)
{
errno = ENOMEM;
return (void *)-1;
}
prev_heap_end = __sbrk_heap_end;
__sbrk_heap_end += incr;
return (void *)prev_heap_end;
}
Core/Src/system_stm32f1xx.c 0 → 100644
View file @ d4513851
/**
******************************************************************************
* @file system_stm32f1xx.c
* @author MCD Application Team
* @brief CMSIS Cortex-M3 Device Peripheral Access Layer System Source File.
*
* 1. This file provides two functions and one global variable to be called from
* user application:
* - SystemInit(): Setups the system clock (System clock source, PLL Multiplier
* factors, AHB/APBx prescalers and Flash settings).
* This function is called at startup just after reset and
* before branch to main program. This call is made inside
* the "startup_stm32f1xx_xx.s" file.
*
* - SystemCoreClock variable: Contains the core clock (HCLK), it can be used
* by the user application to setup the SysTick
* timer or configure other parameters.
*
* - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must
* be called whenever the core clock is changed
* during program execution.
*
* 2. After each device reset the HSI (8 MHz) is used as system clock source.
* Then SystemInit() function is called, in "startup_stm32f1xx_xx.s" file, to
* configure the system clock before to branch to main program.
*
* 4. The default value of HSE crystal is set to 8 MHz (or 25 MHz, depending on
* the product used), refer to "HSE_VALUE".
* When HSE is used as system clock source, directly or through PLL, and you
* are using different crystal you have to adapt the HSE value to your own
* configuration.
*
******************************************************************************
* @attention
*
* Copyright (c) 2017-2021 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.
*
******************************************************************************
*/
/** @addtogroup CMSIS
* @{
*/
/** @addtogroup stm32f1xx_system
* @{
*/
/** @addtogroup STM32F1xx_System_Private_Includes
* @{
*/
#include "stm32f1xx.h"
/**
* @}
*/
/** @addtogroup STM32F1xx_System_Private_TypesDefinitions
* @{
*/
/**
* @}
*/
/** @addtogroup STM32F1xx_System_Private_Defines
* @{
*/
#if !defined (HSE_VALUE)
#define HSE_VALUE 8000000U /*!< Default value of the External oscillator in Hz.
This value can be provided and adapted by the user application. */
#endif /* HSE_VALUE */
#if !defined (HSI_VALUE)
#define HSI_VALUE 8000000U /*!< Default value of the Internal oscillator in Hz.
This value can be provided and adapted by the user application. */
#endif /* HSI_VALUE */
/*!< Uncomment the following line if you need to use external SRAM */
#if defined(STM32F100xE) || defined(STM32F101xE) || defined(STM32F101xG) || defined(STM32F103xE) || defined(STM32F103xG)
/* #define DATA_IN_ExtSRAM */
#endif /* STM32F100xE || STM32F101xE || STM32F101xG || STM32F103xE || STM32F103xG */
/* Note: Following vector table addresses must be defined in line with linker
configuration. */
/*!< Uncomment the following line if you need to relocate the vector table
anywhere in Flash or Sram, else the vector table is kept at the automatic
remap of boot address selected */
/* #define USER_VECT_TAB_ADDRESS */
#if defined(USER_VECT_TAB_ADDRESS)
/*!< Uncomment the following line if you need to relocate your vector Table
in Sram else user remap will be done in Flash. */
/* #define VECT_TAB_SRAM */
#if defined(VECT_TAB_SRAM)
#define VECT_TAB_BASE_ADDRESS SRAM_BASE /*!< Vector Table base address field.
This value must be a multiple of 0x200. */
#define VECT_TAB_OFFSET 0x00000000U /*!< Vector Table base offset field.
This value must be a multiple of 0x200. */
#else
#define VECT_TAB_BASE_ADDRESS FLASH_BASE /*!< Vector Table base address field.
This value must be a multiple of 0x200. */
#define VECT_TAB_OFFSET 0x00000000U /*!< Vector Table base offset field.
