From 8c619d8dd8e6c4dc49bb016249e4c9b4c94b4fad Mon Sep 17 00:00:00 2001 From: Haotian Hang Date: Sat, 27 Jan 2024 22:47:56 -0800 Subject: [PATCH] bug fix according to "https://github.com/haotianh9/DengFOC_on_STM32/issues/2" --- .metadata/.ide.log | 2664 +++++------------ .metadata/.ide.log-2023-12-25.log | 1937 ++++++++++++ .metadata/.log | 26 + .metadata/.plugins/org.eclipse.cdt.core/.log | 2 + .../SVPWM.1703571019738.pdom | Bin 5783552 -> 5783552 bytes .../org.eclipse.cdt.ui/SVPWM.build.log | 29 +- .../org.eclipse.cdt.ui/global-build.log | 25 + .../10/4017c669b2a3001e1b4082bf61e237c7 | 94 - .../12/80baf1d8b6a3001e1e298100ab8cd7a4 | 101 - .../12/90c2c2617ca3001e1b4082bf61e237c7 | 545 ---- .../14/108b2fe47ba3001e1b4082bf61e237c7 | 561 ---- .../14/804db58f7ca3001e1b4082bf61e237c7 | 27 - .../14/a07980f91aa2001e1ab2edb23f9b017a | 0 .../14/e0db68da8fa3001e1b4082bf61e237c7 | 104 - .../15/10233b69b7a3001e1e298100ab8cd7a4 | 144 - .../15/f02e5aa9b2a3001e1b4082bf61e237c7 | 29 - 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14:04:51,149 [INFO] ApplicationProperties:184 - Using Application install path: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412 -2023-12-25 14:04:51,167 [INFO] DbMcusXml:78 - Set database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//mcu/ -2023-12-25 14:04:51,168 [INFO] ApiDb:274 - Set plugin database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/boardmanager/ -2023-12-25 14:04:51,168 [WARN] ApiDb:259 - Overriding images path with different value: => /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/mcufinder/images/ -2023-12-25 14:04:51,183 [INFO] ApiDb:250 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ -2023-12-25 14:04:51,184 [INFO] DbMcusAds:125 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ -2023-12-25 14:04:51,187 [INFO] CrossReferenceDbSqlite:203 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/cs/ -2023-12-25 14:04:51,329 [INFO] RulesReader:64 - Compatibility file has been processed (293 Rules) -2023-12-25 14:04:51,439 [INFO] DbMcusXml:78 - Set database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//mcu/ -2023-12-25 14:04:51,439 [INFO] ApiDb:274 - Set plugin database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/boardmanager/ -2023-12-25 14:04:51,442 [INFO] ApiDb:261 - Set plugin images path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/mcufinder/images/ -2023-12-25 14:04:51,442 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder -2023-12-25 14:04:51,443 [INFO] ApiDb:250 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ -2023-12-25 14:04:51,447 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder -2023-12-25 14:04:51,448 [INFO] DbMcusAds:125 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ -2023-12-25 14:04:51,449 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder -2023-12-25 14:04:51,449 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder -2023-12-25 14:04:51,450 [INFO] CrossReferenceDbSqlite:203 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/cs/ -2023-12-25 14:04:51,562 [INFO] MainPanel:262 - HeapMemory: 268435456 -2023-12-25 14:04:51,711 [INFO] DbMcusXml:78 - Set database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//mcu/ -2023-12-25 14:04:51,712 [INFO] ApiDb:274 - Set plugin database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/boardmanager/ -2023-12-25 14:04:51,712 [INFO] ApiDb:261 - Set plugin images path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/mcufinder/images/ -2023-12-25 14:04:51,712 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder -2023-12-25 14:04:51,713 [INFO] ApiDb:250 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ -2023-12-25 14:04:51,713 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder -2023-12-25 14:04:51,713 [INFO] DbMcusAds:125 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ -2023-12-25 14:04:51,713 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder -2023-12-25 14:04:51,713 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder -2023-12-25 14:04:51,713 [INFO] CrossReferenceDbSqlite:203 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/cs/ -2023-12-25 14:04:51,737 [INFO] ApplicationProperties:184 - Using Application install path: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412 -2023-12-25 14:04:51,738 [INFO] PluginManage:196 - Search for loadable plugins [exclusion list=, ] -2023-12-25 14:04:51,739 [INFO] PluginManage:310 - Check plugin analytics -2023-12-25 14:04:51,952 [INFO] AnalyticsPlugin:253 - Accepted Software Licenses: -2023-12-25 14:04:51,952 [INFO] AnalyticsPlugin:255 - Accepted CMSIS Pack Licenses: -2023-12-25 14:04:51,952 [INFO] AnalyticsPlugin:257 - Accepted Firmware Licenses: -2023-12-25 14:04:51,956 [INFO] PluginManage:359 - Loaded plugin analytics (category:tool,tabindex:-1) -2023-12-25 14:04:51,956 [INFO] PluginManage:310 - Check plugin cadmodel -2023-12-25 14:04:52,611 [INFO] CADModel:105 - Init CAD model plugin -2023-12-25 14:04:52,612 [INFO] PluginManage:359 - Loaded plugin cadmodel (category:power,tabindex:5) -2023-12-25 14:04:52,612 [INFO] PluginManage:310 - Check plugin clock -2023-12-25 14:04:52,624 [INFO] PluginManage:359 - Loaded plugin clock (category:base,tabindex:2) -2023-12-25 14:04:52,624 [INFO] PluginManage:310 - Check plugin ddr -2023-12-25 14:04:52,626 [INFO] PluginManage:359 - Loaded plugin ddr (category:tool,tabindex:6) -2023-12-25 14:04:52,626 [INFO] PluginManage:310 - Check plugin filemanager -2023-12-25 14:04:52,826 [INFO] PluginManage:359 - Loaded plugin filemanager (category:base,tabindex:10) -2023-12-25 14:04:52,826 [INFO] PluginManage:310 - Check plugin ipmanager -2023-12-25 14:04:52,839 [INFO] PluginManage:359 - Loaded plugin ipmanager (category:base,tabindex:5) -2023-12-25 14:04:52,840 [INFO] PluginManage:310 - Check plugin lpbam -2023-12-25 14:04:52,856 [INFO] PluginManage:359 - Loaded plugin lpbam (category:base,tabindex:0) -2023-12-25 14:04:52,856 [INFO] PluginManage:310 - Check plugin memorymap -2023-12-25 14:04:52,878 [INFO] PluginManage:359 - Loaded plugin memorymap (category:base,tabindex:4) -2023-12-25 14:04:52,878 [INFO] PluginManage:310 - Check plugin pinoutandconfiguration -2023-12-25 14:04:52,890 [INFO] PluginManage:359 - Loaded plugin pinoutandconfiguration (category:base,tabindex:1) -2023-12-25 14:04:52,890 [INFO] PluginManage:310 - Check plugin pinoutconfig -2023-12-25 14:04:53,014 [WARN] SupportedApi:132 - Cannot load RTOS API schema: s4s-elt-must-match.1: The content of 'definitions' must match (annotation?, (simpleType | complexType)?, (unique | key | keyref)*)). A problem was found starting at: attribute. -2023-12-25 14:04:53,220 [INFO] PluginManage:359 - Loaded plugin pinoutconfig (category:base,tabindex:0) -2023-12-25 14:04:53,220 [INFO] PluginManage:310 - Check plugin power -2023-12-25 14:04:53,232 [INFO] PluginManage:359 - Loaded plugin power (category:power,tabindex:4) -2023-12-25 14:04:53,232 [INFO] PluginManage:310 - Check plugin projectmanager -2023-12-25 14:04:53,246 [INFO] PluginManage:359 - Loaded plugin projectmanager (category:projectmanager,tabindex:3) -2023-12-25 14:04:53,247 [INFO] PluginManage:310 - Check plugin thirdparty -2023-12-25 14:04:53,393 [INFO] PluginManage:359 - Loaded plugin thirdparty (category:base,tabindex:-1) -2023-12-25 14:04:53,393 [WARN] IntegrityCheckThread:84 - waiting for thirdparty lock release [integrity check] -2023-12-25 14:04:53,393 [INFO] PluginManage:310 - Check plugin tools -2023-12-25 14:04:53,393 [INFO] IntegrityCheckThread:86 - entering critical section [integrity check] -2023-12-25 14:04:53,394 [INFO] ThirdPartyUpdaterWithRetryManager:70 - Updater plugin not ready yet. [1/15] -2023-12-25 14:04:53,396 [INFO] PluginManage:359 - Loaded plugin tools (category:base,tabindex:7) -2023-12-25 14:04:53,396 [INFO] PluginManage:310 - Check plugin tutovideos -2023-12-25 14:04:53,623 [INFO] PluginManage:359 - Loaded plugin tutovideos (category:base,tabindex:-1) -2023-12-25 14:04:53,623 [INFO] PluginManage:310 - Check plugin updater -2023-12-25 14:04:53,637 [INFO] PluginManage:359 - Loaded plugin updater (category:base,tabindex:12) -2023-12-25 14:04:53,638 [INFO] PluginManage:310 - Check plugin userauth -2023-12-25 14:04:53,644 [INFO] UserAuth:113 - Init User Auth plugin -2023-12-25 14:04:53,645 [INFO] PluginManage:359 - Loaded plugin userauth (category:base,tabindex:14) -2023-12-25 14:04:53,645 [INFO] PluginManage:283 - PluginManage : Loaded plugins [17] -2023-12-25 14:04:53,923 [INFO] PinOutPanel:1499 - setPackage(No Configuration,No Configuration) -2023-12-25 14:04:54,099 [INFO] CADModel:165 - CPN selected for project level -2023-12-25 14:04:54,100 [INFO] CADModel:114 - Register for checkConnection events -2023-12-25 14:04:54,116 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,116 [INFO] PluginManager:220 - loadIPPluginJar : add mdma -2023-12-25 14:04:54,125 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,125 [INFO] PluginManager:220 - loadIPPluginJar : add freertos -2023-12-25 14:04:54,131 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,131 [INFO] PluginManager:220 - loadIPPluginJar : add gic -2023-12-25 14:04:54,155 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,156 [INFO] PluginManager:220 - loadIPPluginJar : add adc -2023-12-25 14:04:54,159 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,159 [INFO] PluginManager:220 - loadIPPluginJar : add gtzc -2023-12-25 14:04:54,161 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,161 [INFO] PluginManager:220 - loadIPPluginJar : add quadspi -2023-12-25 14:04:54,163 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,164 [INFO] PluginManager:220 - loadIPPluginJar : add aes -2023-12-25 14:04:54,167 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,167 [INFO] PluginManager:220 - loadIPPluginJar : add pdm2pcm -2023-12-25 14:04:54,169 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,170 [INFO] PluginManager:220 - loadIPPluginJar : add hash -2023-12-25 14:04:54,171 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,172 [INFO] PluginManager:220 - loadIPPluginJar : add tim -2023-12-25 14:04:54,173 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,173 [INFO] PluginManager:220 - loadIPPluginJar : add tsc -2023-12-25 14:04:54,175 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,175 [INFO] PluginManager:220 - loadIPPluginJar : add ts -2023-12-25 14:04:54,177 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,178 [INFO] PluginManager:220 - loadIPPluginJar : add can -2023-12-25 14:04:54,180 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,180 [INFO] PluginManager:220 - loadIPPluginJar : add dma3 -2023-12-25 14:04:54,182 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,182 [INFO] PluginManager:220 - loadIPPluginJar : add dfsdm -2023-12-25 14:04:54,184 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,184 [INFO] PluginManager:220 - loadIPPluginJar : add spi -2023-12-25 14:04:54,187 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,187 [INFO] PluginManager:220 - loadIPPluginJar : add gfxmmu -2023-12-25 14:04:54,188 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,188 [INFO] PluginManager:220 - loadIPPluginJar : add genericplugin -2023-12-25 14:04:54,191 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,191 [INFO] PluginManager:220 - loadIPPluginJar : add cryp -2023-12-25 14:04:54,195 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,195 [INFO] PluginManager:220 - loadIPPluginJar : add gpio -2023-12-25 14:04:54,197 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,197 [INFO] PluginManager:220 - loadIPPluginJar : add comp -2023-12-25 14:04:54,199 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,199 [INFO] PluginManager:220 - loadIPPluginJar : add tracer_emb -2023-12-25 14:04:54,202 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,202 [INFO] PluginManager:220 - loadIPPluginJar : add openamp -2023-12-25 14:04:54,207 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,207 [INFO] PluginManager:220 - loadIPPluginJar : add stm32_wpan -2023-12-25 14:04:54,214 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,218 [INFO] PluginManager:220 - loadIPPluginJar : add plateformsettings -2023-12-25 14:04:54,224 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,224 [INFO] PluginManager:220 - loadIPPluginJar : add ipddr -2023-12-25 14:04:54,228 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,228 [INFO] PluginManager:220 - loadIPPluginJar : add usart -2023-12-25 14:04:54,229 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,229 [INFO] PluginManager:220 - loadIPPluginJar : add ltdc -2023-12-25 14:04:54,234 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,234 [INFO] PluginManager:220 - loadIPPluginJar : add nvic -2023-12-25 14:04:54,237 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,237 [INFO] PluginManager:220 - loadIPPluginJar : add fatfs -2023-12-25 14:04:54,247 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,247 [INFO] PluginManager:220 - loadIPPluginJar : add linkedlist -2023-12-25 14:04:54,257 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,258 [INFO] PluginManager:220 - loadIPPluginJar : add dma -2023-12-25 14:04:54,264 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,265 [INFO] PluginManager:220 - loadIPPluginJar : add fmc -2023-12-25 14:04:54,268 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,268 [INFO] PluginManager:220 - loadIPPluginJar : add i2s -2023-12-25 14:04:54,270 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,271 [INFO] PluginManager:220 - loadIPPluginJar : add ucpd -2023-12-25 14:04:54,274 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,274 [INFO] PluginManager:220 - loadIPPluginJar : add lorawan -2023-12-25 14:04:54,278 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,278 [INFO] PluginManager:220 - loadIPPluginJar : add opamp -2023-12-25 14:04:54,281 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,281 [INFO] PluginManager:220 - loadIPPluginJar : add i3c -2023-12-25 14:04:54,285 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,285 [INFO] PluginManager:220 - loadIPPluginJar : add touchsensing -2023-12-25 14:04:54,289 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,289 [INFO] PluginManager:220 - loadIPPluginJar : add i2c -2023-12-25 14:04:54,294 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,294 [INFO] PluginManager:220 - loadIPPluginJar : add resmgrutility -2023-12-25 14:04:54,298 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,298 [INFO] PluginManager:220 - loadIPPluginJar : add sai -2023-12-25 14:04:54,301 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:04:54,301 [INFO] PluginManager:220 - loadIPPluginJar : add usbx -2023-12-25 14:04:54,407 [INFO] CADModel:165 - CPN selected for project level -2023-12-25 14:04:54,408 [INFO] CADModel:114 - Register for checkConnection events -2023-12-25 14:04:54,408 [FATAL] Updater:308 - Updater called before beeing initialized -2023-12-25 14:04:54,408 [ERROR] CADModel:125 - Updater not yet initialized, retry later -2023-12-25 14:04:54,614 [INFO] CADModel:165 - CPN selected for project level -2023-12-25 14:04:54,614 [INFO] CADModel:114 - Register for checkConnection events -2023-12-25 14:04:54,615 [FATAL] Updater:308 - Updater called before beeing initialized -2023-12-25 14:04:54,615 [ERROR] CADModel:125 - Updater not yet initialized, retry later -2023-12-25 14:04:54,619 [FATAL] Updater:308 - Updater called before beeing initialized -2023-12-25 14:04:54,698 [FATAL] Updater:308 - Updater called before beeing initialized -2023-12-25 14:04:54,706 [INFO] DbMcusAds:53 - JSON generation date=Wed Nov 29 02:52:27 PST 2023 (1701255147349) -2023-12-25 14:04:54,706 [FATAL] Updater:308 - Updater called before beeing initialized -2023-12-25 14:04:54,789 [WARN] DetailPanel:346 - Failed to get advertising image, set to default -2023-12-25 14:04:54,933 [FATAL] Updater:308 - Updater called before beeing initialized -2023-12-25 14:04:54,935 [FATAL] Updater:308 - Updater called before beeing initialized -2023-12-25 14:04:54,935 [FATAL] Updater:308 - Updater called before beeing initialized -2023-12-25 14:04:54,936 [WARN] DetailPanel:346 - Failed to get advertising image, set to default -2023-12-25 14:04:54,937 [FATAL] Updater:308 - Updater called before beeing initialized -2023-12-25 14:04:54,990 [ERROR] Updater:1120 - MainUpdater not yet initialized. External WinMGr cannot be set. -2023-12-25 14:04:55,037 [INFO] Updater:1056 - Updater Version found : 6.9.2 -2023-12-25 14:04:55,064 [INFO] ApplicationProperties:184 - Using Application install path: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412 -2023-12-25 14:04:55,264 [INFO] MainUpdater:2868 - connection check result : 10 -2023-12-25 14:04:55,265 [INFO] MainUpdater:285 - Updater Check For Update Now. -2023-12-25 14:04:55,265 [INFO] MicroXplorer:498 - Change Database Version : DB.6.0.92 -2023-12-25 14:04:55,274 [INFO] McuFinderGlobals:63 - Set McuFinder mode to 2 (CubeIDE integrated) -2023-12-25 14:04:55,274 [INFO] UserAuth:179 - activating auth plugin -2023-12-25 14:04:55,278 [INFO] UserAuth:393 - Internet connection configuration mode: 1 -2023-12-25 14:04:55,303 [INFO] JxBrowserEngine:151 - Initiate JxBrowser Engine with user profile folder -2023-12-25 14:04:55,493 [INFO] CheckServerUpdateThread:120 - End of CheckServer Thread -2023-12-25 14:04:56,661 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-SMBUS.2.1.0 -2023-12-25 14:04:56,707 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-TOUCHGFX.4.23.0 -2023-12-25 14:04:56,777 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-F7.1.1.0 -2023-12-25 14:04:56,829 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-SNS-MOTENV1.4.3.2 -2023-12-25 14:04:56,925 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-SNS-FLIGHT1.5.0.2 -2023-12-25 14:04:56,978 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-DISPLAY.3.0.0 -2023-12-25 14:04:57,008 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-BLE1.7.0.0 -2023-12-25 14:04:57,143 [WARN] PackLoader:240 - Cannot read IP mode file for emotas.I-CUBE-CANOPEN.1.3.0 -2023-12-25 14:04:57,193 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-TOUCHGFX.4.22.1 -2023-12-25 14:04:57,255 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null -2023-12-25 14:04:57,261 [INFO] WebApp:157 - Instantiating new browser for Auth -2023-12-25 14:04:57,273 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null -2023-12-25 14:04:57,309 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null -2023-12-25 14:04:57,310 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null -2023-12-25 14:04:57,330 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null -2023-12-25 14:04:57,346 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-WL.2.0.0 -2023-12-25 14:04:57,439 [WARN] PackLoader:240 - Cannot read IP mode file for WES.I-CUBE-Cesium.1.3.0 -2023-12-25 14:04:57,552 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-BLE2.3.3.0 -2023-12-25 14:04:57,611 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-ALGOBUILD.1.3.0 -2023-12-25 14:04:57,734 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-G0.1.1.0 -2023-12-25 14:04:57,784 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-NFC4.3.0.0 -2023-12-25 14:04:57,844 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-BLEMGR.3.0.0 -2023-12-25 14:04:57,894 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-ATR-SIGFOX1.3.2.0 -2023-12-25 14:04:58,018 [WARN] PackLoader:240 - Cannot read IP mode file for SEGGER.I-CUBE-embOS.1.3.1 -2023-12-25 14:04:58,093 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-GNSS1.6.0.0 -2023-12-25 14:04:58,112 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-F4.1.1.0 -2023-12-25 14:04:58,120 [WARN] PackLoader:240 - Cannot read IP mode file for wolfSSL.I-CUBE-wolfSSL.5.6.6 -2023-12-25 14:04:58,146 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-L5.2.0.0 -2023-12-25 14:04:58,158 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-EEPRMA1.4.2.0 -2023-12-25 14:04:58,168 [WARN] PackLoader:240 - Cannot read IP mode file for ITTIA_DB.I-CUBE-ITTIADB.8.8.0 -2023-12-25 14:04:58,177 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-BLEMGR.2.0.0 -2023-12-25 14:04:58,186 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-NFC7.1.0.1 -2023-12-25 14:04:58,200 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-EEPRMA1.4.1.0 -2023-12-25 14:04:58,211 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AI.8.1.0 -2023-12-25 14:04:58,286 [WARN] ConditionMgr:438 - getConditionDescription Invalid condition id : LAN8742 Phy interface Condition cause : null -2023-12-25 14:04:58,289 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-L4.2.0.0 -2023-12-25 14:04:58,291 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : LAN8742 Phy interface Condition cause : null -2023-12-25 14:04:58,292 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : LAN8742 Phy interface Condition cause : null -2023-12-25 14:04:58,293 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : LAN8742 Phy interface Condition cause : null -2023-12-25 14:04:58,310 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-SFXS2LP1.4.0.0 -2023-12-25 14:04:58,323 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-ISPU.1.1.0 -2023-12-25 14:04:58,376 [WARN] ConditionMgr:438 - getConditionDescription Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null -2023-12-25 14:04:58,376 [WARN] ConditionMgr:438 - getConditionDescription Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null -2023-12-25 14:04:58,380 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-WB.2.0.0 -2023-12-25 14:04:58,382 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null -2023-12-25 14:04:58,382 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null -2023-12-25 14:04:58,383 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null -2023-12-25 14:04:58,384 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null -2023-12-25 14:04:58,384 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null -2023-12-25 14:04:58,402 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-SUBG2.5.0.0 -2023-12-25 14:04:58,428 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-TOF1.3.3.1 -2023-12-25 14:04:58,455 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-G4.2.0.0 -2023-12-25 14:04:58,469 [WARN] PackLoader:240 - Cannot read IP mode file for Infineon.AIROC-Wi-Fi-Bluetooth-STM32.1.5.1 -2023-12-25 14:04:58,478 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-SNS-MOTENVWB1.1.3.1 -2023-12-25 14:04:58,482 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-ISPU.2.0.0 -2023-12-25 14:04:58,488 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-FREERTOS.1.1.0 -2023-12-25 14:04:58,492 [WARN] PackLoader:240 - Cannot read IP mode file for portGmbH.I-Cube-SoM-uGOAL.1.1.0 -2023-12-25 14:04:58,496 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-ALS.1.0.1 -2023-12-25 14:04:58,500 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-ATR-ASTRA1.2.0.0 -2023-12-25 14:04:58,512 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-TOF1.3.4.0 -2023-12-25 14:04:58,578 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-H7.3.2.0 -2023-12-25 14:04:58,584 [INFO] ThirdParty:978 - Integrity check success = true -2023-12-25 14:04:58,584 [INFO] IntegrityCheckThread:100 - exiting critical section [integrity check] -2023-12-25 14:04:58,584 [INFO] IntegrityCheckThread:103 - End integrity checks thread -2023-12-25 14:04:58,607 [INFO] WebApp:753 - Register for checkConnection events -2023-12-25 14:04:58,608 [INFO] WebApp:390 - Apply proxy settings -2023-12-25 14:04:58,612 [INFO] WebApp:455 - Chromium authenticates against System proxy -2023-12-25 14:04:58,905 [INFO] WebApp:188 - Starting web application -2023-12-25 14:04:58,905 [INFO] WebApp:520 - Web application path used /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412/db/plugins/mcufinder/reactClient1/index.html -2023-12-25 14:05:19,838 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] SLF4J: Failed to load class "org.slf4j.impl.StaticLoggerBinder". -2023-12-25 14:05:19,839 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] SLF4J: Defaulting to no-operation (NOP) logger implementation -2023-12-25 14:05:19,839 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] SLF4J: See http://www.slf4j.org/codes.html#StaticLoggerBinder for further details. -2023-12-25 14:17:59,855 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] -2023-12-25 14:55:44,490 [INFO] Activator:176 - +2024-01-27 22:36:37,338 [INFO] Activator:177 - !SESSION log4j initialized +2024-01-27 22:36:40,861 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] +2024-01-27 22:36:41,625 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] +2024-01-27 22:36:43,261 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] +2024-01-27 22:36:44,020 [INFO] ApplicationProperties:184 - Using Application install path: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412 +2024-01-27 22:36:44,037 [INFO] DbMcusXml:78 - Set database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//mcu/ +2024-01-27 22:36:44,037 [INFO] ApiDb:274 - Set plugin database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/boardmanager/ +2024-01-27 22:36:44,037 [WARN] ApiDb:259 - Overriding images path with different value: => /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/mcufinder/images/ +2024-01-27 22:36:44,050 [INFO] ApiDb:250 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ +2024-01-27 22:36:44,052 [INFO] DbMcusAds:125 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ +2024-01-27 22:36:44,054 [INFO] CrossReferenceDbSqlite:203 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/cs/ +2024-01-27 22:36:44,161 [INFO] RulesReader:64 - Compatibility file has been processed (293 Rules) +2024-01-27 22:36:44,231 [INFO] DbMcusXml:78 - Set database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//mcu/ +2024-01-27 22:36:44,231 [INFO] ApiDb:274 - Set plugin database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/boardmanager/ +2024-01-27 22:36:44,231 [INFO] ApiDb:261 - Set plugin images path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/mcufinder/images/ +2024-01-27 22:36:44,231 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2024-01-27 22:36:44,231 [INFO] ApiDb:250 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ +2024-01-27 22:36:44,231 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2024-01-27 22:36:44,231 [INFO] DbMcusAds:125 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ +2024-01-27 22:36:44,231 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2024-01-27 22:36:44,232 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2024-01-27 22:36:44,232 [INFO] CrossReferenceDbSqlite:203 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/cs/ +2024-01-27 22:36:44,308 [INFO] MainPanel:262 - HeapMemory: 268435456 +2024-01-27 22:36:44,399 [INFO] DbMcusXml:78 - Set database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//mcu/ +2024-01-27 22:36:44,399 [INFO] ApiDb:274 - Set plugin database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/boardmanager/ +2024-01-27 22:36:44,399 [INFO] ApiDb:261 - Set plugin images path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/mcufinder/images/ +2024-01-27 22:36:44,400 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2024-01-27 22:36:44,400 [INFO] ApiDb:250 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ +2024-01-27 22:36:44,400 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2024-01-27 22:36:44,400 [INFO] DbMcusAds:125 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ +2024-01-27 22:36:44,401 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2024-01-27 22:36:44,401 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2024-01-27 22:36:44,401 [INFO] CrossReferenceDbSqlite:203 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/cs/ +2024-01-27 22:36:44,418 [INFO] ApplicationProperties:184 - Using Application install path: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412 +2024-01-27 22:36:44,419 [INFO] PluginManage:196 - Search for loadable plugins [exclusion list=, ] +2024-01-27 22:36:44,421 [INFO] PluginManage:310 - Check plugin analytics +2024-01-27 22:36:44,589 [INFO] AnalyticsPlugin:253 - Accepted Software Licenses: +2024-01-27 22:36:44,589 [INFO] AnalyticsPlugin:255 - Accepted CMSIS Pack Licenses: +2024-01-27 22:36:44,590 [INFO] AnalyticsPlugin:257 - Accepted Firmware Licenses: +2024-01-27 22:36:44,592 [INFO] PluginManage:359 - Loaded plugin analytics (category:tool,tabindex:-1) +2024-01-27 22:36:44,592 [INFO] PluginManage:310 - Check plugin cadmodel +2024-01-27 22:36:45,069 [INFO] CADModel:105 - Init CAD model plugin +2024-01-27 22:36:45,069 [INFO] PluginManage:359 - Loaded plugin cadmodel (category:power,tabindex:5) +2024-01-27 22:36:45,069 [INFO] PluginManage:310 - Check plugin clock +2024-01-27 22:36:45,081 [INFO] PluginManage:359 - Loaded plugin clock (category:base,tabindex:2) +2024-01-27 22:36:45,081 [INFO] PluginManage:310 - Check plugin ddr +2024-01-27 22:36:45,084 [INFO] PluginManage:359 - Loaded plugin ddr (category:tool,tabindex:6) +2024-01-27 22:36:45,084 [INFO] PluginManage:310 - Check plugin filemanager +2024-01-27 22:36:45,229 [INFO] PluginManage:359 - Loaded plugin filemanager (category:base,tabindex:10) +2024-01-27 22:36:45,230 [INFO] PluginManage:310 - Check plugin ipmanager +2024-01-27 22:36:45,237 [INFO] PluginManage:359 - Loaded plugin ipmanager (category:base,tabindex:5) +2024-01-27 22:36:45,237 [INFO] PluginManage:310 - Check plugin lpbam +2024-01-27 22:36:45,246 [INFO] PluginManage:359 - Loaded plugin lpbam (category:base,tabindex:0) +2024-01-27 22:36:45,247 [INFO] PluginManage:310 - Check plugin memorymap +2024-01-27 22:36:45,259 [INFO] PluginManage:359 - Loaded plugin memorymap (category:base,tabindex:4) +2024-01-27 22:36:45,260 [INFO] PluginManage:310 - Check plugin pinoutandconfiguration +2024-01-27 22:36:45,266 [INFO] PluginManage:359 - Loaded plugin pinoutandconfiguration (category:base,tabindex:1) +2024-01-27 22:36:45,266 [INFO] PluginManage:310 - Check plugin pinoutconfig +2024-01-27 22:36:45,348 [WARN] SupportedApi:132 - Cannot load RTOS API schema: s4s-elt-must-match.1: The content of 'definitions' must match (annotation?, (simpleType | complexType)?, (unique | key | keyref)*)). A problem was found starting at: attribute. +2024-01-27 22:36:45,475 [INFO] PluginManage:359 - Loaded plugin pinoutconfig (category:base,tabindex:0) +2024-01-27 22:36:45,475 [INFO] PluginManage:310 - Check plugin power +2024-01-27 22:36:45,486 [INFO] PluginManage:359 - Loaded plugin power (category:power,tabindex:4) +2024-01-27 22:36:45,486 [INFO] PluginManage:310 - Check plugin projectmanager +2024-01-27 22:36:45,497 [INFO] PluginManage:359 - Loaded plugin projectmanager (category:projectmanager,tabindex:3) +2024-01-27 22:36:45,497 [INFO] PluginManage:310 - Check plugin thirdparty +2024-01-27 22:36:45,629 [INFO] PluginManage:359 - Loaded plugin thirdparty (category:base,tabindex:-1) +2024-01-27 22:36:45,629 [WARN] IntegrityCheckThread:84 - waiting for thirdparty lock release [integrity check] +2024-01-27 22:36:45,629 [INFO] PluginManage:310 - Check plugin tools +2024-01-27 22:36:45,629 [INFO] IntegrityCheckThread:86 - entering critical section [integrity check] +2024-01-27 22:36:45,630 [INFO] ThirdPartyUpdaterWithRetryManager:70 - Updater plugin not ready yet. [1/15] +2024-01-27 22:36:45,632 [INFO] PluginManage:359 - Loaded plugin tools (category:base,tabindex:7) +2024-01-27 22:36:45,632 [INFO] PluginManage:310 - Check plugin tutovideos +2024-01-27 22:36:45,822 [INFO] PluginManage:359 - Loaded plugin tutovideos (category:base,tabindex:-1) +2024-01-27 22:36:45,822 [INFO] PluginManage:310 - Check plugin updater +2024-01-27 22:36:45,833 [INFO] PluginManage:359 - Loaded plugin updater (category:base,tabindex:12) +2024-01-27 22:36:45,833 [INFO] PluginManage:310 - Check plugin userauth +2024-01-27 22:36:45,839 [INFO] UserAuth:113 - Init User Auth plugin +2024-01-27 22:36:45,839 [INFO] PluginManage:359 - Loaded plugin userauth (category:base,tabindex:14) +2024-01-27 22:36:45,839 [INFO] PluginManage:283 - PluginManage : Loaded plugins [17] +2024-01-27 22:36:46,023 [INFO] PinOutPanel:1499 - setPackage(No Configuration,No Configuration) +2024-01-27 22:36:46,120 [INFO] CADModel:165 - CPN selected for project level +2024-01-27 22:36:46,120 [INFO] CADModel:114 - Register for checkConnection events +2024-01-27 22:36:46,134 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,134 [INFO] PluginManager:220 - loadIPPluginJar : add mdma +2024-01-27 22:36:46,142 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,142 [INFO] PluginManager:220 - loadIPPluginJar : add freertos +2024-01-27 22:36:46,147 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,148 [INFO] PluginManager:220 - loadIPPluginJar : add gic +2024-01-27 22:36:46,156 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,157 [INFO] PluginManager:220 - loadIPPluginJar : add adc +2024-01-27 22:36:46,159 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,159 [INFO] PluginManager:220 - loadIPPluginJar : add gtzc +2024-01-27 22:36:46,161 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,161 [INFO] PluginManager:220 - loadIPPluginJar : add quadspi +2024-01-27 22:36:46,163 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,163 [INFO] PluginManager:220 - loadIPPluginJar : add aes +2024-01-27 22:36:46,166 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,166 [INFO] PluginManager:220 - loadIPPluginJar : add pdm2pcm +2024-01-27 22:36:46,168 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,168 [INFO] PluginManager:220 - loadIPPluginJar : add hash +2024-01-27 22:36:46,170 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,170 [INFO] PluginManager:220 - loadIPPluginJar : add tim +2024-01-27 22:36:46,171 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,172 [INFO] PluginManager:220 - loadIPPluginJar : add tsc +2024-01-27 22:36:46,174 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,174 [INFO] PluginManager:220 - loadIPPluginJar : add ts +2024-01-27 22:36:46,177 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,177 [INFO] PluginManager:220 - loadIPPluginJar : add can +2024-01-27 22:36:46,179 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,179 [INFO] PluginManager:220 - loadIPPluginJar : add dma3 +2024-01-27 22:36:46,181 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,181 [INFO] PluginManager:220 - loadIPPluginJar : add dfsdm +2024-01-27 22:36:46,183 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,183 [INFO] PluginManager:220 - loadIPPluginJar : add spi +2024-01-27 22:36:46,184 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,184 [INFO] PluginManager:220 - loadIPPluginJar : add gfxmmu +2024-01-27 22:36:46,185 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,186 [INFO] PluginManager:220 - loadIPPluginJar : add genericplugin +2024-01-27 22:36:46,187 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,187 [INFO] PluginManager:220 - loadIPPluginJar : add cryp +2024-01-27 22:36:46,191 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,191 [INFO] PluginManager:220 - loadIPPluginJar : add gpio +2024-01-27 22:36:46,193 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,193 [INFO] PluginManager:220 - loadIPPluginJar : add comp +2024-01-27 22:36:46,194 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,194 [INFO] PluginManager:220 - loadIPPluginJar : add tracer_emb +2024-01-27 22:36:46,197 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,197 [INFO] PluginManager:220 - loadIPPluginJar : add openamp +2024-01-27 22:36:46,201 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,201 [INFO] PluginManager:220 - loadIPPluginJar : add stm32_wpan +2024-01-27 22:36:46,206 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,209 [INFO] PluginManager:220 - loadIPPluginJar : add plateformsettings +2024-01-27 22:36:46,212 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,213 [INFO] PluginManager:220 - loadIPPluginJar : add ipddr +2024-01-27 22:36:46,215 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,215 [INFO] PluginManager:220 - loadIPPluginJar : add usart +2024-01-27 22:36:46,216 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,216 [INFO] PluginManager:220 - loadIPPluginJar : add ltdc +2024-01-27 22:36:46,219 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,220 [INFO] PluginManager:220 - loadIPPluginJar : add nvic +2024-01-27 22:36:46,221 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,221 [INFO] PluginManager:220 - loadIPPluginJar : add fatfs +2024-01-27 22:36:46,228 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,228 [INFO] PluginManager:220 - loadIPPluginJar : add linkedlist +2024-01-27 22:36:46,232 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,233 [INFO] PluginManager:220 - loadIPPluginJar : add dma +2024-01-27 22:36:46,236 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,236 [INFO] PluginManager:220 - loadIPPluginJar : add fmc +2024-01-27 22:36:46,238 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,238 [INFO] PluginManager:220 - loadIPPluginJar : add i2s +2024-01-27 22:36:46,239 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,240 [INFO] PluginManager:220 - loadIPPluginJar : add ucpd +2024-01-27 22:36:46,241 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,241 [INFO] PluginManager:220 - loadIPPluginJar : add lorawan +2024-01-27 22:36:46,243 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,244 [INFO] PluginManager:220 - loadIPPluginJar : add opamp +2024-01-27 22:36:46,246 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,246 [INFO] PluginManager:220 - loadIPPluginJar : add i3c +2024-01-27 22:36:46,249 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,249 [INFO] PluginManager:220 - loadIPPluginJar : add touchsensing +2024-01-27 22:36:46,251 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,251 [INFO] PluginManager:220 - loadIPPluginJar : add i2c +2024-01-27 22:36:46,254 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,254 [INFO] PluginManager:220 - loadIPPluginJar : add resmgrutility +2024-01-27 22:36:46,256 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,256 [INFO] PluginManager:220 - loadIPPluginJar : add sai +2024-01-27 22:36:46,259 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:36:46,259 [INFO] PluginManager:220 - loadIPPluginJar : add usbx +2024-01-27 22:36:46,357 [INFO] CADModel:165 - CPN selected for project level +2024-01-27 22:36:46,357 [INFO] CADModel:114 - Register for checkConnection events +2024-01-27 22:36:46,358 [FATAL] Updater:308 - Updater called before beeing initialized +2024-01-27 22:36:46,358 [ERROR] CADModel:125 - Updater not yet initialized, retry later +2024-01-27 22:36:46,526 [INFO] CADModel:165 - CPN selected for project level +2024-01-27 22:36:46,527 [INFO] CADModel:114 - Register for checkConnection events +2024-01-27 22:36:46,527 [FATAL] Updater:308 - Updater called before beeing initialized +2024-01-27 22:36:46,527 [ERROR] CADModel:125 - Updater not yet initialized, retry later +2024-01-27 22:36:46,545 [FATAL] Updater:308 - Updater called before beeing initialized +2024-01-27 22:36:46,659 [FATAL] Updater:308 - Updater called before beeing initialized +2024-01-27 22:36:46,669 [INFO] DbMcusAds:53 - JSON generation date=Wed Nov 29 02:52:27 PST 2023 (1701255147349) +2024-01-27 22:36:46,669 [FATAL] Updater:308 - Updater called before beeing initialized +2024-01-27 22:36:46,782 [WARN] DetailPanel:346 - Failed to get advertising image, set to default +2024-01-27 22:36:46,899 [FATAL] Updater:308 - Updater called before beeing initialized +2024-01-27 22:36:46,902 [FATAL] Updater:308 - Updater called before beeing initialized +2024-01-27 22:36:46,902 [FATAL] Updater:308 - Updater called before beeing initialized +2024-01-27 22:36:46,902 [WARN] DetailPanel:346 - Failed to get advertising image, set to default +2024-01-27 22:36:46,903 [FATAL] Updater:308 - Updater called before beeing initialized +2024-01-27 22:36:46,934 [ERROR] Updater:1120 - MainUpdater not yet initialized. External WinMGr cannot be set. +2024-01-27 22:36:46,965 [INFO] Updater:1056 - Updater Version found : 6.9.2 +2024-01-27 22:36:46,986 [INFO] ApplicationProperties:184 - Using Application install path: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412 +2024-01-27 22:36:47,177 [INFO] MainUpdater:2868 - connection check result : 10 +2024-01-27 22:36:47,177 [INFO] MainUpdater:3562 - Updater definition file requires update +2024-01-27 22:36:47,178 [INFO] MainUpdater:285 - Updater Check For Update Now. +2024-01-27 22:36:47,178 [INFO] MicroXplorer:498 - Change Database Version : DB.6.0.92 +2024-01-27 22:36:47,184 [INFO] McuFinderGlobals:63 - Set McuFinder mode to 2 (CubeIDE integrated) +2024-01-27 22:36:47,184 [INFO] UserAuth:179 - activating auth plugin +2024-01-27 22:36:47,186 [INFO] UserAuth:393 - Internet connection configuration mode: 1 +2024-01-27 22:36:47,203 [INFO] JxBrowserEngine:151 - Initiate JxBrowser Engine with user profile folder +2024-01-27 22:36:47,244 [INFO] ServerAccessManage:473 - Download File updaters.zip +2024-01-27 22:36:47,319 [INFO] FileExtend:240 - Unzip File : updaters.zip +2024-01-27 22:36:47,320 [INFO] FileExtend:255 - Standard Zip Deflate +2024-01-27 22:36:47,550 [INFO] ServerAccessManage:473 - Download File PacksControlFlags.xml +2024-01-27 22:36:47,596 [INFO] ServerAccessManage:473 - Download File cubemx.pidx +2024-01-27 22:36:48,198 [INFO] ServerAccessManage:473 - Download File STMicroelectronics.X-CUBE-EEPRMA1.pdsc +2024-01-27 22:36:48,634 [WARN] MainUpdater:1189 - Updater busy. Cannot search thirdparties +2024-01-27 22:36:48,659 [INFO] ThirdPartyUpdaterWithRetryManager:96 - Updater plugin is busy. [1/15] +2024-01-27 22:36:49,062 [INFO] WebApp:157 - Instantiating new browser for Auth +2024-01-27 22:36:49,220 [ERROR] ServerAccessManage:1089 - Problem, file not found on Server +2024-01-27 22:36:50,098 [INFO] McuFinderGlobals:63 - Set McuFinder mode to 2 (CubeIDE integrated) +2024-01-27 22:36:50,141 [ERROR] ServerAccessManage:1089 - Problem, file not found on Server +2024-01-27 22:36:50,661 [INFO] WebApp:753 - Register for checkConnection events +2024-01-27 22:36:50,662 [INFO] WebApp:390 - Apply proxy settings +2024-01-27 22:36:50,665 [INFO] WebApp:455 - Chromium authenticates against System proxy +2024-01-27 22:36:50,911 [INFO] WebApp:188 - Starting web application +2024-01-27 22:36:50,911 [INFO] WebApp:520 - Web application path used /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412/db/plugins/mcufinder/reactClient1/index.html +2024-01-27 22:36:51,223 [ERROR] ServerAccessManage:1096 - Problem, Http access forbiden +2024-01-27 22:36:51,224 [ERROR] ServerAccessManage:651 - Problem, Http access forbiden : RoweBots.I-CUBE-UNISONRTOS.pdsc. +2024-01-27 22:36:51,388 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-EEPRMA1.5.1.0 +2024-01-27 22:36:51,393 [INFO] PopulateThirdPartyThread:66 - Ending populate Thread +2024-01-27 22:36:51,394 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-EEPRMA1 5.1.0 +2024-01-27 22:36:51,395 [INFO] LoadServerUpdatesThread:373 - End of LoadServerUpdate Thread +2024-01-27 22:36:51,515 [INFO] CheckServerUpdateThread:120 - End of CheckServer Thread +2024-01-27 22:36:51,771 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-SMBUS.2.1.0 +2024-01-27 22:36:51,775 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-TOUCHGFX.4.23.0 +2024-01-27 22:36:51,801 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-F7.1.1.0 +2024-01-27 22:36:51,811 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-SNS-MOTENV1.4.3.2 +2024-01-27 22:36:51,816 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-SNS-FLIGHT1.5.0.2 +2024-01-27 22:36:51,824 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-DISPLAY.3.0.0 +2024-01-27 22:36:51,835 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-BLE1.7.0.0 +2024-01-27 22:36:51,839 [WARN] PackLoader:240 - Cannot read IP mode file for emotas.I-CUBE-CANOPEN.1.3.0 +2024-01-27 22:36:51,842 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-TOUCHGFX.4.22.1 +2024-01-27 22:36:51,851 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null +2024-01-27 22:36:51,851 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null +2024-01-27 22:36:51,852 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null +2024-01-27 22:36:51,852 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null +2024-01-27 22:36:51,852 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null +2024-01-27 22:36:51,856 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-WL.2.0.0 +2024-01-27 22:36:51,864 [WARN] PackLoader:240 - Cannot read IP mode file for WES.I-CUBE-Cesium.1.3.0 +2024-01-27 22:36:51,869 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-BLE2.3.3.0 +2024-01-27 22:36:51,875 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-ALGOBUILD.1.3.0 +2024-01-27 22:36:51,892 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-G0.1.1.0 +2024-01-27 22:36:51,899 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-NFC4.3.0.0 +2024-01-27 22:36:51,906 [INFO] MainUpdater:2868 - connection check result : 10 +2024-01-27 22:36:51,907 [INFO] MainUpdater:2868 - connection check result : 10 +2024-01-27 22:36:51,910 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-BLEMGR.3.0.0 +2024-01-27 22:36:51,919 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-ATR-SIGFOX1.3.2.0 +2024-01-27 22:36:51,926 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-EEPRMA1.5.1.0 +2024-01-27 22:36:51,980 [WARN] PackLoader:240 - Cannot read IP mode file for SEGGER.I-CUBE-embOS.1.3.1 +2024-01-27 22:36:52,069 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-GNSS1.6.0.0 +2024-01-27 22:36:52,120 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-F4.1.1.0 +2024-01-27 22:36:52,137 [WARN] PackLoader:240 - Cannot read IP mode file for wolfSSL.I-CUBE-wolfSSL.5.6.6 +2024-01-27 22:36:52,165 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-L5.2.0.0 +2024-01-27 22:36:52,173 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-EEPRMA1.4.2.0 +2024-01-27 22:36:52,178 [WARN] PackLoader:240 - Cannot read IP mode file for ITTIA_DB.I-CUBE-ITTIADB.8.8.0 +2024-01-27 22:36:52,191 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-BLEMGR.2.0.0 +2024-01-27 22:36:52,202 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-NFC7.1.0.1 +2024-01-27 22:36:52,208 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-EEPRMA1.4.1.0 +2024-01-27 22:36:52,214 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AI.8.1.0 +2024-01-27 22:36:52,240 [WARN] ConditionMgr:438 - getConditionDescription Invalid condition id : LAN8742 Phy interface Condition cause : null +2024-01-27 22:36:52,241 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-L4.2.0.0 +2024-01-27 22:36:52,259 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : LAN8742 Phy interface Condition cause : null +2024-01-27 22:36:52,260 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : LAN8742 Phy interface Condition cause : null +2024-01-27 22:36:52,261 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : LAN8742 Phy interface Condition cause : null +2024-01-27 22:36:52,294 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-SFXS2LP1.4.0.0 +2024-01-27 22:36:52,347 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-ISPU.1.1.0 +2024-01-27 22:36:52,367 [WARN] ConditionMgr:438 - getConditionDescription Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null +2024-01-27 22:36:52,368 [WARN] ConditionMgr:438 - getConditionDescription Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null +2024-01-27 22:36:52,373 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-WB.2.0.0 +2024-01-27 22:36:52,374 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null +2024-01-27 22:36:52,375 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null +2024-01-27 22:36:52,375 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null +2024-01-27 22:36:52,376 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null +2024-01-27 22:36:52,376 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null +2024-01-27 22:36:52,398 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-SUBG2.5.0.0 +2024-01-27 22:36:52,702 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-TOF1.3.3.1 +2024-01-27 22:36:52,965 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-G4.2.0.0 +2024-01-27 22:36:52,999 [WARN] PackLoader:240 - Cannot read IP mode file for Infineon.AIROC-Wi-Fi-Bluetooth-STM32.1.5.1 +2024-01-27 22:36:53,009 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-SNS-MOTENVWB1.1.3.1 +2024-01-27 22:36:53,016 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-ISPU.2.0.0 +2024-01-27 22:36:53,023 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-FREERTOS.1.1.0 +2024-01-27 22:36:53,028 [WARN] PackLoader:240 - Cannot read IP mode file for portGmbH.I-Cube-SoM-uGOAL.1.1.0 +2024-01-27 22:36:53,033 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-ALS.1.0.1 +2024-01-27 22:36:53,044 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-ATR-ASTRA1.2.0.0 +2024-01-27 22:36:53,261 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-TOF1.3.4.0 +2024-01-27 22:36:53,336 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-H7.3.2.0 +2024-01-27 22:36:53,344 [INFO] ThirdParty:978 - Integrity check success = true +2024-01-27 22:36:53,344 [INFO] IntegrityCheckThread:100 - exiting critical section [integrity check] +2024-01-27 22:36:53,344 [INFO] IntegrityCheckThread:103 - End integrity checks thread +2024-01-27 22:36:53,619 [INFO] MicroXplorer:468 - Change Database Path : +2024-01-27 22:36:53,636 [INFO] MicroXplorer:498 - Change Database Version : DB.6.0.92 +2024-01-27 22:36:53,661 [WARN] ThirdParty:871 - waiting for thirdparty lock release [close project] +2024-01-27 22:36:53,677 [INFO] ThirdParty:873 - entering critical section [close project] +2024-01-27 22:36:53,698 [INFO] ThirdParty:883 - exiting critical section [close project] +2024-01-27 22:36:53,720 [INFO] PinOutPanel:1499 - setPackage(No Configuration,No Configuration) +2024-01-27 22:36:53,745 [INFO] UtilMem:75 - Begin LoadConfig() Used Memory: 278529104 Bytes (591396864) +2024-01-27 22:36:53,758 [INFO] MicroXplorer:468 - Change Database Path : +2024-01-27 22:36:53,778 [INFO] MicroXplorer:498 - Change Database Version : DB.6.0.92 +2024-01-27 22:36:53,814 [INFO] OpenFileManager:308 - Change cursor +2024-01-27 22:36:54,157 [INFO] Mcu:1946 - Initializing MCU STM32F103C(8-B)Tx STM32F103C8Tx STM32F103C8T6 +2024-01-27 22:36:55,145 [INFO] Context:659 - Trying to add GPIOservice into a context which must be forbidden +2024-01-27 22:36:55,524 [INFO] RtosManager:555 - Registered RTOS mode: class=CMSIS, group=RTOS, mode=CMSIS_V1, owner=FREERTOS +2024-01-27 22:36:55,524 [INFO] RtosManager:555 - Registered RTOS mode: class=CMSIS, group=RTOS2, mode=CMSIS_V2, owner=FREERTOS +2024-01-27 22:36:55,525 [INFO] RtosManager:555 - Registered RTOS mode: class=RTOS, group=Core, mode=CMSIS_V1, owner=FREERTOS +2024-01-27 22:36:55,525 [INFO] RtosManager:555 - Registered RTOS mode: class=RTOS, group=Core, mode=CMSIS_V2, owner=FREERTOS +2024-01-27 22:36:55,525 [WARN] ModelIntegratedComponent:184 - Missing modes for component STMicroelectronics:FreeRTOS:0.0.1:STMicroelectronics:RTOS:FreeRTOS:Core:::10.2.0: +2024-01-27 22:36:55,556 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2024-01-27 22:36:55,556 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2024-01-27 22:36:55,556 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2024-01-27 22:36:55,556 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2024-01-27 22:36:55,556 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2024-01-27 22:36:55,556 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2024-01-27 22:36:55,557 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2024-01-27 22:36:55,557 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2024-01-27 22:36:55,557 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2024-01-27 22:36:55,557 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2024-01-27 22:36:55,557 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2024-01-27 22:36:55,557 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2024-01-27 22:36:55,557 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2024-01-27 22:36:55,557 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2024-01-27 22:36:55,557 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2024-01-27 22:36:55,557 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2024-01-27 22:36:55,557 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2024-01-27 22:36:55,557 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2024-01-27 22:36:55,557 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2024-01-27 22:36:55,558 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2024-01-27 22:36:55,558 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2024-01-27 22:36:55,558 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2024-01-27 22:36:55,558 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2024-01-27 22:36:55,558 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2024-01-27 22:36:55,558 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2024-01-27 22:36:55,558 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2024-01-27 22:36:55,558 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2024-01-27 22:36:55,558 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2024-01-27 22:36:55,558 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2024-01-27 22:36:55,559 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2024-01-27 22:36:55,559 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2024-01-27 22:36:55,559 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2024-01-27 22:36:55,559 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2024-01-27 22:36:55,599 [INFO] ThirdPartyModel:298 - Start build external matchings +2024-01-27 22:36:55,826 [INFO] ThirdPartyModel:316 - End build external matchings +2024-01-27 22:36:55,838 [INFO] ImportTextPane:194 - (OptionalMessage_ERROR) IP (RCC) : Invalid parameter (FamilyName) +2024-01-27 22:36:55,838 [INFO] ImportTextPane:194 - (OptionalMessage_ERROR) IP (RCC) : Parameter (MCOFreq_Value) has invalid value (72000000) +2024-01-27 22:36:56,073 [INFO] UtilMem:75 - End LoadConfig() Used Memory: 260028824 Bytes (591396864) +2024-01-27 22:36:56,519 [INFO] ApiDb:581 - Connected to CubeFinder SQLite database (/Users/haotian/.stmcufinder/plugins/mcufinder/mcu/cube-finder-db.db) +2024-01-27 22:36:56,585 [INFO] ApiDb:668 - CubeFinder database Data Model version=2.1 +2024-01-27 22:36:56,585 [INFO] ApiDb:669 - CubeFinder database Configuration version=3.0.39 +2024-01-27 22:36:56,585 [INFO] ApiDb:670 - CubeFinder database generation date=2023-12-08 (1702028721) +2024-01-27 22:36:56,586 [INFO] ApiDb:671 - CubeFinder database FW Pack versions=[FP-ATR-ASTRA1_V2.0.0, FP-SNS-FLIGHT1_V5.0.1, FP-SNS-FLIGHT1_V5.0.2, FP-SNS-MOTENV1_V4.3.1, FP-SNS-MOTENV1_V4.3.2, FP-SNS-MOTENVWB1_V1.3.1, FP-SNS-SMARTAG2_V1.2.0, STM32Cube_FW_C0_V1.1.0, STM32Cube_FW_F4_V1.28.0, STM32Cube_FW_F7_V1.17.0, STM32Cube_FW_G0_V1.6.1, STM32Cube_FW_G4_V1.5.1, STM32Cube_FW_H5_V0.5.1, STM32Cube_FW_H5_V1.1.1, STM32Cube_FW_H5_V1.2.0RC2, STM32Cube_FW_H7_V1.11.0, STM32Cube_FW_L0_V1.12.2, STM32Cube_FW_L5_V1.5.0, STM32Cube_FW_U5_V1.3.0RC4, STM32Cube_FW_U5_V1.4.0, STM32Cube_FW_WBA_V1.0.0RC1, STM32Cube_FW_WBA_V1.1.0RC1, STM32Cube_FW_WBA_V1.2.0, STM32Cube_FW_WBA_V1.2.0RC2, STM32Cube_FW_WB_V1.15.0RC1, STM32Cube_FW_WB_V1.16.0, STM32Cube_FW_WB_V1.16.0RC2, STM32Cube_FW_WB_V1.18.0, STM32Cube_FW_WL_V1.3.0, X-CUBE-ALGOBUILD_V1.3.0, X-CUBE-ALS_V1.0.1, X-CUBE-AZRTOS-F4_V1.1.0, X-CUBE-AZRTOS-F7_V1.1.0, X-CUBE-AZRTOS-G0_V1.1.0, X-CUBE-AZRTOS-G4_V2.0.0, X-CUBE-AZRTOS-H7_V3.1.0, X-CUBE-AZRTOS-L4_V1.0.0, X-CUBE-AZRTOS-L4_V2.0.0, X-CUBE-AZRTOS-L5_V1.1.0, X-CUBE-AZRTOS-WB_V2.0.0, X-CUBE-AZRTOS-WL_V2.0.0, X-CUBE-BLE1_V7.0.0, X-CUBE-BLE2_V3.3.0, X-CUBE-BLEMGR_V3.0.0, X-CUBE-EEPRMA1_V4.1.0, X-CUBE-EEPRMA1_V4.2.0, X-CUBE-FREERTOS_V1.1.0, X-CUBE-GNSS1_V6.0.0, X-CUBE-MEMS1_V10.0.0, X-CUBE-MEMS1_V9.1.0, X-CUBE-MEMS1_V9.4.0, X-CUBE-MEMS1_V9.6.0, X-CUBE-NFC4_V3.0.0, X-CUBE-NFC7_V1.0.1, X-CUBE-SFXS2LP1_V4.0.0, X-CUBE-SUBG2_V5.0.0, X-CUBE-TOF1_V3.4.0] +2024-01-27 22:36:58,848 [INFO] ApiDb:240 - Found 323 in-development CPN: [B-G473E-ZEST1S, B-WB1M-WPAN1, B-WL5M-SUBG1, NUCLEO-C031C6, NUCLEO-H503RB, NUCLEO-H563ZI, NUCLEO-U545RE-Q, NUCLEO-U5A5ZJ-Q, NUCLEO-WBA52CG, STEVAL-PROTEUS1, STEVAL-SMARTAG2, STEVAL-STWINBX1, STM320518-EVAL, STM32C0116-DK, STM32C011D6Y3TR, STM32C011D6Y6TR, STM32C011F4P3, STM32C011F4P6, STM32C011F4U3, STM32C011F4U6TR, STM32C011F6P3, STM32C011F6P6, STM32C011F6U3, STM32C011F6U6TR, STM32C011J4M3, STM32C011J4M6, STM32C011J6M3, STM32C011J6M6, STM32C0316-DK, STM32C031C4T3, STM32C031C4T6, STM32C031C4U3, STM32C031C4U6, STM32C031C6T3, STM32C031C6T6, STM32C031C6U3, STM32C031C6U6, STM32C031F4P3, STM32C031F4P6, STM32C031F6P3, STM32C031F6P6, STM32C031G4U3, STM32C031G4U6, STM32C031G6U3, STM32C031G6U6, STM32C031K4T3, STM32C031K4T6, STM32C031K4U3, STM32C031K4U6, STM32C031K6T3, STM32C031K6T6, STM32C031K6U3, STM32C031K6U6, STM32G071K8TXN, STM32G071K8UXN, STM32G081GBU6N, STM32G081KBT6N, STM32G081KBUXN, STM32G0B1CCT6N, STM32G0B1KCT6, STM32G0B1NEY6TR, STM32G0B1RCT6N, STM32G0C1CCT6, STM32G0C1CCT6N, STM32G0C1CCU6N, STM32G0C1CET6N, STM32G0C1CEU6N, STM32G0C1KCT6, STM32G0C1NEY6TR, STM32G0C1RCI6N, STM32G0C1RCT6N, STM32G0C1REI6N, STM32G0C1RET6N, STM32G0C1VCI6, STM32G0C1VEI6, STM32G471CCT6, STM32G471CCU6, STM32G471CET3, STM32G471CET6, STM32G471CEU3, STM32G471CEU6, STM32G471MCT6, STM32G471MET3, STM32G471MET6, STM32G471MEY6TR, STM32G471QCT6, STM32G471QET3, STM32G471RCT6, STM32G471RET3, STM32G471RET6, STM32G471VCH6, STM32G471VCI6, STM32G471VCT6, STM32G471VEH3, STM32G471VEH6, STM32G471VEI3, STM32G471VEI6, STM32G471VET3, STM32G471VET6, STM32G474CCT6, STM32H503CBT6, STM32H503CBU6, STM32H503EBY6TR, STM32H503KBU6, STM32H503RBT6, STM32H562AGI6, STM32H562AII6, STM32H562IGK6, STM32H562IGT6, STM32H562IIK6, STM32H562IIT6, STM32H562RGT6, STM32H562RGV6, STM32H562RIT6, STM32H562RIV6, STM32H562VGT6, STM32H562VIT6, STM32H562ZGT6, STM32H562ZIT6, STM32H563AGI6, STM32H563AII3Q, STM32H563AII6, STM32H563IGK6, STM32H563IGT6, STM32H563IIK3Q, STM32H563IIK6, STM32H563IIT3Q, STM32H563IIT6, STM32H563MIY3QTR, STM32H563RGT6, STM32H563RGV6, STM32H563RIT6, STM32H563RIV6, STM32H563VGT6, STM32H563VIT3Q, STM32H563VIT6, STM32H563ZGT6, STM32H563ZIT3Q, STM32H563ZIT6, STM32H573AII3Q, STM32H573AII6, STM32H573I-DK, STM32H573IIK3Q, STM32H573IIK6, STM32H573IIT3Q, STM32H573IIT6, STM32H573MIY3QTR, STM32H573RIT6, STM32H573RIV6, STM32H573VIT3Q, STM32H573VIT6, STM32H573ZIT3Q, STM32H573ZIT6, STM32L4R5QGI6STR, STM32MP131AAE3, STM32MP131AAF3, STM32MP131AAG3, STM32MP131CAE3, STM32MP131CAF3, STM32MP131CAG3, STM32MP131DAE7, STM32MP131DAF7, STM32MP131DAG7, STM32MP131FAE7, STM32MP131FAF7, STM32MP131FAG7, STM32MP133AAE3, STM32MP133AAF3, STM32MP133AAG3, STM32MP133CAE3, STM32MP133CAF3, STM32MP133CAG3, STM32MP133DAE7, STM32MP133DAF7, STM32MP133DAG7, STM32MP133FAE7, STM32MP133FAF7, STM32MP133FAG7, STM32MP135AAE3, STM32MP135AAF3, STM32MP135AAG3, STM32MP135CAE3, STM32MP135CAF3, STM32MP135CAG3, STM32MP135DAE7, STM32MP135DAF7, STM32MP135DAG7, STM32MP135F-DK, STM32MP135FAE7, STM32MP135FAF7, STM32MP135FAF7T, STM32MP135FAF7U, STM32MP135FAG7, STM32U535CBT6, STM32U535CBT6Q, STM32U535CBU6, STM32U535CBU6Q, STM32U535CCT6, STM32U535CCT6Q, STM32U535CCU6, STM32U535CCU6Q, STM32U535CET6, STM32U535CET6Q, STM32U535CEU6, STM32U535CEU6Q, STM32U535JEY6QTR, STM32U535NCY6QTR, STM32U535NEY6QTR, STM32U535RBI6, STM32U535RBI6Q, STM32U535RBT6, STM32U535RBT6Q, STM32U535RCI6, STM32U535RCI6Q, STM32U535RCT6, STM32U535RCT6Q, STM32U535REI6, STM32U535REI6Q, STM32U535RET6, STM32U535RET6Q, STM32U535VCI6, STM32U535VCI6Q, STM32U535VCT6, STM32U535VCT6Q, STM32U535VEI6, STM32U535VEI6Q, STM32U535VET6, STM32U535VET6Q, STM32U545CET6, STM32U545CET6Q, STM32U545CEU6, STM32U545CEU6Q, STM32U545JEY6QTR, STM32U545NEY6QTR, STM32U545REI6, STM32U545REI6Q, STM32U545RET6, STM32U545RET6Q, STM32U545VEI6, STM32U545VEI6Q, STM32U545VET6, STM32U545VET6Q, STM32U595AIH6, STM32U595AIH6Q, STM32U595AJH6, STM32U595AJH6Q, STM32U595QII6, STM32U595QII6Q, STM32U595QJI6, STM32U595QJI6Q, STM32U595RIT6, STM32U595RIT6Q, STM32U595RJT6, STM32U595RJT6Q, STM32U595VIT6, STM32U595VIT6Q, STM32U595VJT6, STM32U595VJT6Q, STM32U595ZIT6, STM32U595ZIT6Q, STM32U595ZIY6QTR, STM32U595ZJT6, STM32U595ZJT6Q, STM32U595ZJY6QTR, STM32U599BJY6QTR, STM32U599NIH6Q, STM32U599NJH6Q, STM32U599VIT6Q, STM32U599VJT6, STM32U599VJT6Q, STM32U599ZIT6Q, STM32U599ZIY6QTR, STM32U599ZJT6Q, STM32U599ZJY6QTR, STM32U5A5AJH6, STM32U5A5AJH6Q, STM32U5A5QJI6, STM32U5A5QJI6Q, STM32U5A5RJT6, STM32U5A5RJT6Q, STM32U5A5VJT6, STM32U5A5VJT6Q, STM32U5A5ZJT6, STM32U5A5ZJT6Q, STM32U5A5ZJY6QTR, STM32U5A9BJY6QTR, STM32U5A9J-DK, STM32U5A9NJH6Q, STM32U5A9VJT6Q, STM32U5A9ZJT6Q, STM32U5A9ZJY6QTR, STM32U5F7VIT6, STM32U5F7VIT6Q, STM32U5F7VJT6, STM32U5F7VJT6Q, STM32U5F9BJY6QTR, STM32U5F9NJH6Q, STM32U5F9VIT6Q, STM32U5F9VJT6Q, STM32U5F9ZIJ6QTR, STM32U5F9ZIT6Q, STM32U5F9ZJJ6QTR, STM32U5F9ZJT6Q, STM32U5G7VJT6, STM32U5G7VJT6Q, STM32U5G9BJY6QTR, STM32U5G9J-DK1, STM32U5G9J-DK2, STM32U5G9NJH6Q, STM32U5G9VJT6Q, STM32U5G9ZJJ6QTR, STM32U5G9ZJT6Q, STM32WB1MMCH6, STM32WBA52CEU6, STM32WBA52CEU6T, STM32WBA52CGU6, STM32WBA52CGU6T, STM32WBA52KEU6, STM32WBA52KEU6T, STM32WBA52KGU6, STM32WBA52KGU6T, STM32WL5MOCH6, STM32WL5MOCH6TR] +2024-01-27 22:36:58,852 [INFO] DbMcus:217 - Found 3882 MCUs, 3882 are supported +2024-01-27 22:36:58,853 [INFO] ApiDb:423 - Load user favorites file /Users/haotian/.stm32cubeide/favorites.mcus.txt: 0 item(s) +2024-01-27 22:36:58,853 [INFO] ApiDb:427 - User favorites MCUs=[] +2024-01-27 22:36:58,854 [INFO] DbMcus:223 - Set 0 / 0 favorites MCUs +2024-01-27 22:36:59,194 [WARN] ThirdParty:833 - waiting for thirdparty lock release [change project] +2024-01-27 22:36:59,194 [INFO] ThirdParty:835 - entering critical section [change project] +2024-01-27 22:36:59,194 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-ISPU 1.1.0 +2024-01-27 22:36:59,194 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USBPD 4.1 +2024-01-27 22:36:59,194 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-GNSS1 6.0.0 +2024-01-27 22:36:59,195 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_HOST 2.0.0 +2024-01-27 22:36:59,195 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-F4 1.1.0 +2024-01-27 22:36:59,195 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics LIBJPEG 8.0.0 +2024-01-27 22:36:59,195 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-SMBUS 2.1.0 +2024-01-27 22:36:59,195 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_DEVICE 3.0.0 +2024-01-27 22:36:59,195 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-WB 2.0.0 +2024-01-27 22:36:59,195 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :wolfSSL I-CUBE-wolfSSL 5.6.6 +2024-01-27 22:36:59,195 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-TOUCHGFX 4.23.0 +2024-01-27 22:36:59,195 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-F7 1.1.0 +2024-01-27 22:36:59,195 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-L5 2.0.0 +2024-01-27 22:36:59,195 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_DEVICE 2.0.0 +2024-01-27 22:36:59,195 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-EEPRMA1 4.2.0 +2024-01-27 22:36:59,195 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :ITTIA_DB I-CUBE-ITTIADB 8.8.0 +2024-01-27 22:36:59,195 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-SNS-MOTENV1 4.3.2 +2024-01-27 22:36:59,195 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-ALGOBUILD 1.3.0 +2024-01-27 22:36:59,195 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FreeRTOS 0.0.1 +2024-01-27 22:36:59,195 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-G0 1.1.0 +2024-01-27 22:36:59,195 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-BLEMGR 2.0.0 +2024-01-27 22:36:59,195 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-NFC4 3.0.0 +2024-01-27 22:36:59,195 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-SUBG2 5.0.0 +2024-01-27 22:36:59,195 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics STM32_WPAN 1.0.0 +2024-01-27 22:36:59,196 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics lwIP 2.0.3 +2024-01-27 22:36:59,196 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-SNS-FLIGHT1 5.0.2 +2024-01-27 22:36:59,196 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_HOST 1.0.0 +2024-01-27 22:36:59,196 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-TOF1 3.3.1 +2024-01-27 22:36:59,196 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-G4 2.0.0 +2024-01-27 22:36:59,196 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics PDM2PCM 3.1.0 +2024-01-27 22:36:59,196 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :Infineon AIROC-Wi-Fi-Bluetooth-STM32 1.5.1 +2024-01-27 22:36:59,196 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-BLEMGR 3.0.0 +2024-01-27 22:36:59,196 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics PDM2PCM 3.3.0 +2024-01-27 22:36:59,196 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-DISPLAY 3.0.0 +2024-01-27 22:36:59,196 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-SNS-MOTENVWB1 1.3.1 +2024-01-27 22:36:59,196 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-BLE1 7.0.0 +2024-01-27 22:36:59,196 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-ATR-SIGFOX1 3.2.0 +2024-01-27 22:36:59,196 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-ISPU 2.0.0 +2024-01-27 22:36:59,196 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-EEPRMA1 5.1.0 +2024-01-27 22:36:59,196 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics HAL Drivers 0.0.0 +2024-01-27 22:36:59,196 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics MBEDTLS 2.16.2 +2024-01-27 22:36:59,197 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :emotas I-CUBE-CANOPEN 1.3.0 +2024-01-27 22:36:59,197 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-FREERTOS 1.1.0 +2024-01-27 22:36:59,197 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-NFC7 1.0.1 +2024-01-27 22:36:59,197 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics MBEDTLS 2.14.1 +2024-01-27 22:36:59,197 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-TOUCHGFX 4.22.1 +2024-01-27 22:36:59,197 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-EEPRMA1 4.1.0 +2024-01-27 22:36:59,197 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :portGmbH I-Cube-SoM-uGOAL 1.1.0 +2024-01-27 22:36:59,197 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-ALS 1.0.1 +2024-01-27 22:36:59,197 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics ThreadX 1.0.0 +2024-01-27 22:36:59,197 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-WL 2.0.0 +2024-01-27 22:36:59,197 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :SEGGER I-CUBE-embOS 1.3.1 +2024-01-27 22:36:59,197 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_DEVICE 1.0.0 +2024-01-27 22:36:59,197 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AI 8.1.0 +2024-01-27 22:36:59,197 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-L4 2.0.0 +2024-01-27 22:36:59,197 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics ThreadX 0.0.2 +2024-01-27 22:36:59,197 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :WES I-CUBE-Cesium 1.3.0 +2024-01-27 22:36:59,197 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-ATR-ASTRA1 2.0.0 +2024-01-27 22:36:59,197 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics lwIP 2.1.2 +2024-01-27 22:36:59,197 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-SFXS2LP1 4.0.0 +2024-01-27 22:36:59,198 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-BLE2 3.3.0 +2024-01-27 22:36:59,198 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-TOF1 3.4.0 +2024-01-27 22:36:59,198 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-H7 3.2.0 +2024-01-27 22:36:59,198 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics PDM2PCM 3.2.0 +2024-01-27 22:36:59,198 [INFO] ThirdParty:841 - exiting critical section [change project] +2024-01-27 22:36:59,486 [INFO] PinOutPanel:1499 - setPackage(No Configuration,No Configuration) +2024-01-27 22:36:59,487 [INFO] PinOutPanel:1499 - setPackage(STM32F103C8Tx,LQFP48) +2024-01-27 22:37:00,082 [INFO] UtilMem:75 - Before build in PCC Used Memory: 201868288 Bytes (591396864) +2024-01-27 22:37:00,773 [INFO] UtilMem:75 - After build in PCC Used Memory: 323232568 Bytes (591396864) +2024-01-27 22:37:00,864 [INFO] ApiDbMcu:507 - Load IP Config File for USB_DEVICE +2024-01-27 22:37:00,887 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:37:00,888 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:37:00,888 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:37:00,888 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:37:00,889 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:37:00,889 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:37:00,889 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:37:00,889 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:37:00,890 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:37:00,890 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:37:00,890 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:37:00,890 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:37:00,891 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:37:00,891 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:37:00,891 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:37:00,892 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:37:00,892 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:37:00,892 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:37:00,892 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:37:00,892 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:37:00,892 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:37:00,893 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:37:00,893 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:37:00,893 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:37:00,893 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:37:00,893 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:37:00,894 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:37:01,100 [INFO] CADModel:165 - CPN selected for project levelSTM32F103C8T6 +2024-01-27 22:37:01,100 [INFO] CADModel:114 - Register for checkConnection events +2024-01-27 22:37:01,142 [INFO] OpenFileManager:328 - Restore cursor +2024-01-27 22:37:12,579 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] SLF4J: Failed to load class "org.slf4j.impl.StaticLoggerBinder". +2024-01-27 22:37:12,579 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] SLF4J: Defaulting to no-operation (NOP) logger implementation +2024-01-27 22:37:12,579 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] SLF4J: See http://www.slf4j.org/codes.html#StaticLoggerBinder for further details. +2024-01-27 22:41:31,629 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] +2024-01-27 22:45:36,012 [INFO] Activator:176 - -2023-12-25 14:55:44,492 [INFO] Activator:177 - !SESSION log4j initialized -2023-12-25 14:55:48,665 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] -2023-12-25 14:55:49,324 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] -2023-12-25 14:55:51,691 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] -2023-12-25 14:55:52,445 [INFO] ApplicationProperties:184 - Using Application install path: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412 -2023-12-25 14:55:52,470 [INFO] DbMcusXml:78 - Set database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//mcu/ -2023-12-25 14:55:52,470 [INFO] ApiDb:274 - Set plugin database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/boardmanager/ -2023-12-25 14:55:52,471 [WARN] ApiDb:259 - Overriding images path with different value: => /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/mcufinder/images/ -2023-12-25 14:55:52,487 [INFO] ApiDb:250 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ -2023-12-25 14:55:52,489 [INFO] DbMcusAds:125 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ -2023-12-25 14:55:52,491 [INFO] CrossReferenceDbSqlite:203 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/cs/ -2023-12-25 14:55:52,634 [INFO] RulesReader:64 - Compatibility file has been processed (293 Rules) -2023-12-25 14:55:52,708 [INFO] DbMcusXml:78 - Set database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//mcu/ -2023-12-25 14:55:52,708 [INFO] ApiDb:274 - Set plugin database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/boardmanager/ -2023-12-25 14:55:52,708 [INFO] ApiDb:261 - Set plugin images path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/mcufinder/images/ -2023-12-25 14:55:52,708 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder -2023-12-25 14:55:52,708 [INFO] ApiDb:250 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ -2023-12-25 14:55:52,709 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder -2023-12-25 14:55:52,709 [INFO] DbMcusAds:125 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ -2023-12-25 14:55:52,709 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder -2023-12-25 14:55:52,709 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder -2023-12-25 14:55:52,709 [INFO] CrossReferenceDbSqlite:203 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/cs/ -2023-12-25 14:55:52,796 [INFO] MainPanel:262 - HeapMemory: 268435456 -2023-12-25 14:55:52,903 [INFO] DbMcusXml:78 - Set database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//mcu/ -2023-12-25 14:55:52,903 [INFO] ApiDb:274 - Set plugin database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/boardmanager/ -2023-12-25 14:55:52,903 [INFO] ApiDb:261 - Set plugin images path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/mcufinder/images/ -2023-12-25 14:55:52,904 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder -2023-12-25 14:55:52,904 [INFO] ApiDb:250 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ -2023-12-25 14:55:52,904 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder -2023-12-25 14:55:52,904 [INFO] DbMcusAds:125 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ -2023-12-25 14:55:52,904 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder -2023-12-25 14:55:52,904 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder -2023-12-25 14:55:52,904 [INFO] CrossReferenceDbSqlite:203 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/cs/ -2023-12-25 14:55:52,925 [INFO] ApplicationProperties:184 - Using Application install path: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412 -2023-12-25 14:55:52,927 [INFO] PluginManage:196 - Search for loadable plugins [exclusion list=, ] -2023-12-25 14:55:52,929 [INFO] PluginManage:310 - Check plugin analytics -2023-12-25 14:55:53,102 [INFO] AnalyticsPlugin:253 - Accepted Software Licenses: -2023-12-25 14:55:53,102 [INFO] AnalyticsPlugin:255 - Accepted CMSIS Pack Licenses: -2023-12-25 14:55:53,102 [INFO] AnalyticsPlugin:257 - Accepted Firmware Licenses: -2023-12-25 14:55:53,105 [INFO] PluginManage:359 - Loaded plugin analytics (category:tool,tabindex:-1) -2023-12-25 14:55:53,105 [INFO] PluginManage:310 - Check plugin cadmodel -2023-12-25 14:55:53,437 [INFO] CADModel:105 - Init CAD model plugin -2023-12-25 14:55:53,437 [INFO] PluginManage:359 - Loaded plugin cadmodel (category:power,tabindex:5) -2023-12-25 14:55:53,437 [INFO] PluginManage:310 - Check plugin clock -2023-12-25 14:55:53,449 [INFO] PluginManage:359 - Loaded plugin clock (category:base,tabindex:2) -2023-12-25 14:55:53,449 [INFO] PluginManage:310 - Check plugin ddr -2023-12-25 14:55:53,452 [INFO] PluginManage:359 - Loaded plugin ddr (category:tool,tabindex:6) -2023-12-25 14:55:53,452 [INFO] PluginManage:310 - Check plugin filemanager -2023-12-25 14:55:53,599 [INFO] PluginManage:359 - Loaded plugin filemanager (category:base,tabindex:10) -2023-12-25 14:55:53,600 [INFO] PluginManage:310 - Check plugin ipmanager -2023-12-25 14:55:53,605 [INFO] PluginManage:359 - Loaded plugin ipmanager (category:base,tabindex:5) -2023-12-25 14:55:53,606 [INFO] PluginManage:310 - Check plugin lpbam -2023-12-25 14:55:53,618 [INFO] PluginManage:359 - Loaded plugin lpbam (category:base,tabindex:0) -2023-12-25 14:55:53,618 [INFO] PluginManage:310 - Check plugin memorymap -2023-12-25 14:55:53,635 [INFO] PluginManage:359 - Loaded plugin memorymap (category:base,tabindex:4) -2023-12-25 14:55:53,635 [INFO] PluginManage:310 - Check plugin pinoutandconfiguration -2023-12-25 14:55:53,643 [INFO] PluginManage:359 - Loaded plugin pinoutandconfiguration (category:base,tabindex:1) -2023-12-25 14:55:53,643 [INFO] PluginManage:310 - Check plugin pinoutconfig -2023-12-25 14:55:53,740 [WARN] SupportedApi:132 - Cannot load RTOS API schema: s4s-elt-must-match.1: The content of 'definitions' must match (annotation?, (simpleType | complexType)?, (unique | key | keyref)*)). A problem was found starting at: attribute. -2023-12-25 14:55:53,893 [INFO] PluginManage:359 - Loaded plugin pinoutconfig (category:base,tabindex:0) -2023-12-25 14:55:53,893 [INFO] PluginManage:310 - Check plugin power -2023-12-25 14:55:53,905 [INFO] PluginManage:359 - Loaded plugin power (category:power,tabindex:4) -2023-12-25 14:55:53,905 [INFO] PluginManage:310 - Check plugin projectmanager -2023-12-25 14:55:53,919 [INFO] PluginManage:359 - Loaded plugin projectmanager (category:projectmanager,tabindex:3) -2023-12-25 14:55:53,919 [INFO] PluginManage:310 - Check plugin thirdparty -2023-12-25 14:55:54,058 [INFO] PluginManage:359 - Loaded plugin thirdparty (category:base,tabindex:-1) -2023-12-25 14:55:54,057 [WARN] IntegrityCheckThread:84 - waiting for thirdparty lock release [integrity check] -2023-12-25 14:55:54,058 [INFO] IntegrityCheckThread:86 - entering critical section [integrity check] -2023-12-25 14:55:54,058 [INFO] PluginManage:310 - Check plugin tools -2023-12-25 14:55:54,058 [INFO] ThirdPartyUpdaterWithRetryManager:70 - Updater plugin not ready yet. [1/15] -2023-12-25 14:55:54,060 [INFO] PluginManage:359 - Loaded plugin tools (category:base,tabindex:7) -2023-12-25 14:55:54,061 [INFO] PluginManage:310 - Check plugin tutovideos -2023-12-25 14:55:54,257 [INFO] PluginManage:359 - Loaded plugin tutovideos (category:base,tabindex:-1) -2023-12-25 14:55:54,258 [INFO] PluginManage:310 - Check plugin updater -2023-12-25 14:55:54,270 [INFO] PluginManage:359 - Loaded plugin updater (category:base,tabindex:12) -2023-12-25 14:55:54,270 [INFO] PluginManage:310 - Check plugin userauth -2023-12-25 14:55:54,276 [INFO] UserAuth:113 - Init User Auth plugin -2023-12-25 14:55:54,277 [INFO] PluginManage:359 - Loaded plugin userauth (category:base,tabindex:14) -2023-12-25 14:55:54,277 [INFO] PluginManage:283 - PluginManage : Loaded plugins [17] -2023-12-25 14:55:54,483 [INFO] PinOutPanel:1499 - setPackage(No Configuration,No Configuration) -2023-12-25 14:55:54,588 [INFO] CADModel:165 - CPN selected for project level -2023-12-25 14:55:54,588 [INFO] CADModel:114 - Register for checkConnection events -2023-12-25 14:55:54,601 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,601 [INFO] PluginManager:220 - loadIPPluginJar : add mdma -2023-12-25 14:55:54,609 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,610 [INFO] PluginManager:220 - loadIPPluginJar : add freertos -2023-12-25 14:55:54,615 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,615 [INFO] PluginManager:220 - loadIPPluginJar : add gic -2023-12-25 14:55:54,627 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,627 [INFO] PluginManager:220 - loadIPPluginJar : add adc -2023-12-25 14:55:54,630 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,631 [INFO] PluginManager:220 - loadIPPluginJar : add gtzc -2023-12-25 14:55:54,632 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,632 [INFO] PluginManager:220 - loadIPPluginJar : add quadspi -2023-12-25 14:55:54,634 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,635 [INFO] PluginManager:220 - loadIPPluginJar : add aes -2023-12-25 14:55:54,637 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,638 [INFO] PluginManager:220 - loadIPPluginJar : add pdm2pcm -2023-12-25 14:55:54,640 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,640 [INFO] PluginManager:220 - loadIPPluginJar : add hash -2023-12-25 14:55:54,641 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,641 [INFO] PluginManager:220 - loadIPPluginJar : add tim -2023-12-25 14:55:54,643 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,643 [INFO] PluginManager:220 - loadIPPluginJar : add tsc -2023-12-25 14:55:54,645 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,645 [INFO] PluginManager:220 - loadIPPluginJar : add ts -2023-12-25 14:55:54,647 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,647 [INFO] PluginManager:220 - loadIPPluginJar : add can -2023-12-25 14:55:54,650 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,650 [INFO] PluginManager:220 - loadIPPluginJar : add dma3 -2023-12-25 14:55:54,652 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,652 [INFO] PluginManager:220 - loadIPPluginJar : add dfsdm -2023-12-25 14:55:54,654 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,654 [INFO] PluginManager:220 - loadIPPluginJar : add spi -2023-12-25 14:55:54,656 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,656 [INFO] PluginManager:220 - loadIPPluginJar : add gfxmmu -2023-12-25 14:55:54,657 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,657 [INFO] PluginManager:220 - loadIPPluginJar : add genericplugin -2023-12-25 14:55:54,659 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,660 [INFO] PluginManager:220 - loadIPPluginJar : add cryp -2023-12-25 14:55:54,664 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,664 [INFO] PluginManager:220 - loadIPPluginJar : add gpio -2023-12-25 14:55:54,665 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,666 [INFO] PluginManager:220 - loadIPPluginJar : add comp -2023-12-25 14:55:54,668 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,668 [INFO] PluginManager:220 - loadIPPluginJar : add tracer_emb -2023-12-25 14:55:54,671 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,671 [INFO] PluginManager:220 - loadIPPluginJar : add openamp -2023-12-25 14:55:54,677 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,677 [INFO] PluginManager:220 - loadIPPluginJar : add stm32_wpan -2023-12-25 14:55:54,684 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,686 [INFO] PluginManager:220 - loadIPPluginJar : add plateformsettings -2023-12-25 14:55:54,690 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,690 [INFO] PluginManager:220 - loadIPPluginJar : add ipddr -2023-12-25 14:55:54,692 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,692 [INFO] PluginManager:220 - loadIPPluginJar : add usart -2023-12-25 14:55:54,694 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,694 [INFO] PluginManager:220 - loadIPPluginJar : add ltdc -2023-12-25 14:55:54,697 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,698 [INFO] PluginManager:220 - loadIPPluginJar : add nvic -2023-12-25 14:55:54,699 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,699 [INFO] PluginManager:220 - loadIPPluginJar : add fatfs -2023-12-25 14:55:54,706 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,706 [INFO] PluginManager:220 - loadIPPluginJar : add linkedlist -2023-12-25 14:55:54,713 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,713 [INFO] PluginManager:220 - loadIPPluginJar : add dma -2023-12-25 14:55:54,718 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,718 [INFO] PluginManager:220 - loadIPPluginJar : add fmc -2023-12-25 14:55:54,721 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,721 [INFO] PluginManager:220 - loadIPPluginJar : add i2s -2023-12-25 14:55:54,723 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,723 [INFO] PluginManager:220 - loadIPPluginJar : add ucpd -2023-12-25 14:55:54,726 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,726 [INFO] PluginManager:220 - loadIPPluginJar : add lorawan -2023-12-25 14:55:54,729 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,729 [INFO] PluginManager:220 - loadIPPluginJar : add opamp -2023-12-25 14:55:54,732 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,732 [INFO] PluginManager:220 - loadIPPluginJar : add i3c -2023-12-25 14:55:54,735 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,735 [INFO] PluginManager:220 - loadIPPluginJar : add touchsensing -2023-12-25 14:55:54,738 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,738 [INFO] PluginManager:220 - loadIPPluginJar : add i2c -2023-12-25 14:55:54,742 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,742 [INFO] PluginManager:220 - loadIPPluginJar : add resmgrutility -2023-12-25 14:55:54,745 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,745 [INFO] PluginManager:220 - loadIPPluginJar : add sai -2023-12-25 14:55:54,747 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 14:55:54,747 [INFO] PluginManager:220 - loadIPPluginJar : add usbx -2023-12-25 14:55:54,846 [INFO] CADModel:165 - CPN selected for project level -2023-12-25 14:55:54,846 [INFO] CADModel:114 - Register for checkConnection events -2023-12-25 14:55:54,847 [FATAL] Updater:308 - Updater called before beeing initialized -2023-12-25 14:55:54,847 [ERROR] CADModel:125 - Updater not yet initialized, retry later -2023-12-25 14:55:55,052 [INFO] CADModel:165 - CPN selected for project level -2023-12-25 14:55:55,052 [INFO] CADModel:114 - Register for checkConnection events -2023-12-25 14:55:55,053 [FATAL] Updater:308 - Updater called before beeing initialized -2023-12-25 14:55:55,053 [ERROR] CADModel:125 - Updater not yet initialized, retry later -2023-12-25 14:55:55,057 [FATAL] Updater:308 - Updater called before beeing initialized -2023-12-25 14:55:55,143 [FATAL] Updater:308 - Updater called before beeing initialized -2023-12-25 14:55:55,149 [INFO] DbMcusAds:53 - JSON generation date=Wed Nov 29 02:52:27 PST 2023 (1701255147349) -2023-12-25 14:55:55,149 [FATAL] Updater:308 - Updater called before beeing initialized -2023-12-25 14:55:55,231 [WARN] DetailPanel:346 - Failed to get advertising image, set to default -2023-12-25 14:55:55,338 [FATAL] Updater:308 - Updater called before beeing initialized -2023-12-25 14:55:55,340 [FATAL] Updater:308 - Updater called before beeing initialized -2023-12-25 14:55:55,340 [FATAL] Updater:308 - Updater called before beeing initialized -2023-12-25 14:55:55,340 [WARN] DetailPanel:346 - Failed to get advertising image, set to default -2023-12-25 14:55:55,341 [FATAL] Updater:308 - Updater called before beeing initialized -2023-12-25 14:55:55,369 [ERROR] Updater:1120 - MainUpdater not yet initialized. External WinMGr cannot be set. -2023-12-25 14:55:55,397 [INFO] Updater:1056 - Updater Version found : 6.9.2 -2023-12-25 14:55:55,417 [INFO] ApplicationProperties:184 - Using Application install path: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412 -2023-12-25 14:55:55,554 [INFO] MainUpdater:2868 - connection check result : 10 -2023-12-25 14:55:55,555 [INFO] MainUpdater:285 - Updater Check For Update Now. -2023-12-25 14:55:55,555 [INFO] MicroXplorer:498 - Change Database Version : DB.6.0.92 -2023-12-25 14:55:55,561 [INFO] McuFinderGlobals:63 - Set McuFinder mode to 2 (CubeIDE integrated) -2023-12-25 14:55:55,562 [INFO] UserAuth:179 - activating auth plugin -2023-12-25 14:55:55,565 [INFO] UserAuth:393 - Internet connection configuration mode: 1 -2023-12-25 14:55:55,582 [INFO] JxBrowserEngine:151 - Initiate JxBrowser Engine with user profile folder -2023-12-25 14:55:55,745 [INFO] CheckServerUpdateThread:120 - End of CheckServer Thread -2023-12-25 14:55:57,122 [INFO] WebApp:157 - Instantiating new browser for Auth -2023-12-25 14:55:58,072 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-SMBUS.2.1.0 -2023-12-25 14:55:58,081 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-TOUCHGFX.4.23.0 -2023-12-25 14:55:58,116 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-F7.1.1.0 -2023-12-25 14:55:58,152 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-SNS-MOTENV1.4.3.2 -2023-12-25 14:55:58,178 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-SNS-FLIGHT1.5.0.2 -2023-12-25 14:55:58,188 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-DISPLAY.3.0.0 -2023-12-25 14:55:58,203 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-BLE1.7.0.0 -2023-12-25 14:55:58,208 [WARN] PackLoader:240 - Cannot read IP mode file for emotas.I-CUBE-CANOPEN.1.3.0 -2023-12-25 14:55:58,211 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-TOUCHGFX.4.22.1 -2023-12-25 14:55:58,214 [INFO] WebApp:753 - Register for checkConnection events -2023-12-25 14:55:58,215 [INFO] WebApp:390 - Apply proxy settings -2023-12-25 14:55:58,218 [INFO] WebApp:455 - Chromium authenticates against System proxy -2023-12-25 14:55:58,227 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null -2023-12-25 14:55:58,228 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null -2023-12-25 14:55:58,228 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null -2023-12-25 14:55:58,229 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null -2023-12-25 14:55:58,229 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null -2023-12-25 14:55:58,235 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-WL.2.0.0 -2023-12-25 14:55:58,246 [WARN] PackLoader:240 - Cannot read IP mode file for WES.I-CUBE-Cesium.1.3.0 -2023-12-25 14:55:58,252 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-BLE2.3.3.0 -2023-12-25 14:55:58,262 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-ALGOBUILD.1.3.0 -2023-12-25 14:55:58,288 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-G0.1.1.0 -2023-12-25 14:55:58,296 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-NFC4.3.0.0 -2023-12-25 14:55:58,306 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-BLEMGR.3.0.0 -2023-12-25 14:55:58,312 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-ATR-SIGFOX1.3.2.0 -2023-12-25 14:55:58,365 [WARN] PackLoader:240 - Cannot read IP mode file for SEGGER.I-CUBE-embOS.1.3.1 -2023-12-25 14:55:58,451 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-GNSS1.6.0.0 -2023-12-25 14:55:58,495 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-F4.1.1.0 -2023-12-25 14:55:58,504 [WARN] PackLoader:240 - Cannot read IP mode file for wolfSSL.I-CUBE-wolfSSL.5.6.6 -2023-12-25 14:55:58,537 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-L5.2.0.0 -2023-12-25 14:55:58,546 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-EEPRMA1.4.2.0 -2023-12-25 14:55:58,551 [WARN] PackLoader:240 - Cannot read IP mode file for ITTIA_DB.I-CUBE-ITTIADB.8.8.0 -2023-12-25 14:55:58,557 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-BLEMGR.2.0.0 -2023-12-25 14:55:58,560 [INFO] WebApp:188 - Starting web application -2023-12-25 14:55:58,560 [INFO] WebApp:520 - Web application path used /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412/db/plugins/mcufinder/reactClient1/index.html -2023-12-25 14:55:58,564 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-NFC7.1.0.1 -2023-12-25 14:55:58,571 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-EEPRMA1.4.1.0 -2023-12-25 14:55:58,577 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AI.8.1.0 -2023-12-25 14:55:58,602 [WARN] ConditionMgr:438 - getConditionDescription Invalid condition id : LAN8742 Phy interface Condition cause : null -2023-12-25 14:55:58,602 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-L4.2.0.0 -2023-12-25 14:55:58,603 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : LAN8742 Phy interface Condition cause : null -2023-12-25 14:55:58,603 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : LAN8742 Phy interface Condition cause : null -2023-12-25 14:55:58,604 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : LAN8742 Phy interface Condition cause : null -2023-12-25 14:55:58,610 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-SFXS2LP1.4.0.0 -2023-12-25 14:55:58,614 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-ISPU.1.1.0 -2023-12-25 14:55:58,632 [WARN] ConditionMgr:438 - getConditionDescription Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null -2023-12-25 14:55:58,632 [WARN] ConditionMgr:438 - getConditionDescription Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null -2023-12-25 14:55:58,635 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-WB.2.0.0 -2023-12-25 14:55:58,636 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null -2023-12-25 14:55:58,636 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null -2023-12-25 14:55:58,636 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null -2023-12-25 14:55:58,637 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null -2023-12-25 14:55:58,637 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null -2023-12-25 14:55:58,648 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-SUBG2.5.0.0 -2023-12-25 14:55:58,663 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-TOF1.3.3.1 -2023-12-25 14:55:58,698 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-G4.2.0.0 -2023-12-25 14:55:58,712 [WARN] PackLoader:240 - Cannot read IP mode file for Infineon.AIROC-Wi-Fi-Bluetooth-STM32.1.5.1 -2023-12-25 14:55:58,727 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-SNS-MOTENVWB1.1.3.1 -2023-12-25 14:55:58,733 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-ISPU.2.0.0 -2023-12-25 14:55:58,757 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-FREERTOS.1.1.0 -2023-12-25 14:55:58,768 [WARN] PackLoader:240 - Cannot read IP mode file for portGmbH.I-Cube-SoM-uGOAL.1.1.0 -2023-12-25 14:55:58,773 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-ALS.1.0.1 -2023-12-25 14:55:58,779 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-ATR-ASTRA1.2.0.0 -2023-12-25 14:55:58,796 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-TOF1.3.4.0 -2023-12-25 14:55:58,858 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-H7.3.2.0 -2023-12-25 14:55:58,867 [INFO] ThirdParty:978 - Integrity check success = true -2023-12-25 14:55:58,867 [INFO] IntegrityCheckThread:100 - exiting critical section [integrity check] -2023-12-25 14:55:58,867 [INFO] IntegrityCheckThread:103 - End integrity checks thread -2023-12-25 14:56:19,489 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] SLF4J: Failed to load class "org.slf4j.impl.StaticLoggerBinder". -2023-12-25 14:56:19,489 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] SLF4J: Defaulting to no-operation (NOP) logger implementation -2023-12-25 14:56:19,490 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] SLF4J: See http://www.slf4j.org/codes.html#StaticLoggerBinder for further details. -2023-12-25 16:31:38,733 [INFO] McuFinderGlobals:63 - Set McuFinder mode to 2 (CubeIDE integrated) -2023-12-25 16:31:38,743 [INFO] MainUpdater:2868 - connection check result : 10 -2023-12-25 16:31:38,744 [INFO] MainUpdater:2868 - connection check result : 10 -2023-12-25 16:31:39,697 [INFO] MicroXplorer:468 - Change Database Path : -2023-12-25 16:31:39,697 [INFO] MicroXplorer:498 - Change Database Version : DB.6.0.92 -2023-12-25 16:31:39,703 [WARN] ThirdParty:871 - waiting for thirdparty lock release [close project] -2023-12-25 16:31:39,703 [INFO] ThirdParty:873 - entering critical section [close project] -2023-12-25 16:31:39,705 [INFO] ThirdParty:883 - exiting critical section [close project] -2023-12-25 16:31:39,710 [INFO] PinOutPanel:1499 - setPackage(No Configuration,No Configuration) -2023-12-25 16:31:39,724 [INFO] UtilMem:75 - Begin LoadConfig() Used Memory: 756852256 Bytes (1045430272) -2023-12-25 16:31:39,727 [INFO] MicroXplorer:468 - Change Database Path : -2023-12-25 16:31:39,727 [INFO] MicroXplorer:498 - Change Database Version : DB.6.0.92 -2023-12-25 16:31:39,727 [INFO] OpenFileManager:308 - Change cursor -2023-12-25 16:31:39,776 [INFO] Mcu:1946 - Initializing MCU STM32F103C(8-B)Tx STM32F103C8Tx STM32F103C8T6 -2023-12-25 16:31:41,412 [INFO] Context:659 - Trying to add GPIOservice into a context which must be forbidden -2023-12-25 16:31:41,939 [INFO] RtosManager:555 - Registered RTOS mode: class=CMSIS, group=RTOS, mode=CMSIS_V1, owner=FREERTOS -2023-12-25 16:31:41,940 [INFO] RtosManager:555 - Registered RTOS mode: class=CMSIS, group=RTOS2, mode=CMSIS_V2, owner=FREERTOS -2023-12-25 16:31:41,940 [INFO] RtosManager:555 - Registered RTOS mode: class=RTOS, group=Core, mode=CMSIS_V1, owner=FREERTOS -2023-12-25 16:31:41,940 [INFO] RtosManager:555 - Registered RTOS mode: class=RTOS, group=Core, mode=CMSIS_V2, owner=FREERTOS -2023-12-25 16:31:41,940 [WARN] ModelIntegratedComponent:184 - Missing modes for component STMicroelectronics:FreeRTOS:0.0.1:STMicroelectronics:RTOS:FreeRTOS:Core:::10.2.0: -2023-12-25 16:31:41,971 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 16:31:41,972 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 16:31:41,972 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 16:31:41,972 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 16:31:41,972 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 16:31:41,972 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 16:31:41,972 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 16:31:41,972 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 16:31:41,972 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 16:31:41,973 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 16:31:41,973 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 16:31:41,973 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 16:31:41,973 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 16:31:41,973 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 16:31:41,973 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 16:31:41,973 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 16:31:41,973 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 16:31:41,973 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 16:31:41,974 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 16:31:41,974 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 16:31:41,974 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 16:31:41,974 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 16:31:41,974 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 16:31:41,974 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 16:31:41,974 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 16:31:41,975 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 16:31:41,975 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 16:31:41,975 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 16:31:41,975 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 16:31:41,975 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 16:31:41,975 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 16:31:41,975 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 16:31:41,975 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 16:31:42,034 [INFO] ThirdPartyModel:298 - Start build external matchings -2023-12-25 16:31:42,429 [INFO] ThirdPartyModel:316 - End build external matchings -2023-12-25 16:31:42,444 [INFO] ImportTextPane:194 - (OptionalMessage_ERROR) IP (RCC) : Invalid parameter (FamilyName) -2023-12-25 16:31:42,444 [INFO] ImportTextPane:194 - (OptionalMessage_ERROR) IP (RCC) : Parameter (MCOFreq_Value) has invalid value (72000000) -2023-12-25 16:31:42,729 [INFO] UtilMem:75 - End LoadConfig() Used Memory: 670639176 Bytes (1073741824) -2023-12-25 16:31:43,078 [INFO] ApiDb:581 - Connected to CubeFinder SQLite database (/Users/haotian/.stmcufinder/plugins/mcufinder/mcu/cube-finder-db.db) -2023-12-25 16:31:43,190 [INFO] ApiDb:668 - CubeFinder database Data Model version=2.1 -2023-12-25 16:31:43,191 [INFO] ApiDb:669 - CubeFinder database Configuration version=3.0.39 -2023-12-25 16:31:43,193 [INFO] ApiDb:670 - CubeFinder database generation date=2023-12-08 (1702028721) -2023-12-25 16:31:43,194 [INFO] ApiDb:671 - CubeFinder database FW Pack versions=[FP-ATR-ASTRA1_V2.0.0, FP-SNS-FLIGHT1_V5.0.1, FP-SNS-FLIGHT1_V5.0.2, FP-SNS-MOTENV1_V4.3.1, FP-SNS-MOTENV1_V4.3.2, FP-SNS-MOTENVWB1_V1.3.1, FP-SNS-SMARTAG2_V1.2.0, STM32Cube_FW_C0_V1.1.0, STM32Cube_FW_F4_V1.28.0, STM32Cube_FW_F7_V1.17.0, STM32Cube_FW_G0_V1.6.1, STM32Cube_FW_G4_V1.5.1, STM32Cube_FW_H5_V0.5.1, STM32Cube_FW_H5_V1.1.1, STM32Cube_FW_H5_V1.2.0RC2, STM32Cube_FW_H7_V1.11.0, STM32Cube_FW_L0_V1.12.2, STM32Cube_FW_L5_V1.5.0, STM32Cube_FW_U5_V1.3.0RC4, STM32Cube_FW_U5_V1.4.0, STM32Cube_FW_WBA_V1.0.0RC1, STM32Cube_FW_WBA_V1.1.0RC1, STM32Cube_FW_WBA_V1.2.0, STM32Cube_FW_WBA_V1.2.0RC2, STM32Cube_FW_WB_V1.15.0RC1, STM32Cube_FW_WB_V1.16.0, STM32Cube_FW_WB_V1.16.0RC2, STM32Cube_FW_WB_V1.18.0, STM32Cube_FW_WL_V1.3.0, X-CUBE-ALGOBUILD_V1.3.0, X-CUBE-ALS_V1.0.1, X-CUBE-AZRTOS-F4_V1.1.0, X-CUBE-AZRTOS-F7_V1.1.0, X-CUBE-AZRTOS-G0_V1.1.0, X-CUBE-AZRTOS-G4_V2.0.0, X-CUBE-AZRTOS-H7_V3.1.0, X-CUBE-AZRTOS-L4_V1.0.0, X-CUBE-AZRTOS-L4_V2.0.0, X-CUBE-AZRTOS-L5_V1.1.0, X-CUBE-AZRTOS-WB_V2.0.0, X-CUBE-AZRTOS-WL_V2.0.0, X-CUBE-BLE1_V7.0.0, X-CUBE-BLE2_V3.3.0, X-CUBE-BLEMGR_V3.0.0, X-CUBE-EEPRMA1_V4.1.0, X-CUBE-EEPRMA1_V4.2.0, X-CUBE-FREERTOS_V1.1.0, X-CUBE-GNSS1_V6.0.0, X-CUBE-MEMS1_V10.0.0, X-CUBE-MEMS1_V9.1.0, X-CUBE-MEMS1_V9.4.0, X-CUBE-MEMS1_V9.6.0, X-CUBE-NFC4_V3.0.0, X-CUBE-NFC7_V1.0.1, X-CUBE-SFXS2LP1_V4.0.0, X-CUBE-SUBG2_V5.0.0, X-CUBE-TOF1_V3.4.0] -2023-12-25 16:31:46,080 [INFO] ApiDb:240 - Found 323 in-development CPN: [B-G473E-ZEST1S, B-WB1M-WPAN1, B-WL5M-SUBG1, NUCLEO-C031C6, NUCLEO-H503RB, NUCLEO-H563ZI, NUCLEO-U545RE-Q, NUCLEO-U5A5ZJ-Q, NUCLEO-WBA52CG, STEVAL-PROTEUS1, STEVAL-SMARTAG2, STEVAL-STWINBX1, STM320518-EVAL, STM32C0116-DK, STM32C011D6Y3TR, STM32C011D6Y6TR, STM32C011F4P3, STM32C011F4P6, STM32C011F4U3, STM32C011F4U6TR, STM32C011F6P3, STM32C011F6P6, STM32C011F6U3, STM32C011F6U6TR, STM32C011J4M3, STM32C011J4M6, STM32C011J6M3, STM32C011J6M6, STM32C0316-DK, STM32C031C4T3, STM32C031C4T6, STM32C031C4U3, STM32C031C4U6, STM32C031C6T3, STM32C031C6T6, STM32C031C6U3, STM32C031C6U6, STM32C031F4P3, STM32C031F4P6, STM32C031F6P3, STM32C031F6P6, STM32C031G4U3, STM32C031G4U6, STM32C031G6U3, STM32C031G6U6, STM32C031K4T3, STM32C031K4T6, STM32C031K4U3, STM32C031K4U6, STM32C031K6T3, STM32C031K6T6, STM32C031K6U3, STM32C031K6U6, STM32G071K8TXN, STM32G071K8UXN, STM32G081GBU6N, STM32G081KBT6N, STM32G081KBUXN, STM32G0B1CCT6N, STM32G0B1KCT6, STM32G0B1NEY6TR, STM32G0B1RCT6N, STM32G0C1CCT6, STM32G0C1CCT6N, STM32G0C1CCU6N, STM32G0C1CET6N, STM32G0C1CEU6N, STM32G0C1KCT6, STM32G0C1NEY6TR, STM32G0C1RCI6N, STM32G0C1RCT6N, STM32G0C1REI6N, STM32G0C1RET6N, STM32G0C1VCI6, STM32G0C1VEI6, STM32G471CCT6, STM32G471CCU6, STM32G471CET3, STM32G471CET6, STM32G471CEU3, STM32G471CEU6, STM32G471MCT6, STM32G471MET3, STM32G471MET6, STM32G471MEY6TR, STM32G471QCT6, STM32G471QET3, STM32G471RCT6, STM32G471RET3, STM32G471RET6, STM32G471VCH6, STM32G471VCI6, STM32G471VCT6, STM32G471VEH3, STM32G471VEH6, STM32G471VEI3, STM32G471VEI6, STM32G471VET3, STM32G471VET6, STM32G474CCT6, STM32H503CBT6, STM32H503CBU6, STM32H503EBY6TR, STM32H503KBU6, STM32H503RBT6, STM32H562AGI6, STM32H562AII6, STM32H562IGK6, STM32H562IGT6, STM32H562IIK6, STM32H562IIT6, STM32H562RGT6, STM32H562RGV6, STM32H562RIT6, STM32H562RIV6, STM32H562VGT6, STM32H562VIT6, STM32H562ZGT6, STM32H562ZIT6, STM32H563AGI6, STM32H563AII3Q, STM32H563AII6, STM32H563IGK6, STM32H563IGT6, STM32H563IIK3Q, STM32H563IIK6, STM32H563IIT3Q, STM32H563IIT6, STM32H563MIY3QTR, STM32H563RGT6, STM32H563RGV6, STM32H563RIT6, STM32H563RIV6, STM32H563VGT6, STM32H563VIT3Q, STM32H563VIT6, STM32H563ZGT6, STM32H563ZIT3Q, STM32H563ZIT6, STM32H573AII3Q, STM32H573AII6, STM32H573I-DK, STM32H573IIK3Q, STM32H573IIK6, STM32H573IIT3Q, STM32H573IIT6, STM32H573MIY3QTR, STM32H573RIT6, STM32H573RIV6, STM32H573VIT3Q, STM32H573VIT6, STM32H573ZIT3Q, STM32H573ZIT6, STM32L4R5QGI6STR, STM32MP131AAE3, STM32MP131AAF3, STM32MP131AAG3, STM32MP131CAE3, STM32MP131CAF3, STM32MP131CAG3, STM32MP131DAE7, STM32MP131DAF7, STM32MP131DAG7, STM32MP131FAE7, STM32MP131FAF7, STM32MP131FAG7, STM32MP133AAE3, STM32MP133AAF3, STM32MP133AAG3, STM32MP133CAE3, STM32MP133CAF3, STM32MP133CAG3, STM32MP133DAE7, STM32MP133DAF7, STM32MP133DAG7, STM32MP133FAE7, STM32MP133FAF7, STM32MP133FAG7, STM32MP135AAE3, STM32MP135AAF3, STM32MP135AAG3, STM32MP135CAE3, STM32MP135CAF3, STM32MP135CAG3, STM32MP135DAE7, STM32MP135DAF7, STM32MP135DAG7, STM32MP135F-DK, STM32MP135FAE7, STM32MP135FAF7, STM32MP135FAF7T, STM32MP135FAF7U, STM32MP135FAG7, STM32U535CBT6, STM32U535CBT6Q, STM32U535CBU6, STM32U535CBU6Q, STM32U535CCT6, STM32U535CCT6Q, STM32U535CCU6, STM32U535CCU6Q, STM32U535CET6, STM32U535CET6Q, STM32U535CEU6, STM32U535CEU6Q, STM32U535JEY6QTR, STM32U535NCY6QTR, STM32U535NEY6QTR, STM32U535RBI6, STM32U535RBI6Q, STM32U535RBT6, STM32U535RBT6Q, STM32U535RCI6, STM32U535RCI6Q, STM32U535RCT6, STM32U535RCT6Q, STM32U535REI6, STM32U535REI6Q, STM32U535RET6, STM32U535RET6Q, STM32U535VCI6, STM32U535VCI6Q, STM32U535VCT6, STM32U535VCT6Q, STM32U535VEI6, STM32U535VEI6Q, STM32U535VET6, STM32U535VET6Q, STM32U545CET6, STM32U545CET6Q, STM32U545CEU6, STM32U545CEU6Q, STM32U545JEY6QTR, STM32U545NEY6QTR, STM32U545REI6, STM32U545REI6Q, STM32U545RET6, STM32U545RET6Q, STM32U545VEI6, STM32U545VEI6Q, STM32U545VET6, STM32U545VET6Q, STM32U595AIH6, STM32U595AIH6Q, STM32U595AJH6, STM32U595AJH6Q, STM32U595QII6, STM32U595QII6Q, STM32U595QJI6, STM32U595QJI6Q, STM32U595RIT6, STM32U595RIT6Q, STM32U595RJT6, STM32U595RJT6Q, STM32U595VIT6, STM32U595VIT6Q, STM32U595VJT6, STM32U595VJT6Q, STM32U595ZIT6, STM32U595ZIT6Q, STM32U595ZIY6QTR, STM32U595ZJT6, STM32U595ZJT6Q, STM32U595ZJY6QTR, STM32U599BJY6QTR, STM32U599NIH6Q, STM32U599NJH6Q, STM32U599VIT6Q, STM32U599VJT6, STM32U599VJT6Q, STM32U599ZIT6Q, STM32U599ZIY6QTR, STM32U599ZJT6Q, STM32U599ZJY6QTR, STM32U5A5AJH6, STM32U5A5AJH6Q, STM32U5A5QJI6, STM32U5A5QJI6Q, STM32U5A5RJT6, STM32U5A5RJT6Q, STM32U5A5VJT6, STM32U5A5VJT6Q, STM32U5A5ZJT6, STM32U5A5ZJT6Q, STM32U5A5ZJY6QTR, STM32U5A9BJY6QTR, STM32U5A9J-DK, STM32U5A9NJH6Q, STM32U5A9VJT6Q, STM32U5A9ZJT6Q, STM32U5A9ZJY6QTR, STM32U5F7VIT6, STM32U5F7VIT6Q, STM32U5F7VJT6, STM32U5F7VJT6Q, STM32U5F9BJY6QTR, STM32U5F9NJH6Q, STM32U5F9VIT6Q, STM32U5F9VJT6Q, STM32U5F9ZIJ6QTR, STM32U5F9ZIT6Q, STM32U5F9ZJJ6QTR, STM32U5F9ZJT6Q, STM32U5G7VJT6, STM32U5G7VJT6Q, STM32U5G9BJY6QTR, STM32U5G9J-DK1, STM32U5G9J-DK2, STM32U5G9NJH6Q, STM32U5G9VJT6Q, STM32U5G9ZJJ6QTR, STM32U5G9ZJT6Q, STM32WB1MMCH6, STM32WBA52CEU6, STM32WBA52CEU6T, STM32WBA52CGU6, STM32WBA52CGU6T, STM32WBA52KEU6, STM32WBA52KEU6T, STM32WBA52KGU6, STM32WBA52KGU6T, STM32WL5MOCH6, STM32WL5MOCH6TR] -2023-12-25 16:31:46,085 [INFO] DbMcus:217 - Found 3882 MCUs, 3882 are supported -2023-12-25 16:31:46,086 [INFO] ApiDb:423 - Load user favorites file /Users/haotian/.stm32cubeide/favorites.mcus.txt: 0 item(s) -2023-12-25 16:31:46,087 [INFO] ApiDb:427 - User favorites MCUs=[] -2023-12-25 16:31:46,087 [INFO] DbMcus:223 - Set 0 / 0 favorites MCUs -2023-12-25 16:31:46,603 [WARN] ThirdParty:833 - waiting for thirdparty lock release [change project] -2023-12-25 16:31:46,603 [INFO] ThirdParty:835 - entering critical section [change project] -2023-12-25 16:31:46,603 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-ISPU 1.1.0 -2023-12-25 16:31:46,603 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USBPD 4.1 -2023-12-25 16:31:46,603 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-GNSS1 6.0.0 -2023-12-25 16:31:46,603 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_HOST 2.0.0 -2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-F4 1.1.0 -2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics LIBJPEG 8.0.0 -2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-SMBUS 2.1.0 -2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_DEVICE 3.0.0 -2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-WB 2.0.0 -2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :wolfSSL I-CUBE-wolfSSL 5.6.6 -2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-TOUCHGFX 4.23.0 -2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-F7 1.1.0 -2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-L5 2.0.0 -2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_DEVICE 2.0.0 -2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-EEPRMA1 4.2.0 -2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :ITTIA_DB I-CUBE-ITTIADB 8.8.0 -2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-SNS-MOTENV1 4.3.2 -2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-ALGOBUILD 1.3.0 -2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FreeRTOS 0.0.1 -2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-G0 1.1.0 -2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-BLEMGR 2.0.0 -2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-NFC4 3.0.0 -2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-SUBG2 5.0.0 -2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics STM32_WPAN 1.0.0 -2023-12-25 16:31:46,605 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics lwIP 2.0.3 -2023-12-25 16:31:46,605 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-SNS-FLIGHT1 5.0.2 -2023-12-25 16:31:46,605 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_HOST 1.0.0 -2023-12-25 16:31:46,605 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-TOF1 3.3.1 -2023-12-25 16:31:46,605 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-G4 2.0.0 -2023-12-25 16:31:46,605 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics PDM2PCM 3.1.0 -2023-12-25 16:31:46,605 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :Infineon AIROC-Wi-Fi-Bluetooth-STM32 1.5.1 -2023-12-25 16:31:46,605 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-BLEMGR 3.0.0 -2023-12-25 16:31:46,605 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics PDM2PCM 3.3.0 -2023-12-25 16:31:46,605 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-DISPLAY 3.0.0 -2023-12-25 16:31:46,605 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-SNS-MOTENVWB1 1.3.1 -2023-12-25 16:31:46,605 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-BLE1 7.0.0 -2023-12-25 16:31:46,605 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-ATR-SIGFOX1 3.2.0 -2023-12-25 16:31:46,605 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-ISPU 2.0.0 -2023-12-25 16:31:46,605 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics HAL Drivers 0.0.0 -2023-12-25 16:31:46,605 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics MBEDTLS 2.16.2 -2023-12-25 16:31:46,605 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :emotas I-CUBE-CANOPEN 1.3.0 -2023-12-25 16:31:46,605 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-FREERTOS 1.1.0 -2023-12-25 16:31:46,605 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-NFC7 1.0.1 -2023-12-25 16:31:46,606 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics MBEDTLS 2.14.1 -2023-12-25 16:31:46,606 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-TOUCHGFX 4.22.1 -2023-12-25 16:31:46,606 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-EEPRMA1 4.1.0 -2023-12-25 16:31:46,606 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :portGmbH I-Cube-SoM-uGOAL 1.1.0 -2023-12-25 16:31:46,606 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-ALS 1.0.1 -2023-12-25 16:31:46,606 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics ThreadX 1.0.0 -2023-12-25 16:31:46,606 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-WL 2.0.0 -2023-12-25 16:31:46,606 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :SEGGER I-CUBE-embOS 1.3.1 -2023-12-25 16:31:46,606 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_DEVICE 1.0.0 -2023-12-25 16:31:46,606 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AI 8.1.0 -2023-12-25 16:31:46,606 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-L4 2.0.0 -2023-12-25 16:31:46,606 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics ThreadX 0.0.2 -2023-12-25 16:31:46,607 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :WES I-CUBE-Cesium 1.3.0 -2023-12-25 16:31:46,607 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-ATR-ASTRA1 2.0.0 -2023-12-25 16:31:46,607 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics lwIP 2.1.2 -2023-12-25 16:31:46,607 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-SFXS2LP1 4.0.0 -2023-12-25 16:31:46,607 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-BLE2 3.3.0 -2023-12-25 16:31:46,607 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-TOF1 3.4.0 -2023-12-25 16:31:46,607 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-H7 3.2.0 -2023-12-25 16:31:46,607 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics PDM2PCM 3.2.0 -2023-12-25 16:31:46,608 [INFO] ThirdParty:841 - exiting critical section [change project] -2023-12-25 16:31:47,029 [INFO] PinOutPanel:1499 - setPackage(No Configuration,No Configuration) -2023-12-25 16:31:47,031 [INFO] PinOutPanel:1499 - setPackage(STM32F103C8Tx,LQFP48) -2023-12-25 16:31:47,981 [INFO] UtilMem:75 - Before build in PCC Used Memory: 621641272 Bytes (1073741824) -2023-12-25 16:31:49,087 [INFO] UtilMem:75 - After build in PCC Used Memory: 734887480 Bytes (1073741824) -2023-12-25 16:31:49,225 [INFO] ApiDbMcu:507 - Load IP Config File for USB_DEVICE -2023-12-25 16:31:49,268 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 16:31:49,269 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 16:31:49,269 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 16:31:49,270 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 16:31:49,270 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 16:31:49,272 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 16:31:49,273 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 16:31:49,273 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 16:31:49,273 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 16:31:49,274 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 16:31:49,274 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 16:31:49,274 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 16:31:49,275 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 16:31:49,275 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 16:31:49,275 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 16:31:49,275 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 16:31:49,276 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 16:31:49,276 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 16:31:49,276 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 16:31:49,276 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 16:31:49,276 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 16:31:49,277 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 16:31:49,277 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 16:31:49,279 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 16:31:49,279 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 16:31:49,280 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 16:31:49,280 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 16:31:49,591 [INFO] CADModel:165 - CPN selected for project levelSTM32F103C8T6 -2023-12-25 16:31:49,591 [INFO] CADModel:114 - Register for checkConnection events -2023-12-25 16:31:49,635 [INFO] OpenFileManager:328 - Restore cursor -2023-12-25 16:31:57,171 [INFO] UtilMem:75 - End SaveConfig() Used Memory: 574018408 Bytes (1073741824) -2023-12-25 16:31:58,023 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: SPI -2023-12-25 16:31:58,024 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: NVIC -2023-12-25 16:31:58,024 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: TIM1_8F1 -2023-12-25 16:31:58,024 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: TIM1_8F1 -2023-12-25 16:31:58,024 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: USB_DEVICE -2023-12-25 16:31:58,024 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: USB -2023-12-25 16:31:58,024 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: SYS -2023-12-25 16:31:58,025 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: GPIO -2023-12-25 16:31:58,026 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: ADC -2023-12-25 16:31:58,026 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: RCC -2023-12-25 16:31:58,029 [INFO] CodeGenerator:799 - code generatio: config db path: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db/ -2023-12-25 16:31:58,650 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/license.tmp_save -2023-12-25 16:31:59,427 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/license.tmp -2023-12-25 16:31:59,526 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/gpio.tmp_save -2023-12-25 16:31:59,728 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/gpio.tmp -2023-12-25 16:31:59,855 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_vars.tmp_save -2023-12-25 16:31:59,988 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_vars.tmp -2023-12-25 16:31:59,991 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_inc.tmp_save -2023-12-25 16:32:00,109 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_inc.tmp -2023-12-25 16:32:00,113 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_HalInit.tmp_save -2023-12-25 16:32:00,276 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_HalInit.tmp -2023-12-25 16:32:00,279 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_Msp.tmp_save -2023-12-25 16:32:00,440 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_Msp.tmp -2023-12-25 16:32:00,821 [INFO] Middleware:1439 - No code input for Bsp Dependency -2023-12-25 16:32:00,834 [INFO] Middleware:1439 - No code input for Bsp Dependency -2023-12-25 16:32:00,845 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.c_save -2023-12-25 16:32:00,987 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.c -2023-12-25 16:32:00,991 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.h_save -2023-12-25 16:32:01,098 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.h -2023-12-25 16:32:01,108 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.h_save -2023-12-25 16:32:01,230 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.h -2023-12-25 16:32:01,238 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.c_save -2023-12-25 16:32:01,365 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.c -2023-12-25 16:32:01,372 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.h_save -2023-12-25 16:32:01,492 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.h -2023-12-25 16:32:01,498 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.c_save -2023-12-25 16:32:01,646 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.c -2023-12-25 16:32:01,733 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.h_save -2023-12-25 16:32:01,869 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.h -2023-12-25 16:32:01,875 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.c_save -2023-12-25 16:32:02,065 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.c -2023-12-25 16:32:02,081 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_it.c_save -2023-12-25 16:32:02,250 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_it.c -2023-12-25 16:32:02,255 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_it.h_save -2023-12-25 16:32:02,427 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_it.h -2023-12-25 16:32:02,442 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_hal_msp.c_save -2023-12-25 16:32:02,622 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_hal_msp.c -2023-12-25 16:32:02,629 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/system.tmp_save -2023-12-25 16:32:02,723 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/system.tmp -2023-12-25 16:32:02,730 [INFO] CodeEngine:311 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_hal_conf.h_save -2023-12-25 16:32:02,830 [INFO] CodeEngine:335 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_hal_conf.h -2023-12-25 16:32:02,868 [WARN] IPConfigManager:3431 - IP not found : TIM -2023-12-25 16:32:02,869 [WARN] CodeGenerator:3764 - IP not found : null -2023-12-25 16:32:02,875 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/main.h_save -2023-12-25 16:32:03,011 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/main.h -2023-12-25 16:32:03,015 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/main.c_save -2023-12-25 16:32:03,262 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/main.c -2023-12-25 16:32:04,310 [INFO] ProjectBuilder:3064 - Time for Copy HAL[1] : 240mS. -2023-12-25 16:32:04,323 [INFO] ProjectBuilder:4404 - Project Generator version: 4.1.0 -2023-12-25 16:32:04,737 [INFO] ConfigFileManager:1457 - The Die is : DIE410 -2023-12-25 16:32:04,745 [INFO] ApiDbMcu:507 - Load IP Config File for FATFS -2023-12-25 16:32:04,752 [INFO] ApiDbMcu:507 - Load IP Config File for FREERTOS -2023-12-25 16:32:06,382 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] -2023-12-25 16:32:07,718 [INFO] ProjectBuilder:4626 - Time for Generating toolchain IDE Files: 3395mS. -2023-12-25 16:32:07,719 [INFO] ProjectBuilder:2935 - Time for Copy CMSIS : 0mS. -2023-12-25 16:32:07,723 [INFO] ProjectBuilder:2935 - Time for Copy CMSIS : 0mS. -2023-12-25 21:57:22,462 [INFO] UtilMem:75 - End SaveConfig() Used Memory: 693533904 Bytes (1073741824) -2023-12-25 21:57:22,877 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: SPI -2023-12-25 21:57:22,878 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: NVIC -2023-12-25 21:57:22,878 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: TIM1_8F1 -2023-12-25 21:57:22,878 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: TIM1_8F1 -2023-12-25 21:57:22,878 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: USB_DEVICE -2023-12-25 21:57:22,878 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: USB -2023-12-25 21:57:22,878 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: SYS -2023-12-25 21:57:22,879 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: GPIO -2023-12-25 21:57:22,880 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: ADC -2023-12-25 21:57:22,880 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: RCC -2023-12-25 21:57:22,881 [INFO] CodeGenerator:799 - code generatio: config db path: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db/ -2023-12-25 21:57:23,178 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/license.tmp_save -2023-12-25 21:57:23,310 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/license.tmp -2023-12-25 21:57:23,336 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/gpio.tmp_save -2023-12-25 21:57:23,425 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/gpio.tmp -2023-12-25 21:57:23,481 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_vars.tmp_save -2023-12-25 21:57:23,562 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_vars.tmp -2023-12-25 21:57:23,564 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_inc.tmp_save -2023-12-25 21:57:23,626 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_inc.tmp -2023-12-25 21:57:23,629 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_HalInit.tmp_save -2023-12-25 21:57:23,837 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_HalInit.tmp -2023-12-25 21:57:23,839 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_Msp.tmp_save -2023-12-25 21:57:23,932 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_Msp.tmp -2023-12-25 21:57:24,328 [INFO] Middleware:1439 - No code input for Bsp Dependency -2023-12-25 21:57:24,343 [INFO] Middleware:1439 - No code input for Bsp Dependency -2023-12-25 21:57:24,349 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.c_save -2023-12-25 21:57:24,430 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.c -2023-12-25 21:57:24,433 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.h_save -2023-12-25 21:57:24,501 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.h -2023-12-25 21:57:24,505 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.h_save -2023-12-25 21:57:24,583 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.h -2023-12-25 21:57:24,586 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.c_save -2023-12-25 21:57:24,734 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.c -2023-12-25 21:57:24,741 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.h_save -2023-12-25 21:57:24,846 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.h -2023-12-25 21:57:24,849 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.c_save -2023-12-25 21:57:24,926 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.c -2023-12-25 21:57:24,929 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.h_save -2023-12-25 21:57:24,996 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.h -2023-12-25 21:57:25,000 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.c_save -2023-12-25 21:57:25,067 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.c -2023-12-25 21:57:25,075 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_it.c_save -2023-12-25 21:57:25,260 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_it.c -2023-12-25 21:57:25,263 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_it.h_save -2023-12-25 21:57:25,324 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_it.h -2023-12-25 21:57:25,331 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_hal_msp.c_save -2023-12-25 21:57:25,424 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_hal_msp.c -2023-12-25 21:57:25,427 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/system.tmp_save -2023-12-25 21:57:25,632 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/system.tmp -2023-12-25 21:57:25,642 [INFO] CodeEngine:311 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_hal_conf.h_save -2023-12-25 21:57:25,742 [INFO] CodeEngine:335 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_hal_conf.h -2023-12-25 21:57:25,767 [WARN] IPConfigManager:3431 - IP not found : TIM -2023-12-25 21:57:25,768 [WARN] CodeGenerator:3764 - IP not found : null -2023-12-25 21:57:25,778 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/main.h_save -2023-12-25 21:57:25,922 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/main.h -2023-12-25 21:57:25,927 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/main.c_save -2023-12-25 21:57:26,223 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/main.c -2023-12-25 21:57:27,326 [INFO] ProjectBuilder:3064 - Time for Copy HAL[1] : 243mS. -2023-12-25 21:57:27,331 [INFO] ProjectBuilder:4404 - Project Generator version: 4.1.0 -2023-12-25 21:57:27,915 [INFO] ConfigFileManager:1457 - The Die is : DIE410 -2023-12-25 21:57:29,904 [INFO] ProjectBuilder:4626 - Time for Generating toolchain IDE Files: 2571mS. -2023-12-25 21:57:29,905 [INFO] ProjectBuilder:2935 - Time for Copy CMSIS : 0mS. -2023-12-25 21:57:29,924 [INFO] ProjectBuilder:2935 - Time for Copy CMSIS : 0mS. -2023-12-25 21:57:30,034 [INFO] NvicIntPanel:101 - NVIC parent = com.st.microxplorer.plugins.ip.nvic.MultiNvicIntPanel[,0,0,0x0,invalid,layout=javax.swing.BoxLayout,alignmentX=0.0,alignmentY=0.0,border=,flags=9,maximumSize=,minimumSize=,preferredSize=] -2023-12-25 21:57:53,135 [INFO] UtilMem:75 - End SaveConfig() Used Memory: 687053200 Bytes (1073741824) -2023-12-25 21:58:15,009 [INFO] UtilMem:75 - End SaveConfig() Used Memory: 667460064 Bytes (1073741824) -2023-12-25 21:58:15,398 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: SPI -2023-12-25 21:58:15,399 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: NVIC -2023-12-25 21:58:15,399 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: TIM1_8F1 -2023-12-25 21:58:15,399 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: TIM1_8F1 -2023-12-25 21:58:15,399 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: USB_DEVICE -2023-12-25 21:58:15,399 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: USB -2023-12-25 21:58:15,399 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: SYS -2023-12-25 21:58:15,400 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: GPIO -2023-12-25 21:58:15,400 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: ADC -2023-12-25 21:58:15,400 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: RCC -2023-12-25 21:58:15,401 [INFO] CodeGenerator:799 - code generatio: config db path: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db/ -2023-12-25 21:58:15,626 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/license.tmp_save -2023-12-25 21:58:15,708 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/license.tmp -2023-12-25 21:58:15,730 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/gpio.tmp_save -2023-12-25 21:58:15,822 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/gpio.tmp -2023-12-25 21:58:15,887 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_vars.tmp_save -2023-12-25 21:58:15,974 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_vars.tmp -2023-12-25 21:58:15,976 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_inc.tmp_save -2023-12-25 21:58:16,055 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_inc.tmp -2023-12-25 21:58:16,056 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_HalInit.tmp_save -2023-12-25 21:58:16,123 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_HalInit.tmp -2023-12-25 21:58:16,124 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_Msp.tmp_save -2023-12-25 21:58:16,251 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_Msp.tmp -2023-12-25 21:58:16,444 [INFO] Middleware:1439 - No code input for Bsp Dependency -2023-12-25 21:58:16,452 [INFO] Middleware:1439 - No code input for Bsp Dependency -2023-12-25 21:58:16,457 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.c_save -2023-12-25 21:58:16,522 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.c -2023-12-25 21:58:16,524 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.h_save -2023-12-25 21:58:16,584 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.h -2023-12-25 21:58:16,586 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.h_save -2023-12-25 21:58:16,648 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.h -2023-12-25 21:58:16,651 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.c_save -2023-12-25 21:58:16,720 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.c -2023-12-25 21:58:16,724 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.h_save -2023-12-25 21:58:16,784 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.h -2023-12-25 21:58:16,787 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.c_save -2023-12-25 21:58:16,854 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.c -2023-12-25 21:58:16,860 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.h_save -2023-12-25 21:58:16,925 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.h -2023-12-25 21:58:16,928 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.c_save -2023-12-25 21:58:17,004 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.c -2023-12-25 21:58:17,013 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_it.c_save -2023-12-25 21:58:17,084 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_it.c -2023-12-25 21:58:17,087 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_it.h_save -2023-12-25 21:58:17,148 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_it.h -2023-12-25 21:58:17,155 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_hal_msp.c_save -2023-12-25 21:58:17,246 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_hal_msp.c -2023-12-25 21:58:17,248 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/system.tmp_save -2023-12-25 21:58:17,346 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/system.tmp -2023-12-25 21:58:17,352 [INFO] CodeEngine:311 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_hal_conf.h_save -2023-12-25 21:58:17,440 [INFO] CodeEngine:335 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_hal_conf.h -2023-12-25 21:58:17,459 [WARN] IPConfigManager:3431 - IP not found : TIM -2023-12-25 21:58:17,460 [WARN] CodeGenerator:3764 - IP not found : null -2023-12-25 21:58:17,464 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/main.h_save -2023-12-25 21:58:17,556 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/main.h -2023-12-25 21:58:17,559 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/main.c_save -2023-12-25 21:58:17,722 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/main.c -2023-12-25 21:58:18,461 [INFO] ProjectBuilder:3064 - Time for Copy HAL[1] : 158mS. -2023-12-25 21:58:18,467 [INFO] ProjectBuilder:4404 - Project Generator version: 4.1.0 -2023-12-25 21:58:18,868 [INFO] ConfigFileManager:1457 - The Die is : DIE410 -2023-12-25 21:58:20,525 [INFO] ProjectBuilder:4626 - Time for Generating toolchain IDE Files: 2059mS. -2023-12-25 21:58:20,526 [INFO] ProjectBuilder:2935 - Time for Copy CMSIS : 1mS. -2023-12-25 21:58:20,529 [INFO] ProjectBuilder:2935 - Time for Copy CMSIS : 0mS. -2023-12-25 21:59:19,200 [INFO] UtilMem:75 - End SaveConfig() Used Memory: 719282688 Bytes (1073741824) -2023-12-25 21:59:19,561 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: SPI -2023-12-25 21:59:19,561 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: NVIC -2023-12-25 21:59:19,561 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: TIM1_8F1 -2023-12-25 21:59:19,562 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: TIM1_8F1 -2023-12-25 21:59:19,562 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: USB_DEVICE -2023-12-25 21:59:19,562 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: USB -2023-12-25 21:59:19,562 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: SYS -2023-12-25 21:59:19,562 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: GPIO -2023-12-25 21:59:19,562 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: ADC -2023-12-25 21:59:19,562 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: RCC -2023-12-25 21:59:19,563 [INFO] CodeGenerator:799 - code generatio: config db path: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db/ -2023-12-25 21:59:19,900 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/license.tmp_save -2023-12-25 21:59:19,961 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/license.tmp -2023-12-25 21:59:19,984 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/gpio.tmp_save -2023-12-25 21:59:20,062 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/gpio.tmp -2023-12-25 21:59:20,117 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_vars.tmp_save -2023-12-25 21:59:20,201 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_vars.tmp -2023-12-25 21:59:20,203 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_inc.tmp_save -2023-12-25 21:59:20,316 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_inc.tmp -2023-12-25 21:59:20,319 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_HalInit.tmp_save -2023-12-25 21:59:20,427 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_HalInit.tmp -2023-12-25 21:59:20,430 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_Msp.tmp_save -2023-12-25 21:59:20,520 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_Msp.tmp -2023-12-25 21:59:20,783 [INFO] Middleware:1439 - No code input for Bsp Dependency -2023-12-25 21:59:20,793 [INFO] Middleware:1439 - No code input for Bsp Dependency -2023-12-25 21:59:20,800 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.c_save -2023-12-25 21:59:20,885 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.c -2023-12-25 21:59:20,888 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.h_save -2023-12-25 21:59:20,958 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.h -2023-12-25 21:59:20,960 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.h_save -2023-12-25 21:59:21,032 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.h -2023-12-25 21:59:21,036 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.c_save -2023-12-25 21:59:21,110 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.c -2023-12-25 21:59:21,114 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.h_save -2023-12-25 21:59:21,179 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.h -2023-12-25 21:59:21,184 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.c_save -2023-12-25 21:59:21,281 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.c -2023-12-25 21:59:21,286 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.h_save -2023-12-25 21:59:21,355 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.h -2023-12-25 21:59:21,358 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.c_save -2023-12-25 21:59:21,427 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.c -2023-12-25 21:59:21,439 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_it.c_save -2023-12-25 21:59:21,510 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_it.c -2023-12-25 21:59:21,513 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_it.h_save -2023-12-25 21:59:21,573 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_it.h -2023-12-25 21:59:21,579 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_hal_msp.c_save -2023-12-25 21:59:21,671 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_hal_msp.c -2023-12-25 21:59:21,673 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/system.tmp_save -2023-12-25 21:59:21,725 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/system.tmp -2023-12-25 21:59:21,730 [INFO] CodeEngine:311 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_hal_conf.h_save -2023-12-25 21:59:21,791 [INFO] CodeEngine:335 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_hal_conf.h -2023-12-25 21:59:21,806 [WARN] IPConfigManager:3431 - IP not found : TIM -2023-12-25 21:59:21,806 [WARN] CodeGenerator:3764 - IP not found : null -2023-12-25 21:59:21,811 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/main.h_save -2023-12-25 21:59:21,878 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/main.h -2023-12-25 21:59:21,881 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/main.c_save -2023-12-25 21:59:22,026 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/main.c -2023-12-25 21:59:22,833 [INFO] ProjectBuilder:3064 - Time for Copy HAL[1] : 154mS. -2023-12-25 21:59:22,837 [INFO] ProjectBuilder:4404 - Project Generator version: 4.1.0 -2023-12-25 21:59:23,275 [INFO] ConfigFileManager:1457 - The Die is : DIE410 -2023-12-25 21:59:24,946 [INFO] ProjectBuilder:4626 - Time for Generating toolchain IDE Files: 2109mS. -2023-12-25 21:59:24,946 [INFO] ProjectBuilder:2935 - Time for Copy CMSIS : 0mS. -2023-12-25 21:59:24,955 [INFO] ProjectBuilder:2935 - Time for Copy CMSIS : 0mS. -2023-12-25 21:59:25,121 [INFO] NvicIntPanel:101 - NVIC parent = com.st.microxplorer.plugins.ip.nvic.MultiNvicIntPanel[,0,0,0x0,invalid,layout=javax.swing.BoxLayout,alignmentX=0.0,alignmentY=0.0,border=,flags=9,maximumSize=,minimumSize=,preferredSize=] -2023-12-25 21:59:32,071 [INFO] UtilMem:75 - End SaveConfig() Used Memory: 804819112 Bytes (1073741824) -2023-12-25 21:59:33,399 [INFO] UtilMem:75 - End SaveConfig() Used Memory: 824546368 Bytes (1073741824) -2023-12-25 21:59:33,694 [INFO] UtilMem:75 - End SaveConfig() Used Memory: 759901248 Bytes (1073741824) -2023-12-25 21:59:33,895 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: SPI -2023-12-25 21:59:33,896 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: NVIC -2023-12-25 21:59:33,896 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: TIM1_8F1 -2023-12-25 21:59:33,896 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: TIM1_8F1 -2023-12-25 21:59:33,896 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: USB_DEVICE -2023-12-25 21:59:33,896 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: USB -2023-12-25 21:59:33,896 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: SYS -2023-12-25 21:59:33,896 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: GPIO -2023-12-25 21:59:33,896 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: ADC -2023-12-25 21:59:33,896 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: RCC -2023-12-25 21:59:33,897 [INFO] CodeGenerator:799 - code generatio: config db path: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db/ -2023-12-25 21:59:34,074 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/license.tmp_save -2023-12-25 21:59:34,135 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/license.tmp -2023-12-25 21:59:34,155 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/gpio.tmp_save -2023-12-25 21:59:34,255 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/gpio.tmp -2023-12-25 21:59:34,291 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_vars.tmp_save -2023-12-25 21:59:34,366 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_vars.tmp -2023-12-25 21:59:34,368 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_inc.tmp_save -2023-12-25 21:59:34,444 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_inc.tmp -2023-12-25 21:59:34,446 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_HalInit.tmp_save -2023-12-25 21:59:34,512 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_HalInit.tmp -2023-12-25 21:59:34,513 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_Msp.tmp_save -2023-12-25 21:59:34,579 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_Msp.tmp -2023-12-25 21:59:34,747 [INFO] Middleware:1439 - No code input for Bsp Dependency -2023-12-25 21:59:34,751 [INFO] Middleware:1439 - No code input for Bsp Dependency -2023-12-25 21:59:34,756 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.c_save -2023-12-25 21:59:34,829 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.c -2023-12-25 21:59:34,831 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.h_save -2023-12-25 21:59:34,880 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.h -2023-12-25 21:59:34,882 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.h_save -2023-12-25 21:59:34,935 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.h -2023-12-25 21:59:34,937 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.c_save -2023-12-25 21:59:35,002 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.c -2023-12-25 21:59:35,005 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.h_save -2023-12-25 21:59:35,057 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.h -2023-12-25 21:59:35,059 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.c_save -2023-12-25 21:59:35,115 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.c -2023-12-25 21:59:35,117 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.h_save -2023-12-25 21:59:35,167 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.h -2023-12-25 21:59:35,169 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.c_save -2023-12-25 21:59:35,225 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.c -2023-12-25 21:59:35,230 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_it.c_save -2023-12-25 21:59:35,309 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_it.c -2023-12-25 21:59:35,311 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_it.h_save -2023-12-25 21:59:35,366 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_it.h -2023-12-25 21:59:35,372 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_hal_msp.c_save -2023-12-25 21:59:35,451 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_hal_msp.c -2023-12-25 21:59:35,454 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/system.tmp_save -2023-12-25 21:59:35,508 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/system.tmp -2023-12-25 21:59:35,512 [INFO] CodeEngine:311 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_hal_conf.h_save -2023-12-25 21:59:35,578 [INFO] CodeEngine:335 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_hal_conf.h -2023-12-25 21:59:35,588 [WARN] IPConfigManager:3431 - IP not found : TIM -2023-12-25 21:59:35,589 [WARN] CodeGenerator:3764 - IP not found : null -2023-12-25 21:59:35,592 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/main.h_save -2023-12-25 21:59:35,652 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/main.h -2023-12-25 21:59:35,654 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/main.c_save -2023-12-25 21:59:35,750 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/main.c -2023-12-25 21:59:36,297 [INFO] ProjectBuilder:3064 - Time for Copy HAL[1] : 101mS. -2023-12-25 21:59:36,299 [INFO] ProjectBuilder:4404 - Project Generator version: 4.1.0 -2023-12-25 21:59:36,639 [INFO] ConfigFileManager:1457 - The Die is : DIE410 -2023-12-25 21:59:38,205 [INFO] ProjectBuilder:4626 - Time for Generating toolchain IDE Files: 1906mS. -2023-12-25 21:59:38,206 [INFO] ProjectBuilder:2935 - Time for Copy CMSIS : 0mS. -2023-12-25 21:59:38,209 [INFO] ProjectBuilder:2935 - Time for Copy CMSIS : 0mS. -2023-12-25 22:00:56,961 [INFO] MainUpdater:2868 - connection check result : 10 -2023-12-25 22:00:56,961 [INFO] MainUpdater:2868 - connection check result : 10 -2023-12-25 22:00:57,696 [INFO] MicroXplorer:468 - Change Database Path : -2023-12-25 22:00:57,696 [INFO] MicroXplorer:498 - Change Database Version : DB.6.0.92 -2023-12-25 22:00:57,716 [WARN] ThirdParty:871 - waiting for thirdparty lock release [close project] -2023-12-25 22:00:57,717 [INFO] ThirdParty:873 - entering critical section [close project] -2023-12-25 22:00:57,717 [INFO] ThirdParty:883 - exiting critical section [close project] -2023-12-25 22:00:57,718 [INFO] PinOutPanel:1499 - setPackage(No Configuration,No Configuration) -2023-12-25 22:00:57,725 [INFO] UtilMem:75 - Begin LoadConfig() Used Memory: 727295200 Bytes (1073741824) -2023-12-25 22:00:57,725 [INFO] MicroXplorer:468 - Change Database Path : -2023-12-25 22:00:57,725 [INFO] MicroXplorer:498 - Change Database Version : DB.6.0.92 -2023-12-25 22:00:57,725 [INFO] OpenFileManager:308 - Change cursor -2023-12-25 22:00:57,741 [INFO] RulesReader:64 - Compatibility file has been processed (293 Rules) -2023-12-25 22:00:57,745 [INFO] Mcu:1946 - Initializing MCU STM32F103C(8-B)Tx STM32F103C8Tx STM32F103C8T6 -2023-12-25 22:00:58,447 [INFO] Context:659 - Trying to add GPIOservice into a context which must be forbidden -2023-12-25 22:00:58,658 [INFO] RtosManager:555 - Registered RTOS mode: class=CMSIS, group=RTOS, mode=CMSIS_V1, owner=FREERTOS -2023-12-25 22:00:58,658 [INFO] RtosManager:555 - Registered RTOS mode: class=CMSIS, group=RTOS2, mode=CMSIS_V2, owner=FREERTOS -2023-12-25 22:00:58,659 [INFO] RtosManager:555 - Registered RTOS mode: class=RTOS, group=Core, mode=CMSIS_V1, owner=FREERTOS -2023-12-25 22:00:58,659 [INFO] RtosManager:555 - Registered RTOS mode: class=RTOS, group=Core, mode=CMSIS_V2, owner=FREERTOS -2023-12-25 22:00:58,659 [WARN] ModelIntegratedComponent:184 - Missing modes for component STMicroelectronics:FreeRTOS:0.0.1:STMicroelectronics:RTOS:FreeRTOS:Core:::10.2.0: -2023-12-25 22:00:58,671 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:00:58,671 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:00:58,671 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:00:58,671 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:00:58,671 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:00:58,671 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:00:58,671 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:00:58,672 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:00:58,672 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:00:58,672 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:00:58,672 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:00:58,672 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:00:58,672 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:00:58,672 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:00:58,672 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:00:58,672 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:00:58,672 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:00:58,672 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:00:58,672 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:00:58,672 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:00:58,672 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:00:58,672 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:00:58,672 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:00:58,672 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:00:58,673 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:00:58,673 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:00:58,673 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:00:58,673 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:00:58,673 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:00:58,673 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:00:58,673 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:00:58,673 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:00:58,673 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:00:58,691 [INFO] ThirdPartyModel:298 - Start build external matchings -2023-12-25 22:00:58,864 [INFO] ThirdPartyModel:316 - End build external matchings -2023-12-25 22:00:58,870 [INFO] ImportTextPane:194 - (OptionalMessage_ERROR) IP (RCC) : Invalid parameter (FamilyName) -2023-12-25 22:00:58,870 [INFO] ImportTextPane:194 - (OptionalMessage_ERROR) IP (RCC) : Parameter (MCOFreq_Value) has invalid value (72000000) -2023-12-25 22:00:59,017 [INFO] UtilMem:75 - End LoadConfig() Used Memory: 641139208 Bytes (1073741824) -2023-12-25 22:00:59,063 [WARN] ThirdParty:833 - waiting for thirdparty lock release [change project] -2023-12-25 22:00:59,063 [INFO] ThirdParty:835 - entering critical section [change project] -2023-12-25 22:00:59,063 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-ISPU 1.1.0 -2023-12-25 22:00:59,063 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USBPD 4.1 -2023-12-25 22:00:59,064 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-GNSS1 6.0.0 -2023-12-25 22:00:59,064 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_HOST 2.0.0 -2023-12-25 22:00:59,064 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-F4 1.1.0 -2023-12-25 22:00:59,064 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics LIBJPEG 8.0.0 -2023-12-25 22:00:59,064 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-SMBUS 2.1.0 -2023-12-25 22:00:59,064 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_DEVICE 3.0.0 -2023-12-25 22:00:59,064 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-WB 2.0.0 -2023-12-25 22:00:59,064 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :wolfSSL I-CUBE-wolfSSL 5.6.6 -2023-12-25 22:00:59,064 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-TOUCHGFX 4.23.0 -2023-12-25 22:00:59,064 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-F7 1.1.0 -2023-12-25 22:00:59,064 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-L5 2.0.0 -2023-12-25 22:00:59,064 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_DEVICE 2.0.0 -2023-12-25 22:00:59,064 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-EEPRMA1 4.2.0 -2023-12-25 22:00:59,064 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :ITTIA_DB I-CUBE-ITTIADB 8.8.0 -2023-12-25 22:00:59,064 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-SNS-MOTENV1 4.3.2 -2023-12-25 22:00:59,064 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-ALGOBUILD 1.3.0 -2023-12-25 22:00:59,064 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FreeRTOS 0.0.1 -2023-12-25 22:00:59,064 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-G0 1.1.0 -2023-12-25 22:00:59,065 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-BLEMGR 2.0.0 -2023-12-25 22:00:59,065 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-NFC4 3.0.0 -2023-12-25 22:00:59,065 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-SUBG2 5.0.0 -2023-12-25 22:00:59,065 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics STM32_WPAN 1.0.0 -2023-12-25 22:00:59,065 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics lwIP 2.0.3 -2023-12-25 22:00:59,065 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-SNS-FLIGHT1 5.0.2 -2023-12-25 22:00:59,065 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_HOST 1.0.0 -2023-12-25 22:00:59,065 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-TOF1 3.3.1 -2023-12-25 22:00:59,065 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-G4 2.0.0 -2023-12-25 22:00:59,065 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics PDM2PCM 3.1.0 -2023-12-25 22:00:59,065 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :Infineon AIROC-Wi-Fi-Bluetooth-STM32 1.5.1 -2023-12-25 22:00:59,065 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-BLEMGR 3.0.0 -2023-12-25 22:00:59,065 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics PDM2PCM 3.3.0 -2023-12-25 22:00:59,065 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-DISPLAY 3.0.0 -2023-12-25 22:00:59,065 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-SNS-MOTENVWB1 1.3.1 -2023-12-25 22:00:59,065 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-BLE1 7.0.0 -2023-12-25 22:00:59,065 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-ATR-SIGFOX1 3.2.0 -2023-12-25 22:00:59,066 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-ISPU 2.0.0 -2023-12-25 22:00:59,066 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics HAL Drivers 0.0.0 -2023-12-25 22:00:59,066 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics MBEDTLS 2.16.2 -2023-12-25 22:00:59,066 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :emotas I-CUBE-CANOPEN 1.3.0 -2023-12-25 22:00:59,066 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-FREERTOS 1.1.0 -2023-12-25 22:00:59,066 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-NFC7 1.0.1 -2023-12-25 22:00:59,066 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics MBEDTLS 2.14.1 -2023-12-25 22:00:59,066 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-TOUCHGFX 4.22.1 -2023-12-25 22:00:59,066 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-EEPRMA1 4.1.0 -2023-12-25 22:00:59,066 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :portGmbH I-Cube-SoM-uGOAL 1.1.0 -2023-12-25 22:00:59,066 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-ALS 1.0.1 -2023-12-25 22:00:59,066 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics ThreadX 1.0.0 -2023-12-25 22:00:59,066 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-WL 2.0.0 -2023-12-25 22:00:59,066 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :SEGGER I-CUBE-embOS 1.3.1 -2023-12-25 22:00:59,066 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_DEVICE 1.0.0 -2023-12-25 22:00:59,066 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AI 8.1.0 -2023-12-25 22:00:59,066 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-L4 2.0.0 -2023-12-25 22:00:59,067 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics ThreadX 0.0.2 -2023-12-25 22:00:59,067 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :WES I-CUBE-Cesium 1.3.0 -2023-12-25 22:00:59,067 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-ATR-ASTRA1 2.0.0 -2023-12-25 22:00:59,067 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics lwIP 2.1.2 -2023-12-25 22:00:59,067 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-SFXS2LP1 4.0.0 -2023-12-25 22:00:59,067 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-BLE2 3.3.0 -2023-12-25 22:00:59,067 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-TOF1 3.4.0 -2023-12-25 22:00:59,067 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-H7 3.2.0 -2023-12-25 22:00:59,067 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics PDM2PCM 3.2.0 -2023-12-25 22:00:59,067 [INFO] ThirdParty:841 - exiting critical section [change project] -2023-12-25 22:00:59,199 [INFO] PinOutPanel:1499 - setPackage(No Configuration,No Configuration) -2023-12-25 22:00:59,199 [INFO] PinOutPanel:1499 - setPackage(STM32F103C8Tx,LQFP48) -2023-12-25 22:00:59,630 [INFO] UtilMem:75 - Before build in PCC Used Memory: 669455600 Bytes (1073741824) -2023-12-25 22:00:59,924 [INFO] UtilMem:75 - After build in PCC Used Memory: 711924976 Bytes (1073741824) -2023-12-25 22:00:59,931 [INFO] ApiDbMcu:507 - Load IP Config File for USB_DEVICE -2023-12-25 22:00:59,952 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:00:59,952 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:00:59,952 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:00:59,952 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:00:59,953 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:00:59,953 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:00:59,953 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:00:59,953 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:00:59,953 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:00:59,954 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:00:59,954 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:00:59,954 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:00:59,954 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:00:59,955 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:00:59,955 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:00:59,955 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:00:59,956 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:00:59,956 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:00:59,956 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:00:59,956 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:00:59,956 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:00:59,957 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:00:59,957 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:00:59,957 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:00:59,958 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:00:59,958 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:00:59,958 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:01:00,000 [INFO] CADModel:165 - CPN selected for project levelSTM32F103C8T6 -2023-12-25 22:01:00,001 [INFO] CADModel:114 - Register for checkConnection events -2023-12-25 22:01:00,043 [INFO] OpenFileManager:328 - Restore cursor -2023-12-25 22:01:24,168 [INFO] MainUpdater:2868 - connection check result : 10 -2023-12-25 22:01:24,169 [INFO] MainUpdater:2868 - connection check result : 10 -2023-12-25 22:01:24,428 [INFO] MicroXplorer:468 - Change Database Path : -2023-12-25 22:01:24,428 [INFO] MicroXplorer:498 - Change Database Version : DB.6.0.92 -2023-12-25 22:01:24,493 [WARN] ThirdParty:871 - waiting for thirdparty lock release [close project] -2023-12-25 22:01:24,493 [INFO] ThirdParty:873 - entering critical section [close project] -2023-12-25 22:01:24,494 [INFO] ThirdParty:883 - exiting critical section [close project] -2023-12-25 22:01:24,497 [INFO] PinOutPanel:1499 - setPackage(No Configuration,No Configuration) -2023-12-25 22:01:24,501 [INFO] UtilMem:75 - Begin LoadConfig() Used Memory: 737346232 Bytes (1073741824) -2023-12-25 22:01:24,502 [INFO] MicroXplorer:468 - Change Database Path : -2023-12-25 22:01:24,502 [INFO] MicroXplorer:498 - Change Database Version : DB.6.0.92 -2023-12-25 22:01:24,503 [INFO] OpenFileManager:308 - Change cursor -2023-12-25 22:01:24,513 [INFO] Mcu:1946 - Initializing MCU STM32F103C(8-B)Tx STM32F103C8Tx STM32F103C8T6 -2023-12-25 22:01:25,210 [INFO] Context:659 - Trying to add GPIOservice into a context which must be forbidden -2023-12-25 22:01:25,396 [INFO] RtosManager:555 - Registered RTOS mode: class=CMSIS, group=RTOS, mode=CMSIS_V1, owner=FREERTOS -2023-12-25 22:01:25,396 [INFO] RtosManager:555 - Registered RTOS mode: class=CMSIS, group=RTOS2, mode=CMSIS_V2, owner=FREERTOS -2023-12-25 22:01:25,396 [INFO] RtosManager:555 - Registered RTOS mode: class=RTOS, group=Core, mode=CMSIS_V1, owner=FREERTOS -2023-12-25 22:01:25,396 [INFO] RtosManager:555 - Registered RTOS mode: class=RTOS, group=Core, mode=CMSIS_V2, owner=FREERTOS -2023-12-25 22:01:25,396 [WARN] ModelIntegratedComponent:184 - Missing modes for component STMicroelectronics:FreeRTOS:0.0.1:STMicroelectronics:RTOS:FreeRTOS:Core:::10.2.0: -2023-12-25 22:01:25,411 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:01:25,411 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:01:25,411 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:01:25,411 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:01:25,411 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:01:25,411 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:01:25,411 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:01:25,411 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:01:25,412 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:01:25,412 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:01:25,412 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:01:25,412 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:01:25,412 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:01:25,412 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:01:25,412 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:01:25,412 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:01:25,412 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:01:25,412 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:01:25,412 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:01:25,412 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:01:25,412 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:01:25,412 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:01:25,412 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:01:25,412 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:01:25,412 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:01:25,412 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:01:25,413 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:01:25,413 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:01:25,413 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:01:25,413 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:01:25,413 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:01:25,413 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:01:25,413 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:01:25,432 [INFO] ThirdPartyModel:298 - Start build external matchings -2023-12-25 22:01:25,730 [INFO] ThirdPartyModel:316 - End build external matchings -2023-12-25 22:01:25,735 [INFO] ImportTextPane:194 - (OptionalMessage_ERROR) IP (RCC) : Parameter (ADCFreqValue) has invalid value (36000000) -2023-12-25 22:01:25,736 [INFO] ImportTextPane:194 - (OptionalMessage_ERROR) IP (RCC) : Invalid parameter (FamilyName) -2023-12-25 22:01:25,736 [INFO] ImportTextPane:194 - (OptionalMessage_ERROR) IP (RCC) : Parameter (MCOFreq_Value) has invalid value (72000000) -2023-12-25 22:01:25,944 [INFO] UtilMem:75 - End LoadConfig() Used Memory: 849407520 Bytes (1073741824) -2023-12-25 22:01:26,003 [WARN] ThirdParty:833 - waiting for thirdparty lock release [change project] -2023-12-25 22:01:26,003 [INFO] ThirdParty:835 - entering critical section [change project] -2023-12-25 22:01:26,003 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-ISPU 1.1.0 -2023-12-25 22:01:26,003 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USBPD 4.1 -2023-12-25 22:01:26,003 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-GNSS1 6.0.0 -2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_HOST 2.0.0 -2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-F4 1.1.0 -2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics LIBJPEG 8.0.0 -2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-SMBUS 2.1.0 -2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_DEVICE 3.0.0 -2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-WB 2.0.0 -2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :wolfSSL I-CUBE-wolfSSL 5.6.6 -2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-TOUCHGFX 4.23.0 -2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-F7 1.1.0 -2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-L5 2.0.0 -2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_DEVICE 2.0.0 -2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-EEPRMA1 4.2.0 -2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :ITTIA_DB I-CUBE-ITTIADB 8.8.0 -2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-SNS-MOTENV1 4.3.2 -2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-ALGOBUILD 1.3.0 -2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FreeRTOS 0.0.1 -2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-G0 1.1.0 -2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-BLEMGR 2.0.0 -2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-NFC4 3.0.0 -2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-SUBG2 5.0.0 -2023-12-25 22:01:26,005 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics STM32_WPAN 1.0.0 -2023-12-25 22:01:26,005 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics lwIP 2.0.3 -2023-12-25 22:01:26,005 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-SNS-FLIGHT1 5.0.2 -2023-12-25 22:01:26,005 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_HOST 1.0.0 -2023-12-25 22:01:26,005 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-TOF1 3.3.1 -2023-12-25 22:01:26,005 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-G4 2.0.0 -2023-12-25 22:01:26,005 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics PDM2PCM 3.1.0 -2023-12-25 22:01:26,005 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :Infineon AIROC-Wi-Fi-Bluetooth-STM32 1.5.1 -2023-12-25 22:01:26,005 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-BLEMGR 3.0.0 -2023-12-25 22:01:26,005 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics PDM2PCM 3.3.0 -2023-12-25 22:01:26,005 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-DISPLAY 3.0.0 -2023-12-25 22:01:26,005 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-SNS-MOTENVWB1 1.3.1 -2023-12-25 22:01:26,005 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-BLE1 7.0.0 -2023-12-25 22:01:26,005 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-ATR-SIGFOX1 3.2.0 -2023-12-25 22:01:26,005 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-ISPU 2.0.0 -2023-12-25 22:01:26,005 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics HAL Drivers 0.0.0 -2023-12-25 22:01:26,005 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics MBEDTLS 2.16.2 -2023-12-25 22:01:26,005 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :emotas I-CUBE-CANOPEN 1.3.0 -2023-12-25 22:01:26,006 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-FREERTOS 1.1.0 -2023-12-25 22:01:26,006 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-NFC7 1.0.1 -2023-12-25 22:01:26,006 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics MBEDTLS 2.14.1 -2023-12-25 22:01:26,006 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-TOUCHGFX 4.22.1 -2023-12-25 22:01:26,006 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-EEPRMA1 4.1.0 -2023-12-25 22:01:26,006 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :portGmbH I-Cube-SoM-uGOAL 1.1.0 -2023-12-25 22:01:26,006 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-ALS 1.0.1 -2023-12-25 22:01:26,006 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics ThreadX 1.0.0 -2023-12-25 22:01:26,006 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-WL 2.0.0 -2023-12-25 22:01:26,006 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :SEGGER I-CUBE-embOS 1.3.1 -2023-12-25 22:01:26,006 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_DEVICE 1.0.0 -2023-12-25 22:01:26,006 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AI 8.1.0 -2023-12-25 22:01:26,006 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-L4 2.0.0 -2023-12-25 22:01:26,006 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics ThreadX 0.0.2 -2023-12-25 22:01:26,007 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :WES I-CUBE-Cesium 1.3.0 -2023-12-25 22:01:26,007 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-ATR-ASTRA1 2.0.0 -2023-12-25 22:01:26,007 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics lwIP 2.1.2 -2023-12-25 22:01:26,007 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-SFXS2LP1 4.0.0 -2023-12-25 22:01:26,007 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-BLE2 3.3.0 -2023-12-25 22:01:26,007 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-TOF1 3.4.0 -2023-12-25 22:01:26,007 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-H7 3.2.0 -2023-12-25 22:01:26,007 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics PDM2PCM 3.2.0 -2023-12-25 22:01:26,007 [INFO] ThirdParty:841 - exiting critical section [change project] -2023-12-25 22:01:26,170 [INFO] PinOutPanel:1499 - setPackage(No Configuration,No Configuration) -2023-12-25 22:01:26,171 [INFO] PinOutPanel:1499 - setPackage(STM32F103C8Tx,LQFP48) -2023-12-25 22:01:26,415 [INFO] UtilMem:75 - Before build in PCC Used Memory: 651797328 Bytes (1073741824) -2023-12-25 22:01:26,663 [INFO] UtilMem:75 - After build in PCC Used Memory: 694262608 Bytes (1073741824) -2023-12-25 22:01:26,671 [INFO] ApiDbMcu:507 - Load IP Config File for USB_DEVICE -2023-12-25 22:01:26,692 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:01:26,693 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:01:26,693 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:01:26,693 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:01:26,693 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:01:26,693 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:01:26,693 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:01:26,693 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:01:26,694 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:01:26,694 