lijie/foc_Gimbal
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将ICM42688改为硬件SPI通讯。

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lijie
2024-02-22 10:16:24 +08:00
parent 08cbf4ba74
commit 7749d1d7b7
19 changed files with 1391 additions and 468 deletions
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foc_n.ioc
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@ -6,34 +6,43 @@ Mcu.CPN=STM32H750VBT6
Mcu.Family=STM32H7
Mcu.IP0=CORTEX_M7
Mcu.IP1=NVIC
Mcu.IP10=USART1
Mcu.IP2=RCC
Mcu.IP3=SPI1
Mcu.IP4=SYS
Mcu.IP5=TIM2
Mcu.IP6=TIM3
Mcu.IP7=TIM5
Mcu.IP8=USART1
Mcu.IPNb=9
Mcu.IP4=SPI2
Mcu.IP5=SYS
Mcu.IP6=TIM2
Mcu.IP7=TIM3
Mcu.IP8=TIM4
Mcu.IP9=TIM5
Mcu.IPNb=11
Mcu.Name=STM32H750VBTx
Mcu.Package=LQFP100
Mcu.Pin0=PH0-OSC_IN (PH0)
Mcu.Pin1=PH1-OSC_OUT (PH1)
Mcu.Pin10=PC8
Mcu.Pin11=PA9
Mcu.Pin12=PA10
Mcu.Pin13=VP_SYS_VS_Systick
Mcu.Pin14=VP_TIM2_VS_ClockSourceINT
Mcu.Pin15=VP_TIM3_VS_ClockSourceINT
Mcu.Pin16=VP_TIM5_VS_ClockSourceINT
Mcu.Pin10=PB15
Mcu.Pin11=PD12
Mcu.Pin12=PD13
Mcu.Pin13=PD14
Mcu.Pin14=PC6
Mcu.Pin15=PC7
Mcu.Pin16=PC8
Mcu.Pin17=PA9
Mcu.Pin18=PA10
Mcu.Pin19=VP_SYS_VS_Systick
Mcu.Pin2=PA0
Mcu.Pin20=VP_TIM2_VS_ClockSourceINT
Mcu.Pin21=VP_TIM3_VS_ClockSourceINT
Mcu.Pin22=VP_TIM4_VS_ClockSourceINT
Mcu.Pin23=VP_TIM5_VS_ClockSourceINT
Mcu.Pin3=PA1
Mcu.Pin4=PA2
Mcu.Pin5=PA5
Mcu.Pin6=PA6
Mcu.Pin7=PA7
Mcu.Pin8=PC6
Mcu.Pin9=PC7
Mcu.PinsNb=17
Mcu.Pin8=PB13
Mcu.Pin9=PB14
Mcu.PinsNb=24
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32H750VBTx
@ -49,6 +58,7 @@ NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:false\:true\:false
NVIC.USART1_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
PA0.Locked=true
PA0.Signal=S_TIM2_CH1_ETR
@ -71,12 +81,27 @@ PA7.Signal=SPI1_MOSI
PA9.Locked=true
PA9.Mode=Asynchronous
PA9.Signal=USART1_TX
PB13.Locked=true
PB13.Mode=Full_Duplex_Master
PB13.Signal=SPI2_SCK
PB14.Locked=true
PB14.Mode=Full_Duplex_Master
PB14.Signal=SPI2_MISO
PB15.Locked=true
PB15.Mode=Full_Duplex_Master
PB15.Signal=SPI2_MOSI
PC6.Locked=true
PC6.Signal=S_TIM3_CH1
PC7.Locked=true
PC7.Signal=S_TIM3_CH2
PC8.Locked=true
PC8.Signal=S_TIM3_CH3
PD12.Locked=true
PD12.Signal=S_TIM4_CH1
PD13.Locked=true
PD13.Signal=S_TIM4_CH2
PD14.Locked=true
PD14.Signal=S_TIM4_CH3
PH0-OSC_IN\ (PH0).Mode=HSE-External-Oscillator
PH0-OSC_IN\ (PH0).Signal=RCC_OSC_IN
PH1-OSC_OUT\ (PH1).Mode=HSE-External-Oscillator
@ -109,7 +134,7 @@ ProjectManager.StackSize=0x400
ProjectManager.TargetToolchain=STM32CubeIDE
ProjectManager.ToolChainLocation=
ProjectManager.UnderRoot=true