This value must be a multiple of 0x200. */
#endif /* VECT_TAB_SRAM */
#endif /* USER_VECT_TAB_ADDRESS */
/******************************************************************************/
/**
* @}
*/
/** @addtogroup STM32F1xx_System_Private_Macros
* @{
*/
/**
* @}
*/
/** @addtogroup STM32F1xx_System_Private_Variables
* @{
*/
/* This variable is updated in three ways:
1) by calling CMSIS function SystemCoreClockUpdate()
2) by calling HAL API function HAL_RCC_GetHCLKFreq()
3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency
Note: If you use this function to configure the system clock; then there
is no need to call the 2 first functions listed above, since SystemCoreClock
variable is updated automatically.
*/
uint32_t SystemCoreClock = 16000000;
const uint8_t AHBPrescTable[16U] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9};
const uint8_t APBPrescTable[8U] = {0, 0, 0, 0, 1, 2, 3, 4};
/**
* @}
*/
/** @addtogroup STM32F1xx_System_Private_FunctionPrototypes
* @{
*/
#if defined(STM32F100xE) || defined(STM32F101xE) || defined(STM32F101xG) || defined(STM32F103xE) || defined(STM32F103xG)
#ifdef DATA_IN_ExtSRAM
static void SystemInit_ExtMemCtl(void);
#endif /* DATA_IN_ExtSRAM */
#endif /* STM32F100xE || STM32F101xE || STM32F101xG || STM32F103xE || STM32F103xG */
/**
* @}
*/
/** @addtogroup STM32F1xx_System_Private_Functions
* @{
*/
/**
* @brief Setup the microcontroller system
* Initialize the Embedded Flash Interface, the PLL and update the
* SystemCoreClock variable.
* @note This function should be used only after reset.
* @param None
* @retval None
*/
void SystemInit (void)
{
#if defined(STM32F100xE) || defined(STM32F101xE) || defined(STM32F101xG) || defined(STM32F103xE) || defined(STM32F103xG)
#ifdef DATA_IN_ExtSRAM
SystemInit_ExtMemCtl();
#endif /* DATA_IN_ExtSRAM */
#endif
/* Configure the Vector Table location -------------------------------------*/
#if defined(USER_VECT_TAB_ADDRESS)
SCB->VTOR = VECT_TAB_BASE_ADDRESS | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM. */
#endif /* USER_VECT_TAB_ADDRESS */
}
/**
* @brief Update SystemCoreClock variable according to Clock Register Values.
* The SystemCoreClock variable contains the core clock (HCLK), it can
* be used by the user application to setup the SysTick timer or configure
* other parameters.
*
* @note Each time the core clock (HCLK) changes, this function must be called
* to update SystemCoreClock variable value. Otherwise, any configuration
* based on this variable will be incorrect.
*
* @note - The system frequency computed by this function is not the real
* frequency in the chip. It is calculated based on the predefined
* constant and the selected clock source:
*
* - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(*)
*
* - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(**)
*
* - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(**)
* or HSI_VALUE(*) multiplied by the PLL factors.
*
* (*) HSI_VALUE is a constant defined in stm32f1xx.h file (default value
* 8 MHz) but the real value may vary depending on the variations
* in voltage and temperature.
*
* (**) HSE_VALUE is a constant defined in stm32f1xx.h file (default value
* 8 MHz or 25 MHz, depending on the product used), user has to ensure
* that HSE_VALUE is same as the real frequency of the crystal used.
* Otherwise, this function may have wrong result.
*
* - The result of this function could be not correct when using fractional
* value for HSE crystal.