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:01:26,694 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:01:26,694 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:01:26,694 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:01:26,695 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:01:26,695 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:01:26,695 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:01:26,695 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:01:26,696 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:01:26,696 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:01:26,696 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:01:26,696 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:01:26,696 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:01:26,696 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:01:26,697 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:01:26,697 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:01:26,697 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:01:26,698 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:01:26,741 [INFO] CADModel:165 - CPN selected for project levelSTM32F103C8T6 -2023-12-25 22:01:26,741 [INFO] CADModel:114 - Register for checkConnection events -2023-12-25 22:01:26,777 [INFO] OpenFileManager:328 - Restore cursor -2023-12-25 22:04:12,617 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] -2023-12-25 22:09:23,769 [INFO] Activator:176 - - - -2023-12-25 22:09:23,771 [INFO] Activator:177 - !SESSION log4j initialized -2023-12-25 22:09:27,240 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] -2023-12-25 22:09:27,795 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] -2023-12-25 22:09:29,832 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] -2023-12-25 22:09:30,596 [INFO] ApplicationProperties:184 - Using Application install path: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412 -2023-12-25 22:09:30,615 [INFO] DbMcusXml:78 - Set database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//mcu/ -2023-12-25 22:09:30,616 [INFO] ApiDb:274 - Set plugin database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/boardmanager/ -2023-12-25 22:09:30,616 [WARN] ApiDb:259 - Overriding images path with different value: => /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/mcufinder/images/ -2023-12-25 22:09:30,627 [INFO] ApiDb:250 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ -2023-12-25 22:09:30,628 [INFO] DbMcusAds:125 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ -2023-12-25 22:09:30,631 [INFO] CrossReferenceDbSqlite:203 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/cs/ -2023-12-25 22:09:30,930 [INFO] RulesReader:64 - Compatibility file has been processed (293 Rules) -2023-12-25 22:09:31,060 [INFO] DbMcusXml:78 - Set database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//mcu/ -2023-12-25 22:09:31,060 [INFO] ApiDb:274 - Set plugin database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/boardmanager/ -2023-12-25 22:09:31,060 [INFO] ApiDb:261 - Set plugin images path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/mcufinder/images/ -2023-12-25 22:09:31,061 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder -2023-12-25 22:09:31,061 [INFO] ApiDb:250 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ -2023-12-25 22:09:31,061 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder -2023-12-25 22:09:31,061 [INFO] DbMcusAds:125 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ -2023-12-25 22:09:31,061 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder -2023-12-25 22:09:31,061 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder -2023-12-25 22:09:31,061 [INFO] CrossReferenceDbSqlite:203 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/cs/ -2023-12-25 22:09:31,146 [INFO] MainPanel:262 - HeapMemory: 268435456 -2023-12-25 22:09:31,277 [INFO] DbMcusXml:78 - Set database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//mcu/ -2023-12-25 22:09:31,278 [INFO] ApiDb:274 - Set plugin database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/boardmanager/ -2023-12-25 22:09:31,278 [INFO] ApiDb:261 - Set plugin images path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/mcufinder/images/ -2023-12-25 22:09:31,282 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder -2023-12-25 22:09:31,282 [INFO] ApiDb:250 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ -2023-12-25 22:09:31,283 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder -2023-12-25 22:09:31,283 [INFO] DbMcusAds:125 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ -2023-12-25 22:09:31,283 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder -2023-12-25 22:09:31,283 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder -2023-12-25 22:09:31,283 [INFO] CrossReferenceDbSqlite:203 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/cs/ -2023-12-25 22:09:31,365 [INFO] ApplicationProperties:184 - Using Application install path: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412 -2023-12-25 22:09:31,370 [INFO] PluginManage:196 - Search for loadable plugins [exclusion list=, ] -2023-12-25 22:09:31,372 [INFO] PluginManage:310 - Check plugin analytics -2023-12-25 22:09:31,687 [INFO] AnalyticsPlugin:253 - Accepted Software Licenses: -2023-12-25 22:09:31,688 [INFO] AnalyticsPlugin:255 - Accepted CMSIS Pack Licenses: -2023-12-25 22:09:31,688 [INFO] AnalyticsPlugin:257 - Accepted Firmware Licenses: -2023-12-25 22:09:31,694 [INFO] PluginManage:359 - Loaded plugin analytics (category:tool,tabindex:-1) -2023-12-25 22:09:31,695 [INFO] PluginManage:310 - Check plugin cadmodel -2023-12-25 22:09:32,597 [INFO] CADModel:105 - Init CAD model plugin -2023-12-25 22:09:32,597 [INFO] PluginManage:359 - Loaded plugin cadmodel (category:power,tabindex:5) -2023-12-25 22:09:32,598 [INFO] PluginManage:310 - Check plugin clock -2023-12-25 22:09:32,614 [INFO] PluginManage:359 - Loaded plugin clock (category:base,tabindex:2) -2023-12-25 22:09:32,614 [INFO] PluginManage:310 - Check plugin ddr -2023-12-25 22:09:32,617 [INFO] PluginManage:359 - Loaded plugin ddr (category:tool,tabindex:6) -2023-12-25 22:09:32,617 [INFO] PluginManage:310 - Check plugin filemanager -2023-12-25 22:09:32,801 [INFO] PluginManage:359 - Loaded plugin filemanager (category:base,tabindex:10) -2023-12-25 22:09:32,802 [INFO] PluginManage:310 - Check plugin ipmanager -2023-12-25 22:09:32,811 [INFO] PluginManage:359 - Loaded plugin ipmanager (category:base,tabindex:5) -2023-12-25 22:09:32,812 [INFO] PluginManage:310 - Check plugin lpbam -2023-12-25 22:09:32,824 [INFO] PluginManage:359 - Loaded plugin lpbam (category:base,tabindex:0) -2023-12-25 22:09:32,824 [INFO] PluginManage:310 - Check plugin memorymap -2023-12-25 22:09:32,842 [INFO] PluginManage:359 - Loaded plugin memorymap (category:base,tabindex:4) -2023-12-25 22:09:32,842 [INFO] PluginManage:310 - Check plugin pinoutandconfiguration -2023-12-25 22:09:32,851 [INFO] PluginManage:359 - Loaded plugin pinoutandconfiguration (category:base,tabindex:1) -2023-12-25 22:09:32,851 [INFO] PluginManage:310 - Check plugin pinoutconfig -2023-12-25 22:09:32,960 [WARN] SupportedApi:132 - Cannot load RTOS API schema: s4s-elt-must-match.1: The content of 'definitions' must match (annotation?, (simpleType | complexType)?, (unique | key | keyref)*)). A problem was found starting at: attribute. -2023-12-25 22:09:33,170 [INFO] PluginManage:359 - Loaded plugin pinoutconfig (category:base,tabindex:0) -2023-12-25 22:09:33,171 [INFO] PluginManage:310 - Check plugin power -2023-12-25 22:09:33,184 [INFO] PluginManage:359 - Loaded plugin power (category:power,tabindex:4) -2023-12-25 22:09:33,185 [INFO] PluginManage:310 - Check plugin projectmanager -2023-12-25 22:09:33,202 [INFO] PluginManage:359 - Loaded plugin projectmanager (category:projectmanager,tabindex:3) -2023-12-25 22:09:33,202 [INFO] PluginManage:310 - Check plugin thirdparty -2023-12-25 22:09:33,365 [INFO] PluginManage:359 - Loaded plugin thirdparty (category:base,tabindex:-1) -2023-12-25 22:09:33,365 [WARN] IntegrityCheckThread:84 - waiting for thirdparty lock release [integrity check] -2023-12-25 22:09:33,365 [INFO] IntegrityCheckThread:86 - entering critical section [integrity check] -2023-12-25 22:09:33,365 [INFO] PluginManage:310 - Check plugin tools -2023-12-25 22:09:33,366 [INFO] ThirdPartyUpdaterWithRetryManager:70 - Updater plugin not ready yet. [1/15] -2023-12-25 22:09:33,368 [INFO] PluginManage:359 - Loaded plugin tools (category:base,tabindex:7) -2023-12-25 22:09:33,368 [INFO] PluginManage:310 - Check plugin tutovideos -2023-12-25 22:09:33,683 [INFO] PluginManage:359 - Loaded plugin tutovideos (category:base,tabindex:-1) -2023-12-25 22:09:33,684 [INFO] PluginManage:310 - Check plugin updater -2023-12-25 22:09:33,713 [INFO] PluginManage:359 - Loaded plugin updater (category:base,tabindex:12) -2023-12-25 22:09:33,713 [INFO] PluginManage:310 - Check plugin userauth -2023-12-25 22:09:33,724 [INFO] UserAuth:113 - Init User Auth plugin -2023-12-25 22:09:33,725 [INFO] PluginManage:359 - Loaded plugin userauth (category:base,tabindex:14) -2023-12-25 22:09:33,727 [INFO] PluginManage:283 - PluginManage : Loaded plugins [17] -2023-12-25 22:09:34,059 [INFO] PinOutPanel:1499 - setPackage(No Configuration,No Configuration) -2023-12-25 22:09:34,251 [INFO] CADModel:165 - CPN selected for project level -2023-12-25 22:09:34,251 [INFO] CADModel:114 - Register for checkConnection events -2023-12-25 22:09:34,266 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,268 [INFO] PluginManager:220 - loadIPPluginJar : add mdma -2023-12-25 22:09:34,280 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,280 [INFO] PluginManager:220 - loadIPPluginJar : add freertos -2023-12-25 22:09:34,287 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,287 [INFO] PluginManager:220 - loadIPPluginJar : add gic -2023-12-25 22:09:34,302 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,303 [INFO] PluginManager:220 - loadIPPluginJar : add adc -2023-12-25 22:09:34,308 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,308 [INFO] PluginManager:220 - loadIPPluginJar : add gtzc -2023-12-25 22:09:34,310 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,311 [INFO] PluginManager:220 - loadIPPluginJar : add quadspi -2023-12-25 22:09:34,316 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,317 [INFO] PluginManager:220 - loadIPPluginJar : add aes -2023-12-25 22:09:34,321 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,321 [INFO] PluginManager:220 - loadIPPluginJar : add pdm2pcm -2023-12-25 22:09:34,325 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,326 [INFO] PluginManager:220 - loadIPPluginJar : add hash -2023-12-25 22:09:34,330 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,330 [INFO] PluginManager:220 - loadIPPluginJar : add tim -2023-12-25 22:09:34,332 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,332 [INFO] PluginManager:220 - loadIPPluginJar : add tsc -2023-12-25 22:09:34,335 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,335 [INFO] PluginManager:220 - loadIPPluginJar : add ts -2023-12-25 22:09:34,341 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,341 [INFO] PluginManager:220 - loadIPPluginJar : add can -2023-12-25 22:09:34,347 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,348 [INFO] PluginManager:220 - loadIPPluginJar : add dma3 -2023-12-25 22:09:34,352 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,352 [INFO] PluginManager:220 - loadIPPluginJar : add dfsdm -2023-12-25 22:09:34,358 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,359 [INFO] PluginManager:220 - loadIPPluginJar : add spi -2023-12-25 22:09:34,366 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,367 [INFO] PluginManager:220 - loadIPPluginJar : add gfxmmu -2023-12-25 22:09:34,369 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,369 [INFO] PluginManager:220 - loadIPPluginJar : add genericplugin -2023-12-25 22:09:34,377 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,377 [INFO] PluginManager:220 - loadIPPluginJar : add cryp -2023-12-25 22:09:34,413 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,414 [INFO] PluginManager:220 - loadIPPluginJar : add gpio -2023-12-25 22:09:34,419 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,419 [INFO] PluginManager:220 - loadIPPluginJar : add comp -2023-12-25 22:09:34,427 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,430 [INFO] PluginManager:220 - loadIPPluginJar : add tracer_emb -2023-12-25 22:09:34,436 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,437 [INFO] PluginManager:220 - loadIPPluginJar : add openamp -2023-12-25 22:09:34,454 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,454 [INFO] PluginManager:220 - loadIPPluginJar : add stm32_wpan -2023-12-25 22:09:34,468 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,473 [INFO] PluginManager:220 - loadIPPluginJar : add plateformsettings -2023-12-25 22:09:34,479 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,479 [INFO] PluginManager:220 - loadIPPluginJar : add ipddr -2023-12-25 22:09:34,482 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,483 [INFO] PluginManager:220 - loadIPPluginJar : add usart -2023-12-25 22:09:34,484 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,484 [INFO] PluginManager:220 - loadIPPluginJar : add ltdc -2023-12-25 22:09:34,488 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,489 [INFO] PluginManager:220 - loadIPPluginJar : add nvic -2023-12-25 22:09:34,490 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,490 [INFO] PluginManager:220 - loadIPPluginJar : add fatfs -2023-12-25 22:09:34,500 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,500 [INFO] PluginManager:220 - loadIPPluginJar : add linkedlist -2023-12-25 22:09:34,505 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,505 [INFO] PluginManager:220 - loadIPPluginJar : add dma -2023-12-25 22:09:34,510 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,510 [INFO] PluginManager:220 - loadIPPluginJar : add fmc -2023-12-25 22:09:34,512 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,513 [INFO] PluginManager:220 - loadIPPluginJar : add i2s -2023-12-25 22:09:34,515 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,515 [INFO] PluginManager:220 - loadIPPluginJar : add ucpd -2023-12-25 22:09:34,517 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,517 [INFO] PluginManager:220 - loadIPPluginJar : add lorawan -2023-12-25 22:09:34,520 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,520 [INFO] PluginManager:220 - loadIPPluginJar : add opamp -2023-12-25 22:09:34,523 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,523 [INFO] PluginManager:220 - loadIPPluginJar : add i3c -2023-12-25 22:09:34,528 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,528 [INFO] PluginManager:220 - loadIPPluginJar : add touchsensing -2023-12-25 22:09:34,530 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,530 [INFO] PluginManager:220 - loadIPPluginJar : add i2c -2023-12-25 22:09:34,535 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,535 [INFO] PluginManager:220 - loadIPPluginJar : add resmgrutility -2023-12-25 22:09:34,537 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,538 [INFO] PluginManager:220 - loadIPPluginJar : add sai -2023-12-25 22:09:34,540 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:09:34,540 [INFO] PluginManager:220 - loadIPPluginJar : add usbx -2023-12-25 22:09:34,641 [INFO] CADModel:165 - CPN selected for project level -2023-12-25 22:09:34,641 [INFO] CADModel:114 - Register for checkConnection events -2023-12-25 22:09:34,641 [FATAL] Updater:308 - Updater called before beeing initialized -2023-12-25 22:09:34,642 [ERROR] CADModel:125 - Updater not yet initialized, retry later -2023-12-25 22:09:34,925 [INFO] CADModel:165 - CPN selected for project level -2023-12-25 22:09:34,925 [INFO] CADModel:114 - Register for checkConnection events -2023-12-25 22:09:34,925 [FATAL] Updater:308 - Updater called before beeing initialized -2023-12-25 22:09:34,925 [ERROR] CADModel:125 - Updater not yet initialized, retry later -2023-12-25 22:09:34,929 [FATAL] Updater:308 - Updater called before beeing initialized -2023-12-25 22:09:35,100 [FATAL] Updater:308 - Updater called before beeing initialized -2023-12-25 22:09:35,112 [INFO] DbMcusAds:53 - JSON generation date=Wed Nov 29 02:52:27 PST 2023 (1701255147349) -2023-12-25 22:09:35,113 [FATAL] Updater:308 - Updater called before beeing initialized -2023-12-25 22:09:35,247 [WARN] DetailPanel:346 - Failed to get advertising image, set to default -2023-12-25 22:09:35,407 [FATAL] Updater:308 - Updater called before beeing initialized -2023-12-25 22:09:35,410 [FATAL] Updater:308 - Updater called before beeing initialized -2023-12-25 22:09:35,410 [FATAL] Updater:308 - Updater called before beeing initialized -2023-12-25 22:09:35,410 [WARN] DetailPanel:346 - Failed to get advertising image, set to default -2023-12-25 22:09:35,411 [FATAL] Updater:308 - Updater called before beeing initialized -2023-12-25 22:09:35,445 [ERROR] Updater:1120 - MainUpdater not yet initialized. External WinMGr cannot be set. -2023-12-25 22:09:35,484 [INFO] Updater:1056 - Updater Version found : 6.9.2 -2023-12-25 22:09:35,506 [INFO] ApplicationProperties:184 - Using Application install path: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412 -2023-12-25 22:09:35,698 [INFO] MainUpdater:2868 - connection check result : 10 -2023-12-25 22:09:35,698 [INFO] MainUpdater:285 - Updater Check For Update Now. -2023-12-25 22:09:35,698 [INFO] MicroXplorer:498 - Change Database Version : DB.6.0.92 -2023-12-25 22:09:35,703 [INFO] McuFinderGlobals:63 - Set McuFinder mode to 2 (CubeIDE integrated) -2023-12-25 22:09:35,704 [INFO] UserAuth:179 - activating auth plugin -2023-12-25 22:09:35,710 [INFO] UserAuth:393 - Internet connection configuration mode: 1 -2023-12-25 22:09:35,732 [INFO] JxBrowserEngine:151 - Initiate JxBrowser Engine with user profile folder -2023-12-25 22:09:35,948 [INFO] CheckServerUpdateThread:120 - End of CheckServer Thread -2023-12-25 22:09:36,759 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-SMBUS.2.1.0 -2023-12-25 22:09:36,769 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-TOUCHGFX.4.23.0 -2023-12-25 22:09:36,858 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-F7.1.1.0 -2023-12-25 22:09:36,877 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-SNS-MOTENV1.4.3.2 -2023-12-25 22:09:36,888 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-SNS-FLIGHT1.5.0.2 -2023-12-25 22:09:36,904 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-DISPLAY.3.0.0 -2023-12-25 22:09:36,929 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-BLE1.7.0.0 -2023-12-25 22:09:36,945 [WARN] PackLoader:240 - Cannot read IP mode file for emotas.I-CUBE-CANOPEN.1.3.0 -2023-12-25 22:09:36,951 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-TOUCHGFX.4.22.1 -2023-12-25 22:09:36,996 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null -2023-12-25 22:09:36,998 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null -2023-12-25 22:09:36,999 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null -2023-12-25 22:09:37,000 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null -2023-12-25 22:09:37,000 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null -2023-12-25 22:09:37,016 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-WL.2.0.0 -2023-12-25 22:09:37,041 [WARN] PackLoader:240 - Cannot read IP mode file for WES.I-CUBE-Cesium.1.3.0 -2023-12-25 22:09:37,052 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-BLE2.3.3.0 -2023-12-25 22:09:37,067 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-ALGOBUILD.1.3.0 -2023-12-25 22:09:37,116 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-G0.1.1.0 -2023-12-25 22:09:37,131 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-NFC4.3.0.0 -2023-12-25 22:09:37,154 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-BLEMGR.3.0.0 -2023-12-25 22:09:37,166 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-ATR-SIGFOX1.3.2.0 -2023-12-25 22:09:37,266 [WARN] PackLoader:240 - Cannot read IP mode file for SEGGER.I-CUBE-embOS.1.3.1 -2023-12-25 22:09:37,445 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-GNSS1.6.0.0 -2023-12-25 22:09:37,566 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-F4.1.1.0 -2023-12-25 22:09:37,576 [WARN] PackLoader:240 - Cannot read IP mode file for wolfSSL.I-CUBE-wolfSSL.5.6.6 -2023-12-25 22:09:37,610 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-L5.2.0.0 -2023-12-25 22:09:37,628 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-EEPRMA1.4.2.0 -2023-12-25 22:09:37,640 [WARN] PackLoader:240 - Cannot read IP mode file for ITTIA_DB.I-CUBE-ITTIADB.8.8.0 -2023-12-25 22:09:37,649 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-BLEMGR.2.0.0 -2023-12-25 22:09:37,661 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-NFC7.1.0.1 -2023-12-25 22:09:37,687 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-EEPRMA1.4.1.0 -2023-12-25 22:09:37,732 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AI.8.1.0 -2023-12-25 22:09:37,815 [WARN] ConditionMgr:438 - getConditionDescription Invalid condition id : LAN8742 Phy interface Condition cause : null -2023-12-25 22:09:37,839 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-L4.2.0.0 -2023-12-25 22:09:37,861 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : LAN8742 Phy interface Condition cause : null -2023-12-25 22:09:37,880 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : LAN8742 Phy interface Condition cause : null -2023-12-25 22:09:37,881 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : LAN8742 Phy interface Condition cause : null -2023-12-25 22:09:37,971 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-SFXS2LP1.4.0.0 -2023-12-25 22:09:38,010 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-ISPU.1.1.0 -2023-12-25 22:09:38,060 [WARN] ConditionMgr:438 - getConditionDescription Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null -2023-12-25 22:09:38,073 [WARN] ConditionMgr:438 - getConditionDescription Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null -2023-12-25 22:09:38,096 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-WB.2.0.0 -2023-12-25 22:09:38,114 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null -2023-12-25 22:09:38,142 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null -2023-12-25 22:09:38,143 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null -2023-12-25 22:09:38,164 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null -2023-12-25 22:09:38,184 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null -2023-12-25 22:09:38,197 [INFO] WebApp:157 - Instantiating new browser for Auth -2023-12-25 22:09:38,213 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-SUBG2.5.0.0 -2023-12-25 22:09:38,310 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-TOF1.3.3.1 -2023-12-25 22:09:38,426 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-G4.2.0.0 -2023-12-25 22:09:38,545 [WARN] PackLoader:240 - Cannot read IP mode file for Infineon.AIROC-Wi-Fi-Bluetooth-STM32.1.5.1 -2023-12-25 22:09:38,598 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-SNS-MOTENVWB1.1.3.1 -2023-12-25 22:09:38,661 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-ISPU.2.0.0 -2023-12-25 22:09:38,725 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-FREERTOS.1.1.0 -2023-12-25 22:09:38,804 [WARN] PackLoader:240 - Cannot read IP mode file for portGmbH.I-Cube-SoM-uGOAL.1.1.0 -2023-12-25 22:09:38,883 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-ALS.1.0.1 -2023-12-25 22:09:38,905 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-ATR-ASTRA1.2.0.0 -2023-12-25 22:09:38,973 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-TOF1.3.4.0 -2023-12-25 22:09:39,088 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-H7.3.2.0 -2023-12-25 22:09:39,094 [INFO] ThirdParty:978 - Integrity check success = true -2023-12-25 22:09:39,094 [INFO] IntegrityCheckThread:100 - exiting critical section [integrity check] -2023-12-25 22:09:39,094 [INFO] IntegrityCheckThread:103 - End integrity checks thread -2023-12-25 22:09:39,874 [INFO] WebApp:753 - Register for checkConnection events -2023-12-25 22:09:39,874 [INFO] WebApp:390 - Apply proxy settings -2023-12-25 22:09:39,877 [INFO] WebApp:455 - Chromium authenticates against System proxy -2023-12-25 22:09:40,097 [INFO] WebApp:188 - Starting web application -2023-12-25 22:09:40,098 [INFO] WebApp:520 - Web application path used /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412/db/plugins/mcufinder/reactClient1/index.html -2023-12-25 22:10:00,883 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] SLF4J: Failed to load class "org.slf4j.impl.StaticLoggerBinder". -2023-12-25 22:10:00,884 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] SLF4J: Defaulting to no-operation (NOP) logger implementation -2023-12-25 22:10:00,884 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] SLF4J: See http://www.slf4j.org/codes.html#StaticLoggerBinder for further details. -2023-12-25 22:12:43,849 [INFO] McuFinderGlobals:63 - Set McuFinder mode to 2 (CubeIDE integrated) -2023-12-25 22:12:43,855 [INFO] MainUpdater:2868 - connection check result : 10 -2023-12-25 22:12:43,855 [INFO] MainUpdater:2868 - connection check result : 10 -2023-12-25 22:12:44,407 [INFO] MicroXplorer:468 - Change Database Path : -2023-12-25 22:12:44,407 [INFO] MicroXplorer:498 - Change Database Version : DB.6.0.92 -2023-12-25 22:12:44,412 [WARN] ThirdParty:871 - waiting for thirdparty lock release [close project] -2023-12-25 22:12:44,412 [INFO] ThirdParty:873 - entering critical section [close project] -2023-12-25 22:12:44,413 [INFO] ThirdParty:883 - exiting critical section [close project] -2023-12-25 22:12:44,416 [INFO] PinOutPanel:1499 - setPackage(No Configuration,No Configuration) -2023-12-25 22:12:44,425 [INFO] UtilMem:75 - Begin LoadConfig() Used Memory: 858483552 Bytes (1073741824) -2023-12-25 22:12:44,427 [INFO] MicroXplorer:468 - Change Database Path : -2023-12-25 22:12:44,427 [INFO] MicroXplorer:498 - Change Database Version : DB.6.0.92 -2023-12-25 22:12:44,427 [INFO] OpenFileManager:308 - Change cursor -2023-12-25 22:12:44,453 [INFO] Mcu:1946 - Initializing MCU STM32F103C(8-B)Tx STM32F103C8Tx STM32F103C8T6 -2023-12-25 22:12:45,145 [INFO] Context:659 - Trying to add GPIOservice into a context which must be forbidden -2023-12-25 22:12:45,485 [INFO] RtosManager:555 - Registered RTOS mode: class=CMSIS, group=RTOS, mode=CMSIS_V1, owner=FREERTOS -2023-12-25 22:12:45,485 [INFO] RtosManager:555 - Registered RTOS mode: class=CMSIS, group=RTOS2, mode=CMSIS_V2, owner=FREERTOS -2023-12-25 22:12:45,485 [INFO] RtosManager:555 - Registered RTOS mode: class=RTOS, group=Core, mode=CMSIS_V1, owner=FREERTOS -2023-12-25 22:12:45,486 [INFO] RtosManager:555 - Registered RTOS mode: class=RTOS, group=Core, mode=CMSIS_V2, owner=FREERTOS -2023-12-25 22:12:45,486 [WARN] ModelIntegratedComponent:184 - Missing modes for component STMicroelectronics:FreeRTOS:0.0.1:STMicroelectronics:RTOS:FreeRTOS:Core:::10.2.0: -2023-12-25 22:12:45,519 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:12:45,519 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:12:45,519 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:12:45,519 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:12:45,520 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:12:45,520 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:12:45,520 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:12:45,520 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:12:45,520 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:12:45,520 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:12:45,520 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:12:45,520 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:12:45,520 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:12:45,520 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:12:45,520 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:12:45,520 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:12:45,521 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:12:45,521 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:12:45,521 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:12:45,521 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:12:45,521 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:12:45,521 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:12:45,521 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:12:45,521 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:12:45,522 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:12:45,522 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:12:45,522 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:12:45,522 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:12:45,522 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:12:45,522 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:12:45,522 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:12:45,522 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:12:45,522 [WARN] ModelIntegratedComponent:63 - No mode defined for component null -2023-12-25 22:12:45,561 [INFO] ThirdPartyModel:298 - Start build external matchings -2023-12-25 22:12:46,109 [INFO] ThirdPartyModel:316 - End build external matchings -2023-12-25 22:12:46,117 [INFO] ImportTextPane:194 - (OptionalMessage_ERROR) IP (RCC) : Invalid parameter (FamilyName) -2023-12-25 22:12:46,118 [INFO] ImportTextPane:194 - (OptionalMessage_ERROR) IP (RCC) : Parameter (MCOFreq_Value) has invalid value (72000000) -2023-12-25 22:12:46,317 [INFO] UtilMem:75 - End LoadConfig() Used Memory: 629329112 Bytes (1073741824) -2023-12-25 22:12:46,733 [INFO] ApiDb:581 - Connected to CubeFinder SQLite database (/Users/haotian/.stmcufinder/plugins/mcufinder/mcu/cube-finder-db.db) -2023-12-25 22:12:46,810 [INFO] ApiDb:668 - CubeFinder database Data Model version=2.1 -2023-12-25 22:12:46,810 [INFO] ApiDb:669 - CubeFinder database Configuration version=3.0.39 -2023-12-25 22:12:46,811 [INFO] ApiDb:670 - CubeFinder database generation date=2023-12-08 (1702028721) -2023-12-25 22:12:46,811 [INFO] ApiDb:671 - CubeFinder database FW Pack versions=[FP-ATR-ASTRA1_V2.0.0, FP-SNS-FLIGHT1_V5.0.1, FP-SNS-FLIGHT1_V5.0.2, FP-SNS-MOTENV1_V4.3.1, FP-SNS-MOTENV1_V4.3.2, FP-SNS-MOTENVWB1_V1.3.1, FP-SNS-SMARTAG2_V1.2.0, STM32Cube_FW_C0_V1.1.0, STM32Cube_FW_F4_V1.28.0, STM32Cube_FW_F7_V1.17.0, STM32Cube_FW_G0_V1.6.1, STM32Cube_FW_G4_V1.5.1, STM32Cube_FW_H5_V0.5.1, STM32Cube_FW_H5_V1.1.1, STM32Cube_FW_H5_V1.2.0RC2, STM32Cube_FW_H7_V1.11.0, STM32Cube_FW_L0_V1.12.2, STM32Cube_FW_L5_V1.5.0, STM32Cube_FW_U5_V1.3.0RC4, STM32Cube_FW_U5_V1.4.0, STM32Cube_FW_WBA_V1.0.0RC1, STM32Cube_FW_WBA_V1.1.0RC1, STM32Cube_FW_WBA_V1.2.0, STM32Cube_FW_WBA_V1.2.0RC2, STM32Cube_FW_WB_V1.15.0RC1, STM32Cube_FW_WB_V1.16.0, STM32Cube_FW_WB_V1.16.0RC2, STM32Cube_FW_WB_V1.18.0, STM32Cube_FW_WL_V1.3.0, X-CUBE-ALGOBUILD_V1.3.0, X-CUBE-ALS_V1.0.1, X-CUBE-AZRTOS-F4_V1.1.0, X-CUBE-AZRTOS-F7_V1.1.0, X-CUBE-AZRTOS-G0_V1.1.0, X-CUBE-AZRTOS-G4_V2.0.0, X-CUBE-AZRTOS-H7_V3.1.0, X-CUBE-AZRTOS-L4_V1.0.0, X-CUBE-AZRTOS-L4_V2.0.0, X-CUBE-AZRTOS-L5_V1.1.0, X-CUBE-AZRTOS-WB_V2.0.0, X-CUBE-AZRTOS-WL_V2.0.0, X-CUBE-BLE1_V7.0.0, X-CUBE-BLE2_V3.3.0, X-CUBE-BLEMGR_V3.0.0, X-CUBE-EEPRMA1_V4.1.0, X-CUBE-EEPRMA1_V4.2.0, X-CUBE-FREERTOS_V1.1.0, X-CUBE-GNSS1_V6.0.0, X-CUBE-MEMS1_V10.0.0, X-CUBE-MEMS1_V9.1.0, X-CUBE-MEMS1_V9.4.0, X-CUBE-MEMS1_V9.6.0, X-CUBE-NFC4_V3.0.0, X-CUBE-NFC7_V1.0.1, X-CUBE-SFXS2LP1_V4.0.0, X-CUBE-SUBG2_V5.0.0, X-CUBE-TOF1_V3.4.0] -2023-12-25 22:12:50,063 [INFO] ApiDb:240 - Found 323 in-development CPN: [B-G473E-ZEST1S, B-WB1M-WPAN1, B-WL5M-SUBG1, NUCLEO-C031C6, NUCLEO-H503RB, NUCLEO-H563ZI, NUCLEO-U545RE-Q, NUCLEO-U5A5ZJ-Q, NUCLEO-WBA52CG, STEVAL-PROTEUS1, STEVAL-SMARTAG2, STEVAL-STWINBX1, STM320518-EVAL, STM32C0116-DK, STM32C011D6Y3TR, STM32C011D6Y6TR, STM32C011F4P3, STM32C011F4P6, STM32C011F4U3, STM32C011F4U6TR, STM32C011F6P3, STM32C011F6P6, STM32C011F6U3, STM32C011F6U6TR, STM32C011J4M3, STM32C011J4M6, STM32C011J6M3, STM32C011J6M6, STM32C0316-DK, STM32C031C4T3, STM32C031C4T6, STM32C031C4U3, STM32C031C4U6, STM32C031C6T3, STM32C031C6T6, STM32C031C6U3, STM32C031C6U6, STM32C031F4P3, STM32C031F4P6, STM32C031F6P3, STM32C031F6P6, STM32C031G4U3, STM32C031G4U6, STM32C031G6U3, STM32C031G6U6, STM32C031K4T3, STM32C031K4T6, STM32C031K4U3, STM32C031K4U6, STM32C031K6T3, STM32C031K6T6, STM32C031K6U3, STM32C031K6U6, STM32G071K8TXN, STM32G071K8UXN, STM32G081GBU6N, STM32G081KBT6N, STM32G081KBUXN, STM32G0B1CCT6N, STM32G0B1KCT6, STM32G0B1NEY6TR, STM32G0B1RCT6N, STM32G0C1CCT6, STM32G0C1CCT6N, STM32G0C1CCU6N, STM32G0C1CET6N, STM32G0C1CEU6N, STM32G0C1KCT6, STM32G0C1NEY6TR, STM32G0C1RCI6N, STM32G0C1RCT6N, STM32G0C1REI6N, STM32G0C1RET6N, STM32G0C1VCI6, STM32G0C1VEI6, STM32G471CCT6, STM32G471CCU6, STM32G471CET3, STM32G471CET6, STM32G471CEU3, STM32G471CEU6, STM32G471MCT6, STM32G471MET3, STM32G471MET6, STM32G471MEY6TR, STM32G471QCT6, STM32G471QET3, STM32G471RCT6, STM32G471RET3, STM32G471RET6, STM32G471VCH6, STM32G471VCI6, STM32G471VCT6, STM32G471VEH3, STM32G471VEH6, STM32G471VEI3, STM32G471VEI6, STM32G471VET3, STM32G471VET6, STM32G474CCT6, STM32H503CBT6, STM32H503CBU6, STM32H503EBY6TR, STM32H503KBU6, STM32H503RBT6, STM32H562AGI6, STM32H562AII6, STM32H562IGK6, STM32H562IGT6, STM32H562IIK6, STM32H562IIT6, STM32H562RGT6, STM32H562RGV6, STM32H562RIT6, STM32H562RIV6, STM32H562VGT6, STM32H562VIT6, STM32H562ZGT6, STM32H562ZIT6, STM32H563AGI6, STM32H563AII3Q, STM32H563AII6, STM32H563IGK6, STM32H563IGT6, STM32H563IIK3Q, STM32H563IIK6, STM32H563IIT3Q, STM32H563IIT6, STM32H563MIY3QTR, STM32H563RGT6, STM32H563RGV6, STM32H563RIT6, STM32H563RIV6, STM32H563VGT6, STM32H563VIT3Q, STM32H563VIT6, STM32H563ZGT6, STM32H563ZIT3Q, STM32H563ZIT6, STM32H573AII3Q, STM32H573AII6, STM32H573I-DK, STM32H573IIK3Q, STM32H573IIK6, STM32H573IIT3Q, STM32H573IIT6, STM32H573MIY3QTR, STM32H573RIT6, STM32H573RIV6, STM32H573VIT3Q, STM32H573VIT6, STM32H573ZIT3Q, STM32H573ZIT6, STM32L4R5QGI6STR, STM32MP131AAE3, STM32MP131AAF3, STM32MP131AAG3, STM32MP131CAE3, STM32MP131CAF3, STM32MP131CAG3, STM32MP131DAE7, STM32MP131DAF7, STM32MP131DAG7, STM32MP131FAE7, STM32MP131FAF7, STM32MP131FAG7, STM32MP133AAE3, STM32MP133AAF3, STM32MP133AAG3, STM32MP133CAE3, STM32MP133CAF3, STM32MP133CAG3, STM32MP133DAE7, STM32MP133DAF7, STM32MP133DAG7, STM32MP133FAE7, STM32MP133FAF7, STM32MP133FAG7, STM32MP135AAE3, STM32MP135AAF3, STM32MP135AAG3, STM32MP135CAE3, STM32MP135CAF3, STM32MP135CAG3, STM32MP135DAE7, STM32MP135DAF7, STM32MP135DAG7, STM32MP135F-DK, STM32MP135FAE7, STM32MP135FAF7, STM32MP135FAF7T, STM32MP135FAF7U, STM32MP135FAG7, STM32U535CBT6, STM32U535CBT6Q, STM32U535CBU6, STM32U535CBU6Q, STM32U535CCT6, STM32U535CCT6Q, STM32U535CCU6, STM32U535CCU6Q, STM32U535CET6, STM32U535CET6Q, STM32U535CEU6, STM32U535CEU6Q, STM32U535JEY6QTR, STM32U535NCY6QTR, STM32U535NEY6QTR, STM32U535RBI6, STM32U535RBI6Q, STM32U535RBT6, STM32U535RBT6Q, STM32U535RCI6, STM32U535RCI6Q, STM32U535RCT6, STM32U535RCT6Q, STM32U535REI6, STM32U535REI6Q, STM32U535RET6, STM32U535RET6Q, STM32U535VCI6, STM32U535VCI6Q, STM32U535VCT6, STM32U535VCT6Q, STM32U535VEI6, STM32U535VEI6Q, STM32U535VET6, STM32U535VET6Q, STM32U545CET6, STM32U545CET6Q, STM32U545CEU6, STM32U545CEU6Q, STM32U545JEY6QTR, STM32U545NEY6QTR, STM32U545REI6, STM32U545REI6Q, STM32U545RET6, STM32U545RET6Q, STM32U545VEI6, STM32U545VEI6Q, STM32U545VET6, STM32U545VET6Q, STM32U595AIH6, STM32U595AIH6Q, STM32U595AJH6, STM32U595AJH6Q, STM32U595QII6, STM32U595QII6Q, STM32U595QJI6, STM32U595QJI6Q, STM32U595RIT6, STM32U595RIT6Q, STM32U595RJT6, STM32U595RJT6Q, STM32U595VIT6, STM32U595VIT6Q, STM32U595VJT6, STM32U595VJT6Q, STM32U595ZIT6, STM32U595ZIT6Q, STM32U595ZIY6QTR, STM32U595ZJT6, STM32U595ZJT6Q, STM32U595ZJY6QTR, STM32U599BJY6QTR, STM32U599NIH6Q, STM32U599NJH6Q, STM32U599VIT6Q, STM32U599VJT6, STM32U599VJT6Q, STM32U599ZIT6Q, STM32U599ZIY6QTR, STM32U599ZJT6Q, STM32U599ZJY6QTR, STM32U5A5AJH6, STM32U5A5AJH6Q, STM32U5A5QJI6, STM32U5A5QJI6Q, STM32U5A5RJT6, STM32U5A5RJT6Q, STM32U5A5VJT6, STM32U5A5VJT6Q, STM32U5A5ZJT6, STM32U5A5ZJT6Q, STM32U5A5ZJY6QTR, STM32U5A9BJY6QTR, STM32U5A9J-DK, STM32U5A9NJH6Q, STM32U5A9VJT6Q, STM32U5A9ZJT6Q, STM32U5A9ZJY6QTR, STM32U5F7VIT6, STM32U5F7VIT6Q, STM32U5F7VJT6, STM32U5F7VJT6Q, STM32U5F9BJY6QTR, STM32U5F9NJH6Q, STM32U5F9VIT6Q, STM32U5F9VJT6Q, STM32U5F9ZIJ6QTR, STM32U5F9ZIT6Q, STM32U5F9ZJJ6QTR, STM32U5F9ZJT6Q, STM32U5G7VJT6, STM32U5G7VJT6Q, STM32U5G9BJY6QTR, STM32U5G9J-DK1, STM32U5G9J-DK2, STM32U5G9NJH6Q, STM32U5G9VJT6Q, STM32U5G9ZJJ6QTR, STM32U5G9ZJT6Q, STM32WB1MMCH6, STM32WBA52CEU6, STM32WBA52CEU6T, STM32WBA52CGU6, STM32WBA52CGU6T, STM32WBA52KEU6, STM32WBA52KEU6T, STM32WBA52KGU6, STM32WBA52KGU6T, STM32WL5MOCH6, STM32WL5MOCH6TR] -2023-12-25 22:12:50,071 [INFO] DbMcus:217 - Found 3882 MCUs, 3882 are supported -2023-12-25 22:12:50,072 [INFO] ApiDb:423 - Load user favorites file /Users/haotian/.stm32cubeide/favorites.mcus.txt: 0 item(s) -2023-12-25 22:12:50,072 [INFO] ApiDb:427 - User favorites MCUs=[] -2023-12-25 22:12:50,073 [INFO] DbMcus:223 - Set 0 / 0 favorites MCUs -2023-12-25 22:12:50,921 [WARN] ThirdParty:833 - waiting for thirdparty lock release [change project] -2023-12-25 22:12:50,921 [INFO] ThirdParty:835 - entering critical section [change project] -2023-12-25 22:12:50,921 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-ISPU 1.1.0 -2023-12-25 22:12:50,921 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USBPD 4.1 -2023-12-25 22:12:50,921 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-GNSS1 6.0.0 -2023-12-25 22:12:50,921 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_HOST 2.0.0 -2023-12-25 22:12:50,921 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-F4 1.1.0 -2023-12-25 22:12:50,921 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics LIBJPEG 8.0.0 -2023-12-25 22:12:50,921 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-SMBUS 2.1.0 -2023-12-25 22:12:50,921 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_DEVICE 3.0.0 -2023-12-25 22:12:50,922 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-WB 2.0.0 -2023-12-25 22:12:50,922 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :wolfSSL I-CUBE-wolfSSL 5.6.6 -2023-12-25 22:12:50,922 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-TOUCHGFX 4.23.0 -2023-12-25 22:12:50,922 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-F7 1.1.0 -2023-12-25 22:12:50,922 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-L5 2.0.0 -2023-12-25 22:12:50,922 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_DEVICE 2.0.0 -2023-12-25 22:12:50,922 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-EEPRMA1 4.2.0 -2023-12-25 22:12:50,922 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :ITTIA_DB I-CUBE-ITTIADB 8.8.0 -2023-12-25 22:12:50,922 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-SNS-MOTENV1 4.3.2 -2023-12-25 22:12:50,922 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-ALGOBUILD 1.3.0 -2023-12-25 22:12:50,922 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FreeRTOS 0.0.1 -2023-12-25 22:12:50,922 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-G0 1.1.0 -2023-12-25 22:12:50,922 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-BLEMGR 2.0.0 -2023-12-25 22:12:50,922 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-NFC4 3.0.0 -2023-12-25 22:12:50,922 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-SUBG2 5.0.0 -2023-12-25 22:12:50,923 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics STM32_WPAN 1.0.0 -2023-12-25 22:12:50,923 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics lwIP 2.0.3 -2023-12-25 22:12:50,923 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-SNS-FLIGHT1 5.0.2 -2023-12-25 22:12:50,923 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_HOST 1.0.0 -2023-12-25 22:12:50,923 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-TOF1 3.3.1 -2023-12-25 22:12:50,923 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-G4 2.0.0 -2023-12-25 22:12:50,923 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics PDM2PCM 3.1.0 -2023-12-25 22:12:50,923 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :Infineon AIROC-Wi-Fi-Bluetooth-STM32 1.5.1 -2023-12-25 22:12:50,923 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-BLEMGR 3.0.0 -2023-12-25 22:12:50,923 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics PDM2PCM 3.3.0 -2023-12-25 22:12:50,923 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-DISPLAY 3.0.0 -2023-12-25 22:12:50,923 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-SNS-MOTENVWB1 1.3.1 -2023-12-25 22:12:50,923 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-BLE1 7.0.0 -2023-12-25 22:12:50,923 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-ATR-SIGFOX1 3.2.0 -2023-12-25 22:12:50,923 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-ISPU 2.0.0 -2023-12-25 22:12:50,924 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics HAL Drivers 0.0.0 -2023-12-25 22:12:50,924 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics MBEDTLS 2.16.2 -2023-12-25 22:12:50,924 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :emotas I-CUBE-CANOPEN 1.3.0 -2023-12-25 22:12:50,924 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-FREERTOS 1.1.0 -2023-12-25 22:12:50,924 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-NFC7 1.0.1 -2023-12-25 22:12:50,924 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics MBEDTLS 2.14.1 -2023-12-25 22:12:50,924 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-TOUCHGFX 4.22.1 -2023-12-25 22:12:50,924 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-EEPRMA1 4.1.0 -2023-12-25 22:12:50,924 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :portGmbH I-Cube-SoM-uGOAL 1.1.0 -2023-12-25 22:12:50,924 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-ALS 1.0.1 -2023-12-25 22:12:50,925 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics ThreadX 1.0.0 -2023-12-25 22:12:50,925 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-WL 2.0.0 -2023-12-25 22:12:50,925 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :SEGGER I-CUBE-embOS 1.3.1 -2023-12-25 22:12:50,925 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_DEVICE 1.0.0 -2023-12-25 22:12:50,925 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AI 8.1.0 -2023-12-25 22:12:50,925 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-L4 2.0.0 -2023-12-25 22:12:50,925 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics ThreadX 0.0.2 -2023-12-25 22:12:50,925 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :WES I-CUBE-Cesium 1.3.0 -2023-12-25 22:12:50,925 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-ATR-ASTRA1 2.0.0 -2023-12-25 22:12:50,925 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics lwIP 2.1.2 -2023-12-25 22:12:50,925 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-SFXS2LP1 4.0.0 -2023-12-25 22:12:50,925 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-BLE2 3.3.0 -2023-12-25 22:12:50,925 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-TOF1 3.4.0 -2023-12-25 22:12:50,925 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-H7 3.2.0 -2023-12-25 22:12:50,925 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics PDM2PCM 3.2.0 -2023-12-25 22:12:50,926 [INFO] ThirdParty:841 - exiting critical section [change project] -2023-12-25 22:12:51,456 [INFO] PinOutPanel:1499 - setPackage(No Configuration,No Configuration) -2023-12-25 22:12:51,458 [INFO] PinOutPanel:1499 - setPackage(STM32F103C8Tx,LQFP48) -2023-12-25 22:12:52,726 [INFO] UtilMem:75 - Before build in PCC Used Memory: 856596480 Bytes (1073741824) -2023-12-25 22:12:54,200 [INFO] UtilMem:75 - After build in PCC Used Memory: 694491080 Bytes (1073741824) -2023-12-25 22:12:54,398 [INFO] ApiDbMcu:507 - Load IP Config File for USB_DEVICE -2023-12-25 22:12:54,462 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:12:54,462 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:12:54,463 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:12:54,464 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:12:54,464 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:12:54,465 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:12:54,467 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:12:54,467 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:12:54,469 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:12:54,469 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:12:54,470 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:12:54,470 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:12:54,471 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:12:54,471 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:12:54,472 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:12:54,472 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:12:54,472 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:12:54,473 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:12:54,473 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:12:54,473 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:12:54,473 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:12:54,474 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:12:54,474 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:12:54,475 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:12:54,475 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:12:54,476 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:12:54,476 [INFO] IPUIPlugin:80 - create IPUIPlugin -2023-12-25 22:12:54,860 [INFO] CADModel:165 - CPN selected for project levelSTM32F103C8T6 -2023-12-25 22:12:54,860 [INFO] CADModel:114 - Register for checkConnection events -2023-12-25 22:12:54,904 [INFO] OpenFileManager:328 - Restore cursor -2023-12-25 22:13:07,871 [INFO] UtilMem:75 - End SaveConfig() Used Memory: 675653296 Bytes (1073741824) -2023-12-25 22:13:08,764 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: SPI -2023-12-25 22:13:08,765 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: NVIC -2023-12-25 22:13:08,765 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: TIM1_8F1 -2023-12-25 22:13:08,765 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: TIM1_8F1 -2023-12-25 22:13:08,765 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: USB_DEVICE -2023-12-25 22:13:08,765 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: USB -2023-12-25 22:13:08,765 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: SYS -2023-12-25 22:13:08,766 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: GPIO -2023-12-25 22:13:08,766 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: ADC -2023-12-25 22:13:08,766 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: RCC -2023-12-25 22:13:08,767 [INFO] CodeGenerator:799 - code generatio: config db path: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db/ -2023-12-25 22:13:09,359 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/license.tmp_save -2023-12-25 22:13:09,946 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/license.tmp -2023-12-25 22:13:10,017 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/gpio.tmp_save -2023-12-25 22:13:10,177 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/gpio.tmp -2023-12-25 22:13:10,303 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/usb_vars.tmp_save -2023-12-25 22:13:10,444 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/usb_vars.tmp -2023-12-25 22:13:10,447 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/usb_inc.tmp_save -2023-12-25 22:13:10,562 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/usb_inc.tmp -2023-12-25 22:13:10,564 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/usb_HalInit.tmp_save -2023-12-25 22:13:10,693 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/usb_HalInit.tmp -2023-12-25 22:13:10,695 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/usb_Msp.tmp_save -2023-12-25 22:13:10,841 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/usb_Msp.tmp -2023-12-25 22:13:11,748 [INFO] Middleware:1439 - No code input for Bsp Dependency -2023-12-25 22:13:11,760 [INFO] Middleware:1439 - No code input for Bsp Dependency -2023-12-25 22:13:11,769 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usb_device.c_save -2023-12-25 22:13:12,006 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usb_device.c -2023-12-25 22:13:12,011 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usb_device.h_save -2023-12-25 22:13:12,173 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usb_device.h -2023-12-25 22:13:12,178 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/Target/usbd_conf.h_save -2023-12-25 22:13:12,326 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/Target/usbd_conf.h -2023-12-25 22:13:12,331 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/Target/usbd_conf.c_save -2023-12-25 22:13:12,518 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/Target/usbd_conf.c -2023-12-25 22:13:12,524 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usbd_desc.h_save -2023-12-25 22:13:12,626 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usbd_desc.h -2023-12-25 22:13:12,631 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usbd_desc.c_save -2023-12-25 22:13:12,824 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usbd_desc.c -2023-12-25 22:13:12,832 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usbd_cdc_if.h_save -2023-12-25 22:13:13,045 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usbd_cdc_if.h -2023-12-25 22:13:13,052 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usbd_cdc_if.c_save -2023-12-25 22:13:13,222 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usbd_cdc_if.c -2023-12-25 22:13:13,236 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Src/stm32f1xx_it.c_save -2023-12-25 22:13:13,371 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Src/stm32f1xx_it.c -2023-12-25 22:13:13,376 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Inc/stm32f1xx_it.h_save -2023-12-25 22:13:13,468 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Inc/stm32f1xx_it.h -2023-12-25 22:13:13,477 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Src/stm32f1xx_hal_msp.c_save -2023-12-25 22:13:13,619 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Src/stm32f1xx_hal_msp.c -2023-12-25 22:13:13,622 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/system.tmp_save -2023-12-25 22:13:13,703 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/system.tmp -2023-12-25 22:13:13,709 [INFO] CodeEngine:311 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Inc/stm32f1xx_hal_conf.h_save -2023-12-25 22:13:13,798 [INFO] CodeEngine:335 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Inc/stm32f1xx_hal_conf.h -2023-12-25 22:13:13,835 [WARN] IPConfigManager:3431 - IP not found : TIM -2023-12-25 22:13:13,836 [WARN] CodeGenerator:3764 - IP not found : null -2023-12-25 22:13:13,840 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Inc/main.h_save -2023-12-25 22:13:13,933 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Inc/main.h -2023-12-25 22:13:13,936 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Src/main.c_save -2023-12-25 22:13:14,124 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Src/main.c -2023-12-25 22:13:14,948 [INFO] ProjectBuilder:3064 - Time for Copy HAL[1] : 176mS. -2023-12-25 22:13:14,974 [INFO] ProjectBuilder:4404 - Project Generator version: 4.1.0 -2023-12-25 22:13:15,558 [INFO] ConfigFileManager:1457 - The Die is : DIE410 -2023-12-25 22:13:15,582 [INFO] ApiDbMcu:507 - Load IP Config File for FATFS -2023-12-25 22:13:15,667 [INFO] ApiDbMcu:507 - Load IP Config File for FREERTOS -2023-12-25 22:13:17,095 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] -2023-12-25 22:13:18,229 [INFO] ProjectBuilder:4626 - Time for Generating toolchain IDE Files: 3254mS. -2023-12-25 22:13:18,230 [INFO] ProjectBuilder:2935 - Time for Copy CMSIS : 1mS. -2023-12-25 22:13:18,232 [INFO] ProjectBuilder:2935 - Time for Copy CMSIS : 0mS. -2023-12-25 22:13:18,380 [INFO] NvicIntPanel:101 - NVIC parent = com.st.microxplorer.plugins.ip.nvic.MultiNvicIntPanel[,0,0,0x0,invalid,layout=javax.swing.BoxLayout,alignmentX=0.0,alignmentY=0.0,border=,flags=9,maximumSize=,minimumSize=,preferredSize=] -2023-12-25 22:13:22,975 [INFO] UtilMem:75 - End SaveConfig() Used Memory: 776797712 Bytes (1073741824) -2023-12-25 22:13:24,105 [INFO] UtilMem:75 - End SaveConfig() Used Memory: 796562160 Bytes (1073741824) -2023-12-25 22:13:24,354 [INFO] UtilMem:75 - End SaveConfig() Used Memory: 717187344 Bytes (1073741824) -2023-12-25 22:13:24,904 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: SPI -2023-12-25 22:13:24,904 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: NVIC -2023-12-25 22:13:24,904 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: TIM1_8F1 -2023-12-25 22:13:24,904 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: TIM1_8F1 -2023-12-25 22:13:24,905 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: USB_DEVICE -2023-12-25 22:13:24,905 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: USB -2023-12-25 22:13:24,905 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: SYS -2023-12-25 22:13:24,905 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: GPIO -2023-12-25 22:13:24,905 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: ADC -2023-12-25 22:13:24,906 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: RCC -2023-12-25 22:13:24,906 [INFO] CodeGenerator:799 - code generatio: config db path: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db/ -2023-12-25 22:13:25,133 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/license.tmp_save -2023-12-25 22:13:25,232 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/license.tmp -2023-12-25 22:13:25,274 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/gpio.tmp_save -2023-12-25 22:13:25,369 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/gpio.tmp -2023-12-25 22:13:25,487 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/usb_vars.tmp_save -2023-12-25 22:13:25,612 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/usb_vars.tmp -2023-12-25 22:13:25,615 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/usb_inc.tmp_save -2023-12-25 22:13:25,707 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/usb_inc.tmp -2023-12-25 22:13:25,709 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/usb_HalInit.tmp_save -2023-12-25 22:13:25,810 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/usb_HalInit.tmp -2023-12-25 22:13:25,812 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/usb_Msp.tmp_save -2023-12-25 22:13:25,918 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/usb_Msp.tmp -2023-12-25 22:13:26,461 [INFO] Middleware:1439 - No code input for Bsp Dependency -2023-12-25 22:13:26,469 [INFO] Middleware:1439 - No code input for Bsp Dependency -2023-12-25 22:13:26,474 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usb_device.c_save -2023-12-25 22:13:26,553 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usb_device.c -2023-12-25 22:13:26,555 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usb_device.h_save -2023-12-25 22:13:26,621 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usb_device.h -2023-12-25 22:13:26,624 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/Target/usbd_conf.h_save -2023-12-25 22:13:26,691 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/Target/usbd_conf.h -2023-12-25 22:13:26,694 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/Target/usbd_conf.c_save -2023-12-25 22:13:26,766 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/Target/usbd_conf.c -2023-12-25 22:13:26,769 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usbd_desc.h_save -2023-12-25 22:13:26,834 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usbd_desc.h -2023-12-25 22:13:26,837 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usbd_desc.c_save -2023-12-25 22:13:26,913 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usbd_desc.c -2023-12-25 22:13:26,917 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usbd_cdc_if.h_save -2023-12-25 22:13:26,984 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usbd_cdc_if.h -2023-12-25 22:13:26,987 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usbd_cdc_if.c_save -2023-12-25 22:13:27,062 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usbd_cdc_if.c -2023-12-25 22:13:27,070 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Src/stm32f1xx_it.c_save -2023-12-25 22:13:27,141 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Src/stm32f1xx_it.c -2023-12-25 22:13:27,144 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Inc/stm32f1xx_it.h_save -2023-12-25 22:13:27,203 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Inc/stm32f1xx_it.h -2023-12-25 22:13:27,210 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Src/stm32f1xx_hal_msp.c_save -2023-12-25 22:13:27,302 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Src/stm32f1xx_hal_msp.c -2023-12-25 22:13:27,304 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/system.tmp_save -2023-12-25 22:13:27,362 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/system.tmp -2023-12-25 22:13:27,366 [INFO] CodeEngine:311 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Inc/stm32f1xx_hal_conf.h_save -2023-12-25 22:13:27,433 [INFO] CodeEngine:335 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Inc/stm32f1xx_hal_conf.h -2023-12-25 22:13:27,459 [WARN] IPConfigManager:3431 - IP not found : TIM -2023-12-25 22:13:27,460 [WARN] CodeGenerator:3764 - IP not found : null -2023-12-25 22:13:27,464 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Inc/main.h_save -2023-12-25 22:13:27,536 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Inc/main.h -2023-12-25 22:13:27,539 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Src/main.c_save -2023-12-25 22:13:27,688 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Src/main.c -2023-12-25 22:13:28,809 [INFO] ProjectBuilder:3064 - Time for Copy HAL[1] : 156mS. -2023-12-25 22:13:28,819 [INFO] ProjectBuilder:4404 - Project Generator version: 4.1.0 -2023-12-25 22:13:29,268 [INFO] ConfigFileManager:1457 - The Die is : DIE410 -2023-12-25 22:13:31,751 [INFO] ProjectBuilder:4626 - Time for Generating toolchain IDE Files: 2932mS. -2023-12-25 22:13:31,752 [INFO] ProjectBuilder:2935 - Time for Copy CMSIS : 1mS. -2023-12-25 22:13:31,755 [INFO] ProjectBuilder:2935 - Time for Copy CMSIS : 0mS. -2023-12-25 22:25:48,102 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] +2024-01-27 22:45:36,014 [INFO] Activator:177 - !SESSION log4j initialized +2024-01-27 22:45:39,597 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] +2024-01-27 22:45:40,550 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] +2024-01-27 22:45:42,472 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] +2024-01-27 22:45:43,211 [INFO] ApplicationProperties:184 - Using Application install path: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412 +2024-01-27 22:45:43,228 [INFO] DbMcusXml:78 - Set database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//mcu/ +2024-01-27 22:45:43,228 [INFO] ApiDb:274 - Set plugin database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/boardmanager/ +2024-01-27 22:45:43,228 [WARN] ApiDb:259 - Overriding images path with different value: => /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/mcufinder/images/ +2024-01-27 22:45:43,237 [INFO] ApiDb:250 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ +2024-01-27 22:45:43,239 [INFO] DbMcusAds:125 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ +2024-01-27 22:45:43,241 [INFO] CrossReferenceDbSqlite:203 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/cs/ +2024-01-27 22:45:43,344 [INFO] RulesReader:64 - Compatibility file has been processed (293 Rules) +2024-01-27 22:45:43,415 [INFO] DbMcusXml:78 - Set database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//mcu/ +2024-01-27 22:45:43,415 [INFO] ApiDb:274 - Set plugin database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/boardmanager/ +2024-01-27 22:45:43,415 [INFO] ApiDb:261 - Set plugin images path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/mcufinder/images/ +2024-01-27 22:45:43,415 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2024-01-27 22:45:43,416 [INFO] ApiDb:250 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ +2024-01-27 22:45:43,416 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2024-01-27 22:45:43,416 [INFO] DbMcusAds:125 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ +2024-01-27 22:45:43,416 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2024-01-27 22:45:43,416 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2024-01-27 22:45:43,416 [INFO] CrossReferenceDbSqlite:203 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/cs/ +2024-01-27 22:45:43,488 [INFO] MainPanel:262 - HeapMemory: 268435456 +2024-01-27 22:45:43,575 [INFO] DbMcusXml:78 - Set database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//mcu/ +2024-01-27 22:45:43,575 [INFO] ApiDb:274 - Set plugin database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/boardmanager/ +2024-01-27 22:45:43,576 [INFO] ApiDb:261 - Set plugin images path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/mcufinder/images/ +2024-01-27 22:45:43,576 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2024-01-27 22:45:43,576 [INFO] ApiDb:250 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ +2024-01-27 22:45:43,576 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2024-01-27 22:45:43,576 [INFO] DbMcusAds:125 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ +2024-01-27 22:45:43,576 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2024-01-27 22:45:43,577 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2024-01-27 22:45:43,577 [INFO] CrossReferenceDbSqlite:203 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/cs/ +2024-01-27 22:45:43,592 [INFO] ApplicationProperties:184 - Using Application install path: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412 +2024-01-27 22:45:43,593 [INFO] PluginManage:196 - Search for loadable plugins [exclusion list=, ] +2024-01-27 22:45:43,594 [INFO] PluginManage:310 - Check plugin analytics +2024-01-27 22:45:43,736 [INFO] AnalyticsPlugin:253 - Accepted Software Licenses: +2024-01-27 22:45:43,736 [INFO] AnalyticsPlugin:255 - Accepted CMSIS Pack Licenses: +2024-01-27 22:45:43,736 [INFO] AnalyticsPlugin:257 - Accepted Firmware Licenses: +2024-01-27 22:45:43,738 [INFO] PluginManage:359 - Loaded plugin analytics (category:tool,tabindex:-1) +2024-01-27 22:45:43,739 [INFO] PluginManage:310 - Check plugin cadmodel +2024-01-27 22:45:44,046 [INFO] CADModel:105 - Init CAD model plugin +2024-01-27 22:45:44,047 [INFO] PluginManage:359 - Loaded plugin cadmodel (category:power,tabindex:5) +2024-01-27 22:45:44,047 [INFO] PluginManage:310 - Check plugin clock +2024-01-27 22:45:44,061 [INFO] PluginManage:359 - Loaded plugin clock (category:base,tabindex:2) +2024-01-27 22:45:44,062 [INFO] PluginManage:310 - Check plugin ddr +2024-01-27 22:45:44,064 [INFO] PluginManage:359 - Loaded plugin ddr (category:tool,tabindex:6) +2024-01-27 22:45:44,064 [INFO] PluginManage:310 - Check plugin filemanager +2024-01-27 22:45:44,213 [INFO] PluginManage:359 - Loaded plugin filemanager (category:base,tabindex:10) +2024-01-27 22:45:44,213 [INFO] PluginManage:310 - Check plugin ipmanager +2024-01-27 22:45:44,219 [INFO] PluginManage:359 - Loaded plugin ipmanager (category:base,tabindex:5) +2024-01-27 22:45:44,219 [INFO] PluginManage:310 - Check plugin lpbam +2024-01-27 22:45:44,230 [INFO] PluginManage:359 - Loaded plugin lpbam (category:base,tabindex:0) +2024-01-27 22:45:44,230 [INFO] PluginManage:310 - Check plugin memorymap +2024-01-27 22:45:44,244 [INFO] PluginManage:359 - Loaded plugin memorymap (category:base,tabindex:4) +2024-01-27 22:45:44,244 [INFO] PluginManage:310 - Check plugin pinoutandconfiguration +2024-01-27 22:45:44,251 [INFO] PluginManage:359 - Loaded plugin pinoutandconfiguration (category:base,tabindex:1) +2024-01-27 22:45:44,252 [INFO] PluginManage:310 - Check plugin pinoutconfig +2024-01-27 22:45:44,344 [WARN] SupportedApi:132 - Cannot load RTOS API schema: s4s-elt-must-match.1: The content of 'definitions' must match (annotation?, (simpleType | complexType)?, (unique | key | keyref)*)). A problem was found starting at: attribute. +2024-01-27 22:45:44,486 [INFO] PluginManage:359 - Loaded plugin pinoutconfig (category:base,tabindex:0) +2024-01-27 22:45:44,486 [INFO] PluginManage:310 - Check plugin power +2024-01-27 22:45:44,497 [INFO] PluginManage:359 - Loaded plugin power (category:power,tabindex:4) +2024-01-27 22:45:44,497 [INFO] PluginManage:310 - Check plugin projectmanager +2024-01-27 22:45:44,509 [INFO] PluginManage:359 - Loaded plugin projectmanager (category:projectmanager,tabindex:3) +2024-01-27 22:45:44,509 [INFO] PluginManage:310 - Check plugin thirdparty +2024-01-27 22:45:44,626 [INFO] PluginManage:359 - Loaded plugin thirdparty (category:base,tabindex:-1) +2024-01-27 22:45:44,626 [WARN] IntegrityCheckThread:84 - waiting for thirdparty lock release [integrity check] +2024-01-27 22:45:44,626 [INFO] IntegrityCheckThread:86 - entering critical section [integrity check] +2024-01-27 22:45:44,626 [INFO] PluginManage:310 - Check plugin tools +2024-01-27 22:45:44,626 [INFO] ThirdPartyUpdaterWithRetryManager:70 - Updater plugin not ready yet. [1/15] +2024-01-27 22:45:44,628 [INFO] PluginManage:359 - Loaded plugin tools (category:base,tabindex:7) +2024-01-27 22:45:44,628 [INFO] PluginManage:310 - Check plugin tutovideos +2024-01-27 22:45:44,801 [INFO] PluginManage:359 - Loaded plugin tutovideos (category:base,tabindex:-1) +2024-01-27 22:45:44,801 [INFO] PluginManage:310 - Check plugin updater +2024-01-27 22:45:44,813 [INFO] PluginManage:359 - Loaded plugin updater (category:base,tabindex:12) +2024-01-27 22:45:44,813 [INFO] PluginManage:310 - Check plugin userauth +2024-01-27 22:45:44,818 [INFO] UserAuth:113 - Init User Auth plugin +2024-01-27 22:45:44,818 [INFO] PluginManage:359 - Loaded plugin userauth (category:base,tabindex:14) +2024-01-27 22:45:44,818 [INFO] PluginManage:283 - PluginManage : Loaded plugins [17] +2024-01-27 22:45:44,991 [INFO] PinOutPanel:1499 - setPackage(No Configuration,No Configuration) +2024-01-27 22:45:45,079 [INFO] CADModel:165 - CPN selected for project level +2024-01-27 22:45:45,080 [INFO] CADModel:114 - Register for checkConnection events +2024-01-27 22:45:45,091 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,092 [INFO] PluginManager:220 - loadIPPluginJar : add mdma +2024-01-27 22:45:45,099 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,099 [INFO] PluginManager:220 - loadIPPluginJar : add freertos +2024-01-27 22:45:45,104 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,104 [INFO] PluginManager:220 - loadIPPluginJar : add gic +2024-01-27 22:45:45,114 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,114 [INFO] PluginManager:220 - loadIPPluginJar : add adc +2024-01-27 22:45:45,117 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,117 [INFO] PluginManager:220 - loadIPPluginJar : add gtzc +2024-01-27 22:45:45,118 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,118 [INFO] PluginManager:220 - loadIPPluginJar : add quadspi +2024-01-27 22:45:45,121 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,121 [INFO] PluginManager:220 - loadIPPluginJar : add aes +2024-01-27 22:45:45,123 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,123 [INFO] PluginManager:220 - loadIPPluginJar : add pdm2pcm +2024-01-27 22:45:45,125 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,126 [INFO] PluginManager:220 - loadIPPluginJar : add hash +2024-01-27 22:45:45,127 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,127 [INFO] PluginManager:220 - loadIPPluginJar : add tim +2024-01-27 22:45:45,128 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,128 [INFO] PluginManager:220 - loadIPPluginJar : add tsc +2024-01-27 22:45:45,130 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,130 [INFO] PluginManager:220 - loadIPPluginJar : add ts +2024-01-27 22:45:45,132 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,132 [INFO] PluginManager:220 - loadIPPluginJar : add can +2024-01-27 22:45:45,134 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,135 [INFO] PluginManager:220 - loadIPPluginJar : add dma3 +2024-01-27 22:45:45,137 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,137 [INFO] PluginManager:220 - loadIPPluginJar : add dfsdm +2024-01-27 22:45:45,138 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,139 [INFO] PluginManager:220 - loadIPPluginJar : add spi +2024-01-27 22:45:45,140 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,141 [INFO] PluginManager:220 - loadIPPluginJar : add gfxmmu +2024-01-27 22:45:45,142 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,142 [INFO] PluginManager:220 - loadIPPluginJar : add genericplugin +2024-01-27 22:45:45,144 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,144 [INFO] PluginManager:220 - loadIPPluginJar : add cryp +2024-01-27 22:45:45,147 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,148 [INFO] PluginManager:220 - loadIPPluginJar : add gpio +2024-01-27 22:45:45,149 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,149 [INFO] PluginManager:220 - loadIPPluginJar : add comp +2024-01-27 22:45:45,151 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,151 [INFO] PluginManager:220 - loadIPPluginJar : add tracer_emb +2024-01-27 22:45:45,154 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,154 [INFO] PluginManager:220 - loadIPPluginJar : add openamp +2024-01-27 22:45:45,158 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,158 [INFO] PluginManager:220 - loadIPPluginJar : add stm32_wpan +2024-01-27 22:45:45,164 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,166 [INFO] PluginManager:220 - loadIPPluginJar : add plateformsettings +2024-01-27 22:45:45,170 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,170 [INFO] PluginManager:220 - loadIPPluginJar : add ipddr +2024-01-27 22:45:45,173 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,173 [INFO] PluginManager:220 - loadIPPluginJar : add usart +2024-01-27 22:45:45,174 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,174 [INFO] PluginManager:220 - loadIPPluginJar : add ltdc +2024-01-27 22:45:45,177 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,177 [INFO] PluginManager:220 - loadIPPluginJar : add nvic +2024-01-27 22:45:45,179 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,179 [INFO] PluginManager:220 - loadIPPluginJar : add fatfs +2024-01-27 22:45:45,185 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,186 [INFO] PluginManager:220 - loadIPPluginJar : add linkedlist +2024-01-27 22:45:45,190 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,191 [INFO] PluginManager:220 - loadIPPluginJar : add dma +2024-01-27 22:45:45,194 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,194 [INFO] PluginManager:220 - loadIPPluginJar : add fmc +2024-01-27 22:45:45,196 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,196 [INFO] PluginManager:220 - loadIPPluginJar : add i2s +2024-01-27 22:45:45,198 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,198 [INFO] PluginManager:220 - loadIPPluginJar : add ucpd +2024-01-27 22:45:45,200 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,200 [INFO] PluginManager:220 - loadIPPluginJar : add lorawan +2024-01-27 22:45:45,202 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,202 [INFO] PluginManager:220 - loadIPPluginJar : add opamp +2024-01-27 22:45:45,204 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,204 [INFO] PluginManager:220 - loadIPPluginJar : add i3c +2024-01-27 22:45:45,206 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,207 [INFO] PluginManager:220 - loadIPPluginJar : add touchsensing +2024-01-27 22:45:45,208 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,208 [INFO] PluginManager:220 - loadIPPluginJar : add i2c +2024-01-27 22:45:45,212 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,212 [INFO] PluginManager:220 - loadIPPluginJar : add resmgrutility +2024-01-27 22:45:45,214 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,214 [INFO] PluginManager:220 - loadIPPluginJar : add sai +2024-01-27 22:45:45,217 [INFO] IPUIPlugin:80 - create IPUIPlugin +2024-01-27 22:45:45,217 [INFO] PluginManager:220 - loadIPPluginJar : add usbx +2024-01-27 22:45:45,312 [INFO] CADModel:165 - CPN selected for project level +2024-01-27 22:45:45,312 [INFO] CADModel:114 - Register for checkConnection events +2024-01-27 22:45:45,312 [FATAL] Updater:308 - Updater called before beeing initialized +2024-01-27 22:45:45,312 [ERROR] CADModel:125 - Updater not yet initialized, retry later +2024-01-27 22:45:45,466 [INFO] CADModel:165 - CPN selected for project level +2024-01-27 22:45:45,466 [INFO] CADModel:114 - Register for checkConnection events +2024-01-27 22:45:45,467 [FATAL] Updater:308 - Updater called before beeing initialized +2024-01-27 22:45:45,467 [ERROR] CADModel:125 - Updater not yet initialized, retry later +2024-01-27 22:45:45,470 [FATAL] Updater:308 - Updater called before beeing initialized +2024-01-27 22:45:45,534 [FATAL] Updater:308 - Updater called before beeing initialized +2024-01-27 22:45:45,540 [INFO] DbMcusAds:53 - JSON generation date=Wed Nov 29 02:52:27 PST 2023 (1701255147349) +2024-01-27 22:45:45,540 [FATAL] Updater:308 - Updater called before beeing initialized +2024-01-27 22:45:45,602 [WARN] DetailPanel:346 - Failed to get advertising image, set to default +2024-01-27 22:45:45,714 [FATAL] Updater:308 - Updater called before beeing initialized +2024-01-27 22:45:45,717 [FATAL] Updater:308 - Updater called before beeing initialized +2024-01-27 22:45:45,717 [FATAL] Updater:308 - Updater called before beeing initialized +2024-01-27 22:45:45,717 [WARN] DetailPanel:346 - Failed to get advertising image, set to default +2024-01-27 22:45:45,718 [FATAL] Updater:308 - Updater called before beeing initialized +2024-01-27 22:45:45,742 [ERROR] Updater:1120 - MainUpdater not yet initialized. External WinMGr cannot be set. +2024-01-27 22:45:45,765 [INFO] Updater:1056 - Updater Version found : 6.9.2 +2024-01-27 22:45:45,783 [INFO] ApplicationProperties:184 - Using Application install path: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412 +2024-01-27 22:45:45,956 [INFO] MainUpdater:2868 - connection check result : 10 +2024-01-27 22:45:45,956 [INFO] MainUpdater:285 - Updater Check For Update Now. +2024-01-27 22:45:45,956 [INFO] MicroXplorer:498 - Change Database Version : DB.6.0.92 +2024-01-27 22:45:45,961 [INFO] McuFinderGlobals:63 - Set McuFinder mode to 2 (CubeIDE integrated) +2024-01-27 22:45:45,961 [INFO] UserAuth:179 - activating auth plugin +2024-01-27 22:45:45,963 [INFO] UserAuth:393 - Internet connection configuration mode: 1 +2024-01-27 22:45:45,982 [INFO] JxBrowserEngine:151 - Initiate JxBrowser Engine with user profile folder +2024-01-27 22:45:46,122 [INFO] CheckServerUpdateThread:120 - End of CheckServer Thread +2024-01-27 22:45:47,220 [INFO] WebApp:157 - Instantiating new browser for Auth +2024-01-27 22:45:48,162 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-SMBUS.2.1.0 +2024-01-27 22:45:48,173 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-TOUCHGFX.4.23.0 +2024-01-27 22:45:48,365 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-F7.1.1.0 +2024-01-27 22:45:48,442 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-SNS-MOTENV1.4.3.2 +2024-01-27 22:45:48,451 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-SNS-FLIGHT1.5.0.2 +2024-01-27 22:45:48,465 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-DISPLAY.3.0.0 +2024-01-27 22:45:48,489 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-BLE1.7.0.0 +2024-01-27 22:45:48,496 [WARN] PackLoader:240 - Cannot read IP mode file for emotas.I-CUBE-CANOPEN.1.3.0 +2024-01-27 22:45:48,500 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-TOUCHGFX.4.22.1 +2024-01-27 22:45:48,540 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null +2024-01-27 22:45:48,542 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null +2024-01-27 22:45:48,542 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null +2024-01-27 22:45:48,543 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null +2024-01-27 22:45:48,543 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null +2024-01-27 22:45:48,561 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-WL.2.0.0 +2024-01-27 22:45:48,575 [WARN] PackLoader:240 - Cannot read IP mode file for WES.I-CUBE-Cesium.1.3.0 +2024-01-27 22:45:48,582 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-BLE2.3.3.0 +2024-01-27 22:45:48,593 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-ALGOBUILD.1.3.0 +2024-01-27 22:45:48,667 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-G0.1.1.0 +2024-01-27 22:45:48,694 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-NFC4.3.0.0 +2024-01-27 22:45:48,721 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-BLEMGR.3.0.0 +2024-01-27 22:45:48,733 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-ATR-SIGFOX1.3.2.0 +2024-01-27 22:45:48,742 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-EEPRMA1.5.1.0 +2024-01-27 22:45:48,822 [WARN] PackLoader:240 - Cannot read IP mode file for SEGGER.I-CUBE-embOS.1.3.1 +2024-01-27 22:45:48,898 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-GNSS1.6.0.0 +2024-01-27 22:45:48,936 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-F4.1.1.0 +2024-01-27 22:45:48,946 [WARN] PackLoader:240 - Cannot read IP mode file for wolfSSL.I-CUBE-wolfSSL.5.6.6 +2024-01-27 22:45:48,975 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-L5.2.0.0 +2024-01-27 22:45:48,984 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-EEPRMA1.4.2.0 +2024-01-27 22:45:48,991 [WARN] PackLoader:240 - Cannot read IP mode file for ITTIA_DB.I-CUBE-ITTIADB.8.8.0 +2024-01-27 22:45:48,999 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-BLEMGR.2.0.0 +2024-01-27 22:45:49,011 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-NFC7.1.0.1 +2024-01-27 22:45:49,020 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-EEPRMA1.4.1.0 +2024-01-27 22:45:49,025 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AI.8.1.0 +2024-01-27 22:45:49,060 [WARN] ConditionMgr:438 - getConditionDescription Invalid condition id : LAN8742 Phy interface Condition cause : null +2024-01-27 22:45:49,061 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-L4.2.0.0 +2024-01-27 22:45:49,062 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : LAN8742 Phy interface Condition cause : null +2024-01-27 22:45:49,063 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : LAN8742 Phy interface Condition cause : null +2024-01-27 22:45:49,063 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : LAN8742 Phy interface Condition cause : null +2024-01-27 22:45:49,083 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-SFXS2LP1.4.0.0 +2024-01-27 22:45:49,094 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-ISPU.1.1.0 +2024-01-27 22:45:49,122 [WARN] ConditionMgr:438 - getConditionDescription Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null +2024-01-27 22:45:49,122 [WARN] ConditionMgr:438 - getConditionDescription Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null +2024-01-27 22:45:49,126 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-WB.2.0.0 +2024-01-27 22:45:49,128 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null +2024-01-27 22:45:49,128 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null +2024-01-27 22:45:49,129 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null +2024-01-27 22:45:49,130 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null +2024-01-27 22:45:49,130 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null +2024-01-27 22:45:49,147 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-SUBG2.5.0.0 +2024-01-27 22:45:49,195 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-TOF1.3.3.1 +2024-01-27 22:45:49,231 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-G4.2.0.0 +2024-01-27 22:45:49,239 [INFO] WebApp:753 - Register for checkConnection events +2024-01-27 22:45:49,239 [INFO] WebApp:390 - Apply proxy settings +2024-01-27 22:45:49,243 [INFO] WebApp:455 - Chromium authenticates against System proxy +2024-01-27 22:45:49,246 [WARN] PackLoader:240 - Cannot read IP mode file for Infineon.AIROC-Wi-Fi-Bluetooth-STM32.1.5.1 +2024-01-27 22:45:49,253 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-SNS-MOTENVWB1.1.3.1 +2024-01-27 22:45:49,258 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-ISPU.2.0.0 +2024-01-27 22:45:49,265 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-FREERTOS.1.1.0 +2024-01-27 22:45:49,272 [WARN] PackLoader:240 - Cannot read IP mode file for portGmbH.I-Cube-SoM-uGOAL.1.1.0 +2024-01-27 22:45:49,276 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-ALS.1.0.1 +2024-01-27 22:45:49,281 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-ATR-ASTRA1.2.0.0 +2024-01-27 22:45:49,292 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-TOF1.3.4.0 +2024-01-27 22:45:49,336 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-H7.3.2.0 +2024-01-27 22:45:49,340 [INFO] ThirdParty:978 - Integrity check success = true +2024-01-27 22:45:49,340 [INFO] IntegrityCheckThread:100 - exiting critical section [integrity check] +2024-01-27 22:45:49,340 [INFO] IntegrityCheckThread:103 - End integrity checks thread +2024-01-27 22:45:49,517 [INFO] WebApp:188 - Starting web application +2024-01-27 22:45:49,517 [INFO] WebApp:520 - Web application path used /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412/db/plugins/mcufinder/reactClient1/index.html +2024-01-27 22:46:10,337 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] SLF4J: Failed to load class "org.slf4j.impl.StaticLoggerBinder". +2024-01-27 22:46:10,338 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] SLF4J: Defaulting to no-operation (NOP) logger implementation +2024-01-27 22:46:10,338 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] SLF4J: See http://www.slf4j.org/codes.html#StaticLoggerBinder for further details. +2024-01-27 22:47:35,443 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] diff --git a/.metadata/.ide.log-2023-12-25.log b/.metadata/.ide.log-2023-12-25.log new file mode 100644 index 0000000..3f6ad57 --- /dev/null +++ b/.metadata/.ide.log-2023-12-25.log @@ -0,0 +1,1937 @@ +2023-12-25 14:04:42,542 [INFO] Activator:176 - + + +2023-12-25 14:04:42,548 [INFO] Activator:177 - !SESSION log4j initialized +2023-12-25 14:04:46,696 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] +2023-12-25 14:04:47,327 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] +2023-12-25 14:04:49,731 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] +2023-12-25 14:04:51,149 [INFO] ApplicationProperties:184 - Using Application install path: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412 +2023-12-25 14:04:51,167 [INFO] DbMcusXml:78 - Set database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//mcu/ +2023-12-25 14:04:51,168 [INFO] ApiDb:274 - Set plugin database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/boardmanager/ +2023-12-25 14:04:51,168 [WARN] ApiDb:259 - Overriding images path with different value: => /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/mcufinder/images/ +2023-12-25 14:04:51,183 [INFO] ApiDb:250 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ +2023-12-25 14:04:51,184 [INFO] DbMcusAds:125 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ +2023-12-25 14:04:51,187 [INFO] CrossReferenceDbSqlite:203 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/cs/ +2023-12-25 14:04:51,329 [INFO] RulesReader:64 - Compatibility file has been processed (293 Rules) +2023-12-25 14:04:51,439 [INFO] DbMcusXml:78 - Set database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//mcu/ +2023-12-25 14:04:51,439 [INFO] ApiDb:274 - Set plugin database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/boardmanager/ +2023-12-25 14:04:51,442 [INFO] ApiDb:261 - Set plugin images path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/mcufinder/images/ +2023-12-25 14:04:51,442 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2023-12-25 14:04:51,443 [INFO] ApiDb:250 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ +2023-12-25 14:04:51,447 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2023-12-25 14:04:51,448 [INFO] DbMcusAds:125 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ +2023-12-25 14:04:51,449 