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Peng
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Oct 8, 2020
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,33 @@ | ||
| [PreviousLibFiles] | ||
| LibFiles=Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h;Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h;Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Include/cmsis_armclang.h;Drivers/CMSIS/Include/cmsis_compiler.h;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/cmsis_iccarm.h;Drivers/CMSIS/Include/cmsis_version.h;Drivers/CMSIS/Include/core_armv8mbl.h;Drivers/CMSIS/Include/core_armv8mml.h;Drivers/CMSIS/Include/core_cm0.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/core_cm1.h;Drivers/CMSIS/Include/core_cm23.h;Drivers/CMSIS/Include/core_cm3.h;Drivers/CMSIS/Include/core_cm33.h;Drivers/CMSIS/Include/core_cm4.h;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/core_sc300.h;Drivers/CMSIS/Include/mpu_armv7.h;Drivers/CMSIS/Include/mpu_armv8.h;Drivers/CMSIS/Include/tz_context.h; | ||
|
|
||
| [PreviousUsedKeilFiles] | ||
| SourceFiles=..\Core\Src\main.c;..\Core\Src\gpio.c;..\Core\Src\i2c.c;..\Core\Src\tim.c;..\Core\Src\usart.c;..\Core\Src\stm32f4xx_it.c;..\Core\Src\stm32f4xx_hal_msp.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;..\Core\Src/system_stm32f4xx.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;..\Core\Src/system_stm32f4xx.c;..\Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;; | ||
| HeaderPath=..\Drivers\STM32F4xx_HAL_Driver\Inc;..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy;..\Drivers\CMSIS\Device\ST\STM32F4xx\Include;..\Drivers\CMSIS\Include;..\Core\Inc; | ||
| CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;USE_HAL_DRIVER; | ||
|
|
||
| [PreviousGenFiles] | ||
| AdvancedFolderStructure=true | ||
| HeaderFileListSize=7 | ||
| HeaderFiles#0=D:/Project/stm32_servo_cup/Core/Inc/gpio.h | ||
| HeaderFiles#1=D:/Project/stm32_servo_cup/Core/Inc/i2c.h | ||
| HeaderFiles#2=D:/Project/stm32_servo_cup/Core/Inc/tim.h | ||
| HeaderFiles#3=D:/Project/stm32_servo_cup/Core/Inc/usart.h | ||
| HeaderFiles#4=D:/Project/stm32_servo_cup/Core/Inc/stm32f4xx_it.h | ||
| HeaderFiles#5=D:/Project/stm32_servo_cup/Core/Inc/stm32f4xx_hal_conf.h | ||
| HeaderFiles#6=D:/Project/stm32_servo_cup/Core/Inc/main.h | ||
| HeaderFolderListSize=1 | ||
| HeaderPath#0=D:/Project/stm32_servo_cup/Core/Inc | ||
| HeaderFiles=; | ||
| SourceFileListSize=7 | ||
| SourceFiles#0=D:/Project/stm32_servo_cup/Core/Src/gpio.c | ||
| SourceFiles#1=D:/Project/stm32_servo_cup/Core/Src/i2c.c | ||
| SourceFiles#2=D:/Project/stm32_servo_cup/Core/Src/tim.c | ||
| SourceFiles#3=D:/Project/stm32_servo_cup/Core/Src/usart.c | ||
| SourceFiles#4=D:/Project/stm32_servo_cup/Core/Src/stm32f4xx_it.c | ||
| SourceFiles#5=D:/Project/stm32_servo_cup/Core/Src/stm32f4xx_hal_msp.c | ||
| SourceFiles#6=D:/Project/stm32_servo_cup/Core/Src/main.c | ||
| SourceFolderListSize=1 | ||
| SourcePath#0=D:/Project/stm32_servo_cup/Core/Src | ||
| SourceFiles=; | ||
|
|
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,57 @@ | ||
| /** | ||
| ****************************************************************************** | ||
| * File Name : gpio.h | ||
| * Description : This file contains all the functions prototypes for | ||
| * the gpio | ||
| ****************************************************************************** | ||
| * @attention | ||
| * | ||
| * <h2><center>© Copyright (c) 2020 STMicroelectronics. | ||
| * All rights reserved.</center></h2> | ||
| * | ||
| * This software component is licensed by ST under BSD 3-Clause license, | ||
| * the "License"; You may not use this file except in compliance with the | ||
| * License. You may obtain a copy of the License at: | ||
| * opensource.org/licenses/BSD-3-Clause | ||
| * | ||
| ****************************************************************************** | ||
| */ | ||
|
|
||
| /* Define to prevent recursive inclusion -------------------------------------*/ | ||
| #ifndef __gpio_H | ||
| #define __gpio_H | ||
| #ifdef __cplusplus | ||
| extern "C" { | ||
| #endif | ||
|
|
||
| /* Includes ------------------------------------------------------------------*/ | ||
| #include "main.h" | ||
|
|
||
| /* USER CODE BEGIN Includes */ | ||
|
|
||
| /* USER CODE END Includes */ | ||
|
|
||
| /* USER CODE BEGIN Private defines */ | ||
|
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| /* USER CODE END Private defines */ | ||
|
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||
| void MX_GPIO_Init(void); | ||
|
|
||
| /* USER CODE BEGIN Prototypes */ | ||
|
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||
| /* USER CODE END Prototypes */ | ||
|
|
||
| #ifdef __cplusplus | ||
| } | ||
| #endif | ||
| #endif /*__ pinoutConfig_H */ | ||
|
|
||
| /** | ||
| * @} | ||
| */ | ||
|
|
||
| /** | ||
| * @} | ||
| */ | ||
|
|
||
| /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,58 @@ | ||
| /** | ||