* @param None
* @retval None
*/
void SystemCoreClockUpdate (void)
{
uint32_t tmp = 0U, pllmull = 0U, pllsource = 0U;
#if defined(STM32F105xC) || defined(STM32F107xC)
uint32_t prediv1source = 0U, prediv1factor = 0U, prediv2factor = 0U, pll2mull = 0U;
#endif /* STM32F105xC */
#if defined(STM32F100xB) || defined(STM32F100xE)
uint32_t prediv1factor = 0U;
#endif /* STM32F100xB or STM32F100xE */
/* Get SYSCLK source -------------------------------------------------------*/
tmp = RCC->CFGR & RCC_CFGR_SWS;
switch (tmp)
{
case 0x00U: /* HSI used as system clock */
SystemCoreClock = HSI_VALUE;
break;
case 0x04U: /* HSE used as system clock */
SystemCoreClock = HSE_VALUE;
break;
case 0x08U: /* PLL used as system clock */
/* Get PLL clock source and multiplication factor ----------------------*/
pllmull = RCC->CFGR & RCC_CFGR_PLLMULL;
pllsource = RCC->CFGR & RCC_CFGR_PLLSRC;
#if !defined(STM32F105xC) && !defined(STM32F107xC)
pllmull = ( pllmull >> 18U) + 2U;
if (pllsource == 0x00U)
{
/* HSI oscillator clock divided by 2 selected as PLL clock entry */
SystemCoreClock = (HSI_VALUE >> 1U) * pllmull;
}
else
{
#if defined(STM32F100xB) || defined(STM32F100xE)
prediv1factor = (RCC->CFGR2 & RCC_CFGR2_PREDIV1) + 1U;
/* HSE oscillator clock selected as PREDIV1 clock entry */
SystemCoreClock = (HSE_VALUE / prediv1factor) * pllmull;
#else
/* HSE selected as PLL clock entry */
if ((RCC->CFGR & RCC_CFGR_PLLXTPRE) != (uint32_t)RESET)
{/* HSE oscillator clock divided by 2 */
SystemCoreClock = (HSE_VALUE >> 1U) * pllmull;
}
else
{
SystemCoreClock = HSE_VALUE * pllmull;
}
#endif
}
#else
pllmull = pllmull >> 18U;
if (pllmull != 0x0DU)
{
pllmull += 2U;
}
else
{ /* PLL multiplication factor = PLL input clock * 6.5 */
pllmull = 13U / 2U;
}
if (pllsource == 0x00U)
{
/* HSI oscillator clock divided by 2 selected as PLL clock entry */
SystemCoreClock = (HSI_VALUE >> 1U) * pllmull;
}
else
{/* PREDIV1 selected as PLL clock entry */
/* Get PREDIV1 clock source and division factor */
prediv1source = RCC->CFGR2 & RCC_CFGR2_PREDIV1SRC;
prediv1factor = (RCC->CFGR2 & RCC_CFGR2_PREDIV1) + 1U;
if (prediv1source == 0U)
{
/* HSE oscillator clock selected as PREDIV1 clock entry */
SystemCoreClock = (HSE_VALUE / prediv1factor) * pllmull;
}
else
{/* PLL2 clock selected as PREDIV1 clock entry */
/* Get PREDIV2 division factor and PLL2 multiplication factor */
prediv2factor = ((RCC->CFGR2 & RCC_CFGR2_PREDIV2) >> 4U) + 1U;
pll2mull = ((RCC->CFGR2 & RCC_CFGR2_PLL2MUL) >> 8U) + 2U;
SystemCoreClock = (((HSE_VALUE / prediv2factor) * pll2mull) / prediv1factor) * pllmull;
}
}
#endif /* STM32F105xC */
break;
default:
SystemCoreClock = HSI_VALUE;
break;
}
/* Compute HCLK clock frequency ----------------*/
/* Get HCLK prescaler */
tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4U)];
/* HCLK clock frequency */
SystemCoreClock >>= tmp;
}
#if defined(STM32F100xE) || defined(STM32F101xE) || defined(STM32F101xG) || defined(STM32F103xE) || defined(STM32F103xG)
/**
* @brief Setup the external memory controller. Called in startup_stm32f1xx.s
* before jump to __main
* @param None
* @retval None
*/
#ifdef DATA_IN_ExtSRAM
/**
* @brief Setup the external memory controller.
* Called in startup_stm32f1xx_xx.s/.c before jump to main.
* This function configures the external SRAM mounted on STM3210E-EVAL
* board (STM32 High density devices). This SRAM will be used as program
* data memory (including heap and stack).