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2023-12-25 14:04:51,449 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2023-12-25 14:04:51,450 [INFO] CrossReferenceDbSqlite:203 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/cs/ +2023-12-25 14:04:51,562 [INFO] MainPanel:262 - HeapMemory: 268435456 +2023-12-25 14:04:51,711 [INFO] DbMcusXml:78 - Set database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//mcu/ +2023-12-25 14:04:51,712 [INFO] ApiDb:274 - Set plugin database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/boardmanager/ +2023-12-25 14:04:51,712 [INFO] ApiDb:261 - Set plugin images path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/mcufinder/images/ +2023-12-25 14:04:51,712 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2023-12-25 14:04:51,713 [INFO] ApiDb:250 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ +2023-12-25 14:04:51,713 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2023-12-25 14:04:51,713 [INFO] DbMcusAds:125 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ +2023-12-25 14:04:51,713 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2023-12-25 14:04:51,713 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2023-12-25 14:04:51,713 [INFO] CrossReferenceDbSqlite:203 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/cs/ +2023-12-25 14:04:51,737 [INFO] ApplicationProperties:184 - Using Application install path: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412 +2023-12-25 14:04:51,738 [INFO] PluginManage:196 - Search for loadable plugins [exclusion list=, ] +2023-12-25 14:04:51,739 [INFO] PluginManage:310 - Check plugin analytics +2023-12-25 14:04:51,952 [INFO] AnalyticsPlugin:253 - Accepted Software Licenses: +2023-12-25 14:04:51,952 [INFO] AnalyticsPlugin:255 - Accepted CMSIS Pack Licenses: +2023-12-25 14:04:51,952 [INFO] AnalyticsPlugin:257 - Accepted Firmware Licenses: +2023-12-25 14:04:51,956 [INFO] PluginManage:359 - Loaded plugin analytics (category:tool,tabindex:-1) +2023-12-25 14:04:51,956 [INFO] PluginManage:310 - Check plugin cadmodel +2023-12-25 14:04:52,611 [INFO] CADModel:105 - Init CAD model plugin +2023-12-25 14:04:52,612 [INFO] PluginManage:359 - Loaded plugin cadmodel (category:power,tabindex:5) +2023-12-25 14:04:52,612 [INFO] PluginManage:310 - Check plugin clock +2023-12-25 14:04:52,624 [INFO] PluginManage:359 - Loaded plugin clock (category:base,tabindex:2) +2023-12-25 14:04:52,624 [INFO] PluginManage:310 - Check plugin ddr +2023-12-25 14:04:52,626 [INFO] PluginManage:359 - Loaded plugin ddr (category:tool,tabindex:6) +2023-12-25 14:04:52,626 [INFO] PluginManage:310 - Check plugin filemanager +2023-12-25 14:04:52,826 [INFO] PluginManage:359 - Loaded plugin filemanager (category:base,tabindex:10) +2023-12-25 14:04:52,826 [INFO] PluginManage:310 - Check plugin ipmanager +2023-12-25 14:04:52,839 [INFO] PluginManage:359 - Loaded plugin ipmanager (category:base,tabindex:5) +2023-12-25 14:04:52,840 [INFO] PluginManage:310 - Check plugin lpbam +2023-12-25 14:04:52,856 [INFO] PluginManage:359 - Loaded plugin lpbam (category:base,tabindex:0) +2023-12-25 14:04:52,856 [INFO] PluginManage:310 - Check plugin memorymap +2023-12-25 14:04:52,878 [INFO] PluginManage:359 - Loaded plugin memorymap (category:base,tabindex:4) +2023-12-25 14:04:52,878 [INFO] PluginManage:310 - Check plugin pinoutandconfiguration +2023-12-25 14:04:52,890 [INFO] PluginManage:359 - Loaded plugin pinoutandconfiguration (category:base,tabindex:1) +2023-12-25 14:04:52,890 [INFO] PluginManage:310 - Check plugin pinoutconfig +2023-12-25 14:04:53,014 [WARN] SupportedApi:132 - Cannot load RTOS API schema: s4s-elt-must-match.1: The content of 'definitions' must match (annotation?, (simpleType | complexType)?, (unique | key | keyref)*)). A problem was found starting at: attribute. +2023-12-25 14:04:53,220 [INFO] PluginManage:359 - Loaded plugin pinoutconfig (category:base,tabindex:0) +2023-12-25 14:04:53,220 [INFO] PluginManage:310 - Check plugin power +2023-12-25 14:04:53,232 [INFO] PluginManage:359 - Loaded plugin power (category:power,tabindex:4) +2023-12-25 14:04:53,232 [INFO] PluginManage:310 - Check plugin projectmanager +2023-12-25 14:04:53,246 [INFO] PluginManage:359 - Loaded plugin projectmanager (category:projectmanager,tabindex:3) +2023-12-25 14:04:53,247 [INFO] PluginManage:310 - Check plugin thirdparty +2023-12-25 14:04:53,393 [INFO] PluginManage:359 - Loaded plugin thirdparty (category:base,tabindex:-1) +2023-12-25 14:04:53,393 [WARN] IntegrityCheckThread:84 - waiting for thirdparty lock release [integrity check] +2023-12-25 14:04:53,393 [INFO] PluginManage:310 - Check plugin tools +2023-12-25 14:04:53,393 [INFO] IntegrityCheckThread:86 - entering critical section [integrity check] +2023-12-25 14:04:53,394 [INFO] ThirdPartyUpdaterWithRetryManager:70 - Updater plugin not ready yet. [1/15] +2023-12-25 14:04:53,396 [INFO] PluginManage:359 - Loaded plugin tools (category:base,tabindex:7) +2023-12-25 14:04:53,396 [INFO] PluginManage:310 - Check plugin tutovideos +2023-12-25 14:04:53,623 [INFO] PluginManage:359 - Loaded plugin tutovideos (category:base,tabindex:-1) +2023-12-25 14:04:53,623 [INFO] PluginManage:310 - Check plugin updater +2023-12-25 14:04:53,637 [INFO] PluginManage:359 - Loaded plugin updater (category:base,tabindex:12) +2023-12-25 14:04:53,638 [INFO] PluginManage:310 - Check plugin userauth +2023-12-25 14:04:53,644 [INFO] UserAuth:113 - Init User Auth plugin +2023-12-25 14:04:53,645 [INFO] PluginManage:359 - Loaded plugin userauth (category:base,tabindex:14) +2023-12-25 14:04:53,645 [INFO] PluginManage:283 - PluginManage : Loaded plugins [17] +2023-12-25 14:04:53,923 [INFO] PinOutPanel:1499 - setPackage(No Configuration,No Configuration) +2023-12-25 14:04:54,099 [INFO] CADModel:165 - CPN selected for project level +2023-12-25 14:04:54,100 [INFO] CADModel:114 - Register for checkConnection events +2023-12-25 14:04:54,116 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,116 [INFO] PluginManager:220 - loadIPPluginJar : add mdma +2023-12-25 14:04:54,125 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,125 [INFO] PluginManager:220 - loadIPPluginJar : add freertos +2023-12-25 14:04:54,131 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,131 [INFO] PluginManager:220 - loadIPPluginJar : add gic +2023-12-25 14:04:54,155 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,156 [INFO] PluginManager:220 - loadIPPluginJar : add adc +2023-12-25 14:04:54,159 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,159 [INFO] PluginManager:220 - loadIPPluginJar : add gtzc +2023-12-25 14:04:54,161 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,161 [INFO] PluginManager:220 - loadIPPluginJar : add quadspi +2023-12-25 14:04:54,163 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,164 [INFO] PluginManager:220 - loadIPPluginJar : add aes +2023-12-25 14:04:54,167 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,167 [INFO] PluginManager:220 - loadIPPluginJar : add pdm2pcm +2023-12-25 14:04:54,169 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,170 [INFO] PluginManager:220 - loadIPPluginJar : add hash +2023-12-25 14:04:54,171 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,172 [INFO] PluginManager:220 - loadIPPluginJar : add tim +2023-12-25 14:04:54,173 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,173 [INFO] PluginManager:220 - loadIPPluginJar : add tsc +2023-12-25 14:04:54,175 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,175 [INFO] PluginManager:220 - loadIPPluginJar : add ts +2023-12-25 14:04:54,177 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,178 [INFO] PluginManager:220 - loadIPPluginJar : add can +2023-12-25 14:04:54,180 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,180 [INFO] PluginManager:220 - loadIPPluginJar : add dma3 +2023-12-25 14:04:54,182 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,182 [INFO] PluginManager:220 - loadIPPluginJar : add dfsdm +2023-12-25 14:04:54,184 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,184 [INFO] PluginManager:220 - loadIPPluginJar : add spi +2023-12-25 14:04:54,187 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,187 [INFO] PluginManager:220 - loadIPPluginJar : add gfxmmu +2023-12-25 14:04:54,188 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,188 [INFO] PluginManager:220 - loadIPPluginJar : add genericplugin +2023-12-25 14:04:54,191 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,191 [INFO] PluginManager:220 - loadIPPluginJar : add cryp +2023-12-25 14:04:54,195 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,195 [INFO] PluginManager:220 - loadIPPluginJar : add gpio +2023-12-25 14:04:54,197 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,197 [INFO] PluginManager:220 - loadIPPluginJar : add comp +2023-12-25 14:04:54,199 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,199 [INFO] PluginManager:220 - loadIPPluginJar : add tracer_emb +2023-12-25 14:04:54,202 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,202 [INFO] PluginManager:220 - loadIPPluginJar : add openamp +2023-12-25 14:04:54,207 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,207 [INFO] PluginManager:220 - loadIPPluginJar : add stm32_wpan +2023-12-25 14:04:54,214 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,218 [INFO] PluginManager:220 - loadIPPluginJar : add plateformsettings +2023-12-25 14:04:54,224 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,224 [INFO] PluginManager:220 - loadIPPluginJar : add ipddr +2023-12-25 14:04:54,228 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,228 [INFO] PluginManager:220 - loadIPPluginJar : add usart +2023-12-25 14:04:54,229 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,229 [INFO] PluginManager:220 - loadIPPluginJar : add ltdc +2023-12-25 14:04:54,234 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,234 [INFO] PluginManager:220 - loadIPPluginJar : add nvic +2023-12-25 14:04:54,237 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,237 [INFO] PluginManager:220 - loadIPPluginJar : add fatfs +2023-12-25 14:04:54,247 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,247 [INFO] PluginManager:220 - loadIPPluginJar : add linkedlist +2023-12-25 14:04:54,257 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,258 [INFO] PluginManager:220 - loadIPPluginJar : add dma +2023-12-25 14:04:54,264 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,265 [INFO] PluginManager:220 - loadIPPluginJar : add fmc +2023-12-25 14:04:54,268 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,268 [INFO] PluginManager:220 - loadIPPluginJar : add i2s +2023-12-25 14:04:54,270 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,271 [INFO] PluginManager:220 - loadIPPluginJar : add ucpd +2023-12-25 14:04:54,274 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,274 [INFO] PluginManager:220 - loadIPPluginJar : add lorawan +2023-12-25 14:04:54,278 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,278 [INFO] PluginManager:220 - loadIPPluginJar : add opamp +2023-12-25 14:04:54,281 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,281 [INFO] PluginManager:220 - loadIPPluginJar : add i3c +2023-12-25 14:04:54,285 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,285 [INFO] PluginManager:220 - loadIPPluginJar : add touchsensing +2023-12-25 14:04:54,289 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,289 [INFO] PluginManager:220 - loadIPPluginJar : add i2c +2023-12-25 14:04:54,294 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,294 [INFO] PluginManager:220 - loadIPPluginJar : add resmgrutility +2023-12-25 14:04:54,298 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,298 [INFO] PluginManager:220 - loadIPPluginJar : add sai +2023-12-25 14:04:54,301 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:04:54,301 [INFO] PluginManager:220 - loadIPPluginJar : add usbx +2023-12-25 14:04:54,407 [INFO] CADModel:165 - CPN selected for project level +2023-12-25 14:04:54,408 [INFO] CADModel:114 - Register for checkConnection events +2023-12-25 14:04:54,408 [FATAL] Updater:308 - Updater called before beeing initialized +2023-12-25 14:04:54,408 [ERROR] CADModel:125 - Updater not yet initialized, retry later +2023-12-25 14:04:54,614 [INFO] CADModel:165 - CPN selected for project level +2023-12-25 14:04:54,614 [INFO] CADModel:114 - Register for checkConnection events +2023-12-25 14:04:54,615 [FATAL] Updater:308 - Updater called before beeing initialized +2023-12-25 14:04:54,615 [ERROR] CADModel:125 - Updater not yet initialized, retry later +2023-12-25 14:04:54,619 [FATAL] Updater:308 - Updater called before beeing initialized +2023-12-25 14:04:54,698 [FATAL] Updater:308 - Updater called before beeing initialized +2023-12-25 14:04:54,706 [INFO] DbMcusAds:53 - JSON generation date=Wed Nov 29 02:52:27 PST 2023 (1701255147349) +2023-12-25 14:04:54,706 [FATAL] Updater:308 - Updater called before beeing initialized +2023-12-25 14:04:54,789 [WARN] DetailPanel:346 - Failed to get advertising image, set to default +2023-12-25 14:04:54,933 [FATAL] Updater:308 - Updater called before beeing initialized +2023-12-25 14:04:54,935 [FATAL] Updater:308 - Updater called before beeing initialized +2023-12-25 14:04:54,935 [FATAL] Updater:308 - Updater called before beeing initialized +2023-12-25 14:04:54,936 [WARN] DetailPanel:346 - Failed to get advertising image, set to default +2023-12-25 14:04:54,937 [FATAL] Updater:308 - Updater called before beeing initialized +2023-12-25 14:04:54,990 [ERROR] Updater:1120 - MainUpdater not yet initialized. External WinMGr cannot be set. +2023-12-25 14:04:55,037 [INFO] Updater:1056 - Updater Version found : 6.9.2 +2023-12-25 14:04:55,064 [INFO] ApplicationProperties:184 - Using Application install path: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412 +2023-12-25 14:04:55,264 [INFO] MainUpdater:2868 - connection check result : 10 +2023-12-25 14:04:55,265 [INFO] MainUpdater:285 - Updater Check For Update Now. +2023-12-25 14:04:55,265 [INFO] MicroXplorer:498 - Change Database Version : DB.6.0.92 +2023-12-25 14:04:55,274 [INFO] McuFinderGlobals:63 - Set McuFinder mode to 2 (CubeIDE integrated) +2023-12-25 14:04:55,274 [INFO] UserAuth:179 - activating auth plugin +2023-12-25 14:04:55,278 [INFO] UserAuth:393 - Internet connection configuration mode: 1 +2023-12-25 14:04:55,303 [INFO] JxBrowserEngine:151 - Initiate JxBrowser Engine with user profile folder +2023-12-25 14:04:55,493 [INFO] CheckServerUpdateThread:120 - End of CheckServer Thread +2023-12-25 14:04:56,661 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-SMBUS.2.1.0 +2023-12-25 14:04:56,707 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-TOUCHGFX.4.23.0 +2023-12-25 14:04:56,777 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-F7.1.1.0 +2023-12-25 14:04:56,829 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-SNS-MOTENV1.4.3.2 +2023-12-25 14:04:56,925 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-SNS-FLIGHT1.5.0.2 +2023-12-25 14:04:56,978 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-DISPLAY.3.0.0 +2023-12-25 14:04:57,008 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-BLE1.7.0.0 +2023-12-25 14:04:57,143 [WARN] PackLoader:240 - Cannot read IP mode file for emotas.I-CUBE-CANOPEN.1.3.0 +2023-12-25 14:04:57,193 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-TOUCHGFX.4.22.1 +2023-12-25 14:04:57,255 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null +2023-12-25 14:04:57,261 [INFO] WebApp:157 - Instantiating new browser for Auth +2023-12-25 14:04:57,273 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null +2023-12-25 14:04:57,309 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null +2023-12-25 14:04:57,310 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null +2023-12-25 14:04:57,330 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null +2023-12-25 14:04:57,346 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-WL.2.0.0 +2023-12-25 14:04:57,439 [WARN] PackLoader:240 - Cannot read IP mode file for WES.I-CUBE-Cesium.1.3.0 +2023-12-25 14:04:57,552 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-BLE2.3.3.0 +2023-12-25 14:04:57,611 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-ALGOBUILD.1.3.0 +2023-12-25 14:04:57,734 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-G0.1.1.0 +2023-12-25 14:04:57,784 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-NFC4.3.0.0 +2023-12-25 14:04:57,844 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-BLEMGR.3.0.0 +2023-12-25 14:04:57,894 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-ATR-SIGFOX1.3.2.0 +2023-12-25 14:04:58,018 [WARN] PackLoader:240 - Cannot read IP mode file for SEGGER.I-CUBE-embOS.1.3.1 +2023-12-25 14:04:58,093 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-GNSS1.6.0.0 +2023-12-25 14:04:58,112 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-F4.1.1.0 +2023-12-25 14:04:58,120 [WARN] PackLoader:240 - Cannot read IP mode file for wolfSSL.I-CUBE-wolfSSL.5.6.6 +2023-12-25 14:04:58,146 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-L5.2.0.0 +2023-12-25 14:04:58,158 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-EEPRMA1.4.2.0 +2023-12-25 14:04:58,168 [WARN] PackLoader:240 - Cannot read IP mode file for ITTIA_DB.I-CUBE-ITTIADB.8.8.0 +2023-12-25 14:04:58,177 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-BLEMGR.2.0.0 +2023-12-25 14:04:58,186 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-NFC7.1.0.1 +2023-12-25 14:04:58,200 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-EEPRMA1.4.1.0 +2023-12-25 14:04:58,211 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AI.8.1.0 +2023-12-25 14:04:58,286 [WARN] ConditionMgr:438 - getConditionDescription Invalid condition id : LAN8742 Phy interface Condition cause : null +2023-12-25 14:04:58,289 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-L4.2.0.0 +2023-12-25 14:04:58,291 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : LAN8742 Phy interface Condition cause : null +2023-12-25 14:04:58,292 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : LAN8742 Phy interface Condition cause : null +2023-12-25 14:04:58,293 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : LAN8742 Phy interface Condition cause : null +2023-12-25 14:04:58,310 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-SFXS2LP1.4.0.0 +2023-12-25 14:04:58,323 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-ISPU.1.1.0 +2023-12-25 14:04:58,376 [WARN] ConditionMgr:438 - getConditionDescription Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null +2023-12-25 14:04:58,376 [WARN] ConditionMgr:438 - getConditionDescription Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null +2023-12-25 14:04:58,380 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-WB.2.0.0 +2023-12-25 14:04:58,382 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null +2023-12-25 14:04:58,382 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null +2023-12-25 14:04:58,383 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null +2023-12-25 14:04:58,384 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null +2023-12-25 14:04:58,384 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null +2023-12-25 14:04:58,402 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-SUBG2.5.0.0 +2023-12-25 14:04:58,428 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-TOF1.3.3.1 +2023-12-25 14:04:58,455 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-G4.2.0.0 +2023-12-25 14:04:58,469 [WARN] PackLoader:240 - Cannot read IP mode file for Infineon.AIROC-Wi-Fi-Bluetooth-STM32.1.5.1 +2023-12-25 14:04:58,478 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-SNS-MOTENVWB1.1.3.1 +2023-12-25 14:04:58,482 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-ISPU.2.0.0 +2023-12-25 14:04:58,488 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-FREERTOS.1.1.0 +2023-12-25 14:04:58,492 [WARN] PackLoader:240 - Cannot read IP mode file for portGmbH.I-Cube-SoM-uGOAL.1.1.0 +2023-12-25 14:04:58,496 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-ALS.1.0.1 +2023-12-25 14:04:58,500 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-ATR-ASTRA1.2.0.0 +2023-12-25 14:04:58,512 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-TOF1.3.4.0 +2023-12-25 14:04:58,578 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-H7.3.2.0 +2023-12-25 14:04:58,584 [INFO] ThirdParty:978 - Integrity check success = true +2023-12-25 14:04:58,584 [INFO] IntegrityCheckThread:100 - exiting critical section [integrity check] +2023-12-25 14:04:58,584 [INFO] IntegrityCheckThread:103 - End integrity checks thread +2023-12-25 14:04:58,607 [INFO] WebApp:753 - Register for checkConnection events +2023-12-25 14:04:58,608 [INFO] WebApp:390 - Apply proxy settings +2023-12-25 14:04:58,612 [INFO] WebApp:455 - Chromium authenticates against System proxy +2023-12-25 14:04:58,905 [INFO] WebApp:188 - Starting web application +2023-12-25 14:04:58,905 [INFO] WebApp:520 - Web application path used /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412/db/plugins/mcufinder/reactClient1/index.html +2023-12-25 14:05:19,838 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] SLF4J: Failed to load class "org.slf4j.impl.StaticLoggerBinder". +2023-12-25 14:05:19,839 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] SLF4J: Defaulting to no-operation (NOP) logger implementation +2023-12-25 14:05:19,839 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] SLF4J: See http://www.slf4j.org/codes.html#StaticLoggerBinder for further details. +2023-12-25 14:17:59,855 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] +2023-12-25 14:55:44,490 [INFO] Activator:176 - + + +2023-12-25 14:55:44,492 [INFO] Activator:177 - !SESSION log4j initialized +2023-12-25 14:55:48,665 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] +2023-12-25 14:55:49,324 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] +2023-12-25 14:55:51,691 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] +2023-12-25 14:55:52,445 [INFO] ApplicationProperties:184 - Using Application install path: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412 +2023-12-25 14:55:52,470 [INFO] DbMcusXml:78 - Set database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//mcu/ +2023-12-25 14:55:52,470 [INFO] ApiDb:274 - Set plugin database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/boardmanager/ +2023-12-25 14:55:52,471 [WARN] ApiDb:259 - Overriding images path with different value: => /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/mcufinder/images/ +2023-12-25 14:55:52,487 [INFO] ApiDb:250 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ +2023-12-25 14:55:52,489 [INFO] DbMcusAds:125 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ +2023-12-25 14:55:52,491 [INFO] CrossReferenceDbSqlite:203 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/cs/ +2023-12-25 14:55:52,634 [INFO] RulesReader:64 - Compatibility file has been processed (293 Rules) +2023-12-25 14:55:52,708 [INFO] DbMcusXml:78 - Set database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//mcu/ +2023-12-25 14:55:52,708 [INFO] ApiDb:274 - Set plugin database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/boardmanager/ +2023-12-25 14:55:52,708 [INFO] ApiDb:261 - Set plugin images path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/mcufinder/images/ +2023-12-25 14:55:52,708 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2023-12-25 14:55:52,708 [INFO] ApiDb:250 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ +2023-12-25 14:55:52,709 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2023-12-25 14:55:52,709 [INFO] DbMcusAds:125 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ +2023-12-25 14:55:52,709 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2023-12-25 14:55:52,709 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2023-12-25 14:55:52,709 [INFO] CrossReferenceDbSqlite:203 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/cs/ +2023-12-25 14:55:52,796 [INFO] MainPanel:262 - HeapMemory: 268435456 +2023-12-25 14:55:52,903 [INFO] DbMcusXml:78 - Set database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//mcu/ +2023-12-25 14:55:52,903 [INFO] ApiDb:274 - Set plugin database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/boardmanager/ +2023-12-25 14:55:52,903 [INFO] ApiDb:261 - Set plugin images path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/mcufinder/images/ +2023-12-25 14:55:52,904 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2023-12-25 14:55:52,904 [INFO] ApiDb:250 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ +2023-12-25 14:55:52,904 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2023-12-25 14:55:52,904 [INFO] DbMcusAds:125 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ +2023-12-25 14:55:52,904 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2023-12-25 14:55:52,904 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2023-12-25 14:55:52,904 [INFO] CrossReferenceDbSqlite:203 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/cs/ +2023-12-25 14:55:52,925 [INFO] ApplicationProperties:184 - Using Application install path: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412 +2023-12-25 14:55:52,927 [INFO] PluginManage:196 - Search for loadable plugins [exclusion list=, ] +2023-12-25 14:55:52,929 [INFO] PluginManage:310 - Check plugin analytics +2023-12-25 14:55:53,102 [INFO] AnalyticsPlugin:253 - Accepted Software Licenses: +2023-12-25 14:55:53,102 [INFO] AnalyticsPlugin:255 - Accepted CMSIS Pack Licenses: +2023-12-25 14:55:53,102 [INFO] AnalyticsPlugin:257 - Accepted Firmware Licenses: +2023-12-25 14:55:53,105 [INFO] PluginManage:359 - Loaded plugin analytics (category:tool,tabindex:-1) +2023-12-25 14:55:53,105 [INFO] PluginManage:310 - Check plugin cadmodel +2023-12-25 14:55:53,437 [INFO] CADModel:105 - Init CAD model plugin +2023-12-25 14:55:53,437 [INFO] PluginManage:359 - Loaded plugin cadmodel (category:power,tabindex:5) +2023-12-25 14:55:53,437 [INFO] PluginManage:310 - Check plugin clock +2023-12-25 14:55:53,449 [INFO] PluginManage:359 - Loaded plugin clock (category:base,tabindex:2) +2023-12-25 14:55:53,449 [INFO] PluginManage:310 - Check plugin ddr +2023-12-25 14:55:53,452 [INFO] PluginManage:359 - Loaded plugin ddr (category:tool,tabindex:6) +2023-12-25 14:55:53,452 [INFO] PluginManage:310 - Check plugin filemanager +2023-12-25 14:55:53,599 [INFO] PluginManage:359 - Loaded plugin filemanager (category:base,tabindex:10) +2023-12-25 14:55:53,600 [INFO] PluginManage:310 - Check plugin ipmanager +2023-12-25 14:55:53,605 [INFO] PluginManage:359 - Loaded plugin ipmanager (category:base,tabindex:5) +2023-12-25 14:55:53,606 [INFO] PluginManage:310 - Check plugin lpbam +2023-12-25 14:55:53,618 [INFO] PluginManage:359 - Loaded plugin lpbam (category:base,tabindex:0) +2023-12-25 14:55:53,618 [INFO] PluginManage:310 - Check plugin memorymap +2023-12-25 14:55:53,635 [INFO] PluginManage:359 - Loaded plugin memorymap (category:base,tabindex:4) +2023-12-25 14:55:53,635 [INFO] PluginManage:310 - Check plugin pinoutandconfiguration +2023-12-25 14:55:53,643 [INFO] PluginManage:359 - Loaded plugin pinoutandconfiguration (category:base,tabindex:1) +2023-12-25 14:55:53,643 [INFO] PluginManage:310 - Check plugin pinoutconfig +2023-12-25 14:55:53,740 [WARN] SupportedApi:132 - Cannot load RTOS API schema: s4s-elt-must-match.1: The content of 'definitions' must match (annotation?, (simpleType | complexType)?, (unique | key | keyref)*)). A problem was found starting at: attribute. +2023-12-25 14:55:53,893 [INFO] PluginManage:359 - Loaded plugin pinoutconfig (category:base,tabindex:0) +2023-12-25 14:55:53,893 [INFO] PluginManage:310 - Check plugin power +2023-12-25 14:55:53,905 [INFO] PluginManage:359 - Loaded plugin power (category:power,tabindex:4) +2023-12-25 14:55:53,905 [INFO] PluginManage:310 - Check plugin projectmanager +2023-12-25 14:55:53,919 [INFO] PluginManage:359 - Loaded plugin projectmanager (category:projectmanager,tabindex:3) +2023-12-25 14:55:53,919 [INFO] PluginManage:310 - Check plugin thirdparty +2023-12-25 14:55:54,058 [INFO] PluginManage:359 - Loaded plugin thirdparty (category:base,tabindex:-1) +2023-12-25 14:55:54,057 [WARN] IntegrityCheckThread:84 - waiting for thirdparty lock release [integrity check] +2023-12-25 14:55:54,058 [INFO] IntegrityCheckThread:86 - entering critical section [integrity check] +2023-12-25 14:55:54,058 [INFO] PluginManage:310 - Check plugin tools +2023-12-25 14:55:54,058 [INFO] ThirdPartyUpdaterWithRetryManager:70 - Updater plugin not ready yet. [1/15] +2023-12-25 14:55:54,060 [INFO] PluginManage:359 - Loaded plugin tools (category:base,tabindex:7) +2023-12-25 14:55:54,061 [INFO] PluginManage:310 - Check plugin tutovideos +2023-12-25 14:55:54,257 [INFO] PluginManage:359 - Loaded plugin tutovideos (category:base,tabindex:-1) +2023-12-25 14:55:54,258 [INFO] PluginManage:310 - Check plugin updater +2023-12-25 14:55:54,270 [INFO] PluginManage:359 - Loaded plugin updater (category:base,tabindex:12) +2023-12-25 14:55:54,270 [INFO] PluginManage:310 - Check plugin userauth +2023-12-25 14:55:54,276 [INFO] UserAuth:113 - Init User Auth plugin +2023-12-25 14:55:54,277 [INFO] PluginManage:359 - Loaded plugin userauth (category:base,tabindex:14) +2023-12-25 14:55:54,277 [INFO] PluginManage:283 - PluginManage : Loaded plugins [17] +2023-12-25 14:55:54,483 [INFO] PinOutPanel:1499 - setPackage(No Configuration,No Configuration) +2023-12-25 14:55:54,588 [INFO] CADModel:165 - CPN selected for project level +2023-12-25 14:55:54,588 [INFO] CADModel:114 - Register for checkConnection events +2023-12-25 14:55:54,601 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,601 [INFO] PluginManager:220 - loadIPPluginJar : add mdma +2023-12-25 14:55:54,609 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,610 [INFO] PluginManager:220 - loadIPPluginJar : add freertos +2023-12-25 14:55:54,615 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,615 [INFO] PluginManager:220 - loadIPPluginJar : add gic +2023-12-25 14:55:54,627 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,627 [INFO] PluginManager:220 - loadIPPluginJar : add adc +2023-12-25 14:55:54,630 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,631 [INFO] PluginManager:220 - loadIPPluginJar : add gtzc +2023-12-25 14:55:54,632 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,632 [INFO] PluginManager:220 - loadIPPluginJar : add quadspi +2023-12-25 14:55:54,634 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,635 [INFO] PluginManager:220 - loadIPPluginJar : add aes +2023-12-25 14:55:54,637 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,638 [INFO] PluginManager:220 - loadIPPluginJar : add pdm2pcm +2023-12-25 14:55:54,640 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,640 [INFO] PluginManager:220 - loadIPPluginJar : add hash +2023-12-25 14:55:54,641 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,641 [INFO] PluginManager:220 - loadIPPluginJar : add tim +2023-12-25 14:55:54,643 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,643 [INFO] PluginManager:220 - loadIPPluginJar : add tsc +2023-12-25 14:55:54,645 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,645 [INFO] PluginManager:220 - loadIPPluginJar : add ts +2023-12-25 14:55:54,647 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,647 [INFO] PluginManager:220 - loadIPPluginJar : add can +2023-12-25 14:55:54,650 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,650 [INFO] PluginManager:220 - loadIPPluginJar : add dma3 +2023-12-25 14:55:54,652 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,652 [INFO] PluginManager:220 - loadIPPluginJar : add dfsdm +2023-12-25 14:55:54,654 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,654 [INFO] PluginManager:220 - loadIPPluginJar : add spi +2023-12-25 14:55:54,656 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,656 [INFO] PluginManager:220 - loadIPPluginJar : add gfxmmu +2023-12-25 14:55:54,657 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,657 [INFO] PluginManager:220 - loadIPPluginJar : add genericplugin +2023-12-25 14:55:54,659 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,660 [INFO] PluginManager:220 - loadIPPluginJar : add cryp +2023-12-25 14:55:54,664 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,664 [INFO] PluginManager:220 - loadIPPluginJar : add gpio +2023-12-25 14:55:54,665 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,666 [INFO] PluginManager:220 - loadIPPluginJar : add comp +2023-12-25 14:55:54,668 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,668 [INFO] PluginManager:220 - loadIPPluginJar : add tracer_emb +2023-12-25 14:55:54,671 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,671 [INFO] PluginManager:220 - loadIPPluginJar : add openamp +2023-12-25 14:55:54,677 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,677 [INFO] PluginManager:220 - loadIPPluginJar : add stm32_wpan +2023-12-25 14:55:54,684 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,686 [INFO] PluginManager:220 - loadIPPluginJar : add plateformsettings +2023-12-25 14:55:54,690 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,690 [INFO] PluginManager:220 - loadIPPluginJar : add ipddr +2023-12-25 14:55:54,692 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,692 [INFO] PluginManager:220 - loadIPPluginJar : add usart +2023-12-25 14:55:54,694 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,694 [INFO] PluginManager:220 - loadIPPluginJar : add ltdc +2023-12-25 14:55:54,697 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,698 [INFO] PluginManager:220 - loadIPPluginJar : add nvic +2023-12-25 14:55:54,699 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,699 [INFO] PluginManager:220 - loadIPPluginJar : add fatfs +2023-12-25 14:55:54,706 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,706 [INFO] PluginManager:220 - loadIPPluginJar : add linkedlist +2023-12-25 14:55:54,713 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,713 [INFO] PluginManager:220 - loadIPPluginJar : add dma +2023-12-25 14:55:54,718 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,718 [INFO] PluginManager:220 - loadIPPluginJar : add fmc +2023-12-25 14:55:54,721 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,721 [INFO] PluginManager:220 - loadIPPluginJar : add i2s +2023-12-25 14:55:54,723 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,723 [INFO] PluginManager:220 - loadIPPluginJar : add ucpd +2023-12-25 14:55:54,726 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,726 [INFO] PluginManager:220 - loadIPPluginJar : add lorawan +2023-12-25 14:55:54,729 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,729 [INFO] PluginManager:220 - loadIPPluginJar : add opamp +2023-12-25 14:55:54,732 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,732 [INFO] PluginManager:220 - loadIPPluginJar : add i3c +2023-12-25 14:55:54,735 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,735 [INFO] PluginManager:220 - loadIPPluginJar : add touchsensing +2023-12-25 14:55:54,738 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,738 [INFO] PluginManager:220 - loadIPPluginJar : add i2c +2023-12-25 14:55:54,742 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,742 [INFO] PluginManager:220 - loadIPPluginJar : add resmgrutility +2023-12-25 14:55:54,745 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,745 [INFO] PluginManager:220 - loadIPPluginJar : add sai +2023-12-25 14:55:54,747 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 14:55:54,747 [INFO] PluginManager:220 - loadIPPluginJar : add usbx +2023-12-25 14:55:54,846 [INFO] CADModel:165 - CPN selected for project level +2023-12-25 14:55:54,846 [INFO] CADModel:114 - Register for checkConnection events +2023-12-25 14:55:54,847 [FATAL] Updater:308 - Updater called before beeing initialized +2023-12-25 14:55:54,847 [ERROR] CADModel:125 - Updater not yet initialized, retry later +2023-12-25 14:55:55,052 [INFO] CADModel:165 - CPN selected for project level +2023-12-25 14:55:55,052 [INFO] CADModel:114 - Register for checkConnection events +2023-12-25 14:55:55,053 [FATAL] Updater:308 - Updater called before beeing initialized +2023-12-25 14:55:55,053 [ERROR] CADModel:125 - Updater not yet initialized, retry later +2023-12-25 14:55:55,057 [FATAL] Updater:308 - Updater called before beeing initialized +2023-12-25 14:55:55,143 [FATAL] Updater:308 - Updater called before beeing initialized +2023-12-25 14:55:55,149 [INFO] DbMcusAds:53 - JSON generation date=Wed Nov 29 02:52:27 PST 2023 (1701255147349) +2023-12-25 14:55:55,149 [FATAL] Updater:308 - Updater called before beeing initialized +2023-12-25 14:55:55,231 [WARN] DetailPanel:346 - Failed to get advertising image, set to default +2023-12-25 14:55:55,338 [FATAL] Updater:308 - Updater called before beeing initialized +2023-12-25 14:55:55,340 [FATAL] Updater:308 - Updater called before beeing initialized +2023-12-25 14:55:55,340 [FATAL] Updater:308 - Updater called before beeing initialized +2023-12-25 14:55:55,340 [WARN] DetailPanel:346 - Failed to get advertising image, set to default +2023-12-25 14:55:55,341 [FATAL] Updater:308 - Updater called before beeing initialized +2023-12-25 14:55:55,369 [ERROR] Updater:1120 - MainUpdater not yet initialized. External WinMGr cannot be set. +2023-12-25 14:55:55,397 [INFO] Updater:1056 - Updater Version found : 6.9.2 +2023-12-25 14:55:55,417 [INFO] ApplicationProperties:184 - Using Application install path: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412 +2023-12-25 14:55:55,554 [INFO] MainUpdater:2868 - connection check result : 10 +2023-12-25 14:55:55,555 [INFO] MainUpdater:285 - Updater Check For Update Now. +2023-12-25 14:55:55,555 [INFO] MicroXplorer:498 - Change Database Version : DB.6.0.92 +2023-12-25 14:55:55,561 [INFO] McuFinderGlobals:63 - Set McuFinder mode to 2 (CubeIDE integrated) +2023-12-25 14:55:55,562 [INFO] UserAuth:179 - activating auth plugin +2023-12-25 14:55:55,565 [INFO] UserAuth:393 - Internet connection configuration mode: 1 +2023-12-25 14:55:55,582 [INFO] JxBrowserEngine:151 - Initiate JxBrowser Engine with user profile folder +2023-12-25 14:55:55,745 [INFO] CheckServerUpdateThread:120 - End of CheckServer Thread +2023-12-25 14:55:57,122 [INFO] WebApp:157 - Instantiating new browser for Auth +2023-12-25 14:55:58,072 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-SMBUS.2.1.0 +2023-12-25 14:55:58,081 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-TOUCHGFX.4.23.0 +2023-12-25 14:55:58,116 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-F7.1.1.0 +2023-12-25 14:55:58,152 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-SNS-MOTENV1.4.3.2 +2023-12-25 14:55:58,178 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-SNS-FLIGHT1.5.0.2 +2023-12-25 14:55:58,188 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-DISPLAY.3.0.0 +2023-12-25 14:55:58,203 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-BLE1.7.0.0 +2023-12-25 14:55:58,208 [WARN] PackLoader:240 - Cannot read IP mode file for emotas.I-CUBE-CANOPEN.1.3.0 +2023-12-25 14:55:58,211 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-TOUCHGFX.4.22.1 +2023-12-25 14:55:58,214 [INFO] WebApp:753 - Register for checkConnection events +2023-12-25 14:55:58,215 [INFO] WebApp:390 - Apply proxy settings +2023-12-25 14:55:58,218 [INFO] WebApp:455 - Chromium authenticates against System proxy +2023-12-25 14:55:58,227 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null +2023-12-25 14:55:58,228 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null +2023-12-25 14:55:58,228 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null +2023-12-25 14:55:58,229 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null +2023-12-25 14:55:58,229 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null +2023-12-25 14:55:58,235 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-WL.2.0.0 +2023-12-25 14:55:58,246 [WARN] PackLoader:240 - Cannot read IP mode file for WES.I-CUBE-Cesium.1.3.0 +2023-12-25 14:55:58,252 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-BLE2.3.3.0 +2023-12-25 14:55:58,262 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-ALGOBUILD.1.3.0 +2023-12-25 14:55:58,288 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-G0.1.1.0 +2023-12-25 14:55:58,296 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-NFC4.3.0.0 +2023-12-25 14:55:58,306 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-BLEMGR.3.0.0 +2023-12-25 14:55:58,312 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-ATR-SIGFOX1.3.2.0 +2023-12-25 14:55:58,365 [WARN] PackLoader:240 - Cannot read IP mode file for SEGGER.I-CUBE-embOS.1.3.1 +2023-12-25 14:55:58,451 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-GNSS1.6.0.0 +2023-12-25 14:55:58,495 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-F4.1.1.0 +2023-12-25 14:55:58,504 [WARN] PackLoader:240 - Cannot read IP mode file for wolfSSL.I-CUBE-wolfSSL.5.6.6 +2023-12-25 14:55:58,537 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-L5.2.0.0 +2023-12-25 14:55:58,546 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-EEPRMA1.4.2.0 +2023-12-25 14:55:58,551 [WARN] PackLoader:240 - Cannot read IP mode file for ITTIA_DB.I-CUBE-ITTIADB.8.8.0 +2023-12-25 14:55:58,557 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-BLEMGR.2.0.0 +2023-12-25 14:55:58,560 [INFO] WebApp:188 - Starting web application +2023-12-25 14:55:58,560 [INFO] WebApp:520 - Web application path used /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412/db/plugins/mcufinder/reactClient1/index.html +2023-12-25 14:55:58,564 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-NFC7.1.0.1 +2023-12-25 14:55:58,571 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-EEPRMA1.4.1.0 +2023-12-25 14:55:58,577 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AI.8.1.0 +2023-12-25 14:55:58,602 [WARN] ConditionMgr:438 - getConditionDescription Invalid condition id : LAN8742 Phy interface Condition cause : null +2023-12-25 14:55:58,602 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-L4.2.0.0 +2023-12-25 14:55:58,603 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : LAN8742 Phy interface Condition cause : null +2023-12-25 14:55:58,603 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : LAN8742 Phy interface Condition cause : null +2023-12-25 14:55:58,604 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : LAN8742 Phy interface Condition cause : null +2023-12-25 14:55:58,610 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-SFXS2LP1.4.0.0 +2023-12-25 14:55:58,614 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-ISPU.1.1.0 +2023-12-25 14:55:58,632 [WARN] ConditionMgr:438 - getConditionDescription Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null +2023-12-25 14:55:58,632 [WARN] ConditionMgr:438 - getConditionDescription Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null +2023-12-25 14:55:58,635 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-WB.2.0.0 +2023-12-25 14:55:58,636 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null +2023-12-25 14:55:58,636 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null +2023-12-25 14:55:58,636 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null +2023-12-25 14:55:58,637 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null +2023-12-25 14:55:58,637 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null +2023-12-25 14:55:58,648 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-SUBG2.5.0.0 +2023-12-25 14:55:58,663 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-TOF1.3.3.1 +2023-12-25 14:55:58,698 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-G4.2.0.0 +2023-12-25 14:55:58,712 [WARN] PackLoader:240 - Cannot read IP mode file for Infineon.AIROC-Wi-Fi-Bluetooth-STM32.1.5.1 +2023-12-25 14:55:58,727 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-SNS-MOTENVWB1.1.3.1 +2023-12-25 14:55:58,733 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-ISPU.2.0.0 +2023-12-25 14:55:58,757 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-FREERTOS.1.1.0 +2023-12-25 14:55:58,768 [WARN] PackLoader:240 - Cannot read IP mode file for portGmbH.I-Cube-SoM-uGOAL.1.1.0 +2023-12-25 14:55:58,773 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-ALS.1.0.1 +2023-12-25 14:55:58,779 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-ATR-ASTRA1.2.0.0 +2023-12-25 14:55:58,796 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-TOF1.3.4.0 +2023-12-25 14:55:58,858 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-H7.3.2.0 +2023-12-25 14:55:58,867 [INFO] ThirdParty:978 - Integrity check success = true +2023-12-25 14:55:58,867 [INFO] IntegrityCheckThread:100 - exiting critical section [integrity check] +2023-12-25 14:55:58,867 [INFO] IntegrityCheckThread:103 - End integrity checks thread +2023-12-25 14:56:19,489 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] SLF4J: Failed to load class "org.slf4j.impl.StaticLoggerBinder". +2023-12-25 14:56:19,489 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] SLF4J: Defaulting to no-operation (NOP) logger implementation +2023-12-25 14:56:19,490 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] SLF4J: See http://www.slf4j.org/codes.html#StaticLoggerBinder for further details. +2023-12-25 16:31:38,733 [INFO] McuFinderGlobals:63 - Set McuFinder mode to 2 (CubeIDE integrated) +2023-12-25 16:31:38,743 [INFO] MainUpdater:2868 - connection check result : 10 +2023-12-25 16:31:38,744 [INFO] MainUpdater:2868 - connection check result : 10 +2023-12-25 16:31:39,697 [INFO] MicroXplorer:468 - Change Database Path : +2023-12-25 16:31:39,697 [INFO] MicroXplorer:498 - Change Database Version : DB.6.0.92 +2023-12-25 16:31:39,703 [WARN] ThirdParty:871 - waiting for thirdparty lock release [close project] +2023-12-25 16:31:39,703 [INFO] ThirdParty:873 - entering critical section [close project] +2023-12-25 16:31:39,705 [INFO] ThirdParty:883 - exiting critical section [close project] +2023-12-25 16:31:39,710 [INFO] PinOutPanel:1499 - setPackage(No Configuration,No Configuration) +2023-12-25 16:31:39,724 [INFO] UtilMem:75 - Begin LoadConfig() Used Memory: 756852256 Bytes (1045430272) +2023-12-25 16:31:39,727 [INFO] MicroXplorer:468 - Change Database Path : +2023-12-25 16:31:39,727 [INFO] MicroXplorer:498 - Change Database Version : DB.6.0.92 +2023-12-25 16:31:39,727 [INFO] OpenFileManager:308 - Change cursor +2023-12-25 16:31:39,776 [INFO] Mcu:1946 - Initializing MCU STM32F103C(8-B)Tx STM32F103C8Tx STM32F103C8T6 +2023-12-25 16:31:41,412 [INFO] Context:659 - Trying to add GPIOservice into a context which must be forbidden +2023-12-25 16:31:41,939 [INFO] RtosManager:555 - Registered RTOS mode: class=CMSIS, group=RTOS, mode=CMSIS_V1, owner=FREERTOS +2023-12-25 16:31:41,940 [INFO] RtosManager:555 - Registered RTOS mode: class=CMSIS, group=RTOS2, mode=CMSIS_V2, owner=FREERTOS +2023-12-25 16:31:41,940 [INFO] RtosManager:555 - Registered RTOS mode: class=RTOS, group=Core, mode=CMSIS_V1, owner=FREERTOS +2023-12-25 16:31:41,940 [INFO] RtosManager:555 - Registered RTOS mode: class=RTOS, group=Core, mode=CMSIS_V2, owner=FREERTOS +2023-12-25 16:31:41,940 [WARN] ModelIntegratedComponent:184 - Missing modes for component STMicroelectronics:FreeRTOS:0.0.1:STMicroelectronics:RTOS:FreeRTOS:Core:::10.2.0: +2023-12-25 16:31:41,971 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 16:31:41,972 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 16:31:41,972 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 16:31:41,972 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 16:31:41,972 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 16:31:41,972 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 16:31:41,972 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 16:31:41,972 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 16:31:41,972 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 16:31:41,973 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 16:31:41,973 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 16:31:41,973 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 16:31:41,973 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 16:31:41,973 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 16:31:41,973 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 16:31:41,973 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 16:31:41,973 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 16:31:41,973 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 16:31:41,974 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 16:31:41,974 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 16:31:41,974 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 16:31:41,974 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 16:31:41,974 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 16:31:41,974 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 16:31:41,974 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 16:31:41,975 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 16:31:41,975 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 16:31:41,975 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 16:31:41,975 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 16:31:41,975 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 16:31:41,975 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 16:31:41,975 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 16:31:41,975 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 16:31:42,034 [INFO] ThirdPartyModel:298 - Start build external matchings +2023-12-25 16:31:42,429 [INFO] ThirdPartyModel:316 - End build external matchings +2023-12-25 16:31:42,444 [INFO] ImportTextPane:194 - (OptionalMessage_ERROR) IP (RCC) : Invalid parameter (FamilyName) +2023-12-25 16:31:42,444 [INFO] ImportTextPane:194 - (OptionalMessage_ERROR) IP (RCC) : Parameter (MCOFreq_Value) has invalid value (72000000) +2023-12-25 16:31:42,729 [INFO] UtilMem:75 - End LoadConfig() Used Memory: 670639176 Bytes (1073741824) +2023-12-25 16:31:43,078 [INFO] ApiDb:581 - Connected to CubeFinder SQLite database (/Users/haotian/.stmcufinder/plugins/mcufinder/mcu/cube-finder-db.db) +2023-12-25 16:31:43,190 [INFO] ApiDb:668 - CubeFinder database Data Model version=2.1 +2023-12-25 16:31:43,191 [INFO] ApiDb:669 - CubeFinder database Configuration version=3.0.39 +2023-12-25 16:31:43,193 [INFO] ApiDb:670 - CubeFinder database generation date=2023-12-08 (1702028721) +2023-12-25 16:31:43,194 [INFO] ApiDb:671 - CubeFinder database FW Pack versions=[FP-ATR-ASTRA1_V2.0.0, FP-SNS-FLIGHT1_V5.0.1, FP-SNS-FLIGHT1_V5.0.2, FP-SNS-MOTENV1_V4.3.1, FP-SNS-MOTENV1_V4.3.2, FP-SNS-MOTENVWB1_V1.3.1, FP-SNS-SMARTAG2_V1.2.0, STM32Cube_FW_C0_V1.1.0, STM32Cube_FW_F4_V1.28.0, STM32Cube_FW_F7_V1.17.0, STM32Cube_FW_G0_V1.6.1, STM32Cube_FW_G4_V1.5.1, STM32Cube_FW_H5_V0.5.1, STM32Cube_FW_H5_V1.1.1, STM32Cube_FW_H5_V1.2.0RC2, STM32Cube_FW_H7_V1.11.0, STM32Cube_FW_L0_V1.12.2, STM32Cube_FW_L5_V1.5.0, STM32Cube_FW_U5_V1.3.0RC4, STM32Cube_FW_U5_V1.4.0, STM32Cube_FW_WBA_V1.0.0RC1, STM32Cube_FW_WBA_V1.1.0RC1, STM32Cube_FW_WBA_V1.2.0, STM32Cube_FW_WBA_V1.2.0RC2, STM32Cube_FW_WB_V1.15.0RC1, STM32Cube_FW_WB_V1.16.0, STM32Cube_FW_WB_V1.16.0RC2, STM32Cube_FW_WB_V1.18.0, STM32Cube_FW_WL_V1.3.0, X-CUBE-ALGOBUILD_V1.3.0, X-CUBE-ALS_V1.0.1, X-CUBE-AZRTOS-F4_V1.1.0, X-CUBE-AZRTOS-F7_V1.1.0, X-CUBE-AZRTOS-G0_V1.1.0, X-CUBE-AZRTOS-G4_V2.0.0, X-CUBE-AZRTOS-H7_V3.1.0, X-CUBE-AZRTOS-L4_V1.0.0, X-CUBE-AZRTOS-L4_V2.0.0, X-CUBE-AZRTOS-L5_V1.1.0, X-CUBE-AZRTOS-WB_V2.0.0, X-CUBE-AZRTOS-WL_V2.0.0, X-CUBE-BLE1_V7.0.0, X-CUBE-BLE2_V3.3.0, X-CUBE-BLEMGR_V3.0.0, X-CUBE-EEPRMA1_V4.1.0, X-CUBE-EEPRMA1_V4.2.0, X-CUBE-FREERTOS_V1.1.0, X-CUBE-GNSS1_V6.0.0, X-CUBE-MEMS1_V10.0.0, X-CUBE-MEMS1_V9.1.0, X-CUBE-MEMS1_V9.4.0, X-CUBE-MEMS1_V9.6.0, X-CUBE-NFC4_V3.0.0, X-CUBE-NFC7_V1.0.1, X-CUBE-SFXS2LP1_V4.0.0, X-CUBE-SUBG2_V5.0.0, X-CUBE-TOF1_V3.4.0] +2023-12-25 16:31:46,080 [INFO] ApiDb:240 - Found 323 in-development CPN: [B-G473E-ZEST1S, B-WB1M-WPAN1, B-WL5M-SUBG1, NUCLEO-C031C6, NUCLEO-H503RB, NUCLEO-H563ZI, NUCLEO-U545RE-Q, NUCLEO-U5A5ZJ-Q, NUCLEO-WBA52CG, STEVAL-PROTEUS1, STEVAL-SMARTAG2, STEVAL-STWINBX1, STM320518-EVAL, STM32C0116-DK, STM32C011D6Y3TR, STM32C011D6Y6TR, STM32C011F4P3, STM32C011F4P6, STM32C011F4U3, STM32C011F4U6TR, STM32C011F6P3, STM32C011F6P6, STM32C011F6U3, STM32C011F6U6TR, STM32C011J4M3, STM32C011J4M6, STM32C011J6M3, STM32C011J6M6, STM32C0316-DK, STM32C031C4T3, STM32C031C4T6, STM32C031C4U3, STM32C031C4U6, STM32C031C6T3, STM32C031C6T6, STM32C031C6U3, STM32C031C6U6, STM32C031F4P3, STM32C031F4P6, STM32C031F6P3, STM32C031F6P6, STM32C031G4U3, STM32C031G4U6, STM32C031G6U3, STM32C031G6U6, STM32C031K4T3, STM32C031K4T6, STM32C031K4U3, STM32C031K4U6, STM32C031K6T3, STM32C031K6T6, STM32C031K6U3, STM32C031K6U6, STM32G071K8TXN, STM32G071K8UXN, STM32G081GBU6N, STM32G081KBT6N, STM32G081KBUXN, STM32G0B1CCT6N, STM32G0B1KCT6, STM32G0B1NEY6TR, STM32G0B1RCT6N, STM32G0C1CCT6, STM32G0C1CCT6N, STM32G0C1CCU6N, STM32G0C1CET6N, STM32G0C1CEU6N, STM32G0C1KCT6, STM32G0C1NEY6TR, STM32G0C1RCI6N, STM32G0C1RCT6N, STM32G0C1REI6N, STM32G0C1RET6N, STM32G0C1VCI6, STM32G0C1VEI6, STM32G471CCT6, STM32G471CCU6, STM32G471CET3, STM32G471CET6, STM32G471CEU3, STM32G471CEU6, STM32G471MCT6, STM32G471MET3, STM32G471MET6, STM32G471MEY6TR, STM32G471QCT6, STM32G471QET3, STM32G471RCT6, STM32G471RET3, STM32G471RET6, STM32G471VCH6, STM32G471VCI6, STM32G471VCT6, STM32G471VEH3, STM32G471VEH6, STM32G471VEI3, STM32G471VEI6, STM32G471VET3, STM32G471VET6, STM32G474CCT6, STM32H503CBT6, STM32H503CBU6, STM32H503EBY6TR, STM32H503KBU6, STM32H503RBT6, STM32H562AGI6, STM32H562AII6, STM32H562IGK6, STM32H562IGT6, STM32H562IIK6, STM32H562IIT6, STM32H562RGT6, STM32H562RGV6, STM32H562RIT6, STM32H562RIV6, STM32H562VGT6, STM32H562VIT6, STM32H562ZGT6, STM32H562ZIT6, STM32H563AGI6, STM32H563AII3Q, STM32H563AII6, STM32H563IGK6, STM32H563IGT6, STM32H563IIK3Q, STM32H563IIK6, STM32H563IIT3Q, STM32H563IIT6, STM32H563MIY3QTR, STM32H563RGT6, STM32H563RGV6, STM32H563RIT6, STM32H563RIV6, STM32H563VGT6, STM32H563VIT3Q, STM32H563VIT6, STM32H563ZGT6, STM32H563ZIT3Q, STM32H563ZIT6, STM32H573AII3Q, STM32H573AII6, STM32H573I-DK, STM32H573IIK3Q, STM32H573IIK6, STM32H573IIT3Q, STM32H573IIT6, STM32H573MIY3QTR, STM32H573RIT6, STM32H573RIV6, STM32H573VIT3Q, STM32H573VIT6, STM32H573ZIT3Q, STM32H573ZIT6, STM32L4R5QGI6STR, STM32MP131AAE3, STM32MP131AAF3, STM32MP131AAG3, STM32MP131CAE3, STM32MP131CAF3, STM32MP131CAG3, STM32MP131DAE7, STM32MP131DAF7, STM32MP131DAG7, STM32MP131FAE7, STM32MP131FAF7, STM32MP131FAG7, STM32MP133AAE3, STM32MP133AAF3, STM32MP133AAG3, STM32MP133CAE3, STM32MP133CAF3, STM32MP133CAG3, STM32MP133DAE7, STM32MP133DAF7, STM32MP133DAG7, STM32MP133FAE7, STM32MP133FAF7, STM32MP133FAG7, STM32MP135AAE3, STM32MP135AAF3, STM32MP135AAG3, STM32MP135CAE3, STM32MP135CAF3, STM32MP135CAG3, STM32MP135DAE7, STM32MP135DAF7, STM32MP135DAG7, STM32MP135F-DK, STM32MP135FAE7, STM32MP135FAF7, STM32MP135FAF7T, STM32MP135FAF7U, STM32MP135FAG7, STM32U535CBT6, STM32U535CBT6Q, STM32U535CBU6, STM32U535CBU6Q, STM32U535CCT6, STM32U535CCT6Q, STM32U535CCU6, STM32U535CCU6Q, STM32U535CET6, STM32U535CET6Q, STM32U535CEU6, STM32U535CEU6Q, STM32U535JEY6QTR, STM32U535NCY6QTR, STM32U535NEY6QTR, STM32U535RBI6, STM32U535RBI6Q, STM32U535RBT6, STM32U535RBT6Q, STM32U535RCI6, STM32U535RCI6Q, STM32U535RCT6, STM32U535RCT6Q, STM32U535REI6, STM32U535REI6Q, STM32U535RET6, STM32U535RET6Q, STM32U535VCI6, STM32U535VCI6Q, STM32U535VCT6, STM32U535VCT6Q, STM32U535VEI6, STM32U535VEI6Q, STM32U535VET6, STM32U535VET6Q, STM32U545CET6, STM32U545CET6Q, STM32U545CEU6, STM32U545CEU6Q, STM32U545JEY6QTR, STM32U545NEY6QTR, STM32U545REI6, STM32U545REI6Q, STM32U545RET6, STM32U545RET6Q, STM32U545VEI6, STM32U545VEI6Q, STM32U545VET6, STM32U545VET6Q, STM32U595AIH6, STM32U595AIH6Q, STM32U595AJH6, STM32U595AJH6Q, STM32U595QII6, STM32U595QII6Q, STM32U595QJI6, STM32U595QJI6Q, STM32U595RIT6, STM32U595RIT6Q, STM32U595RJT6, STM32U595RJT6Q, STM32U595VIT6, STM32U595VIT6Q, STM32U595VJT6, STM32U595VJT6Q, STM32U595ZIT6, STM32U595ZIT6Q, STM32U595ZIY6QTR, STM32U595ZJT6, STM32U595ZJT6Q, STM32U595ZJY6QTR, STM32U599BJY6QTR, STM32U599NIH6Q, STM32U599NJH6Q, STM32U599VIT6Q, STM32U599VJT6, STM32U599VJT6Q, STM32U599ZIT6Q, STM32U599ZIY6QTR, STM32U599ZJT6Q, STM32U599ZJY6QTR, STM32U5A5AJH6, STM32U5A5AJH6Q, STM32U5A5QJI6, STM32U5A5QJI6Q, STM32U5A5RJT6, STM32U5A5RJT6Q, STM32U5A5VJT6, STM32U5A5VJT6Q, STM32U5A5ZJT6, STM32U5A5ZJT6Q, STM32U5A5ZJY6QTR, STM32U5A9BJY6QTR, STM32U5A9J-DK, STM32U5A9NJH6Q, STM32U5A9VJT6Q, STM32U5A9ZJT6Q, STM32U5A9ZJY6QTR, STM32U5F7VIT6, STM32U5F7VIT6Q, STM32U5F7VJT6, STM32U5F7VJT6Q, STM32U5F9BJY6QTR, STM32U5F9NJH6Q, STM32U5F9VIT6Q, STM32U5F9VJT6Q, STM32U5F9ZIJ6QTR, STM32U5F9ZIT6Q, STM32U5F9ZJJ6QTR, STM32U5F9ZJT6Q, STM32U5G7VJT6, STM32U5G7VJT6Q, STM32U5G9BJY6QTR, STM32U5G9J-DK1, STM32U5G9J-DK2, STM32U5G9NJH6Q, STM32U5G9VJT6Q, STM32U5G9ZJJ6QTR, STM32U5G9ZJT6Q, STM32WB1MMCH6, STM32WBA52CEU6, STM32WBA52CEU6T, STM32WBA52CGU6, STM32WBA52CGU6T, STM32WBA52KEU6, STM32WBA52KEU6T, STM32WBA52KGU6, STM32WBA52KGU6T, STM32WL5MOCH6, STM32WL5MOCH6TR] +2023-12-25 16:31:46,085 [INFO] DbMcus:217 - Found 3882 MCUs, 3882 are supported +2023-12-25 16:31:46,086 [INFO] ApiDb:423 - Load user favorites file /Users/haotian/.stm32cubeide/favorites.mcus.txt: 0 item(s) +2023-12-25 16:31:46,087 [INFO] ApiDb:427 - User favorites MCUs=[] +2023-12-25 16:31:46,087 [INFO] DbMcus:223 - Set 0 / 0 favorites MCUs +2023-12-25 16:31:46,603 [WARN] ThirdParty:833 - waiting for thirdparty lock release [change project] +2023-12-25 16:31:46,603 [INFO] ThirdParty:835 - entering critical section [change project] +2023-12-25 16:31:46,603 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-ISPU 1.1.0 +2023-12-25 16:31:46,603 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USBPD 4.1 +2023-12-25 16:31:46,603 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-GNSS1 6.0.0 +2023-12-25 16:31:46,603 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_HOST 2.0.0 +2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-F4 1.1.0 +2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics LIBJPEG 8.0.0 +2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-SMBUS 2.1.0 +2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_DEVICE 3.0.0 +2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-WB 2.0.0 +2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :wolfSSL I-CUBE-wolfSSL 5.6.6 +2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-TOUCHGFX 4.23.0 +2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-F7 1.1.0 +2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-L5 2.0.0 +2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_DEVICE 2.0.0 +2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-EEPRMA1 4.2.0 +2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :ITTIA_DB I-CUBE-ITTIADB 8.8.0 +2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-SNS-MOTENV1 4.3.2 +2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-ALGOBUILD 1.3.0 +2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FreeRTOS 0.0.1 +2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-G0 1.1.0 +2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-BLEMGR 2.0.0 +2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-NFC4 3.0.0 +2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-SUBG2 5.0.0 +2023-12-25 16:31:46,604 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics STM32_WPAN 1.0.0 +2023-12-25 16:31:46,605 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics lwIP 2.0.3 +2023-12-25 16:31:46,605 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-SNS-FLIGHT1 5.0.2 +2023-12-25 16:31:46,605 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_HOST 1.0.0 +2023-12-25 16:31:46,605 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-TOF1 3.3.1 +2023-12-25 16:31:46,605 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-G4 2.0.0 +2023-12-25 16:31:46,605 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics PDM2PCM 3.1.0 +2023-12-25 16:31:46,605 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :Infineon AIROC-Wi-Fi-Bluetooth-STM32 1.5.1 +2023-12-25 16:31:46,605 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-BLEMGR 3.0.0 +2023-12-25 16:31:46,605 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics PDM2PCM 3.3.0 +2023-12-25 16:31:46,605 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-DISPLAY 3.0.0 +2023-12-25 16:31:46,605 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-SNS-MOTENVWB1 1.3.1 +2023-12-25 16:31:46,605 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-BLE1 7.0.0 +2023-12-25 16:31:46,605 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-ATR-SIGFOX1 3.2.0 +2023-12-25 16:31:46,605 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-ISPU 2.0.0 +2023-12-25 16:31:46,605 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics HAL Drivers 0.0.0 +2023-12-25 16:31:46,605 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics MBEDTLS 2.16.2 +2023-12-25 16:31:46,605 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :emotas I-CUBE-CANOPEN 1.3.0 +2023-12-25 16:31:46,605 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-FREERTOS 1.1.0 +2023-12-25 16:31:46,605 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-NFC7 1.0.1 +2023-12-25 16:31:46,606 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics MBEDTLS 2.14.1 +2023-12-25 16:31:46,606 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-TOUCHGFX 4.22.1 +2023-12-25 16:31:46,606 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-EEPRMA1 4.1.0 +2023-12-25 16:31:46,606 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :portGmbH I-Cube-SoM-uGOAL 1.1.0 +2023-12-25 16:31:46,606 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-ALS 1.0.1 +2023-12-25 16:31:46,606 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics ThreadX 1.0.0 +2023-12-25 16:31:46,606 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-WL 2.0.0 +2023-12-25 16:31:46,606 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :SEGGER I-CUBE-embOS 1.3.1 +2023-12-25 16:31:46,606 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_DEVICE 1.0.0 +2023-12-25 16:31:46,606 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AI 8.1.0 +2023-12-25 16:31:46,606 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-L4 2.0.0 +2023-12-25 16:31:46,606 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics ThreadX 0.0.2 +2023-12-25 16:31:46,607 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :WES I-CUBE-Cesium 1.3.0 +2023-12-25 16:31:46,607 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-ATR-ASTRA1 2.0.0 +2023-12-25 16:31:46,607 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics lwIP 2.1.2 +2023-12-25 16:31:46,607 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-SFXS2LP1 4.0.0 +2023-12-25 16:31:46,607 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-BLE2 3.3.0 +2023-12-25 16:31:46,607 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-TOF1 3.4.0 +2023-12-25 16:31:46,607 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-H7 3.2.0 +2023-12-25 16:31:46,607 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics PDM2PCM 3.2.0 +2023-12-25 16:31:46,608 [INFO] ThirdParty:841 - exiting critical section [change project] +2023-12-25 16:31:47,029 [INFO] PinOutPanel:1499 - setPackage(No Configuration,No Configuration) +2023-12-25 16:31:47,031 [INFO] PinOutPanel:1499 - setPackage(STM32F103C8Tx,LQFP48) +2023-12-25 16:31:47,981 [INFO] UtilMem:75 - Before build in PCC Used Memory: 621641272 Bytes (1073741824) +2023-12-25 16:31:49,087 [INFO] UtilMem:75 - After build in PCC Used Memory: 734887480 Bytes (1073741824) +2023-12-25 16:31:49,225 [INFO] ApiDbMcu:507 - Load IP Config File for USB_DEVICE +2023-12-25 16:31:49,268 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 16:31:49,269 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 16:31:49,269 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 16:31:49,270 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 16:31:49,270 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 16:31:49,272 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 16:31:49,273 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 16:31:49,273 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 16:31:49,273 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 16:31:49,274 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 16:31:49,274 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 16:31:49,274 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 16:31:49,275 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 16:31:49,275 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 16:31:49,275 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 16:31:49,275 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 16:31:49,276 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 16:31:49,276 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 16:31:49,276 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 16:31:49,276 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 16:31:49,276 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 16:31:49,277 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 16:31:49,277 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 16:31:49,279 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 16:31:49,279 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 16:31:49,280 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 16:31:49,280 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 16:31:49,591 [INFO] CADModel:165 - CPN selected for project levelSTM32F103C8T6 +2023-12-25 16:31:49,591 [INFO] CADModel:114 - Register for checkConnection events +2023-12-25 16:31:49,635 [INFO] OpenFileManager:328 - Restore cursor +2023-12-25 16:31:57,171 [INFO] UtilMem:75 - End SaveConfig() Used Memory: 574018408 Bytes (1073741824) +2023-12-25 16:31:58,023 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: SPI +2023-12-25 16:31:58,024 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: NVIC +2023-12-25 16:31:58,024 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: TIM1_8F1 +2023-12-25 16:31:58,024 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: TIM1_8F1 +2023-12-25 16:31:58,024 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: USB_DEVICE +2023-12-25 16:31:58,024 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: USB +2023-12-25 16:31:58,024 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: SYS +2023-12-25 16:31:58,025 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: GPIO +2023-12-25 16:31:58,026 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: ADC +2023-12-25 16:31:58,026 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: RCC +2023-12-25 16:31:58,029 [INFO] CodeGenerator:799 - code generatio: config db path: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db/ +2023-12-25 16:31:58,650 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/license.tmp_save +2023-12-25 16:31:59,427 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/license.tmp +2023-12-25 16:31:59,526 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/gpio.tmp_save +2023-12-25 16:31:59,728 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/gpio.tmp +2023-12-25 16:31:59,855 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_vars.tmp_save +2023-12-25 16:31:59,988 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_vars.tmp +2023-12-25 16:31:59,991 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_inc.tmp_save +2023-12-25 16:32:00,109 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_inc.tmp +2023-12-25 16:32:00,113 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_HalInit.tmp_save +2023-12-25 16:32:00,276 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_HalInit.tmp +2023-12-25 16:32:00,279 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_Msp.tmp_save +2023-12-25 16:32:00,440 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_Msp.tmp +2023-12-25 16:32:00,821 [INFO] Middleware:1439 - No code input for Bsp Dependency +2023-12-25 16:32:00,834 [INFO] Middleware:1439 - No code input for Bsp Dependency +2023-12-25 16:32:00,845 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.c_save +2023-12-25 16:32:00,987 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.c +2023-12-25 16:32:00,991 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.h_save +2023-12-25 16:32:01,098 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.h +2023-12-25 16:32:01,108 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.h_save +2023-12-25 16:32:01,230 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.h +2023-12-25 16:32:01,238 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.c_save +2023-12-25 16:32:01,365 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.c +2023-12-25 16:32:01,372 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.h_save +2023-12-25 16:32:01,492 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.h +2023-12-25 16:32:01,498 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.c_save +2023-12-25 16:32:01,646 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.c +2023-12-25 16:32:01,733 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.h_save +2023-12-25 16:32:01,869 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.h +2023-12-25 16:32:01,875 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.c_save +2023-12-25 16:32:02,065 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.c +2023-12-25 16:32:02,081 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_it.c_save +2023-12-25 16:32:02,250 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_it.c +2023-12-25 16:32:02,255 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_it.h_save +2023-12-25 16:32:02,427 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_it.h +2023-12-25 16:32:02,442 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_hal_msp.c_save +2023-12-25 16:32:02,622 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_hal_msp.c +2023-12-25 16:32:02,629 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/system.tmp_save +2023-12-25 16:32:02,723 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/system.tmp +2023-12-25 16:32:02,730 [INFO] CodeEngine:311 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_hal_conf.h_save +2023-12-25 16:32:02,830 [INFO] CodeEngine:335 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_hal_conf.h +2023-12-25 16:32:02,868 [WARN] IPConfigManager:3431 - IP not found : TIM +2023-12-25 16:32:02,869 [WARN] CodeGenerator:3764 - IP not found : null +2023-12-25 16:32:02,875 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/main.h_save +2023-12-25 16:32:03,011 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/main.h +2023-12-25 16:32:03,015 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/main.c_save +2023-12-25 16:32:03,262 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/main.c +2023-12-25 16:32:04,310 [INFO] ProjectBuilder:3064 - Time for Copy HAL[1] : 240mS. +2023-12-25 16:32:04,323 [INFO] ProjectBuilder:4404 - Project Generator version: 4.1.0 +2023-12-25 16:32:04,737 [INFO] ConfigFileManager:1457 - The Die is : DIE410 +2023-12-25 16:32:04,745 [INFO] ApiDbMcu:507 - Load IP Config File for FATFS +2023-12-25 16:32:04,752 [INFO] ApiDbMcu:507 - Load IP Config File for FREERTOS +2023-12-25 16:32:06,382 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] +2023-12-25 16:32:07,718 [INFO] ProjectBuilder:4626 - Time for Generating toolchain IDE Files: 3395mS. +2023-12-25 16:32:07,719 [INFO] ProjectBuilder:2935 - Time for Copy CMSIS : 0mS. +2023-12-25 16:32:07,723 [INFO] ProjectBuilder:2935 - Time for Copy CMSIS : 0mS. +2023-12-25 21:57:22,462 [INFO] UtilMem:75 - End SaveConfig() Used Memory: 693533904 Bytes (1073741824) +2023-12-25 21:57:22,877 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: SPI +2023-12-25 21:57:22,878 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: NVIC +2023-12-25 21:57:22,878 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: TIM1_8F1 +2023-12-25 21:57:22,878 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: TIM1_8F1 +2023-12-25 21:57:22,878 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: USB_DEVICE +2023-12-25 21:57:22,878 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: USB +2023-12-25 21:57:22,878 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: SYS +2023-12-25 21:57:22,879 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: GPIO +2023-12-25 21:57:22,880 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: ADC +2023-12-25 21:57:22,880 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: RCC +2023-12-25 21:57:22,881 [INFO] CodeGenerator:799 - code generatio: config db path: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db/ +2023-12-25 21:57:23,178 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/license.tmp_save +2023-12-25 21:57:23,310 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/license.tmp +2023-12-25 21:57:23,336 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/gpio.tmp_save +2023-12-25 21:57:23,425 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/gpio.tmp +2023-12-25 21:57:23,481 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_vars.tmp_save +2023-12-25 21:57:23,562 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_vars.tmp +2023-12-25 21:57:23,564 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_inc.tmp_save +2023-12-25 21:57:23,626 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_inc.tmp +2023-12-25 21:57:23,629 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_HalInit.tmp_save +2023-12-25 21:57:23,837 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_HalInit.tmp +2023-12-25 21:57:23,839 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_Msp.tmp_save +2023-12-25 21:57:23,932 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_Msp.tmp +2023-12-25 21:57:24,328 [INFO] Middleware:1439 - No code input for Bsp Dependency +2023-12-25 21:57:24,343 [INFO] Middleware:1439 - No code input for Bsp Dependency +2023-12-25 21:57:24,349 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.c_save +2023-12-25 21:57:24,430 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.c +2023-12-25 21:57:24,433 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.h_save +2023-12-25 21:57:24,501 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.h +2023-12-25 21:57:24,505 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.h_save +2023-12-25 21:57:24,583 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.h +2023-12-25 21:57:24,586 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.c_save +2023-12-25 21:57:24,734 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.c +2023-12-25 21:57:24,741 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.h_save +2023-12-25 21:57:24,846 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.h +2023-12-25 21:57:24,849 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.c_save +2023-12-25 21:57:24,926 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.c +2023-12-25 21:57:24,929 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.h_save +2023-12-25 21:57:24,996 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.h +2023-12-25 21:57:25,000 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.c_save +2023-12-25 21:57:25,067 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.c +2023-12-25 21:57:25,075 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_it.c_save +2023-12-25 21:57:25,260 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_it.c +2023-12-25 21:57:25,263 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_it.h_save +2023-12-25 21:57:25,324 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_it.h +2023-12-25 21:57:25,331 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_hal_msp.c_save +2023-12-25 21:57:25,424 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_hal_msp.c +2023-12-25 21:57:25,427 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/system.tmp_save +2023-12-25 21:57:25,632 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/system.tmp +2023-12-25 21:57:25,642 [INFO] CodeEngine:311 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_hal_conf.h_save +2023-12-25 21:57:25,742 [INFO] CodeEngine:335 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_hal_conf.h +2023-12-25 21:57:25,767 [WARN] IPConfigManager:3431 - IP not found : TIM +2023-12-25 21:57:25,768 [WARN] CodeGenerator:3764 - IP not found : null +2023-12-25 21:57:25,778 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/main.h_save +2023-12-25 21:57:25,922 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/main.h +2023-12-25 21:57:25,927 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/main.c_save +2023-12-25 21:57:26,223 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/main.c +2023-12-25 21:57:27,326 [INFO] ProjectBuilder:3064 - Time for Copy HAL[1] : 243mS. +2023-12-25 21:57:27,331 [INFO] ProjectBuilder:4404 - Project Generator version: 4.1.0 +2023-12-25 21:57:27,915 [INFO] ConfigFileManager:1457 - The Die is : DIE410 +2023-12-25 21:57:29,904 [INFO] ProjectBuilder:4626 - Time for Generating toolchain IDE Files: 2571mS. +2023-12-25 21:57:29,905 [INFO] ProjectBuilder:2935 - Time for Copy CMSIS : 0mS. +2023-12-25 21:57:29,924 [INFO] ProjectBuilder:2935 - Time for Copy CMSIS : 0mS. +2023-12-25 21:57:30,034 [INFO] NvicIntPanel:101 - NVIC parent = com.st.microxplorer.plugins.ip.nvic.MultiNvicIntPanel[,0,0,0x0,invalid,layout=javax.swing.BoxLayout,alignmentX=0.0,alignmentY=0.0,border=,flags=9,maximumSize=,minimumSize=,preferredSize=] +2023-12-25 21:57:53,135 [INFO] UtilMem:75 - End SaveConfig() Used Memory: 687053200 Bytes (1073741824) +2023-12-25 21:58:15,009 [INFO] UtilMem:75 - End SaveConfig() Used Memory: 667460064 Bytes (1073741824) +2023-12-25 21:58:15,398 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: SPI +2023-12-25 21:58:15,399 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: NVIC +2023-12-25 21:58:15,399 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: TIM1_8F1 +2023-12-25 21:58:15,399 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: TIM1_8F1 +2023-12-25 21:58:15,399 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: USB_DEVICE +2023-12-25 21:58:15,399 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: USB +2023-12-25 21:58:15,399 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: SYS +2023-12-25 21:58:15,400 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: GPIO +2023-12-25 21:58:15,400 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: ADC +2023-12-25 21:58:15,400 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: RCC +2023-12-25 21:58:15,401 [INFO] CodeGenerator:799 - code generatio: config db path: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db/ +2023-12-25 21:58:15,626 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/license.tmp_save +2023-12-25 21:58:15,708 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/license.tmp +2023-12-25 21:58:15,730 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/gpio.tmp_save +2023-12-25 21:58:15,822 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/gpio.tmp +2023-12-25 21:58:15,887 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_vars.tmp_save +2023-12-25 21:58:15,974 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_vars.tmp +2023-12-25 21:58:15,976 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_inc.tmp_save +2023-12-25 21:58:16,055 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_inc.tmp +2023-12-25 21:58:16,056 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_HalInit.tmp_save +2023-12-25 21:58:16,123 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_HalInit.tmp +2023-12-25 21:58:16,124 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_Msp.tmp_save +2023-12-25 21:58:16,251 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_Msp.tmp +2023-12-25 21:58:16,444 [INFO] Middleware:1439 - No code input for Bsp Dependency +2023-12-25 21:58:16,452 [INFO] Middleware:1439 - No code input for Bsp Dependency +2023-12-25 21:58:16,457 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.c_save +2023-12-25 21:58:16,522 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.c +2023-12-25 21:58:16,524 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.h_save +2023-12-25 21:58:16,584 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.h +2023-12-25 21:58:16,586 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.h_save +2023-12-25 21:58:16,648 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.h +2023-12-25 21:58:16,651 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.c_save +2023-12-25 21:58:16,720 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.c +2023-12-25 21:58:16,724 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.h_save +2023-12-25 21:58:16,784 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.h +2023-12-25 21:58:16,787 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.c_save +2023-12-25 21:58:16,854 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.c +2023-12-25 21:58:16,860 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.h_save +2023-12-25 21:58:16,925 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.h +2023-12-25 21:58:16,928 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.c_save +2023-12-25 21:58:17,004 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.c +2023-12-25 21:58:17,013 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_it.c_save +2023-12-25 21:58:17,084 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_it.c +2023-12-25 21:58:17,087 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_it.h_save +2023-12-25 21:58:17,148 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_it.h +2023-12-25 21:58:17,155 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_hal_msp.c_save +2023-12-25 21:58:17,246 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_hal_msp.c +2023-12-25 21:58:17,248 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/system.tmp_save +2023-12-25 21:58:17,346 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/system.tmp +2023-12-25 21:58:17,352 [INFO] CodeEngine:311 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_hal_conf.h_save +2023-12-25 21:58:17,440 [INFO] CodeEngine:335 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_hal_conf.h +2023-12-25 21:58:17,459 [WARN] IPConfigManager:3431 - IP not found : TIM +2023-12-25 21:58:17,460 [WARN] CodeGenerator:3764 - IP not found : null +2023-12-25 21:58:17,464 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/main.h_save +2023-12-25 21:58:17,556 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/main.h +2023-12-25 21:58:17,559 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/main.c_save +2023-12-25 21:58:17,722 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/main.c +2023-12-25 21:58:18,461 [INFO] ProjectBuilder:3064 - Time for Copy HAL[1] : 158mS. +2023-12-25 21:58:18,467 [INFO] ProjectBuilder:4404 - Project Generator version: 4.1.0 +2023-12-25 21:58:18,868 [INFO] ConfigFileManager:1457 - The Die is : DIE410 +2023-12-25 21:58:20,525 [INFO] ProjectBuilder:4626 - Time for Generating toolchain IDE Files: 2059mS. +2023-12-25 21:58:20,526 [INFO] ProjectBuilder:2935 - Time for Copy CMSIS : 1mS. +2023-12-25 21:58:20,529 [INFO] ProjectBuilder:2935 - Time for Copy CMSIS : 0mS. +2023-12-25 21:59:19,200 [INFO] UtilMem:75 - End SaveConfig() Used Memory: 719282688 Bytes (1073741824) +2023-12-25 21:59:19,561 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: SPI +2023-12-25 21:59:19,561 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: NVIC +2023-12-25 21:59:19,561 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: TIM1_8F1 +2023-12-25 21:59:19,562 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: TIM1_8F1 +2023-12-25 21:59:19,562 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: USB_DEVICE +2023-12-25 21:59:19,562 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: USB +2023-12-25 21:59:19,562 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: SYS +2023-12-25 21:59:19,562 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: GPIO +2023-12-25 21:59:19,562 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: ADC +2023-12-25 21:59:19,562 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: RCC +2023-12-25 21:59:19,563 [INFO] CodeGenerator:799 - code generatio: config db path: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db/ +2023-12-25 21:59:19,900 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/license.tmp_save +2023-12-25 21:59:19,961 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/license.tmp +2023-12-25 21:59:19,984 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/gpio.tmp_save +2023-12-25 21:59:20,062 