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ADD: Wii Nunchuck control

This commit is contained in:
Niklas Fauth 2018-04-08 00:03:35 +02:00
parent 30f8d97694
commit fd49c006f7
10 changed files with 1681 additions and 1179 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
Inc/config.h
View File

@ -14,12 +14,18 @@
#define DEAD_TIME 32 // PWM deadtime
//#define DC_CUR_LIMIT 34 // Motor DC current limit in amps
#define DC_CUR_LIMIT 24 // Motor DC current limit in amps
#define DC_CUR_LIMIT 35 // Motor DC current limit in amps
//#define DEBUG_SERIAL_SERVOTERM
// #define DEBUG_SERIAL_ASCII
#define DEBUG_SERIAL_ASCII
#define DEBUG_SERIAL_USART2
#define DEBUG_BAUD 115200 // UART baud rate
//#define DEBUG_I2C_LCD
// #define CONTROL_PPM // use PPM CONTROL_PPM
//#define CONTROL_PPM // use PPM CONTROL_PPM
#define PPM_NUM_CHANNELS 6 // number of PPM channels to receive
// #define CONTROL_ADC
#define CONTROL_NUNCHUCK
// #define BEEPS_BACKWARD

14
Inc/stm32f1xx_hal_conf.h
View File

@ -45,7 +45,7 @@ extern "C" {
/* ########################## Module Selection ############################## */
/**
* @brief This is the list of modules to be used in the HAL driver
* @brief This is the list of modules to be used in the HAL driver
*/
#define HAL_MODULE_ENABLED
@ -60,7 +60,7 @@ extern "C" {
/*#define HAL_ETH_MODULE_ENABLED */
/*#define HAL_FLASH_MODULE_ENABLED */
#define HAL_GPIO_MODULE_ENABLED
/*#define HAL_I2C_MODULE_ENABLED */
#define HAL_I2C_MODULE_ENABLED
/*#define HAL_I2S_MODULE_ENABLED */
/*#define HAL_IRDA_MODULE_ENABLED */
/*#define HAL_IWDG_MODULE_ENABLED */
@ -94,7 +94,7 @@ extern "C" {
/**
* @brief Adjust the value of External High Speed oscillator (HSE) used in your application.
* This value is used by the RCC HAL module to compute the system frequency
* (when HSE is used as system clock source, directly or through the PLL).
* (when HSE is used as system clock source, directly or through the PLL).
*/
#if !defined(HSE_VALUE)
#define HSE_VALUE ((uint32_t)8000000) /*!< Value of the External oscillator in Hz */
@ -107,7 +107,7 @@ extern "C" {
/**
* @brief Internal High Speed oscillator (HSI) value.
* This value is used by the RCC HAL module to compute the system frequency
* (when HSI is used as system clock source, directly or through the PLL).
* (when HSI is used as system clock source, directly or through the PLL).
*/
#if !defined(HSI_VALUE)
#define HSI_VALUE ((uint32_t)8000000) /*!< Value of the Internal oscillator in Hz*/
@ -148,7 +148,7 @@ extern "C" {
/* ########################## Assert Selection ############################## */
/**
* @brief Uncomment the line below to expanse the "assert_param" macro in the
* @brief Uncomment the line below to expanse the "assert_param" macro in the
* HAL drivers code
*/
/* #define USE_FULL_ASSERT 1U */
@ -211,7 +211,7 @@ extern "C" {
/* Includes ------------------------------------------------------------------*/
/**
* @brief Include module's header file
* @brief Include module's header file
*/
#ifdef HAL_RCC_MODULE_ENABLED
@ -345,7 +345,7 @@ extern "C" {
* @brief The assert_param macro is used for function's parameters check.
* @param expr: If expr is false, it calls assert_failed function
* which reports the name of the source file and the source
* line number of the call that failed.
* line number of the call that failed.
* If expr is true, it returns no value.
* @retval None
*/

2
Makefile
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@ -33,6 +33,8 @@ Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c \
Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c \
Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_adc.c \
Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c \
Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_i2c.c \
Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c \
Src/system_stm32f1xx.c \
Src/setup.c \
Src/control.c \

64
Src/bldc.c
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@ -9,7 +9,10 @@ volatile int posl = 0;
volatile int posr = 0;
volatile int pwml = 0;
volatile int pwmr = 0;
int16_t pwmrl = 0;
volatile int weakl = 0;
volatile int weakr = 0;
extern volatile int pwmrl;
extern volatile adc_buf_t adc_buffer;
@ -128,7 +131,7 @@ int offsetrr2 = 2000;
int offsetdcl = 2000;
int offsetdcr = 2000;
float batteryVoltage;
float batteryVoltage = 40.0;
float adccmd1;
float adccmd2;
@ -157,32 +160,20 @@ void DMA1_Channel1_IRQHandler() {
return;
}
batteryVoltage = batteryVoltage * 0.999 + ((float)adc_buffer.batt1 * ADC_BATTERY_VOLT) * 0.001;
adccmd1 = adccmd1 * 0.999 + (float)adc_buffer.l_rx2 * 0.001;
adccmd2 = adccmd2 * 0.999 + (float)adc_buffer.l_tx2 * 0.001;
//0-4096
//+-2000
pwmrl = 0;
if(adccmd1 - 700 > 0){
pwmrl -= adccmd1 - 700;
}
if(adccmd2 - 700 > 0){
pwmrl += adccmd2 - 700;
if (buzzerTimer % 100 == 0) {
batteryVoltage = batteryVoltage * 0.999 + ((float)adc_buffer.batt1 * ADC_BATTERY_VOLT) * 0.001;
}
if (pwmrl < -100 && enable == 1) {
buzzerFreq = 5;
buzzerPattern = 1;
} else if (enable == 1) {
buzzerFreq = 0;
buzzerPattern = 1;
}
pwmrl = powf((pwmrl/4), 3) / 255885;
pwml = -pwmrl;
pwmr = pwmrl;
#ifdef BEEPS_BACKWARD
if (pwmrl < -50 && enable == 1) {
buzzerFreq = 5;
buzzerPattern = 1;
} else if (enable == 1) {
buzzerFreq = 0;
buzzerPattern = 1;
}
#endif
@ -258,9 +249,32 @@ void DMA1_Channel1_IRQHandler() {
// errorl = cmdl - curl;
// pwml = kp * errorl;
blockPWM(pwml, posl, &ul, &vl, &wl);
blockPWM(pwmr, posr, &ur, &vr, &wr);
int weakul, weakvl, weakwl;
if (pwml > 0) {
blockPWM(weakl, (posl+5) % 6, &weakul, &weakvl, &weakwl);
} else {
blockPWM(-weakl, (posl+1) % 6, &weakul, &weakvl, &weakwl);
}
ul += weakul;
vl += weakvl;
wl += weakwl;
int weakur, weakvr, weakwr;
if (pwmr > 0) {
blockPWM(weakr, (posr+5) % 6, &weakur, &weakvr, &weakwr);
} else {
blockPWM(-weakr, (posr+1) % 6, &weakur, &weakvr, &weakwr);
}
ur += weakur;
vr += weakvr;
wr += weakwr;
// blockPWM(pwmr, posr, &ur, &vr, &wr);
LEFT_TIM->LEFT_TIM_U = CLAMP(ul + pwm_res / 2, 10, pwm_res-10);
LEFT_TIM->LEFT_TIM_V = CLAMP(vl + pwm_res / 2, 10, pwm_res-10);
LEFT_TIM->LEFT_TIM_W = CLAMP(wl + pwm_res / 2, 10, pwm_res-10);

29
Src/comms.c
View File

@ -7,6 +7,15 @@
UART_HandleTypeDef huart2;
#ifdef DEBUG_SERIAL_USART3
#define UART_DMA_CHANNEL DMA1_Channel2
#endif
#ifdef DEBUG_SERIAL_USART2
#define UART_DMA_CHANNEL DMA1_Channel7
#endif
volatile uint8_t uart_buf[100];
volatile int16_t ch_buf[8];
//volatile char char_buf[300];
@ -28,11 +37,11 @@ void consoleScope() {
uart_buf[8] = CLAMP(ch_buf[7]+127, 0, 255);
uart_buf[9] = '\n';
if(DMA1_Channel2->CNDTR == 0) {
DMA1_Channel2->CCR &= ~DMA_CCR_EN;
DMA1_Channel2->CNDTR = 10;
DMA1_Channel2->CMAR = (uint32_t)uart_buf;
DMA1_Channel2->CCR |= DMA_CCR_EN;
if(UART_DMA_CHANNEL->CNDTR == 0) {
UART_DMA_CHANNEL->CCR &= ~DMA_CCR_EN;
UART_DMA_CHANNEL->CNDTR = 10;
UART_DMA_CHANNEL->CMAR = (uint32_t)uart_buf;
UART_DMA_CHANNEL->CCR |= DMA_CCR_EN;
}
#endif
@ -40,11 +49,11 @@ void consoleScope() {
memset(uart_buf, 0, sizeof(uart_buf));
sprintf(uart_buf, "%i;%i;%i;%i\n\r", ch_buf[0], ch_buf[1], ch_buf[2], ch_buf[3]);//, ch_buf[4], ch_buf[5], ch_buf[6], ch_buf[7]);
if(DMA1_Channel2->CNDTR == 0) {
DMA1_Channel2->CCR &= ~DMA_CCR_EN;
DMA1_Channel2->CNDTR = strlen(uart_buf);
DMA1_Channel2->CMAR = (uint32_t)uart_buf;
DMA1_Channel2->CCR |= DMA_CCR_EN;
if(UART_DMA_CHANNEL->CNDTR == 0) {
UART_DMA_CHANNEL->CCR &= ~DMA_CCR_EN;
UART_DMA_CHANNEL->CNDTR = strlen(uart_buf);
UART_DMA_CHANNEL->CMAR = (uint32_t)uart_buf;
UART_DMA_CHANNEL->CCR |= DMA_CCR_EN;
}
#endif
}

37
Src/control.c
View File

@ -8,6 +8,13 @@ TIM_HandleTypeDef TimHandle;
uint16_t ppm_captured_value[PPM_NUM_CHANNELS+1] = {0};
uint8_t ppm_count = 0;
uint32_t timeout = 100;
uint8_t nunchuck_data[6] = {0};
uint8_t ai2cBuffer[6];
extern I2C_HandleTypeDef hi2c2;
DMA_HandleTypeDef hdma_i2c2_rx;
DMA_HandleTypeDef hdma_i2c2_tx;
void PPM_ISR_Callback() {
// Dummy loop with 16 bit count wrap around
@ -47,3 +54,33 @@ void PPM_Init() {
HAL_NVIC_EnableIRQ(EXTI3_IRQn);
HAL_TIM_Base_Start(&TimHandle);
}
void Nunchuck_Init() {
//-- START -- init WiiNunchuck
ai2cBuffer[0] = 0xF0;
ai2cBuffer[1] = 0x55;
//Originale
ai2cBuffer[0] = 0x40;
ai2cBuffer[1] = 0x00;
//HAL_I2C_Master_Transmit_DMA(&hi2c2, 0xA4, (uint8_t*)ai2cBuffer, 2);
//while(wii_JOYdati.I2CTxDone ==0);
//wii_JOYdati.I2CTxDone = 0;
HAL_I2C_Master_Transmit(&hi2c2,0xA4,(uint8_t*)ai2cBuffer, 2, 100);
HAL_Delay(10);
//wii_JOYdati.done = 0;
}
void Nunchuck_Read() {
ai2cBuffer[0] = 0x00;
HAL_I2C_Master_Transmit(&hi2c2,0xA4,(uint8_t*)ai2cBuffer, 1, 100);
HAL_Delay(2);
HAL_I2C_Master_Receive(&hi2c2,0xA4,(uint8_t*)ai2cBuffer, 6, 100);
for (int i = 0; i < 6; i++) {
nunchuck_data[i] = (ai2cBuffer[i] ^ 0x17) + 0x17;
}
//setScopeChannel(0, (int)nunchuck_data[0]);
//setScopeChannel(1, (int)nunchuck_data[1]);
//setScopeChannel(2, (int)nunchuck_data[5] & 1);
//setScopeChannel(3, ((int)nunchuck_data[5] >> 1) & 1);
}

91
Src/main.c
View File

@ -25,6 +25,9 @@
void SystemClock_Config(void);
extern float adccmd1;
extern float adccmd2;
extern TIM_HandleTypeDef htim_left;
extern TIM_HandleTypeDef htim_right;
extern ADC_HandleTypeDef hadc1;
@ -34,6 +37,10 @@ extern volatile uint16_t ppm_captured_value[PPM_NUM_CHANNELS+1];
extern volatile int pwml;
extern volatile int pwmr;
extern volatile int weakl;
extern volatile int weakr;
volatile int pwmrl = 0;
extern uint8_t buzzerFreq;
extern uint8_t buzzerPattern;
@ -43,6 +50,7 @@ extern uint8_t enable;
extern volatile uint32_t timeout;
extern float batteryVoltage;
extern uint8_t nunchuck_data[6];
int milli_vel_error_sum = 0;
@ -91,40 +99,79 @@ int main(void) {
int lastSpeedL = 0, lastSpeedR = 0;
int speedL = 0, speedR = 0;
float direction = 1;
#ifdef CONTROL_PPM
PPM_Init();
#endif
#ifdef CONTROL_NUNCHUCK
I2C_Init();
Nunchuck_Init();
#endif
enable = 1;
while(1) {
HAL_Delay(10);
// int milli_cur = 3000;
// int milli_volt = milli_cur * MILLI_R / 1000;// + vel * MILLI_PSI * 141;
// // pwm = milli_volt * pwm_res / MILLI_V;
HAL_Delay(2);
#ifdef CONTROL_NUNCHUCK
Nunchuck_Read();
setScopeChannel(0, (int)nunchuck_data[0]);
setScopeChannel(1, (int)nunchuck_data[1]);
setScopeChannel(2, (int)nunchuck_data[5] & 1);
setScopeChannel(3, ((int)nunchuck_data[5] >> 1) & 1);
#endif
// int milli_vel_cmd = 200;
// int milli_vel_error = milli_vel_cmd - vel;
// milli_vel_error_sum += milli_vel_error;
// milli_vel_error_sum = CLAMP(milli_vel_error_sum, -200000, 200000);
// pwm = CLAMP(milli_vel_cmd / 5 + milli_vel_error_sum / 200, -500, 500);
// cmdl = 70;
#ifdef CONTROL_PPM
speedL = -(CLAMP((((ppm_captured_value[1]-500)+(ppm_captured_value[0]-500)/2.0)*(ppm_captured_value[2]/500.0)), -800, 800));
speedR = (CLAMP((((ppm_captured_value[1]-500)-(ppm_captured_value[0]-500)/2.0)*(ppm_captured_value[2]/500.0)), -800, 800));
if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50) && timeout < 50) {
//pwmr = speedR;
//pwml = speedL;
}
lastSpeedL = speedL;
lastSpeedR = speedR;
//setScopeChannel(0, (int)pwmrl);
//setScopeChannel(1, (int)speedL);
#endif
if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50) && timeout < 50) {
pwmr = speedR;
pwml = speedL;
}
#ifdef CONTROL_ADC
//adccmd1 = adccmd1 * 0.9 + (float)adc_buffer.l_rx2 * 0.1; // throttle
adccmd2 = adccmd2 * 0.9 + (float)adc_buffer.l_tx2 * 0.1; // button
lastSpeedL = speedL;
lastSpeedR = speedR;
setScopeChannel(0, speedR);
setScopeChannel(1, speedL);
pwmrl = pwmrl * 0.9 + (CLAMP(adc_buffer.l_rx2 - 700, 0, 2350) / 2.35) * 0.1 * direction;
// pwmrl has to be 0-1000 (or negative when driving backwards)
setScopeChannel(0, (int)adccmd1);
setScopeChannel(1, (int)adccmd2);
// adccmd2 = button, ranges 0 in idle and 4096 when pressed
if (adccmd2 > 2000 && pwmrl < 300) { // driving backwards at low speeds
direction = -0.2;
} else {
direction = 1;
}
if (adccmd2 > 2000 && pwmrl > 700) { // field weakening at high speeds
weakl = pwmrl - 600; // weak should never exceed 400 or 450 MAX!!
weakr = pwmrl - 600;
} else {
weakl = 0;
weakr = 0;
}
if (pwml < 1000) {
pwml +=1;
}
pwml = pwmrl;
pwmr = -pwmrl;
#endif
consoleScope();
@ -162,14 +209,6 @@ int main(void) {
buzzerFreq = 0;
buzzerPattern = 0;
}
// if(vel > milli_vel_cmd){
// HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
// }
// else{
// HAL_GPIO_WritePin(LED_PORT, LED_PIN, 0);
// }
}
}

124
Src/setup.c
View File

@ -41,8 +41,10 @@ TIM_HandleTypeDef htim_right;
TIM_HandleTypeDef htim_left;
ADC_HandleTypeDef hadc1;
ADC_HandleTypeDef hadc2;
I2C_HandleTypeDef hi2c2;
volatile adc_buf_t adc_buffer;
#ifdef DEBUG_SERIAL_USART3
void UART_Init() {
__HAL_RCC_USART3_CLK_ENABLE();
__HAL_RCC_DMA1_CLK_ENABLE();
@ -73,6 +75,40 @@ void UART_Init() {
DMA1_Channel2->CCR = DMA_CCR_MINC | DMA_CCR_DIR;
DMA1->IFCR = DMA_IFCR_CTCIF2 | DMA_IFCR_CHTIF2 | DMA_IFCR_CGIF2;
}
#endif
#ifdef DEBUG_SERIAL_USART2
void UART_Init() {
__HAL_RCC_USART2_CLK_ENABLE();
__HAL_RCC_DMA1_CLK_ENABLE();
UART_HandleTypeDef huart2;
huart2.Instance = USART2;
huart2.Init.BaudRate = DEBUG_BAUD;
huart2.Init.WordLength = UART_WORDLENGTH_8B;
huart2.Init.StopBits = UART_STOPBITS_1;
huart2.Init.Parity = UART_PARITY_NONE;
huart2.Init.Mode = UART_MODE_TX;
huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart2.Init.OverSampling = UART_OVERSAMPLING_16;
HAL_UART_Init(&huart2);
USART2->CR3 |= USART_CR3_DMAT; // | USART_CR3_DMAR | USART_CR3_OVRDIS;
GPIO_InitTypeDef GPIO_InitStruct;
GPIO_InitStruct.Pin = GPIO_PIN_2;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
DMA1_Channel7->CCR = 0;
DMA1_Channel7->CPAR = (uint32_t) & (USART2->DR);
DMA1_Channel7->CNDTR = 0;
DMA1_Channel7->CCR = DMA_CCR_MINC | DMA_CCR_DIR;
DMA1->IFCR = DMA_IFCR_CTCIF7 | DMA_IFCR_CHTIF7 | DMA_IFCR_CGIF7;
}
#endif
/*
void UART_Init() {
@ -107,6 +143,94 @@ void UART_Init() {
}
*/
DMA_HandleTypeDef hdma_i2c2_rx;
DMA_HandleTypeDef hdma_i2c2_tx;
void I2C_Init()
{
__HAL_RCC_I2C2_CLK_ENABLE();
__HAL_RCC_DMA1_CLK_ENABLE();
/* DMA1_Channel4_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel4_IRQn, 1, 4);
HAL_NVIC_EnableIRQ(DMA1_Channel4_IRQn);
/* DMA1_Channel5_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel5_IRQn, 1, 3);
HAL_NVIC_EnableIRQ(DMA1_Channel5_IRQn);
hi2c2.Instance = I2C2;
hi2c2.Init.ClockSpeed = 100000;
hi2c2.Init.DutyCycle = I2C_DUTYCYCLE_2;
hi2c2.Init.OwnAddress1 = 0;
hi2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c2.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
hi2c2.Init.OwnAddress2 = 0;
hi2c2.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
hi2c2.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
HAL_I2C_Init(&hi2c2);
GPIO_InitTypeDef GPIO_InitStruct;
__HAL_RCC_DMA1_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/* USER CODE BEGIN I2C2_MspInit 0 */
/* USER CODE END I2C2_MspInit 0 */
/**I2C2 GPIO Configuration
PB10 ------> I2C2_SCL
PB11 ------> I2C2_SDA
*/
GPIO_InitStruct.Pin = GPIO_PIN_10|GPIO_PIN_11;
GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* Peripheral clock enable */
__HAL_RCC_I2C2_CLK_ENABLE();
/* Peripheral DMA init*/
hdma_i2c2_rx.Instance = DMA1_Channel5;
hdma_i2c2_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_i2c2_rx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_i2c2_rx.Init.MemInc = DMA_MINC_ENABLE;
hdma_i2c2_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_i2c2_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_i2c2_rx.Init.Mode = DMA_NORMAL;
hdma_i2c2_rx.Init.Priority = DMA_PRIORITY_MEDIUM;
HAL_DMA_Init(&hdma_i2c2_rx);
__HAL_LINKDMA(&hi2c2,hdmarx,hdma_i2c2_rx);
hdma_i2c2_tx.Instance = DMA1_Channel4;
hdma_i2c2_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
hdma_i2c2_tx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_i2c2_tx.Init.MemInc = DMA_MINC_ENABLE;
hdma_i2c2_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_i2c2_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_i2c2_tx.Init.Mode = DMA_NORMAL;
hdma_i2c2_tx.Init.Priority = DMA_PRIORITY_MEDIUM;
HAL_DMA_Init(&hdma_i2c2_tx);
__HAL_LINKDMA(&hi2c2,hdmatx,hdma_i2c2_tx);
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(I2C2_EV_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(I2C2_EV_IRQn);
HAL_NVIC_SetPriority(I2C2_ER_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(I2C2_ER_IRQn);
/* USER CODE BEGIN I2C2_MspInit 1 */
/* USER CODE END I2C2_MspInit 1 */
}
void MX_GPIO_Init(void) {
GPIO_InitTypeDef GPIO_InitStruct;

45
Src/stm32f1xx_it.c
View File

@ -35,6 +35,10 @@
#include "stm32f1xx.h"
#include "stm32f1xx_it.h"
extern DMA_HandleTypeDef hdma_i2c2_rx;
extern DMA_HandleTypeDef hdma_i2c2_tx;
extern I2C_HandleTypeDef hi2c2;
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
@ -165,6 +169,47 @@ void SysTick_Handler(void) {
}
extern I2C_HandleTypeDef hi2c2;
void I2C1_EV_IRQHandler(void)
{
HAL_I2C_EV_IRQHandler(&hi2c2);
}
void I2C1_ER_IRQHandler(void)
{
HAL_I2C_ER_IRQHandler(&hi2c2);
}
/**
* @brief This function handles DMA1 channel4 global interrupt.
*/
void DMA1_Channel4_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Channel4_IRQn 0 */
/* USER CODE END DMA1_Channel4_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_i2c2_tx);
/* USER CODE BEGIN DMA1_Channel4_IRQn 1 */
/* USER CODE END DMA1_Channel4_IRQn 1 */
}
/**
* @brief This function handles DMA1 channel5 global interrupt.
*/
void DMA1_Channel5_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Channel5_IRQn 0 */
/* USER CODE END DMA1_Channel5_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_i2c2_rx);
/* USER CODE BEGIN DMA1_Channel5_IRQn 1 */
/* USER CODE END DMA1_Channel5_IRQn 1 */
}
void EXTI3_IRQHandler(void)
{
PPM_ISR_Callback();

2442
build/hover.hex
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