* @param None
* @retval None
*/
void SystemInit_ExtMemCtl(void)
{
__IO uint32_t tmpreg;
/*!< FSMC Bank1 NOR/SRAM3 is used for the STM3210E-EVAL, if another Bank is
required, then adjust the Register Addresses */
/* Enable FSMC clock */
RCC->AHBENR = 0x00000114U;
/* Delay after an RCC peripheral clock enabling */
tmpreg = READ_BIT(RCC->AHBENR, RCC_AHBENR_FSMCEN);
/* Enable GPIOD, GPIOE, GPIOF and GPIOG clocks */
RCC->APB2ENR = 0x000001E0U;
/* Delay after an RCC peripheral clock enabling */
tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_IOPDEN);
(void)(tmpreg);
/* --------------- SRAM Data lines, NOE and NWE configuration ---------------*/
/*---------------- SRAM Address lines configuration -------------------------*/
/*---------------- NOE and NWE configuration --------------------------------*/
/*---------------- NE3 configuration ----------------------------------------*/
/*---------------- NBL0, NBL1 configuration ---------------------------------*/
GPIOD->CRL = 0x44BB44BBU;
GPIOD->CRH = 0xBBBBBBBBU;
GPIOE->CRL = 0xB44444BBU;
GPIOE->CRH = 0xBBBBBBBBU;
GPIOF->CRL = 0x44BBBBBBU;
GPIOF->CRH = 0xBBBB4444U;
GPIOG->CRL = 0x44BBBBBBU;
GPIOG->CRH = 0x444B4B44U;
/*---------------- FSMC Configuration ---------------------------------------*/
/*---------------- Enable FSMC Bank1_SRAM Bank ------------------------------*/
FSMC_Bank1->BTCR[4U] = 0x00001091U;
FSMC_Bank1->BTCR[5U] = 0x00110212U;
}
#endif /* DATA_IN_ExtSRAM */
#endif /* STM32F100xE || STM32F101xE || STM32F101xG || STM32F103xE || STM32F103xG */
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
Core/Src/tim.c 0 → 100644
View file @ d4513851
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file tim.c
* @brief This file provides code for the configuration
* of the TIM instances.
******************************************************************************
* @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 "tim.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
TIM_HandleTypeDef htim2;
/* TIM2 init function */
void MX_TIM2_Init(void)
{
/* USER CODE BEGIN TIM2_Init 0 */
/* USER CODE END TIM2_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
/* USER CODE BEGIN TIM2_Init 1 */
/* USER CODE END TIM2_Init 1 */
htim2.Instance = TIM2;
htim2.Init.Prescaler = 0;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 65535;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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_PWM_Init(&htim2) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM2_Init 2 */
/* USER CODE END TIM2_Init 2 */
HAL_TIM_MspPostInit(&htim2);
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
{
if(tim_baseHandle->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspInit 0 */
/* USER CODE END TIM2_MspInit 0 */
/* TIM2 clock enable */
__HAL_RCC_TIM2_CLK_ENABLE();
/* USER CODE BEGIN TIM2_MspInit 1 */
/* USER CODE END TIM2_MspInit 1 */
}
}
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(timHandle->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspPostInit 0 */
/* USER CODE END TIM2_MspPostInit 0 */
__HAL_RCC_GPIOA_CLK_ENABLE();
/**TIM2 GPIO Configuration
PA0-WKUP ------> TIM2_CH1
*/
GPIO_InitStruct.Pin = GPIO_PIN_0;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN TIM2_MspPostInit 1 */
/* USER CODE END TIM2_MspPostInit 1 */
}
}
void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
{
if(tim_baseHandle->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspDeInit 0 */
/* USER CODE END TIM2_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM2_CLK_DISABLE();
/* USER CODE BEGIN TIM2_MspDeInit 1 */
/* USER CODE END TIM2_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
Core/Src/usart.c 0 → 100644
View file @ d4513851
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file usart.c
* @brief This file provides code for the configuration
* of the USART instances.