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/gpio.tmp +2023-12-25 21:59:20,117 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_vars.tmp_save +2023-12-25 21:59:20,201 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_vars.tmp +2023-12-25 21:59:20,203 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_inc.tmp_save +2023-12-25 21:59:20,316 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_inc.tmp +2023-12-25 21:59:20,319 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_HalInit.tmp_save +2023-12-25 21:59:20,427 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_HalInit.tmp +2023-12-25 21:59:20,430 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_Msp.tmp_save +2023-12-25 21:59:20,520 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_Msp.tmp +2023-12-25 21:59:20,783 [INFO] Middleware:1439 - No code input for Bsp Dependency +2023-12-25 21:59:20,793 [INFO] Middleware:1439 - No code input for Bsp Dependency +2023-12-25 21:59:20,800 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.c_save +2023-12-25 21:59:20,885 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.c +2023-12-25 21:59:20,888 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.h_save +2023-12-25 21:59:20,958 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.h +2023-12-25 21:59:20,960 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.h_save +2023-12-25 21:59:21,032 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.h +2023-12-25 21:59:21,036 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.c_save +2023-12-25 21:59:21,110 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.c +2023-12-25 21:59:21,114 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.h_save +2023-12-25 21:59:21,179 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.h +2023-12-25 21:59:21,184 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.c_save +2023-12-25 21:59:21,281 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.c +2023-12-25 21:59:21,286 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.h_save +2023-12-25 21:59:21,355 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.h +2023-12-25 21:59:21,358 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.c_save +2023-12-25 21:59:21,427 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.c +2023-12-25 21:59:21,439 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_it.c_save +2023-12-25 21:59:21,510 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_it.c +2023-12-25 21:59:21,513 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_it.h_save +2023-12-25 21:59:21,573 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_it.h +2023-12-25 21:59:21,579 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_hal_msp.c_save +2023-12-25 21:59:21,671 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_hal_msp.c +2023-12-25 21:59:21,673 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/system.tmp_save +2023-12-25 21:59:21,725 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/system.tmp +2023-12-25 21:59:21,730 [INFO] CodeEngine:311 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_hal_conf.h_save +2023-12-25 21:59:21,791 [INFO] CodeEngine:335 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_hal_conf.h +2023-12-25 21:59:21,806 [WARN] IPConfigManager:3431 - IP not found : TIM +2023-12-25 21:59:21,806 [WARN] CodeGenerator:3764 - IP not found : null +2023-12-25 21:59:21,811 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/main.h_save +2023-12-25 21:59:21,878 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/main.h +2023-12-25 21:59:21,881 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/main.c_save +2023-12-25 21:59:22,026 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/main.c +2023-12-25 21:59:22,833 [INFO] ProjectBuilder:3064 - Time for Copy HAL[1] : 154mS. +2023-12-25 21:59:22,837 [INFO] ProjectBuilder:4404 - Project Generator version: 4.1.0 +2023-12-25 21:59:23,275 [INFO] ConfigFileManager:1457 - The Die is : DIE410 +2023-12-25 21:59:24,946 [INFO] ProjectBuilder:4626 - Time for Generating toolchain IDE Files: 2109mS. +2023-12-25 21:59:24,946 [INFO] ProjectBuilder:2935 - Time for Copy CMSIS : 0mS. +2023-12-25 21:59:24,955 [INFO] ProjectBuilder:2935 - Time for Copy CMSIS : 0mS. +2023-12-25 21:59:25,121 [INFO] NvicIntPanel:101 - NVIC parent = com.st.microxplorer.plugins.ip.nvic.MultiNvicIntPanel[,0,0,0x0,invalid,layout=javax.swing.BoxLayout,alignmentX=0.0,alignmentY=0.0,border=,flags=9,maximumSize=,minimumSize=,preferredSize=] +2023-12-25 21:59:32,071 [INFO] UtilMem:75 - End SaveConfig() Used Memory: 804819112 Bytes (1073741824) +2023-12-25 21:59:33,399 [INFO] UtilMem:75 - End SaveConfig() Used Memory: 824546368 Bytes (1073741824) +2023-12-25 21:59:33,694 [INFO] UtilMem:75 - End SaveConfig() Used Memory: 759901248 Bytes (1073741824) +2023-12-25 21:59:33,895 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: SPI +2023-12-25 21:59:33,896 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: NVIC +2023-12-25 21:59:33,896 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: TIM1_8F1 +2023-12-25 21:59:33,896 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: TIM1_8F1 +2023-12-25 21:59:33,896 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: USB_DEVICE +2023-12-25 21:59:33,896 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: USB +2023-12-25 21:59:33,896 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: SYS +2023-12-25 21:59:33,896 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: GPIO +2023-12-25 21:59:33,896 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: ADC +2023-12-25 21:59:33,896 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: RCC +2023-12-25 21:59:33,897 [INFO] CodeGenerator:799 - code generatio: config db path: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db/ +2023-12-25 21:59:34,074 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/license.tmp_save +2023-12-25 21:59:34,135 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/license.tmp +2023-12-25 21:59:34,155 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/gpio.tmp_save +2023-12-25 21:59:34,255 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/gpio.tmp +2023-12-25 21:59:34,291 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_vars.tmp_save +2023-12-25 21:59:34,366 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_vars.tmp +2023-12-25 21:59:34,368 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_inc.tmp_save +2023-12-25 21:59:34,444 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_inc.tmp +2023-12-25 21:59:34,446 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_HalInit.tmp_save +2023-12-25 21:59:34,512 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_HalInit.tmp +2023-12-25 21:59:34,513 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_Msp.tmp_save +2023-12-25 21:59:34,579 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/usb_Msp.tmp +2023-12-25 21:59:34,747 [INFO] Middleware:1439 - No code input for Bsp Dependency +2023-12-25 21:59:34,751 [INFO] Middleware:1439 - No code input for Bsp Dependency +2023-12-25 21:59:34,756 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.c_save +2023-12-25 21:59:34,829 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.c +2023-12-25 21:59:34,831 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.h_save +2023-12-25 21:59:34,880 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usb_device.h +2023-12-25 21:59:34,882 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.h_save +2023-12-25 21:59:34,935 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.h +2023-12-25 21:59:34,937 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.c_save +2023-12-25 21:59:35,002 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/Target/usbd_conf.c +2023-12-25 21:59:35,005 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.h_save +2023-12-25 21:59:35,057 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.h +2023-12-25 21:59:35,059 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.c_save +2023-12-25 21:59:35,115 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_desc.c +2023-12-25 21:59:35,117 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.h_save +2023-12-25 21:59:35,167 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.h +2023-12-25 21:59:35,169 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.c_save +2023-12-25 21:59:35,225 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/USB_DEVICE/App/usbd_cdc_if.c +2023-12-25 21:59:35,230 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_it.c_save +2023-12-25 21:59:35,309 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_it.c +2023-12-25 21:59:35,311 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_it.h_save +2023-12-25 21:59:35,366 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_it.h +2023-12-25 21:59:35,372 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_hal_msp.c_save +2023-12-25 21:59:35,451 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/stm32f1xx_hal_msp.c +2023-12-25 21:59:35,454 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/system.tmp_save +2023-12-25 21:59:35,508 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/MXTmpFiles/system.tmp +2023-12-25 21:59:35,512 [INFO] CodeEngine:311 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_hal_conf.h_save +2023-12-25 21:59:35,578 [INFO] CodeEngine:335 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/stm32f1xx_hal_conf.h +2023-12-25 21:59:35,588 [WARN] IPConfigManager:3431 - IP not found : TIM +2023-12-25 21:59:35,589 [WARN] CodeGenerator:3764 - IP not found : null +2023-12-25 21:59:35,592 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/main.h_save +2023-12-25 21:59:35,652 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Inc/main.h +2023-12-25 21:59:35,654 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/main.c_save +2023-12-25 21:59:35,750 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/closed_current_loop/Core/Src/main.c +2023-12-25 21:59:36,297 [INFO] ProjectBuilder:3064 - Time for Copy HAL[1] : 101mS. +2023-12-25 21:59:36,299 [INFO] ProjectBuilder:4404 - Project Generator version: 4.1.0 +2023-12-25 21:59:36,639 [INFO] ConfigFileManager:1457 - The Die is : DIE410 +2023-12-25 21:59:38,205 [INFO] ProjectBuilder:4626 - Time for Generating toolchain IDE Files: 1906mS. +2023-12-25 21:59:38,206 [INFO] ProjectBuilder:2935 - Time for Copy CMSIS : 0mS. +2023-12-25 21:59:38,209 [INFO] ProjectBuilder:2935 - Time for Copy CMSIS : 0mS. +2023-12-25 22:00:56,961 [INFO] MainUpdater:2868 - connection check result : 10 +2023-12-25 22:00:56,961 [INFO] MainUpdater:2868 - connection check result : 10 +2023-12-25 22:00:57,696 [INFO] MicroXplorer:468 - Change Database Path : +2023-12-25 22:00:57,696 [INFO] MicroXplorer:498 - Change Database Version : DB.6.0.92 +2023-12-25 22:00:57,716 [WARN] ThirdParty:871 - waiting for thirdparty lock release [close project] +2023-12-25 22:00:57,717 [INFO] ThirdParty:873 - entering critical section [close project] +2023-12-25 22:00:57,717 [INFO] ThirdParty:883 - exiting critical section [close project] +2023-12-25 22:00:57,718 [INFO] PinOutPanel:1499 - setPackage(No Configuration,No Configuration) +2023-12-25 22:00:57,725 [INFO] UtilMem:75 - Begin LoadConfig() Used Memory: 727295200 Bytes (1073741824) +2023-12-25 22:00:57,725 [INFO] MicroXplorer:468 - Change Database Path : +2023-12-25 22:00:57,725 [INFO] MicroXplorer:498 - Change Database Version : DB.6.0.92 +2023-12-25 22:00:57,725 [INFO] OpenFileManager:308 - Change cursor +2023-12-25 22:00:57,741 [INFO] RulesReader:64 - Compatibility file has been processed (293 Rules) +2023-12-25 22:00:57,745 [INFO] Mcu:1946 - Initializing MCU STM32F103C(8-B)Tx STM32F103C8Tx STM32F103C8T6 +2023-12-25 22:00:58,447 [INFO] Context:659 - Trying to add GPIOservice into a context which must be forbidden +2023-12-25 22:00:58,658 [INFO] RtosManager:555 - Registered RTOS mode: class=CMSIS, group=RTOS, mode=CMSIS_V1, owner=FREERTOS +2023-12-25 22:00:58,658 [INFO] RtosManager:555 - Registered RTOS mode: class=CMSIS, group=RTOS2, mode=CMSIS_V2, owner=FREERTOS +2023-12-25 22:00:58,659 [INFO] RtosManager:555 - Registered RTOS mode: class=RTOS, group=Core, mode=CMSIS_V1, owner=FREERTOS +2023-12-25 22:00:58,659 [INFO] RtosManager:555 - Registered RTOS mode: class=RTOS, group=Core, mode=CMSIS_V2, owner=FREERTOS +2023-12-25 22:00:58,659 [WARN] ModelIntegratedComponent:184 - Missing modes for component STMicroelectronics:FreeRTOS:0.0.1:STMicroelectronics:RTOS:FreeRTOS:Core:::10.2.0: +2023-12-25 22:00:58,671 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:00:58,671 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:00:58,671 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:00:58,671 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:00:58,671 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:00:58,671 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:00:58,671 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:00:58,672 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:00:58,672 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:00:58,672 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:00:58,672 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:00:58,672 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:00:58,672 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:00:58,672 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:00:58,672 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:00:58,672 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:00:58,672 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:00:58,672 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:00:58,672 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:00:58,672 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:00:58,672 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:00:58,672 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:00:58,672 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:00:58,672 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:00:58,673 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:00:58,673 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:00:58,673 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:00:58,673 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:00:58,673 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:00:58,673 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:00:58,673 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:00:58,673 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:00:58,673 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:00:58,691 [INFO] ThirdPartyModel:298 - Start build external matchings +2023-12-25 22:00:58,864 [INFO] ThirdPartyModel:316 - End build external matchings +2023-12-25 22:00:58,870 [INFO] ImportTextPane:194 - (OptionalMessage_ERROR) IP (RCC) : Invalid parameter (FamilyName) +2023-12-25 22:00:58,870 [INFO] ImportTextPane:194 - (OptionalMessage_ERROR) IP (RCC) : Parameter (MCOFreq_Value) has invalid value (72000000) +2023-12-25 22:00:59,017 [INFO] UtilMem:75 - End LoadConfig() Used Memory: 641139208 Bytes (1073741824) +2023-12-25 22:00:59,063 [WARN] ThirdParty:833 - waiting for thirdparty lock release [change project] +2023-12-25 22:00:59,063 [INFO] ThirdParty:835 - entering critical section [change project] +2023-12-25 22:00:59,063 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-ISPU 1.1.0 +2023-12-25 22:00:59,063 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USBPD 4.1 +2023-12-25 22:00:59,064 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-GNSS1 6.0.0 +2023-12-25 22:00:59,064 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_HOST 2.0.0 +2023-12-25 22:00:59,064 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-F4 1.1.0 +2023-12-25 22:00:59,064 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics LIBJPEG 8.0.0 +2023-12-25 22:00:59,064 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-SMBUS 2.1.0 +2023-12-25 22:00:59,064 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_DEVICE 3.0.0 +2023-12-25 22:00:59,064 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-WB 2.0.0 +2023-12-25 22:00:59,064 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :wolfSSL I-CUBE-wolfSSL 5.6.6 +2023-12-25 22:00:59,064 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-TOUCHGFX 4.23.0 +2023-12-25 22:00:59,064 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-F7 1.1.0 +2023-12-25 22:00:59,064 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-L5 2.0.0 +2023-12-25 22:00:59,064 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_DEVICE 2.0.0 +2023-12-25 22:00:59,064 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-EEPRMA1 4.2.0 +2023-12-25 22:00:59,064 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :ITTIA_DB I-CUBE-ITTIADB 8.8.0 +2023-12-25 22:00:59,064 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-SNS-MOTENV1 4.3.2 +2023-12-25 22:00:59,064 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-ALGOBUILD 1.3.0 +2023-12-25 22:00:59,064 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FreeRTOS 0.0.1 +2023-12-25 22:00:59,064 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-G0 1.1.0 +2023-12-25 22:00:59,065 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-BLEMGR 2.0.0 +2023-12-25 22:00:59,065 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-NFC4 3.0.0 +2023-12-25 22:00:59,065 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-SUBG2 5.0.0 +2023-12-25 22:00:59,065 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics STM32_WPAN 1.0.0 +2023-12-25 22:00:59,065 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics lwIP 2.0.3 +2023-12-25 22:00:59,065 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-SNS-FLIGHT1 5.0.2 +2023-12-25 22:00:59,065 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_HOST 1.0.0 +2023-12-25 22:00:59,065 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-TOF1 3.3.1 +2023-12-25 22:00:59,065 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-G4 2.0.0 +2023-12-25 22:00:59,065 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics PDM2PCM 3.1.0 +2023-12-25 22:00:59,065 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :Infineon AIROC-Wi-Fi-Bluetooth-STM32 1.5.1 +2023-12-25 22:00:59,065 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-BLEMGR 3.0.0 +2023-12-25 22:00:59,065 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics PDM2PCM 3.3.0 +2023-12-25 22:00:59,065 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-DISPLAY 3.0.0 +2023-12-25 22:00:59,065 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-SNS-MOTENVWB1 1.3.1 +2023-12-25 22:00:59,065 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-BLE1 7.0.0 +2023-12-25 22:00:59,065 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-ATR-SIGFOX1 3.2.0 +2023-12-25 22:00:59,066 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-ISPU 2.0.0 +2023-12-25 22:00:59,066 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics HAL Drivers 0.0.0 +2023-12-25 22:00:59,066 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics MBEDTLS 2.16.2 +2023-12-25 22:00:59,066 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :emotas I-CUBE-CANOPEN 1.3.0 +2023-12-25 22:00:59,066 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-FREERTOS 1.1.0 +2023-12-25 22:00:59,066 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-NFC7 1.0.1 +2023-12-25 22:00:59,066 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics MBEDTLS 2.14.1 +2023-12-25 22:00:59,066 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-TOUCHGFX 4.22.1 +2023-12-25 22:00:59,066 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-EEPRMA1 4.1.0 +2023-12-25 22:00:59,066 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :portGmbH I-Cube-SoM-uGOAL 1.1.0 +2023-12-25 22:00:59,066 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-ALS 1.0.1 +2023-12-25 22:00:59,066 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics ThreadX 1.0.0 +2023-12-25 22:00:59,066 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-WL 2.0.0 +2023-12-25 22:00:59,066 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :SEGGER I-CUBE-embOS 1.3.1 +2023-12-25 22:00:59,066 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_DEVICE 1.0.0 +2023-12-25 22:00:59,066 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AI 8.1.0 +2023-12-25 22:00:59,066 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-L4 2.0.0 +2023-12-25 22:00:59,067 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics ThreadX 0.0.2 +2023-12-25 22:00:59,067 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :WES I-CUBE-Cesium 1.3.0 +2023-12-25 22:00:59,067 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-ATR-ASTRA1 2.0.0 +2023-12-25 22:00:59,067 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics lwIP 2.1.2 +2023-12-25 22:00:59,067 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-SFXS2LP1 4.0.0 +2023-12-25 22:00:59,067 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-BLE2 3.3.0 +2023-12-25 22:00:59,067 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-TOF1 3.4.0 +2023-12-25 22:00:59,067 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-H7 3.2.0 +2023-12-25 22:00:59,067 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics PDM2PCM 3.2.0 +2023-12-25 22:00:59,067 [INFO] ThirdParty:841 - exiting critical section [change project] +2023-12-25 22:00:59,199 [INFO] PinOutPanel:1499 - setPackage(No Configuration,No Configuration) +2023-12-25 22:00:59,199 [INFO] PinOutPanel:1499 - setPackage(STM32F103C8Tx,LQFP48) +2023-12-25 22:00:59,630 [INFO] UtilMem:75 - Before build in PCC Used Memory: 669455600 Bytes (1073741824) +2023-12-25 22:00:59,924 [INFO] UtilMem:75 - After build in PCC Used Memory: 711924976 Bytes (1073741824) +2023-12-25 22:00:59,931 [INFO] ApiDbMcu:507 - Load IP Config File for USB_DEVICE +2023-12-25 22:00:59,952 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:00:59,952 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:00:59,952 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:00:59,952 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:00:59,953 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:00:59,953 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:00:59,953 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:00:59,953 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:00:59,953 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:00:59,954 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:00:59,954 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:00:59,954 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:00:59,954 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:00:59,955 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:00:59,955 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:00:59,955 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:00:59,956 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:00:59,956 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:00:59,956 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:00:59,956 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:00:59,956 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:00:59,957 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:00:59,957 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:00:59,957 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:00:59,958 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:00:59,958 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:00:59,958 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:01:00,000 [INFO] CADModel:165 - CPN selected for project levelSTM32F103C8T6 +2023-12-25 22:01:00,001 [INFO] CADModel:114 - Register for checkConnection events +2023-12-25 22:01:00,043 [INFO] OpenFileManager:328 - Restore cursor +2023-12-25 22:01:24,168 [INFO] MainUpdater:2868 - connection check result : 10 +2023-12-25 22:01:24,169 [INFO] MainUpdater:2868 - connection check result : 10 +2023-12-25 22:01:24,428 [INFO] MicroXplorer:468 - Change Database Path : +2023-12-25 22:01:24,428 [INFO] MicroXplorer:498 - Change Database Version : DB.6.0.92 +2023-12-25 22:01:24,493 [WARN] ThirdParty:871 - waiting for thirdparty lock release [close project] +2023-12-25 22:01:24,493 [INFO] ThirdParty:873 - entering critical section [close project] +2023-12-25 22:01:24,494 [INFO] ThirdParty:883 - exiting critical section [close project] +2023-12-25 22:01:24,497 [INFO] PinOutPanel:1499 - setPackage(No Configuration,No Configuration) +2023-12-25 22:01:24,501 [INFO] UtilMem:75 - Begin LoadConfig() Used Memory: 737346232 Bytes (1073741824) +2023-12-25 22:01:24,502 [INFO] MicroXplorer:468 - Change Database Path : +2023-12-25 22:01:24,502 [INFO] MicroXplorer:498 - Change Database Version : DB.6.0.92 +2023-12-25 22:01:24,503 [INFO] OpenFileManager:308 - Change cursor +2023-12-25 22:01:24,513 [INFO] Mcu:1946 - Initializing MCU STM32F103C(8-B)Tx STM32F103C8Tx STM32F103C8T6 +2023-12-25 22:01:25,210 [INFO] Context:659 - Trying to add GPIOservice into a context which must be forbidden +2023-12-25 22:01:25,396 [INFO] RtosManager:555 - Registered RTOS mode: class=CMSIS, group=RTOS, mode=CMSIS_V1, owner=FREERTOS +2023-12-25 22:01:25,396 [INFO] RtosManager:555 - Registered RTOS mode: class=CMSIS, group=RTOS2, mode=CMSIS_V2, owner=FREERTOS +2023-12-25 22:01:25,396 [INFO] RtosManager:555 - Registered RTOS mode: class=RTOS, group=Core, mode=CMSIS_V1, owner=FREERTOS +2023-12-25 22:01:25,396 [INFO] RtosManager:555 - Registered RTOS mode: class=RTOS, group=Core, mode=CMSIS_V2, owner=FREERTOS +2023-12-25 22:01:25,396 [WARN] ModelIntegratedComponent:184 - Missing modes for component STMicroelectronics:FreeRTOS:0.0.1:STMicroelectronics:RTOS:FreeRTOS:Core:::10.2.0: +2023-12-25 22:01:25,411 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:01:25,411 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:01:25,411 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:01:25,411 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:01:25,411 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:01:25,411 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:01:25,411 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:01:25,411 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:01:25,412 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:01:25,412 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:01:25,412 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:01:25,412 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:01:25,412 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:01:25,412 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:01:25,412 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:01:25,412 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:01:25,412 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:01:25,412 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:01:25,412 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:01:25,412 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:01:25,412 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:01:25,412 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:01:25,412 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:01:25,412 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:01:25,412 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:01:25,412 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:01:25,413 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:01:25,413 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:01:25,413 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:01:25,413 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:01:25,413 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:01:25,413 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:01:25,413 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:01:25,432 [INFO] ThirdPartyModel:298 - Start build external matchings +2023-12-25 22:01:25,730 [INFO] ThirdPartyModel:316 - End build external matchings +2023-12-25 22:01:25,735 [INFO] ImportTextPane:194 - (OptionalMessage_ERROR) IP (RCC) : Parameter (ADCFreqValue) has invalid value (36000000) +2023-12-25 22:01:25,736 [INFO] ImportTextPane:194 - (OptionalMessage_ERROR) IP (RCC) : Invalid parameter (FamilyName) +2023-12-25 22:01:25,736 [INFO] ImportTextPane:194 - (OptionalMessage_ERROR) IP (RCC) : Parameter (MCOFreq_Value) has invalid value (72000000) +2023-12-25 22:01:25,944 [INFO] UtilMem:75 - End LoadConfig() Used Memory: 849407520 Bytes (1073741824) +2023-12-25 22:01:26,003 [WARN] ThirdParty:833 - waiting for thirdparty lock release [change project] +2023-12-25 22:01:26,003 [INFO] ThirdParty:835 - entering critical section [change project] +2023-12-25 22:01:26,003 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-ISPU 1.1.0 +2023-12-25 22:01:26,003 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USBPD 4.1 +2023-12-25 22:01:26,003 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-GNSS1 6.0.0 +2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_HOST 2.0.0 +2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-F4 1.1.0 +2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics LIBJPEG 8.0.0 +2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-SMBUS 2.1.0 +2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_DEVICE 3.0.0 +2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-WB 2.0.0 +2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :wolfSSL I-CUBE-wolfSSL 5.6.6 +2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-TOUCHGFX 4.23.0 +2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-F7 1.1.0 +2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-L5 2.0.0 +2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_DEVICE 2.0.0 +2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-EEPRMA1 4.2.0 +2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :ITTIA_DB I-CUBE-ITTIADB 8.8.0 +2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-SNS-MOTENV1 4.3.2 +2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-ALGOBUILD 1.3.0 +2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FreeRTOS 0.0.1 +2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-G0 1.1.0 +2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-BLEMGR 2.0.0 +2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-NFC4 3.0.0 +2023-12-25 22:01:26,004 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-SUBG2 5.0.0 +2023-12-25 22:01:26,005 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics STM32_WPAN 1.0.0 +2023-12-25 22:01:26,005 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics lwIP 2.0.3 +2023-12-25 22:01:26,005 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-SNS-FLIGHT1 5.0.2 +2023-12-25 22:01:26,005 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_HOST 1.0.0 +2023-12-25 22:01:26,005 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-TOF1 3.3.1 +2023-12-25 22:01:26,005 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-G4 2.0.0 +2023-12-25 22:01:26,005 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics PDM2PCM 3.1.0 +2023-12-25 22:01:26,005 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :Infineon AIROC-Wi-Fi-Bluetooth-STM32 1.5.1 +2023-12-25 22:01:26,005 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-BLEMGR 3.0.0 +2023-12-25 22:01:26,005 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics PDM2PCM 3.3.0 +2023-12-25 22:01:26,005 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-DISPLAY 3.0.0 +2023-12-25 22:01:26,005 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-SNS-MOTENVWB1 1.3.1 +2023-12-25 22:01:26,005 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-BLE1 7.0.0 +2023-12-25 22:01:26,005 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-ATR-SIGFOX1 3.2.0 +2023-12-25 22:01:26,005 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-ISPU 2.0.0 +2023-12-25 22:01:26,005 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics HAL Drivers 0.0.0 +2023-12-25 22:01:26,005 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics MBEDTLS 2.16.2 +2023-12-25 22:01:26,005 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :emotas I-CUBE-CANOPEN 1.3.0 +2023-12-25 22:01:26,006 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-FREERTOS 1.1.0 +2023-12-25 22:01:26,006 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-NFC7 1.0.1 +2023-12-25 22:01:26,006 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics MBEDTLS 2.14.1 +2023-12-25 22:01:26,006 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-TOUCHGFX 4.22.1 +2023-12-25 22:01:26,006 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-EEPRMA1 4.1.0 +2023-12-25 22:01:26,006 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :portGmbH I-Cube-SoM-uGOAL 1.1.0 +2023-12-25 22:01:26,006 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-ALS 1.0.1 +2023-12-25 22:01:26,006 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics ThreadX 1.0.0 +2023-12-25 22:01:26,006 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-WL 2.0.0 +2023-12-25 22:01:26,006 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :SEGGER I-CUBE-embOS 1.3.1 +2023-12-25 22:01:26,006 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_DEVICE 1.0.0 +2023-12-25 22:01:26,006 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AI 8.1.0 +2023-12-25 22:01:26,006 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-L4 2.0.0 +2023-12-25 22:01:26,006 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics ThreadX 0.0.2 +2023-12-25 22:01:26,007 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :WES I-CUBE-Cesium 1.3.0 +2023-12-25 22:01:26,007 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-ATR-ASTRA1 2.0.0 +2023-12-25 22:01:26,007 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics lwIP 2.1.2 +2023-12-25 22:01:26,007 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-SFXS2LP1 4.0.0 +2023-12-25 22:01:26,007 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-BLE2 3.3.0 +2023-12-25 22:01:26,007 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-TOF1 3.4.0 +2023-12-25 22:01:26,007 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-H7 3.2.0 +2023-12-25 22:01:26,007 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics PDM2PCM 3.2.0 +2023-12-25 22:01:26,007 [INFO] ThirdParty:841 - exiting critical section [change project] +2023-12-25 22:01:26,170 [INFO] PinOutPanel:1499 - setPackage(No Configuration,No Configuration) +2023-12-25 22:01:26,171 [INFO] PinOutPanel:1499 - setPackage(STM32F103C8Tx,LQFP48) +2023-12-25 22:01:26,415 [INFO] UtilMem:75 - Before build in PCC Used Memory: 651797328 Bytes (1073741824) +2023-12-25 22:01:26,663 [INFO] UtilMem:75 - After build in PCC Used Memory: 694262608 Bytes (1073741824) +2023-12-25 22:01:26,671 [INFO] ApiDbMcu:507 - Load IP Config File for USB_DEVICE +2023-12-25 22:01:26,692 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:01:26,693 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:01:26,693 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:01:26,693 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:01:26,693 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:01:26,693 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:01:26,693 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:01:26,693 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:01:26,694 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:01:26,694 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:01:26,694 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:01:26,694 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:01:26,694 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:01:26,695 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:01:26,695 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:01:26,695 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:01:26,695 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:01:26,696 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:01:26,696 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:01:26,696 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:01:26,696 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:01:26,696 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:01:26,696 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:01:26,697 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:01:26,697 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:01:26,697 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:01:26,698 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:01:26,741 [INFO] CADModel:165 - CPN selected for project levelSTM32F103C8T6 +2023-12-25 22:01:26,741 [INFO] CADModel:114 - Register for checkConnection events +2023-12-25 22:01:26,777 [INFO] OpenFileManager:328 - Restore cursor +2023-12-25 22:04:12,617 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] +2023-12-25 22:09:23,769 [INFO] Activator:176 - + + +2023-12-25 22:09:23,771 [INFO] Activator:177 - !SESSION log4j initialized +2023-12-25 22:09:27,240 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] +2023-12-25 22:09:27,795 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] +2023-12-25 22:09:29,832 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] +2023-12-25 22:09:30,596 [INFO] ApplicationProperties:184 - Using Application install path: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412 +2023-12-25 22:09:30,615 [INFO] DbMcusXml:78 - Set database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//mcu/ +2023-12-25 22:09:30,616 [INFO] ApiDb:274 - Set plugin database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/boardmanager/ +2023-12-25 22:09:30,616 [WARN] ApiDb:259 - Overriding images path with different value: => /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/mcufinder/images/ +2023-12-25 22:09:30,627 [INFO] ApiDb:250 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ +2023-12-25 22:09:30,628 [INFO] DbMcusAds:125 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ +2023-12-25 22:09:30,631 [INFO] CrossReferenceDbSqlite:203 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/cs/ +2023-12-25 22:09:30,930 [INFO] RulesReader:64 - Compatibility file has been processed (293 Rules) +2023-12-25 22:09:31,060 [INFO] DbMcusXml:78 - Set database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//mcu/ +2023-12-25 22:09:31,060 [INFO] ApiDb:274 - Set plugin database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/boardmanager/ +2023-12-25 22:09:31,060 [INFO] ApiDb:261 - Set plugin images path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/mcufinder/images/ +2023-12-25 22:09:31,061 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2023-12-25 22:09:31,061 [INFO] ApiDb:250 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ +2023-12-25 22:09:31,061 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2023-12-25 22:09:31,061 [INFO] DbMcusAds:125 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ +2023-12-25 22:09:31,061 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2023-12-25 22:09:31,061 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2023-12-25 22:09:31,061 [INFO] CrossReferenceDbSqlite:203 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/cs/ +2023-12-25 22:09:31,146 [INFO] MainPanel:262 - HeapMemory: 268435456 +2023-12-25 22:09:31,277 [INFO] DbMcusXml:78 - Set database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//mcu/ +2023-12-25 22:09:31,278 [INFO] ApiDb:274 - Set plugin database path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/boardmanager/ +2023-12-25 22:09:31,278 [INFO] ApiDb:261 - Set plugin images path to: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db//plugins/mcufinder/images/ +2023-12-25 22:09:31,282 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2023-12-25 22:09:31,282 [INFO] ApiDb:250 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ +2023-12-25 22:09:31,283 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2023-12-25 22:09:31,283 [INFO] DbMcusAds:125 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/ +2023-12-25 22:09:31,283 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2023-12-25 22:09:31,283 [WARN] DbFile:41 - Overriding database path with different value: /Users/haotian/.stmcufinder/plugins/mcufinder/ => /Users/haotian/.stmcufinder/plugins/mcufinder +2023-12-25 22:09:31,283 [INFO] CrossReferenceDbSqlite:203 - Set database path to: /Users/haotian/.stmcufinder/plugins/mcufinder//mcu/cs/ +2023-12-25 22:09:31,365 [INFO] ApplicationProperties:184 - Using Application install path: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412 +2023-12-25 22:09:31,370 [INFO] PluginManage:196 - Search for loadable plugins [exclusion list=, ] +2023-12-25 22:09:31,372 [INFO] PluginManage:310 - Check plugin analytics +2023-12-25 22:09:31,687 [INFO] AnalyticsPlugin:253 - Accepted Software Licenses: +2023-12-25 22:09:31,688 [INFO] AnalyticsPlugin:255 - Accepted CMSIS Pack Licenses: +2023-12-25 22:09:31,688 [INFO] AnalyticsPlugin:257 - Accepted Firmware Licenses: +2023-12-25 22:09:31,694 [INFO] PluginManage:359 - Loaded plugin analytics (category:tool,tabindex:-1) +2023-12-25 22:09:31,695 [INFO] PluginManage:310 - Check plugin cadmodel +2023-12-25 22:09:32,597 [INFO] CADModel:105 - Init CAD model plugin +2023-12-25 22:09:32,597 [INFO] PluginManage:359 - Loaded plugin cadmodel (category:power,tabindex:5) +2023-12-25 22:09:32,598 [INFO] PluginManage:310 - Check plugin clock +2023-12-25 22:09:32,614 [INFO] PluginManage:359 - Loaded plugin clock (category:base,tabindex:2) +2023-12-25 22:09:32,614 [INFO] PluginManage:310 - Check plugin ddr +2023-12-25 22:09:32,617 [INFO] PluginManage:359 - Loaded plugin ddr (category:tool,tabindex:6) +2023-12-25 22:09:32,617 [INFO] PluginManage:310 - Check plugin filemanager +2023-12-25 22:09:32,801 [INFO] PluginManage:359 - Loaded plugin filemanager (category:base,tabindex:10) +2023-12-25 22:09:32,802 [INFO] PluginManage:310 - Check plugin ipmanager +2023-12-25 22:09:32,811 [INFO] PluginManage:359 - Loaded plugin ipmanager (category:base,tabindex:5) +2023-12-25 22:09:32,812 [INFO] PluginManage:310 - Check plugin lpbam +2023-12-25 22:09:32,824 [INFO] PluginManage:359 - Loaded plugin lpbam (category:base,tabindex:0) +2023-12-25 22:09:32,824 [INFO] PluginManage:310 - Check plugin memorymap +2023-12-25 22:09:32,842 [INFO] PluginManage:359 - Loaded plugin memorymap (category:base,tabindex:4) +2023-12-25 22:09:32,842 [INFO] PluginManage:310 - Check plugin pinoutandconfiguration +2023-12-25 22:09:32,851 [INFO] PluginManage:359 - Loaded plugin pinoutandconfiguration (category:base,tabindex:1) +2023-12-25 22:09:32,851 [INFO] PluginManage:310 - Check plugin pinoutconfig +2023-12-25 22:09:32,960 [WARN] SupportedApi:132 - Cannot load RTOS API schema: s4s-elt-must-match.1: The content of 'definitions' must match (annotation?, (simpleType | complexType)?, (unique | key | keyref)*)). A problem was found starting at: attribute. +2023-12-25 22:09:33,170 [INFO] PluginManage:359 - Loaded plugin pinoutconfig (category:base,tabindex:0) +2023-12-25 22:09:33,171 [INFO] PluginManage:310 - Check plugin power +2023-12-25 22:09:33,184 [INFO] PluginManage:359 - Loaded plugin power (category:power,tabindex:4) +2023-12-25 22:09:33,185 [INFO] PluginManage:310 - Check plugin projectmanager +2023-12-25 22:09:33,202 [INFO] PluginManage:359 - Loaded plugin projectmanager (category:projectmanager,tabindex:3) +2023-12-25 22:09:33,202 [INFO] PluginManage:310 - Check plugin thirdparty +2023-12-25 22:09:33,365 [INFO] PluginManage:359 - Loaded plugin thirdparty (category:base,tabindex:-1) +2023-12-25 22:09:33,365 [WARN] IntegrityCheckThread:84 - waiting for thirdparty lock release [integrity check] +2023-12-25 22:09:33,365 [INFO] IntegrityCheckThread:86 - entering critical section [integrity check] +2023-12-25 22:09:33,365 [INFO] PluginManage:310 - Check plugin tools +2023-12-25 22:09:33,366 [INFO] ThirdPartyUpdaterWithRetryManager:70 - Updater plugin not ready yet. [1/15] +2023-12-25 22:09:33,368 [INFO] PluginManage:359 - Loaded plugin tools (category:base,tabindex:7) +2023-12-25 22:09:33,368 [INFO] PluginManage:310 - Check plugin tutovideos +2023-12-25 22:09:33,683 [INFO] PluginManage:359 - Loaded plugin tutovideos (category:base,tabindex:-1) +2023-12-25 22:09:33,684 [INFO] PluginManage:310 - Check plugin updater +2023-12-25 22:09:33,713 [INFO] PluginManage:359 - Loaded plugin updater (category:base,tabindex:12) +2023-12-25 22:09:33,713 [INFO] PluginManage:310 - Check plugin userauth +2023-12-25 22:09:33,724 [INFO] UserAuth:113 - Init User Auth plugin +2023-12-25 22:09:33,725 [INFO] PluginManage:359 - Loaded plugin userauth (category:base,tabindex:14) +2023-12-25 22:09:33,727 [INFO] PluginManage:283 - PluginManage : Loaded plugins [17] +2023-12-25 22:09:34,059 [INFO] PinOutPanel:1499 - setPackage(No Configuration,No Configuration) +2023-12-25 22:09:34,251 [INFO] CADModel:165 - CPN selected for project level +2023-12-25 22:09:34,251 [INFO] CADModel:114 - Register for checkConnection events +2023-12-25 22:09:34,266 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,268 [INFO] PluginManager:220 - loadIPPluginJar : add mdma +2023-12-25 22:09:34,280 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,280 [INFO] PluginManager:220 - loadIPPluginJar : add freertos +2023-12-25 22:09:34,287 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,287 [INFO] PluginManager:220 - loadIPPluginJar : add gic +2023-12-25 22:09:34,302 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,303 [INFO] PluginManager:220 - loadIPPluginJar : add adc +2023-12-25 22:09:34,308 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,308 [INFO] PluginManager:220 - loadIPPluginJar : add gtzc +2023-12-25 22:09:34,310 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,311 [INFO] PluginManager:220 - loadIPPluginJar : add quadspi +2023-12-25 22:09:34,316 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,317 [INFO] PluginManager:220 - loadIPPluginJar : add aes +2023-12-25 22:09:34,321 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,321 [INFO] PluginManager:220 - loadIPPluginJar : add pdm2pcm +2023-12-25 22:09:34,325 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,326 [INFO] PluginManager:220 - loadIPPluginJar : add hash +2023-12-25 22:09:34,330 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,330 [INFO] PluginManager:220 - loadIPPluginJar : add tim +2023-12-25 22:09:34,332 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,332 [INFO] PluginManager:220 - loadIPPluginJar : add tsc +2023-12-25 22:09:34,335 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,335 [INFO] PluginManager:220 - loadIPPluginJar : add ts +2023-12-25 22:09:34,341 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,341 [INFO] PluginManager:220 - loadIPPluginJar : add can +2023-12-25 22:09:34,347 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,348 [INFO] PluginManager:220 - loadIPPluginJar : add dma3 +2023-12-25 22:09:34,352 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,352 [INFO] PluginManager:220 - loadIPPluginJar : add dfsdm +2023-12-25 22:09:34,358 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,359 [INFO] PluginManager:220 - loadIPPluginJar : add spi +2023-12-25 22:09:34,366 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,367 [INFO] PluginManager:220 - loadIPPluginJar : add gfxmmu +2023-12-25 22:09:34,369 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,369 [INFO] PluginManager:220 - loadIPPluginJar : add genericplugin +2023-12-25 22:09:34,377 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,377 [INFO] PluginManager:220 - loadIPPluginJar : add cryp +2023-12-25 22:09:34,413 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,414 [INFO] PluginManager:220 - loadIPPluginJar : add gpio +2023-12-25 22:09:34,419 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,419 [INFO] PluginManager:220 - loadIPPluginJar : add comp +2023-12-25 22:09:34,427 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,430 [INFO] PluginManager:220 - loadIPPluginJar : add tracer_emb +2023-12-25 22:09:34,436 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,437 [INFO] PluginManager:220 - loadIPPluginJar : add openamp +2023-12-25 22:09:34,454 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,454 [INFO] PluginManager:220 - loadIPPluginJar : add stm32_wpan +2023-12-25 22:09:34,468 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,473 [INFO] PluginManager:220 - loadIPPluginJar : add plateformsettings +2023-12-25 22:09:34,479 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,479 [INFO] PluginManager:220 - loadIPPluginJar : add ipddr +2023-12-25 22:09:34,482 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,483 [INFO] PluginManager:220 - loadIPPluginJar : add usart +2023-12-25 22:09:34,484 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,484 [INFO] PluginManager:220 - loadIPPluginJar : add ltdc +2023-12-25 22:09:34,488 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,489 [INFO] PluginManager:220 - loadIPPluginJar : add nvic +2023-12-25 22:09:34,490 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,490 [INFO] PluginManager:220 - loadIPPluginJar : add fatfs +2023-12-25 22:09:34,500 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,500 [INFO] PluginManager:220 - loadIPPluginJar : add linkedlist +2023-12-25 22:09:34,505 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,505 [INFO] PluginManager:220 - loadIPPluginJar : add dma +2023-12-25 22:09:34,510 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,510 [INFO] PluginManager:220 - loadIPPluginJar : add fmc +2023-12-25 22:09:34,512 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,513 [INFO] PluginManager:220 - loadIPPluginJar : add i2s +2023-12-25 22:09:34,515 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,515 [INFO] PluginManager:220 - loadIPPluginJar : add ucpd +2023-12-25 22:09:34,517 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,517 [INFO] PluginManager:220 - loadIPPluginJar : add lorawan +2023-12-25 22:09:34,520 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,520 [INFO] PluginManager:220 - loadIPPluginJar : add opamp +2023-12-25 22:09:34,523 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,523 [INFO] PluginManager:220 - loadIPPluginJar : add i3c +2023-12-25 22:09:34,528 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,528 [INFO] PluginManager:220 - loadIPPluginJar : add touchsensing +2023-12-25 22:09:34,530 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,530 [INFO] PluginManager:220 - loadIPPluginJar : add i2c +2023-12-25 22:09:34,535 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,535 [INFO] PluginManager:220 - loadIPPluginJar : add resmgrutility +2023-12-25 22:09:34,537 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,538 [INFO] PluginManager:220 - loadIPPluginJar : add sai +2023-12-25 22:09:34,540 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:09:34,540 [INFO] PluginManager:220 - loadIPPluginJar : add usbx +2023-12-25 22:09:34,641 [INFO] CADModel:165 - CPN selected for project level +2023-12-25 22:09:34,641 [INFO] CADModel:114 - Register for checkConnection events +2023-12-25 22:09:34,641 [FATAL] Updater:308 - Updater called before beeing initialized +2023-12-25 22:09:34,642 [ERROR] CADModel:125 - Updater not yet initialized, retry later +2023-12-25 22:09:34,925 [INFO] CADModel:165 - CPN selected for project level +2023-12-25 22:09:34,925 [INFO] CADModel:114 - Register for checkConnection events +2023-12-25 22:09:34,925 [FATAL] Updater:308 - Updater called before beeing initialized +2023-12-25 22:09:34,925 [ERROR] CADModel:125 - Updater not yet initialized, retry later +2023-12-25 22:09:34,929 [FATAL] Updater:308 - Updater called before beeing initialized +2023-12-25 22:09:35,100 [FATAL] Updater:308 - Updater called before beeing initialized +2023-12-25 22:09:35,112 [INFO] DbMcusAds:53 - JSON generation date=Wed Nov 29 02:52:27 PST 2023 (1701255147349) +2023-12-25 22:09:35,113 [FATAL] Updater:308 - Updater called before beeing initialized +2023-12-25 22:09:35,247 [WARN] DetailPanel:346 - Failed to get advertising image, set to default +2023-12-25 22:09:35,407 [FATAL] Updater:308 - Updater called before beeing initialized +2023-12-25 22:09:35,410 [FATAL] Updater:308 - Updater called before beeing initialized +2023-12-25 22:09:35,410 [FATAL] Updater:308 - Updater called before beeing initialized +2023-12-25 22:09:35,410 [WARN] DetailPanel:346 - Failed to get advertising image, set to default +2023-12-25 22:09:35,411 [FATAL] Updater:308 - Updater called before beeing initialized +2023-12-25 22:09:35,445 [ERROR] Updater:1120 - MainUpdater not yet initialized. External WinMGr cannot be set. +2023-12-25 22:09:35,484 [INFO] Updater:1056 - Updater Version found : 6.9.2 +2023-12-25 22:09:35,506 [INFO] ApplicationProperties:184 - Using Application install path: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412 +2023-12-25 22:09:35,698 [INFO] MainUpdater:2868 - connection check result : 10 +2023-12-25 22:09:35,698 [INFO] MainUpdater:285 - Updater Check For Update Now. +2023-12-25 22:09:35,698 [INFO] MicroXplorer:498 - Change Database Version : DB.6.0.92 +2023-12-25 22:09:35,703 [INFO] McuFinderGlobals:63 - Set McuFinder mode to 2 (CubeIDE integrated) +2023-12-25 22:09:35,704 [INFO] UserAuth:179 - activating auth plugin +2023-12-25 22:09:35,710 [INFO] UserAuth:393 - Internet connection configuration mode: 1 +2023-12-25 22:09:35,732 [INFO] JxBrowserEngine:151 - Initiate JxBrowser Engine with user profile folder +2023-12-25 22:09:35,948 [INFO] CheckServerUpdateThread:120 - End of CheckServer Thread +2023-12-25 22:09:36,759 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-SMBUS.2.1.0 +2023-12-25 22:09:36,769 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-TOUCHGFX.4.23.0 +2023-12-25 22:09:36,858 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-F7.1.1.0 +2023-12-25 22:09:36,877 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-SNS-MOTENV1.4.3.2 +2023-12-25 22:09:36,888 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-SNS-FLIGHT1.5.0.2 +2023-12-25 22:09:36,904 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-DISPLAY.3.0.0 +2023-12-25 22:09:36,929 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-BLE1.7.0.0 +2023-12-25 22:09:36,945 [WARN] PackLoader:240 - Cannot read IP mode file for emotas.I-CUBE-CANOPEN.1.3.0 +2023-12-25 22:09:36,951 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-TOUCHGFX.4.22.1 +2023-12-25 22:09:36,996 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null +2023-12-25 22:09:36,998 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null +2023-12-25 22:09:36,999 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null +2023-12-25 22:09:37,000 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null +2023-12-25 22:09:37,000 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] 1 : Invalid condition id : UX_CORESTACK_Condition cause : null +2023-12-25 22:09:37,016 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-WL.2.0.0 +2023-12-25 22:09:37,041 [WARN] PackLoader:240 - Cannot read IP mode file for WES.I-CUBE-Cesium.1.3.0 +2023-12-25 22:09:37,052 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-BLE2.3.3.0 +2023-12-25 22:09:37,067 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-ALGOBUILD.1.3.0 +2023-12-25 22:09:37,116 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-G0.1.1.0 +2023-12-25 22:09:37,131 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-NFC4.3.0.0 +2023-12-25 22:09:37,154 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-BLEMGR.3.0.0 +2023-12-25 22:09:37,166 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-ATR-SIGFOX1.3.2.0 +2023-12-25 22:09:37,266 [WARN] PackLoader:240 - Cannot read IP mode file for SEGGER.I-CUBE-embOS.1.3.1 +2023-12-25 22:09:37,445 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-GNSS1.6.0.0 +2023-12-25 22:09:37,566 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-F4.1.1.0 +2023-12-25 22:09:37,576 [WARN] PackLoader:240 - Cannot read IP mode file for wolfSSL.I-CUBE-wolfSSL.5.6.6 +2023-12-25 22:09:37,610 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-L5.2.0.0 +2023-12-25 22:09:37,628 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-EEPRMA1.4.2.0 +2023-12-25 22:09:37,640 [WARN] PackLoader:240 - Cannot read IP mode file for ITTIA_DB.I-CUBE-ITTIADB.8.8.0 +2023-12-25 22:09:37,649 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-BLEMGR.2.0.0 +2023-12-25 22:09:37,661 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-NFC7.1.0.1 +2023-12-25 22:09:37,687 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-EEPRMA1.4.1.0 +2023-12-25 22:09:37,732 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AI.8.1.0 +2023-12-25 22:09:37,815 [WARN] ConditionMgr:438 - getConditionDescription Invalid condition id : LAN8742 Phy interface Condition cause : null +2023-12-25 22:09:37,839 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-L4.2.0.0 +2023-12-25 22:09:37,861 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : LAN8742 Phy interface Condition cause : null +2023-12-25 22:09:37,880 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : LAN8742 Phy interface Condition cause : null +2023-12-25 22:09:37,881 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : LAN8742 Phy interface Condition cause : null +2023-12-25 22:09:37,971 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-SFXS2LP1.4.0.0 +2023-12-25 22:09:38,010 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-ISPU.1.1.0 +2023-12-25 22:09:38,060 [WARN] ConditionMgr:438 - getConditionDescription Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null +2023-12-25 22:09:38,073 [WARN] ConditionMgr:438 - getConditionDescription Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null +2023-12-25 22:09:38,096 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-WB.2.0.0 +2023-12-25 22:09:38,114 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null +2023-12-25 22:09:38,142 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null +2023-12-25 22:09:38,143 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null +2023-12-25 22:09:38,164 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null +2023-12-25 22:09:38,184 [WARN] ConditionMgr:1039 - genDependencies : Invalid condition id : UX DEVICE CLASS RTOS Condition cause : null +2023-12-25 22:09:38,197 [INFO] WebApp:157 - Instantiating new browser for Auth +2023-12-25 22:09:38,213 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-SUBG2.5.0.0 +2023-12-25 22:09:38,310 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-TOF1.3.3.1 +2023-12-25 22:09:38,426 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-G4.2.0.0 +2023-12-25 22:09:38,545 [WARN] PackLoader:240 - Cannot read IP mode file for Infineon.AIROC-Wi-Fi-Bluetooth-STM32.1.5.1 +2023-12-25 22:09:38,598 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-SNS-MOTENVWB1.1.3.1 +2023-12-25 22:09:38,661 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-ISPU.2.0.0 +2023-12-25 22:09:38,725 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-FREERTOS.1.1.0 +2023-12-25 22:09:38,804 [WARN] PackLoader:240 - Cannot read IP mode file for portGmbH.I-Cube-SoM-uGOAL.1.1.0 +2023-12-25 22:09:38,883 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-ALS.1.0.1 +2023-12-25 22:09:38,905 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.FP-ATR-ASTRA1.2.0.0 +2023-12-25 22:09:38,973 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-TOF1.3.4.0 +2023-12-25 22:09:39,088 [WARN] PackLoader:240 - Cannot read IP mode file for STMicroelectronics.X-CUBE-AZRTOS-H7.3.2.0 +2023-12-25 22:09:39,094 [INFO] ThirdParty:978 - Integrity check success = true +2023-12-25 22:09:39,094 [INFO] IntegrityCheckThread:100 - exiting critical section [integrity check] +2023-12-25 22:09:39,094 [INFO] IntegrityCheckThread:103 - End integrity checks thread +2023-12-25 22:09:39,874 [INFO] WebApp:753 - Register for checkConnection events +2023-12-25 22:09:39,874 [INFO] WebApp:390 - Apply proxy settings +2023-12-25 22:09:39,877 [INFO] WebApp:455 - Chromium authenticates against System proxy +2023-12-25 22:09:40,097 [INFO] WebApp:188 - Starting web application +2023-12-25 22:09:40,098 [INFO] WebApp:520 - Web application path used /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412/db/plugins/mcufinder/reactClient1/index.html +2023-12-25 22:10:00,883 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] SLF4J: Failed to load class "org.slf4j.impl.StaticLoggerBinder". +2023-12-25 22:10:00,884 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] SLF4J: Defaulting to no-operation (NOP) logger implementation +2023-12-25 22:10:00,884 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] SLF4J: See http://www.slf4j.org/codes.html#StaticLoggerBinder for further details. +2023-12-25 22:12:43,849 [INFO] McuFinderGlobals:63 - Set McuFinder mode to 2 (CubeIDE integrated) +2023-12-25 22:12:43,855 [INFO] MainUpdater:2868 - connection check result : 10 +2023-12-25 22:12:43,855 [INFO] MainUpdater:2868 - connection check result : 10 +2023-12-25 22:12:44,407 [INFO] MicroXplorer:468 - Change Database Path : +2023-12-25 22:12:44,407 [INFO] MicroXplorer:498 - Change Database Version : DB.6.0.92 +2023-12-25 22:12:44,412 [WARN] ThirdParty:871 - waiting for thirdparty lock release [close project] +2023-12-25 22:12:44,412 [INFO] ThirdParty:873 - entering critical section [close project] +2023-12-25 22:12:44,413 [INFO] ThirdParty:883 - exiting critical section [close project] +2023-12-25 22:12:44,416 [INFO] PinOutPanel:1499 - setPackage(No Configuration,No Configuration) +2023-12-25 22:12:44,425 [INFO] UtilMem:75 - Begin LoadConfig() Used Memory: 858483552 Bytes (1073741824) +2023-12-25 22:12:44,427 [INFO] MicroXplorer:468 - Change Database Path : +2023-12-25 22:12:44,427 [INFO] MicroXplorer:498 - Change Database Version : DB.6.0.92 +2023-12-25 22:12:44,427 [INFO] OpenFileManager:308 - Change cursor +2023-12-25 22:12:44,453 [INFO] Mcu:1946 - Initializing MCU STM32F103C(8-B)Tx STM32F103C8Tx STM32F103C8T6 +2023-12-25 22:12:45,145 [INFO] Context:659 - Trying to add GPIOservice into a context which must be forbidden +2023-12-25 22:12:45,485 [INFO] RtosManager:555 - Registered RTOS mode: class=CMSIS, group=RTOS, mode=CMSIS_V1, owner=FREERTOS +2023-12-25 22:12:45,485 [INFO] RtosManager:555 - Registered RTOS mode: class=CMSIS, group=RTOS2, mode=CMSIS_V2, owner=FREERTOS +2023-12-25 22:12:45,485 [INFO] RtosManager:555 - Registered RTOS mode: class=RTOS, group=Core, mode=CMSIS_V1, owner=FREERTOS +2023-12-25 22:12:45,486 [INFO] RtosManager:555 - Registered RTOS mode: class=RTOS, group=Core, mode=CMSIS_V2, owner=FREERTOS +2023-12-25 22:12:45,486 [WARN] ModelIntegratedComponent:184 - Missing modes for component STMicroelectronics:FreeRTOS:0.0.1:STMicroelectronics:RTOS:FreeRTOS:Core:::10.2.0: +2023-12-25 22:12:45,519 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:12:45,519 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:12:45,519 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:12:45,519 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:12:45,520 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:12:45,520 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:12:45,520 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:12:45,520 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:12:45,520 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:12:45,520 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:12:45,520 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:12:45,520 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:12:45,520 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:12:45,520 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:12:45,520 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:12:45,520 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:12:45,521 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:12:45,521 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:12:45,521 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:12:45,521 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:12:45,521 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:12:45,521 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:12:45,521 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:12:45,521 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:12:45,522 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:12:45,522 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:12:45,522 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:12:45,522 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:12:45,522 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:12:45,522 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:12:45,522 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:12:45,522 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:12:45,522 [WARN] ModelIntegratedComponent:63 - No mode defined for component null +2023-12-25 22:12:45,561 [INFO] ThirdPartyModel:298 - Start build external matchings +2023-12-25 22:12:46,109 [INFO] ThirdPartyModel:316 - End build external matchings +2023-12-25 22:12:46,117 [INFO] ImportTextPane:194 - (OptionalMessage_ERROR) IP (RCC) : Invalid parameter (FamilyName) +2023-12-25 22:12:46,118 [INFO] ImportTextPane:194 - (OptionalMessage_ERROR) IP (RCC) : Parameter (MCOFreq_Value) has invalid value (72000000) +2023-12-25 22:12:46,317 [INFO] UtilMem:75 - End LoadConfig() Used Memory: 629329112 Bytes (1073741824) +2023-12-25 22:12:46,733 [INFO] ApiDb:581 - Connected to CubeFinder SQLite database (/Users/haotian/.stmcufinder/plugins/mcufinder/mcu/cube-finder-db.db) +2023-12-25 22:12:46,810 [INFO] ApiDb:668 - CubeFinder database Data Model version=2.1 +2023-12-25 22:12:46,810 [INFO] ApiDb:669 - CubeFinder database Configuration version=3.0.39 +2023-12-25 22:12:46,811 [INFO] ApiDb:670 - CubeFinder database generation date=2023-12-08 (1702028721) +2023-12-25 22:12:46,811 [INFO] ApiDb:671 - CubeFinder database FW Pack versions=[FP-ATR-ASTRA1_V2.0.0, FP-SNS-FLIGHT1_V5.0.1, FP-SNS-FLIGHT1_V5.0.2, FP-SNS-MOTENV1_V4.3.1, FP-SNS-MOTENV1_V4.3.2, FP-SNS-MOTENVWB1_V1.3.1, FP-SNS-SMARTAG2_V1.2.0, STM32Cube_FW_C0_V1.1.0, STM32Cube_FW_F4_V1.28.0, STM32Cube_FW_F7_V1.17.0, STM32Cube_FW_G0_V1.6.1, STM32Cube_FW_G4_V1.5.1, STM32Cube_FW_H5_V0.5.1, STM32Cube_FW_H5_V1.1.1, STM32Cube_FW_H5_V1.2.0RC2, STM32Cube_FW_H7_V1.11.0, STM32Cube_FW_L0_V1.12.2, STM32Cube_FW_L5_V1.5.0, STM32Cube_FW_U5_V1.3.0RC4, STM32Cube_FW_U5_V1.4.0, STM32Cube_FW_WBA_V1.0.0RC1, STM32Cube_FW_WBA_V1.1.0RC1, STM32Cube_FW_WBA_V1.2.0, STM32Cube_FW_WBA_V1.2.0RC2, STM32Cube_FW_WB_V1.15.0RC1, STM32Cube_FW_WB_V1.16.0, STM32Cube_FW_WB_V1.16.0RC2, STM32Cube_FW_WB_V1.18.0, STM32Cube_FW_WL_V1.3.0, X-CUBE-ALGOBUILD_V1.3.0, X-CUBE-ALS_V1.0.1, X-CUBE-AZRTOS-F4_V1.1.0, X-CUBE-AZRTOS-F7_V1.1.0, X-CUBE-AZRTOS-G0_V1.1.0, X-CUBE-AZRTOS-G4_V2.0.0, X-CUBE-AZRTOS-H7_V3.1.0, X-CUBE-AZRTOS-L4_V1.0.0, X-CUBE-AZRTOS-L4_V2.0.0, X-CUBE-AZRTOS-L5_V1.1.0, X-CUBE-AZRTOS-WB_V2.0.0, X-CUBE-AZRTOS-WL_V2.0.0, X-CUBE-BLE1_V7.0.0, X-CUBE-BLE2_V3.3.0, X-CUBE-BLEMGR_V3.0.0, X-CUBE-EEPRMA1_V4.1.0, X-CUBE-EEPRMA1_V4.2.0, X-CUBE-FREERTOS_V1.1.0, X-CUBE-GNSS1_V6.0.0, X-CUBE-MEMS1_V10.0.0, X-CUBE-MEMS1_V9.1.0, X-CUBE-MEMS1_V9.4.0, X-CUBE-MEMS1_V9.6.0, X-CUBE-NFC4_V3.0.0, X-CUBE-NFC7_V1.0.1, X-CUBE-SFXS2LP1_V4.0.0, X-CUBE-SUBG2_V5.0.0, X-CUBE-TOF1_V3.4.0] +2023-12-25 22:12:50,063 [INFO] ApiDb:240 - Found 323 in-development CPN: [B-G473E-ZEST1S, B-WB1M-WPAN1, B-WL5M-SUBG1, NUCLEO-C031C6, NUCLEO-H503RB, NUCLEO-H563ZI, NUCLEO-U545RE-Q, NUCLEO-U5A5ZJ-Q, NUCLEO-WBA52CG, STEVAL-PROTEUS1, STEVAL-SMARTAG2, STEVAL-STWINBX1, STM320518-EVAL, STM32C0116-DK, STM32C011D6Y3TR, STM32C011D6Y6TR, STM32C011F4P3, STM32C011F4P6, STM32C011F4U3, STM32C011F4U6TR, STM32C011F6P3, STM32C011F6P6, STM32C011F6U3, STM32C011F6U6TR, STM32C011J4M3, STM32C011J4M6, STM32C011J6M3, STM32C011J6M6, STM32C0316-DK, STM32C031C4T3, STM32C031C4T6, STM32C031C4U3, STM32C031C4U6, STM32C031C6T3, STM32C031C6T6, STM32C031C6U3, STM32C031C6U6, STM32C031F4P3, STM32C031F4P6, STM32C031F6P3, STM32C031F6P6, STM32C031G4U3, STM32C031G4U6, STM32C031G6U3, STM32C031G6U6, STM32C031K4T3, STM32C031K4T6, STM32C031K4U3, STM32C031K4U6, STM32C031K6T3, STM32C031K6T6, STM32C031K6U3, STM32C031K6U6, STM32G071K8TXN, STM32G071K8UXN, STM32G081GBU6N, STM32G081KBT6N, STM32G081KBUXN, STM32G0B1CCT6N, STM32G0B1KCT6, STM32G0B1NEY6TR, STM32G0B1RCT6N, STM32G0C1CCT6, STM32G0C1CCT6N, STM32G0C1CCU6N, STM32G0C1CET6N, STM32G0C1CEU6N, STM32G0C1KCT6, STM32G0C1NEY6TR, STM32G0C1RCI6N, STM32G0C1RCT6N, STM32G0C1REI6N, STM32G0C1RET6N, STM32G0C1VCI6, STM32G0C1VEI6, STM32G471CCT6, STM32G471CCU6, STM32G471CET3, STM32G471CET6, STM32G471CEU3, STM32G471CEU6, STM32G471MCT6, STM32G471MET3, STM32G471MET6, STM32G471MEY6TR, STM32G471QCT6, STM32G471QET3, STM32G471RCT6, STM32G471RET3, STM32G471RET6, STM32G471VCH6, STM32G471VCI6, STM32G471VCT6, STM32G471VEH3, STM32G471VEH6, STM32G471VEI3, STM32G471VEI6, STM32G471VET3, STM32G471VET6, STM32G474CCT6, STM32H503CBT6, STM32H503CBU6, STM32H503EBY6TR, STM32H503KBU6, STM32H503RBT6, STM32H562AGI6, STM32H562AII6, STM32H562IGK6, STM32H562IGT6, STM32H562IIK6, STM32H562IIT6, STM32H562RGT6, STM32H562RGV6, STM32H562RIT6, STM32H562RIV6, STM32H562VGT6, STM32H562VIT6, STM32H562ZGT6, STM32H562ZIT6, STM32H563AGI6, STM32H563AII3Q, STM32H563AII6, STM32H563IGK6, STM32H563IGT6, STM32H563IIK3Q, STM32H563IIK6, STM32H563IIT3Q, STM32H563IIT6, STM32H563MIY3QTR, STM32H563RGT6, STM32H563RGV6, STM32H563RIT6, STM32H563RIV6, STM32H563VGT6, STM32H563VIT3Q, STM32H563VIT6, STM32H563ZGT6, STM32H563ZIT3Q, STM32H563ZIT6, STM32H573AII3Q, STM32H573AII6, STM32H573I-DK, STM32H573IIK3Q, STM32H573IIK6, STM32H573IIT3Q, STM32H573IIT6, STM32H573MIY3QTR, STM32H573RIT6, STM32H573RIV6, STM32H573VIT3Q, STM32H573VIT6, STM32H573ZIT3Q, STM32H573ZIT6, STM32L4R5QGI6STR, STM32MP131AAE3, STM32MP131AAF3, STM32MP131AAG3, STM32MP131CAE3, STM32MP131CAF3, STM32MP131CAG3, STM32MP131DAE7, STM32MP131DAF7, STM32MP131DAG7, STM32MP131FAE7, STM32MP131FAF7, STM32MP131FAG7, STM32MP133AAE3, STM32MP133AAF3, STM32MP133AAG3, STM32MP133CAE3, STM32MP133CAF3, STM32MP133CAG3, STM32MP133DAE7, STM32MP133DAF7, STM32MP133DAG7, STM32MP133FAE7, STM32MP133FAF7, STM32MP133FAG7, STM32MP135AAE3, STM32MP135AAF3, STM32MP135AAG3, STM32MP135CAE3, STM32MP135CAF3, STM32MP135CAG3, STM32MP135DAE7, STM32MP135DAF7, STM32MP135DAG7, STM32MP135F-DK, STM32MP135FAE7, STM32MP135FAF7, STM32MP135FAF7T, STM32MP135FAF7U, STM32MP135FAG7, STM32U535CBT6, STM32U535CBT6Q, STM32U535CBU6, STM32U535CBU6Q, STM32U535CCT6, STM32U535CCT6Q, STM32U535CCU6, STM32U535CCU6Q, STM32U535CET6, STM32U535CET6Q, STM32U535CEU6, STM32U535CEU6Q, STM32U535JEY6QTR, STM32U535NCY6QTR, STM32U535NEY6QTR, STM32U535RBI6, STM32U535RBI6Q, STM32U535RBT6, STM32U535RBT6Q, STM32U535RCI6, STM32U535RCI6Q, STM32U535RCT6, STM32U535RCT6Q, STM32U535REI6, STM32U535REI6Q, STM32U535RET6, STM32U535RET6Q, STM32U535VCI6, STM32U535VCI6Q, STM32U535VCT6, STM32U535VCT6Q, STM32U535VEI6, STM32U535VEI6Q, STM32U535VET6, STM32U535VET6Q, STM32U545CET6, STM32U545CET6Q, STM32U545CEU6, STM32U545CEU6Q, STM32U545JEY6QTR, STM32U545NEY6QTR, STM32U545REI6, STM32U545REI6Q, STM32U545RET6, STM32U545RET6Q, STM32U545VEI6, STM32U545VEI6Q, STM32U545VET6, STM32U545VET6Q, STM32U595AIH6, STM32U595AIH6Q, STM32U595AJH6, STM32U595AJH6Q, STM32U595QII6, STM32U595QII6Q, STM32U595QJI6, STM32U595QJI6Q, STM32U595RIT6, STM32U595RIT6Q, STM32U595RJT6, STM32U595RJT6Q, STM32U595VIT6, STM32U595VIT6Q, STM32U595VJT6, STM32U595VJT6Q, STM32U595ZIT6, STM32U595ZIT6Q, STM32U595ZIY6QTR, STM32U595ZJT6, STM32U595ZJT6Q, STM32U595ZJY6QTR, STM32U599BJY6QTR, STM32U599NIH6Q, STM32U599NJH6Q, STM32U599VIT6Q, STM32U599VJT6, STM32U599VJT6Q, STM32U599ZIT6Q, STM32U599ZIY6QTR, STM32U599ZJT6Q, STM32U599ZJY6QTR, STM32U5A5AJH6, STM32U5A5AJH6Q, STM32U5A5QJI6, STM32U5A5QJI6Q, STM32U5A5RJT6, STM32U5A5RJT6Q, STM32U5A5VJT6, STM32U5A5VJT6Q, STM32U5A5ZJT6, STM32U5A5ZJT6Q, STM32U5A5ZJY6QTR, STM32U5A9BJY6QTR, STM32U5A9J-DK, STM32U5A9NJH6Q, STM32U5A9VJT6Q, STM32U5A9ZJT6Q, STM32U5A9ZJY6QTR, STM32U5F7VIT6, STM32U5F7VIT6Q, STM32U5F7VJT6, STM32U5F7VJT6Q, STM32U5F9BJY6QTR, STM32U5F9NJH6Q, STM32U5F9VIT6Q, STM32U5F9VJT6Q, STM32U5F9ZIJ6QTR, STM32U5F9ZIT6Q, STM32U5F9ZJJ6QTR, STM32U5F9ZJT6Q, STM32U5G7VJT6, STM32U5G7VJT6Q, STM32U5G9BJY6QTR, STM32U5G9J-DK1, STM32U5G9J-DK2, STM32U5G9NJH6Q, STM32U5G9VJT6Q, STM32U5G9ZJJ6QTR, STM32U5G9ZJT6Q, STM32WB1MMCH6, STM32WBA52CEU6, STM32WBA52CEU6T, STM32WBA52CGU6, STM32WBA52CGU6T, STM32WBA52KEU6, STM32WBA52KEU6T, STM32WBA52KGU6, STM32WBA52KGU6T, STM32WL5MOCH6, STM32WL5MOCH6TR] +2023-12-25 22:12:50,071 [INFO] DbMcus:217 - Found 3882 MCUs, 3882 are supported +2023-12-25 22:12:50,072 [INFO] ApiDb:423 - Load user favorites file /Users/haotian/.stm32cubeide/favorites.mcus.txt: 0 item(s) +2023-12-25 22:12:50,072 [INFO] ApiDb:427 - User favorites MCUs=[] +2023-12-25 22:12:50,073 [INFO] DbMcus:223 - Set 0 / 0 favorites MCUs +2023-12-25 22:12:50,921 [WARN] ThirdParty:833 - waiting for thirdparty lock release [change project] +2023-12-25 22:12:50,921 [INFO] ThirdParty:835 - entering critical section [change project] +2023-12-25 22:12:50,921 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-ISPU 1.1.0 +2023-12-25 22:12:50,921 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USBPD 4.1 +2023-12-25 22:12:50,921 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-GNSS1 6.0.0 +2023-12-25 22:12:50,921 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_HOST 2.0.0 +2023-12-25 22:12:50,921 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-F4 1.1.0 +2023-12-25 22:12:50,921 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics LIBJPEG 8.0.0 +2023-12-25 22:12:50,921 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-SMBUS 2.1.0 +2023-12-25 22:12:50,921 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_DEVICE 3.0.0 +2023-12-25 22:12:50,922 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-WB 2.0.0 +2023-12-25 22:12:50,922 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :wolfSSL I-CUBE-wolfSSL 5.6.6 +2023-12-25 22:12:50,922 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-TOUCHGFX 4.23.0 +2023-12-25 22:12:50,922 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-F7 1.1.0 +2023-12-25 22:12:50,922 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-L5 2.0.0 +2023-12-25 22:12:50,922 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_DEVICE 2.0.0 +2023-12-25 22:12:50,922 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-EEPRMA1 4.2.0 +2023-12-25 22:12:50,922 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :ITTIA_DB I-CUBE-ITTIADB 8.8.0 +2023-12-25 22:12:50,922 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-SNS-MOTENV1 4.3.2 +2023-12-25 22:12:50,922 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-ALGOBUILD 1.3.0 +2023-12-25 22:12:50,922 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FreeRTOS 0.0.1 +2023-12-25 22:12:50,922 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-G0 1.1.0 +2023-12-25 22:12:50,922 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-BLEMGR 2.0.0 +2023-12-25 22:12:50,922 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-NFC4 3.0.0 +2023-12-25 22:12:50,922 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-SUBG2 5.0.0 +2023-12-25 22:12:50,923 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics STM32_WPAN 1.0.0 +2023-12-25 22:12:50,923 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics lwIP 2.0.3 +2023-12-25 22:12:50,923 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-SNS-FLIGHT1 5.0.2 +2023-12-25 22:12:50,923 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_HOST 1.0.0 +2023-12-25 22:12:50,923 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-TOF1 3.3.1 +2023-12-25 22:12:50,923 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-G4 2.0.0 +2023-12-25 22:12:50,923 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics PDM2PCM 3.1.0 +2023-12-25 22:12:50,923 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :Infineon AIROC-Wi-Fi-Bluetooth-STM32 1.5.1 +2023-12-25 22:12:50,923 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-BLEMGR 3.0.0 +2023-12-25 22:12:50,923 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics PDM2PCM 3.3.0 +2023-12-25 22:12:50,923 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-DISPLAY 3.0.0 +2023-12-25 22:12:50,923 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-SNS-MOTENVWB1 1.3.1 +2023-12-25 22:12:50,923 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-BLE1 7.0.0 +2023-12-25 22:12:50,923 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-ATR-SIGFOX1 3.2.0 +2023-12-25 22:12:50,923 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-ISPU 2.0.0 +2023-12-25 22:12:50,924 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics HAL Drivers 0.0.0 +2023-12-25 22:12:50,924 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics MBEDTLS 2.16.2 +2023-12-25 22:12:50,924 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :emotas I-CUBE-CANOPEN 1.3.0 +2023-12-25 22:12:50,924 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-FREERTOS 1.1.0 +2023-12-25 22:12:50,924 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-NFC7 1.0.1 +2023-12-25 22:12:50,924 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics MBEDTLS 2.14.1 +2023-12-25 22:12:50,924 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-TOUCHGFX 4.22.1 +2023-12-25 22:12:50,924 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-EEPRMA1 4.1.0 +2023-12-25 22:12:50,924 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :portGmbH I-Cube-SoM-uGOAL 1.1.0 +2023-12-25 22:12:50,924 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-ALS 1.0.1 +2023-12-25 22:12:50,925 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics ThreadX 1.0.0 +2023-12-25 22:12:50,925 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-WL 2.0.0 +2023-12-25 22:12:50,925 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :SEGGER I-CUBE-embOS 1.3.1 +2023-12-25 22:12:50,925 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics USB_DEVICE 1.0.0 +2023-12-25 22:12:50,925 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AI 8.1.0 +2023-12-25 22:12:50,925 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-L4 2.0.0 +2023-12-25 22:12:50,925 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics ThreadX 0.0.2 +2023-12-25 22:12:50,925 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :WES I-CUBE-Cesium 1.3.0 +2023-12-25 22:12:50,925 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics FP-ATR-ASTRA1 2.0.0 +2023-12-25 22:12:50,925 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics lwIP 2.1.2 +2023-12-25 22:12:50,925 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-SFXS2LP1 4.0.0 +2023-12-25 22:12:50,925 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-BLE2 3.3.0 +2023-12-25 22:12:50,925 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-TOF1 3.4.0 +2023-12-25 22:12:50,925 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics X-CUBE-AZRTOS-H7 3.2.0 +2023-12-25 22:12:50,925 [INFO] ThirdParty:1030 - CMSIS Pack Vendor :STMicroelectronics PDM2PCM 3.2.0 +2023-12-25 22:12:50,926 [INFO] ThirdParty:841 - exiting critical section [change project] +2023-12-25 22:12:51,456 [INFO] PinOutPanel:1499 - setPackage(No Configuration,No Configuration) +2023-12-25 22:12:51,458 [INFO] PinOutPanel:1499 - setPackage(STM32F103C8Tx,LQFP48) +2023-12-25 22:12:52,726 [INFO] UtilMem:75 - Before build in PCC Used Memory: 856596480 Bytes (1073741824) +2023-12-25 22:12:54,200 [INFO] UtilMem:75 - After build in PCC Used Memory: 694491080 Bytes (1073741824) +2023-12-25 22:12:54,398 [INFO] ApiDbMcu:507 - Load IP Config File for USB_DEVICE +2023-12-25 22:12:54,462 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:12:54,462 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:12:54,463 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:12:54,464 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:12:54,464 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:12:54,465 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:12:54,467 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:12:54,467 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:12:54,469 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:12:54,469 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:12:54,470 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:12:54,470 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:12:54,471 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:12:54,471 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:12:54,472 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:12:54,472 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:12:54,472 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:12:54,473 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:12:54,473 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:12:54,473 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:12:54,473 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:12:54,474 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:12:54,474 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:12:54,475 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:12:54,475 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:12:54,476 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:12:54,476 [INFO] IPUIPlugin:80 - create IPUIPlugin +2023-12-25 22:12:54,860 [INFO] CADModel:165 - CPN selected for project levelSTM32F103C8T6 +2023-12-25 22:12:54,860 [INFO] CADModel:114 - Register for checkConnection events +2023-12-25 22:12:54,904 [INFO] OpenFileManager:328 - Restore cursor +2023-12-25 22:13:07,871 [INFO] UtilMem:75 - End SaveConfig() Used Memory: 675653296 Bytes (1073741824) +2023-12-25 22:13:08,764 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: SPI +2023-12-25 22:13:08,765 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: NVIC +2023-12-25 22:13:08,765 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: TIM1_8F1 +2023-12-25 22:13:08,765 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: TIM1_8F1 +2023-12-25 22:13:08,765 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: USB_DEVICE +2023-12-25 22:13:08,765 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: USB +2023-12-25 22:13:08,765 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: SYS +2023-12-25 22:13:08,766 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: GPIO +2023-12-25 22:13:08,766 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: ADC +2023-12-25 22:13:08,766 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: RCC +2023-12-25 22:13:08,767 [INFO] CodeGenerator:799 - code generatio: config db path: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db/ +2023-12-25 22:13:09,359 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/license.tmp_save +2023-12-25 22:13:09,946 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/license.tmp +2023-12-25 22:13:10,017 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/gpio.tmp_save +2023-12-25 22:13:10,177 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/gpio.tmp +2023-12-25 22:13:10,303 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/usb_vars.tmp_save +2023-12-25 22:13:10,444 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/usb_vars.tmp +2023-12-25 22:13:10,447 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/usb_inc.tmp_save +2023-12-25 22:13:10,562 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/usb_inc.tmp +2023-12-25 22:13:10,564 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/usb_HalInit.tmp_save +2023-12-25 22:13:10,693 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/usb_HalInit.tmp +2023-12-25 22:13:10,695 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/usb_Msp.tmp_save +2023-12-25 22:13:10,841 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/usb_Msp.tmp +2023-12-25 22:13:11,748 [INFO] Middleware:1439 - No code input for Bsp Dependency +2023-12-25 22:13:11,760 [INFO] Middleware:1439 - No code input for Bsp Dependency +2023-12-25 22:13:11,769 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usb_device.c_save +2023-12-25 22:13:12,006 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usb_device.c +2023-12-25 22:13:12,011 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usb_device.h_save +2023-12-25 22:13:12,173 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usb_device.h +2023-12-25 22:13:12,178 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/Target/usbd_conf.h_save +2023-12-25 22:13:12,326 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/Target/usbd_conf.h +2023-12-25 22:13:12,331 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/Target/usbd_conf.c_save +2023-12-25 22:13:12,518 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/Target/usbd_conf.c +2023-12-25 22:13:12,524 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usbd_desc.h_save +2023-12-25 22:13:12,626 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usbd_desc.h +2023-12-25 22:13:12,631 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usbd_desc.c_save +2023-12-25 22:13:12,824 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usbd_desc.c +2023-12-25 22:13:12,832 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usbd_cdc_if.h_save +2023-12-25 22:13:13,045 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usbd_cdc_if.h +2023-12-25 22:13:13,052 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usbd_cdc_if.c_save +2023-12-25 22:13:13,222 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usbd_cdc_if.c +2023-12-25 22:13:13,236 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Src/stm32f1xx_it.c_save +2023-12-25 22:13:13,371 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Src/stm32f1xx_it.c +2023-12-25 22:13:13,376 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Inc/stm32f1xx_it.h_save +2023-12-25 22:13:13,468 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Inc/stm32f1xx_it.h +2023-12-25 22:13:13,477 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Src/stm32f1xx_hal_msp.c_save +2023-12-25 22:13:13,619 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Src/stm32f1xx_hal_msp.c +2023-12-25 22:13:13,622 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/system.tmp_save +2023-12-25 22:13:13,703 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/system.tmp +2023-12-25 22:13:13,709 [INFO] CodeEngine:311 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Inc/stm32f1xx_hal_conf.h_save +2023-12-25 22:13:13,798 [INFO] CodeEngine:335 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Inc/stm32f1xx_hal_conf.h +2023-12-25 22:13:13,835 [WARN] IPConfigManager:3431 - IP not found : TIM +2023-12-25 22:13:13,836 [WARN] CodeGenerator:3764 - IP not found : null +2023-12-25 22:13:13,840 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Inc/main.h_save +2023-12-25 22:13:13,933 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Inc/main.h +2023-12-25 22:13:13,936 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Src/main.c_save +2023-12-25 22:13:14,124 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Src/main.c +2023-12-25 22:13:14,948 [INFO] ProjectBuilder:3064 - Time for Copy HAL[1] : 176mS. +2023-12-25 22:13:14,974 [INFO] ProjectBuilder:4404 - Project Generator version: 4.1.0 +2023-12-25 22:13:15,558 [INFO] ConfigFileManager:1457 - The Die is : DIE410 +2023-12-25 22:13:15,582 [INFO] ApiDbMcu:507 - Load IP Config File for FATFS +2023-12-25 22:13:15,667 [INFO] ApiDbMcu:507 - Load IP Config File for FREERTOS +2023-12-25 22:13:17,095 [INFO] LogOutputStream:77 - [STDOUT_REDIRECT] +2023-12-25 22:13:18,229 [INFO] ProjectBuilder:4626 - Time for Generating toolchain IDE Files: 3254mS. +2023-12-25 22:13:18,230 [INFO] ProjectBuilder:2935 - Time for Copy CMSIS : 1mS. +2023-12-25 22:13:18,232 [INFO] ProjectBuilder:2935 - Time for Copy CMSIS : 0mS. +2023-12-25 22:13:18,380 [INFO] NvicIntPanel:101 - NVIC parent = com.st.microxplorer.plugins.ip.nvic.MultiNvicIntPanel[,0,0,0x0,invalid,layout=javax.swing.BoxLayout,alignmentX=0.0,alignmentY=0.0,border=,flags=9,maximumSize=,minimumSize=,preferredSize=] +2023-12-25 22:13:22,975 [INFO] UtilMem:75 - End SaveConfig() Used Memory: 776797712 Bytes (1073741824) +2023-12-25 22:13:24,105 [INFO] UtilMem:75 - End SaveConfig() Used Memory: 796562160 Bytes (1073741824) +2023-12-25 22:13:24,354 [INFO] UtilMem:75 - End SaveConfig() Used Memory: 717187344 Bytes (1073741824) +2023-12-25 22:13:24,904 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: SPI +2023-12-25 22:13:24,904 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: NVIC +2023-12-25 22:13:24,904 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: TIM1_8F1 +2023-12-25 22:13:24,904 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: TIM1_8F1 +2023-12-25 22:13:24,905 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: USB_DEVICE +2023-12-25 22:13:24,905 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: USB +2023-12-25 22:13:24,905 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: SYS +2023-12-25 22:13:24,905 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: GPIO +2023-12-25 22:13:24,905 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: ADC +2023-12-25 22:13:24,906 [INFO] BlockDiagram:2759 - set Specific Code input for plugin: RCC +2023-12-25 22:13:24,906 [INFO] CodeGenerator:799 - code generatio: config db path: /Applications/STM32CubeIDE.app/Contents/Eclipse/plugins/com.st.stm32cube.common.mx_6.9.2.202309101412//db/ +2023-12-25 22:13:25,133 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/license.tmp_save +2023-12-25 22:13:25,232 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/license.tmp +2023-12-25 22:13:25,274 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/gpio.tmp_save +2023-12-25 22:13:25,369 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/gpio.tmp +2023-12-25 22:13:25,487 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/usb_vars.tmp_save +2023-12-25 22:13:25,612 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/usb_vars.tmp +2023-12-25 22:13:25,615 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/usb_inc.tmp_save +2023-12-25 22:13:25,707 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/usb_inc.tmp +2023-12-25 22:13:25,709 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/usb_HalInit.tmp_save +2023-12-25 22:13:25,810 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/usb_HalInit.tmp +2023-12-25 22:13:25,812 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/usb_Msp.tmp_save +2023-12-25 22:13:25,918 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/usb_Msp.tmp +2023-12-25 22:13:26,461 [INFO] Middleware:1439 - No code input for Bsp Dependency +2023-12-25 22:13:26,469 [INFO] Middleware:1439 - No code input for Bsp Dependency +2023-12-25 22:13:26,474 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usb_device.c_save +2023-12-25 22:13:26,553 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usb_device.c +2023-12-25 22:13:26,555 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usb_device.h_save +2023-12-25 22:13:26,621 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usb_device.h +2023-12-25 22:13:26,624 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/Target/usbd_conf.h_save +2023-12-25 22:13:26,691 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/Target/usbd_conf.h +2023-12-25 22:13:26,694 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/Target/usbd_conf.c_save +2023-12-25 22:13:26,766 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/Target/usbd_conf.c +2023-12-25 22:13:26,769 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usbd_desc.h_save +2023-12-25 22:13:26,834 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usbd_desc.h +2023-12-25 22:13:26,837 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usbd_desc.c_save +2023-12-25 22:13:26,913 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usbd_desc.c +2023-12-25 22:13:26,917 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usbd_cdc_if.h_save +2023-12-25 22:13:26,984 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usbd_cdc_if.h +2023-12-25 22:13:26,987 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usbd_cdc_if.c_save +2023-12-25 22:13:27,062 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/USB_DEVICE/App/usbd_cdc_if.c +2023-12-25 22:13:27,070 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Src/stm32f1xx_it.c_save +2023-12-25 22:13:27,141 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Src/stm32f1xx_it.c +2023-12-25 22:13:27,144 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Inc/stm32f1xx_it.h_save +2023-12-25 22:13:27,203 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Inc/stm32f1xx_it.h +2023-12-25 22:13:27,210 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Src/stm32f1xx_hal_msp.c_save +2023-12-25 22:13:27,302 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Src/stm32f1xx_hal_msp.c +2023-12-25 22:13:27,304 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/system.tmp_save +2023-12-25 22:13:27,362 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/MXTmpFiles/system.tmp +2023-12-25 22:13:27,366 [INFO] CodeEngine:311 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Inc/stm32f1xx_hal_conf.h_save +2023-12-25 22:13:27,433 [INFO] CodeEngine:335 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Inc/stm32f1xx_hal_conf.h +2023-12-25 22:13:27,459 [WARN] IPConfigManager:3431 - IP not found : TIM +2023-12-25 22:13:27,460 [WARN] CodeGenerator:3764 - IP not found : null +2023-12-25 22:13:27,464 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Inc/main.h_save +2023-12-25 22:13:27,536 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Inc/main.h +2023-12-25 22:13:27,539 [INFO] CodeEngine:255 - oldGeneratedFile, /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Src/main.c_save +2023-12-25 22:13:27,688 [INFO] CodeEngine:279 - Generated code: /Users/haotian/Documents/DengFOC_on_STM32/SVPWM/Core/Src/main.c +2023-12-25 22:13:28,809 [INFO] ProjectBuilder:3064 - Time for Copy HAL[1] : 156mS. +2023-12-25 22:13:28,819 [INFO] ProjectBuilder:4404 - Project Generator version: 4.1.0 +2023-12-25 22:13:29,268 [INFO] ConfigFileManager:1457 - The Die is : DIE410 +2023-12-25 22:13:31,751 [INFO] ProjectBuilder:4626 - Time for Generating toolchain IDE Files: 2932mS. +2023-12-25 22:13:31,752 [INFO] ProjectBuilder:2935 - Time for Copy CMSIS : 1mS. +2023-12-25 22:13:31,755 [INFO] ProjectBuilder:2935 - Time for Copy CMSIS : 0mS. +2023-12-25 22:25:48,102 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] diff --git a/.metadata/.log b/.metadata/.log index fff7451..20ccc9d 100644 --- a/.metadata/.log +++ b/.metadata/.log @@ -570,3 +570,29 @@ Project's 'SVPWM' active one is 'SVPWM.ioc' file !MESSAGE Invalid Input: Must be project's active .ioc file. Project's 'SVPWM' active one is 'SVPWM.ioc' file +!SESSION 2024-01-27 22:36:16.844 ----------------------------------------------- +eclipse.buildId=Version 1.13.2 +java.version=17.0.6 +java.vendor=Eclipse Adoptium +BootLoader constants: OS=macosx, ARCH=x86_64, WS=cocoa, NL=en_US +Framework arguments: -keyring /Users/haotian/.eclipse_keyring +Command-line arguments: -os macosx -ws cocoa -arch x86_64 -keyring /Users/haotian/.eclipse_keyring + +!ENTRY com.st.stm32cube.ide.mcu.informationcenter 1 1 2024-01-27 22:36:36.963 +!MESSAGE Log4j2 initialized with config file /Users/haotian/Documents/DengFOC_on_STM32/.metadata/.log4j2.xml + +!ENTRY com.st.stm32cube.ide.mcu.ide 1 1 2024-01-27 22:36:43.873 +!MESSAGE Started RMI Server, listening on port 41337 +!SESSION 2024-01-27 22:45:29.234 ----------------------------------------------- +eclipse.buildId=Version 1.13.2 +java.version=17.0.6 +java.vendor=Eclipse Adoptium +BootLoader constants: OS=macosx, ARCH=x86_64, WS=cocoa, NL=en_US +Framework arguments: -keyring /Users/haotian/.eclipse_keyring +Command-line arguments: -os macosx -ws cocoa -arch x86_64 -keyring /Users/haotian/.eclipse_keyring + +!ENTRY com.st.stm32cube.ide.mcu.informationcenter 1 1 2024-01-27 22:45:35.661 +!MESSAGE Log4j2 initialized with config file /Users/haotian/Documents/DengFOC_on_STM32/.metadata/.log4j2.xml + +!ENTRY com.st.stm32cube.ide.mcu.ide 1 1 2024-01-27 22:45:43.085 +!MESSAGE Started RMI Server, listening on port 41337 diff --git a/.metadata/.plugins/org.eclipse.cdt.core/.log b/.metadata/.plugins/org.eclipse.cdt.core/.log index 8f1b428..f979fb9 100644 --- a/.metadata/.plugins/org.eclipse.cdt.core/.log +++ b/.metadata/.plugins/org.eclipse.cdt.core/.log @@ -5,3 +5,5 @@ *** SESSION Dec 25, 2023 14:04:42.693 ------------------------------------------ *** SESSION Dec 25, 2023 14:55:44.644 ------------------------------------------ *** SESSION Dec 25, 2023 22:09:23.911 ------------------------------------------ +*** SESSION Jan 27, 2024 22:36:37.501 ------------------------------------------ +*** SESSION Jan 27, 2024 22:45:36.174 ------------------------------------------ diff --git a/.metadata/.plugins/org.eclipse.cdt.core/SVPWM.1703571019738.pdom b/.metadata/.plugins/org.eclipse.cdt.core/SVPWM.1703571019738.pdom index c6b64b130ccbe49b18c49784a5526ecd71f2a5f3..2f4e8afad1f9fb9c2e4baf5771d92a21cbcd23be 100644 GIT binary patch delta 63458 zcmZr(2Y3}l*Pgrg=B7wVf%F0iHv~u{fe;ZwM?