Change the project to STM32CubeIDE 1.16+ and recent gcc.

.gitignore

@@ -19,3 +19,4 @@ Debug
 /JavaConfigurator/dist/
 /Release/
 /build/
+experimental settings/

.project

@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <projectDescription>
 	<name>LishuiFOC_01</name>
-	<comment />
+	<comment></comment>
 	<projects>
 	</projects>
 	<buildSpec>
@@ -20,11 +20,8 @@
 	</buildSpec>
 	<natures>
 		<nature>org.eclipse.cdt.core.cnature</nature>
-		<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
 		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
-		<nature>fr.ac6.mcu.ide.core.MCUProjectNature</nature>
+		<nature>com.st.stm32cube.ide.mcu.MCUSW4STM32ConvertedProjectNature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
 	</natures>
-	<linkedResources>
-
-	</linkedResources>
 </projectDescription>

.project_org

@@ -0,0 +1,30 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>LishuiFOC_01</name>
+	<comment />
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
+			<triggers>clean,full,incremental,</triggers>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
+			<triggers>full,incremental,</triggers>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.cdt.core.cnature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
+		<nature>fr.ac6.mcu.ide.core.MCUProjectNature</nature>
+	</natures>
+	<linkedResources>
+
+	</linkedResources>
+</projectDescription>

.settings/language.settings.xml

@@ -1,25 +1,25 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>
 <project>
-	<configuration id="fr.ac6.managedbuild.config.gnu.cross.exe.debug.167643868" name="Debug">
+	<configuration id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.964865682" name="Debug">
 		<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="fr.ac6.mcu.ide.build.CrossBuiltinSpecsDetector" console="false" env-hash="482849276983345380" id="fr.ac6.mcu.ide.build.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="Ac6 SW4 STM32 MCU Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="690716002991941334" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
 		</extension>
 	</configuration>
-	<configuration id="fr.ac6.managedbuild.config.gnu.cross.exe.release.444937816" name="Release">
+	<configuration id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.1432686742" name="Release">
 		<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="fr.ac6.mcu.ide.build.CrossBuiltinSpecsDetector" console="false" env-hash="482849276983345380" id="fr.ac6.mcu.ide.build.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="Ac6 SW4 STM32 MCU Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="690716002991941334" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
 		</extension>
 	</configuration>
-</project>
+</project>