******************************************************************************
* @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 "usart.h"
/* USER CODE BEGIN 0 */
#ifdef __GNUC__
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
#else
#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
#endif
PUTCHAR_PROTOTYPE
{
HAL_UART_Transmit(&huart1, (uint8_t *)&ch, 1, HAL_MAX_DELAY);
return ch;
}
/* USER CODE END 0 */
UART_HandleTypeDef huart1;
/* USART1 init function */
void MX_USART1_UART_Init(void)
{
/* USER CODE BEGIN USART1_Init 0 */
/* USER CODE END USART1_Init 0 */
/* USER CODE BEGIN USART1_Init 1 */
/* USER CODE END USART1_Init 1 */
huart1.Instance = USART1;
huart1.Init.BaudRate = 115200;
huart1.Init.WordLength = UART_WORDLENGTH_8B;
huart1.Init.StopBits = UART_STOPBITS_1;
huart1.Init.Parity = UART_PARITY_NONE;
huart1.Init.Mode = UART_MODE_TX_RX;
huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart1.Init.OverSampling = UART_OVERSAMPLING_16;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
/* USER CODE END USART1_Init 2 */
}
void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(uartHandle->Instance==USART1)
{
/* USER CODE BEGIN USART1_MspInit 0 */
/* USER CODE END USART1_MspInit 0 */
/* USART1 clock enable */
__HAL_RCC_USART1_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**USART1 GPIO Configuration
PA9 ------> USART1_TX
PA10 ------> USART1_RX
*/
GPIO_InitStruct.Pin = GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_10;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN USART1_MspInit 1 */
/* USER CODE END USART1_MspInit 1 */
}
}
void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
{
if(uartHandle->Instance==USART1)
{
/* USER CODE BEGIN USART1_MspDeInit 0 */
/* USER CODE END USART1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_USART1_CLK_DISABLE();
/**USART1 GPIO Configuration
PA9 ------> USART1_TX
PA10 ------> USART1_RX
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10);
/* USER CODE BEGIN USART1_MspDeInit 1 */
/* USER CODE END USART1_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
Core/Startup/startup_stm32f103c8tx.s 0 → 100644
View file @ d4513851
/**
*************** (C) COPYRIGHT 2017 STMicroelectronics ************************
* @file startup_stm32f103xb.s
* @author MCD Application Team
* @brief STM32F103xB Devices vector table for Atollic toolchain.
* This module performs:
* - Set the initial SP
* - Set the initial PC == Reset_Handler,
* - Set the vector table entries with the exceptions ISR address
* - Configure the clock system
* - Branches to main in the C library (which eventually
* calls main()).
* After Reset the Cortex-M3 processor is in Thread mode,
* priority is Privileged, and the Stack is set to Main.
******************************************************************************
* @attention
*
* Copyright (c) 2017-2021 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.
*
******************************************************************************
*/
.syntax unified
.cpu cortex-m3
.fpu softvfp
.thumb
.global g_pfnVectors
.global Default_Handler
/* start address for the initialization values of the .data section.
defined in linker script */
.word _sidata
/* start address for the .data section. defined in linker script */
.word _sdata
/* end address for the .data section. defined in linker script */
.word _edata
/* start address for the .bss section. defined in linker script */
.word _sbss
/* end address for the .bss section. defined in linker script */
.word _ebss
.equ BootRAM, 0xF108F85F
/**
* @brief This is the code that gets called when the processor first
* starts execution following a reset event. Only the absolutely
* necessary set is performed, after which the application
* supplied main() routine is called.
* @param None
* @retval : None
*/
.section .text.Reset_Handler
.weak Reset_Handler
.type Reset_Handler, %function
Reset_Handler:
/* Call the clock system initialization function.*/
bl SystemInit
/* Copy the data segment initializers from flash to SRAM */
ldr r0, =_sdata
ldr r1, =_edata
ldr r2, =_sidata
movs r3, #0
b LoopCopyDataInit
CopyDataInit:
ldr r4, [r2, r3]
str r4, [r0, r3]
adds r3, r3, #4
LoopCopyDataInit:
adds r4, r0, r3
cmp r4, r1
bcc CopyDataInit
/* Zero fill the bss segment. */
ldr r2, =_sbss
ldr r4, =_ebss
movs r3, #0
b LoopFillZerobss
FillZerobss:
str r3, [r2]
adds r2, r2, #4
LoopFillZerobss:
cmp r2, r4
bcc FillZerobss
/* Call static constructors */
bl __libc_init_array
/* Call the application's entry point.*/
bl main
bx lr
.size Reset_Handler, .-Reset_Handler
/**
* @brief This is the code that gets called when the processor receives an
* unexpected interrupt. This simply enters an infinite loop, preserving
* the system state for examination by a debugger.
