lijie/foc_Gimbal
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

添加ADC采集电压和RGB灯

Browse Source
This commit is contained in:
lijie
2024-03-08 15:19:23 +08:00
parent 7749d1d7b7
commit fa1cc826f1
14 changed files with 1189 additions and 915 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
APP/foc.c
View File

@ -5,7 +5,7 @@
#define _constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
float Voltage_PowerSupply = 12;
const float Voltage_PowerSupply = 12;
float Pole_Pairs = 14;
float Voltage_Limit = 6.9;
float Velocity_Limit = 100;
@ -17,15 +17,15 @@ FOCTypeDef FOCStruct_Y={0,0,0,0,0,0,0,0,0,0,0,0,0,0};
void PID_Iint(void)
{
FOCStruct_X.ZT_KP = 4;
FOCStruct_X.ZT_KP = 3.5;
FOCStruct_X.ZT_KI = 0;
FOCStruct_X.ZT_KD = 0.5;
FOCStruct_X.V_KP = 0.1;
FOCStruct_X.V_KI = 2;
FOCStruct_X.V_KI = 1;
FOCStruct_X.V_KD = 0;
//2024/1/2 Y<><59>Ч<EFBFBD><D0A7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
FOCStruct_Y.ZT_KP = 2;
///////////
FOCStruct_Y.ZT_KP = 3;
FOCStruct_Y.ZT_KI = 0;
FOCStruct_Y.ZT_KD = 0.5;

31
APP/mymain.c
View File

@ -9,35 +9,40 @@ void mymain()
HAL_UART_Receive_IT(&huart1, (uint8_t *)g_rx_buffer, RXBUFFERSIZE); //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>
HAL_Delay(2000);
led_init();
adc_init();
tle5012b_init();
Init_ICM42688();
imu_rest();
// Init_ICM42688();
// imu_rest();
moto_Init();
PID_Iint();
setvbuf(stdout, NULL, _IONBF, 0); //<2F><><EFBFBD><EFBFBD>printfû<66><C3BB>\n<><6E><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
float x = 0,y=0;
unsigned int i =0;
HAL_TIM_Base_Start(&htim5); //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>
// while(i<3300*3)
// while(i<2000*1)
// {
// Angel_closed_loop(motorx,&FOCStruct_X,-0.2);
// Angel_closed_loop(motory,&FOCStruct_Y,2.3);
//// MpuGetData();
//// GetAngle(&ICM42688,&Angle);
// Angel_closed_loop(motorx,&FOCStruct_X,3.0);
// Angel_closed_loop(motory,&FOCStruct_Y,2.2);
// i++;
// }
// i=0;
LED_ON;
// LED_ON;
while(1)
{
MpuGetData();
GetAngle(&ICM42688,&Angle);
x = Angle.pitch;
y = Angle.roll ;
Zitai_closed_loop(motorx,&FOCStruct_X,x);
Zitai_closed_loop(motory,&FOCStruct_Y,-y);
commander_run();
// MpuGetData();
// GetAngle(&ICM42688,&Angle);
// x = Angle.pitch;
// y = Angle.roll;
// Zitai_closed_loop(motorx,&FOCStruct_X,x);
// Zitai_closed_loop(motory,&FOCStruct_Y,-y);
// commander_run();
// x = getAngle(motorx);
// y = getAngle(motory);
// x= get_VCC();
// printf("%fY%f\n",x,y);
// HAL_Delay(2);
// speed_closed_loop(motorx,&FOCStruct_X,_2PI*5);
// speed_closed_loop(motory,&FOCStruct_Y,_2PI*2);
// printf("b%d\n",b);

2
APP/mymain.h
View File

@ -16,6 +16,7 @@
#include "main.h"
#include "tim.h"
#include "adc.h"
#include "usart.h"
#include "gpio.h"
#include "tle5012b.h"
@ -30,6 +31,7 @@
#include "LED.h"
#include "Usart1.h"
#include "LED_RGB.h"
#include "vcc_adc.h"
void mymain();
#endif //FOC_N_MYMAIN_H

43
APP/vcc_adc.c Normal file
View File

@ -0,0 +1,43 @@
//
// Created by hu123456 on 2024/3/8.
//
#include "vcc_adc.h"
void adc_init(void)
{
HAL_ADCEx_Calibration_Start(&hadc1, ADC_CALIB_OFFSET, ADC_SINGLE_ENDED);
}
uint32_t adc_get_result(void)
{
ADC_ChannelConfTypeDef adc_ch_conf = {0};
adc_ch_conf.Channel = ADC_CHANNEL_8;
adc_ch_conf.Rank = ADC_REGULAR_RANK_1;
adc_ch_conf.SamplingTime = ADC_SAMPLETIME_810CYCLES_5;
adc_ch_conf.SingleDiff = ADC_SINGLE_ENDED;
adc_ch_conf.OffsetNumber = ADC_OFFSET_NONE;
adc_ch_conf.Offset = 0;
HAL_ADC_ConfigChannel(&hadc1, &adc_ch_conf);
HAL_ADC_Start(&hadc1);
HAL_ADC_PollForConversion(&hadc1, 10);
return HAL_ADC_GetValue(&hadc1);
}
float get_VCC(void)
{
uint32_t temp_val = 0;
float vcc;
for (uint8_t t = 0; t < 10; t++)
{
temp_val += adc_get_result();
HAL_Delay(5);
}
vcc = temp_val/10.f/65535.f * 3.3 * 11.f;
return vcc;
}

14
APP/vcc_adc.h Normal file
View File

@ -0,0 +1,14 @@
//
// Created by hu123456 on 2024/3/8.
//
#ifndef FOC_N_VCC_ADC_H
#define FOC_N_VCC_ADC_H
#include "mymain.h"
void adc_init(void);
uint32_t adc_get_result(void);
float get_VCC(void);
#endif //FOC_N_VCC_ADC_H