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_TIM2_Init-TIM2-false-HAL-true,4-MX_TIM3_Init-TIM3-false-HAL-true,5-MX_TIM5_Init-TIM5-false-HAL-true,6-MX_USART1_UART_Init-USART1-false-HAL-true,7-MX_SPI1_Init-SPI1-false-HAL-true,0-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_TIM2_Init-TIM2-false-HAL-true,4-MX_TIM3_Init-TIM3-false-HAL-true,5-MX_TIM5_Init-TIM5-false-HAL-true,6-MX_USART1_UART_Init-USART1-false-HAL-true,7-MX_SPI1_Init-SPI1-false-HAL-true,8-MX_SPI2_Init-SPI2-false-HAL-true,0-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true
RCC.ADCFreq_Value=50390625
RCC.AHB12Freq_Value=240000000
RCC.AHB4Freq_Value=240000000
@ -199,6 +224,12 @@ SH.S_TIM3_CH2.0=TIM3_CH2,PWM Generation2 CH2
SH.S_TIM3_CH2.ConfNb=1
SH.S_TIM3_CH3.0=TIM3_CH3,PWM Generation3 CH3
SH.S_TIM3_CH3.ConfNb=1
SH.S_TIM4_CH1.0=TIM4_CH1,PWM Generation1 CH1
SH.S_TIM4_CH1.ConfNb=1
SH.S_TIM4_CH2.0=TIM4_CH2,PWM Generation2 CH2
SH.S_TIM4_CH2.ConfNb=1
SH.S_TIM4_CH3.0=TIM4_CH3,PWM Generation3 CH3
SH.S_TIM4_CH3.ConfNb=1
SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_32
SPI1.CLKPhase=SPI_PHASE_2EDGE
SPI1.CalculateBaudRate=5.0 MBits/s
@ -207,6 +238,16 @@ SPI1.Direction=SPI_DIRECTION_2LINES
SPI1.IPParameters=VirtualType,Mode,Direction,BaudRatePrescaler,CalculateBaudRate,DataSize,CLKPhase
SPI1.Mode=SPI_MODE_MASTER
SPI1.VirtualType=VM_MASTER
SPI2.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_8
SPI2.CLKPhase=SPI_PHASE_2EDGE
SPI2.CLKPolarity=SPI_POLARITY_HIGH
SPI2.CalculateBaudRate=20.0 MBits/s
SPI2.DataSize=SPI_DATASIZE_8BIT
SPI2.Direction=SPI_DIRECTION_2LINES
SPI2.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,DataSize,CLKPolarity,CLKPhase,BaudRatePrescaler,NSSPolarity
SPI2.Mode=SPI_MODE_MASTER
SPI2.NSSPolarity=SPI_NSS_POLARITY_HIGH
SPI2.VirtualType=VM_MASTER
TIM2.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
TIM2.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
TIM2.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
@ -219,6 +260,11 @@ TIM3.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
TIM3.CounterMode=TIM_COUNTERMODE_CENTERALIGNED1
TIM3.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Period,CounterMode
TIM3.Period=4800
TIM4.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
TIM4.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
TIM4.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
TIM4.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Period
TIM4.Period=255
TIM5.IPParameters=Prescaler
TIM5.Prescaler=24
USART1.IPParameters=VirtualMode-Asynchronous
@ -229,6 +275,8 @@ VP_TIM2_VS_ClockSourceINT.Mode=Internal
VP_TIM2_VS_ClockSourceINT.Signal=TIM2_VS_ClockSourceINT
VP_TIM3_VS_ClockSourceINT.Mode=Internal
VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT
VP_TIM4_VS_ClockSourceINT.Mode=Internal
VP_TIM4_VS_ClockSourceINT.Signal=TIM4_VS_ClockSourceINT
VP_TIM5_VS_ClockSourceINT.Mode=Internal
VP_TIM5_VS_ClockSourceINT.Signal=TIM5_VS_ClockSourceINT
board=custom