*
* @param None
* @retval : None
*/
.section .text.Default_Handler,"ax",%progbits
Default_Handler:
Infinite_Loop:
b Infinite_Loop
.size Default_Handler, .-Default_Handler
/******************************************************************************
*
* The minimal vector table for a Cortex M3. Note that the proper constructs
* must be placed on this to ensure that it ends up at physical address
* 0x0000.0000.
*
******************************************************************************/
.section .isr_vector,"a",%progbits
.type g_pfnVectors, %object
.size g_pfnVectors, .-g_pfnVectors
g_pfnVectors:
.word _estack
.word Reset_Handler
.word NMI_Handler
.word HardFault_Handler
.word MemManage_Handler
.word BusFault_Handler
.word UsageFault_Handler
.word 0
.word 0
.word 0
.word 0
.word SVC_Handler
.word DebugMon_Handler
.word 0
.word PendSV_Handler
.word SysTick_Handler
.word WWDG_IRQHandler
.word PVD_IRQHandler
.word TAMPER_IRQHandler
.word RTC_IRQHandler
.word FLASH_IRQHandler
.word RCC_IRQHandler
.word EXTI0_IRQHandler
.word EXTI1_IRQHandler
.word EXTI2_IRQHandler
.word EXTI3_IRQHandler
.word EXTI4_IRQHandler
.word DMA1_Channel1_IRQHandler
.word DMA1_Channel2_IRQHandler
.word DMA1_Channel3_IRQHandler
.word DMA1_Channel4_IRQHandler
.word DMA1_Channel5_IRQHandler
.word DMA1_Channel6_IRQHandler
.word DMA1_Channel7_IRQHandler
.word ADC1_2_IRQHandler
.word USB_HP_CAN1_TX_IRQHandler
.word USB_LP_CAN1_RX0_IRQHandler
.word CAN1_RX1_IRQHandler
.word CAN1_SCE_IRQHandler
.word EXTI9_5_IRQHandler
.word TIM1_BRK_IRQHandler
.word TIM1_UP_IRQHandler
.word TIM1_TRG_COM_IRQHandler
.word TIM1_CC_IRQHandler
.word TIM2_IRQHandler
.word TIM3_IRQHandler
.word TIM4_IRQHandler
.word I2C1_EV_IRQHandler
.word I2C1_ER_IRQHandler
.word I2C2_EV_IRQHandler
.word I2C2_ER_IRQHandler
.word SPI1_IRQHandler
.word SPI2_IRQHandler
.word USART1_IRQHandler
.word USART2_IRQHandler
.word USART3_IRQHandler
.word EXTI15_10_IRQHandler
.word RTC_Alarm_IRQHandler
.word USBWakeUp_IRQHandler
.word 0
.word 0
.word 0
.word 0
.word 0
.word 0
.word 0
.word BootRAM /* @0x108. This is for boot in RAM mode for
STM32F10x Medium Density devices. */
/*******************************************************************************
*
* Provide weak aliases for each Exception handler to the Default_Handler.
* As they are weak aliases, any function with the same name will override
* this definition.