Inc/config.h

@@ -8,109 +8,72 @@
 #ifndef CONFIG_H_
 #define CONFIG_H_
 #include "stdint.h"
-
-// System constants, don't touch!
-#define DISPLAY_TYPE_DEBUG (1<<0)							// For ASCII-Output in Debug mode);
-#define DISPLAY_TYPE_KUNTENG (1<<1)							// For Kunteng display
-#define DISPLAY_TYPE_BAFANG_LCD (1<<2)						// For 'Blaupunkt' Display of Prophete Entdecker
-#define DISPLAY_TYPE_BAFANG_850_860 (1<<3)					// Bafang 850/860. Can do 9k6 baud, also compatible with 1200 baud detection at startup
-#define DISPLAY_TYPE_KINGMETER_618U (1<<4)                  // King-Meter 618U protocol ( J-LCD)
-#define DISPLAY_TYPE_KINGMETER_901U (1<<5)                  // King-Meter 901U protocol (KM5s)
-#define DISPLAY_TYPE_EBiCS (1<<6)                  			// Protocol using the ANT+ LEV logic
-#define DISPLAY_TYPE_NO2 (1<<7)								// For China Protokoll "No_2" S866 display for example
-#define DISPLAY_TYPE_BAFANG         (DISPLAY_TYPE_BAFANG_LCD|DISPLAY_TYPE_BAFANG_850_860)
-#define DISPLAY_TYPE_KINGMETER      (DISPLAY_TYPE_KINGMETER_618U|DISPLAY_TYPE_KINGMETER_901U)
+#define DISPLAY_TYPE_DEBUG (1 << 0)          // For ASCII-Output in Debug mode);
+#define DISPLAY_TYPE_KUNTENG (1 << 1)        // For Kunteng display
+#define DISPLAY_TYPE_BAFANG_LCD (1 << 2)     // For 'Blaupunkt' Display of Prophete Entdecker
+#define DISPLAY_TYPE_BAFANG_850_860 (1 << 3) // Bafang 850/860. Can do 9k6 baud, also compatible with 1200 baud detection at startup
+#define DISPLAY_TYPE_KINGMETER_618U (1 << 4) // King-Meter 618U protocol ( J-LCD)
+#define DISPLAY_TYPE_KINGMETER_901U (1 << 5) // King-Meter 901U protocol (KM5s)
+#define DISPLAY_TYPE_EBiCS (1 << 6)          // Protocol using the ANT+ LEV logic
+#define DISPLAY_TYPE_NO2 (1 << 7)            // For China Protokoll "No_2" S866 display for example
+#define DISPLAY_TYPE_BAFANG (DISPLAY_TYPE_BAFANG_LCD | DISPLAY_TYPE_BAFANG_850_860)
+#define DISPLAY_TYPE_KINGMETER (DISPLAY_TYPE_KINGMETER_618U | DISPLAY_TYPE_KINGMETER_901U)
 #define EXTERNAL 1
 #define INTERNAL 0
-//----------------------------------------------------------------------
-// advanced setting, don't touch, if you don't know what you are doing!
+// #define LEGALFLAG
+
 #define TRIGGER_OFFSET_ADC 50
 #define TRIGGER_DEFAULT 2020
 #define _T 2028
 #define CAL_BAT_V 256
 #define CAL_V 25
-#define CAL_I 38LL<<8
+#define CAL_I 48LL << 8
 #define INDUCTANCE 6LL
 #define RESISTANCE 40LL
 #define FLUX_LINKAGE 1200LL
 #define GAMMA 9LL
-//#define FAST_LOOP_LOG
-//#define DISABLE_DYNAMIC_ADC
-//#define INDIVIDUAL_MODES
-//#define SPEEDTHROTTLE
-#define SIXSTEPTHRESHOLD 20000
-#define SPEED_PLL 0 //1 for using PLL, 0 for angle extrapolation
-#define P_FACTOR_PLL 10
-#define I_FACTOR_PLL 10
-
-//----------------------------------------------------------------------
-//Battery bar settings for Kunteng and Bafang Display
-#define BATTERY_LEVEL_1 323000
-#define BATTERY_LEVEL_2 329000
-#define BATTERY_LEVEL_3 344000
-#define BATTERY_LEVEL_4 368000
-#define BATTERY_LEVEL_5 380000
-
-//----------------------------------------------------------------------
-//PI-control factor settings
-#define P_FACTOR_I_Q 50
-#define I_FACTOR_I_Q 2
-#define P_FACTOR_I_D 50
-#define I_FACTOR_I_D 2
-#define P_FACTOR_SPEED 1
+#define BATTERY_LEVEL_1 430000LL
+#define BATTERY_LEVEL_2 450000LL
+#define BATTERY_LEVEL_3 470000LL
+#define BATTERY_LEVEL_4 490000LL
+#define BATTERY_LEVEL_5 510000LL
+#define P_FACTOR_I_Q 500
+#define I_FACTOR_I_Q 20
+#define P_FACTOR_I_D 500
+#define I_FACTOR_I_D 20
+#define P_FACTOR_PLL 5
+#define I_FACTOR_PLL 11
+#define P_FACTOR_SPEED 100
 #define I_FACTOR_SPEED 10
-
-//----------------------------------------------------------------------
-//PAS mode settings
-//#define DIRDET
-#define FRAC_HIGH 30
-#define FRAC_LOW 15
+#define SPDSHFT 0
+#define SPEEDFILTER 1
+#define SIXSTEPTHRESHOLD 20000
+#define TS_COEF 35000
 #define PAS_TIMEOUT 3000
 #define RAMP_END 1200
 #define PAS_IMP_PER_TURN 32
-
-//---------------------------------------------------------------------
-//Throttle settings
-#define THROTTLE_OFFSET 1250   //only default value, throttle offset is set at startup automatically
+#define FRAC_HIGH 30
+#define FRAC_LOW 15
+#define THROTTLE_OFFSET 1250
 #define THROTTLE_MAX 2850
-#define THROTTLE_OVERRIDE
-
-//--------------------------------------------------------------------
-//Speed settings
+#define PUSHASSIST_CURRENT 8000
 #define WHEEL_CIRCUMFERENCE 2200
-#define GEAR_RATIO 11 //11 for BionX IGH3
-#define SPEEDLIMIT 25
-#define PULSES_PER_REVOLUTION 1
-#define SPEEDSOURCE INTERNAL
-#define SPEEDFILTER 1
-#define SPDSHFT 0
-
-//---------------------------------------------------------------------
-//power settings
-#define PH_CURRENT_MAX 1200
-#define BATTERYCURRENT_MAX 14000
-#define REVERSE 1 //1 for normal direction, -1 for reverse
-#define PUSHASSIST_CURRENT 300
-#define VOLTAGE_MIN 1320 //33V
-
-//---------------------------------------------------------------------
-//torquesensor settings
-#define TS_COEF 2400
+#define GEAR_RATIO 88
+#define SPEEDLIMIT 99
+#define PULSES_PER_REVOLUTION 6
+#define PH_CURRENT_MAX 500
+#define BATTERYCURRENT_MAX 17000
+#define REGEN_CURRENT 20
+#define REGEN_CURRENT_MAX 5000
+#define VOLTAGE_MIN 1400
+#define VOLTAGE_MAX 2200
+#define SPEC_ANGLE -715827882
 #define TS_MODE
-//#define TQONAD1
-
-//---------------------------------------------------------------------
-//Display settings
-#define DISPLAY_TYPE DISPLAY_TYPE_KINGMETER_901U
-
-//---------------------------------------------------------------------
-//Regen settings
-
-#define REGEN_CURRENT 800
-#define REGEN_CURRENT_MAX 10000
-//#define ADC_BRAKE
-
-//---------------------------------------------------------------------
+#define TQONAD1
+#define DISPLAY_TYPE DISPLAY_TYPE_KUNTENG
+#define SPEED_PLL 0
+#define SPEEDSOURCE EXTERNAL
 #define AUTODETECT 0
+#define REVERSE 1
 
 #endif /* CONFIG_H_ */

Inc/display_kunteng.h

@@ -11,8 +11,8 @@
 #include "config.h"
 
 void kunteng_init();
-void display_update(MotorState_t* MS_U);
-void check_message(MotorState_t* MS_D, MotorParams_t* MP_D);
+void display_update(MotorState_t *MS_U);
+void check_message(MotorState_t *MS_D, MotorParams_t *MP_D);
 
 typedef struct _lcd_configuration_variables
 {
@@ -37,7 +37,7 @@ typedef struct _lcd_configuration_variables
   uint8_t ui8_c14;
 } struc_lcd_configuration_variables;
 
-#define COMMUNICATIONS_BATTERY_VOLTAGE	(BATTERY_LI_ION_CELLS_NUMBER * 3.45) // example: 7S battery, should be = 24
+#define COMMUNICATIONS_BATTERY_VOLTAGE (BATTERY_LI_ION_CELLS_NUMBER * 3.45) // example: 7S battery, should be = 24
 
 // Considering the follow voltage values for each li-ion battery cell
 // State of charge 		| voltage
@@ -47,17 +47,17 @@ typedef struct _lcd_configuration_variables
 #define LI_ION_CELL_VOLTS_60 3.68 // 3.87
 #define LI_ION_CELL_VOLTS_40 3.46 // 3.80
 #define LI_ION_CELL_VOLTS_20 3.28 // 3.73
-#define LI_ION_CELL_VOLTS_0 3.10 // 3.27
+#define LI_ION_CELL_VOLTS_0 3.10  // 3.27
 #define LI_ION_CELL_VOLTS_MIN 3.10
 
-#define BATTERY_PACK_VOLTS_100	(LI_ION_CELL_VOLTS_100 * BATTERY_LI_ION_CELLS_NUMBER) * 256
-#define BATTERY_PACK_VOLTS_80 	(LI_ION_CELL_VOLTS_80 * BATTERY_LI_ION_CELLS_NUMBER) * 256
-#define BATTERY_PACK_VOLTS_60	(LI_ION_CELL_VOLTS_60 * BATTERY_LI_ION_CELLS_NUMBER) * 256
-#define BATTERY_PACK_VOLTS_40	(LI_ION_CELL_VOLTS_40 * BATTERY_LI_ION_CELLS_NUMBER) * 256
-#define BATTERY_PACK_VOLTS_20	(LI_ION_CELL_VOLTS_20 * BATTERY_LI_ION_CELLS_NUMBER) * 256
-#define BATTERY_PACK_VOLTS_0	(LI_ION_CELL_VOLTS_0 * BATTERY_LI_ION_CELLS_NUMBER) * 256
+#define BATTERY_PACK_VOLTS_100 (LI_ION_CELL_VOLTS_100 * BATTERY_LI_ION_CELLS_NUMBER) * 256
+#define BATTERY_PACK_VOLTS_80 (LI_ION_CELL_VOLTS_80 * BATTERY_LI_ION_CELLS_NUMBER) * 256
+#define BATTERY_PACK_VOLTS_60 (LI_ION_CELL_VOLTS_60 * BATTERY_LI_ION_CELLS_NUMBER) * 256
+#define BATTERY_PACK_VOLTS_40 (LI_ION_CELL_VOLTS_40 * BATTERY_LI_ION_CELLS_NUMBER) * 256
+#define BATTERY_PACK_VOLTS_20 (LI_ION_CELL_VOLTS_20 * BATTERY_LI_ION_CELLS_NUMBER) * 256
+#define BATTERY_PACK_VOLTS_0 (LI_ION_CELL_VOLTS_0 * BATTERY_LI_ION_CELLS_NUMBER) * 256
 
 #define ADC_BATTERY_VOLTAGE_K 73 // 0.272 << 8
-#define BATTERY_LI_ION_CELLS_NUMBER 10
+#define BATTERY_LI_ION_CELLS_NUMBER 13
 
 #endif /* DISPLAY_KUNTENG_H_ */