| ****************************************************************************** | ||
| * File Name : I2C.h | ||
| * Description : This file provides code for the configuration | ||
| * of the I2C instances. | ||
| ****************************************************************************** | ||
| * @attention | ||
| * | ||
| * <h2><center>© Copyright (c) 2020 STMicroelectronics. | ||
| * All rights reserved.</center></h2> | ||
| * | ||
| * This software component is licensed by ST under BSD 3-Clause license, | ||
| * the "License"; You may not use this file except in compliance with the | ||
| * License. You may obtain a copy of the License at: | ||
| * opensource.org/licenses/BSD-3-Clause | ||
| * | ||
| ****************************************************************************** | ||
| */ | ||
| /* Define to prevent recursive inclusion -------------------------------------*/ | ||
| #ifndef __i2c_H | ||
| #define __i2c_H | ||
| #ifdef __cplusplus | ||
| extern "C" { | ||
| #endif | ||
|
|
||
| /* Includes ------------------------------------------------------------------*/ | ||
| #include "main.h" | ||
|
|
||
| /* USER CODE BEGIN Includes */ | ||
|
|
||
| /* USER CODE END Includes */ | ||
|
|
||
| extern I2C_HandleTypeDef hi2c1; | ||
|
|
||
| /* USER CODE BEGIN Private defines */ | ||
|
|
||
| /* USER CODE END Private defines */ | ||
|
|
||
| void MX_I2C1_Init(void); | ||
|
|
||
| /* USER CODE BEGIN Prototypes */ | ||
|
|
||
| /* USER CODE END Prototypes */ | ||
|
|
||
| #ifdef __cplusplus | ||
| } | ||
| #endif | ||
| #endif /*__ i2c_H */ | ||
|
|
||
| /** | ||
| * @} | ||
| */ | ||
|
|
||
| /** | ||
| * @} | ||
| */ | ||
|
|
||
| /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,92 @@ | ||
| /* USER CODE BEGIN Header */ | ||
| /** | ||
| ****************************************************************************** | ||
| * @file : main.h | ||
| * @brief : Header for main.c file. | ||
| * This file contains the common defines of the application. | ||
| ****************************************************************************** | ||
| * @attention | ||
| * | ||
| * <h2><center>© Copyright (c) 2020 STMicroelectronics. | ||
| * All rights reserved.</center></h2> | ||
| * | ||
| * This software component is licensed by ST under BSD 3-Clause license, | ||
| * the "License"; You may not use this file except in compliance with the | ||
| * License. You may obtain a copy of the License at: | ||
| * opensource.org/licenses/BSD-3-Clause | ||
| * | ||
| ****************************************************************************** | ||
| */ | ||
| /* USER CODE END Header */ | ||
|
|
||
| /* Define to prevent recursive inclusion -------------------------------------*/ | ||
| #ifndef __MAIN_H | ||
| #define __MAIN_H | ||
|
|
||
| #ifdef __cplusplus | ||
| extern "C" { | ||
| #endif | ||
|
|
||
| /* Includes ------------------------------------------------------------------*/ | ||
| #include "stm32f4xx_hal.h" | ||
| #include "stm32f4xx_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 */ | ||
|
|
||
| /* Exported functions prototypes ---------------------------------------------*/ | ||
| void Error_Handler(void); | ||
|
|
||
| /* USER CODE BEGIN EFP */ | ||
|
|
||
| /* USER CODE END EFP */ | ||
|
|
||
| /* Private defines -----------------------------------------------------------*/ | ||
| #define frontal_1_Pin GPIO_PIN_4 | ||
| #define frontal_1_GPIO_Port GPIOA | ||
| #define frontal_2_Pin GPIO_PIN_5 | ||
| #define frontal_2_GPIO_Port GPIOA | ||
| #define frontal_3_Pin GPIO_PIN_7 | ||
| #define frontal_3_GPIO_Port GPIOA | ||
| #define frontal_4_Pin GPIO_PIN_4 | ||
| #define frontal_4_GPIO_Port GPIOC | ||
| #define profile_1_Pin GPIO_PIN_10 | ||
| #define profile_1_GPIO_Port GPIOD | ||
| #define profile_2_Pin GPIO_PIN_11 | ||
| #define profile_2_GPIO_Port GPIOD | ||
| #define profile_3_Pin GPIO_PIN_13 | ||
| #define profile_3_GPIO_Port GPIOD | ||
| #define profile_4_Pin GPIO_PIN_14 | ||
| #define profile_4_GPIO_Port GPIOD | ||
| #define mpu6050_Pin GPIO_PIN_9 | ||
| #define mpu6050_GPIO_Port GPIOA | ||
| #define mpu6050A10_Pin GPIO_PIN_10 | ||
| #define mpu6050A10_GPIO_Port GPIOA | ||
| /* USER CODE BEGIN Private defines */ | ||
|
|
||
| /* USER CODE END Private defines */ | ||
|
|
||
| #ifdef __cplusplus | ||
| } | ||
| #endif | ||
|
|
||
| #endif /* __MAIN_H */ | ||
|
|
||
| /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,24 @@ | ||
| #ifndef __SERVO_H | ||
| #define __SERVO_H | ||
|
|
||
| #include "main.h" | ||
| #include "i2c.h" | ||
| #include "tim.h" | ||
| #include "gpio.h" | ||
| #include "uart_handler.h" | ||
|
|
||
| #define frontalKp 30 | ||
| #define frontalKi 30 | ||
|
|
||
| #define profileKp 30 | ||
| #define profileKi 30 | ||
|
|
||
| #define sl 37.5 | ||
| #define ll 20.5+37.5 | ||
|
|
||
|
|
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|
|
||
| int setZero(void); | ||
| void PIDtoPosition(uint8_t* position); | ||
|
|
||
| #endif |
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