*
*******************************************************************************/
.weak NMI_Handler
.thumb_set NMI_Handler,Default_Handler
.weak HardFault_Handler
.thumb_set HardFault_Handler,Default_Handler
.weak MemManage_Handler
.thumb_set MemManage_Handler,Default_Handler
.weak BusFault_Handler
.thumb_set BusFault_Handler,Default_Handler
.weak UsageFault_Handler
.thumb_set UsageFault_Handler,Default_Handler
.weak SVC_Handler
.thumb_set SVC_Handler,Default_Handler
.weak DebugMon_Handler
.thumb_set DebugMon_Handler,Default_Handler
.weak PendSV_Handler
.thumb_set PendSV_Handler,Default_Handler
.weak SysTick_Handler
.thumb_set SysTick_Handler,Default_Handler
.weak WWDG_IRQHandler
.thumb_set WWDG_IRQHandler,Default_Handler
.weak PVD_IRQHandler
.thumb_set PVD_IRQHandler,Default_Handler
.weak TAMPER_IRQHandler
.thumb_set TAMPER_IRQHandler,Default_Handler
.weak RTC_IRQHandler
.thumb_set RTC_IRQHandler,Default_Handler
.weak FLASH_IRQHandler
.thumb_set FLASH_IRQHandler,Default_Handler
.weak RCC_IRQHandler
.thumb_set RCC_IRQHandler,Default_Handler
.weak EXTI0_IRQHandler
.thumb_set EXTI0_IRQHandler,Default_Handler
.weak EXTI1_IRQHandler
.thumb_set EXTI1_IRQHandler,Default_Handler
.weak EXTI2_IRQHandler
.thumb_set EXTI2_IRQHandler,Default_Handler
.weak EXTI3_IRQHandler
.thumb_set EXTI3_IRQHandler,Default_Handler
.weak EXTI4_IRQHandler
.thumb_set EXTI4_IRQHandler,Default_Handler
.weak DMA1_Channel1_IRQHandler
.thumb_set DMA1_Channel1_IRQHandler,Default_Handler
.weak DMA1_Channel2_IRQHandler
.thumb_set DMA1_Channel2_IRQHandler,Default_Handler
.weak DMA1_Channel3_IRQHandler
.thumb_set DMA1_Channel3_IRQHandler,Default_Handler
.weak DMA1_Channel4_IRQHandler
.thumb_set DMA1_Channel4_IRQHandler,Default_Handler
.weak DMA1_Channel5_IRQHandler
.thumb_set DMA1_Channel5_IRQHandler,Default_Handler
.weak DMA1_Channel6_IRQHandler
.thumb_set DMA1_Channel6_IRQHandler,Default_Handler
.weak DMA1_Channel7_IRQHandler
.thumb_set DMA1_Channel7_IRQHandler,Default_Handler
.weak ADC1_2_IRQHandler
.thumb_set ADC1_2_IRQHandler,Default_Handler
.weak USB_HP_CAN1_TX_IRQHandler
.thumb_set USB_HP_CAN1_TX_IRQHandler,Default_Handler
.weak USB_LP_CAN1_RX0_IRQHandler
.thumb_set USB_LP_CAN1_RX0_IRQHandler,Default_Handler
.weak CAN1_RX1_IRQHandler
.thumb_set CAN1_RX1_IRQHandler,Default_Handler
.weak CAN1_SCE_IRQHandler
.thumb_set CAN1_SCE_IRQHandler,Default_Handler
.weak EXTI9_5_IRQHandler
.thumb_set EXTI9_5_IRQHandler,Default_Handler
.weak TIM1_BRK_IRQHandler
.thumb_set TIM1_BRK_IRQHandler,Default_Handler
.weak TIM1_UP_IRQHandler
.thumb_set TIM1_UP_IRQHandler,Default_Handler
.weak TIM1_TRG_COM_IRQHandler
.thumb_set TIM1_TRG_COM_IRQHandler,Default_Handler
.weak TIM1_CC_IRQHandler
.thumb_set TIM1_CC_IRQHandler,Default_Handler
.weak TIM2_IRQHandler
.thumb_set TIM2_IRQHandler,Default_Handler
.weak TIM3_IRQHandler
.thumb_set TIM3_IRQHandler,Default_Handler
.weak TIM4_IRQHandler
.thumb_set TIM4_IRQHandler,Default_Handler
.weak I2C1_EV_IRQHandler
.thumb_set I2C1_EV_IRQHandler,Default_Handler
.weak I2C1_ER_IRQHandler
.thumb_set I2C1_ER_IRQHandler,Default_Handler
.weak I2C2_EV_IRQHandler
.thumb_set I2C2_EV_IRQHandler,Default_Handler
.weak I2C2_ER_IRQHandler
.thumb_set I2C2_ER_IRQHandler,Default_Handler
.weak SPI1_IRQHandler
.thumb_set SPI1_IRQHandler,Default_Handler
.weak SPI2_IRQHandler
.thumb_set SPI2_IRQHandler,Default_Handler
.weak USART1_IRQHandler
.thumb_set USART1_IRQHandler,Default_Handler
.weak USART2_IRQHandler
.thumb_set USART2_IRQHandler,Default_Handler
.weak USART3_IRQHandler
.thumb_set USART3_IRQHandler,Default_Handler
.weak EXTI15_10_IRQHandler
.thumb_set EXTI15_10_IRQHandler,Default_Handler
.weak RTC_Alarm_IRQHandler
.thumb_set RTC_Alarm_IRQHandler,Default_Handler
.weak USBWakeUp_IRQHandler
.thumb_set USBWakeUp_IRQHandler,Default_Handler
Debug/Core/Src/gpio.d 0 → 100644
View file @ d4513851
Core/Src/gpio.o: ../Core/Src/gpio.c ../Core/Inc/gpio.h ../Core/Inc/main.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h \
../Core/Inc/stm32f1xx_hal_conf.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_def.h \
../Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f1xx.h \
../Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f103xb.h \
../Drivers/CMSIS/Include/core_cm3.h \
../Drivers/CMSIS/Include/cmsis_version.h \
../Drivers/CMSIS/Include/cmsis_compiler.h \