^}bNexX95F*k(Hh=>aRduI0T&gEmDC%O0T`_4IM&eYwVIh&tksB#DPeolYykv7L)=azo4Ykd4;E;DnF6Tx?-xL? z^YN#>g1660eP0uVife@kk-XDG#;P%1dIp5%={H^y1phlA^cV8&pT;t6kL`sEA9)Kb_GiW*Kw@o}Hp*-J zM=Mv2me`++A+5xE0ISS%LTudy7U#tn(n{=YU@m^f#E_fVKMiauu)2CysO`2xc#b?1 z=f%^aY-7U7H*weTC#@Hrs}=*#G5uhat({E}s^KRRktX51YNwcY)O}tv#&$vC6@?JO z9m01gnuHrXyoxPH;t&WK!qSr{nrg@uV|-2(+dzq*!nuk97Y4Yz3D*Ow+E!^=$6xea zakllEWc~qWjAe<-MV9E};%(8k`ji(EP3E~xaix8TdEwh6pLf{|6oBN>DXSGbCWE1K4@brA--ngEAUrv5X+72AM|LUXkT z4x31S@i$BxJ%dNrGz!$!3s@5aD+9KO&oZ$$fVG#{0WV;C`C}7%8(1#`3j%h6=hkw| zoC53(1FH(`7k<^mmH~U)z|hRRHt}|ewpAIzPpg1UF)-ML=IETZjwSVA6`KhhesL|6 z_`=tLx8(6jwjt67#lThxOcv*D;luSwZXcZizD?ldL+^+s!iV9>Zk+rMzZyRDj#wak zI32k3A>_H>SAk!J?tEUBZ0jy{KLU2y)a@NGLg*fnVjC#Z#-sdQ!XD<>jj~E!!f&S7 zI*7FKA;2j8BWC}sGh<&LVz#YWyhEx{H{#yjuEoJ)Jz@-d_ z{wux@V~*2jd0K5FU-9rU$sqX$OBnmIH+;H=uQKsrz##*;)^{rN4hm(yU7F~DX|^u1 z9mf9`1PB2^D&RuFgmkxpX+o(~a39~-GUuvl{GN$(oP!K9VBbc@&Q@YJewFvD<4%uW zBOWqL`3Hpjb0)qWIAl=zgCze8A-`!|clrZ32N^>CUdGOhWwr%*e4B}*WNePeb=EfTWuPSA~Sqa|hPTw8pvSfN;@2A4vaV9

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b/.metadata/.plugins/org.eclipse.cdt.ui/SVPWM.build.log index 1cf41c4..083c261 100644 --- a/.metadata/.plugins/org.eclipse.cdt.ui/SVPWM.build.log +++ b/.metadata/.plugins/org.eclipse.cdt.ui/SVPWM.build.log @@ -1,18 +1,17 @@ -22:25:00 **** Incremental Build of configuration Debug for project SVPWM **** +22:46:59 **** Build of configuration Debug for project SVPWM **** make -j7 all -arm-none-eabi-gcc "../Core/Src/motor_control.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../USB_DEVICE/App -I../USB_DEVICE/Target -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/motor_control.d" -MT"Core/Src/motor_control.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/motor_control.o" -../Core/Src/motor_control.c: In function 'setPhaseVoltage': -../Core/Src/motor_control.c:90:14: warning: implicit declaration of function 'abs' [-Wimplicit-function-declaration] - 90 | Uq=abs(Uq); - | ^~~ -../Core/Src/motor_control.c:9:1: note: include '' or provide a declaration of 'abs' - 8 | #include "motor_control.h" - +++ |+#include - 9 | -../Core/Src/motor_control.c:90:18: warning: 'abs' argument 1 promotes to 'double' where 'int' is expected in a call to built-in function declared without prototype [-Wbuiltin-declaration-mismatch] - 90 | Uq=abs(Uq); - | ^~ -: note: built-in 'abs' declared here +arm-none-eabi-gcc "../Core/Src/main.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../USB_DEVICE/App -I../USB_DEVICE/Target -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/main.d" -MT"Core/Src/main.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/main.o" +arm-none-eabi-gcc "../Core/Src/pid.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../USB_DEVICE/App -I../USB_DEVICE/Target -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/pid.d" -MT"Core/Src/pid.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/pid.o" +../Core/Src/main.c: In function 'main': +../Core/Src/main.c:151:26: warning: passing argument 2 of 'calibrateOffsets' from incompatible pointer type [-Wincompatible-pointer-types] + 151 | calibrateOffsets(hadc1,¤t_offset); + | ^~~~~~~~~~~~~~~ + | | + | uint16_t (*)[3] {aka short unsigned int (*)[3]} +In file included from ../Core/Src/main.c:15: +../Core/Inc/current_sense.h:23:41: note: expected 'uint16_t *' {aka 'short unsigned int *'} but argument is of type 'uint16_t (*)[3]' {aka 'short unsigned int (*)[3]'} + 23 | void calibrateOffsets(ADC_HandleTypeDef,uint16_t *); + | ^~~~~~~~~~ arm-none-eabi-gcc -o "SVPWM.elf" @"objects.list" -mcpu=cortex-m3 -T"/Users/haotian/Documents/DengFOC_on_STM32/SVPWM/STM32F103C8TX_FLASH.ld" --specs=nosys.specs -Wl,-Map="SVPWM.map" -Wl,--gc-sections -static --specs=nano.specs -mfloat-abi=soft -mthumb -Wl,--start-group -lc -lm -Wl,--end-group Finished building target: SVPWM.elf @@ -25,5 +24,5 @@ Finished building: default.size.stdout Finished building: SVPWM.list -22:25:01 Build Finished. 0 errors, 2 warnings. (took 1s.280ms) +22:47:00 Build Finished. 0 errors, 1 warnings. (took 1s.226ms) diff --git a/.metadata/.plugins/org.eclipse.cdt.ui/global-build.log b/.metadata/.plugins/org.eclipse.cdt.ui/global-build.log index 22a0864..034a2a6 100644 --- a/.metadata/.plugins/org.eclipse.cdt.ui/global-build.log +++ b/.metadata/.plugins/org.eclipse.cdt.ui/global-build.log @@ -1234,3 +1234,28 @@ Finished building: default.size.stdout Finished building: SVPWM.list +22:46:59 **** Build of configuration Debug for project SVPWM **** +make -j7 all +arm-none-eabi-gcc "../Core/Src/main.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../USB_DEVICE/App -I../USB_DEVICE/Target -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/main.d" -MT"Core/Src/main.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/main.o" +arm-none-eabi-gcc "../Core/Src/pid.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../USB_DEVICE/App -I../USB_DEVICE/Target -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/pid.d" -MT"Core/Src/pid.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/pid.o" +../Core/Src/main.c: In function 'main': +../Core/Src/main.c:151:26: warning: passing argument 2 of 'calibrateOffsets' from incompatible pointer type [-Wincompatible-pointer-types] + 151 | calibrateOffsets(hadc1,¤t_offset); + | ^~~~~~~~~~~~~~~ + | | + | uint16_t (*)[3] {aka short unsigned int (*)[3]} +In file included from ../Core/Src/main.c:15: +../Core/Inc/current_sense.h:23:41: note: expected 'uint16_t *' {aka 'short unsigned int *'} but argument is of type 'uint16_t (*)[3]' {aka 'short unsigned int (*)[3]'} + 23 | void calibrateOffsets(ADC_HandleTypeDef,uint16_t *); + | ^~~~~~~~~~ +arm-none-eabi-gcc -o "SVPWM.elf" @"objects.list" -mcpu=cortex-m3 -T"/Users/haotian/Documents/DengFOC_on_STM32/SVPWM/STM32F103C8TX_FLASH.ld" --specs=nosys.specs -Wl,-Map="SVPWM.map" -Wl,--gc-sections -static --specs=nano.specs -mfloat-abi=soft -mthumb -Wl,--start-group -lc -lm -Wl,--end-group +Finished building target: SVPWM.elf + +arm-none-eabi-size SVPWM.elf +arm-none-eabi-objdump -h -S SVPWM.elf > "SVPWM.list" + text data bss dec hex filename + 57640 580 6848 65068 fe2c SVPWM.elf +Finished building: default.size.stdout + +Finished building: SVPWM.list + diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/10/4017c669b2a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/10/4017c669b2a3001e1b4082bf61e237c7 deleted file mode 100644 index 672aca9..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/10/4017c669b2a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,94 +0,0 @@ -/* - * current_sense.c - * - * Created on: Dec 24, 2023 - * Author: haotian - */ -#include "current_sense.h" -#include "main.h" - - - -void ADC_Select_CH0 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH1 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH2 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} -void read_ADC_voltage(ADC_HandleTypeDef hadc1,uint16_t *ADC_VAL){ - ADC_Select_CH0(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[0] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH1(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[1] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH2(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[2] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); -} -void calibrateOffsets(ADC_HandleTypeDef hadc1,uint16_t *offset){ - const int calibration_rounds = 1000; - - // 查找0电流时候的电压 - - uint16_t cal_current[3]; - for (int i = 0; i < calibration_rounds; i++) { - read_ADC_voltage(hadc1,cal_current); - for (int j=0;j<3;j++){ - offset[j]=(offset[j]*i+cal_current[j])/(i+1); - } - HAL_Delay(1); - } -} - -float cal_Iq(float* current_phase, float angle_el){ - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - float I_alpha=current_phase[0]; - float I_beta=_1_SQRT3*(2*current_phase[1]+current_phase[0]); - float Iq=-sin(angle_el)*I_alpha+cos(angle_el)*I_beta; -// float Id=cos(angle_el)*I_alpha+sin(angle_el)*I_beta; - return Iq; -} diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/12/80baf1d8b6a3001e1e298100ab8cd7a4 b/.metadata/.plugins/org.eclipse.core.resources/.history/12/80baf1d8b6a3001e1e298100ab8cd7a4 deleted file mode 100644 index aeeba61..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/12/80baf1d8b6a3001e1e298100ab8cd7a4 +++ /dev/null @@ -1,101 +0,0 @@ -/* - * mortor_control.c - * - * Created on: Jun 17, 2023 - * Author: hht - */ - -#include "motor_control.h" - -extern float zero_electric_angle; -extern int pole_pairs; -extern float shaft_angle; -extern int dir; -extern float voltage_limit; -extern float voltage_power_supply; -extern int period; - -float _normalizeAngle(float angle){ - float a = fmod(angle, 2*M_PI); //取余运算可以用于归一化，列出特殊值例子算便知 - return a >= 0 ? a : (a + 2*M_PI); - //三目运算符。格式：condition ? expr1 : expr2 - //其中，condition 是要求值的条件表达式，如果条件成立，则返回 expr1 的值，否则返回 expr2 的值。 - //可以将三目运算符视为 if-else 语句的简化形式。 - //fmod 函数的余数的符号与除数相同。因此，当 angle 的值为负数时，余数的符号将与 _2M_PI 的符号相反。 - //也就是说，如果 angle 的值小于 0 且 _2M_PI 的值为正数，则 fmod(angle, _2M_PI) 的余数将为负数。 - //例如，当 angle 的值为 -M_PI/2，_2M_PI 的值为 2M_PI 时，fmod(angle, _2M_PI) 将返回一个负数。 - //在这种情况下，可以通过将负数的余数加上 _2M_PI 来将角度归一化到 [0, 2M_PI] 的范围内，以确保角度的值始终为正数。 -} - -float _electricalAngle(float shaft_angle, int pole_pairs) { - return _normalizeAngle(((float)(dir * pole_pairs)*shaft_angle)-zero_electric_angle); -} - - - -//开环速度函数 -float velocityOpenloop(float target_velocity, float Uq, TIM_TypeDef * TIM_BASE){ -// uint32_t now_us = getCurrentMicros(); -// uint32_t now_us = HAL_GetTick(); -// Provides a tick value in microseconds. - - //计算当前每个Loop的运行时间间隔 -// float Ts = (now_us - open_loop_timestamp) * 1e-3f; - float Ts=2.5E-3f; - - // 通过乘以时间间隔和目标速度来计算需要转动的机械角度，存储在 shaft_angle 变量中。 - //在此之前，还需要对轴角度进行归一化，以确保其值在 0 到 2π 之间。 - shaft_angle = _normalizeAngle(shaft_angle + target_velocity*Ts); - //以目标速度为 10 rad/s 为例，如果时间间隔是 1 秒，则在每个循环中需要增加 10 * 1 = 10 弧度的角度变化量，才能使电机转动到目标速度。 - //如果时间间隔是 0.1 秒，那么在每个循环中需要增加的角度变化量就是 10 * 0.1 = 1 弧度，才能实现相同的目标速度。 - //因此，电机轴的转动角度取决于目标速度和时间间隔的乘积。 - - // Uq is not related to voltage limit - - - setPhaseVoltage(Uq, 0, _electricalAngle(shaft_angle, pole_pairs),TIM_BASE); - -// open_loop_timestamp = now_us; //用于计算下一个时间间隔 - - return Uq; -} - - - - - -void setPwm(float Ua, float Ub, float Uc, TIM_TypeDef * TIM_BASE) { - -// // 限制上限 - Ua = _constrain(Ua, 0.0f, voltage_limit); - Ub = _constrain(Ub, 0.0f, voltage_limit); - Uc = _constrain(Uc, 0.0f, voltage_limit); - // 计算占空比 - // 限制占空比从0到1 - float dc_a = _constrain(Ua / voltage_power_supply, 0.0f , 1.0f ); - float dc_b = _constrain(Ub / voltage_power_supply, 0.0f , 1.0f ); - float dc_c = _constrain(Uc / voltage_power_supply, 0.0f , 1.0f ); - - //写入PWM到PWM 0 1 2 通道 - TIM_BASE->CCR1 = (uint32_t) roundf(dc_a*period); - TIM_BASE->CCR2 = (uint32_t) roundf(dc_b*period); - TIM_BASE->CCR3 = (uint32_t) roundf(dc_c*period); - -} - -void setPhaseVoltage(float Uq,float Ud, float angle_el, TIM_TypeDef * TIM_BASE) { - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - if (Uq <0 ){ - angle_el+=M_PI; - } - // 帕克逆变换 - float Ualpha = -Uq*sin(angle_el); - float Ubeta = Uq*cos(angle_el); - - // 克拉克逆变换 - float Ua = Ualpha + voltage_power_supply/2; - float Ub = (sqrt(3)*Ubeta-Ualpha)/2 + voltage_power_supply/2; - float Uc = (-Ualpha-sqrt(3)*Ubeta)/2 + voltage_power_supply/2; - setPwm(Ua,Ub,Uc,TIM_BASE); -} - diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/12/90c2c2617ca3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/12/90c2c2617ca3001e1b4082bf61e237c7 deleted file mode 100644 index 075341d..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/12/90c2c2617ca3001e1b4082bf61e237c7 +++ /dev/null @@ -1,545 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.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 ---------------------------------------------------------*/ -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; -ADC_HandleTypeDef hadc1; -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USB; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float contorller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - setPhaseVoltage(_constrain(contorller_out,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - - - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/14/108b2fe47ba3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/14/108b2fe47ba3001e1b4082bf61e237c7 deleted file mode 100644 index f7823ec..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/14/108b2fe47ba3001e1b4082bf61e237c7 +++ /dev/null @@ -1,561 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.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 ---------------------------------------------------------*/ -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; -ADC_HandleTypeDef hadc1; -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USB; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float contorller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - setPhaseVoltage(_constrain(contorller_out,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - ADC_Select_CH0(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[0] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH1(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[1] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH2(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[2] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/14/804db58f7ca3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/14/804db58f7ca3001e1b4082bf61e237c7 deleted file mode 100644 index f3454ec..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/14/804db58f7ca3001e1b4082bf61e237c7 +++ /dev/null @@ -1,27 +0,0 @@ -/* - * current_sense.c - * - * Created on: Dec 24, 2023 - * Author: haotian - */ -#include "current_sense.h" - -void read_ADC_voltage(ADC_HandleTypeDef hadc1, uint16_t& ){ - ADC_Select_CH0(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[0] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH1(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[1] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH2(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[2] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); -} diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/14/a07980f91aa2001e1ab2edb23f9b017a b/.metadata/.plugins/org.eclipse.core.resources/.history/14/a07980f91aa2001e1ab2edb23f9b017a deleted file mode 100644 index e69de29..0000000 diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/14/e0db68da8fa3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/14/e0db68da8fa3001e1b4082bf61e237c7 deleted file mode 100644 index 568d1bd..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/14/e0db68da8fa3001e1b4082bf61e237c7 +++ /dev/null @@ -1,104 +0,0 @@ -/* - * mortor_control.c - * - * Created on: Jun 17, 2023 - * Author: hht - */ - -#include "motor_control.h" - -extern float zero_electric_angle; -extern int pole_pairs; -extern float shaft_angle; -extern int dir; -extern float voltage_limit; -extern float voltage_power_supply; -extern int period; - -float _normalizeAngle(float angle){ - float a = fmod(angle, 2*M_PI); //取余运算可以用于归一化，列出特殊值例子算便知 - return a >= 0 ? a : (a + 2*M_PI); - //三目运算符。格式：condition ? expr1 : expr2 - //其中，condition 是要求值的条件表达式，如果条件成立，则返回 expr1 的值，否则返回 expr2 的值。 - //可以将三目运算符视为 if-else 语句的简化形式。 - //fmod 函数的余数的符号与除数相同。因此，当 angle 的值为负数时，余数的符号将与 _2M_PI 的符号相反。 - //也就是说，如果 angle 的值小于 0 且 _2M_PI 的值为正数，则 fmod(angle, _2M_PI) 的余数将为负数。 - //例如，当 angle 的值为 -M_PI/2，_2M_PI 的值为 2M_PI 时，fmod(angle, _2M_PI) 将返回一个负数。 - //在这种情况下，可以通过将负数的余数加上 _2M_PI 来将角度归一化到 [0, 2M_PI] 的范围内，以确保角度的值始终为正数。 -} - -float _electricalAngle(float shaft_angle, int pole_pairs) { - return _normalizeAngle(((float)(dir * pole_pairs)*shaft_angle)-zero_electric_angle); -} - - - -//开环速度函数 -float velocityOpenloop(float target_velocity, float Uq, TIM_TypeDef * TIM_BASE){ -// uint32_t now_us = getCurrentMicros(); -// uint32_t now_us = HAL_GetTick(); -// Provides a tick value in microseconds. - - //计算当前每个Loop的运行时间间隔 -// float Ts = (now_us - open_loop_timestamp) * 1e-3f; - float Ts=5E-3f; - - // 通过乘以时间间隔和目标速度来计算需要转动的机械角度，存储在 shaft_angle 变量中。 - //在此之前，还需要对轴角度进行归一化，以确保其值在 0 到 2π 之间。 - shaft_angle = _normalizeAngle(shaft_angle + target_velocity*Ts); - //以目标速度为 10 rad/s 为例，如果时间间隔是 1 秒，则在每个循环中需要增加 10 * 1 = 10 弧度的角度变化量，才能使电机转动到目标速度。 - //如果时间间隔是 0.1 秒，那么在每个循环中需要增加的角度变化量就是 10 * 0.1 = 1 弧度，才能实现相同的目标速度。 - //因此，电机轴的转动角度取决于目标速度和时间间隔的乘积。 - - // Uq is not related to voltage limit - - - setPhaseVoltage(Uq, 0, _electricalAngle(shaft_angle, pole_pairs),TIM_BASE); - -// open_loop_timestamp = now_us; //用于计算下一个时间间隔 - - return Uq; -} - - - - - -void setPwm(float Ua, float Ub, float Uc, TIM_TypeDef * TIM_BASE) { - -// // 限制上限 - Ua = _constrain(Ua, 0.0f, voltage_limit); - Ub = _constrain(Ub, 0.0f, voltage_limit); - Uc = _constrain(Uc, 0.0f, voltage_limit); - // 计算占空比 - // 限制占空比从0到1 - float dc_a = _constrain(Ua / voltage_power_supply, 0.0f , 1.0f ); - float dc_b = _constrain(Ub / voltage_power_supply, 0.0f , 1.0f ); - float dc_c = _constrain(Uc / voltage_power_supply, 0.0f , 1.0f ); - - //写入PWM到PWM 0 1 2 通道 - TIM_BASE->CCR1 = (uint32_t) roundf(dc_a*period); - TIM_BASE->CCR2 = (uint32_t) roundf(dc_b*period); - TIM_BASE->CCR3 = (uint32_t) roundf(dc_c*period); - -} - -void setPhaseVoltage(float Uq,float Ud, float angle_el, TIM_TypeDef * TIM_BASE) { - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - // 帕克逆变换 - float Ualpha = -Uq*sin(angle_el); - float Ubeta = Uq*cos(angle_el); - - // 克拉克逆变换 - float Ua = Ualpha + voltage_power_supply/2; - float Ub = (sqrt(3)*Ubeta-Ualpha)/2 + voltage_power_supply/2; - float Uc = (-Ualpha-sqrt(3)*Ubeta)/2 + voltage_power_supply/2; - setPwm(Ua,Ub,Uc,TIM_BASE); -} - -float cal_Iq(float* current_phase, float angle_el){ - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - float I_alpha=current_phase[0]; - float I_beta=_1_SQRT3*(2*current_phase[1]+current_phase[0]); -} -} diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/15/10233b69b7a3001e1e298100ab8cd7a4 b/.metadata/.plugins/org.eclipse.core.resources/.history/15/10233b69b7a3001e1e298100ab8cd7a4 deleted file mode 100644 index 5e2901c..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/15/10233b69b7a3001e1e298100ab8cd7a4 +++ /dev/null @@ -1,144 +0,0 @@ -/* - * mortor_control.c - * - * Created on: Jun 17, 2023 - * Author: hht - */ - -#include "motor_control.h" - -extern float zero_electric_angle; -extern int pole_pairs; -extern float shaft_angle; -extern int dir; -extern float voltage_limit; -extern float voltage_power_supply; -extern int period; - -float _normalizeAngle(float angle){ - float a = fmod(angle, 2*M_PI); //取余运算可以用于归一化，列出特殊值例子算便知 - return a >= 0 ? a : (a + 2*M_PI); - //三目运算符。格式：condition ? expr1 : expr2 - //其中，condition 是要求值的条件表达式，如果条件成立，则返回 expr1 的值，否则返回 expr2 的值。 - //可以将三目运算符视为 if-else 语句的简化形式。 - //fmod 函数的余数的符号与除数相同。因此，当 angle 的值为负数时，余数的符号将与 _2M_PI 的符号相反。 - //也就是说，如果 angle 的值小于 0 且 _2M_PI 的值为正数，则 fmod(angle, _2M_PI) 的余数将为负数。 - //例如，当 angle 的值为 -M_PI/2，_2M_PI 的值为 2M_PI 时，fmod(angle, _2M_PI) 将返回一个负数。 - //在这种情况下，可以通过将负数的余数加上 _2M_PI 来将角度归一化到 [0, 2M_PI] 的范围内，以确保角度的值始终为正数。 -} - -float _electricalAngle(float shaft_angle, int pole_pairs) { - return _normalizeAngle(((float)(dir * pole_pairs)*shaft_angle)-zero_electric_angle); -} - - - -//开环速度函数 -float velocityOpenloop(float target_velocity, float Uq, TIM_TypeDef * TIM_BASE){ -// uint32_t now_us = getCurrentMicros(); -// uint32_t now_us = HAL_GetTick(); -// Provides a tick value in microseconds. - - //计算当前每个Loop的运行时间间隔 -// float Ts = (now_us - open_loop_timestamp) * 1e-3f; - float Ts=2.5E-3f; - - // 通过乘以时间间隔和目标速度来计算需要转动的机械角度，存储在 shaft_angle 变量中。 - //在此之前，还需要对轴角度进行归一化，以确保其值在 0 到 2π 之间。 - shaft_angle = _normalizeAngle(shaft_angle + target_velocity*Ts); - //以目标速度为 10 rad/s 为例，如果时间间隔是 1 秒，则在每个循环中需要增加 10 * 1 = 10 弧度的角度变化量，才能使电机转动到目标速度。 - //如果时间间隔是 0.1 秒，那么在每个循环中需要增加的角度变化量就是 10 * 0.1 = 1 弧度，才能实现相同的目标速度。 - //因此，电机轴的转动角度取决于目标速度和时间间隔的乘积。 - - // Uq is not related to voltage limit - - - setPhaseVoltage(Uq, 0, _electricalAngle(shaft_angle, pole_pairs),TIM_BASE); - -// open_loop_timestamp = now_us; //用于计算下一个时间间隔 - - return Uq; -} - - - - - -void setPwm(float Ua, float Ub, float Uc, TIM_TypeDef * TIM_BASE) { - -// // 限制上限 - Ua = _constrain(Ua, 0.0f, voltage_limit); - Ub = _constrain(Ub, 0.0f, voltage_limit); - Uc = _constrain(Uc, 0.0f, voltage_limit); - // 计算占空比 - // 限制占空比从0到1 - float dc_a = _constrain(Ua / voltage_power_supply, 0.0f , 1.0f ); - float dc_b = _constrain(Ub / voltage_power_supply, 0.0f , 1.0f ); - float dc_c = _constrain(Uc / voltage_power_supply, 0.0f , 1.0f ); - - //写入PWM到PWM 0 1 2 通道 - TIM_BASE->CCR1 = (uint32_t) roundf(dc_a*period); - TIM_BASE->CCR2 = (uint32_t) roundf(dc_b*period); - TIM_BASE->CCR3 = (uint32_t) roundf(dc_c*period); - -} - -void setPhaseVoltage(float Uq,float Ud, float angle_el, TIM_TypeDef * TIM_BASE) { - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - if (Uq <0 ){ - angle_el+=M_PI; - Uq=abs(Uq); - } - angle_el = _normalizeAngle (angle_el+M_PI/2); - int sector = floor(angle_el / M_PI/3) + 1; - // calculate the duty cycles - float T1 = _SQRT3 * sin(sector * _PI_3 - angle_el) * Uq / voltage_power_supply; - float T2 = _SQRT3 * sin(angle_el - (sector - 1.0) * _PI_3) * Uq / voltage_power_supply; - float T0 = 1 - T1 - T2; - - - float Ta, Tb, Tc; - switch (sector) - { - case 1: - Ta = T1 + T2 + T0 / 2; - Tb = T2 + T0 / 2; - Tc = T0 / 2; - break; - case 2: - Ta = T1 + T0 / 2; - Tb = T1 + T2 + T0 / 2; - Tc = T0 / 2; - break; - case 3: - Ta = T0 / 2; - Tb = T1 + T2 + T0 / 2; - Tc = T2 + T0 / 2; - break; - case 4: - Ta = T0 / 2; - Tb = T1 + T0 / 2; - Tc = T1 + T2 + T0 / 2; - break; - case 5: - Ta = T2 + T0 / 2; - Tb = T0 / 2; - Tc = T1 + T2 + T0 / 2; - break; - case 6: - Ta = T1 + T2 + T0 / 2; - Tb = T0 / 2; - Tc = T1 + T0 / 2; - break; - default: - Ta = 0; - Tb = 0; - Tc = 0; - } - // 克拉克逆变换 - float Ua = Ta * voltage_power_supply; - float Ub = Tb * voltage_power_supply; - float Uc = Tc * voltage_power_supply; - setPwm(Ua,Ub,Uc,TIM_BASE); -} - diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/15/f02e5aa9b2a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/15/f02e5aa9b2a3001e1b4082bf61e237c7 deleted file mode 100644 index a8cbe02..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/15/f02e5aa9b2a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,29 +0,0 @@ -/* - * current_sense.h - * - * Created on: Dec 24, 2023 - * Author: haotian - */ - -#ifndef INC_CURRENT_SENSE_H_ -#define INC_CURRENT_SENSE_H_ - -#include "stm32f1xx_hal.h" -#include - - - -uint16_t offset[3]; -const int adc_range=4095; -const double Vref=3.3; // Voltage -const double Rsense=0.33; // Ohm -const double KV= 2375.0/12.0; //KV number (RPM is 2149 - 2375, when operating voltage is 12V) -double current_phase[3]; - -void ADC_Select_CH0(ADC_HandleTypeDef); -void ADC_Select_CH1(ADC_HandleTypeDef); -void ADC_Select_CH2(ADC_HandleTypeDef); -void read_ADC_voltage(ADC_HandleTypeDef ,uint16_t *); -void calibrateOffsets(ADC_HandleTypeDef,uint16_t *); - -#endif /* INC_CURRENT_SENSE_H_ */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/16/d08ca96b7ca3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/16/d08ca96b7ca3001e1b4082bf61e237c7 deleted file mode 100644 index 089df16..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/16/d08ca96b7ca3001e1b4082bf61e237c7 +++ /dev/null @@ -1,27 +0,0 @@ -/* - * current_sense.c - * - * Created on: Dec 24, 2023 - * Author: haotian - */ - - -void read_ADC_voltage(ADC_HandleTypeDef hadc1,uint16_t &ADC_VAL){ - ADC_Select_CH0(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[0] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH1(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[1] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH2(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[2] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); -} diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/19/00a07c901aa2001e1ab2edb23f9b017a b/.metadata/.plugins/org.eclipse.core.resources/.history/19/00a07c901aa2001e1ab2edb23f9b017a deleted file mode 100644 index e69de29..0000000 diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/19/405dc1eb85a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/19/405dc1eb85a3001e1b4082bf61e237c7 deleted file mode 100644 index 61c2573..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/19/405dc1eb85a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,69 +0,0 @@ -/* - * current_sense.c - * - * Created on: Dec 24, 2023 - * Author: haotian - */ -#include "current_sense.h" - - -void ADC_Select_CH0 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH1 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH2 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} -void read_ADC_voltage(ADC_HandleTypeDef hadc1,uint16_t *ADC_VAL){ - ADC_Select_CH0(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[0] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH1(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[1] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH2(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[2] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); -} diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/1e/a0528b19b7a2001e164b9bfe65a5b807 b/.metadata/.plugins/org.eclipse.core.resources/.history/1e/a0528b19b7a2001e164b9bfe65a5b807 deleted file mode 100644 index d3ac86c..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/1e/a0528b19b7a2001e164b9bfe65a5b807 +++ /dev/null @@ -1,13 +0,0 @@ -/* - * current_sense.h - * - * Created on: Dec 24, 2023 - * Author: haotian - */ - -#ifndef INC_CURRENT_SENSE_H_ -#define INC_CURRENT_SENSE_H_ - - - -#endif /* INC_CURRENT_SENSE_H_ */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/1e/b0f3c81fb7a3001e1e298100ab8cd7a4 b/.metadata/.plugins/org.eclipse.core.resources/.history/1e/b0f3c81fb7a3001e1e298100ab8cd7a4 deleted file mode 100644 index 4c2180c..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/1e/b0f3c81fb7a3001e1e298100ab8cd7a4 +++ /dev/null @@ -1,104 +0,0 @@ -/* - * mortor_control.c - * - * Created on: Jun 17, 2023 - * Author: hht - */ - -#include "motor_control.h" - -extern float zero_electric_angle; -extern int pole_pairs; -extern float shaft_angle; -extern int dir; -extern float voltage_limit; -extern float voltage_power_supply; -extern int period; - -float _normalizeAngle(float angle){ - float a = fmod(angle, 2*M_PI); //取余运算可以用于归一化，列出特殊值例子算便知 - return a >= 0 ? a : (a + 2*M_PI); - //三目运算符。格式：condition ? expr1 : expr2 - //其中，condition 是要求值的条件表达式，如果条件成立，则返回 expr1 的值，否则返回 expr2 的值。 - //可以将三目运算符视为 if-else 语句的简化形式。 - //fmod 函数的余数的符号与除数相同。因此，当 angle 的值为负数时，余数的符号将与 _2M_PI 的符号相反。 - //也就是说，如果 angle 的值小于 0 且 _2M_PI 的值为正数，则 fmod(angle, _2M_PI) 的余数将为负数。 - //例如，当 angle 的值为 -M_PI/2，_2M_PI 的值为 2M_PI 时，fmod(angle, _2M_PI) 将返回一个负数。 - //在这种情况下，可以通过将负数的余数加上 _2M_PI 来将角度归一化到 [0, 2M_PI] 的范围内，以确保角度的值始终为正数。 -} - -float _electricalAngle(float shaft_angle, int pole_pairs) { - return _normalizeAngle(((float)(dir * pole_pairs)*shaft_angle)-zero_electric_angle); -} - - - -//开环速度函数 -float velocityOpenloop(float target_velocity, float Uq, TIM_TypeDef * TIM_BASE){ -// uint32_t now_us = getCurrentMicros(); -// uint32_t now_us = HAL_GetTick(); -// Provides a tick value in microseconds. - - //计算当前每个Loop的运行时间间隔 -// float Ts = (now_us - open_loop_timestamp) * 1e-3f; - float Ts=2.5E-3f; - - // 通过乘以时间间隔和目标速度来计算需要转动的机械角度，存储在 shaft_angle 变量中。 - //在此之前，还需要对轴角度进行归一化，以确保其值在 0 到 2π 之间。 - shaft_angle = _normalizeAngle(shaft_angle + target_velocity*Ts); - //以目标速度为 10 rad/s 为例，如果时间间隔是 1 秒，则在每个循环中需要增加 10 * 1 = 10 弧度的角度变化量，才能使电机转动到目标速度。 - //如果时间间隔是 0.1 秒，那么在每个循环中需要增加的角度变化量就是 10 * 0.1 = 1 弧度，才能实现相同的目标速度。 - //因此，电机轴的转动角度取决于目标速度和时间间隔的乘积。 - - // Uq is not related to voltage limit - - - setPhaseVoltage(Uq, 0, _electricalAngle(shaft_angle, pole_pairs),TIM_BASE); - -// open_loop_timestamp = now_us; //用于计算下一个时间间隔 - - return Uq; -} - - - - - -void setPwm(float Ua, float Ub, float Uc, TIM_TypeDef * TIM_BASE) { - -// // 限制上限 - Ua = _constrain(Ua, 0.0f, voltage_limit); - Ub = _constrain(Ub, 0.0f, voltage_limit); - Uc = _constrain(Uc, 0.0f, voltage_limit); - // 计算占空比 - // 限制占空比从0到1 - float dc_a = _constrain(Ua / voltage_power_supply, 0.0f , 1.0f ); - float dc_b = _constrain(Ub / voltage_power_supply, 0.0f , 1.0f ); - float dc_c = _constrain(Uc / voltage_power_supply, 0.0f , 1.0f ); - - //写入PWM到PWM 0 1 2 通道 - TIM_BASE->CCR1 = (uint32_t) roundf(dc_a*period); - TIM_BASE->CCR2 = (uint32_t) roundf(dc_b*period); - TIM_BASE->CCR3 = (uint32_t) roundf(dc_c*period); - -} - -void setPhaseVoltage(float Uq,float Ud, float angle_el, TIM_TypeDef * TIM_BASE) { - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - if (Uq <0 ){ - angle_el+=M_PI; - Uq=abs(Uq); - } - angle_el = _normalizeAngle (angle_el+M_PI/2); - int sector = floor(angle_el / M_PI/3) + 1; - // 帕克逆变换 - float Ualpha = -Uq*sin(angle_el); - float Ubeta = Uq*cos(angle_el); - - // 克拉克逆变换 - float Ua = Ualpha + voltage_power_supply/2; - float Ub = (sqrt(3)*Ubeta-Ualpha)/2 + voltage_power_supply/2; - float Uc = (-Ualpha-sqrt(3)*Ubeta)/2 + voltage_power_supply/2; - setPwm(Ua,Ub,Uc,TIM_BASE); -} - diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/1f/0086984ab2a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/1f/0086984ab2a3001e1b4082bf61e237c7 deleted file mode 100644 index a66f81f..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/1f/0086984ab2a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,85 +0,0 @@ -/* - * current_sense.c - * - * Created on: Dec 24, 2023 - * Author: haotian - */ -#include "current_sense.h" -#include "main.h" - - - -void ADC_Select_CH0 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH1 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH2 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} -void read_ADC_voltage(ADC_HandleTypeDef hadc1,uint16_t *ADC_VAL){ - ADC_Select_CH0(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[0] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH1(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[1] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH2(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[2] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); -} -void calibrateOffsets(ADC_HandleTypeDef hadc1,uint16_t *offset){ - const int calibration_rounds = 1000; - - // 查找0电流时候的电压 - - uint16_t cal_current[3]; - for (int i = 0; i < calibration_rounds; i++) { - read_ADC_voltage(hadc1,cal_current); - for (int j=0;j<3;j++){ - offset[j]=(offset[j]*i+cal_current[j])/(i+1); - } - HAL_Delay(1); - } -} diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/1f/c0a3b7471ea2001e1ab2edb23f9b017a b/.metadata/.plugins/org.eclipse.core.resources/.history/1f/c0a3b7471ea2001e1ab2edb23f9b017a deleted file mode 100644 index ebd8527..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/1f/c0a3b7471ea2001e1ab2edb23f9b017a +++ /dev/null @@ -1,77 +0,0 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * @file : main.h - * @brief : Header for main.c file. - * This file contains the common defines of the application. - ****************************************************************************** - * @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 __MAIN_H -#define __MAIN_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f1xx_hal.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ - -/* USER CODE END Includes */ - -/* Exported types ------------------------------------------------------------*/ -/* USER CODE BEGIN ET */ - -/* USER CODE END ET */ - -/* Exported constants --------------------------------------------------------*/ -/* USER CODE BEGIN EC */ - -/* USER CODE END EC */ - -/* Exported macro ------------------------------------------------------------*/ -/* USER CODE BEGIN EM */ - -/* USER CODE END EM */ - -void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim); - -/* Exported functions prototypes ---------------------------------------------*/ -void Error_Handler(void); - -/* USER CODE BEGIN EFP */ - -/* USER CODE END EFP */ - -/* Private defines -----------------------------------------------------------*/ -#define LED_Pin GPIO_PIN_13 -#define LED_GPIO_Port GPIOC -#define SPI1_CSn_Pin GPIO_PIN_0 -#define SPI1_CSn_GPIO_Port GPIOB -#define Motor_Enable_Pin GPIO_PIN_15 -#define Motor_Enable_GPIO_Port GPIOB - -/* USER CODE BEGIN Private defines */ - -/* USER CODE END Private defines */ - -#ifdef __cplusplus -} -#endif - -#endif /* __MAIN_H */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/21/a0b33d4e1aa2001e1ab2edb23f9b017a b/.metadata/.plugins/org.eclipse.core.resources/.history/21/a0b33d4e1aa2001e1ab2edb23f9b017a deleted file mode 100644 index 0c8f72d..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/21/a0b33d4e1aa2001e1ab2edb23f9b017a +++ /dev/null @@ -1,8 +0,0 @@ -/* - * as5048a.c - * - * Created on: Dec 23, 2023 - * Author: haotian - */ - - diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/23/20aaaaa17da3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/23/20aaaaa17da3001e1b4082bf61e237c7 deleted file mode 100644 index d3c9e9e..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/23/20aaaaa17da3001e1b4082bf61e237c7 +++ /dev/null @@ -1,546 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; -ADC_HandleTypeDef hadc1; -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USB; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float contorller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - setPhaseVoltage(_constrain(contorller_out,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - read_ADC_voltage(hadc1,ADC_VAL); - - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/24/b0e811d78fa3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/24/b0e811d78fa3001e1b4082bf61e237c7 deleted file mode 100644 index b491831..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/24/b0e811d78fa3001e1b4082bf61e237c7 +++ /dev/null @@ -1,96 +0,0 @@ -/* - * mortor_control.c - * - * Created on: Jun 17, 2023 - * Author: hht - */ - -#include "motor_control.h" -extern float zero_electric_angle; -extern int pole_pairs; -extern float shaft_angle; -extern int dir; -extern float voltage_limit; -extern float voltage_power_supply; -extern int period; -float _normalizeAngle(float angle){ - float a = fmod(angle, 2*M_PI); //取余运算可以用于归一化，列出特殊值例子算便知 - return a >= 0 ? a : (a + 2*M_PI); - //三目运算符。格式：condition ? expr1 : expr2 - //其中，condition 是要求值的条件表达式，如果条件成立，则返回 expr1 的值，否则返回 expr2 的值。 - //可以将三目运算符视为 if-else 语句的简化形式。 - //fmod 函数的余数的符号与除数相同。因此，当 angle 的值为负数时，余数的符号将与 _2M_PI 的符号相反。 - //也就是说，如果 angle 的值小于 0 且 _2M_PI 的值为正数，则 fmod(angle, _2M_PI) 的余数将为负数。 - //例如，当 angle 的值为 -M_PI/2，_2M_PI 的值为 2M_PI 时，fmod(angle, _2M_PI) 将返回一个负数。 - //在这种情况下，可以通过将负数的余数加上 _2M_PI 来将角度归一化到 [0, 2M_PI] 的范围内，以确保角度的值始终为正数。 -} - -float _electricalAngle(float shaft_angle, int pole_pairs) { - return _normalizeAngle(((float)(dir * pole_pairs)*shaft_angle)-zero_electric_angle); -} - - - -//开环速度函数 -float velocityOpenloop(float target_velocity, float Uq, TIM_TypeDef * TIM_BASE){ -// uint32_t now_us = getCurrentMicros(); -// uint32_t now_us = HAL_GetTick(); -// Provides a tick value in microseconds. - - //计算当前每个Loop的运行时间间隔 -// float Ts = (now_us - open_loop_timestamp) * 1e-3f; - float Ts=5E-3f; - - // 通过乘以时间间隔和目标速度来计算需要转动的机械角度，存储在 shaft_angle 变量中。 - //在此之前，还需要对轴角度进行归一化，以确保其值在 0 到 2π 之间。 - shaft_angle = _normalizeAngle(shaft_angle + target_velocity*Ts); - //以目标速度为 10 rad/s 为例，如果时间间隔是 1 秒，则在每个循环中需要增加 10 * 1 = 10 弧度的角度变化量，才能使电机转动到目标速度。 - //如果时间间隔是 0.1 秒，那么在每个循环中需要增加的角度变化量就是 10 * 0.1 = 1 弧度，才能实现相同的目标速度。 - //因此，电机轴的转动角度取决于目标速度和时间间隔的乘积。 - - // Uq is not related to voltage limit - - - setPhaseVoltage(Uq, 0, _electricalAngle(shaft_angle, pole_pairs),TIM_BASE); - -// open_loop_timestamp = now_us; //用于计算下一个时间间隔 - - return Uq; -} - - - - - -void setPwm(float Ua, float Ub, float Uc, TIM_TypeDef * TIM_BASE) { - -// // 限制上限 - Ua = _constrain(Ua, 0.0f, voltage_limit); - Ub = _constrain(Ub, 0.0f, voltage_limit); - Uc = _constrain(Uc, 0.0f, voltage_limit); - // 计算占空比 - // 限制占空比从0到1 - float dc_a = _constrain(Ua / voltage_power_supply, 0.0f , 1.0f ); - float dc_b = _constrain(Ub / voltage_power_supply, 0.0f , 1.0f ); - float dc_c = _constrain(Uc / voltage_power_supply, 0.0f , 1.0f ); - - //写入PWM到PWM 0 1 2 通道 - TIM_BASE->CCR1 = (uint32_t) roundf(dc_a*period); - TIM_BASE->CCR2 = (uint32_t) roundf(dc_b*period); - TIM_BASE->CCR3 = (uint32_t) roundf(dc_c*period); - -} - -void setPhaseVoltage(float Uq,float Ud, float angle_el, TIM_TypeDef * TIM_BASE) { - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - // 帕克逆变换 - float Ualpha = -Uq*sin(angle_el); - float Ubeta = Uq*cos(angle_el); - - // 克拉克逆变换 - float Ua = Ualpha + voltage_power_supply/2; - float Ub = (sqrt(3)*Ubeta-Ualpha)/2 + voltage_power_supply/2; - float Uc = (-Ualpha-sqrt(3)*Ubeta)/2 + voltage_power_supply/2; - setPwm(Ua,Ub,Uc,TIM_BASE); -} - diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/2a/e05b414a1ea2001e1ab2edb23f9b017a b/.metadata/.plugins/org.eclipse.core.resources/.history/2a/e05b414a1ea2001e1ab2edb23f9b017a deleted file mode 100644 index 5a184bc..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/2a/e05b414a1ea2001e1ab2edb23f9b017a +++ /dev/null @@ -1,13 +0,0 @@ -/* - * pid.h - * - * Created on: Dec 23, 2023 - * Author: haotian - */ - -#ifndef INC_PID_H_ -#define INC_PID_H_ - - - -#endif /* INC_PID_H_ */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/2d/c06d33b67ca3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/2d/c06d33b67ca3001e1b4082bf61e237c7 deleted file mode 100644 index e246572..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/2d/c06d33b67ca3001e1b4082bf61e237c7 +++ /dev/null @@ -1,546 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; -ADC_HandleTypeDef hadc1; -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USB; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float contorller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - setPhaseVoltage(_constrain(contorller_out,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - read_ADC_voltage(adc1,ADC_VAL); - - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/30/a00907a57fa3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/30/a00907a57fa3001e1b4082bf61e237c7 deleted file mode 100644 index cc7f7e2..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/30/a00907a57fa3001e1b4082bf61e237c7 +++ /dev/null @@ -1,548 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; -ADC_HandleTypeDef hadc1; -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USB; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float contorller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - setPhaseVoltage(_constrain(contorller_out,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - read_ADC_voltage(hadc1,ADC_VAL); - for (int i=0;i<3;i++){ - current_phase[i] = float(ADC_VAL[i])/adc_range*Vref/Rsense; - } - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/30/a042680891a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/30/a042680891a3001e1b4082bf61e237c7 deleted file mode 100644 index a26c93d..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/30/a042680891a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,74 +0,0 @@ -/* - * current_sense.c - * - * Created on: Dec 24, 2023 - * Author: haotian - */ -#include "current_sense.h" -#include "main.h" - - - -void ADC_Select_CH0 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH1 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH2 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} -void read_ADC_voltage(ADC_HandleTypeDef hadc1,uint16_t *ADC_VAL){ - ADC_Select_CH0(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[0] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH1(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[1] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH2(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[2] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); -} -void calibrateOffsets(ADC_HandleTypeDef hadc1,uint16_t *ADC_VAL){ -} -} diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/32/d0e0a8dc8fa3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/32/d0e0a8dc8fa3001e1b4082bf61e237c7 deleted file mode 100644 index 5125424..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/32/d0e0a8dc8fa3001e1b4082bf61e237c7 +++ /dev/null @@ -1,104 +0,0 @@ -/* - * mortor_control.c - * - * Created on: Jun 17, 2023 - * Author: hht - */ - -#include "motor_control.h" - -extern float zero_electric_angle; -extern int pole_pairs; -extern float shaft_angle; -extern int dir; -extern float voltage_limit; -extern float voltage_power_supply; -extern int period; - -float _normalizeAngle(float angle){ - float a = fmod(angle, 2*M_PI); //取余运算可以用于归一化，列出特殊值例子算便知 - return a >= 0 ? a : (a + 2*M_PI); - //三目运算符。格式：condition ? expr1 : expr2 - //其中，condition 是要求值的条件表达式，如果条件成立，则返回 expr1 的值，否则返回 expr2 的值。 - //可以将三目运算符视为 if-else 语句的简化形式。 - //fmod 函数的余数的符号与除数相同。因此，当 angle 的值为负数时，余数的符号将与 _2M_PI 的符号相反。 - //也就是说，如果 angle 的值小于 0 且 _2M_PI 的值为正数，则 fmod(angle, _2M_PI) 的余数将为负数。 - //例如，当 angle 的值为 -M_PI/2，_2M_PI 的值为 2M_PI 时，fmod(angle, _2M_PI) 将返回一个负数。 - //在这种情况下，可以通过将负数的余数加上 _2M_PI 来将角度归一化到 [0, 2M_PI] 的范围内，以确保角度的值始终为正数。 -} - -float _electricalAngle(float shaft_angle, int pole_pairs) { - return _normalizeAngle(((float)(dir * pole_pairs)*shaft_angle)-zero_electric_angle); -} - - - -//开环速度函数 -float velocityOpenloop(float target_velocity, float Uq, TIM_TypeDef * TIM_BASE){ -// uint32_t now_us = getCurrentMicros(); -// uint32_t now_us = HAL_GetTick(); -// Provides a tick value in microseconds. - - //计算当前每个Loop的运行时间间隔 -// float Ts = (now_us - open_loop_timestamp) * 1e-3f; - float Ts=5E-3f; - - // 通过乘以时间间隔和目标速度来计算需要转动的机械角度，存储在 shaft_angle 变量中。 - //在此之前，还需要对轴角度进行归一化，以确保其值在 0 到 2π 之间。 - shaft_angle = _normalizeAngle(shaft_angle + target_velocity*Ts); - //以目标速度为 10 rad/s 为例，如果时间间隔是 1 秒，则在每个循环中需要增加 10 * 1 = 10 弧度的角度变化量，才能使电机转动到目标速度。 - //如果时间间隔是 0.1 秒，那么在每个循环中需要增加的角度变化量就是 10 * 0.1 = 1 弧度，才能实现相同的目标速度。 - //因此，电机轴的转动角度取决于目标速度和时间间隔的乘积。 - - // Uq is not related to voltage limit - - - setPhaseVoltage(Uq, 0, _electricalAngle(shaft_angle, pole_pairs),TIM_BASE); - -// open_loop_timestamp = now_us; //用于计算下一个时间间隔 - - return Uq; -} - - - - - -void setPwm(float Ua, float Ub, float Uc, TIM_TypeDef * TIM_BASE) { - -// // 限制上限 - Ua = _constrain(Ua, 0.0f, voltage_limit); - Ub = _constrain(Ub, 0.0f, voltage_limit); - Uc = _constrain(Uc, 0.0f, voltage_limit); - // 计算占空比 - // 限制占空比从0到1 - float dc_a = _constrain(Ua / voltage_power_supply, 0.0f , 1.0f ); - float dc_b = _constrain(Ub / voltage_power_supply, 0.0f , 1.0f ); - float dc_c = _constrain(Uc / voltage_power_supply, 0.0f , 1.0f ); - - //写入PWM到PWM 0 1 2 通道 - TIM_BASE->CCR1 = (uint32_t) roundf(dc_a*period); - TIM_BASE->CCR2 = (uint32_t) roundf(dc_b*period); - TIM_BASE->CCR3 = (uint32_t) roundf(dc_c*period); - -} - -void setPhaseVoltage(float Uq,float Ud, float angle_el, TIM_TypeDef * TIM_BASE) { - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - // 帕克逆变换 - float Ualpha = -Uq*sin(angle_el); - float Ubeta = Uq*cos(angle_el); - - // 克拉克逆变换 - float Ua = Ualpha + voltage_power_supply/2; - float Ub = (sqrt(3)*Ubeta-Ualpha)/2 + voltage_power_supply/2; - float Uc = (-Ualpha-sqrt(3)*Ubeta)/2 + voltage_power_supply/2; - setPwm(Ua,Ub,Uc,TIM_BASE); -} - -float cal_Iq(float* current_phase, float angle_el){ - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - float I_alpha=current_phase[0]; - float I_beta=_1_SQRT3*(2*current_phase[1]+current_phase[0]); - -} diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/33/203a2945b2a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/33/203a2945b2a3001e1b4082bf61e237c7 deleted file mode 100644 index b8f03ad..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/33/203a2945b2a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,106 +0,0 @@ -/* - * mortor_control.c - * - * Created on: Jun 17, 2023 - * Author: hht - */ - -#include "motor_control.h" - -extern float zero_electric_angle; -extern int pole_pairs; -extern float shaft_angle; -extern int dir; -extern float voltage_limit; -extern float voltage_power_supply; -extern int period; - -float _normalizeAngle(float angle){ - float a = fmod(angle, 2*M_PI); //取余运算可以用于归一化，列出特殊值例子算便知 - return a >= 0 ? a : (a + 2*M_PI); - //三目运算符。格式：condition ? expr1 : expr2 - //其中，condition 是要求值的条件表达式，如果条件成立，则返回 expr1 的值，否则返回 expr2 的值。 - //可以将三目运算符视为 if-else 语句的简化形式。 - //fmod 函数的余数的符号与除数相同。因此，当 angle 的值为负数时，余数的符号将与 _2M_PI 的符号相反。 - //也就是说，如果 angle 的值小于 0 且 _2M_PI 的值为正数，则 fmod(angle, _2M_PI) 的余数将为负数。 - //例如，当 angle 的值为 -M_PI/2，_2M_PI 的值为 2M_PI 时，fmod(angle, _2M_PI) 将返回一个负数。 - //在这种情况下，可以通过将负数的余数加上 _2M_PI 来将角度归一化到 [0, 2M_PI] 的范围内，以确保角度的值始终为正数。 -} - -float _electricalAngle(float shaft_angle, int pole_pairs) { - return _normalizeAngle(((float)(dir * pole_pairs)*shaft_angle)-zero_electric_angle); -} - - - -//开环速度函数 -float velocityOpenloop(float target_velocity, float Uq, TIM_TypeDef * TIM_BASE){ -// uint32_t now_us = getCurrentMicros(); -// uint32_t now_us = HAL_GetTick(); -// Provides a tick value in microseconds. - - //计算当前每个Loop的运行时间间隔 -// float Ts = (now_us - open_loop_timestamp) * 1e-3f; - float Ts=5E-3f; - - // 通过乘以时间间隔和目标速度来计算需要转动的机械角度，存储在 shaft_angle 变量中。 - //在此之前，还需要对轴角度进行归一化，以确保其值在 0 到 2π 之间。 - shaft_angle = _normalizeAngle(shaft_angle + target_velocity*Ts); - //以目标速度为 10 rad/s 为例，如果时间间隔是 1 秒，则在每个循环中需要增加 10 * 1 = 10 弧度的角度变化量，才能使电机转动到目标速度。 - //如果时间间隔是 0.1 秒，那么在每个循环中需要增加的角度变化量就是 10 * 0.1 = 1 弧度，才能实现相同的目标速度。 - //因此，电机轴的转动角度取决于目标速度和时间间隔的乘积。 - - // Uq is not related to voltage limit - - - setPhaseVoltage(Uq, 0, _electricalAngle(shaft_angle, pole_pairs),TIM_BASE); - -// open_loop_timestamp = now_us; //用于计算下一个时间间隔 - - return Uq; -} - - - - - -void setPwm(float Ua, float Ub, float Uc, TIM_TypeDef * TIM_BASE) { - -// // 限制上限 - Ua = _constrain(Ua, 0.0f, voltage_limit); - Ub = _constrain(Ub, 0.0f, voltage_limit); - Uc = _constrain(Uc, 0.0f, voltage_limit); - // 计算占空比 - // 限制占空比从0到1 - float dc_a = _constrain(Ua / voltage_power_supply, 0.0f , 1.0f ); - float dc_b = _constrain(Ub / voltage_power_supply, 0.0f , 1.0f ); - float dc_c = _constrain(Uc / voltage_power_supply, 0.0f , 1.0f ); - - //写入PWM到PWM 0 1 2 通道 - TIM_BASE->CCR1 = (uint32_t) roundf(dc_a*period); - TIM_BASE->CCR2 = (uint32_t) roundf(dc_b*period); - TIM_BASE->CCR3 = (uint32_t) roundf(dc_c*period); - -} - -void setPhaseVoltage(float Uq,float Ud, float angle_el, TIM_TypeDef * TIM_BASE) { - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - // 帕克逆变换 - float Ualpha = -Uq*sin(angle_el); - float Ubeta = Uq*cos(angle_el); - - // 克拉克逆变换 - float Ua = Ualpha + voltage_power_supply/2; - float Ub = (sqrt(3)*Ubeta-Ualpha)/2 + voltage_power_supply/2; - float Uc = (-Ualpha-sqrt(3)*Ubeta)/2 + voltage_power_supply/2; - setPwm(Ua,Ub,Uc,TIM_BASE); -} - -float cal_Iq(float* current_phase, float angle_el){ - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - float I_alpha=current_phase[0]; - float I_beta=_1_SQRT3*(2*current_phase[1]+current_phase[0]); - float Iq=-sin(angle_el)*I_alpha+cos(angle_el)*I_beta; -// float Id=cos(angle_el)*I_alpha+sin(angle_el)*I_beta; - return Iq; -} diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/36/80ff39b5b1a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/36/80ff39b5b1a3001e1b4082bf61e237c7 deleted file mode 100644 index d0f6579..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/36/80ff39b5b1a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,559 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -ADC_HandleTypeDef hadc1; - -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; - -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -static void MX_ADC1_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -struct LowPassFilter filter_current= {.Tf=0.05,.y_prev=0.0f}; //Tf=5ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=2.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=1.0,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - calibrateOffsets(hadc1,&offset); - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB; - PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float velo_controller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - read_ADC_voltage(hadc1,ADC_VAL); - for (int i=0;i<3;i++){ - current_phase[i] =(float) ( ADC_VAL[i]-offset[i])/(float) adc_range*Vref/Rsense; - } - - float Iq=cal_Iq(current_phase, _electricalAngle(angle_now, pole_pairs)); - float filtered_Iq=LowPassFilter_operator(angular_vel,&filter_current); - - - setPhaseVoltage(_constrain(velo_controller_out,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/38/90a1de57e6a2001e164b9bfe65a5b807 b/.metadata/.plugins/org.eclipse.core.resources/.history/38/90a1de57e6a2001e164b9bfe65a5b807 deleted file mode 100644 index 04e9688..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/38/90a1de57e6a2001e164b9bfe65a5b807 +++ /dev/null @@ -1,14 +0,0 @@ -/* - * current_sense.h - * - * Created on: Dec 24, 2023 - * Author: haotian - */ - -#ifndef INC_CURRENT_SENSE_H_ -#define INC_CURRENT_SENSE_H_ -float offset_ia,offset_ib,offset_ib; -const int adc_range=4095; -const double Vref=3.3; - -#endif /* INC_CURRENT_SENSE_H_ */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/3b/603e70fdafa3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/3b/603e70fdafa3001e1b4082bf61e237c7 deleted file mode 100644 index 864b922..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/3b/603e70fdafa3001e1b4082bf61e237c7 +++ /dev/null @@ -1,553 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -ADC_HandleTypeDef hadc1; - -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; - -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -static void MX_ADC1_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - calibrateOffsets(hadc1,&offset); - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB; - PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float velo_controller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - - setPhaseVoltage(_constrain(velo_controller_out,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - read_ADC_voltage(hadc1,ADC_VAL); - for (int i=0;i<3;i++){ - current_phase[i] =(float) ( ADC_VAL[i]-offset[i])/(float) adc_range*Vref/Rsense; - } - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/3c/709a6b2891a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/3c/709a6b2891a3001e1b4082bf61e237c7 deleted file mode 100644 index c0793c0..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/3c/709a6b2891a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,74 +0,0 @@ -/* - * current_sense.c - * - * Created on: Dec 24, 2023 - * Author: haotian - */ -#include "current_sense.h" -#include "main.h" - - - -void ADC_Select_CH0 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH1 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH2 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} -void read_ADC_voltage(ADC_HandleTypeDef hadc1,uint16_t *ADC_VAL){ - ADC_Select_CH0(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[0] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH1(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[1] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH2(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[2] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); -} -void calibrateOffsets(ADC_HandleTypeDef hadc1,uint16_t *offset){ - -} diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/3d/70310357b1a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/3d/70310357b1a3001e1b4082bf61e237c7 deleted file mode 100644 index 74c13f0..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/3d/70310357b1a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,559 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -ADC_HandleTypeDef hadc1; - -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; - -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -static void MX_ADC1_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -struct LowPassFilter filter_current= {.Tf=0.05,.y_prev=0.0f}; //Tf=5ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=2.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=1.0,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - calibrateOffsets(hadc1,&offset); - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB; - PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float velo_controller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - read_ADC_voltage(hadc1,ADC_VAL); - for (int i=0;i<3;i++){ - current_phase[i] =(float) ( ADC_VAL[i]-offset[i])/(float) adc_range*Vref/Rsense; - } - - float Iq=cal_Iq(current_phase, _electricalAngle(angle_now, pole_pairs)); - float filtered_Iq=LowPassFilter_operator(angular_vel,&filter_current); - - - setPhaseVoltage(_constrain(velo_controller_out,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/3d/d0b0ab3f1aa2001e1ab2edb23f9b017a b/.metadata/.plugins/org.eclipse.core.resources/.history/3d/d0b0ab3f1aa2001e1ab2edb23f9b017a deleted file mode 100644 index b87e2b8..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/3d/d0b0ab3f1aa2001e1ab2edb23f9b017a +++ /dev/null @@ -1,8 +0,0 @@ -/* - * lowpass_filter.c - * - * Created on: Dec 23, 2023 - * Author: haotian - */ - - diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/3e/301017f87ba3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/3e/301017f87ba3001e1b4082bf61e237c7 deleted file mode 100644 index 42e9593..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/3e/301017f87ba3001e1b4082bf61e237c7 +++ /dev/null @@ -1,8 +0,0 @@ -/* - * current_sense.c - * - * Created on: Dec 24, 2023 - * Author: haotian - */ - - diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/3f/4041eacab2a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/3f/4041eacab2a3001e1b4082bf61e237c7 deleted file mode 100644 index 17e86fa..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/3f/4041eacab2a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,571 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -ADC_HandleTypeDef hadc1; - -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; - -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -static void MX_ADC1_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -uint16_t current_offset[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -struct LowPassFilter filter_current= {.Tf=0.05,.y_prev=0.0f}; //Tf=5ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=2.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=1.0,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -float cal_Iq(double* current_phase, float angle_el){ - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - float I_alpha=current_phase[0]; - float I_beta=_1_SQRT3*(2*current_phase[1]+current_phase[0]); - float Iq=-sin(angle_el)*I_alpha+cos(angle_el)*I_beta; -// float Id=cos(angle_el)*I_alpha+sin(angle_el)*I_beta; - return Iq; -} - -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - calibrateOffsets(hadc1,¤t_offset); - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB; - PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float velo_controller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - read_ADC_voltage(hadc1,ADC_VAL); - for (int i=0;i<3;i++){ - current_phase[i] =(float) ( ADC_VAL[i]-current_offset[i])/(float) adc_range*Vref/Rsense; - } - - float Iq=cal_Iq(current_phase, _electricalAngle(angle_now, pole_pairs)); - float filtered_Iq=LowPassFilter_operator(angular_vel,&filter_current); - - float current_controller_output=PID_operator(velo_controller_out-filtered_Iq,&pid_controller_current); - - setPhaseVoltage(_constrain(current_controller_output,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/4/90b1dc69b7a2001e164b9bfe65a5b807 b/.metadata/.plugins/org.eclipse.core.resources/.history/4/90b1dc69b7a2001e164b9bfe65a5b807 deleted file mode 100644 index 8818b61..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/4/90b1dc69b7a2001e164b9bfe65a5b807 +++ /dev/null @@ -1,14 +0,0 @@ -/* - * current_sense.h - * - * Created on: Dec 24, 2023 - * Author: haotian - */ - -#ifndef INC_CURRENT_SENSE_H_ -#define INC_CURRENT_SENSE_H_ -float offset_ia,offset_ib,offset_ib; - - - -#endif /* INC_CURRENT_SENSE_H_ */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/41/102c80c914a2001e1ab2edb23f9b017a b/.metadata/.plugins/org.eclipse.core.resources/.history/41/102c80c914a2001e1ab2edb23f9b017a deleted file mode 100644 index 8058dd4..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/41/102c80c914a2001e1ab2edb23f9b017a +++ /dev/null @@ -1,2 +0,0 @@ -DC22A860405A8BF2F2C095E5B6529F12=815F5664497909C3119F341D1E08B35D -eclipse.preferences.version=1 diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/44/b072edf77ca3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/44/b072edf77ca3001e1b4082bf61e237c7 deleted file mode 100644 index 18bb68d..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/44/b072edf77ca3001e1b4082bf61e237c7 +++ /dev/null @@ -1,22 +0,0 @@ -/* - * current_sense.h - * - * Created on: Dec 24, 2023 - * Author: haotian - */ - -#ifndef INC_CURRENT_SENSE_H_ -#define INC_CURRENT_SENSE_H_ - -#include "stm32f1xx_hal.h" -#include - - - -float offset_ia,offset_ib,offset_ib; -const int adc_range=4095; -const double Vref=3.3; // Voltage -const double Rsense=0.33; // Ohm -const double KV= 2000; //KV number -double ia,ib,ic; -#endif /* INC_CURRENT_SENSE_H_ */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/44/c02b7ef0b6a3001e1e298100ab8cd7a4 b/.metadata/.plugins/org.eclipse.core.resources/.history/44/c02b7ef0b6a3001e1e298100ab8cd7a4 deleted file mode 100644 index 598cae9..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/44/c02b7ef0b6a3001e1e298100ab8cd7a4 +++ /dev/null @@ -1,103 +0,0 @@ -/* - * mortor_control.c - * - * Created on: Jun 17, 2023 - * Author: hht - */ - -#include "motor_control.h" - -extern float zero_electric_angle; -extern int pole_pairs; -extern float shaft_angle; -extern int dir; -extern float voltage_limit; -extern float voltage_power_supply; -extern int period; - -float _normalizeAngle(float angle){ - float a = fmod(angle, 2*M_PI); //取余运算可以用于归一化，列出特殊值例子算便知 - return a >= 0 ? a : (a + 2*M_PI); - //三目运算符。格式：condition ? expr1 : expr2 - //其中，condition 是要求值的条件表达式，如果条件成立，则返回 expr1 的值，否则返回 expr2 的值。 - //可以将三目运算符视为 if-else 语句的简化形式。 - //fmod 函数的余数的符号与除数相同。因此，当 angle 的值为负数时，余数的符号将与 _2M_PI 的符号相反。 - //也就是说，如果 angle 的值小于 0 且 _2M_PI 的值为正数，则 fmod(angle, _2M_PI) 的余数将为负数。 - //例如，当 angle 的值为 -M_PI/2，_2M_PI 的值为 2M_PI 时，fmod(angle, _2M_PI) 将返回一个负数。 - //在这种情况下，可以通过将负数的余数加上 _2M_PI 来将角度归一化到 [0, 2M_PI] 的范围内，以确保角度的值始终为正数。 -} - -float _electricalAngle(float shaft_angle, int pole_pairs) { - return _normalizeAngle(((float)(dir * pole_pairs)*shaft_angle)-zero_electric_angle); -} - - - -//开环速度函数 -float velocityOpenloop(float target_velocity, float Uq, TIM_TypeDef * TIM_BASE){ -// uint32_t now_us = getCurrentMicros(); -// uint32_t now_us = HAL_GetTick(); -// Provides a tick value in microseconds. - - //计算当前每个Loop的运行时间间隔 -// float Ts = (now_us - open_loop_timestamp) * 1e-3f; - float Ts=2.5E-3f; - - // 通过乘以时间间隔和目标速度来计算需要转动的机械角度，存储在 shaft_angle 变量中。 - //在此之前，还需要对轴角度进行归一化，以确保其值在 0 到 2π 之间。 - shaft_angle = _normalizeAngle(shaft_angle + target_velocity*Ts); - //以目标速度为 10 rad/s 为例，如果时间间隔是 1 秒，则在每个循环中需要增加 10 * 1 = 10 弧度的角度变化量，才能使电机转动到目标速度。 - //如果时间间隔是 0.1 秒，那么在每个循环中需要增加的角度变化量就是 10 * 0.1 = 1 弧度，才能实现相同的目标速度。 - //因此，电机轴的转动角度取决于目标速度和时间间隔的乘积。 - - // Uq is not related to voltage limit - - - setPhaseVoltage(Uq, 0, _electricalAngle(shaft_angle, pole_pairs),TIM_BASE); - -// open_loop_timestamp = now_us; //用于计算下一个时间间隔 - - return Uq; -} - - - - - -void setPwm(float Ua, float Ub, float Uc, TIM_TypeDef * TIM_BASE) { - -// // 限制上限 - Ua = _constrain(Ua, 0.0f, voltage_limit); - Ub = _constrain(Ub, 0.0f, voltage_limit); - Uc = _constrain(Uc, 0.0f, voltage_limit); - // 计算占空比 - // 限制占空比从0到1 - float dc_a = _constrain(Ua / voltage_power_supply, 0.0f , 1.0f ); - float dc_b = _constrain(Ub / voltage_power_supply, 0.0f , 1.0f ); - float dc_c = _constrain(Uc / voltage_power_supply, 0.0f , 1.0f ); - - //写入PWM到PWM 0 1 2 通道 - TIM_BASE->CCR1 = (uint32_t) roundf(dc_a*period); - TIM_BASE->CCR2 = (uint32_t) roundf(dc_b*period); - TIM_BASE->CCR3 = (uint32_t) roundf(dc_c*period); - -} - -void setPhaseVoltage(float Uq,float Ud, float angle_el, TIM_TypeDef * TIM_BASE) { - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - if (Uq <0 ){ - angle_el+=M_PI; - Uq=abs(Uq); - } - angle_el = _normalizeAngle (angle_el+M_PI/3); - // 帕克逆变换 - float Ualpha = -Uq*sin(angle_el); - float Ubeta = Uq*cos(angle_el); - - // 克拉克逆变换 - float Ua = Ualpha + voltage_power_supply/2; - float Ub = (sqrt(3)*Ubeta-Ualpha)/2 + voltage_power_supply/2; - float Uc = (-Ualpha-sqrt(3)*Ubeta)/2 + voltage_power_supply/2; - setPwm(Ua,Ub,Uc,TIM_BASE); -} - diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/47/303335b17ca3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/47/303335b17ca3001e1b4082bf61e237c7 deleted file mode 100644 index 5b2d66d..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/47/303335b17ca3001e1b4082bf61e237c7 +++ /dev/null @@ -1,546 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; -ADC_HandleTypeDef hadc1; -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USB; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float contorller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - setPhaseVoltage(_constrain(contorller_out,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - read_ADC_voltage - - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/48/b0f203f0b6a3001e1e298100ab8cd7a4 b/.metadata/.plugins/org.eclipse.core.resources/.history/48/b0f203f0b6a3001e1e298100ab8cd7a4 deleted file mode 100644 index 77d6c4a..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/48/b0f203f0b6a3001e1e298100ab8cd7a4 +++ /dev/null @@ -1,102 +0,0 @@ -/* - * mortor_control.c - * - * Created on: Jun 17, 2023 - * Author: hht - */ - -#include "motor_control.h" - -extern float zero_electric_angle; -extern int pole_pairs; -extern float shaft_angle; -extern int dir; -extern float voltage_limit; -extern float voltage_power_supply; -extern int period; - -float _normalizeAngle(float angle){ - float a = fmod(angle, 2*M_PI); //取余运算可以用于归一化，列出特殊值例子算便知 - return a >= 0 ? a : (a + 2*M_PI); - //三目运算符。格式：condition ? expr1 : expr2 - //其中，condition 是要求值的条件表达式，如果条件成立，则返回 expr1 的值，否则返回 expr2 的值。 - //可以将三目运算符视为 if-else 语句的简化形式。 - //fmod 函数的余数的符号与除数相同。因此，当 angle 的值为负数时，余数的符号将与 _2M_PI 的符号相反。 - //也就是说，如果 angle 的值小于 0 且 _2M_PI 的值为正数，则 fmod(angle, _2M_PI) 的余数将为负数。 - //例如，当 angle 的值为 -M_PI/2，_2M_PI 的值为 2M_PI 时，fmod(angle, _2M_PI) 将返回一个负数。 - //在这种情况下，可以通过将负数的余数加上 _2M_PI 来将角度归一化到 [0, 2M_PI] 的范围内，以确保角度的值始终为正数。 -} - -float _electricalAngle(float shaft_angle, int pole_pairs) { - return _normalizeAngle(((float)(dir * pole_pairs)*shaft_angle)-zero_electric_angle); -} - - - -//开环速度函数 -float velocityOpenloop(float target_velocity, float Uq, TIM_TypeDef * TIM_BASE){ -// uint32_t now_us = getCurrentMicros(); -// uint32_t now_us = HAL_GetTick(); -// Provides a tick value in microseconds. - - //计算当前每个Loop的运行时间间隔 -// float Ts = (now_us - open_loop_timestamp) * 1e-3f; - float Ts=2.5E-3f; - - // 通过乘以时间间隔和目标速度来计算需要转动的机械角度，存储在 shaft_angle 变量中。 - //在此之前，还需要对轴角度进行归一化，以确保其值在 0 到 2π 之间。 - shaft_angle = _normalizeAngle(shaft_angle + target_velocity*Ts); - //以目标速度为 10 rad/s 为例，如果时间间隔是 1 秒，则在每个循环中需要增加 10 * 1 = 10 弧度的角度变化量，才能使电机转动到目标速度。 - //如果时间间隔是 0.1 秒，那么在每个循环中需要增加的角度变化量就是 10 * 0.1 = 1 弧度，才能实现相同的目标速度。 - //因此，电机轴的转动角度取决于目标速度和时间间隔的乘积。 - - // Uq is not related to voltage limit - - - setPhaseVoltage(Uq, 0, _electricalAngle(shaft_angle, pole_pairs),TIM_BASE); - -// open_loop_timestamp = now_us; //用于计算下一个时间间隔 - - return Uq; -} - - - - - -void setPwm(float Ua, float Ub, float Uc, TIM_TypeDef * TIM_BASE) { - -// // 限制上限 - Ua = _constrain(Ua, 0.0f, voltage_limit); - Ub = _constrain(Ub, 0.0f, voltage_limit); - Uc = _constrain(Uc, 0.0f, voltage_limit); - // 计算占空比 - // 限制占空比从0到1 - float dc_a = _constrain(Ua / voltage_power_supply, 0.0f , 1.0f ); - float dc_b = _constrain(Ub / voltage_power_supply, 0.0f , 1.0f ); - float dc_c = _constrain(Uc / voltage_power_supply, 0.0f , 1.0f ); - - //写入PWM到PWM 0 1 2 通道 - TIM_BASE->CCR1 = (uint32_t) roundf(dc_a*period); - TIM_BASE->CCR2 = (uint32_t) roundf(dc_b*period); - TIM_BASE->CCR3 = (uint32_t) roundf(dc_c*period); - -} - -void setPhaseVoltage(float Uq,float Ud, float angle_el, TIM_TypeDef * TIM_BASE) { - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - if (Uq <0 ){ - angle_el+=M_PI; - Uq=abs(Uq); - } - // 帕克逆变换 - float Ualpha = -Uq*sin(angle_el); - float Ubeta = Uq*cos(angle_el); - - // 克拉克逆变换 - float Ua = Ualpha + voltage_power_supply/2; - float Ub = (sqrt(3)*Ubeta-Ualpha)/2 + voltage_power_supply/2; - float Uc = (-Ualpha-sqrt(3)*Ubeta)/2 + voltage_power_supply/2; - setPwm(Ua,Ub,Uc,TIM_BASE); -} - diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/4a/207ac0aeb2a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/4a/207ac0aeb2a3001e1b4082bf61e237c7 deleted file mode 100644 index 29bce4b..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/4a/207ac0aeb2a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,571 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -ADC_HandleTypeDef hadc1; - -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; - -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -static void MX_ADC1_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -uint16_t offset[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -struct LowPassFilter filter_current= {.Tf=0.05,.y_prev=0.0f}; //Tf=5ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=2.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=1.0,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -float cal_Iq(double* current_phase, float angle_el){ - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - float I_alpha=current_phase[0]; - float I_beta=_1_SQRT3*(2*current_phase[1]+current_phase[0]); - float Iq=-sin(angle_el)*I_alpha+cos(angle_el)*I_beta; -// float Id=cos(angle_el)*I_alpha+sin(angle_el)*I_beta; - return Iq; -} - -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - calibrateOffsets(hadc1,&offset); - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB; - PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float velo_controller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - read_ADC_voltage(hadc1,ADC_VAL); - for (int i=0;i<3;i++){ - current_phase[i] =(float) ( ADC_VAL[i]-offset[i])/(float) adc_range*Vref/Rsense; - } - - float Iq=cal_Iq(current_phase, _electricalAngle(angle_now, pole_pairs)); - float filtered_Iq=LowPassFilter_operator(angular_vel,&filter_current); - - float current_controller_output=PID_operator(velo_controller_out-filtered_Iq,&pid_controller_current); - - setPhaseVoltage(_constrain(current_controller_output,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/4a/709a6ee47ca3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/4a/709a6ee47ca3001e1b4082bf61e237c7 deleted file mode 100644 index 92d7909..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/4a/709a6ee47ca3001e1b4082bf61e237c7 +++ /dev/null @@ -1,27 +0,0 @@ -/* - * current_sense.c - * - * Created on: Dec 24, 2023 - * Author: haotian - */ -#include "current_sense.h" - -void read_ADC_voltage(ADC_HandleTypeDef hadc1,uint16_t ADC_VAL){ - ADC_Select_CH0(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[0] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH1(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[1] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH2(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[2] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); -} diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/4a/b07f482ab0a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/4a/b07f482ab0a3001e1b4082bf61e237c7 deleted file mode 100644 index e27e694..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/4a/b07f482ab0a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,553 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -ADC_HandleTypeDef hadc1; - -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; - -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -static void MX_ADC1_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - calibrateOffsets(hadc1,&offset); - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB; - PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float velo_controller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - read_ADC_voltage(hadc1,ADC_VAL); - setPhaseVoltage(_constrain(velo_controller_out,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - - for (int i=0;i<3;i++){ - current_phase[i] =(float) ( ADC_VAL[i]-offset[i])/(float) adc_range*Vref/Rsense; - } - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/4b/f0f6e708b2a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/4b/f0f6e708b2a3001e1b4082bf61e237c7 deleted file mode 100644 index d0f6579..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/4b/f0f6e708b2a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,559 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -ADC_HandleTypeDef hadc1; - -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; - -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -static void MX_ADC1_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -struct LowPassFilter filter_current= {.Tf=0.05,.y_prev=0.0f}; //Tf=5ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=2.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=1.0,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - calibrateOffsets(hadc1,&offset); - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB; - PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float velo_controller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - read_ADC_voltage(hadc1,ADC_VAL); - for (int i=0;i<3;i++){ - current_phase[i] =(float) ( ADC_VAL[i]-offset[i])/(float) adc_range*Vref/Rsense; - } - - float Iq=cal_Iq(current_phase, _electricalAngle(angle_now, pole_pairs)); - float filtered_Iq=LowPassFilter_operator(angular_vel,&filter_current); - - - setPhaseVoltage(_constrain(velo_controller_out,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/4d/80d499d9bda2001e164b9bfe65a5b807 b/.metadata/.plugins/org.eclipse.core.resources/.history/4d/80d499d9bda2001e164b9bfe65a5b807 deleted file mode 100644 index d3ac86c..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/4d/80d499d9bda2001e164b9bfe65a5b807 +++ /dev/null @@ -1,13 +0,0 @@ -/* - * current_sense.h - * - * Created on: Dec 24, 2023 - * Author: haotian - */ - -#ifndef INC_CURRENT_SENSE_H_ -#define INC_CURRENT_SENSE_H_ - - - -#endif /* INC_CURRENT_SENSE_H_ */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/54/f0fecb8e7ca3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/54/f0fecb8e7ca3001e1b4082bf61e237c7 deleted file mode 100644 index cd59da4..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/54/f0fecb8e7ca3001e1b4082bf61e237c7 +++ /dev/null @@ -1,27 +0,0 @@ -/* - * current_sense.c - * - * Created on: Dec 24, 2023 - * Author: haotian - */ -#include "current_sense.h" - -void read_ADC_voltage(ADC_HandleTypeDef hadc1, , uint16_t& ){ - ADC_Select_CH0(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[0] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH1(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[1] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH2(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[2] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); -} diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/55/c06d8be6bda2001e164b9bfe65a5b807 b/.metadata/.plugins/org.eclipse.core.resources/.history/55/c06d8be6bda2001e164b9bfe65a5b807 deleted file mode 100644 index e69de29..0000000 diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/56/2090204cb3a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/56/2090204cb3a3001e1b4082bf61e237c7 deleted file mode 100644 index eb13f92..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/56/2090204cb3a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,571 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -ADC_HandleTypeDef hadc1; - -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; - -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -static void MX_ADC1_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -uint16_t current_offset[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -struct LowPassFilter filter_current= {.Tf=0.05,.y_prev=0.0f}; //Tf=5ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=2.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=1.0,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -float cal_Iq(double* current_phase, float angle_el){ - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - float I_alpha=current_phase[0]; - float I_beta=_1_SQRT3*(2*current_phase[1]+current_phase[0]); -// float Iq=-sin(angle_el)*I_alpha+cos(angle_el)*I_beta; -// float Id=cos(angle_el)*I_alpha+sin(angle_el)*I_beta; - return -sin(angle_el)*I_alpha+cos(angle_el)*I_beta; -} - -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - calibrateOffsets(hadc1,¤t_offset); - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB; - PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float velo_controller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - read_ADC_voltage(hadc1,ADC_VAL); - for (int i=0;i<3;i++){ - current_phase[i] =(float) ( ADC_VAL[i]-current_offset[i])/(float) adc_range*Vref/Rsense; - } - - float Iq=cal_Iq(current_phase, _electricalAngle(angle_now, pole_pairs)); - float filtered_Iq=LowPassFilter_operator(Iq,&filter_current); - - float current_controller_output=PID_operator(velo_controller_out-filtered_Iq,&pid_controller_current); - - setPhaseVoltage(_constrain(current_controller_output,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/56/400400a0b5a2001e164b9bfe65a5b807 b/.metadata/.plugins/org.eclipse.core.resources/.history/56/400400a0b5a2001e164b9bfe65a5b807 deleted file mode 100644 index e69de29..0000000 diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/57/f015aad57ca3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/57/f015aad57ca3001e1b4082bf61e237c7 deleted file mode 100644 index e4c2e40..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/57/f015aad57ca3001e1b4082bf61e237c7 +++ /dev/null @@ -1,27 +0,0 @@ -/* - * current_sense.c - * - * Created on: Dec 24, 2023 - * Author: haotian - */ -#include "current_sense.h" - -void read_ADC_voltage(ADC_HandleTypeDef hadc1,uint16_t& ADC_VAL){ - ADC_Select_CH0(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[0] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH1(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[1] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH2(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[2] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); -}; diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/5a/30a15dca7ca3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/5a/30a15dca7ca3001e1b4082bf61e237c7 deleted file mode 100644 index ce83a3e..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/5a/30a15dca7ca3001e1b4082bf61e237c7 +++ /dev/null @@ -1,27 +0,0 @@ -/* - * current_sense.c - * - * Created on: Dec 24, 2023 - * Author: haotian - */ -#include "current_sense.h" - -void read_ADC_voltage(ADC_HandleTypeDef hadc1,uint16_t& ADC_VAL){ - ADC_Select_CH0(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[0] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH1(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[1] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH2(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[2] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); -} diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/5b/406c56d8b3a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/5b/406c56d8b3a3001e1b4082bf61e237c7 deleted file mode 100644 index d109cd0..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/5b/406c56d8b3a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,577 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -ADC_HandleTypeDef hadc1; - -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; - -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -static void MX_ADC1_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=2.5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -uint16_t current_offset[3]; -double current_phase[3]; -const int adc_range=4095; -const double Vref=3.3; // Voltage -const double Rsense=0.33; // Ohm -const double KV= 2375.0/12.0; //KV number (RPM is 2149 - 2375, when operating voltage is 12V) - -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -struct LowPassFilter filter_current= {.Tf=0.05,.y_prev=0.0f}; //Tf=5ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=2.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=1.0,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -float cal_Iq(double* current_phase, float angle_el){ - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - float I_alpha=current_phase[0]; - float I_beta=_1_SQRT3*(2*current_phase[1]+current_phase[0]); -// float Iq=-sin(angle_el)*I_alpha+cos(angle_el)*I_beta; -// float Id=cos(angle_el)*I_alpha+sin(angle_el)*I_beta; - return -sin(angle_el)*I_alpha+cos(angle_el)*I_beta; -} - -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - calibrateOffsets(hadc1,¤t_offset); - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB; - PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 2000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float velo_controller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - read_ADC_voltage(hadc1,ADC_VAL); - for (int i=0;i<3;i++){ - current_phase[i] =(float) ( ADC_VAL[i]-current_offset[i])/(float) adc_range*Vref/Rsense; - } - - float Iq=cal_Iq(current_phase, _electricalAngle(angle_now, pole_pairs)); - float filtered_Iq=LowPassFilter_operator(Iq,&filter_current); - - float current_controller_output=PID_operator(velo_controller_out-filtered_Iq,&pid_controller_current); - - setPhaseVoltage(_constrain(current_controller_output,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/5e/7041746491a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/5e/7041746491a3001e1b4082bf61e237c7 deleted file mode 100644 index cc19f4c..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/5e/7041746491a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,82 +0,0 @@ -/* - * current_sense.c - * - * Created on: Dec 24, 2023 - * Author: haotian - */ -#include "current_sense.h" -#include "main.h" - - - -void ADC_Select_CH0 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH1 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH2 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} -void read_ADC_voltage(ADC_HandleTypeDef hadc1,uint16_t *ADC_VAL){ - ADC_Select_CH0(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[0] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH1(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[1] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH2(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[2] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); -} -void calibrateOffsets(ADC_HandleTypeDef hadc1,uint16_t *offset){ - const int calibration_rounds = 1000; - - // 查找0电流时候的电压 - offset_ia = 0; - offset_ib = 0; - offset_ic = 0; - for (int i = 0; i < calibration_rounds; i++) { - - } -} diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/5e/802ba7311ba2001e1ab2edb23f9b017a b/.metadata/.plugins/org.eclipse.core.resources/.history/5e/802ba7311ba2001e1ab2edb23f9b017a deleted file mode 100644 index 6540f01..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/5e/802ba7311ba2001e1ab2edb23f9b017a +++ /dev/null @@ -1,13 +0,0 @@ -/* - * lowpass_filter.h - * - * Created on: Dec 23, 2023 - * Author: haotian - */ - -#ifndef INC_LOWPASS_FILTER_H_ -#define INC_LOWPASS_FILTER_H_ - - - -#endif /* INC_LOWPASS_FILTER_H_ */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/5e/d0c56ed091a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/5e/d0c56ed091a3001e1b4082bf61e237c7 deleted file mode 100644 index 6caaa67..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/5e/d0c56ed091a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,85 +0,0 @@ -/* - * current_sense.c - * - * Created on: Dec 24, 2023 - * Author: haotian - */ -#include "current_sense.h" -#include "main.h" - - - -void ADC_Select_CH0 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH1 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH2 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} -void read_ADC_voltage(ADC_HandleTypeDef hadc1,uint16_t *ADC_VAL){ - ADC_Select_CH0(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[0] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH1(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[1] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH2(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[2] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); -} -void calibrateOffsets(ADC_HandleTypeDef hadc1,uint16_t *offset){ - const int calibration_rounds = 1000; - - // 查找0电流时候的电压 - - uint16_t cal_current[3]; - for (int i = 0; i < calibration_rounds; i++) { - read_ADC_voltage(hadc1,cal_current); - for (int j=0;j<3;j++){ - offset[j]=(offset[j]*i+cal_current[j])/(i+1); - - } - } -} diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/5f/c0b6e3c3b6a3001e1e298100ab8cd7a4 b/.metadata/.plugins/org.eclipse.core.resources/.history/5f/c0b6e3c3b6a3001e1e298100ab8cd7a4 deleted file mode 100644 index 0c20bdc..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/5f/c0b6e3c3b6a3001e1e298100ab8cd7a4 +++ /dev/null @@ -1,98 +0,0 @@ -/* - * mortor_control.c - * - * Created on: Jun 17, 2023 - * Author: hht - */ - -#include "motor_control.h" - -extern float zero_electric_angle; -extern int pole_pairs; -extern float shaft_angle; -extern int dir; -extern float voltage_limit; -extern float voltage_power_supply; -extern int period; - -float _normalizeAngle(float angle){ - float a = fmod(angle, 2*M_PI); //取余运算可以用于归一化，列出特殊值例子算便知 - return a >= 0 ? a : (a + 2*M_PI); - //三目运算符。格式：condition ? expr1 : expr2 - //其中，condition 是要求值的条件表达式，如果条件成立，则返回 expr1 的值，否则返回 expr2 的值。 - //可以将三目运算符视为 if-else 语句的简化形式。 - //fmod 函数的余数的符号与除数相同。因此，当 angle 的值为负数时，余数的符号将与 _2M_PI 的符号相反。 - //也就是说，如果 angle 的值小于 0 且 _2M_PI 的值为正数，则 fmod(angle, _2M_PI) 的余数将为负数。 - //例如，当 angle 的值为 -M_PI/2，_2M_PI 的值为 2M_PI 时，fmod(angle, _2M_PI) 将返回一个负数。 - //在这种情况下，可以通过将负数的余数加上 _2M_PI 来将角度归一化到 [0, 2M_PI] 的范围内，以确保角度的值始终为正数。 -} - -float _electricalAngle(float shaft_angle, int pole_pairs) { - return _normalizeAngle(((float)(dir * pole_pairs)*shaft_angle)-zero_electric_angle); -} - - - -//开环速度函数 -float velocityOpenloop(float target_velocity, float Uq, TIM_TypeDef * TIM_BASE){ -// uint32_t now_us = getCurrentMicros(); -// uint32_t now_us = HAL_GetTick(); -// Provides a tick value in microseconds. - - //计算当前每个Loop的运行时间间隔 -// float Ts = (now_us - open_loop_timestamp) * 1e-3f; - float Ts=2.5E-3f; - - // 通过乘以时间间隔和目标速度来计算需要转动的机械角度，存储在 shaft_angle 变量中。 - //在此之前，还需要对轴角度进行归一化，以确保其值在 0 到 2π 之间。 - shaft_angle = _normalizeAngle(shaft_angle + target_velocity*Ts); - //以目标速度为 10 rad/s 为例，如果时间间隔是 1 秒，则在每个循环中需要增加 10 * 1 = 10 弧度的角度变化量，才能使电机转动到目标速度。 - //如果时间间隔是 0.1 秒，那么在每个循环中需要增加的角度变化量就是 10 * 0.1 = 1 弧度，才能实现相同的目标速度。 - //因此，电机轴的转动角度取决于目标速度和时间间隔的乘积。 - - // Uq is not related to voltage limit - - - setPhaseVoltage(Uq, 0, _electricalAngle(shaft_angle, pole_pairs),TIM_BASE); - -// open_loop_timestamp = now_us; //用于计算下一个时间间隔 - - return Uq; -} - - - - - -void setPwm(float Ua, float Ub, float Uc, TIM_TypeDef * TIM_BASE) { - -// // 限制上限 - Ua = _constrain(Ua, 0.0f, voltage_limit); - Ub = _constrain(Ub, 0.0f, voltage_limit); - Uc = _constrain(Uc, 0.0f, voltage_limit); - // 计算占空比 - // 限制占空比从0到1 - float dc_a = _constrain(Ua / voltage_power_supply, 0.0f , 1.0f ); - float dc_b = _constrain(Ub / voltage_power_supply, 0.0f , 1.0f ); - float dc_c = _constrain(Uc / voltage_power_supply, 0.0f , 1.0f ); - - //写入PWM到PWM 0 1 2 通道 - TIM_BASE->CCR1 = (uint32_t) roundf(dc_a*period); - TIM_BASE->CCR2 = (uint32_t) roundf(dc_b*period); - TIM_BASE->CCR3 = (uint32_t) roundf(dc_c*period); - -} - -void setPhaseVoltage(float Uq,float Ud, float angle_el, TIM_TypeDef * TIM_BASE) { - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - // 帕克逆变换 - float Ualpha = -Uq*sin(angle_el); - float Ubeta = Uq*cos(angle_el); - - // 克拉克逆变换 - float Ua = Ualpha + voltage_power_supply/2; - float Ub = (sqrt(3)*Ubeta-Ualpha)/2 + voltage_power_supply/2; - float Uc = (-Ualpha-sqrt(3)*Ubeta)/2 + voltage_power_supply/2; - setPwm(Ua,Ub,Uc,TIM_BASE); -} - diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/6/b0ab41f9b6a3001e1e298100ab8cd7a4 b/.metadata/.plugins/org.eclipse.core.resources/.history/6/b0ab41f9b6a3001e1e298100ab8cd7a4 deleted file mode 100644 index 10d5345..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/6/b0ab41f9b6a3001e1e298100ab8cd7a4 +++ /dev/null @@ -1,104 +0,0 @@ -/* - * mortor_control.c - * - * Created on: Jun 17, 2023 - * Author: hht - */ - -#include "motor_control.h" - -extern float zero_electric_angle; -extern int pole_pairs; -extern float shaft_angle; -extern int dir; -extern float voltage_limit; -extern float voltage_power_supply; -extern int period; - -float _normalizeAngle(float angle){ - float a = fmod(angle, 2*M_PI); //取余运算可以用于归一化，列出特殊值例子算便知 - return a >= 0 ? a : (a + 2*M_PI); - //三目运算符。格式：condition ? expr1 : expr2 - //其中，condition 是要求值的条件表达式，如果条件成立，则返回 expr1 的值，否则返回 expr2 的值。 - //可以将三目运算符视为 if-else 语句的简化形式。 - //fmod 函数的余数的符号与除数相同。因此，当 angle 的值为负数时，余数的符号将与 _2M_PI 的符号相反。 - //也就是说，如果 angle 的值小于 0 且 _2M_PI 的值为正数，则 fmod(angle, _2M_PI) 的余数将为负数。 - //例如，当 angle 的值为 -M_PI/2，_2M_PI 的值为 2M_PI 时，fmod(angle, _2M_PI) 将返回一个负数。 - //在这种情况下，可以通过将负数的余数加上 _2M_PI 来将角度归一化到 [0, 2M_PI] 的范围内，以确保角度的值始终为正数。 -} - -float _electricalAngle(float shaft_angle, int pole_pairs) { - return _normalizeAngle(((float)(dir * pole_pairs)*shaft_angle)-zero_electric_angle); -} - - - -//开环速度函数 -float velocityOpenloop(float target_velocity, float Uq, TIM_TypeDef * TIM_BASE){ -// uint32_t now_us = getCurrentMicros(); -// uint32_t now_us = HAL_GetTick(); -// Provides a tick value in microseconds. - - //计算当前每个Loop的运行时间间隔 -// float Ts = (now_us - open_loop_timestamp) * 1e-3f; - float Ts=2.5E-3f; - - // 通过乘以时间间隔和目标速度来计算需要转动的机械角度，存储在 shaft_angle 变量中。 - //在此之前，还需要对轴角度进行归一化，以确保其值在 0 到 2π 之间。 - shaft_angle = _normalizeAngle(shaft_angle + target_velocity*Ts); - //以目标速度为 10 rad/s 为例，如果时间间隔是 1 秒，则在每个循环中需要增加 10 * 1 = 10 弧度的角度变化量，才能使电机转动到目标速度。 - //如果时间间隔是 0.1 秒，那么在每个循环中需要增加的角度变化量就是 10 * 0.1 = 1 弧度，才能实现相同的目标速度。 - //因此，电机轴的转动角度取决于目标速度和时间间隔的乘积。 - - // Uq is not related to voltage limit - - - setPhaseVoltage(Uq, 0, _electricalAngle(shaft_angle, pole_pairs),TIM_BASE); - -// open_loop_timestamp = now_us; //用于计算下一个时间间隔 - - return Uq; -} - - - - - -void setPwm(float Ua, float Ub, float Uc, TIM_TypeDef * TIM_BASE) { - -// // 限制上限 - Ua = _constrain(Ua, 0.0f, voltage_limit); - Ub = _constrain(Ub, 0.0f, voltage_limit); - Uc = _constrain(Uc, 0.0f, voltage_limit); - // 计算占空比 - // 限制占空比从0到1 - float dc_a = _constrain(Ua / voltage_power_supply, 0.0f , 1.0f ); - float dc_b = _constrain(Ub / voltage_power_supply, 0.0f , 1.0f ); - float dc_c = _constrain(Uc / voltage_power_supply, 0.0f , 1.0f ); - - //写入PWM到PWM 0 1 2 通道 - TIM_BASE->CCR1 = (uint32_t) roundf(dc_a*period); - TIM_BASE->CCR2 = (uint32_t) roundf(dc_b*period); - TIM_BASE->CCR3 = (uint32_t) roundf(dc_c*period); - -} - -void setPhaseVoltage(float Uq,float Ud, float angle_el, TIM_TypeDef * TIM_BASE) { - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - if (Uq <0 ){ - angle_el+=M_PI; - Uq=abs(Uq); - } - angle_el = _normalizeAngle (angle_el+M_PI/2); - - // 帕克逆变换 - float Ualpha = -Uq*sin(angle_el); - float Ubeta = Uq*cos(angle_el); - - // 克拉克逆变换 - float Ua = Ualpha + voltage_power_supply/2; - float Ub = (sqrt(3)*Ubeta-Ualpha)/2 + voltage_power_supply/2; - float Uc = (-Ualpha-sqrt(3)*Ubeta)/2 + voltage_power_supply/2; - setPwm(Ua,Ub,Uc,TIM_BASE); -} - diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/61/9061eeddbda2001e164b9bfe65a5b807 b/.metadata/.plugins/org.eclipse.core.resources/.history/61/9061eeddbda2001e164b9bfe65a5b807 deleted file mode 100644 index 42e9593..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/61/9061eeddbda2001e164b9bfe65a5b807 +++ /dev/null @@ -1,8 +0,0 @@ -/* - * current_sense.c - * - * Created on: Dec 24, 2023 - * Author: haotian - */ - - diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/62/70104909b7a3001e1e298100ab8cd7a4 b/.metadata/.plugins/org.eclipse.core.resources/.history/62/70104909b7a3001e1e298100ab8cd7a4 deleted file mode 100644 index 4c2180c..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/62/70104909b7a3001e1e298100ab8cd7a4 +++ /dev/null @@ -1,104 +0,0 @@ -/* - * mortor_control.c - * - * Created on: Jun 17, 2023 - * Author: hht - */ - -#include "motor_control.h" - -extern float zero_electric_angle; -extern int pole_pairs; -extern float shaft_angle; -extern int dir; -extern float voltage_limit; -extern float voltage_power_supply; -extern int period; - -float _normalizeAngle(float angle){ - float a = fmod(angle, 2*M_PI); //取余运算可以用于归一化，列出特殊值例子算便知 - return a >= 0 ? a : (a + 2*M_PI); - //三目运算符。格式：condition ? expr1 : expr2 - //其中，condition 是要求值的条件表达式，如果条件成立，则返回 expr1 的值，否则返回 expr2 的值。 - //可以将三目运算符视为 if-else 语句的简化形式。 - //fmod 函数的余数的符号与除数相同。因此，当 angle 的值为负数时，余数的符号将与 _2M_PI 的符号相反。 - //也就是说，如果 angle 的值小于 0 且 _2M_PI 的值为正数，则 fmod(angle, _2M_PI) 的余数将为负数。 - //例如，当 angle 的值为 -M_PI/2，_2M_PI 的值为 2M_PI 时，fmod(angle, _2M_PI) 将返回一个负数。 - //在这种情况下，可以通过将负数的余数加上 _2M_PI 来将角度归一化到 [0, 2M_PI] 的范围内，以确保角度的值始终为正数。 -} - -float _electricalAngle(float shaft_angle, int pole_pairs) { - return _normalizeAngle(((float)(dir * pole_pairs)*shaft_angle)-zero_electric_angle); -} - - - -//开环速度函数 -float velocityOpenloop(float target_velocity, float Uq, TIM_TypeDef * TIM_BASE){ -// uint32_t now_us = getCurrentMicros(); -// uint32_t now_us = HAL_GetTick(); -// Provides a tick value in microseconds. - - //计算当前每个Loop的运行时间间隔 -// float Ts = (now_us - open_loop_timestamp) * 1e-3f; - float Ts=2.5E-3f; - - // 通过乘以时间间隔和目标速度来计算需要转动的机械角度，存储在 shaft_angle 变量中。 - //在此之前，还需要对轴角度进行归一化，以确保其值在 0 到 2π 之间。 - shaft_angle = _normalizeAngle(shaft_angle + target_velocity*Ts); - //以目标速度为 10 rad/s 为例，如果时间间隔是 1 秒，则在每个循环中需要增加 10 * 1 = 10 弧度的角度变化量，才能使电机转动到目标速度。 - //如果时间间隔是 0.1 秒，那么在每个循环中需要增加的角度变化量就是 10 * 0.1 = 1 弧度，才能实现相同的目标速度。 - //因此，电机轴的转动角度取决于目标速度和时间间隔的乘积。 - - // Uq is not related to voltage limit - - - setPhaseVoltage(Uq, 0, _electricalAngle(shaft_angle, pole_pairs),TIM_BASE); - -// open_loop_timestamp = now_us; //用于计算下一个时间间隔 - - return Uq; -} - - - - - -void setPwm(float Ua, float Ub, float Uc, TIM_TypeDef * TIM_BASE) { - -// // 限制上限 - Ua = _constrain(Ua, 0.0f, voltage_limit); - Ub = _constrain(Ub, 0.0f, voltage_limit); - Uc = _constrain(Uc, 0.0f, voltage_limit); - // 计算占空比 - // 限制占空比从0到1 - float dc_a = _constrain(Ua / voltage_power_supply, 0.0f , 1.0f ); - float dc_b = _constrain(Ub / voltage_power_supply, 0.0f , 1.0f ); - float dc_c = _constrain(Uc / voltage_power_supply, 0.0f , 1.0f ); - - //写入PWM到PWM 0 1 2 通道 - TIM_BASE->CCR1 = (uint32_t) roundf(dc_a*period); - TIM_BASE->CCR2 = (uint32_t) roundf(dc_b*period); - TIM_BASE->CCR3 = (uint32_t) roundf(dc_c*period); - -} - -void setPhaseVoltage(float Uq,float Ud, float angle_el, TIM_TypeDef * TIM_BASE) { - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - if (Uq <0 ){ - angle_el+=M_PI; - Uq=abs(Uq); - } - angle_el = _normalizeAngle (angle_el+M_PI/2); - int sector = floor(angle_el / M_PI/3) + 1; - // 帕克逆变换 - float Ualpha = -Uq*sin(angle_el); - float Ubeta = Uq*cos(angle_el); - - // 克拉克逆变换 - float Ua = Ualpha + voltage_power_supply/2; - float Ub = (sqrt(3)*Ubeta-Ualpha)/2 + voltage_power_supply/2; - float Uc = (-Ualpha-sqrt(3)*Ubeta)/2 + voltage_power_supply/2; - setPwm(Ua,Ub,Uc,TIM_BASE); -} - diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/65/50c67ab390a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/65/50c67ab390a3001e1b4082bf61e237c7 deleted file mode 100644 index 5125424..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/65/50c67ab390a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,104 +0,0 @@ -/* - * mortor_control.c - * - * Created on: Jun 17, 2023 - * Author: hht - */ - -#include "motor_control.h" - -extern float zero_electric_angle; -extern int pole_pairs; -extern float shaft_angle; -extern int dir; -extern float voltage_limit; -extern float voltage_power_supply; -extern int period; - -float _normalizeAngle(float angle){ - float a = fmod(angle, 2*M_PI); //取余运算可以用于归一化，列出特殊值例子算便知 - return a >= 0 ? a : (a + 2*M_PI); - //三目运算符。格式：condition ? expr1 : expr2 - //其中，condition 是要求值的条件表达式，如果条件成立，则返回 expr1 的值，否则返回 expr2 的值。 - //可以将三目运算符视为 if-else 语句的简化形式。 - //fmod 函数的余数的符号与除数相同。因此，当 angle 的值为负数时，余数的符号将与 _2M_PI 的符号相反。 - //也就是说，如果 angle 的值小于 0 且 _2M_PI 的值为正数，则 fmod(angle, _2M_PI) 的余数将为负数。 - //例如，当 angle 的值为 -M_PI/2，_2M_PI 的值为 2M_PI 时，fmod(angle, _2M_PI) 将返回一个负数。 - //在这种情况下，可以通过将负数的余数加上 _2M_PI 来将角度归一化到 [0, 2M_PI] 的范围内，以确保角度的值始终为正数。 -} - -float _electricalAngle(float shaft_angle, int pole_pairs) { - return _normalizeAngle(((float)(dir * pole_pairs)*shaft_angle)-zero_electric_angle); -} - - - -//开环速度函数 -float velocityOpenloop(float target_velocity, float Uq, TIM_TypeDef * TIM_BASE){ -// uint32_t now_us = getCurrentMicros(); -// uint32_t now_us = HAL_GetTick(); -// Provides a tick value in microseconds. - - //计算当前每个Loop的运行时间间隔 -// float Ts = (now_us - open_loop_timestamp) * 1e-3f; - float Ts=5E-3f; - - // 通过乘以时间间隔和目标速度来计算需要转动的机械角度，存储在 shaft_angle 变量中。 - //在此之前，还需要对轴角度进行归一化，以确保其值在 0 到 2π 之间。 - shaft_angle = _normalizeAngle(shaft_angle + target_velocity*Ts); - //以目标速度为 10 rad/s 为例，如果时间间隔是 1 秒，则在每个循环中需要增加 10 * 1 = 10 弧度的角度变化量，才能使电机转动到目标速度。 - //如果时间间隔是 0.1 秒，那么在每个循环中需要增加的角度变化量就是 10 * 0.1 = 1 弧度，才能实现相同的目标速度。 - //因此，电机轴的转动角度取决于目标速度和时间间隔的乘积。 - - // Uq is not related to voltage limit - - - setPhaseVoltage(Uq, 0, _electricalAngle(shaft_angle, pole_pairs),TIM_BASE); - -// open_loop_timestamp = now_us; //用于计算下一个时间间隔 - - return Uq; -} - - - - - -void setPwm(float Ua, float Ub, float Uc, TIM_TypeDef * TIM_BASE) { - -// // 限制上限 - Ua = _constrain(Ua, 0.0f, voltage_limit); - Ub = _constrain(Ub, 0.0f, voltage_limit); - Uc = _constrain(Uc, 0.0f, voltage_limit); - // 计算占空比 - // 限制占空比从0到1 - float dc_a = _constrain(Ua / voltage_power_supply, 0.0f , 1.0f ); - float dc_b = _constrain(Ub / voltage_power_supply, 0.0f , 1.0f ); - float dc_c = _constrain(Uc / voltage_power_supply, 0.0f , 1.0f ); - - //写入PWM到PWM 0 1 2 通道 - TIM_BASE->CCR1 = (uint32_t) roundf(dc_a*period); - TIM_BASE->CCR2 = (uint32_t) roundf(dc_b*period); - TIM_BASE->CCR3 = (uint32_t) roundf(dc_c*period); - -} - -void setPhaseVoltage(float Uq,float Ud, float angle_el, TIM_TypeDef * TIM_BASE) { - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - // 帕克逆变换 - float Ualpha = -Uq*sin(angle_el); - float Ubeta = Uq*cos(angle_el); - - // 克拉克逆变换 - float Ua = Ualpha + voltage_power_supply/2; - float Ub = (sqrt(3)*Ubeta-Ualpha)/2 + voltage_power_supply/2; - float Uc = (-Ualpha-sqrt(3)*Ubeta)/2 + voltage_power_supply/2; - setPwm(Ua,Ub,Uc,TIM_BASE); -} - -float cal_Iq(float* current_phase, float angle_el){ - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - float I_alpha=current_phase[0]; - float I_beta=_1_SQRT3*(2*current_phase[1]+current_phase[0]); - -} diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/69/209c35f1caa2001e164b9bfe65a5b807 b/.metadata/.plugins/org.eclipse.core.resources/.history/69/209c35f1caa2001e164b9bfe65a5b807 deleted file mode 100644 index 9a60976..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/69/209c35f1caa2001e164b9bfe65a5b807 +++ /dev/null @@ -1,14 +0,0 @@ -/* - * current_sense.h - * - * Created on: Dec 24, 2023 - * Author: haotian - */ - -#ifndef INC_CURRENT_SENSE_H_ -#define INC_CURRENT_SENSE_H_ -float offset_ia,offset_ib,offset_ib; -const int adc_range=4095; - - -#endif /* INC_CURRENT_SENSE_H_ */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/69/60794154b1a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/69/60794154b1a3001e1b4082bf61e237c7 deleted file mode 100644 index 418ae3f..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/69/60794154b1a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,557 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -ADC_HandleTypeDef hadc1; - -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; - -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -static void MX_ADC1_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -struct LowPassFilter filter_current= {.Tf=0.05,.y_prev=0.0f}; //Tf=5ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=2.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=1.0,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - calibrateOffsets(hadc1,&offset); - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB; - PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float velo_controller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - read_ADC_voltage(hadc1,ADC_VAL); - for (int i=0;i<3;i++){ - current_phase[i] =(float) ( ADC_VAL[i]-offset[i])/(float) adc_range*Vref/Rsense; - } - - float Iq=cal_Iq(current_phase, _electricalAngle(angle_now, pole_pairs)); - float filtered_Tq=LowPassFilter_operator(angular_vel,&filter_current); - setPhaseVoltage(_constrain(velo_controller_out,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/69/a0a1accfbda2001e164b9bfe65a5b807 b/.metadata/.plugins/org.eclipse.core.resources/.history/69/a0a1accfbda2001e164b9bfe65a5b807 deleted file mode 100644 index e69de29..0000000 diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/6c/30932b321aa2001e1ab2edb23f9b017a b/.metadata/.plugins/org.eclipse.core.resources/.history/6c/30932b321aa2001e1ab2edb23f9b017a deleted file mode 100644 index e69de29..0000000 diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/6c/a04092021ba2001e1ab2edb23f9b017a b/.metadata/.plugins/org.eclipse.core.resources/.history/6c/a04092021ba2001e1ab2edb23f9b017a deleted file mode 100644 index e69de29..0000000 diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/6c/f0801466b2a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/6c/f0801466b2a3001e1b4082bf61e237c7 deleted file mode 100644 index 9e4e9c9..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/6c/f0801466b2a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,29 +0,0 @@ -/* - * current_sense.h - * - * Created on: Dec 24, 2023 - * Author: haotian - */ - -#ifndef INC_CURRENT_SENSE_H_ -#define INC_CURRENT_SENSE_H_ - -#include "stm32f1xx_hal.h" -#include - - - -uint16_t offset[3]; -const int adc_range=4095; -const double Vref=3.3; // Voltage -const double Rsense=0.33; // Ohm -const double KV= 2375.0/12.0; //KV number (RPM is 2149 - 2375, when operating voltage is 12V) -double current_phase[3]; - -void ADC_Select_CH0(ADC_HandleTypeDef); -void ADC_Select_CH1(ADC_HandleTypeDef); -void ADC_Select_CH2(ADC_HandleTypeDef); -void read_ADC_voltage(ADC_HandleTypeDef ,uint16_t *); -void calibrateOffsets(ADC_HandleTypeDef,uint16_t *); -float cal_Iq(float* , float ); -#endif /* INC_CURRENT_SENSE_H_ */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/6d/c06ad6d6e9a2001e164b9bfe65a5b807 b/.metadata/.plugins/org.eclipse.core.resources/.history/6d/c06ad6d6e9a2001e164b9bfe65a5b807 deleted file mode 100644 index c155fd3..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/6d/c06ad6d6e9a2001e164b9bfe65a5b807 +++ /dev/null @@ -1,493 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.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 ---------------------------------------------------------*/ -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; -ADC_HandleTypeDef hadc1; -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USB; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float contorller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - setPhaseVoltage(_constrain(contorller_out,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - ADC_Select_CH0(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[0] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH1(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[1] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH2(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[2] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/6d/e03096b9b5a3001e1e298100ab8cd7a4 b/.metadata/.plugins/org.eclipse.core.resources/.history/6d/e03096b9b5a3001e1e298100ab8cd7a4 deleted file mode 100644 index 1fdda6c..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/6d/e03096b9b5a3001e1e298100ab8cd7a4 +++ /dev/null @@ -1,98 +0,0 @@ -/* - * mortor_control.c - * - * Created on: Jun 17, 2023 - * Author: hht - */ - -#include "motor_control.h" - -extern float zero_electric_angle; -extern int pole_pairs; -extern float shaft_angle; -extern int dir; -extern float voltage_limit; -extern float voltage_power_supply; -extern int period; - -float _normalizeAngle(float angle){ - float a = fmod(angle, 2*M_PI); //取余运算可以用于归一化，列出特殊值例子算便知 - return a >= 0 ? a : (a + 2*M_PI); - //三目运算符。格式：condition ? expr1 : expr2 - //其中，condition 是要求值的条件表达式，如果条件成立，则返回 expr1 的值，否则返回 expr2 的值。 - //可以将三目运算符视为 if-else 语句的简化形式。 - //fmod 函数的余数的符号与除数相同。因此，当 angle 的值为负数时，余数的符号将与 _2M_PI 的符号相反。 - //也就是说，如果 angle 的值小于 0 且 _2M_PI 的值为正数，则 fmod(angle, _2M_PI) 的余数将为负数。 - //例如，当 angle 的值为 -M_PI/2，_2M_PI 的值为 2M_PI 时，fmod(angle, _2M_PI) 将返回一个负数。 - //在这种情况下，可以通过将负数的余数加上 _2M_PI 来将角度归一化到 [0, 2M_PI] 的范围内，以确保角度的值始终为正数。 -} - -float _electricalAngle(float shaft_angle, int pole_pairs) { - return _normalizeAngle(((float)(dir * pole_pairs)*shaft_angle)-zero_electric_angle); -} - - - -//开环速度函数 -float velocityOpenloop(float target_velocity, float Uq, TIM_TypeDef * TIM_BASE){ -// uint32_t now_us = getCurrentMicros(); -// uint32_t now_us = HAL_GetTick(); -// Provides a tick value in microseconds. - - //计算当前每个Loop的运行时间间隔 -// float Ts = (now_us - open_loop_timestamp) * 1e-3f; - float Ts=5E-3f; - - // 通过乘以时间间隔和目标速度来计算需要转动的机械角度，存储在 shaft_angle 变量中。 - //在此之前，还需要对轴角度进行归一化，以确保其值在 0 到 2π 之间。 - shaft_angle = _normalizeAngle(shaft_angle + target_velocity*Ts); - //以目标速度为 10 rad/s 为例，如果时间间隔是 1 秒，则在每个循环中需要增加 10 * 1 = 10 弧度的角度变化量，才能使电机转动到目标速度。 - //如果时间间隔是 0.1 秒，那么在每个循环中需要增加的角度变化量就是 10 * 0.1 = 1 弧度，才能实现相同的目标速度。 - //因此，电机轴的转动角度取决于目标速度和时间间隔的乘积。 - - // Uq is not related to voltage limit - - - setPhaseVoltage(Uq, 0, _electricalAngle(shaft_angle, pole_pairs),TIM_BASE); - -// open_loop_timestamp = now_us; //用于计算下一个时间间隔 - - return Uq; -} - - - - - -void setPwm(float Ua, float Ub, float Uc, TIM_TypeDef * TIM_BASE) { - -// // 限制上限 - Ua = _constrain(Ua, 0.0f, voltage_limit); - Ub = _constrain(Ub, 0.0f, voltage_limit); - Uc = _constrain(Uc, 0.0f, voltage_limit); - // 计算占空比 - // 限制占空比从0到1 - float dc_a = _constrain(Ua / voltage_power_supply, 0.0f , 1.0f ); - float dc_b = _constrain(Ub / voltage_power_supply, 0.0f , 1.0f ); - float dc_c = _constrain(Uc / voltage_power_supply, 0.0f , 1.0f ); - - //写入PWM到PWM 0 1 2 通道 - TIM_BASE->CCR1 = (uint32_t) roundf(dc_a*period); - TIM_BASE->CCR2 = (uint32_t) roundf(dc_b*period); - TIM_BASE->CCR3 = (uint32_t) roundf(dc_c*period); - -} - -void setPhaseVoltage(float Uq,float Ud, float angle_el, TIM_TypeDef * TIM_BASE) { - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - // 帕克逆变换 - float Ualpha = -Uq*sin(angle_el); - float Ubeta = Uq*cos(angle_el); - - // 克拉克逆变换 - float Ua = Ualpha + voltage_power_supply/2; - float Ub = (sqrt(3)*Ubeta-Ualpha)/2 + voltage_power_supply/2; - float Uc = (-Ualpha-sqrt(3)*Ubeta)/2 + voltage_power_supply/2; - setPwm(Ua,Ub,Uc,TIM_BASE); -} - diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/7/00d9e5dfb3a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/7/00d9e5dfb3a3001e1b4082bf61e237c7 deleted file mode 100644 index 0bc529c..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/7/00d9e5dfb3a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,577 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -ADC_HandleTypeDef hadc1; - -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; - -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -static void MX_ADC1_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=2.5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -uint16_t current_offset[3]; -double current_phase[3]; -const int adc_range=4095; -const double Vref=3.3; // Voltage -const double Rsense=0.33; // Ohm -//const double KV= 2375.0/12.0; //KV number (RPM is 2149 - 2375, when operating voltage is 12V) - -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -struct LowPassFilter filter_current= {.Tf=0.05,.y_prev=0.0f}; //Tf=5ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=2.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=1.0,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -float cal_Iq(double* current_phase, float angle_el){ - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - float I_alpha=current_phase[0]; - float I_beta=_1_SQRT3*(2*current_phase[1]+current_phase[0]); -// float Iq=-sin(angle_el)*I_alpha+cos(angle_el)*I_beta; -// float Id=cos(angle_el)*I_alpha+sin(angle_el)*I_beta; - return -sin(angle_el)*I_alpha+cos(angle_el)*I_beta; -} - -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - calibrateOffsets(hadc1,¤t_offset); - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB; - PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 2000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float velo_controller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - read_ADC_voltage(hadc1,ADC_VAL); - for (int i=0;i<3;i++){ - current_phase[i] =(float) ( ADC_VAL[i]-current_offset[i])/(float) adc_range*Vref/Rsense; - } - - float Iq=cal_Iq(current_phase, _electricalAngle(angle_now, pole_pairs)); - float filtered_Iq=LowPassFilter_operator(Iq,&filter_current); - - float current_controller_output=PID_operator(velo_controller_out-filtered_Iq,&pid_controller_current); - - setPhaseVoltage(_constrain(current_controller_output,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/70/c0a13cd5b6a3001e1e298100ab8cd7a4 b/.metadata/.plugins/org.eclipse.core.resources/.history/70/c0a13cd5b6a3001e1e298100ab8cd7a4 deleted file mode 100644 index 3e251d6..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/70/c0a13cd5b6a3001e1e298100ab8cd7a4 +++ /dev/null @@ -1,101 +0,0 @@ -/* - * mortor_control.c - * - * Created on: Jun 17, 2023 - * Author: hht - */ - -#include "motor_control.h" - -extern float zero_electric_angle; -extern int pole_pairs; -extern float shaft_angle; -extern int dir; -extern float voltage_limit; -extern float voltage_power_supply; -extern int period; - -float _normalizeAngle(float angle){ - float a = fmod(angle, 2*M_PI); //取余运算可以用于归一化，列出特殊值例子算便知 - return a >= 0 ? a : (a + 2*M_PI); - //三目运算符。格式：condition ? expr1 : expr2 - //其中，condition 是要求值的条件表达式，如果条件成立，则返回 expr1 的值，否则返回 expr2 的值。 - //可以将三目运算符视为 if-else 语句的简化形式。 - //fmod 函数的余数的符号与除数相同。因此，当 angle 的值为负数时，余数的符号将与 _2M_PI 的符号相反。 - //也就是说，如果 angle 的值小于 0 且 _2M_PI 的值为正数，则 fmod(angle, _2M_PI) 的余数将为负数。 - //例如，当 angle 的值为 -M_PI/2，_2M_PI 的值为 2M_PI 时，fmod(angle, _2M_PI) 将返回一个负数。 - //在这种情况下，可以通过将负数的余数加上 _2M_PI 来将角度归一化到 [0, 2M_PI] 的范围内，以确保角度的值始终为正数。 -} - -float _electricalAngle(float shaft_angle, int pole_pairs) { - return _normalizeAngle(((float)(dir * pole_pairs)*shaft_angle)-zero_electric_angle); -} - - - -//开环速度函数 -float velocityOpenloop(float target_velocity, float Uq, TIM_TypeDef * TIM_BASE){ -// uint32_t now_us = getCurrentMicros(); -// uint32_t now_us = HAL_GetTick(); -// Provides a tick value in microseconds. - - //计算当前每个Loop的运行时间间隔 -// float Ts = (now_us - open_loop_timestamp) * 1e-3f; - float Ts=2.5E-3f; - - // 通过乘以时间间隔和目标速度来计算需要转动的机械角度，存储在 shaft_angle 变量中。 - //在此之前，还需要对轴角度进行归一化，以确保其值在 0 到 2π 之间。 - shaft_angle = _normalizeAngle(shaft_angle + target_velocity*Ts); - //以目标速度为 10 rad/s 为例，如果时间间隔是 1 秒，则在每个循环中需要增加 10 * 1 = 10 弧度的角度变化量，才能使电机转动到目标速度。 - //如果时间间隔是 0.1 秒，那么在每个循环中需要增加的角度变化量就是 10 * 0.1 = 1 弧度，才能实现相同的目标速度。 - //因此，电机轴的转动角度取决于目标速度和时间间隔的乘积。 - - // Uq is not related to voltage limit - - - setPhaseVoltage(Uq, 0, _electricalAngle(shaft_angle, pole_pairs),TIM_BASE); - -// open_loop_timestamp = now_us; //用于计算下一个时间间隔 - - return Uq; -} - - - - - -void setPwm(float Ua, float Ub, float Uc, TIM_TypeDef * TIM_BASE) { - -// // 限制上限 - Ua = _constrain(Ua, 0.0f, voltage_limit); - Ub = _constrain(Ub, 0.0f, voltage_limit); - Uc = _constrain(Uc, 0.0f, voltage_limit); - // 计算占空比 - // 限制占空比从0到1 - float dc_a = _constrain(Ua / voltage_power_supply, 0.0f , 1.0f ); - float dc_b = _constrain(Ub / voltage_power_supply, 0.0f , 1.0f ); - float dc_c = _constrain(Uc / voltage_power_supply, 0.0f , 1.0f ); - - //写入PWM到PWM 0 1 2 通道 - TIM_BASE->CCR1 = (uint32_t) roundf(dc_a*period); - TIM_BASE->CCR2 = (uint32_t) roundf(dc_b*period); - TIM_BASE->CCR3 = (uint32_t) roundf(dc_c*period); - -} - -void setPhaseVoltage(float Uq,float Ud, float angle_el, TIM_TypeDef * TIM_BASE) { - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - if (Uq <0 ){ - - } - // 帕克逆变换 - float Ualpha = -Uq*sin(angle_el); - float Ubeta = Uq*cos(angle_el); - - // 克拉克逆变换 - float Ua = Ualpha + voltage_power_supply/2; - float Ub = (sqrt(3)*Ubeta-Ualpha)/2 + voltage_power_supply/2; - float Uc = (-Ualpha-sqrt(3)*Ubeta)/2 + voltage_power_supply/2; - setPwm(Ua,Ub,Uc,TIM_BASE); -} - diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/71/1066ed46b7a3001e1e298100ab8cd7a4 b/.metadata/.plugins/org.eclipse.core.resources/.history/71/1066ed46b7a3001e1e298100ab8cd7a4 deleted file mode 100644 index b5ade4d..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/71/1066ed46b7a3001e1e298100ab8cd7a4 +++ /dev/null @@ -1,104 +0,0 @@ -/* - * mortor_control.c - * - * Created on: Jun 17, 2023 - * Author: hht - */ - -#include "motor_control.h" - -extern float zero_electric_angle; -extern int pole_pairs; -extern float shaft_angle; -extern int dir; -extern float voltage_limit; -extern float voltage_power_supply; -extern int period; - -float _normalizeAngle(float angle){ - float a = fmod(angle, 2*M_PI); //取余运算可以用于归一化，列出特殊值例子算便知 - return a >= 0 ? a : (a + 2*M_PI); - //三目运算符。格式：condition ? expr1 : expr2 - //其中，condition 是要求值的条件表达式，如果条件成立，则返回 expr1 的值，否则返回 expr2 的值。 - //可以将三目运算符视为 if-else 语句的简化形式。 - //fmod 函数的余数的符号与除数相同。因此，当 angle 的值为负数时，余数的符号将与 _2M_PI 的符号相反。 - //也就是说，如果 angle 的值小于 0 且 _2M_PI 的值为正数，则 fmod(angle, _2M_PI) 的余数将为负数。 - //例如，当 angle 的值为 -M_PI/2，_2M_PI 的值为 2M_PI 时，fmod(angle, _2M_PI) 将返回一个负数。 - //在这种情况下，可以通过将负数的余数加上 _2M_PI 来将角度归一化到 [0, 2M_PI] 的范围内，以确保角度的值始终为正数。 -} - -float _electricalAngle(float shaft_angle, int pole_pairs) { - return _normalizeAngle(((float)(dir * pole_pairs)*shaft_angle)-zero_electric_angle); -} - - - -//开环速度函数 -float velocityOpenloop(float target_velocity, float Uq, TIM_TypeDef * TIM_BASE){ -// uint32_t now_us = getCurrentMicros(); -// uint32_t now_us = HAL_GetTick(); -// Provides a tick value in microseconds. - - //计算当前每个Loop的运行时间间隔 -// float Ts = (now_us - open_loop_timestamp) * 1e-3f; - float Ts=2.5E-3f; - - // 通过乘以时间间隔和目标速度来计算需要转动的机械角度，存储在 shaft_angle 变量中。 - //在此之前，还需要对轴角度进行归一化，以确保其值在 0 到 2π 之间。 - shaft_angle = _normalizeAngle(shaft_angle + target_velocity*Ts); - //以目标速度为 10 rad/s 为例，如果时间间隔是 1 秒，则在每个循环中需要增加 10 * 1 = 10 弧度的角度变化量，才能使电机转动到目标速度。 - //如果时间间隔是 0.1 秒，那么在每个循环中需要增加的角度变化量就是 10 * 0.1 = 1 弧度，才能实现相同的目标速度。 - //因此，电机轴的转动角度取决于目标速度和时间间隔的乘积。 - - // Uq is not related to voltage limit - - - setPhaseVoltage(Uq, 0, _electricalAngle(shaft_angle, pole_pairs),TIM_BASE); - -// open_loop_timestamp = now_us; //用于计算下一个时间间隔 - - return Uq; -} - - - - - -void setPwm(float Ua, float Ub, float Uc, TIM_TypeDef * TIM_BASE) { - -// // 限制上限 - Ua = _constrain(Ua, 0.0f, voltage_limit); - Ub = _constrain(Ub, 0.0f, voltage_limit); - Uc = _constrain(Uc, 0.0f, voltage_limit); - // 计算占空比 - // 限制占空比从0到1 - float dc_a = _constrain(Ua / voltage_power_supply, 0.0f , 1.0f ); - float dc_b = _constrain(Ub / voltage_power_supply, 0.0f , 1.0f ); - float dc_c = _constrain(Uc / voltage_power_supply, 0.0f , 1.0f ); - - //写入PWM到PWM 0 1 2 通道 - TIM_BASE->CCR1 = (uint32_t) roundf(dc_a*period); - TIM_BASE->CCR2 = (uint32_t) roundf(dc_b*period); - TIM_BASE->CCR3 = (uint32_t) roundf(dc_c*period); - -} - -void setPhaseVoltage(float Uq,float Ud, float angle_el, TIM_TypeDef * TIM_BASE) { - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - if (Uq <0 ){ - angle_el+=M_PI; - Uq=abs(Uq); - } - angle_el = _normalizeAngle (angle_el+M_PI/2); - int sector = floor(angle_el / M_PI/3) + 1; - // calculate the duty cycles - float T1 = _SQRT3 * sin(sector * _PI_3 - angle_el) * Uq / voltage_power_supply; - float T2 = _SQRT3 * sin(angle_el - (sector - 1.0) * _PI_3) * Uq / voltage_power_supply; - float T0 = 1 - T1 - T2; - // 克拉克逆变换 - float Ua = Ualpha + voltage_power_supply/2; - float Ub = (sqrt(3)*Ubeta-Ualpha)/2 + voltage_power_supply/2; - float Uc = (-Ualpha-sqrt(3)*Ubeta)/2 + voltage_power_supply/2; - setPwm(Ua,Ub,Uc,TIM_BASE); -} - diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/71/c0bbda141ba2001e1ab2edb23f9b017a b/.metadata/.plugins/org.eclipse.core.resources/.history/71/c0bbda141ba2001e1ab2edb23f9b017a deleted file mode 100644 index b54088d..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/71/c0bbda141ba2001e1ab2edb23f9b017a +++ /dev/null @@ -1,13 +0,0 @@ -/* - * as5048a.h - * - * Created on: Dec 23, 2023 - * Author: haotian - */ - -#ifndef INC_AS5048A_H_ -#define INC_AS5048A_H_ - - - -#endif /* INC_AS5048A_H_ */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/76/10a9caf290a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/76/10a9caf290a3001e1b4082bf61e237c7 deleted file mode 100644 index 10cb31c..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/76/10a9caf290a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,28 +0,0 @@ -/* - * current_sense.h - * - * Created on: Dec 24, 2023 - * Author: haotian - */ - -#ifndef INC_CURRENT_SENSE_H_ -#define INC_CURRENT_SENSE_H_ - -#include "stm32f1xx_hal.h" -#include - - - -float offset[3]; -const int adc_range=4095; -const double Vref=3.3; // Voltage -const double Rsense=0.33; // Ohm -const double KV= 2375.0/12.0; //KV number (RPM is 2149 - 2375, when operating voltage is 12V) -double current_phase[3]; - -void ADC_Select_CH0(ADC_HandleTypeDef); -void ADC_Select_CH1(ADC_HandleTypeDef); -void ADC_Select_CH2(ADC_HandleTypeDef); -void read_ADC_voltage(ADC_HandleTypeDef ,uint16_t *); - -#endif /* INC_CURRENT_SENSE_H_ */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/76/30cb1dc2b3a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/76/30cb1dc2b3a3001e1b4082bf61e237c7 deleted file mode 100644 index 2110d06..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/76/30cb1dc2b3a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,577 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -ADC_HandleTypeDef hadc1; - -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; - -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -static void MX_ADC1_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -uint16_t current_offset[3]; -double current_phase[3]; -const int adc_range=4095; -const double Vref=3.3; // Voltage -const double Rsense=0.33; // Ohm -const double KV= 2375.0/12.0; //KV number (RPM is 2149 - 2375, when operating voltage is 12V) - -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -struct LowPassFilter filter_current= {.Tf=0.05,.y_prev=0.0f}; //Tf=5ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=2.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=1.0,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -float cal_Iq(double* current_phase, float angle_el){ - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - float I_alpha=current_phase[0]; - float I_beta=_1_SQRT3*(2*current_phase[1]+current_phase[0]); -// float Iq=-sin(angle_el)*I_alpha+cos(angle_el)*I_beta; -// float Id=cos(angle_el)*I_alpha+sin(angle_el)*I_beta; - return -sin(angle_el)*I_alpha+cos(angle_el)*I_beta; -} - -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - calibrateOffsets(hadc1,¤t_offset); - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB; - PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float velo_controller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - read_ADC_voltage(hadc1,ADC_VAL); - for (int i=0;i<3;i++){ - current_phase[i] =(float) ( ADC_VAL[i]-current_offset[i])/(float) adc_range*Vref/Rsense; - } - - float Iq=cal_Iq(current_phase, _electricalAngle(angle_now, pole_pairs)); - float filtered_Iq=LowPassFilter_operator(Iq,&filter_current); - - float current_controller_output=PID_operator(velo_controller_out-filtered_Iq,&pid_controller_current); - - setPhaseVoltage(_constrain(current_controller_output,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/7b/a0857150b1a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/7b/a0857150b1a3001e1b4082bf61e237c7 deleted file mode 100644 index 6580292..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/7b/a0857150b1a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,555 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -ADC_HandleTypeDef hadc1; - -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; - -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -static void MX_ADC1_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -struct LowPassFilter filter_current= {.Tf=0.05,.y_prev=0.0f}; //Tf=5ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=2.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=1.0,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - calibrateOffsets(hadc1,&offset); - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB; - PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float velo_controller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - read_ADC_voltage(hadc1,ADC_VAL); - - setPhaseVoltage(_constrain(velo_controller_out,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - - for (int i=0;i<3;i++){ - current_phase[i] =(float) ( ADC_VAL[i]-offset[i])/(float) adc_range*Vref/Rsense; - } - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/7d/402ef78990a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/7d/402ef78990a3001e1b4082bf61e237c7 deleted file mode 100644 index 5125424..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/7d/402ef78990a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,104 +0,0 @@ -/* - * mortor_control.c - * - * Created on: Jun 17, 2023 - * Author: hht - */ - -#include "motor_control.h" - -extern float zero_electric_angle; -extern int pole_pairs; -extern float shaft_angle; -extern int dir; -extern float voltage_limit; -extern float voltage_power_supply; -extern int period; - -float _normalizeAngle(float angle){ - float a = fmod(angle, 2*M_PI); //取余运算可以用于归一化，列出特殊值例子算便知 - return a >= 0 ? a : (a + 2*M_PI); - //三目运算符。格式：condition ? expr1 : expr2 - //其中，condition 是要求值的条件表达式，如果条件成立，则返回 expr1 的值，否则返回 expr2 的值。 - //可以将三目运算符视为 if-else 语句的简化形式。 - //fmod 函数的余数的符号与除数相同。因此，当 angle 的值为负数时，余数的符号将与 _2M_PI 的符号相反。 - //也就是说，如果 angle 的值小于 0 且 _2M_PI 的值为正数，则 fmod(angle, _2M_PI) 的余数将为负数。 - //例如，当 angle 的值为 -M_PI/2，_2M_PI 的值为 2M_PI 时，fmod(angle, _2M_PI) 将返回一个负数。 - //在这种情况下，可以通过将负数的余数加上 _2M_PI 来将角度归一化到 [0, 2M_PI] 的范围内，以确保角度的值始终为正数。 -} - -float _electricalAngle(float shaft_angle, int pole_pairs) { - return _normalizeAngle(((float)(dir * pole_pairs)*shaft_angle)-zero_electric_angle); -} - - - -//开环速度函数 -float velocityOpenloop(float target_velocity, float Uq, TIM_TypeDef * TIM_BASE){ -// uint32_t now_us = getCurrentMicros(); -// uint32_t now_us = HAL_GetTick(); -// Provides a tick value in microseconds. - - //计算当前每个Loop的运行时间间隔 -// float Ts = (now_us - open_loop_timestamp) * 1e-3f; - float Ts=5E-3f; - - // 通过乘以时间间隔和目标速度来计算需要转动的机械角度，存储在 shaft_angle 变量中。 - //在此之前，还需要对轴角度进行归一化，以确保其值在 0 到 2π 之间。 - shaft_angle = _normalizeAngle(shaft_angle + target_velocity*Ts); - //以目标速度为 10 rad/s 为例，如果时间间隔是 1 秒，则在每个循环中需要增加 10 * 1 = 10 弧度的角度变化量，才能使电机转动到目标速度。 - //如果时间间隔是 0.1 秒，那么在每个循环中需要增加的角度变化量就是 10 * 0.1 = 1 弧度，才能实现相同的目标速度。 - //因此，电机轴的转动角度取决于目标速度和时间间隔的乘积。 - - // Uq is not related to voltage limit - - - setPhaseVoltage(Uq, 0, _electricalAngle(shaft_angle, pole_pairs),TIM_BASE); - -// open_loop_timestamp = now_us; //用于计算下一个时间间隔 - - return Uq; -} - - - - - -void setPwm(float Ua, float Ub, float Uc, TIM_TypeDef * TIM_BASE) { - -// // 限制上限 - Ua = _constrain(Ua, 0.0f, voltage_limit); - Ub = _constrain(Ub, 0.0f, voltage_limit); - Uc = _constrain(Uc, 0.0f, voltage_limit); - // 计算占空比 - // 限制占空比从0到1 - float dc_a = _constrain(Ua / voltage_power_supply, 0.0f , 1.0f ); - float dc_b = _constrain(Ub / voltage_power_supply, 0.0f , 1.0f ); - float dc_c = _constrain(Uc / voltage_power_supply, 0.0f , 1.0f ); - - //写入PWM到PWM 0 1 2 通道 - TIM_BASE->CCR1 = (uint32_t) roundf(dc_a*period); - TIM_BASE->CCR2 = (uint32_t) roundf(dc_b*period); - TIM_BASE->CCR3 = (uint32_t) roundf(dc_c*period); - -} - -void setPhaseVoltage(float Uq,float Ud, float angle_el, TIM_TypeDef * TIM_BASE) { - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - // 帕克逆变换 - float Ualpha = -Uq*sin(angle_el); - float Ubeta = Uq*cos(angle_el); - - // 克拉克逆变换 - float Ua = Ualpha + voltage_power_supply/2; - float Ub = (sqrt(3)*Ubeta-Ualpha)/2 + voltage_power_supply/2; - float Uc = (-Ualpha-sqrt(3)*Ubeta)/2 + voltage_power_supply/2; - setPwm(Ua,Ub,Uc,TIM_BASE); -} - -float cal_Iq(float* current_phase, float angle_el){ - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - float I_alpha=current_phase[0]; - float I_beta=_1_SQRT3*(2*current_phase[1]+current_phase[0]); - -} diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/7f/50655cbc7fa3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/7f/50655cbc7fa3001e1b4082bf61e237c7 deleted file mode 100644 index 805a2c7..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/7f/50655cbc7fa3001e1b4082bf61e237c7 +++ /dev/null @@ -1,548 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; -ADC_HandleTypeDef hadc1; -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USB; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float contorller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - setPhaseVoltage(_constrain(contorller_out,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - read_ADC_voltage(hadc1,ADC_VAL); - for (int i=0;i<3;i++){ - current_phase[i] = float(ADC_VAL[i]-offset[i])/adc_range*Vref/Rsense; - } - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/80/2070fb7385a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/80/2070fb7385a3001e1b4082bf61e237c7 deleted file mode 100644 index 859e90c..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/80/2070fb7385a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,69 +0,0 @@ -/* - * current_sense.c - * - * Created on: Dec 24, 2023 - * Author: haotian - */ -#include "current_sense.h" - - -void ADC_Select_CH0 (void) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH1 (void) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH2 (void) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} -void read_ADC_voltage(ADC_HandleTypeDef hadc1,uint16_t *ADC_VAL){ - ADC_Select_CH0(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[0] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH1(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[1] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH2(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[2] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); -} diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/80/909a7afe90a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/80/909a7afe90a3001e1b4082bf61e237c7 deleted file mode 100644 index c0983d4..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/80/909a7afe90a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,72 +0,0 @@ -/* - * current_sense.c - * - * Created on: Dec 24, 2023 - * Author: haotian - */ -#include "current_sense.h" -#include "main.h" - - - -void ADC_Select_CH0 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH1 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH2 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} -void read_ADC_voltage(ADC_HandleTypeDef hadc1,uint16_t *ADC_VAL){ - ADC_Select_CH0(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[0] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH1(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[1] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH2(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[2] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); -} -void calibrateOffsets(ADC_HandleTypeDef hadc1,uint16_t *ADC_VAL) diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/81/2082344ab4a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/81/2082344ab4a3001e1b4082bf61e237c7 deleted file mode 100644 index 8ee160e..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/81/2082344ab4a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,577 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -ADC_HandleTypeDef hadc1; - -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; - -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -static void MX_ADC1_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -uint16_t current_offset[3]; -double current_phase[3]; -const int adc_range=4095; -const double Vref=3.3; // Voltage -const double Rsense=0.33; // Ohm -//const double KV= 2375.0/12.0; //KV number (RPM is 2149 - 2375, when operating voltage is 12V) - -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -struct LowPassFilter filter_current= {.Tf=0.05,.y_prev=0.0f}; //Tf=5ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=2.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=1.0,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -float cal_Iq(double* current_phase, float angle_el){ - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - float I_alpha=current_phase[0]; - float I_beta=_1_SQRT3*(2*current_phase[1]+current_phase[0]); -// float Iq=-sin(angle_el)*I_alpha+cos(angle_el)*I_beta; -// float Id=cos(angle_el)*I_alpha+sin(angle_el)*I_beta; - return -sin(angle_el)*I_alpha+cos(angle_el)*I_beta; -} - -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - calibrateOffsets(hadc1,¤t_offset); - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB; - PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float velo_controller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - read_ADC_voltage(hadc1,ADC_VAL); - for (int i=0;i<3;i++){ - current_phase[i] =(float) ( ADC_VAL[i]-current_offset[i])/(float) adc_range*Vref/Rsense; - } - - float Iq=cal_Iq(current_phase, _electricalAngle(angle_now, pole_pairs)); - float filtered_Iq=LowPassFilter_operator(Iq,&filter_current); - - float current_controller_output=PID_operator(velo_controller_out-filtered_Iq,&pid_controller_current); - - setPhaseVoltage(_constrain(current_controller_output,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/82/9063c7d085a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/82/9063c7d085a3001e1b4082bf61e237c7 deleted file mode 100644 index 85fd9ec..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/82/9063c7d085a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,69 +0,0 @@ -/* - * current_sense.c - * - * Created on: Dec 24, 2023 - * Author: haotian - */ -#include "current_sense.h" - - -void ADC_Select_CH0 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH1 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH2 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} -void read_ADC_voltage(ADC_HandleTypeDef hadc1,uint16_t *ADC_VAL){ - ADC_Select_CH0(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[0] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH1(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[1] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH2(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[2] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); -} diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/82/e0c0e0a3b5a2001e164b9bfe65a5b807 b/.metadata/.plugins/org.eclipse.core.resources/.history/82/e0c0e0a3b5a2001e164b9bfe65a5b807 deleted file mode 100644 index e69de29..0000000 diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/84/0097fa13b2a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/84/0097fa13b2a3001e1b4082bf61e237c7 deleted file mode 100644 index 58403bc..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/84/0097fa13b2a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,560 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -ADC_HandleTypeDef hadc1; - -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; - -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -static void MX_ADC1_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -struct LowPassFilter filter_current= {.Tf=0.05,.y_prev=0.0f}; //Tf=5ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=2.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=1.0,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - calibrateOffsets(hadc1,&offset); - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB; - PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float velo_controller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - read_ADC_voltage(hadc1,ADC_VAL); - for (int i=0;i<3;i++){ - current_phase[i] =(float) ( ADC_VAL[i]-offset[i])/(float) adc_range*Vref/Rsense; - } - - float Iq=cal_Iq(current_phase, _electricalAngle(angle_now, pole_pairs)); - float filtered_Iq=LowPassFilter_operator(angular_vel,&filter_current); - - float current_controller_output=PID_operator(velo_controller_out-filtered_Iq,&pid_controller_current); - - setPhaseVoltage(_constrain(,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/85/c0017655b1a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/85/c0017655b1a3001e1b4082bf61e237c7 deleted file mode 100644 index 8025d76..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/85/c0017655b1a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,557 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -ADC_HandleTypeDef hadc1; - -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; - -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -static void MX_ADC1_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -struct LowPassFilter filter_current= {.Tf=0.05,.y_prev=0.0f}; //Tf=5ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=2.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=1.0,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - calibrateOffsets(hadc1,&offset); - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB; - PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float velo_controller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - read_ADC_voltage(hadc1,ADC_VAL); - for (int i=0;i<3;i++){ - current_phase[i] =(float) ( ADC_VAL[i]-offset[i])/(float) adc_range*Vref/Rsense; - } - - float Iq=cal_Iq(current_phase, _electricalAngle(angle_now, pole_pairs)); - float filtered_Iq=LowPassFilter_operator(angular_vel,&filter_current); - setPhaseVoltage(_constrain(velo_controller_out,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/85/c0cd4434b0a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/85/c0cd4434b0a3001e1b4082bf61e237c7 deleted file mode 100644 index 1c560a7..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/85/c0cd4434b0a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,554 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -ADC_HandleTypeDef hadc1; - -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; - -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -static void MX_ADC1_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=1.0,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - calibrateOffsets(hadc1,&offset); - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB; - PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float velo_controller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - read_ADC_voltage(hadc1,ADC_VAL); - - setPhaseVoltage(_constrain(velo_controller_out,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - - for (int i=0;i<3;i++){ - current_phase[i] =(float) ( ADC_VAL[i]-offset[i])/(float) adc_range*Vref/Rsense; - } - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/87/6077ee6185a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/87/6077ee6185a3001e1b4082bf61e237c7 deleted file mode 100644 index 065abeb..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/87/6077ee6185a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,26 +0,0 @@ -/* - * current_sense.h - * - * Created on: Dec 24, 2023 - * Author: haotian - */ - -#ifndef INC_CURRENT_SENSE_H_ -#define INC_CURRENT_SENSE_H_ - -#include "stm32f1xx_hal.h" -#include - - - -float offset[3]; -const int adc_range=4095; -const double Vref=3.3; // Voltage -const double Rsense=0.33; // Ohm -const double KV= 2000; //KV number -double current_phase[3]; - - -void read_ADC_voltage(ADC_HandleTypeDef ,uint16_t *); - -#endif /* INC_CURRENT_SENSE_H_ */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/89/609763cf91a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/89/609763cf91a3001e1b4082bf61e237c7 deleted file mode 100644 index 040482b..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/89/609763cf91a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,86 +0,0 @@ -/* - * current_sense.c - * - * Created on: Dec 24, 2023 - * Author: haotian - */ -#include "current_sense.h" -#include "main.h" - - - -void ADC_Select_CH0 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH1 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH2 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} -void read_ADC_voltage(ADC_HandleTypeDef hadc1,uint16_t *ADC_VAL){ - ADC_Select_CH0(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[0] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH1(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[1] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH2(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[2] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); -} -void calibrateOffsets(ADC_HandleTypeDef hadc1,uint16_t *offset){ - const int calibration_rounds = 1000; - - // 查找0电流时候的电压 - offset_ia = 0; - offset_ib = 0; - offset_ic = 0; - uint16_t cal_current[3]; - for (int i = 0; i < calibration_rounds; i++) { - read_ADC_voltage(hadc1,cal_current); - for (int j=0;j<3;j++){ - - } - } -} diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/89/8032fae191a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/89/8032fae191a3001e1b4082bf61e237c7 deleted file mode 100644 index e1c7192..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/89/8032fae191a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,85 +0,0 @@ -/* - * current_sense.c - * - * Created on: Dec 24, 2023 - * Author: haotian - */ -#include "current_sense.h" -#include "main.h" - - - -void ADC_Select_CH0 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH1 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH2 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} -void read_ADC_voltage(ADC_HandleTypeDef hadc1,uint16_t *ADC_VAL){ - ADC_Select_CH0(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[0] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH1(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[1] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH2(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[2] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); -} -void calibrateOffsets(ADC_HandleTypeDef hadc1,uint16_t *offset){ - const int calibration_rounds = 1000; - - // 查找0电流时候的电压 - - uint16_t cal_current[3]; - for (int i = 0; i < calibration_rounds; i++) { - read_ADC_voltage(hadc1,cal_current); - for (int j=0;j<3;j++){ - offset[j]=(offset[j]*i+cal_current[j])/(i+1); - } - - } -} diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/8c/00a43bacb2a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/8c/00a43bacb2a3001e1b4082bf61e237c7 deleted file mode 100644 index cdf5a31..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/8c/00a43bacb2a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,570 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -ADC_HandleTypeDef hadc1; - -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; - -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -static void MX_ADC1_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -struct LowPassFilter filter_current= {.Tf=0.05,.y_prev=0.0f}; //Tf=5ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=2.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=1.0,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -float cal_Iq(double* current_phase, float angle_el){ - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - float I_alpha=current_phase[0]; - float I_beta=_1_SQRT3*(2*current_phase[1]+current_phase[0]); - float Iq=-sin(angle_el)*I_alpha+cos(angle_el)*I_beta; -// float Id=cos(angle_el)*I_alpha+sin(angle_el)*I_beta; - return Iq; -} - -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - calibrateOffsets(hadc1,&offset); - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB; - PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float velo_controller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - read_ADC_voltage(hadc1,ADC_VAL); - for (int i=0;i<3;i++){ - current_phase[i] =(float) ( ADC_VAL[i]-offset[i])/(float) adc_range*Vref/Rsense; - } - - float Iq=cal_Iq(current_phase, _electricalAngle(angle_now, pole_pairs)); - float filtered_Iq=LowPassFilter_operator(angular_vel,&filter_current); - - float current_controller_output=PID_operator(velo_controller_out-filtered_Iq,&pid_controller_current); - - setPhaseVoltage(_constrain(current_controller_output,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/8c/20c7264cb2a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/8c/20c7264cb2a3001e1b4082bf61e237c7 deleted file mode 100644 index a8cbe02..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/8c/20c7264cb2a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,29 +0,0 @@ -/* - * current_sense.h - * - * Created on: Dec 24, 2023 - * Author: haotian - */ - -#ifndef INC_CURRENT_SENSE_H_ -#define INC_CURRENT_SENSE_H_ - -#include "stm32f1xx_hal.h" -#include - - - -uint16_t offset[3]; -const int adc_range=4095; -const double Vref=3.3; // Voltage -const double Rsense=0.33; // Ohm -const double KV= 2375.0/12.0; //KV number (RPM is 2149 - 2375, when operating voltage is 12V) -double current_phase[3]; - -void ADC_Select_CH0(ADC_HandleTypeDef); -void ADC_Select_CH1(ADC_HandleTypeDef); -void ADC_Select_CH2(ADC_HandleTypeDef); -void read_ADC_voltage(ADC_HandleTypeDef ,uint16_t *); -void calibrateOffsets(ADC_HandleTypeDef,uint16_t *); - -#endif /* INC_CURRENT_SENSE_H_ */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/8c/8072d2d891a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/8c/8072d2d891a3001e1b4082bf61e237c7 deleted file mode 100644 index f93e90a..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/8c/8072d2d891a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,84 +0,0 @@ -/* - * current_sense.c - * - * Created on: Dec 24, 2023 - * Author: haotian - */ -#include "current_sense.h" -#include "main.h" - - - -void ADC_Select_CH0 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH1 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH2 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} -void read_ADC_voltage(ADC_HandleTypeDef hadc1,uint16_t *ADC_VAL){ - ADC_Select_CH0(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[0] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH1(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[1] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH2(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[2] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); -} -void calibrateOffsets(ADC_HandleTypeDef hadc1,uint16_t *offset){ - const int calibration_rounds = 1000; - - // 查找0电流时候的电压 - - uint16_t cal_current[3]; - for (int i = 0; i < calibration_rounds; i++) { - read_ADC_voltage(hadc1,cal_current); - for (int j=0;j<3;j++){ - offset[j]=(offset[j]*i+cal_current[j])/(i+1); - } - } -} diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/8d/202a55951aa2001e1ab2edb23f9b017a b/.metadata/.plugins/org.eclipse.core.resources/.history/8d/202a55951aa2001e1ab2edb23f9b017a deleted file mode 100644 index d88359e..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/8d/202a55951aa2001e1ab2edb23f9b017a +++ /dev/null @@ -1,8 +0,0 @@ -/* - * motor_control.c - * - * Created on: Dec 23, 2023 - * Author: haotian - */ - - diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/8e/5050197c7ca3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/8e/5050197c7ca3001e1b4082bf61e237c7 deleted file mode 100644 index 8dde63b..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/8e/5050197c7ca3001e1b4082bf61e237c7 +++ /dev/null @@ -1,20 +0,0 @@ -/* - * current_sense.h - * - * Created on: Dec 24, 2023 - * Author: haotian - */ - -#ifndef INC_CURRENT_SENSE_H_ -#define INC_CURRENT_SENSE_H_ - -#include "stm32f1xx_hal.h" -#include - -float offset_ia,offset_ib,offset_ib; -const int adc_range=4095; -const double Vref=3.3; // Voltage -const double Rsense=0.33; // Ohm -const double KV= 2000; //KV number -double ia,ib,ic; -#endif /* INC_CURRENT_SENSE_H_ */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/92/604257d8bda2001e164b9bfe65a5b807 b/.metadata/.plugins/org.eclipse.core.resources/.history/92/604257d8bda2001e164b9bfe65a5b807 deleted file mode 100644 index 9a60976..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/92/604257d8bda2001e164b9bfe65a5b807 +++ /dev/null @@ -1,14 +0,0 @@ -/* - * current_sense.h - * - * Created on: Dec 24, 2023 - * Author: haotian - */ - -#ifndef INC_CURRENT_SENSE_H_ -#define INC_CURRENT_SENSE_H_ -float offset_ia,offset_ib,offset_ib; -const int adc_range=4095; - - -#endif /* INC_CURRENT_SENSE_H_ */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/93/c05ad2a885a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/93/c05ad2a885a3001e1b4082bf61e237c7 deleted file mode 100644 index f4d1ea4..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/93/c05ad2a885a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,69 +0,0 @@ -/* - * current_sense.c - * - * Created on: Dec 24, 2023 - * Author: haotian - */ -#include "current_sense.h" - - -void ADC_Select_CH0 (void) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH1 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH2 (void) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} -void read_ADC_voltage(ADC_HandleTypeDef hadc1,uint16_t *ADC_VAL){ - ADC_Select_CH0(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[0] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH1(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[1] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH2(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[2] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); -} diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/99/a04bd32a91a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/99/a04bd32a91a3001e1b4082bf61e237c7 deleted file mode 100644 index cc19f4c..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/99/a04bd32a91a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,82 +0,0 @@ -/* - * current_sense.c - * - * Created on: Dec 24, 2023 - * Author: haotian - */ -#include "current_sense.h" -#include "main.h" - - - -void ADC_Select_CH0 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH1 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH2 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} -void read_ADC_voltage(ADC_HandleTypeDef hadc1,uint16_t *ADC_VAL){ - ADC_Select_CH0(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[0] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH1(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[1] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH2(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[2] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); -} -void calibrateOffsets(ADC_HandleTypeDef hadc1,uint16_t *offset){ - const int calibration_rounds = 1000; - - // 查找0电流时候的电压 - offset_ia = 0; - offset_ib = 0; - offset_ic = 0; - for (int i = 0; i < calibration_rounds; i++) { - - } -} diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/99/e00a4264b2a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/99/e00a4264b2a3001e1b4082bf61e237c7 deleted file mode 100644 index b7ea3c7..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/99/e00a4264b2a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,29 +0,0 @@ -/* - * current_sense.h - * - * Created on: Dec 24, 2023 - * Author: haotian - */ - -#ifndef INC_CURRENT_SENSE_H_ -#define INC_CURRENT_SENSE_H_ - -#include "stm32f1xx_hal.h" -#include -#include - - -uint16_t offset[3]; -const int adc_range=4095; -const double Vref=3.3; // Voltage -const double Rsense=0.33; // Ohm -const double KV= 2375.0/12.0; //KV number (RPM is 2149 - 2375, when operating voltage is 12V) -double current_phase[3]; - -void ADC_Select_CH0(ADC_HandleTypeDef); -void ADC_Select_CH1(ADC_HandleTypeDef); -void ADC_Select_CH2(ADC_HandleTypeDef); -void read_ADC_voltage(ADC_HandleTypeDef ,uint16_t *); -void calibrateOffsets(ADC_HandleTypeDef,uint16_t *); -float cal_Iq(float* , float ); -#endif /* INC_CURRENT_SENSE_H_ */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/9a/f0bdddb37ca3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/9a/f0bdddb37ca3001e1b4082bf61e237c7 deleted file mode 100644 index e246572..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/9a/f0bdddb37ca3001e1b4082bf61e237c7 +++ /dev/null @@ -1,546 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; -ADC_HandleTypeDef hadc1; -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USB; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float contorller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - setPhaseVoltage(_constrain(contorller_out,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - read_ADC_voltage(adc1,ADC_VAL); - - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/9b/f0ebdd57afa3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/9b/f0ebdd57afa3001e1b4082bf61e237c7 deleted file mode 100644 index 9ca3b0b..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/9b/f0ebdd57afa3001e1b4082bf61e237c7 +++ /dev/null @@ -1,552 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -ADC_HandleTypeDef hadc1; - -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; - -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -static void MX_ADC1_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - calibrateOffsets(hadc1,offset); - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB; - PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float contorller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - setPhaseVoltage(_constrain(contorller_out,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - read_ADC_voltage(hadc1,ADC_VAL); - for (int i=0;i<3;i++){ - current_phase[i] =(float) ( ADC_VAL[i]-offset[i])/(float) adc_range*Vref/Rsense; - } - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/9d/60e44bb5b2a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/9d/60e44bb5b2a3001e1b4082bf61e237c7 deleted file mode 100644 index 4799ad1..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/9d/60e44bb5b2a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,571 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -ADC_HandleTypeDef hadc1; - -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; - -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -static void MX_ADC1_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -uint16_t current_offset[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -struct LowPassFilter filter_current= {.Tf=0.05,.y_prev=0.0f}; //Tf=5ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=2.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=1.0,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -float cal_Iq(double* current_phase, float angle_el){ - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - float I_alpha=current_phase[0]; - float I_beta=_1_SQRT3*(2*current_phase[1]+current_phase[0]); - float Iq=-sin(angle_el)*I_alpha+cos(angle_el)*I_beta; -// float Id=cos(angle_el)*I_alpha+sin(angle_el)*I_beta; - return Iq; -} - -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - calibrateOffsets(hadc1,&offset); - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB; - PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float velo_controller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - read_ADC_voltage(hadc1,ADC_VAL); - for (int i=0;i<3;i++){ - current_phase[i] =(float) ( ADC_VAL[i]-offset[i])/(float) adc_range*Vref/Rsense; - } - - float Iq=cal_Iq(current_phase, _electricalAngle(angle_now, pole_pairs)); - float filtered_Iq=LowPassFilter_operator(angular_vel,&filter_current); - - float current_controller_output=PID_operator(velo_controller_out-filtered_Iq,&pid_controller_current); - - setPhaseVoltage(_constrain(current_controller_output,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/a1/a09463dde7a2001e164b9bfe65a5b807 b/.metadata/.plugins/org.eclipse.core.resources/.history/a1/a09463dde7a2001e164b9bfe65a5b807 deleted file mode 100644 index 0c0fb7c..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/a1/a09463dde7a2001e164b9bfe65a5b807 +++ /dev/null @@ -1,492 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.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 ---------------------------------------------------------*/ -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; - -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USB; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float contorller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - setPhaseVoltage(_constrain(contorller_out,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - ADC_Select_CH0(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[0] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH1(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[1] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH2(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[2] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/a2/00d9a543b3a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/a2/00d9a543b3a3001e1b4082bf61e237c7 deleted file mode 100644 index 82794f8..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/a2/00d9a543b3a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,29 +0,0 @@ -/* - * current_sense.h - * - * Created on: Dec 24, 2023 - * Author: haotian - */ - -#ifndef INC_CURRENT_SENSE_H_ -#define INC_CURRENT_SENSE_H_ - -#include "stm32f1xx_hal.h" -#include - - - - -const int adc_range=4095; -const double Vref=3.3; // Voltage -const double Rsense=0.33; // Ohm -const double KV= 2375.0/12.0; //KV number (RPM is 2149 - 2375, when operating voltage is 12V) -double current_phase[3]; - -void ADC_Select_CH0(ADC_HandleTypeDef); -void ADC_Select_CH1(ADC_HandleTypeDef); -void ADC_Select_CH2(ADC_HandleTypeDef); -void read_ADC_voltage(ADC_HandleTypeDef ,uint16_t *); -void calibrateOffsets(ADC_HandleTypeDef,uint16_t *); - -#endif /* INC_CURRENT_SENSE_H_ */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/a3/b007c986afa3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/a3/b007c986afa3001e1b4082bf61e237c7 deleted file mode 100644 index 3153985..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/a3/b007c986afa3001e1b4082bf61e237c7 +++ /dev/null @@ -1,552 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -ADC_HandleTypeDef hadc1; - -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; - -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -static void MX_ADC1_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - calibrateOffsets(hadc1,&offset); - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB; - PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float contorller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - setPhaseVoltage(_constrain(contorller_out,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - read_ADC_voltage(hadc1,ADC_VAL); - for (int i=0;i<3;i++){ - current_phase[i] =(float) ( ADC_VAL[i]-offset[i])/(float) adc_range*Vref/Rsense; - } - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/a5/90187cd5b2a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/a5/90187cd5b2a3001e1b4082bf61e237c7 deleted file mode 100644 index 19c7278..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/a5/90187cd5b2a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,571 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -ADC_HandleTypeDef hadc1; - -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; - -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -static void MX_ADC1_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -uint16_t current_offset[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -struct LowPassFilter filter_current= {.Tf=0.05,.y_prev=0.0f}; //Tf=5ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=2.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=1.0,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -float cal_Iq(double* current_phase, float angle_el){ - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - float I_alpha=current_phase[0]; - float I_beta=_1_SQRT3*(2*current_phase[1]+current_phase[0]); -// float Iq=-sin(angle_el)*I_alpha+cos(angle_el)*I_beta; -// float Id=cos(angle_el)*I_alpha+sin(angle_el)*I_beta; - return -sin(angle_el)*I_alpha+cos(angle_el)*I_beta; -} - -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - calibrateOffsets(hadc1,¤t_offset); - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB; - PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float velo_controller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - read_ADC_voltage(hadc1,ADC_VAL); - for (int i=0;i<3;i++){ - current_phase[i] =(float) ( ADC_VAL[i]-current_offset[i])/(float) adc_range*Vref/Rsense; - } - - float Iq=cal_Iq(current_phase, _electricalAngle(angle_now, pole_pairs)); - float filtered_Iq=LowPassFilter_operator(angular_vel,&filter_current); - - float current_controller_output=PID_operator(velo_controller_out-filtered_Iq,&pid_controller_current); - - setPhaseVoltage(_constrain(current_controller_output,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/a6/6036e39a7fa3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/a6/6036e39a7fa3001e1b4082bf61e237c7 deleted file mode 100644 index f062866..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/a6/6036e39a7fa3001e1b4082bf61e237c7 +++ /dev/null @@ -1,26 +0,0 @@ -/* - * current_sense.h - * - * Created on: Dec 24, 2023 - * Author: haotian - */ - -#ifndef INC_CURRENT_SENSE_H_ -#define INC_CURRENT_SENSE_H_ - -#include "stm32f1xx_hal.h" -#include - - - -float offset_ia,offset_ib,offset_ib; -const int adc_range=4095; -const double Vref=3.3; // Voltage -const double Rsense=0.33; // Ohm -const double KV= 2000; //KV number -double current_phase[3]; - - -void read_ADC_voltage(ADC_HandleTypeDef ,uint16_t *); - -#endif /* INC_CURRENT_SENSE_H_ */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/a9/9014b686b2a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/a9/9014b686b2a3001e1b4082bf61e237c7 deleted file mode 100644 index eae2b64..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/a9/9014b686b2a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,570 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -ADC_HandleTypeDef hadc1; - -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; - -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -static void MX_ADC1_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -struct LowPassFilter filter_current= {.Tf=0.05,.y_prev=0.0f}; //Tf=5ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=2.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=1.0,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -float cal_Iq(float* current_phase, float angle_el){ - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - float I_alpha=current_phase[0]; - float I_beta=_1_SQRT3*(2*current_phase[1]+current_phase[0]); - float Iq=-sin(angle_el)*I_alpha+cos(angle_el)*I_beta; -// float Id=cos(angle_el)*I_alpha+sin(angle_el)*I_beta; - return Iq; -} - -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - calibrateOffsets(hadc1,&offset); - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB; - PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float velo_controller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - read_ADC_voltage(hadc1,ADC_VAL); - for (int i=0;i<3;i++){ - current_phase[i] =(float) ( ADC_VAL[i]-offset[i])/(float) adc_range*Vref/Rsense; - } - - float Iq=cal_Iq(current_phase, _electricalAngle(angle_now, pole_pairs)); - float filtered_Iq=LowPassFilter_operator(angular_vel,&filter_current); - - float current_controller_output=PID_operator(velo_controller_out-filtered_Iq,&pid_controller_current); - - setPhaseVoltage(_constrain(current_controller_output,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/ab/802e503b91a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/ab/802e503b91a3001e1b4082bf61e237c7 deleted file mode 100644 index cc19f4c..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/ab/802e503b91a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,82 +0,0 @@ -/* - * current_sense.c - * - * Created on: Dec 24, 2023 - * Author: haotian - */ -#include "current_sense.h" -#include "main.h" - - - -void ADC_Select_CH0 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH1 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH2 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} -void read_ADC_voltage(ADC_HandleTypeDef hadc1,uint16_t *ADC_VAL){ - ADC_Select_CH0(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[0] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH1(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[1] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH2(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[2] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); -} -void calibrateOffsets(ADC_HandleTypeDef hadc1,uint16_t *offset){ - const int calibration_rounds = 1000; - - // 查找0电流时候的电压 - offset_ia = 0; - offset_ib = 0; - offset_ic = 0; - for (int i = 0; i < calibration_rounds; i++) { - - } -} diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/ad/c0b8fe6390a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/ad/c0b8fe6390a3001e1b4082bf61e237c7 deleted file mode 100644 index 38204b1..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/ad/c0b8fe6390a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,28 +0,0 @@ -/* - * current_sense.h - * - * Created on: Dec 24, 2023 - * Author: haotian - */ - -#ifndef INC_CURRENT_SENSE_H_ -#define INC_CURRENT_SENSE_H_ - -#include "stm32f1xx_hal.h" -#include - - - -float offset[3]; -const int adc_range=4095; -const double Vref=3.3; // Voltage -const double Rsense=0.33; // Ohm -const double KV= 2000; //KV number -double current_phase[3]; - -void ADC_Select_CH0(ADC_HandleTypeDef); -void ADC_Select_CH1(ADC_HandleTypeDef); -void ADC_Select_CH2(ADC_HandleTypeDef); -void read_ADC_voltage(ADC_HandleTypeDef ,uint16_t *); - -#endif /* INC_CURRENT_SENSE_H_ */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/af/1023440d1ba2001e1ab2edb23f9b017a b/.metadata/.plugins/org.eclipse.core.resources/.history/af/1023440d1ba2001e1ab2edb23f9b017a deleted file mode 100644 index e69de29..0000000 diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/b/c019673cb2a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/b/c019673cb2a3001e1b4082bf61e237c7 deleted file mode 100644 index c51b66f..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/b/c019673cb2a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,560 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -ADC_HandleTypeDef hadc1; - -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; - -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -static void MX_ADC1_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -struct LowPassFilter filter_current= {.Tf=0.05,.y_prev=0.0f}; //Tf=5ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=2.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=1.0,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - calibrateOffsets(hadc1,&offset); - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB; - PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float velo_controller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - read_ADC_voltage(hadc1,ADC_VAL); - for (int i=0;i<3;i++){ - current_phase[i] =(float) ( ADC_VAL[i]-offset[i])/(float) adc_range*Vref/Rsense; - } - - float Iq=cal_Iq(current_phase, _electricalAngle(angle_now, pole_pairs)); - float filtered_Iq=LowPassFilter_operator(angular_vel,&filter_current); - - float current_controller_output=PID_operator(velo_controller_out-filtered_Iq,&pid_controller_current); - - setPhaseVoltage(_constrain(current_controller_output,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/b1/6011eaf4b6a3001e1e298100ab8cd7a4 b/.metadata/.plugins/org.eclipse.core.resources/.history/b1/6011eaf4b6a3001e1e298100ab8cd7a4 deleted file mode 100644 index cf67178..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/b1/6011eaf4b6a3001e1e298100ab8cd7a4 +++ /dev/null @@ -1,104 +0,0 @@ -/* - * mortor_control.c - * - * Created on: Jun 17, 2023 - * Author: hht - */ - -#include "motor_control.h" - -extern float zero_electric_angle; -extern int pole_pairs; -extern float shaft_angle; -extern int dir; -extern float voltage_limit; -extern float voltage_power_supply; -extern int period; - -float _normalizeAngle(float angle){ - float a = fmod(angle, 2*M_PI); //取余运算可以用于归一化，列出特殊值例子算便知 - return a >= 0 ? a : (a + 2*M_PI); - //三目运算符。格式：condition ? expr1 : expr2 - //其中，condition 是要求值的条件表达式，如果条件成立，则返回 expr1 的值，否则返回 expr2 的值。 - //可以将三目运算符视为 if-else 语句的简化形式。 - //fmod 函数的余数的符号与除数相同。因此，当 angle 的值为负数时，余数的符号将与 _2M_PI 的符号相反。 - //也就是说，如果 angle 的值小于 0 且 _2M_PI 的值为正数，则 fmod(angle, _2M_PI) 的余数将为负数。 - //例如，当 angle 的值为 -M_PI/2，_2M_PI 的值为 2M_PI 时，fmod(angle, _2M_PI) 将返回一个负数。 - //在这种情况下，可以通过将负数的余数加上 _2M_PI 来将角度归一化到 [0, 2M_PI] 的范围内，以确保角度的值始终为正数。 -} - -float _electricalAngle(float shaft_angle, int pole_pairs) { - return _normalizeAngle(((float)(dir * pole_pairs)*shaft_angle)-zero_electric_angle); -} - - - -//开环速度函数 -float velocityOpenloop(float target_velocity, float Uq, TIM_TypeDef * TIM_BASE){ -// uint32_t now_us = getCurrentMicros(); -// uint32_t now_us = HAL_GetTick(); -// Provides a tick value in microseconds. - - //计算当前每个Loop的运行时间间隔 -// float Ts = (now_us - open_loop_timestamp) * 1e-3f; - float Ts=2.5E-3f; - - // 通过乘以时间间隔和目标速度来计算需要转动的机械角度，存储在 shaft_angle 变量中。 - //在此之前，还需要对轴角度进行归一化，以确保其值在 0 到 2π 之间。 - shaft_angle = _normalizeAngle(shaft_angle + target_velocity*Ts); - //以目标速度为 10 rad/s 为例，如果时间间隔是 1 秒，则在每个循环中需要增加 10 * 1 = 10 弧度的角度变化量，才能使电机转动到目标速度。 - //如果时间间隔是 0.1 秒，那么在每个循环中需要增加的角度变化量就是 10 * 0.1 = 1 弧度，才能实现相同的目标速度。 - //因此，电机轴的转动角度取决于目标速度和时间间隔的乘积。 - - // Uq is not related to voltage limit - - - setPhaseVoltage(Uq, 0, _electricalAngle(shaft_angle, pole_pairs),TIM_BASE); - -// open_loop_timestamp = now_us; //用于计算下一个时间间隔 - - return Uq; -} - - - - - -void setPwm(float Ua, float Ub, float Uc, TIM_TypeDef * TIM_BASE) { - -// // 限制上限 - Ua = _constrain(Ua, 0.0f, voltage_limit); - Ub = _constrain(Ub, 0.0f, voltage_limit); - Uc = _constrain(Uc, 0.0f, voltage_limit); - // 计算占空比 - // 限制占空比从0到1 - float dc_a = _constrain(Ua / voltage_power_supply, 0.0f , 1.0f ); - float dc_b = _constrain(Ub / voltage_power_supply, 0.0f , 1.0f ); - float dc_c = _constrain(Uc / voltage_power_supply, 0.0f , 1.0f ); - - //写入PWM到PWM 0 1 2 通道 - TIM_BASE->CCR1 = (uint32_t) roundf(dc_a*period); - TIM_BASE->CCR2 = (uint32_t) roundf(dc_b*period); - TIM_BASE->CCR3 = (uint32_t) roundf(dc_c*period); - -} - -void setPhaseVoltage(float Uq,float Ud, float angle_el, TIM_TypeDef * TIM_BASE) { - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - if (Uq <0 ){ - angle_el+=M_PI; - Uq=abs(Uq); - } - angle_el = _normalizeAngle (angle_el+M_PI/3); - - // 帕克逆变换 - float Ualpha = -Uq*sin(angle_el); - float Ubeta = Uq*cos(angle_el); - - // 克拉克逆变换 - float Ua = Ualpha + voltage_power_supply/2; - float Ub = (sqrt(3)*Ubeta-Ualpha)/2 + voltage_power_supply/2; - float Uc = (-Ualpha-sqrt(3)*Ubeta)/2 + voltage_power_supply/2; - setPwm(Ua,Ub,Uc,TIM_BASE); -} - diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/b1/a034277785a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/b1/a034277785a3001e1b4082bf61e237c7 deleted file mode 100644 index 7cd6a22..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/b1/a034277785a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,28 +0,0 @@ -/* - * current_sense.h - * - * Created on: Dec 24, 2023 - * Author: haotian - */ - -#ifndef INC_CURRENT_SENSE_H_ -#define INC_CURRENT_SENSE_H_ - -#include "stm32f1xx_hal.h" -#include - - - -float offset[3]; -const int adc_range=4095; -const double Vref=3.3; // Voltage -const double Rsense=0.33; // Ohm -const double KV= 2000; //KV number -double current_phase[3]; - -void ADC_Select_CH0(void); -void ADC_Select_CH1(void); -void ADC_Select_CH2(void); -void read_ADC_voltage(ADC_HandleTypeDef ,uint16_t *); - -#endif /* INC_CURRENT_SENSE_H_ */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/b4/006ac10991a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/b4/006ac10991a3001e1b4082bf61e237c7 deleted file mode 100644 index 4be4a5f..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/b4/006ac10991a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,74 +0,0 @@ -/* - * current_sense.c - * - * Created on: Dec 24, 2023 - * Author: haotian - */ -#include "current_sense.h" -#include "main.h" - - - -void ADC_Select_CH0 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH1 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH2 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} -void read_ADC_voltage(ADC_HandleTypeDef hadc1,uint16_t *ADC_VAL){ - ADC_Select_CH0(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[0] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH1(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[1] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH2(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[2] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); -} -void calibrateOffsets(ADC_HandleTypeDef hadc1,uint16_t *offset){ -} -} diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/b4/e0b71cb37ca3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/b4/e0b71cb37ca3001e1b4082bf61e237c7 deleted file mode 100644 index e246572..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/b4/e0b71cb37ca3001e1b4082bf61e237c7 +++ /dev/null @@ -1,546 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; -ADC_HandleTypeDef hadc1; -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USB; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float contorller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - setPhaseVoltage(_constrain(contorller_out,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - read_ADC_voltage(adc1,ADC_VAL); - - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/b6/30b0dc337ba3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/b6/30b0dc337ba3001e1b4082bf61e237c7 deleted file mode 100644 index ed3689c..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/b6/30b0dc337ba3001e1b4082bf61e237c7 +++ /dev/null @@ -1,559 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.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 ---------------------------------------------------------*/ -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; -ADC_HandleTypeDef hadc1; -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USB; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float contorller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - setPhaseVoltage(_constrain(contorller_out,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - ADC_Select_CH0(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[0] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH1(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[1] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH2(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[2] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/b6/f012cd1a1ea2001e1ab2edb23f9b017a b/.metadata/.plugins/org.eclipse.core.resources/.history/b6/f012cd1a1ea2001e1ab2edb23f9b017a deleted file mode 100644 index e69de29..0000000 diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/b7/600dc5857ca3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/b7/600dc5857ca3001e1b4082bf61e237c7 deleted file mode 100644 index eac73eb..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/b7/600dc5857ca3001e1b4082bf61e237c7 +++ /dev/null @@ -1,27 +0,0 @@ -/* - * current_sense.c - * - * Created on: Dec 24, 2023 - * Author: haotian - */ -#include "current_sense.h" - -void read_ADC_voltage(ADC_HandleTypeDef hadc1, uint16_t & ADC_VAL ){ - ADC_Select_CH0(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[0] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH1(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[1] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH2(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[2] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); -} diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/b8/0050ce1286a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/b8/0050ce1286a3001e1b4082bf61e237c7 deleted file mode 100644 index 2271707..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/b8/0050ce1286a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,78 +0,0 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * @file : main.h - * @brief : Header for main.c file. - * This file contains the common defines of the application. - ****************************************************************************** - * @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 __MAIN_H -#define __MAIN_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f1xx_hal.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include "motor_control.h" -/* USER CODE END Includes */ - -/* Exported types ------------------------------------------------------------*/ -/* USER CODE BEGIN ET */ - -/* USER CODE END ET */ - -/* Exported constants --------------------------------------------------------*/ -/* USER CODE BEGIN EC */ - -/* USER CODE END EC */ - -/* Exported macro ------------------------------------------------------------*/ -/* USER CODE BEGIN EM */ - -/* USER CODE END EM */ - -void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim); - -/* Exported functions prototypes ---------------------------------------------*/ -void Error_Handler(void); - -/* USER CODE BEGIN EFP */ - -/* USER CODE END EFP */ - -/* Private defines -----------------------------------------------------------*/ -#define LED_Pin GPIO_PIN_13 -#define LED_GPIO_Port GPIOC -#define SPI1_CSn_Pin GPIO_PIN_0 -#define SPI1_CSn_GPIO_Port GPIOB -#define Motor_Enable_Pin GPIO_PIN_15 -#define Motor_Enable_GPIO_Port GPIOB - -/* USER CODE BEGIN Private defines */ -void MX_ADC1_Init(void); - -/* USER CODE END Private defines */ - -#ifdef __cplusplus -} -#endif - -#endif /* __MAIN_H */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/b8/50b20b4a91a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/b8/50b20b4a91a3001e1b4082bf61e237c7 deleted file mode 100644 index c6cb6a5..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/b8/50b20b4a91a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,29 +0,0 @@ -/* - * current_sense.h - * - * Created on: Dec 24, 2023 - * Author: haotian - */ - -#ifndef INC_CURRENT_SENSE_H_ -#define INC_CURRENT_SENSE_H_ - -#include "stm32f1xx_hal.h" -#include - - - -float offset[3]; -const int adc_range=4095; -const double Vref=3.3; // Voltage -const double Rsense=0.33; // Ohm -const double KV= 2375.0/12.0; //KV number (RPM is 2149 - 2375, when operating voltage is 12V) -double current_phase[3]; - -void ADC_Select_CH0(ADC_HandleTypeDef); -void ADC_Select_CH1(ADC_HandleTypeDef); -void ADC_Select_CH2(ADC_HandleTypeDef); -void read_ADC_voltage(ADC_HandleTypeDef ,uint16_t *); -void calibrateOffsets(ADC_HandleTypeDef,uint16_t *); - -#endif /* INC_CURRENT_SENSE_H_ */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/bb/3083715385a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/bb/3083715385a3001e1b4082bf61e237c7 deleted file mode 100644 index 4eb4648..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/bb/3083715385a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,27 +0,0 @@ -/* - * current_sense.c - * - * Created on: Dec 24, 2023 - * Author: haotian - */ -#include "current_sense.h" - -void read_ADC_voltage(ADC_HandleTypeDef hadc1,uint16_t *ADC_VAL){ - ADC_Select_CH0(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[0] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH1(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[1] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH2(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[2] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); -} diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/c/003a5bd8bda2001e164b9bfe65a5b807 b/.metadata/.plugins/org.eclipse.core.resources/.history/c/003a5bd8bda2001e164b9bfe65a5b807 deleted file mode 100644 index e69de29..0000000 diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/c/f07c67c57ca3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/c/f07c67c57ca3001e1b4082bf61e237c7 deleted file mode 100644 index e246572..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/c/f07c67c57ca3001e1b4082bf61e237c7 +++ /dev/null @@ -1,546 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; -ADC_HandleTypeDef hadc1; -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USB; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float contorller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - setPhaseVoltage(_constrain(contorller_out,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - read_ADC_voltage(adc1,ADC_VAL); - - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/c0/102db39a7ca3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/c0/102db39a7ca3001e1b4082bf61e237c7 deleted file mode 100644 index 99883a1..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/c0/102db39a7ca3001e1b4082bf61e237c7 +++ /dev/null @@ -1,27 +0,0 @@ -/* - * current_sense.c - * - * Created on: Dec 24, 2023 - * Author: haotian - */ -#include "current_sense.h" - -void read_ADC_voltage(ADC_HandleTypeDef hadc1, uint16_t& ADC_VAL){ - ADC_Select_CH0(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[0] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH1(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[1] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH2(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[2] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); -} diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/c1/f0e415f9afa3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/c1/f0e415f9afa3001e1b4082bf61e237c7 deleted file mode 100644 index 721a658..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/c1/f0e415f9afa3001e1b4082bf61e237c7 +++ /dev/null @@ -1,552 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -ADC_HandleTypeDef hadc1; - -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; - -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -static void MX_ADC1_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - calibrateOffsets(hadc1,&offset); - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB; - PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float velo_controller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - setPhaseVoltage(_constrain(velo_controller_out,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - read_ADC_voltage(hadc1,ADC_VAL); - for (int i=0;i<3;i++){ - current_phase[i] =(float) ( ADC_VAL[i]-offset[i])/(float) adc_range*Vref/Rsense; - } - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/c2/d07ed26373a3001e1f4188b4f6511e49 b/.metadata/.plugins/org.eclipse.core.resources/.history/c2/d07ed26373a3001e1f4188b4f6511e49 deleted file mode 100644 index 8681769..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/c2/d07ed26373a3001e1f4188b4f6511e49 +++ /dev/null @@ -1,15 +0,0 @@ -/* - * current_sense.h - * - * Created on: Dec 24, 2023 - * Author: haotian - */ - -#ifndef INC_CURRENT_SENSE_H_ -#define INC_CURRENT_SENSE_H_ -float offset_ia,offset_ib,offset_ib; -const int adc_range=4095; -const double Vref=3.3; // Voltage -const double Rsense=0.33; // Ohm - -#endif /* INC_CURRENT_SENSE_H_ */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/c2/f02ccbfb1aa2001e1ab2edb23f9b017a b/.metadata/.plugins/org.eclipse.core.resources/.history/c2/f02ccbfb1aa2001e1ab2edb23f9b017a deleted file mode 100644 index 871983b..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/c2/f02ccbfb1aa2001e1ab2edb23f9b017a +++ /dev/null @@ -1,8 +0,0 @@ -/* - * pid.c - * - * Created on: Dec 23, 2023 - * Author: haotian - */ - - diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/c4/a0dcedb8e9a2001e164b9bfe65a5b807 b/.metadata/.plugins/org.eclipse.core.resources/.history/c4/a0dcedb8e9a2001e164b9bfe65a5b807 deleted file mode 100644 index 3505ba7..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/c4/a0dcedb8e9a2001e164b9bfe65a5b807 +++ /dev/null @@ -1,492 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.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 ---------------------------------------------------------*/ -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; -ADC_HandleTypeDef hadc1; -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USB; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float contorller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - setPhaseVoltage(_constrain(contorller_out,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - ADC_Select_CH0(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[0] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH1(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[1] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH2(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[2] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/c6/50656f4eb7a3001e1e298100ab8cd7a4 b/.metadata/.plugins/org.eclipse.core.resources/.history/c6/50656f4eb7a3001e1e298100ab8cd7a4 deleted file mode 100644 index 96d49fd..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/c6/50656f4eb7a3001e1e298100ab8cd7a4 +++ /dev/null @@ -1,144 +0,0 @@ -/* - * mortor_control.c - * - * Created on: Jun 17, 2023 - * Author: hht - */ - -#include "motor_control.h" - -extern float zero_electric_angle; -extern int pole_pairs; -extern float shaft_angle; -extern int dir; -extern float voltage_limit; -extern float voltage_power_supply; -extern int period; - -float _normalizeAngle(float angle){ - float a = fmod(angle, 2*M_PI); //取余运算可以用于归一化，列出特殊值例子算便知 - return a >= 0 ? a : (a + 2*M_PI); - //三目运算符。格式：condition ? expr1 : expr2 - //其中，condition 是要求值的条件表达式，如果条件成立，则返回 expr1 的值，否则返回 expr2 的值。 - //可以将三目运算符视为 if-else 语句的简化形式。 - //fmod 函数的余数的符号与除数相同。因此，当 angle 的值为负数时，余数的符号将与 _2M_PI 的符号相反。 - //也就是说，如果 angle 的值小于 0 且 _2M_PI 的值为正数，则 fmod(angle, _2M_PI) 的余数将为负数。 - //例如，当 angle 的值为 -M_PI/2，_2M_PI 的值为 2M_PI 时，fmod(angle, _2M_PI) 将返回一个负数。 - //在这种情况下，可以通过将负数的余数加上 _2M_PI 来将角度归一化到 [0, 2M_PI] 的范围内，以确保角度的值始终为正数。 -} - -float _electricalAngle(float shaft_angle, int pole_pairs) { - return _normalizeAngle(((float)(dir * pole_pairs)*shaft_angle)-zero_electric_angle); -} - - - -//开环速度函数 -float velocityOpenloop(float target_velocity, float Uq, TIM_TypeDef * TIM_BASE){ -// uint32_t now_us = getCurrentMicros(); -// uint32_t now_us = HAL_GetTick(); -// Provides a tick value in microseconds. - - //计算当前每个Loop的运行时间间隔 -// float Ts = (now_us - open_loop_timestamp) * 1e-3f; - float Ts=2.5E-3f; - - // 通过乘以时间间隔和目标速度来计算需要转动的机械角度，存储在 shaft_angle 变量中。 - //在此之前，还需要对轴角度进行归一化，以确保其值在 0 到 2π 之间。 - shaft_angle = _normalizeAngle(shaft_angle + target_velocity*Ts); - //以目标速度为 10 rad/s 为例，如果时间间隔是 1 秒，则在每个循环中需要增加 10 * 1 = 10 弧度的角度变化量，才能使电机转动到目标速度。 - //如果时间间隔是 0.1 秒，那么在每个循环中需要增加的角度变化量就是 10 * 0.1 = 1 弧度，才能实现相同的目标速度。 - //因此，电机轴的转动角度取决于目标速度和时间间隔的乘积。 - - // Uq is not related to voltage limit - - - setPhaseVoltage(Uq, 0, _electricalAngle(shaft_angle, pole_pairs),TIM_BASE); - -// open_loop_timestamp = now_us; //用于计算下一个时间间隔 - - return Uq; -} - - - - - -void setPwm(float Ua, float Ub, float Uc, TIM_TypeDef * TIM_BASE) { - -// // 限制上限 - Ua = _constrain(Ua, 0.0f, voltage_limit); - Ub = _constrain(Ub, 0.0f, voltage_limit); - Uc = _constrain(Uc, 0.0f, voltage_limit); - // 计算占空比 - // 限制占空比从0到1 - float dc_a = _constrain(Ua / voltage_power_supply, 0.0f , 1.0f ); - float dc_b = _constrain(Ub / voltage_power_supply, 0.0f , 1.0f ); - float dc_c = _constrain(Uc / voltage_power_supply, 0.0f , 1.0f ); - - //写入PWM到PWM 0 1 2 通道 - TIM_BASE->CCR1 = (uint32_t) roundf(dc_a*period); - TIM_BASE->CCR2 = (uint32_t) roundf(dc_b*period); - TIM_BASE->CCR3 = (uint32_t) roundf(dc_c*period); - -} - -void setPhaseVoltage(float Uq,float Ud, float angle_el, TIM_TypeDef * TIM_BASE) { - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - if (Uq <0 ){ - angle_el+=M_PI; - Uq=abs(Uq); - } - angle_el = _normalizeAngle (angle_el+M_PI/2); - int sector = floor(angle_el / M_PI/3) + 1; - // calculate the duty cycles - float T1 = _SQRT3 * sin(sector * _PI_3 - angle_el) * Uq / voltage_power_supply; - float T2 = _SQRT3 * sin(angle_el - (sector - 1.0) * _PI_3) * Uq / voltage_power_supply; - float T0 = 1 - T1 - T2; - - - float Ta, Tb, Tc; - switch (sector) - { - case 1: - Ta = T1 + T2 + T0 / 2; - Tb = T2 + T0 / 2; - Tc = T0 / 2; - break; - case 2: - Ta = T1 + T0 / 2; - Tb = T1 + T2 + T0 / 2; - Tc = T0 / 2; - break; - case 3: - Ta = T0 / 2; - Tb = T1 + T2 + T0 / 2; - Tc = T2 + T0 / 2; - break; - case 4: - Ta = T0 / 2; - Tb = T1 + T0 / 2; - Tc = T1 + T2 + T0 / 2; - break; - case 5: - Ta = T2 + T0 / 2; - Tb = T0 / 2; - Tc = T1 + T2 + T0 / 2; - break; - case 6: - Ta = T1 + T2 + T0 / 2; - Tb = T0 / 2; - Tc = T1 + T0 / 2; - break; - default: - Ta = 0; - Tb = 0; - Tc = 0; - } - // 克拉克逆变换 - float Ua = Ualpha + voltage_power_supply/2; - float Ub = (sqrt(3)*Ubeta-Ualpha)/2 + voltage_power_supply/2; - float Uc = (-Ualpha-sqrt(3)*Ubeta)/2 + voltage_power_supply/2; - setPwm(Ua,Ub,Uc,TIM_BASE); -} - diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/c6/f05af97d7ca3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/c6/f05af97d7ca3001e1b4082bf61e237c7 deleted file mode 100644 index 7541435..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/c6/f05af97d7ca3001e1b4082bf61e237c7 +++ /dev/null @@ -1,29 +0,0 @@ -/* - * current_sense.c - * - * Created on: Dec 24, 2023 - * Author: haotian - */ -#include "stm32f1xx_hal.h" -#include - - -void read_ADC_voltage(ADC_HandleTypeDef hadc1, uint16_t & ADC_VAL ){ - ADC_Select_CH0(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[0] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH1(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[1] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH2(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[2] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); -} diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/c7/2015d38c7ca3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/c7/2015d38c7ca3001e1b4082bf61e237c7 deleted file mode 100644 index 0526712..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/c7/2015d38c7ca3001e1b4082bf61e237c7 +++ /dev/null @@ -1,27 +0,0 @@ -/* - * current_sense.c - * - * Created on: Dec 24, 2023 - * Author: haotian - */ -#include "current_sense.h" - -void read_ADC_voltage(ADC_HandleTypeDef hadc1){ - ADC_Select_CH0(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[0] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH1(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[1] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH2(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[2] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); -} diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/c9/00a203cb78a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/c9/00a203cb78a3001e1b4082bf61e237c7 deleted file mode 100644 index 0c825af..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/c9/00a203cb78a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,15 +0,0 @@ -/* - * current_sense.h - * - * Created on: Dec 24, 2023 - * Author: haotian - */ - -#ifndef INC_CURRENT_SENSE_H_ -#define INC_CURRENT_SENSE_H_ -float offset_ia,offset_ib,offset_ib; -const int adc_range=4095; -const double Vref=3.3; // Voltage -const double Rsense=0.33; // Ohm -double ia,ib,ic; -#endif /* INC_CURRENT_SENSE_H_ */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/c9/d04486451ea2001e1ab2edb23f9b017a b/.metadata/.plugins/org.eclipse.core.resources/.history/c9/d04486451ea2001e1ab2edb23f9b017a deleted file mode 100644 index 9b98253..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/c9/d04486451ea2001e1ab2edb23f9b017a +++ /dev/null @@ -1,13 +0,0 @@ -/* - * motor_control.h - * - * Created on: Dec 23, 2023 - * Author: haotian - */ - -#ifndef INC_MOTOR_CONTROL_H_ -#define INC_MOTOR_CONTROL_H_ - - - -#endif /* INC_MOTOR_CONTROL_H_ */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/cb/70786ab57ca3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/cb/70786ab57ca3001e1b4082bf61e237c7 deleted file mode 100644 index e246572..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/cb/70786ab57ca3001e1b4082bf61e237c7 +++ /dev/null @@ -1,546 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; -ADC_HandleTypeDef hadc1; -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USB; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float contorller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - setPhaseVoltage(_constrain(contorller_out,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - read_ADC_voltage(adc1,ADC_VAL); - - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/cb/906614481aa2001e1ab2edb23f9b017a b/.metadata/.plugins/org.eclipse.core.resources/.history/cb/906614481aa2001e1ab2edb23f9b017a deleted file mode 100644 index e69de29..0000000 diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/ce/10b6999e7ca3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/ce/10b6999e7ca3001e1b4082bf61e237c7 deleted file mode 100644 index ce83a3e..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/ce/10b6999e7ca3001e1b4082bf61e237c7 +++ /dev/null @@ -1,27 +0,0 @@ -/* - * current_sense.c - * - * Created on: Dec 24, 2023 - * Author: haotian - */ -#include "current_sense.h" - -void read_ADC_voltage(ADC_HandleTypeDef hadc1,uint16_t& ADC_VAL){ - ADC_Select_CH0(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[0] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH1(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[1] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH2(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[2] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); -} diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/cf/707f5054afa3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/cf/707f5054afa3001e1b4082bf61e237c7 deleted file mode 100644 index e17656e..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/cf/707f5054afa3001e1b4082bf61e237c7 +++ /dev/null @@ -1,552 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -ADC_HandleTypeDef hadc1; - -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; - -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -static void MX_ADC1_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB; - PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float contorller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - setPhaseVoltage(_constrain(contorller_out,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - read_ADC_voltage(hadc1,ADC_VAL); - for (int i=0;i<3;i++){ - current_phase[i] =(float) ( ADC_VAL[i]-offset[i])/(float) adc_range*Vref/Rsense; - } - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/d1/908f5bbdb0a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/d1/908f5bbdb0a3001e1b4082bf61e237c7 deleted file mode 100644 index 98e9700..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/d1/908f5bbdb0a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,554 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -ADC_HandleTypeDef hadc1; - -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; - -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -static void MX_ADC1_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=2.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=1.0,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - calibrateOffsets(hadc1,&offset); - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB; - PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float velo_controller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - read_ADC_voltage(hadc1,ADC_VAL); - - setPhaseVoltage(_constrain(velo_controller_out,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - - for (int i=0;i<3;i++){ - current_phase[i] =(float) ( ADC_VAL[i]-offset[i])/(float) adc_range*Vref/Rsense; - } - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/d4/00bf13ceb6a3001e1e298100ab8cd7a4 b/.metadata/.plugins/org.eclipse.core.resources/.history/d4/00bf13ceb6a3001e1e298100ab8cd7a4 deleted file mode 100644 index fe99479..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/d4/00bf13ceb6a3001e1e298100ab8cd7a4 +++ /dev/null @@ -1,99 +0,0 @@ -/* - * mortor_control.c - * - * Created on: Jun 17, 2023 - * Author: hht - */ - -#include "motor_control.h" - -extern float zero_electric_angle; -extern int pole_pairs; -extern float shaft_angle; -extern int dir; -extern float voltage_limit; -extern float voltage_power_supply; -extern int period; - -float _normalizeAngle(float angle){ - float a = fmod(angle, 2*M_PI); //取余运算可以用于归一化，列出特殊值例子算便知 - return a >= 0 ? a : (a + 2*M_PI); - //三目运算符。格式：condition ? expr1 : expr2 - //其中，condition 是要求值的条件表达式，如果条件成立，则返回 expr1 的值，否则返回 expr2 的值。 - //可以将三目运算符视为 if-else 语句的简化形式。 - //fmod 函数的余数的符号与除数相同。因此，当 angle 的值为负数时，余数的符号将与 _2M_PI 的符号相反。 - //也就是说，如果 angle 的值小于 0 且 _2M_PI 的值为正数，则 fmod(angle, _2M_PI) 的余数将为负数。 - //例如，当 angle 的值为 -M_PI/2，_2M_PI 的值为 2M_PI 时，fmod(angle, _2M_PI) 将返回一个负数。 - //在这种情况下，可以通过将负数的余数加上 _2M_PI 来将角度归一化到 [0, 2M_PI] 的范围内，以确保角度的值始终为正数。 -} - -float _electricalAngle(float shaft_angle, int pole_pairs) { - return _normalizeAngle(((float)(dir * pole_pairs)*shaft_angle)-zero_electric_angle); -} - - - -//开环速度函数 -float velocityOpenloop(float target_velocity, float Uq, TIM_TypeDef * TIM_BASE){ -// uint32_t now_us = getCurrentMicros(); -// uint32_t now_us = HAL_GetTick(); -// Provides a tick value in microseconds. - - //计算当前每个Loop的运行时间间隔 -// float Ts = (now_us - open_loop_timestamp) * 1e-3f; - float Ts=2.5E-3f; - - // 通过乘以时间间隔和目标速度来计算需要转动的机械角度，存储在 shaft_angle 变量中。 - //在此之前，还需要对轴角度进行归一化，以确保其值在 0 到 2π 之间。 - shaft_angle = _normalizeAngle(shaft_angle + target_velocity*Ts); - //以目标速度为 10 rad/s 为例，如果时间间隔是 1 秒，则在每个循环中需要增加 10 * 1 = 10 弧度的角度变化量，才能使电机转动到目标速度。 - //如果时间间隔是 0.1 秒，那么在每个循环中需要增加的角度变化量就是 10 * 0.1 = 1 弧度，才能实现相同的目标速度。 - //因此，电机轴的转动角度取决于目标速度和时间间隔的乘积。 - - // Uq is not related to voltage limit - - - setPhaseVoltage(Uq, 0, _electricalAngle(shaft_angle, pole_pairs),TIM_BASE); - -// open_loop_timestamp = now_us; //用于计算下一个时间间隔 - - return Uq; -} - - - - - -void setPwm(float Ua, float Ub, float Uc, TIM_TypeDef * TIM_BASE) { - -// // 限制上限 - Ua = _constrain(Ua, 0.0f, voltage_limit); - Ub = _constrain(Ub, 0.0f, voltage_limit); - Uc = _constrain(Uc, 0.0f, voltage_limit); - // 计算占空比 - // 限制占空比从0到1 - float dc_a = _constrain(Ua / voltage_power_supply, 0.0f , 1.0f ); - float dc_b = _constrain(Ub / voltage_power_supply, 0.0f , 1.0f ); - float dc_c = _constrain(Uc / voltage_power_supply, 0.0f , 1.0f ); - - //写入PWM到PWM 0 1 2 通道 - TIM_BASE->CCR1 = (uint32_t) roundf(dc_a*period); - TIM_BASE->CCR2 = (uint32_t) roundf(dc_b*period); - TIM_BASE->CCR3 = (uint32_t) roundf(dc_c*period); - -} - -void setPhaseVoltage(float Uq,float Ud, float angle_el, TIM_TypeDef * TIM_BASE) { - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - - // 帕克逆变换 - float Ualpha = -Uq*sin(angle_el); - float Ubeta = Uq*cos(angle_el); - - // 克拉克逆变换 - float Ua = Ualpha + voltage_power_supply/2; - float Ub = (sqrt(3)*Ubeta-Ualpha)/2 + voltage_power_supply/2; - float Uc = (-Ualpha-sqrt(3)*Ubeta)/2 + voltage_power_supply/2; - setPwm(Ua,Ub,Uc,TIM_BASE); -} - diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/d5/400d938e7fa3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/d5/400d938e7fa3001e1b4082bf61e237c7 deleted file mode 100644 index 865ee6f..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/d5/400d938e7fa3001e1b4082bf61e237c7 +++ /dev/null @@ -1,548 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; -ADC_HandleTypeDef hadc1; -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USB; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float contorller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - setPhaseVoltage(_constrain(contorller_out,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - read_ADC_voltage(hadc1,ADC_VAL); - for (int i=0;i<3;i++){ - current_phase[i] = float(ADC_VAL[i])/ - } - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/d6/9006f27f90a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/d6/9006f27f90a3001e1b4082bf61e237c7 deleted file mode 100644 index 8812406..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/d6/9006f27f90a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,28 +0,0 @@ -/* - * current_sense.h - * - * Created on: Dec 24, 2023 - * Author: haotian - */ - -#ifndef INC_CURRENT_SENSE_H_ -#define INC_CURRENT_SENSE_H_ - -#include "stm32f1xx_hal.h" -#include - - - -float offset[3]; -const int adc_range=4095; -const double Vref=3.3; // Voltage -const double Rsense=0.33; // Ohm -const double KV= 2375/12; //KV number (RPM is 2149 - 2375, when operating voltage is 12V) -double current_phase[3]; - -void ADC_Select_CH0(ADC_HandleTypeDef); -void ADC_Select_CH1(ADC_HandleTypeDef); -void ADC_Select_CH2(ADC_HandleTypeDef); -void read_ADC_voltage(ADC_HandleTypeDef ,uint16_t *); - -#endif /* INC_CURRENT_SENSE_H_ */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/d6/9096a010b2a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/d6/9096a010b2a3001e1b4082bf61e237c7 deleted file mode 100644 index 998889e..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/d6/9096a010b2a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,559 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -ADC_HandleTypeDef hadc1; - -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; - -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -static void MX_ADC1_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -struct LowPassFilter filter_current= {.Tf=0.05,.y_prev=0.0f}; //Tf=5ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=2.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=1.0,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - calibrateOffsets(hadc1,&offset); - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB; - PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float velo_controller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - read_ADC_voltage(hadc1,ADC_VAL); - for (int i=0;i<3;i++){ - current_phase[i] =(float) ( ADC_VAL[i]-offset[i])/(float) adc_range*Vref/Rsense; - } - - float Iq=cal_Iq(current_phase, _electricalAngle(angle_now, pole_pairs)); - float filtered_Iq=LowPassFilter_operator(angular_vel,&filter_current); - - float current_controller_output=PID_operator(velo_controller_out-filtered_Iq,&pid_controller_current); - setPhaseVoltage(_constrain(,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/d7/10006abeb5a3001e1e298100ab8cd7a4 b/.metadata/.plugins/org.eclipse.core.resources/.history/d7/10006abeb5a3001e1e298100ab8cd7a4 deleted file mode 100644 index e8273c0..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/d7/10006abeb5a3001e1e298100ab8cd7a4 +++ /dev/null @@ -1,577 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -ADC_HandleTypeDef hadc1; - -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; - -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -static void MX_ADC1_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -uint16_t current_offset[3]; -double current_phase[3]; -const int adc_range=4095; -const double Vref=3.3; // Voltage -const double Rsense=0.33; // Ohm -//const double KV= 2375.0/12.0; //KV number (RPM is 2149 - 2375, when operating voltage is 12V) - -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -struct LowPassFilter filter_current= {.Tf=0.05,.y_prev=0.0f}; //Tf=5ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=1.0,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -float cal_Iq(double* current_phase, float angle_el){ - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - float I_alpha=current_phase[0]; - float I_beta=_1_SQRT3*(2*current_phase[1]+current_phase[0]); -// float Iq=-sin(angle_el)*I_alpha+cos(angle_el)*I_beta; -// float Id=cos(angle_el)*I_alpha+sin(angle_el)*I_beta; - return -sin(angle_el)*I_alpha+cos(angle_el)*I_beta; -} - -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - calibrateOffsets(hadc1,¤t_offset); - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB; - PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float velo_controller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - read_ADC_voltage(hadc1,ADC_VAL); - for (int i=0;i<3;i++){ - current_phase[i] =(float) ( ADC_VAL[i]-current_offset[i])/(float) adc_range*Vref/Rsense; - } - - float Iq=cal_Iq(current_phase, _electricalAngle(angle_now, pole_pairs)); - float filtered_Iq=LowPassFilter_operator(Iq,&filter_current); - - float current_controller_output=PID_operator(velo_controller_out-filtered_Iq,&pid_controller_current); - - setPhaseVoltage(_constrain(current_controller_output,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/de/104c528b7da3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/de/104c528b7da3001e1b4082bf61e237c7 deleted file mode 100644 index 877f6a6..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/de/104c528b7da3001e1b4082bf61e237c7 +++ /dev/null @@ -1,26 +0,0 @@ -/* - * current_sense.h - * - * Created on: Dec 24, 2023 - * Author: haotian - */ - -#ifndef INC_CURRENT_SENSE_H_ -#define INC_CURRENT_SENSE_H_ - -#include "stm32f1xx_hal.h" -#include - - - -float offset_ia,offset_ib,offset_ib; -const int adc_range=4095; -const double Vref=3.3; // Voltage -const double Rsense=0.33; // Ohm -const double KV= 2000; //KV number -double ia,ib,ic; - - -void read_ADC_voltage(ADC_HandleTypeDef ,uint16_t *); - -#endif /* INC_CURRENT_SENSE_H_ */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/df/902c375cb2a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/df/902c375cb2a3001e1b4082bf61e237c7 deleted file mode 100644 index 9e4e9c9..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/df/902c375cb2a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,29 +0,0 @@ -/* - * current_sense.h - * - * Created on: Dec 24, 2023 - * Author: haotian - */ - -#ifndef INC_CURRENT_SENSE_H_ -#define INC_CURRENT_SENSE_H_ - -#include "stm32f1xx_hal.h" -#include - - - -uint16_t offset[3]; -const int adc_range=4095; -const double Vref=3.3; // Voltage -const double Rsense=0.33; // Ohm -const double KV= 2375.0/12.0; //KV number (RPM is 2149 - 2375, when operating voltage is 12V) -double current_phase[3]; - -void ADC_Select_CH0(ADC_HandleTypeDef); -void ADC_Select_CH1(ADC_HandleTypeDef); -void ADC_Select_CH2(ADC_HandleTypeDef); -void read_ADC_voltage(ADC_HandleTypeDef ,uint16_t *); -void calibrateOffsets(ADC_HandleTypeDef,uint16_t *); -float cal_Iq(float* , float ); -#endif /* INC_CURRENT_SENSE_H_ */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/e0/4055d0797da3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/e0/4055d0797da3001e1b4082bf61e237c7 deleted file mode 100644 index 7eea858..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/e0/4055d0797da3001e1b4082bf61e237c7 +++ /dev/null @@ -1,25 +0,0 @@ -/* - * current_sense.h - * - * Created on: Dec 24, 2023 - * Author: haotian - */ - -#ifndef INC_CURRENT_SENSE_H_ -#define INC_CURRENT_SENSE_H_ - -#include "stm32f1xx_hal.h" -#include - - - -float offset_ia,offset_ib,offset_ib; -const int adc_range=4095; -const double Vref=3.3; // Voltage -const double Rsense=0.33; // Ohm -const double KV= 2000; //KV number -double ia,ib,ic; - - -void read_ADC_voltage(ADC_HandleTypeDef ,uint16_t *); -#endif /* INC_CURRENT_SENSE_H_ */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/e1/5039ae40b2a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/e1/5039ae40b2a3001e1b4082bf61e237c7 deleted file mode 100644 index efc3724..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/e1/5039ae40b2a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,561 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.h" -#include "motor_control.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 ---------------------------------------------------------*/ -ADC_HandleTypeDef hadc1; - -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; - -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -static void MX_ADC1_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -struct LowPassFilter filter_current= {.Tf=0.05,.y_prev=0.0f}; //Tf=5ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=2.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=1.0,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - calibrateOffsets(hadc1,&offset); - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB; - PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float velo_controller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - read_ADC_voltage(hadc1,ADC_VAL); - for (int i=0;i<3;i++){ - current_phase[i] =(float) ( ADC_VAL[i]-offset[i])/(float) adc_range*Vref/Rsense; - } - - float Iq=cal_Iq(current_phase, _electricalAngle(angle_now, pole_pairs)); - float filtered_Iq=LowPassFilter_operator(angular_vel,&filter_current); - - float current_controller_output=PID_operator(velo_controller_out-filtered_Iq,&pid_controller_current); - - setPhaseVoltage(_constrain(current_controller_output,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/e2/006b806eb2a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/e2/006b806eb2a3001e1b4082bf61e237c7 deleted file mode 100644 index cc3e65e..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/e2/006b806eb2a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,561 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -ADC_HandleTypeDef hadc1; - -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; - -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -static void MX_ADC1_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -struct LowPassFilter filter_current= {.Tf=0.05,.y_prev=0.0f}; //Tf=5ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=2.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=1.0,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - calibrateOffsets(hadc1,&offset); - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB; - PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float velo_controller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - read_ADC_voltage(hadc1,ADC_VAL); - for (int i=0;i<3;i++){ - current_phase[i] =(float) ( ADC_VAL[i]-offset[i])/(float) adc_range*Vref/Rsense; - } - - float Iq=cal_Iq(current_phase, _electricalAngle(angle_now, pole_pairs)); - float filtered_Iq=LowPassFilter_operator(angular_vel,&filter_current); - - float current_controller_output=PID_operator(velo_controller_out-filtered_Iq,&pid_controller_current); - - setPhaseVoltage(_constrain(current_controller_output,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/e2/a036ab197ba3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/e2/a036ab197ba3001e1b4082bf61e237c7 deleted file mode 100644 index 826b062..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/e2/a036ab197ba3001e1b4082bf61e237c7 +++ /dev/null @@ -1,558 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.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 ---------------------------------------------------------*/ -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; -ADC_HandleTypeDef hadc1; -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USB; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float contorller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - setPhaseVoltage(_constrain(contorller_out,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - ADC_Select_CH0(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[0] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH1(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[1] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH2(); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[2] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/e4/60fd2f8b85a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/e4/60fd2f8b85a3001e1b4082bf61e237c7 deleted file mode 100644 index f4e1806..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/e4/60fd2f8b85a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,548 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; -ADC_HandleTypeDef hadc1; -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USB; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float contorller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - setPhaseVoltage(_constrain(contorller_out,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - read_ADC_voltage(hadc1,ADC_VAL); - for (int i=0;i<3;i++){ - current_phase[i] = float(ADC_VAL[i]-offset[i])/float(adc_range)*Vref/Rsense; - } - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/e5/40884b6fb7a2001e164b9bfe65a5b807 b/.metadata/.plugins/org.eclipse.core.resources/.history/e5/40884b6fb7a2001e164b9bfe65a5b807 deleted file mode 100644 index 2f43913..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/e5/40884b6fb7a2001e164b9bfe65a5b807 +++ /dev/null @@ -1,14 +0,0 @@ -/* - * current_sense.h - * - * Created on: Dec 24, 2023 - * Author: haotian - */ - -#ifndef INC_CURRENT_SENSE_H_ -#define INC_CURRENT_SENSE_H_ -float offset_ia,offset_ib,offset_ib; -int adc_range=4095; - - -#endif /* INC_CURRENT_SENSE_H_ */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/e7/50e4a77b91a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/e7/50e4a77b91a3001e1b4082bf61e237c7 deleted file mode 100644 index 89a44cb..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/e7/50e4a77b91a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,83 +0,0 @@ -/* - * current_sense.c - * - * Created on: Dec 24, 2023 - * Author: haotian - */ -#include "current_sense.h" -#include "main.h" - - - -void ADC_Select_CH0 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH1 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH2 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} -void read_ADC_voltage(ADC_HandleTypeDef hadc1,uint16_t *ADC_VAL){ - ADC_Select_CH0(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[0] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH1(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[1] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH2(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[2] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); -} -void calibrateOffsets(ADC_HandleTypeDef hadc1,uint16_t *offset){ - const int calibration_rounds = 1000; - - // 查找0电流时候的电压 - offset_ia = 0; - offset_ib = 0; - offset_ic = 0; - uint16_t cal_current[3]; - for (int i = 0; i < calibration_rounds; i++) { - - } -} diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/e7/9014c9c38fa3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/e7/9014c9c38fa3001e1b4082bf61e237c7 deleted file mode 100644 index 8a61f1b..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/e7/9014c9c38fa3001e1b4082bf61e237c7 +++ /dev/null @@ -1,22 +0,0 @@ -/* - * motor_control.h - * - * Created on: Jun 17, 2023 - * Author: hht - */ - -#ifndef INC_MOTOR_CONTROL_H_ -#define INC_MOTOR_CONTROL_H_ -#include "stm32f1xx_hal.h" -#include - - -#define _constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt))) - -float _normalizeAngle(float angle); -float _electricalAngle(float shaft_angle, int pole_pairs); -float velocityOpenloop(float target_velocity, float Uq, TIM_TypeDef * TIM_BASE); -void setPwm(float Ua, float Ub, float Uc, TIM_TypeDef * TIM_BASE); -void setPhaseVoltage(float Uq,float Ud, float angle_el, TIM_TypeDef * TIM_BASE); - -#endif /* INC_MOTOR_CONTROL_H_ */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/ec/30362f7eb7a3001e1e298100ab8cd7a4 b/.metadata/.plugins/org.eclipse.core.resources/.history/ec/30362f7eb7a3001e1e298100ab8cd7a4 deleted file mode 100644 index 6d31f03..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/ec/30362f7eb7a3001e1e298100ab8cd7a4 +++ /dev/null @@ -1,144 +0,0 @@ -/* - * mortor_control.c - * - * Created on: Jun 17, 2023 - * Author: hht - */ - -#include "motor_control.h" - -extern float zero_electric_angle; -extern int pole_pairs; -extern float shaft_angle; -extern int dir; -extern float voltage_limit; -extern float voltage_power_supply; -extern int period; - -float _normalizeAngle(float angle){ - float a = fmod(angle, 2*M_PI); //取余运算可以用于归一化，列出特殊值例子算便知 - return a >= 0 ? a : (a + 2*M_PI); - //三目运算符。格式：condition ? expr1 : expr2 - //其中，condition 是要求值的条件表达式，如果条件成立，则返回 expr1 的值，否则返回 expr2 的值。 - //可以将三目运算符视为 if-else 语句的简化形式。 - //fmod 函数的余数的符号与除数相同。因此，当 angle 的值为负数时，余数的符号将与 _2M_PI 的符号相反。 - //也就是说，如果 angle 的值小于 0 且 _2M_PI 的值为正数，则 fmod(angle, _2M_PI) 的余数将为负数。 - //例如，当 angle 的值为 -M_PI/2，_2M_PI 的值为 2M_PI 时，fmod(angle, _2M_PI) 将返回一个负数。 - //在这种情况下，可以通过将负数的余数加上 _2M_PI 来将角度归一化到 [0, 2M_PI] 的范围内，以确保角度的值始终为正数。 -} - -float _electricalAngle(float shaft_angle, int pole_pairs) { - return _normalizeAngle(((float)(dir * pole_pairs)*shaft_angle)-zero_electric_angle); -} - - - -//开环速度函数 -float velocityOpenloop(float target_velocity, float Uq, TIM_TypeDef * TIM_BASE){ -// uint32_t now_us = getCurrentMicros(); -// uint32_t now_us = HAL_GetTick(); -// Provides a tick value in microseconds. - - //计算当前每个Loop的运行时间间隔 -// float Ts = (now_us - open_loop_timestamp) * 1e-3f; - float Ts=2.5E-3f; - - // 通过乘以时间间隔和目标速度来计算需要转动的机械角度，存储在 shaft_angle 变量中。 - //在此之前，还需要对轴角度进行归一化，以确保其值在 0 到 2π 之间。 - shaft_angle = _normalizeAngle(shaft_angle + target_velocity*Ts); - //以目标速度为 10 rad/s 为例，如果时间间隔是 1 秒，则在每个循环中需要增加 10 * 1 = 10 弧度的角度变化量，才能使电机转动到目标速度。 - //如果时间间隔是 0.1 秒，那么在每个循环中需要增加的角度变化量就是 10 * 0.1 = 1 弧度，才能实现相同的目标速度。 - //因此，电机轴的转动角度取决于目标速度和时间间隔的乘积。 - - // Uq is not related to voltage limit - - - setPhaseVoltage(Uq, 0, _electricalAngle(shaft_angle, pole_pairs),TIM_BASE); - -// open_loop_timestamp = now_us; //用于计算下一个时间间隔 - - return Uq; -} - - - - - -void setPwm(float Ua, float Ub, float Uc, TIM_TypeDef * TIM_BASE) { - -// // 限制上限 - Ua = _constrain(Ua, 0.0f, voltage_limit); - Ub = _constrain(Ub, 0.0f, voltage_limit); - Uc = _constrain(Uc, 0.0f, voltage_limit); - // 计算占空比 - // 限制占空比从0到1 - float dc_a = _constrain(Ua / voltage_power_supply, 0.0f , 1.0f ); - float dc_b = _constrain(Ub / voltage_power_supply, 0.0f , 1.0f ); - float dc_c = _constrain(Uc / voltage_power_supply, 0.0f , 1.0f ); - - //写入PWM到PWM 0 1 2 通道 - TIM_BASE->CCR1 = (uint32_t) roundf(dc_a*period); - TIM_BASE->CCR2 = (uint32_t) roundf(dc_b*period); - TIM_BASE->CCR3 = (uint32_t) roundf(dc_c*period); - -} - -void setPhaseVoltage(float Uq,float Ud, float angle_el, TIM_TypeDef * TIM_BASE) { - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - if (Uq <0 ){ - angle_el+=M_PI; - Uq=abs(Uq); - } - angle_el = _normalizeAngle (angle_el+M_PI/2); - int sector = floor(angle_el / M_PI*3) + 1; - // calculate the duty cycles - float T1 = _SQRT3 * sin(sector * M_PI/3 - angle_el) * Uq / voltage_power_supply; - float T2 = _SQRT3 * sin(angle_el - (sector - 1.0) * M_PI/3) * Uq / voltage_power_supply; - float T0 = 1 - T1 - T2; - - - float Ta, Tb, Tc; - switch (sector) - { - case 1: - Ta = T1 + T2 + T0 / 2; - Tb = T2 + T0 / 2; - Tc = T0 / 2; - break; - case 2: - Ta = T1 + T0 / 2; - Tb = T1 + T2 + T0 / 2; - Tc = T0 / 2; - break; - case 3: - Ta = T0 / 2; - Tb = T1 + T2 + T0 / 2; - Tc = T2 + T0 / 2; - break; - case 4: - Ta = T0 / 2; - Tb = T1 + T0 / 2; - Tc = T1 + T2 + T0 / 2; - break; - case 5: - Ta = T2 + T0 / 2; - Tb = T0 / 2; - Tc = T1 + T2 + T0 / 2; - break; - case 6: - Ta = T1 + T2 + T0 / 2; - Tb = T0 / 2; - Tc = T1 + T0 / 2; - break; - default: - Ta = 0; - Tb = 0; - Tc = 0; - } - // 克拉克逆变换 - float Ua = Ta * voltage_power_supply; - float Ub = Tb * voltage_power_supply; - float Uc = Tc * voltage_power_supply; - setPwm(Ua,Ub,Uc,TIM_BASE); -} - diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/ed/b067264eb2a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/ed/b067264eb2a3001e1b4082bf61e237c7 deleted file mode 100644 index dfc6efe..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/ed/b067264eb2a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,29 +0,0 @@ -/* - * current_sense.h - * - * Created on: Dec 24, 2023 - * Author: haotian - */ - -#ifndef INC_CURRENT_SENSE_H_ -#define INC_CURRENT_SENSE_H_ - -#include "stm32f1xx_hal.h" -#include - - - -uint16_t offset[3]; -const int adc_range=4095; -const double Vref=3.3; // Voltage -const double Rsense=0.33; // Ohm -const double KV= 2375.0/12.0; //KV number (RPM is 2149 - 2375, when operating voltage is 12V) -double current_phase[3]; - -void ADC_Select_CH0(ADC_HandleTypeDef); -void ADC_Select_CH1(ADC_HandleTypeDef); -void ADC_Select_CH2(ADC_HandleTypeDef); -void read_ADC_voltage(ADC_HandleTypeDef ,uint16_t *); -void calibrateOffsets(ADC_HandleTypeDef,uint16_t *); -float cal_Iq(float* current_phase, float angle_el) -#endif /* INC_CURRENT_SENSE_H_ */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/f/60a28cfb90a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/f/60a28cfb90a3001e1b4082bf61e237c7 deleted file mode 100644 index 1481685..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/f/60a28cfb90a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,71 +0,0 @@ -/* - * current_sense.c - * - * Created on: Dec 24, 2023 - * Author: haotian - */ -#include "current_sense.h" -#include "main.h" - - - -void ADC_Select_CH0 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH1 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH2 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} -void read_ADC_voltage(ADC_HandleTypeDef hadc1,uint16_t *ADC_VAL){ - ADC_Select_CH0(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[0] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH1(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[1] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH2(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[2] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); -} diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/f/f03ab22b86a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/f/f03ab22b86a3001e1b4082bf61e237c7 deleted file mode 100644 index f1c50b2..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/f/f03ab22b86a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,78 +0,0 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * @file : main.h - * @brief : Header for main.c file. - * This file contains the common defines of the application. - ****************************************************************************** - * @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 __MAIN_H -#define __MAIN_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f1xx_hal.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include "motor_control.h" -/* USER CODE END Includes */ - -/* Exported types ------------------------------------------------------------*/ -/* USER CODE BEGIN ET */ - -/* USER CODE END ET */ - -/* Exported constants --------------------------------------------------------*/ -/* USER CODE BEGIN EC */ - -/* USER CODE END EC */ - -/* Exported macro ------------------------------------------------------------*/ -/* USER CODE BEGIN EM */ - -/* USER CODE END EM */ - -void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim); - -/* Exported functions prototypes ---------------------------------------------*/ -void Error_Handler(void); - -/* USER CODE BEGIN EFP */ - -/* USER CODE END EFP */ - -/* Private defines -----------------------------------------------------------*/ -#define LED_Pin GPIO_PIN_13 -#define LED_GPIO_Port GPIOC -#define SPI1_CSn_Pin GPIO_PIN_0 -#define SPI1_CSn_GPIO_Port GPIOB -#define Motor_Enable_Pin GPIO_PIN_15 -#define Motor_Enable_GPIO_Port GPIOB - -/* USER CODE BEGIN Private defines */ -static void MX_ADC1_Init(void); - -/* USER CODE END Private defines */ - -#ifdef __cplusplus -} -#endif - -#endif /* __MAIN_H */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/f2/d029c91ab7a2001e164b9bfe65a5b807 b/.metadata/.plugins/org.eclipse.core.resources/.history/f2/d029c91ab7a2001e164b9bfe65a5b807 deleted file mode 100644 index 740f618..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/f2/d029c91ab7a2001e164b9bfe65a5b807 +++ /dev/null @@ -1,13 +0,0 @@ -/* - * current_sense.h - * - * Created on: Dec 24, 2023 - * Author: haotian - */ - -#ifndef INC_CURRENT_SENSE_H_ -#define INC_CURRENT_SENSE_H_ -float offset_ia,offset_ib,offset_ib; - - -#endif /* INC_CURRENT_SENSE_H_ */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/f9/f085a20ab7a3001e1e298100ab8cd7a4 b/.metadata/.plugins/org.eclipse.core.resources/.history/f9/f085a20ab7a3001e1e298100ab8cd7a4 deleted file mode 100644 index 4c2180c..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/f9/f085a20ab7a3001e1e298100ab8cd7a4 +++ /dev/null @@ -1,104 +0,0 @@ -/* - * mortor_control.c - * - * Created on: Jun 17, 2023 - * Author: hht - */ - -#include "motor_control.h" - -extern float zero_electric_angle; -extern int pole_pairs; -extern float shaft_angle; -extern int dir; -extern float voltage_limit; -extern float voltage_power_supply; -extern int period; - -float _normalizeAngle(float angle){ - float a = fmod(angle, 2*M_PI); //取余运算可以用于归一化，列出特殊值例子算便知 - return a >= 0 ? a : (a + 2*M_PI); - //三目运算符。格式：condition ? expr1 : expr2 - //其中，condition 是要求值的条件表达式，如果条件成立，则返回 expr1 的值，否则返回 expr2 的值。 - //可以将三目运算符视为 if-else 语句的简化形式。 - //fmod 函数的余数的符号与除数相同。因此，当 angle 的值为负数时，余数的符号将与 _2M_PI 的符号相反。 - //也就是说，如果 angle 的值小于 0 且 _2M_PI 的值为正数，则 fmod(angle, _2M_PI) 的余数将为负数。 - //例如，当 angle 的值为 -M_PI/2，_2M_PI 的值为 2M_PI 时，fmod(angle, _2M_PI) 将返回一个负数。 - //在这种情况下，可以通过将负数的余数加上 _2M_PI 来将角度归一化到 [0, 2M_PI] 的范围内，以确保角度的值始终为正数。 -} - -float _electricalAngle(float shaft_angle, int pole_pairs) { - return _normalizeAngle(((float)(dir * pole_pairs)*shaft_angle)-zero_electric_angle); -} - - - -//开环速度函数 -float velocityOpenloop(float target_velocity, float Uq, TIM_TypeDef * TIM_BASE){ -// uint32_t now_us = getCurrentMicros(); -// uint32_t now_us = HAL_GetTick(); -// Provides a tick value in microseconds. - - //计算当前每个Loop的运行时间间隔 -// float Ts = (now_us - open_loop_timestamp) * 1e-3f; - float Ts=2.5E-3f; - - // 通过乘以时间间隔和目标速度来计算需要转动的机械角度，存储在 shaft_angle 变量中。 - //在此之前，还需要对轴角度进行归一化，以确保其值在 0 到 2π 之间。 - shaft_angle = _normalizeAngle(shaft_angle + target_velocity*Ts); - //以目标速度为 10 rad/s 为例，如果时间间隔是 1 秒，则在每个循环中需要增加 10 * 1 = 10 弧度的角度变化量，才能使电机转动到目标速度。 - //如果时间间隔是 0.1 秒，那么在每个循环中需要增加的角度变化量就是 10 * 0.1 = 1 弧度，才能实现相同的目标速度。 - //因此，电机轴的转动角度取决于目标速度和时间间隔的乘积。 - - // Uq is not related to voltage limit - - - setPhaseVoltage(Uq, 0, _electricalAngle(shaft_angle, pole_pairs),TIM_BASE); - -// open_loop_timestamp = now_us; //用于计算下一个时间间隔 - - return Uq; -} - - - - - -void setPwm(float Ua, float Ub, float Uc, TIM_TypeDef * TIM_BASE) { - -// // 限制上限 - Ua = _constrain(Ua, 0.0f, voltage_limit); - Ub = _constrain(Ub, 0.0f, voltage_limit); - Uc = _constrain(Uc, 0.0f, voltage_limit); - // 计算占空比 - // 限制占空比从0到1 - float dc_a = _constrain(Ua / voltage_power_supply, 0.0f , 1.0f ); - float dc_b = _constrain(Ub / voltage_power_supply, 0.0f , 1.0f ); - float dc_c = _constrain(Uc / voltage_power_supply, 0.0f , 1.0f ); - - //写入PWM到PWM 0 1 2 通道 - TIM_BASE->CCR1 = (uint32_t) roundf(dc_a*period); - TIM_BASE->CCR2 = (uint32_t) roundf(dc_b*period); - TIM_BASE->CCR3 = (uint32_t) roundf(dc_c*period); - -} - -void setPhaseVoltage(float Uq,float Ud, float angle_el, TIM_TypeDef * TIM_BASE) { - angle_el = _normalizeAngle(angle_el + zero_electric_angle); - if (Uq <0 ){ - angle_el+=M_PI; - Uq=abs(Uq); - } - angle_el = _normalizeAngle (angle_el+M_PI/2); - int sector = floor(angle_el / M_PI/3) + 1; - // 帕克逆变换 - float Ualpha = -Uq*sin(angle_el); - float Ubeta = Uq*cos(angle_el); - - // 克拉克逆变换 - float Ua = Ualpha + voltage_power_supply/2; - float Ub = (sqrt(3)*Ubeta-Ualpha)/2 + voltage_power_supply/2; - float Uc = (-Ualpha-sqrt(3)*Ubeta)/2 + voltage_power_supply/2; - setPwm(Ua,Ub,Uc,TIM_BASE); -} - diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/fa/70aadd1f86a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/fa/70aadd1f86a3001e1b4082bf61e237c7 deleted file mode 100644 index 0abd50c..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/fa/70aadd1f86a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,548 +0,0 @@ -/* USER CODE BEGIN Header */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "usb_device.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include "usbd_cdc_if.h" -#include "string.h" -#include "as5048a.h" -#include "pid.h" -#include "lowpass_filter.h" -#include "current_sense.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 ---------------------------------------------------------*/ -SPI_HandleTypeDef hspi1; - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; -ADC_HandleTypeDef hadc1; -/* USER CODE BEGIN PV */ -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_SPI1_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM2_Init(void); -/* USER CODE BEGIN PFP */ -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ -char data[50]; - - -float open_loop_timestamp=0; -float zero_electric_angle=0; -float shaft_angle=0; -float voltage_limit=12; -float voltage_power_supply=12; -int period=1600; // period for the PWM -int dir=1; // anti clockwise direction is 1 , clockwise is -1 -int pole_pairs=11; -int index1=0; -uint16_t raw1,raw2,raw3; -float motor_target= M_PI/6; -float Ts=5E-3f; -float Kp=0.167f; -float angle_prev=-1.0f; -float target_vel=5; -uint16_t ADC_VAL[3]; -struct LowPassFilter filter= {.Tf=0.01,.y_prev=0.0f}; //Tf=10ms -// limit=voltage_power_supply/2; -struct PIDController pid_controller = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - -struct PIDController pid_controller_current = {.P=0.5,.I=0.1,.D=0.0,.output_ramp=100.0,.limit=6,.error_prev=0,.output_prev=0,.integral_prev=0}; - - -float cal_angular_vel(float angle_now){ - if (angle_prev < 0){ - angle_prev=angle_now; - return 0; - } - float delta_angle=angle_now -angle_prev; - if (delta_angle >= 1.6*M_PI){ - delta_angle-=2*M_PI; - } - if (delta_angle <= -1.6*M_PI){ - delta_angle+=2*M_PI; - } - angle_prev=angle_now; - return delta_angle/Ts; - - -} -/* 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_SPI1_Init(); - MX_USB_DEVICE_Init(); - MX_TIM1_Init(); - MX_TIM2_Init(); - MX_ADC1_Init(); - /* USER CODE BEGIN 2 */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_SET); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); - - setPhaseVoltage(3,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - HAL_Delay(3000); - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - zero_electric_angle=_electricalAngle(M_PI*read_raw/MAX_ANGLE_VALUE,pole_pairs); - setPhaseVoltage(0,0,_electricalAngle(M_PI*1.5f,pole_pairs),TIM1); - sprintf(data, "zero_electric_angle: %i \n", (int) floor(zero_electric_angle/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); - HAL_TIM_Base_Start_IT(&htim2); - /* USER CODE END 2 */ - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* 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}; - RCC_PeriphCLKInitTypeDef PeriphClkInit = {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(); - } - PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USB; - PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief ADC1 Initialization Function - * @param None - * @retval None - */ -static void MX_ADC1_Init(void) -{ - - /* USER CODE BEGIN ADC1_Init 0 */ - - /* USER CODE END ADC1_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC1_Init 1 */ - - /* USER CODE END ADC1_Init 1 */ - - /** Common config - */ - hadc1.Instance = ADC1; - hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = DISABLE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 3; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = ADC_REGULAR_RANK_1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = ADC_REGULAR_RANK_2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure Regular Channel - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = ADC_REGULAR_RANK_3; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC1_Init 2 */ - - /* USER CODE END ADC1_Init 2 */ - -} - -/** - * @brief SPI1 Initialization Function - * @param None - * @retval None - */ -static void MX_SPI1_Init(void) -{ - - /* USER CODE BEGIN SPI1_Init 0 */ - /* USER CODE END SPI1_Init 0 */ - - /* USER CODE BEGIN SPI1_Init 1 */ - /* USER CODE END SPI1_Init 1 */ - /* SPI1 parameter configuration*/ - hspi1.Instance = SPI1; - hspi1.Init.Mode = SPI_MODE_MASTER; - hspi1.Init.Direction = SPI_DIRECTION_2LINES; - hspi1.Init.DataSize = SPI_DATASIZE_16BIT; - hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi1.Init.NSS = SPI_NSS_SOFT; - hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; - hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi1.Init.TIMode = SPI_TIMODE_DISABLE; - hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi1.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI1_Init 2 */ - /* USER CODE END SPI1_Init 2 */ - -} - -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 2400-1; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static 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}; - - /* USER CODE BEGIN TIM2_Init 1 */ - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 90-1; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 4000-1; - 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(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; -/* USER CODE BEGIN MX_GPIO_Init_1 */ -/* USER CODE END MX_GPIO_Init_1 */ - - /* 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(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(SPI1_CSn_GPIO_Port, SPI1_CSn_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(Motor_Enable_GPIO_Port, Motor_Enable_Pin, GPIO_PIN_RESET); - - /*Configure GPIO pin : LED_Pin */ - GPIO_InitStruct.Pin = LED_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : SPI1_CSn_Pin */ - GPIO_InitStruct.Pin = SPI1_CSn_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - HAL_GPIO_Init(SPI1_CSn_GPIO_Port, &GPIO_InitStruct); - - /*Configure GPIO pin : Motor_Enable_Pin */ - GPIO_InitStruct.Pin = Motor_Enable_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(Motor_Enable_GPIO_Port, &GPIO_InitStruct); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - -/* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - // Check which version of the timer triggered this callback and toggle LED - if (htim == &htim2 ) - { - - - - index1+=1; - uint16_t read_raw=read(&hspi1, SPI1_CSn_GPIO_Port,SPI1_CSn_Pin,AS5048A_ANGLE); - float angle_now=(float)read_raw /(float)MAX_ANGLE_VALUE *2*M_PI*dir; - -// close loop position control -// float angle_error=motor_target-angle_now; -// -// angle_error=_normalizeAngle(angle_error); -// if (angle_error > M_PI){ -// angle_error-=2*M_PI; -// } -// setPhaseVoltage(_constrain(Kp*(angle_error)/M_PI*180,-voltage_power_supply/2,voltage_power_supply/2),0,_electricalAngle(angle_now,pole_pairs),TIM1); -// sprintf(data, "angle_error : %i \n", (int) floor(angle_error/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - // open loop speed control -// velocityOpenloop(5,5.5,TIM1); -// closed loop speed control - float angular_vel=cal_angular_vel(angle_now); - float filtered_vel=LowPassFilter_operator(angular_vel,&filter); - float contorller_out=PID_operator(target_vel-filtered_vel,&pid_controller); - setPhaseVoltage(_constrain(contorller_out,-voltage_power_supply/2,voltage_power_supply/2), 0, _electricalAngle(angle_now, pole_pairs),TIM1); -// sprintf(data, "angle_now : %i \t angle_prev : %i \n", (int) floor(angle_now/M_PI*180), (int) floor(angle_prev/M_PI*180)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - sprintf(data, "angular_vel : %i \n", (int) floor(angular_vel/M_PI*180)); - CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "open loop control \n"); -// sprintf(data, "angle: %u \n", read_raw); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); -// sprintf(data, "angle_now : %i \n", (int) floor(angle_now*180/M_PI)); -// CDC_Transmit_FS((uint8_t*) data, strlen(data)); - - read_ADC_voltage(hadc1,ADC_VAL); - for (int i=0;i<3;i++){ - current_phase[i] =(float) ( ADC_VAL[i]-offset[i])/(float) adc_range*Vref/Rsense; - } - - - if (index1 == 200){ - HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin); - index1=0; - } - } -} -/* 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 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 CODE END 6 */ -} -#endif /* USE_FULL_ASSERT */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/fa/f006690886a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/fa/f006690886a3001e1b4082bf61e237c7 deleted file mode 100644 index 2e0e371..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/fa/f006690886a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,78 +0,0 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * @file : main.h - * @brief : Header for main.c file. - * This file contains the common defines of the application. - ****************************************************************************** - * @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 __MAIN_H -#define __MAIN_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f1xx_hal.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include "motor_control.h" -/* USER CODE END Includes */ - -/* Exported types ------------------------------------------------------------*/ -/* USER CODE BEGIN ET */ - -/* USER CODE END ET */ - -/* Exported constants --------------------------------------------------------*/ -/* USER CODE BEGIN EC */ - -/* USER CODE END EC */ - -/* Exported macro ------------------------------------------------------------*/ -/* USER CODE BEGIN EM */ - -/* USER CODE END EM */ - -void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim); - -/* Exported functions prototypes ---------------------------------------------*/ -void Error_Handler(void); - -/* USER CODE BEGIN EFP */ - -/* USER CODE END EFP */ - -/* Private defines -----------------------------------------------------------*/ -#define LED_Pin GPIO_PIN_13 -#define LED_GPIO_Port GPIOC -#define SPI1_CSn_Pin GPIO_PIN_0 -#define SPI1_CSn_GPIO_Port GPIOB -#define Motor_Enable_Pin GPIO_PIN_15 -#define Motor_Enable_GPIO_Port GPIOB - -/* USER CODE BEGIN Private defines */ - - -/* USER CODE END Private defines */ - -#ifdef __cplusplus -} -#endif - -#endif /* __MAIN_H */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/fb/e0a2386591a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/fb/e0a2386591a3001e1b4082bf61e237c7 deleted file mode 100644 index 89a44cb..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/fb/e0a2386591a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,83 +0,0 @@ -/* - * current_sense.c - * - * Created on: Dec 24, 2023 - * Author: haotian - */ -#include "current_sense.h" -#include "main.h" - - - -void ADC_Select_CH0 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_0; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH1 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} - -void ADC_Select_CH2 (ADC_HandleTypeDef hadc1) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_2; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { - Error_Handler(); - } -} -void read_ADC_voltage(ADC_HandleTypeDef hadc1,uint16_t *ADC_VAL){ - ADC_Select_CH0(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[0] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH1(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[1] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); - - ADC_Select_CH2(hadc1); - HAL_ADC_Start(&hadc1); - HAL_ADC_PollForConversion(&hadc1, 1000); - ADC_VAL[2] = HAL_ADC_GetValue(&hadc1); - HAL_ADC_Stop(&hadc1); -} -void calibrateOffsets(ADC_HandleTypeDef hadc1,uint16_t *offset){ - const int calibration_rounds = 1000; - - // 查找0电流时候的电压 - offset_ia = 0; - offset_ib = 0; - offset_ic = 0; - uint16_t cal_current[3]; - for (int i = 0; i < calibration_rounds; i++) { - - } -} diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/fe/30368b291ba2001e1ab2edb23f9b017a b/.metadata/.plugins/org.eclipse.core.resources/.history/fe/30368b291ba2001e1ab2edb23f9b017a deleted file mode 100644 index e69de29..0000000 diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/fe/80432c64b3a3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/fe/80432c64b3a3001e1b4082bf61e237c7 deleted file mode 100644 index e31c648..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/fe/80432c64b3a3001e1b4082bf61e237c7 +++ /dev/null @@ -1,3 +0,0 @@ -66BE74F758C12D739921AEA421D593D3=0 -DC22A860405A8BF2F2C095E5B6529F12=815F5664497909C3119F341D1E08B35D -eclipse.preferences.version=1 diff --git a/.metadata/.plugins/org.eclipse.core.resources/.history/fe/90f89a7b7ca3001e1b4082bf61e237c7 b/.metadata/.plugins/org.eclipse.core.resources/.history/fe/90f89a7b7ca3001e1b4082bf61e237c7 deleted file mode 100644 index 8aa303c..0000000 --- a/.metadata/.plugins/org.eclipse.core.resources/.history/fe/90f89a7b7ca3001e1b4082bf61e237c7 +++ /dev/null @@ -1,16 +0,0 @@ -/* - * current_sense.h - * - * Created on: Dec 24, 2023 - * Author: haotian - */ - -#ifndef INC_CURRENT_SENSE_H_ -#define INC_CURRENT_SENSE_H_ -float offset_ia,offset_ib,offset_ib; -const int adc_range=4095; -const double Vref=3.3; // Voltage -const double Rsense=0.33; // Ohm -const double KV= 2000; //KV number -double ia,ib,ic; -#endif /* INC_CURRENT_SENSE_H_ */ diff --git a/.metadata/.plugins/org.eclipse.core.resources/.projects/SVPWM/.indexes/af/history.index 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-384,7 +402,7 @@ Draggable - + toolbarSeparator @@ -415,7 +433,7 @@ Draggable - + toolbarSeparator @@ -895,7 +913,7 @@ - + @@ -2096,7 +2114,7 @@ - + diff --git a/.metadata/.plugins/org.eclipse.ui.workbench.texteditor/dialog_settings.xml b/.metadata/.plugins/org.eclipse.ui.workbench.texteditor/dialog_settings.xml index c2d1b19..8b61e23 100644 --- a/.metadata/.plugins/org.eclipse.ui.workbench.texteditor/dialog_settings.xml +++ b/.metadata/.plugins/org.eclipse.ui.workbench.texteditor/dialog_settings.xml @@ -6,8 +6,11 @@ - + + + + @@ -20,7 +23,6 @@ - diff --git a/.metadata/version.ini b/.metadata/version.ini index 4b05401..2389035 100644 --- a/.metadata/version.ini +++ b/.metadata/version.ini @@ -1,3 +1,3 @@ -#Mon Dec 25 22:09:20 PST 2023 +#Sat Jan 27 22:45:32 PST 2024 org.eclipse.core.runtime=2 org.eclipse.platform=4.27.0.v20230302-0300 diff --git a/SVPWM/Core/Src/main.c b/SVPWM/Core/Src/main.c index f298658..4da2eae 100644 --- a/SVPWM/Core/Src/main.c +++ b/SVPWM/Core/Src/main.c @@ -59,7 +59,7 @@ float zero_electric_angle=0; float shaft_angle=0; float voltage_limit=12; float voltage_power_supply=12; -int period=1600; // period for the PWM +int period=2400; // period for the PWM int dir=1; // anti clockwise direction is 1 , clockwise is -1 int pole_pairs=11; int index1=0; diff --git a/SVPWM/Core/Src/pid.c b/SVPWM/Core/Src/pid.c index f981402..30417f5 100644 --- a/SVPWM/Core/Src/pid.c +++ b/SVPWM/Core/Src/pid.c @@ -8,7 +8,7 @@ #include "pid.h" #include "motor_control.h" float PID_operator(float error, struct PIDController* pid){ - float Ts = 5E-3f; + float Ts = 2.5E-3f; // P环 float proportional = pid->P * error; diff --git a/SVPWM/Debug/Core/Src/main.o b/SVPWM/Debug/Core/Src/main.o index c8be3cec61707d4d35dd46690ad76255f050d4c5..6cea3b8cfb2b388fad69e6e3a74fc0d7a7d83ea7 100644 GIT binary patch delta 65 zcmZ3n#CXLL;|+6|nG!gg=P|d>V`cV`c_6>tCm diff --git a/SVPWM/Debug/Core/Src/pid.o b/SVPWM/Debug/Core/Src/pid.o index 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800287e: 4b6f ldr r3, [pc, #444] ; (8002a3c ) 8002880: 61bb str r3, [r7, #24] // P环 @@ -4791,7 +4791,7 @@ float PID_operator(float error, struct PIDController* pid){ 8002a36: 3720 adds r7, #32 8002a38: 46bd mov sp, r7 8002a3a: bdb0 pop {r4, r5, r7, pc} - 8002a3c: 3ba3d70a .word 0x3ba3d70a + 8002a3c: 3b23d70a .word 0x3b23d70a 08002a40 : void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim); diff --git a/SVPWM/Debug/closed_current_loop.list b/SVPWM/Debug/closed_current_loop.list index beadb26..2583252 100644 --- a/SVPWM/Debug/closed_current_loop.list +++ b/SVPWM/Debug/closed_current_loop.list @@ -4246,7 +4246,7 @@ float PID_operator(float error, struct PIDController* pid){ 8002594: af00 add r7, sp, #0 8002596: 6078 str r0, [r7, #4] 8002598: 6039 str r1, [r7, #0] - float Ts = 5E-3f; + float Ts = 2.5E-3f; 800259a: 4b6f ldr r3, [pc, #444] ; (8002758 ) 800259c: 61bb str r3, [r7, #24] // P环 diff --git a/Test_codes/ADC_read/Core/Src/main.c b/Test_codes/ADC_read/Core/Src/main.c index 52a499d..0f3a503 100644 --- a/Test_codes/ADC_read/Core/Src/main.c +++ b/Test_codes/ADC_read/Core/Src/main.c @@ -56,7 +56,7 @@ float zero_electric_angle=0; float shaft_angle=0; float voltage_limit=12; float voltage_power_supply=12; -int period=1600; // period for the PWM +int period=2400; // period for the PWM int dir=1; // anti clockwise direction is 1 , clockwise is -1 int pole_pairs=11; int index1=0; diff --git a/Test_codes/openloop_position_control_with_record_angle/Core/Src/main.c b/Test_codes/openloop_position_control_with_record_angle/Core/Src/main.c index 059129d..de227d3 100644 --- a/Test_codes/openloop_position_control_with_record_angle/Core/Src/main.c +++ b/Test_codes/openloop_position_control_with_record_angle/Core/Src/main.c @@ -160,7 +160,7 @@ float voltage_limit=12; float voltage_power_supply=12; float shaft_angle=0,open_loop_timestamp=0; float zero_electric_angle=0,Ualpha,Ubeta=0,Ua=0,Ub=0,Uc=0,dc_a=0,dc_b=0,dc_c=0; -int period=1600; +int period=2400; int pole_pairs=11; int index1=0; uint16_t raw1,raw2,raw3; diff --git a/closed_current_loop/Core/Src/main.c b/closed_current_loop/Core/Src/main.c index e8273c0..5f3297c 100644 --- a/closed_current_loop/Core/Src/main.c +++ b/closed_current_loop/Core/Src/main.c @@ -59,7 +59,7 @@ float zero_electric_angle=0; float shaft_angle=0; float voltage_limit=12; float voltage_power_supply=12; -int period=1600; // period for the PWM +int period=2400; // period for the PWM int dir=1; // anti clockwise direction is 1 , clockwise is -1 int pole_pairs=11; int index1=0; diff --git a/closed_current_loop/Core/Src/pid.c b/closed_current_loop/Core/Src/pid.c index f981402..30417f5 100644 --- a/closed_current_loop/Core/Src/pid.c +++ b/closed_current_loop/Core/Src/pid.c @@ -8,7 +8,7 @@ #include "pid.h" #include "motor_control.h" float PID_operator(float error, struct PIDController* pid){ - float Ts = 5E-3f; + float Ts = 2.5E-3f; // P环 float proportional = pid->P * error; diff --git a/closed_current_loop/Debug/closed_current_loop.list b/closed_current_loop/Debug/closed_current_loop.list index beadb26..2583252 100644 --- a/closed_current_loop/Debug/closed_current_loop.list +++ b/closed_current_loop/Debug/closed_current_loop.list @@ -4246,7 +4246,7 @@ float PID_operator(float error, struct PIDController* pid){ 8002594: af00 add r7, sp, #0 8002596: 6078 str r0, [r7, #4] 8002598: 6039 str r1, [r7, #0] - float Ts = 5E-3f; + float Ts = 2.5E-3f; 800259a: 4b6f ldr r3, [pc, #444] ; (8002758 ) 800259c: 61bb str r3, [r7, #24] // P环 diff --git a/closedloop_position_control/Core/Src/main.c b/closedloop_position_control/Core/Src/main.c index 2349c24..337a04e 100644 --- a/closedloop_position_control/Core/Src/main.c +++ b/closedloop_position_control/Core/Src/main.c @@ -53,7 +53,7 @@ float zero_electric_angle=0; float shaft_angle=0; float voltage_limit=12; float voltage_power_supply=12; -int period=1600; // period for the PWM +int period=2400; // period for the PWM int dir=1; // anti clockwise direction is 1 , clockwise is -1 int pole_pairs=11; int index1=0; diff --git a/closedloop_speed_control/Core/Src/main.c b/closedloop_speed_control/Core/Src/main.c index db3a22b..9c6c162 100644 --- a/closedloop_speed_control/Core/Src/main.c +++ b/closedloop_speed_control/Core/Src/main.c @@ -54,7 +54,7 @@ float zero_electric_angle=0; float shaft_angle=0; float voltage_limit=12; float voltage_power_supply=12; -int period=1600; // period for the PWM +int period=2400; // period for the PWM int dir=1; // anti clockwise direction is 1 , clockwise is -1 int pole_pairs=11; int index1=0; diff --git a/closedloop_speed_control/Core/Src/pid.c b/closedloop_speed_control/Core/Src/pid.c index f981402..30417f5 100644 --- a/closedloop_speed_control/Core/Src/pid.c +++ b/closedloop_speed_control/Core/Src/pid.c @@ -8,7 +8,7 @@ #include "pid.h" #include "motor_control.h" float PID_operator(float error, struct PIDController* pid){ - float Ts = 5E-3f; + float Ts = 2.5E-3f; // P环 float proportional = pid->P * error; diff --git a/closedloop_speed_control/Debug/closedloop_speed_control.list b/closedloop_speed_control/Debug/closedloop_speed_control.list index 56d412e..e0f3f20 100644 --- a/closedloop_speed_control/Debug/closedloop_speed_control.list +++ b/closedloop_speed_control/Debug/closedloop_speed_control.list @@ -3531,7 +3531,7 @@ float PID_operator(float error, struct PIDController* pid){ 800201c: af00 add r7, sp, #0 800201e: 6078 str r0, [r7, #4] 8002020: 6039 str r1, [r7, #0] - float Ts = 5E-3f; + float Ts = 2.5E-3f; 8002022: 4b6f ldr r3, [pc, #444] ; (80021e0 ) 8002024: 61bb str r3, [r7, #24] // P环 diff --git a/openloop_speedcontrol/Core/Src/main.c b/openloop_speedcontrol/Core/Src/main.c index aef1f75..00d0a94 100644 --- a/openloop_speedcontrol/Core/Src/main.c +++ b/openloop_speedcontrol/Core/Src/main.c @@ -72,7 +72,7 @@ float voltage_limit=12; float voltage_power_supply=12; float shaft_angle=0,open_loop_timestamp=0; float zero_electric_angle=0,Ualpha,Ubeta=0,Ua=0,Ub=0,Uc=0,dc_a=0,dc_b=0,dc_c=0; -int period=1600; +int period=2400; int pole_pairs=11; int index1=0; uint16_t raw1,raw2,raw3;