52
Core/Inc/adc.h Normal file
View File

@ -0,0 +1,52 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file adc.h
* @brief This file contains all the function prototypes for
* the adc.c file
******************************************************************************
* @attention
*
* Copyright (c) 2024 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 __ADC_H__
#define __ADC_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern ADC_HandleTypeDef hadc1;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_ADC1_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __ADC_H__ */

2
Core/Inc/stm32h7xx_hal_conf.h
View File

@ -34,7 +34,7 @@
*/
#define HAL_MODULE_ENABLED
/* #define HAL_ADC_MODULE_ENABLED */
#define HAL_ADC_MODULE_ENABLED
/* #define HAL_FDCAN_MODULE_ENABLED */
/* #define HAL_FMAC_MODULE_ENABLED */
/* #define HAL_CEC_MODULE_ENABLED */

163
Core/Src/adc.c Normal file
View File

@ -0,0 +1,163 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file adc.c
* @brief This file provides code for the configuration
* of the ADC instances.
******************************************************************************
* @attention
*
* Copyright (c) 2024 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 */
/* Includes ------------------------------------------------------------------*/
#include "adc.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
ADC_HandleTypeDef hadc1;
/* ADC1 init function */
void MX_ADC1_Init(void)
{
/* USER CODE BEGIN ADC1_Init 0 */
/* USER CODE END ADC1_Init 0 */
ADC_MultiModeTypeDef multimode = {0};
ADC_ChannelConfTypeDef sConfig = {0};
/* USER CODE BEGIN ADC1_Init 1 */
/* USER CODE END ADC1_Init 1 */
/** Common config
*/
hadc1.Instance = ADC1;
hadc1.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV1;
hadc1.Init.Resolution = ADC_RESOLUTION_16B;
hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
hadc1.Init.LowPowerAutoWait = DISABLE;
hadc1.Init.ContinuousConvMode = DISABLE;
hadc1.Init.NbrOfConversion = 1;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
hadc1.Init.ConversionDataManagement = ADC_CONVERSIONDATA_DR;
hadc1.Init.Overrun = ADC_OVR_DATA_PRESERVED;
hadc1.Init.LeftBitShift = ADC_LEFTBITSHIFT_NONE;
hadc1.Init.OversamplingMode = DISABLE;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
}
/** Configure the ADC multi-mode
*/
multimode.Mode = ADC_MODE_INDEPENDENT;
if (HAL_ADCEx_MultiModeConfigChannel(&hadc1, &multimode) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_8;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
sConfig.SingleDiff = ADC_SINGLE_ENDED;
sConfig.OffsetNumber = ADC_OFFSET_NONE;
sConfig.Offset = 0;
sConfig.OffsetSignedSaturation = DISABLE;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ADC1_Init 2 */
/* USER CODE END ADC1_Init 2 */
}
void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
if(adcHandle->Instance==ADC1)
{
/* USER CODE BEGIN ADC1_MspInit 0 */
/* USER CODE END ADC1_MspInit 0 */
/** Initializes the peripherals clock
*/
PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_ADC;
PeriphClkInitStruct.PLL2.PLL2M = 25;
PeriphClkInitStruct.PLL2.PLL2N = 240;
PeriphClkInitStruct.PLL2.PLL2P = 10;
PeriphClkInitStruct.PLL2.PLL2Q = 2;
PeriphClkInitStruct.PLL2.PLL2R = 2;
PeriphClkInitStruct.PLL2.PLL2RGE = RCC_PLL2VCIRANGE_0;
PeriphClkInitStruct.PLL2.PLL2VCOSEL = RCC_PLL2VCOWIDE;
PeriphClkInitStruct.PLL2.PLL2FRACN = 0;
PeriphClkInitStruct.AdcClockSelection = RCC_ADCCLKSOURCE_PLL2;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
{
Error_Handler();
}
/* ADC1 clock enable */
__HAL_RCC_ADC12_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
/**ADC1 GPIO Configuration
PC5 ------> ADC1_INP8
*/
GPIO_InitStruct.Pin = GPIO_PIN_5;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/* USER CODE BEGIN ADC1_MspInit 1 */
/* USER CODE END ADC1_MspInit 1 */
}
}
void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
{
if(adcHandle->Instance==ADC1)
{
/* USER CODE BEGIN ADC1_MspDeInit 0 */
/* USER CODE END ADC1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_ADC12_CLK_DISABLE();
/**ADC1 GPIO Configuration
PC5 ------> ADC1_INP8
*/
HAL_GPIO_DeInit(GPIOC, GPIO_PIN_5);
/* USER CODE BEGIN ADC1_MspDeInit 1 */
/* USER CODE END ADC1_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

2
Core/Src/gpio.c
View File

@ -42,9 +42,9 @@ void MX_GPIO_Init(void)
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
}

10
Core/Src/main.c
View File

@ -18,6 +18,7 @@
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "adc.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
@ -94,10 +95,11 @@ int main(void)
MX_SPI1_Init();
MX_SPI2_Init();
MX_TIM4_Init();
MX_ADC1_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
mymain();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
@ -133,6 +135,10 @@ void SystemClock_Config(void)
while(!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {}
/** Macro to configure the PLL clock source
*/
__HAL_RCC_PLL_PLLSOURCE_CONFIG(RCC_PLLSOURCE_HSE);
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/

6
Core/Src/tim.c
View File

@ -109,7 +109,7 @@ void MX_TIM3_Init(void)
htim3.Instance = TIM3;
htim3.Init.Prescaler = 1 - 1;
htim3.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED1;
htim3.Init.Period = 4800-1;
htim3.Init.Period = 4800 - 1;
htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
@ -169,9 +169,9 @@ void MX_TIM4_Init(void)
/* USER CODE END TIM4_Init 1 */
htim4.Instance = TIM4;
htim4.Init.Prescaler = 240 - 1;
htim4.Init.Prescaler = 1 - 1;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
htim4.Init.Period = 255;
htim4.Init.Period = 255 - 1;
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim4) != HAL_OK)

1167
IMU/icm42688.c
View File

File diff suppressed because it is too large Load Diff

511
IMU/icm42688.h
View File

@ -1,212 +1,10 @@
#ifndef _DMX_ICM42688_H_
#define _DMX_ICM42688_H_
#include "stm32h7xx_hal.h"
#include "mymain.h"
#define ICM42688_DELAY_MS(time) (HAL_Delay(time))
enum icm42688_afs
{
ICM42688_AFS_16G,// default
ICM42688_AFS_8G,
ICM42688_AFS_4G,
ICM42688_AFS_2G,
NUM_ICM42688__AFS
};
enum icm42688_aodr
{
ICM42688_AODR_32000HZ,
ICM42688_AODR_16000HZ,
ICM42688_AODR_8000HZ,
ICM42688_AODR_4000HZ,
ICM42688_AODR_2000HZ,
ICM42688_AODR_1000HZ,// default
ICM42688_AODR_200HZ,
ICM42688_AODR_100HZ,
ICM42688_AODR_50HZ,
ICM42688_AODR_25HZ,
ICM42688_AODR_12_5HZ,
ICM42688_AODR_6_25HZ,
ICM42688_AODR_3_125HZ,
ICM42688_AODR_1_5625HZ,
ICM42688_AODR_500HZ,
NUM_ICM42688_AODR
};
enum icm42688_gfs
{
ICM42688_GFS_2000DPS,// default
ICM42688_GFS_1000DPS,
ICM42688_GFS_500DPS,
ICM42688_GFS_250DPS,
ICM42688_GFS_125DPS,
ICM42688_GFS_62_5DPS,
ICM42688_GFS_31_25DPS,
ICM42688_GFS_15_625DPS,
NUM_ICM42688_GFS
};
enum icm42688_godr
{
ICM42688_GODR_32000HZ,
ICM42688_GODR_16000HZ,
ICM42688_GODR_8000HZ,
ICM42688_GODR_4000HZ,
ICM42688_GODR_2000HZ,
ICM42688_GODR_1000HZ,// default
ICM42688_GODR_200HZ,
ICM42688_GODR_100HZ,
ICM42688_GODR_50HZ,
ICM42688_GODR_25HZ,
ICM42688_GODR_12_5HZ,
ICM42688_GODR_X0HZ,
ICM42688_GODR_X1HZ,
ICM42688_GODR_X2HZ,
ICM42688_GODR_500HZ,
NUM_ICM42688_GODR
};
// ICM42688Bank0<6B>ڲ<EFBFBD><DAB2><EFBFBD>ַ
#define ICM42688_DEVICE_CONFIG 0x11
#define ICM42688_DRIVE_CONFIG 0x13
#define ICM42688_INT_CONFIG 0x14
#define ICM42688_FIFO_CONFIG 0x16
#define ICM42688_TEMP_DATA1 0x1D
#define ICM42688_TEMP_DATA0 0x1E
#define ICM42688_ACCEL_DATA_X1 0x1F
#define ICM42688_ACCEL_DATA_X0 0x20
#define ICM42688_ACCEL_DATA_Y1 0x21
#define ICM42688_ACCEL_DATA_Y0 0x22
#define ICM42688_ACCEL_DATA_Z1 0x23
#define ICM42688_ACCEL_DATA_Z0 0x24
#define ICM42688_GYRO_DATA_X1 0x25
#define ICM42688_GYRO_DATA_X0 0x26
#define ICM42688_GYRO_DATA_Y1 0x27
#define ICM42688_GYRO_DATA_Y0 0x28
#define ICM42688_GYRO_DATA_Z1 0x29
#define ICM42688_GYRO_DATA_Z0 0x2A
#define ICM42688_TMST_FSYNCH 0x2B
#define ICM42688_TMST_FSYNCL 0x2C
#define ICM42688_INT_STATUS 0x2D
#define ICM42688_FIFO_COUNTH 0x2E
#define ICM42688_FIFO_COUNTL 0x2F
#define ICM42688_FIFO_DATA 0x30
#define ICM42688_APEX_DATA0 0x31
#define ICM42688_APEX_DATA1 0x32
#define ICM42688_APEX_DATA2 0x33
#define ICM42688_APEX_DATA3 0x34
#define ICM42688_APEX_DATA4 0x35
#define ICM42688_APEX_DATA5 0x36
#define ICM42688_INT_STATUS2 0x37
#define ICM42688_INT_STATUS3 0x38
#define ICM42688_SIGNAL_PATH_RESET 0x4B
#define ICM42688_INTF_CONFIG0 0x4C
#define ICM42688_INTF_CONFIG1 0x4D
#define ICM42688_PWR_MGMT0 0x4E
#define ICM42688_GYRO_CONFIG0 0x4F
#define ICM42688_ACCEL_CONFIG0 0x50
#define ICM42688_GYRO_CONFIG1 0x51
#define ICM42688_GYRO_ACCEL_CONFIG0 0x52
#define ICM42688_ACCEL_CONFIG1 0x53
#define ICM42688_TMST_CONFIG 0x54
#define ICM42688_APEX_CONFIG0 0x56
#define ICM42688_SMD_CONFIG 0x57
#define ICM42688_FIFO_CONFIG1 0x5F
#define ICM42688_FIFO_CONFIG2 0x60
#define ICM42688_FIFO_CONFIG3 0x61
#define ICM42688_FSYNC_CONFIG 0x62
#define ICM42688_INT_CONFIG0 0x63
#define ICM42688_INT_CONFIG1 0x64
#define ICM42688_INT_SOURCE0 0x65
#define ICM42688_INT_SOURCE1 0x66
#define ICM42688_INT_SOURCE3 0x68
#define ICM42688_INT_SOURCE4 0x69
#define ICM42688_FIFO_LOST_PKT0 0x6C
#define ICM42688_FIFO_LOST_PKT1 0x6D
#define ICM42688_SELF_TEST_CONFIG 0x70
#define ICM42688_WHO_AM_I 0x75
#define ICM42688_REG_BANK_SEL 0x76 // Banks
#define ICM42688_SENSOR_CONFIG0 0x03
#define ICM42688_GYRO_CONFIG_STATIC2 0x0B
#define ICM42688_GYRO_CONFIG_STATIC3 0x0C
#define ICM42688_GYRO_CONFIG_STATIC4 0x0D
#define ICM42688_GYRO_CONFIG_STATIC5 0x0E
#define ICM42688_GYRO_CONFIG_STATIC6 0x0F
#define ICM42688_GYRO_CONFIG_STATIC7 0x10
#define ICM42688_GYRO_CONFIG_STATIC8 0x11
#define ICM42688_GYRO_CONFIG_STATIC9 0x12
#define ICM42688_GYRO_CONFIG_STATIC10 0x13
#define ICM42688_XG_ST_DATA 0x5F
#define ICM42688_YG_ST_DATA 0x60
#define ICM42688_ZG_ST_DATA 0x61
#define ICM42688_TMSTVAL0 0x62
#define ICM42688_TMSTVAL1 0x63
#define ICM42688_TMSTVAL2 0x64
#define ICM42688_INTF_CONFIG4 0x7A
#define ICM42688_INTF_CONFIG5 0x7B
#define ICM42688_INTF_CONFIG6 0x7C
static void Read_Datas_ICM42688(unsigned char reg, unsigned char *dat, unsigned int num);
static void Write_Data_ICM42688(unsigned char reg, unsigned char dat);
void Init_ICM42688(void);
//void sys_gpio_pin_set(GPIO_TypeDef *p_gpiox, uint16_t pinx, uint8_t status);
void Set_LowpassFilter_Range_ICM42688(enum icm42688_afs afs, enum icm42688_aodr aodr, enum icm42688_gfs gfs, enum icm42688_godr godr);
uint8_t MpuGetData(void);
#endif
//#ifndef _DMX_ICM42688_H_
//#define _DMX_ICM42688_H_
//#include "stm32h7xx_hal.h"
//#include "mymain.h"
//#define ICM42688_DELAY_MS(time) (HAL_Delay(time))
//
//extern float icm42688_acc_x, icm42688_acc_y, icm42688_acc_z ; // <20><><EFBFBD><EFBFBD>ICM42688<38><38><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD>
//extern float icm42688_gyro_x, icm42688_gyro_y, icm42688_gyro_z ; // <20><><EFBFBD><EFBFBD>ICM42688<38>Ǽ<EFBFBD><C7BC>ٶ<EFBFBD><D9B6><EFBFBD><EFBFBD><EFBFBD>
//static void Read_Datas_ICM42688(unsigned char reg, unsigned char *dat, unsigned int num);
//static void Write_Data_ICM42688(unsigned char reg, unsigned char dat);
//
//enum icm42688_afs
//{
// ICM42688_AFS_16G,// default
@ -268,58 +66,7 @@ uint8_t MpuGetData(void);
// NUM_ICM42688_GODR
//};
//
//void gpio_init(void);
//
///**
//*
//* @brief ICM42688<38><38><EFBFBD><EFBFBD><EFBFBD>dz<EFBFBD>ʼ<EFBFBD><CABC>
//* @param
//* @return void
//* @notes <20>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD>
//* Example: Init_ICM42688();
//*
//**/
//void Init_ICM42688(void);
////void get_IMU(float accx,float accy,float accz,float *pitch,float *roll);
//void get_IMU(float *pitch,float *roll);
//uint8_t sys_gpio_pin_get(GPIO_TypeDef *p_gpiox, uint16_t pinx);
//void sys_gpio_pin_set(GPIO_TypeDef *p_gpiox, uint16_t pinx, uint8_t status);
///**
//*
//* @brief <20><><EFBFBD>ICM42688<38><38><EFBFBD><EFBFBD><EFBFBD>Ǽ<EFBFBD><C7BC>ٶ<EFBFBD>
//* @param
//* @return void
//* @notes <20><>λ:g(m/s^2),<2C>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD>
//* Example: Get_Acc_ICM42688();
//*
//**/
//void Get_Acc_ICM42688(void);
//
///**
//*
//* @brief <20><><EFBFBD>ICM42688<38><38><EFBFBD><EFBFBD><EFBFBD>ǽǼ<C7BD><C7BC>ٶ<EFBFBD>
//* @param
//* @return void
//* @notes <20><>λΪ:<3A><>/s,<2C>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD>
//* Example: Get_Gyro_ICM42688();
//*
//**/
//void Get_Gyro_ICM42688(void);
//
///**
//*
//* @brief <20><><EFBFBD><EFBFBD>ICM42688<38><38><EFBFBD><EFBFBD><EFBFBD>ǵ<EFBFBD>ͨ<EFBFBD>˲<EFBFBD><CBB2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//* @param afs // <20><><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD><EFBFBD>dmx_icm42688.h<>ļ<EFBFBD><C4BC><EFBFBD>ö<EFBFBD>ٶ<EFBFBD><D9B6><EFBFBD><EFBFBD>в鿴
//* @param aodr // <20><><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD><EFBFBD>dmx_icm42688.h<>ļ<EFBFBD><C4BC><EFBFBD>ö<EFBFBD>ٶ<EFBFBD><D9B6><EFBFBD><EFBFBD>в鿴
//* @param gfs // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD><EFBFBD>dmx_icm42688.h<>ļ<EFBFBD><C4BC><EFBFBD>ö<EFBFBD>ٶ<EFBFBD><D9B6><EFBFBD><EFBFBD>в鿴
//* @param godr // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD><EFBFBD>dmx_icm42688.h<>ļ<EFBFBD><C4BC><EFBFBD>ö<EFBFBD>ٶ<EFBFBD><D9B6><EFBFBD><EFBFBD>в鿴
//* @return void
//* @notes ICM42688.c<>ļ<EFBFBD><C4BC>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>,<2C>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ó<EFBFBD><C3B3><EFBFBD>
//* Example: Set_LowpassFilter_Range_ICM42688(ICM42688_AFS_16G,ICM42688_AODR_32000HZ,ICM42688_GFS_2000DPS,ICM42688_GODR_32000HZ);
//*
//**/
//void Set_LowpassFilter_Range_ICM42688(enum icm42688_afs afs, enum icm42688_aodr aodr, enum icm42688_gfs gfs, enum icm42688_godr godr);
//uint8_t MpuGetData(void);
//// ICM42688Bank0<6B>ڲ<EFBFBD><DAB2><EFBFBD>ַ
//#define ICM42688_DEVICE_CONFIG 0x11
//#define ICM42688_DRIVE_CONFIG 0x13
@ -400,4 +147,258 @@ uint8_t MpuGetData(void);
//#define ICM42688_INTF_CONFIG5 0x7B
//#define ICM42688_INTF_CONFIG6 0x7C
//
//#endif
//
//static void Read_Datas_ICM42688(unsigned char reg, unsigned char *dat, unsigned int num);
//static void Write_Data_ICM42688(unsigned char reg, unsigned char dat);
//void Init_ICM42688(void);
////void sys_gpio_pin_set(GPIO_TypeDef *p_gpiox, uint16_t pinx, uint8_t status);
//void Set_LowpassFilter_Range_ICM42688(enum icm42688_afs afs, enum icm42688_aodr aodr, enum icm42688_gfs gfs, enum icm42688_godr godr);
//uint8_t MpuGetData(void);
//
//
//#endif
//
#ifndef _DMX_ICM42688_H_
#define _DMX_ICM42688_H_
#include "stm32h7xx_hal.h"
#include "mymain.h"
#define ICM42688_DELAY_MS(time) (HAL_Delay(time))
extern float icm42688_acc_x, icm42688_acc_y, icm42688_acc_z ; // <20><><EFBFBD><EFBFBD>ICM42688<38><38><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD>
extern float icm42688_gyro_x, icm42688_gyro_y, icm42688_gyro_z ; // <20><><EFBFBD><EFBFBD>ICM42688<38>Ǽ<EFBFBD><C7BC>ٶ<EFBFBD><D9B6><EFBFBD><EFBFBD><EFBFBD>
static void Read_Datas_ICM42688(unsigned char reg, unsigned char *dat, unsigned int num);
static void Write_Data_ICM42688(unsigned char reg, unsigned char dat);
enum icm42688_afs
{
ICM42688_AFS_16G,// default
ICM42688_AFS_8G,
ICM42688_AFS_4G,
ICM42688_AFS_2G,
NUM_ICM42688__AFS
};
enum icm42688_aodr
{
ICM42688_AODR_32000HZ,
ICM42688_AODR_16000HZ,
ICM42688_AODR_8000HZ,
ICM42688_AODR_4000HZ,
ICM42688_AODR_2000HZ,
ICM42688_AODR_1000HZ,// default
ICM42688_AODR_200HZ,
ICM42688_AODR_100HZ,
ICM42688_AODR_50HZ,
ICM42688_AODR_25HZ,
ICM42688_AODR_12_5HZ,
ICM42688_AODR_6_25HZ,
ICM42688_AODR_3_125HZ,
ICM42688_AODR_1_5625HZ,
ICM42688_AODR_500HZ,
NUM_ICM42688_AODR
};
enum icm42688_gfs
{
ICM42688_GFS_2000DPS,// default
ICM42688_GFS_1000DPS,
ICM42688_GFS_500DPS,
ICM42688_GFS_250DPS,
ICM42688_GFS_125DPS,
ICM42688_GFS_62_5DPS,
ICM42688_GFS_31_25DPS,
ICM42688_GFS_15_625DPS,
NUM_ICM42688_GFS
};
enum icm42688_godr
{
ICM42688_GODR_32000HZ,
ICM42688_GODR_16000HZ,
ICM42688_GODR_8000HZ,
ICM42688_GODR_4000HZ,
ICM42688_GODR_2000HZ,
ICM42688_GODR_1000HZ,// default
ICM42688_GODR_200HZ,
ICM42688_GODR_100HZ,
ICM42688_GODR_50HZ,
ICM42688_GODR_25HZ,
ICM42688_GODR_12_5HZ,
ICM42688_GODR_X0HZ,
ICM42688_GODR_X1HZ,
ICM42688_GODR_X2HZ,
ICM42688_GODR_500HZ,
NUM_ICM42688_GODR
};
void gpio_init(void);
/**
*
* @brief ICM42688<38><38><EFBFBD><EFBFBD><EFBFBD>dz<EFBFBD>ʼ<EFBFBD><CABC>
* @param
* @return void
* @notes <20>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD>
* Example: Init_ICM42688();
*
**/
void Init_ICM42688(void);
//void get_IMU(float accx,float accy,float accz,float *pitch,float *roll);
void get_IMU(float *pitch,float *roll);
uint8_t sys_gpio_pin_get(GPIO_TypeDef *p_gpiox, uint16_t pinx);
void sys_gpio_pin_set(GPIO_TypeDef *p_gpiox, uint16_t pinx, uint8_t status);
/**
*
* @brief <20><><EFBFBD>ICM42688<38><38><EFBFBD><EFBFBD><EFBFBD>Ǽ<EFBFBD><C7BC>ٶ<EFBFBD>
* @param
* @return void
* @notes <20><>λ:g(m/s^2),<2C>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD>
* Example: Get_Acc_ICM42688();
*
**/
void Get_Acc_ICM42688(void);
/**
*
* @brief <20><><EFBFBD>ICM42688<38><38><EFBFBD><EFBFBD><EFBFBD>ǽǼ<C7BD><C7BC>ٶ<EFBFBD>
* @param
* @return void
* @notes <20><>λΪ:<3A><>/s,<2C>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD>
* Example: Get_Gyro_ICM42688();
*
**/
void Get_Gyro_ICM42688(void);
/**
*
* @brief <20><><EFBFBD><EFBFBD>ICM42688<38><38><EFBFBD><EFBFBD><EFBFBD>ǵ<EFBFBD>ͨ<EFBFBD>˲<EFBFBD><CBB2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* @param afs // <20><><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD><EFBFBD>dmx_icm42688.h<>ļ<EFBFBD><C4BC><EFBFBD>ö<EFBFBD>ٶ<EFBFBD><D9B6><EFBFBD><EFBFBD>в鿴
* @param aodr // <20><><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD><EFBFBD>dmx_icm42688.h<>ļ<EFBFBD><C4BC><EFBFBD>ö<EFBFBD>ٶ<EFBFBD><D9B6><EFBFBD><EFBFBD>в鿴
* @param gfs // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD><EFBFBD>dmx_icm42688.h<>ļ<EFBFBD><C4BC><EFBFBD>ö<EFBFBD>ٶ<EFBFBD><D9B6><EFBFBD><EFBFBD>в鿴
* @param godr // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD><EFBFBD>dmx_icm42688.h<>ļ<EFBFBD><C4BC><EFBFBD>ö<EFBFBD>ٶ<EFBFBD><D9B6><EFBFBD><EFBFBD>в鿴
* @return void
* @notes ICM42688.c<>ļ<EFBFBD><C4BC>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>,<2C>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ó<EFBFBD><C3B3><EFBFBD>
* Example: Set_LowpassFilter_Range_ICM42688(ICM42688_AFS_16G,ICM42688_AODR_32000HZ,ICM42688_GFS_2000DPS,ICM42688_GODR_32000HZ);
*
**/
void Set_LowpassFilter_Range_ICM42688(enum icm42688_afs afs, enum icm42688_aodr aodr, enum icm42688_gfs gfs, enum icm42688_godr godr);
uint8_t MpuGetData(void);
// ICM42688Bank0<6B>ڲ<EFBFBD><DAB2><EFBFBD>ַ
#define ICM42688_DEVICE_CONFIG 0x11
#define ICM42688_DRIVE_CONFIG 0x13
#define ICM42688_INT_CONFIG 0x14
#define ICM42688_FIFO_CONFIG 0x16
#define ICM42688_TEMP_DATA1 0x1D
#define ICM42688_TEMP_DATA0 0x1E
#define ICM42688_ACCEL_DATA_X1 0x1F
#define ICM42688_ACCEL_DATA_X0 0x20
#define ICM42688_ACCEL_DATA_Y1 0x21
#define ICM42688_ACCEL_DATA_Y0 0x22
#define ICM42688_ACCEL_DATA_Z1 0x23
#define ICM42688_ACCEL_DATA_Z0 0x24
#define ICM42688_GYRO_DATA_X1 0x25
#define ICM42688_GYRO_DATA_X0 0x26
#define ICM42688_GYRO_DATA_Y1 0x27
#define ICM42688_GYRO_DATA_Y0 0x28
#define ICM42688_GYRO_DATA_Z1 0x29
#define ICM42688_GYRO_DATA_Z0 0x2A
#define ICM42688_TMST_FSYNCH 0x2B
#define ICM42688_TMST_FSYNCL 0x2C
#define ICM42688_INT_STATUS 0x2D
#define ICM42688_FIFO_COUNTH 0x2E
#define ICM42688_FIFO_COUNTL 0x2F
#define ICM42688_FIFO_DATA 0x30
#define ICM42688_APEX_DATA0 0x31
#define ICM42688_APEX_DATA1 0x32
#define ICM42688_APEX_DATA2 0x33
#define ICM42688_APEX_DATA3 0x34
#define ICM42688_APEX_DATA4 0x35
#define ICM42688_APEX_DATA5 0x36
#define ICM42688_INT_STATUS2 0x37
#define ICM42688_INT_STATUS3 0x38
#define ICM42688_SIGNAL_PATH_RESET 0x4B
#define ICM42688_INTF_CONFIG0 0x4C
#define ICM42688_INTF_CONFIG1 0x4D
#define ICM42688_PWR_MGMT0 0x4E
#define ICM42688_GYRO_CONFIG0 0x4F
#define ICM42688_ACCEL_CONFIG0 0x50
#define ICM42688_GYRO_CONFIG1 0x51
#define ICM42688_GYRO_ACCEL_CONFIG0 0x52
#define ICM42688_ACCEL_CONFIG1 0x53
#define ICM42688_TMST_CONFIG 0x54
#define ICM42688_APEX_CONFIG0 0x56
#define ICM42688_SMD_CONFIG 0x57
#define ICM42688_FIFO_CONFIG1 0x5F
#define ICM42688_FIFO_CONFIG2 0x60
#define ICM42688_FIFO_CONFIG3 0x61
#define ICM42688_FSYNC_CONFIG 0x62
#define ICM42688_INT_CONFIG0 0x63
#define ICM42688_INT_CONFIG1 0x64
#define ICM42688_INT_SOURCE0 0x65
#define ICM42688_INT_SOURCE1 0x66
#define ICM42688_INT_SOURCE3 0x68
#define ICM42688_INT_SOURCE4 0x69
#define ICM42688_FIFO_LOST_PKT0 0x6C
#define ICM42688_FIFO_LOST_PKT1 0x6D
#define ICM42688_SELF_TEST_CONFIG 0x70
#define ICM42688_WHO_AM_I 0x75
#define ICM42688_REG_BANK_SEL 0x76 // Banks
#define ICM42688_SENSOR_CONFIG0 0x03
#define ICM42688_GYRO_CONFIG_STATIC2 0x0B
#define ICM42688_GYRO_CONFIG_STATIC3 0x0C
#define ICM42688_GYRO_CONFIG_STATIC4 0x0D
#define ICM42688_GYRO_CONFIG_STATIC5 0x0E
#define ICM42688_GYRO_CONFIG_STATIC6 0x0F
#define ICM42688_GYRO_CONFIG_STATIC7 0x10
#define ICM42688_GYRO_CONFIG_STATIC8 0x11
#define ICM42688_GYRO_CONFIG_STATIC9 0x12
#define ICM42688_GYRO_CONFIG_STATIC10 0x13
#define ICM42688_XG_ST_DATA 0x5F
#define ICM42688_YG_ST_DATA 0x60
#define ICM42688_ZG_ST_DATA 0x61
#define ICM42688_TMSTVAL0 0x62
#define ICM42688_TMSTVAL1 0x63
#define ICM42688_TMSTVAL2 0x64
#define ICM42688_INTF_CONFIG4 0x7A
#define ICM42688_INTF_CONFIG5 0x7B
#define ICM42688_INTF_CONFIG6 0x7C
#endif

91
foc_n.ioc
View File

@ -1,48 +1,58 @@
#MicroXplorer Configuration settings - do not modify
ADC1.Channel-0\#ChannelRegularConversion=ADC_CHANNEL_8
ADC1.IPParameters=Rank-0\#ChannelRegularConversion,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,OffsetNumber-0\#ChannelRegularConversion,OffsetSignedSaturation-0\#ChannelRegularConversion,NbrOfConversionFlag,master
ADC1.NbrOfConversionFlag=1
ADC1.OffsetNumber-0\#ChannelRegularConversion=ADC_OFFSET_NONE
ADC1.OffsetSignedSaturation-0\#ChannelRegularConversion=DISABLE
ADC1.Rank-0\#ChannelRegularConversion=1
ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_1CYCLE_5
ADC1.master=1
File.Version=6
GPIO.groupedBy=
KeepUserPlacement=false
Mcu.CPN=STM32H750VBT6
Mcu.Family=STM32H7
Mcu.IP0=CORTEX_M7
Mcu.IP1=NVIC
Mcu.IP10=USART1
Mcu.IP2=RCC
Mcu.IP3=SPI1
Mcu.IP4=SPI2
Mcu.IP5=SYS
Mcu.IP6=TIM2
Mcu.IP7=TIM3
Mcu.IP8=TIM4
Mcu.IP9=TIM5
Mcu.IPNb=11
Mcu.IP0=ADC1
Mcu.IP1=CORTEX_M7
Mcu.IP10=TIM5
Mcu.IP11=USART1
Mcu.IP2=NVIC
Mcu.IP3=RCC
Mcu.IP4=SPI1
Mcu.IP5=SPI2
Mcu.IP6=SYS
Mcu.IP7=TIM2
Mcu.IP8=TIM3
Mcu.IP9=TIM4
Mcu.IPNb=12
Mcu.Name=STM32H750VBTx
Mcu.Package=LQFP100
Mcu.Pin0=PH0-OSC_IN (PH0)
Mcu.Pin1=PH1-OSC_OUT (PH1)
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.Pin10=PB14
Mcu.Pin11=PB15
Mcu.Pin12=PD12
Mcu.Pin13=PD13
Mcu.Pin14=PD14
Mcu.Pin15=PC6
Mcu.Pin16=PC7
Mcu.Pin17=PC8
Mcu.Pin18=PA9
Mcu.Pin19=PA10
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.Pin20=VP_SYS_VS_Systick
Mcu.Pin21=VP_TIM2_VS_ClockSourceINT
Mcu.Pin22=VP_TIM3_VS_ClockSourceINT
Mcu.Pin23=VP_TIM4_VS_ClockSourceINT
Mcu.Pin24=VP_TIM5_VS_ClockSourceINT
Mcu.Pin3=PA1
Mcu.Pin4=PA2
Mcu.Pin5=PA5
Mcu.Pin6=PA6
Mcu.Pin7=PA7
Mcu.Pin8=PB13
Mcu.Pin9=PB14
Mcu.PinsNb=24
Mcu.Pin8=PC5
Mcu.Pin9=PB13
Mcu.PinsNb=25
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32H750VBTx
@ -90,6 +100,8 @@ PB14.Signal=SPI2_MISO
PB15.Locked=true
PB15.Mode=Full_Duplex_Master
PB15.Signal=SPI2_MOSI
PC5.Locked=true
PC5.Signal=ADCx_INP8
PC6.Locked=true
PC6.Signal=S_TIM3_CH1
PC7.Locked=true
@ -134,8 +146,8 @@ 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,8-MX_SPI2_Init-SPI2-false-HAL-true,0-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true
RCC.ADCFreq_Value=50390625
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,9-MX_TIM4_Init-TIM4-false-HAL-true,0-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true
RCC.ADCFreq_Value=24000000
RCC.AHB12Freq_Value=240000000
RCC.AHB4Freq_Value=240000000
RCC.APB1Freq_Value=120000000
@ -155,16 +167,19 @@ RCC.D3PPRE=RCC_APB4_DIV2
RCC.DFSDMACLkFreq_Value=160000000
RCC.DFSDMFreq_Value=120000000
RCC.DIVM1=5
RCC.DIVM2=25
RCC.DIVN1=192
RCC.DIVN2=240
RCC.DIVP1Freq_Value=480000000
RCC.DIVP2Freq_Value=50390625
RCC.DIVP2=10
RCC.DIVP2Freq_Value=24000000
RCC.DIVP3Freq_Value=50390625
RCC.DIVQ1=6
RCC.DIVQ1Freq_Value=160000000
RCC.DIVQ2Freq_Value=50390625
RCC.DIVQ2Freq_Value=120000000
RCC.DIVQ3Freq_Value=50390625
RCC.DIVR1Freq_Value=480000000
RCC.DIVR2Freq_Value=50390625
RCC.DIVR2Freq_Value=120000000
RCC.DIVR3Freq_Value=50390625
RCC.FDCANFreq_Value=160000000
RCC.FMCFreq_Value=240000000
@ -175,7 +190,7 @@ RCC.HPRE=RCC_HCLK_DIV2
RCC.HRTIMFreq_Value=240000000
RCC.I2C123Freq_Value=120000000
RCC.I2C4Freq_Value=120000000
RCC.IPParameters=ADCFreq_Value,AHB12Freq_Value,AHB4Freq_Value,APB1Freq_Value,APB2Freq_Value,APB3Freq_Value,APB4Freq_Value,AXIClockFreq_Value,CECFreq_Value,CKPERFreq_Value,CortexFreq_Value,CpuClockFreq_Value,D1CPREFreq_Value,D1PPRE,D2PPRE1,D2PPRE2,D3PPRE,DFSDMACLkFreq_Value,DFSDMFreq_Value,DIVM1,DIVN1,DIVP1Freq_Value,DIVP2Freq_Value,DIVP3Freq_Value,DIVQ1,DIVQ1Freq_Value,DIVQ2Freq_Value,DIVQ3Freq_Value,DIVR1Freq_Value,DIVR2Freq_Value,DIVR3Freq_Value,FDCANFreq_Value,FMCFreq_Value,FamilyName,HCLK3ClockFreq_Value,HCLKFreq_Value,HPRE,HRTIMFreq_Value,I2C123Freq_Value,I2C4Freq_Value,LPTIM1Freq_Value,LPTIM2Freq_Value,LPTIM345Freq_Value,LPUART1Freq_Value,LTDCFreq_Value,MCO1PinFreq_Value,MCO2PinFreq_Value,PLLSourceVirtual,ProductRev,QSPIFreq_Value,RNGFreq_Value,RTCFreq_Value,SAI1Freq_Value,SAI23Freq_Value,SAI4AFreq_Value,SAI4BFreq_Value,SDMMCFreq_Value,SPDIFRXFreq_Value,SPI123Freq_Value,SPI45Freq_Value,SPI6Freq_Value,SWPMI1Freq_Value,SYSCLKFreq_VALUE,SYSCLKSource,Tim1OutputFreq_Value,Tim2OutputFreq_Value,TraceFreq_Value,USART16Freq_Value,USART234578Freq_Value,USBFreq_Value,VCO1OutputFreq_Value,VCO2OutputFreq_Value,VCO3OutputFreq_Value,VCOInput1Freq_Value,VCOInput2Freq_Value,VCOInput3Freq_Value
RCC.IPParameters=ADCFreq_Value,AHB12Freq_Value,AHB4Freq_Value,APB1Freq_Value,APB2Freq_Value,APB3Freq_Value,APB4Freq_Value,AXIClockFreq_Value,CECFreq_Value,CKPERFreq_Value,CortexFreq_Value,CpuClockFreq_Value,D1CPREFreq_Value,D1PPRE,D2PPRE1,D2PPRE2,D3PPRE,DFSDMACLkFreq_Value,DFSDMFreq_Value,DIVM1,DIVM2,DIVN1,DIVN2,DIVP1Freq_Value,DIVP2,DIVP2Freq_Value,DIVP3Freq_Value,DIVQ1,DIVQ1Freq_Value,DIVQ2Freq_Value,DIVQ3Freq_Value,DIVR1Freq_Value,DIVR2Freq_Value,DIVR3Freq_Value,FDCANFreq_Value,FMCFreq_Value,FamilyName,HCLK3ClockFreq_Value,HCLKFreq_Value,HPRE,HRTIMFreq_Value,I2C123Freq_Value,I2C4Freq_Value,LPTIM1Freq_Value,LPTIM2Freq_Value,LPTIM345Freq_Value,LPUART1Freq_Value,LTDCFreq_Value,MCO1PinFreq_Value,MCO2PinFreq_Value,PLLSourceVirtual,ProductRev,QSPIFreq_Value,RNGFreq_Value,RTCFreq_Value,SAI1Freq_Value,SAI23Freq_Value,SAI4AFreq_Value,SAI4BFreq_Value,SDMMCFreq_Value,SPDIFRXFreq_Value,SPI123Freq_Value,SPI45Freq_Value,SPI6Freq_Value,SWPMI1Freq_Value,SYSCLKFreq_VALUE,SYSCLKSource,Tim1OutputFreq_Value,Tim2OutputFreq_Value,TraceFreq_Value,USART16Freq_Value,USART234578Freq_Value,USBFreq_Value,VCO1OutputFreq_Value,VCO2OutputFreq_Value,VCO3OutputFreq_Value,VCOInput1Freq_Value,VCOInput2Freq_Value,VCOInput3Freq_Value
RCC.LPTIM1Freq_Value=120000000
RCC.LPTIM2Freq_Value=120000000
RCC.LPTIM345Freq_Value=120000000
@ -207,11 +222,13 @@ RCC.USART16Freq_Value=120000000
RCC.USART234578Freq_Value=120000000
RCC.USBFreq_Value=160000000
RCC.VCO1OutputFreq_Value=960000000
RCC.VCO2OutputFreq_Value=100781250
RCC.VCO2OutputFreq_Value=240000000
RCC.VCO3OutputFreq_Value=100781250
RCC.VCOInput1Freq_Value=5000000
RCC.VCOInput2Freq_Value=781250
RCC.VCOInput2Freq_Value=1000000
RCC.VCOInput3Freq_Value=781250
SH.ADCx_INP8.0=ADC1_INP8,IN8-Single-Ended
SH.ADCx_INP8.ConfNb=1
SH.S_TIM2_CH1_ETR.0=TIM2_CH1,PWM Generation1 CH1
SH.S_TIM2_CH1_ETR.ConfNb=1
SH.S_TIM2_CH2.0=TIM2_CH2,PWM Generation2 CH2