../Drivers/CMSIS/Include/cmsis_gcc.h \
../Drivers/CMSIS/Device/ST/STM32F1xx/Include/system_stm32f1xx.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc_ex.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio_ex.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_exti.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma_ex.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_cortex.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash_ex.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_i2c.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pwr.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h
../Core/Inc/gpio.h:
../Core/Inc/main.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h:
../Core/Inc/stm32f1xx_hal_conf.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_def.h:
../Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f1xx.h:
../Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f103xb.h:
../Drivers/CMSIS/Include/core_cm3.h:
../Drivers/CMSIS/Include/cmsis_version.h:
../Drivers/CMSIS/Include/cmsis_compiler.h:
../Drivers/CMSIS/Include/cmsis_gcc.h:
../Drivers/CMSIS/Device/ST/STM32F1xx/Include/system_stm32f1xx.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc_ex.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio_ex.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_exti.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma_ex.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_cortex.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash_ex.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_i2c.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pwr.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h:
Debug/Core/Src/gpio.su 0 → 100644
View file @ d4513851
../Core/Src/gpio.c:42:6:MX_GPIO_Init 24 static
Debug/Core/Src/i2c.d 0 → 100644
View file @ d4513851
Core/Src/i2c.o: ../Core/Src/i2c.c ../Core/Inc/i2c.h ../Core/Inc/main.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h \
../Core/Inc/stm32f1xx_hal_conf.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_def.h \
../Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f1xx.h \
../Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f103xb.h \
../Drivers/CMSIS/Include/core_cm3.h \
../Drivers/CMSIS/Include/cmsis_version.h \
../Drivers/CMSIS/Include/cmsis_compiler.h \
../Drivers/CMSIS/Include/cmsis_gcc.h \
../Drivers/CMSIS/Device/ST/STM32F1xx/Include/system_stm32f1xx.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc_ex.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio_ex.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_exti.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma_ex.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_cortex.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash_ex.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_i2c.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pwr.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h
../Core/Inc/i2c.h:
../Core/Inc/main.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h:
../Core/Inc/stm32f1xx_hal_conf.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_def.h:
../Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f1xx.h:
../Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f103xb.h:
../Drivers/CMSIS/Include/core_cm3.h:
../Drivers/CMSIS/Include/cmsis_version.h:
../Drivers/CMSIS/Include/cmsis_compiler.h:
../Drivers/CMSIS/Include/cmsis_gcc.h:
../Drivers/CMSIS/Device/ST/STM32F1xx/Include/system_stm32f1xx.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc_ex.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio_ex.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_exti.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma_ex.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_cortex.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash_ex.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_i2c.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pwr.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h:
Debug/Core/Src/i2c.su 0 → 100644
View file @ d4513851
../Core/Src/i2c.c:30:6:MX_I2C1_Init 8 static
../Core/Src/i2c.c:59:6:HAL_I2C_MspInit 40 static
../Core/Src/i2c.c:87:6:HAL_I2C_MspDeInit 16 static
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment