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dd060606
2025-05-13 17:49:49 +02:00
parent cc58aae003
commit 0886376b84
15 changed files with 86 additions and 21071 deletions
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4
.mxproject
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File diff suppressed because one or more lines are too long

2
.settings/com.st.stm32cube.ide.mcu.sfrview.prefs Normal file
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@@ -0,0 +1,2 @@
eclipse.preferences.version=1
sfrviewstate={"fFavorites"\:{"fLists"\:{}},"fProperties"\:{"fNodeProperties"\:{}}}

4
.settings/language.settings.xml
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@@ -5,7 +5,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1020268094863512062" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1068160135481153484" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>
@@ -16,7 +16,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1020268094863512062" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1068160135481153484" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>

2
Core/Inc/stm32g4xx_hal_conf.h
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@@ -36,7 +36,7 @@
#define HAL_MODULE_ENABLED
#define HAL_ADC_MODULE_ENABLED
/*#define HAL_ADC_MODULE_ENABLED */
/*#define HAL_COMP_MODULE_ENABLED */
/*#define HAL_CORDIC_MODULE_ENABLED */
/*#define HAL_CRC_MODULE_ENABLED */

219
Core/Src/main.c
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@@ -44,25 +44,21 @@ void ModelecOdometryLoop(void* pid, void* pidG, void* pidD);
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
ADC_HandleTypeDef hadc2;
TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim8;
/* USER CODE BEGIN PV */
int counter1=0;
int counter2=0;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_ADC2_Init(void);
static void MX_TIM2_Init(void);
static void MX_TIM1_Init(void);
static void MX_TIM3_Init(void);
static void MX_TIM8_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
@@ -102,16 +98,14 @@ int main(void)
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_ADC2_Init();
MX_TIM2_Init();
MX_TIM1_Init();
MX_TIM3_Init();
MX_TIM8_Init();
MX_USB_Device_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_1); // IN1A
HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_2); // IN2A
// HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_1); // IN1A
//HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_2); // IN2A
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); // IN1B
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); // IN2B
HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_ALL);
@@ -132,6 +126,8 @@ int main(void)
CDC_Transmit_FS((uint8_t*)test, strlen(test));
while (1)
{
counter2 = __HAL_TIM_GET_COUNTER(&htim2);
counter1 = __HAL_TIM_GET_COUNTER(&htim3);
ModelecOdometryLoop(pid, pidG, pidD);
/* USER CODE END WHILE */
@@ -181,65 +177,6 @@ void SystemClock_Config(void)
}
}
/**
* @brief ADC2 Initialization Function
* @param None
* @retval None
*/
static void MX_ADC2_Init(void)
{
/* USER CODE BEGIN ADC2_Init 0 */
/* USER CODE END ADC2_Init 0 */
ADC_ChannelConfTypeDef sConfig = {0};
/* USER CODE BEGIN ADC2_Init 1 */
/* USER CODE END ADC2_Init 1 */
/** Common config
*/
hadc2.Instance = ADC2;
hadc2.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2;
hadc2.Init.Resolution = ADC_RESOLUTION_12B;
hadc2.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc2.Init.GainCompensation = 0;
hadc2.Init.ScanConvMode = ADC_SCAN_DISABLE;
hadc2.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
hadc2.Init.LowPowerAutoWait = DISABLE;
hadc2.Init.ContinuousConvMode = DISABLE;
hadc2.Init.NbrOfConversion = 1;
hadc2.Init.DiscontinuousConvMode = DISABLE;
hadc2.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc2.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
hadc2.Init.DMAContinuousRequests = DISABLE;
hadc2.Init.Overrun = ADC_OVR_DATA_PRESERVED;
hadc2.Init.OversamplingMode = DISABLE;
if (HAL_ADC_Init(&hadc2) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_3;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_2CYCLES_5;
sConfig.SingleDiff = ADC_DIFFERENTIAL_ENDED;
sConfig.OffsetNumber = ADC_OFFSET_NONE;
sConfig.Offset = 0;
if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ADC2_Init 2 */
/* USER CODE END ADC2_Init 2 */
}
/**
* @brief TIM1 Initialization Function
* @param None
@@ -347,10 +284,10 @@ static void MX_TIM2_Init(void)
htim2.Instance = TIM2;
htim2.Init.Prescaler = 0;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 4294967295;
htim2.Init.Period = 65535;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
@@ -399,7 +336,7 @@ static void MX_TIM3_Init(void)
htim3.Init.Period = 65535;
htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
@@ -424,82 +361,6 @@ static void MX_TIM3_Init(void)
}
/**
* @brief TIM8 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM8_Init(void)
{
/* USER CODE BEGIN TIM8_Init 0 */
/* USER CODE END TIM8_Init 0 */
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
/* USER CODE BEGIN TIM8_Init 1 */
/* USER CODE END TIM8_Init 1 */
htim8.Instance = TIM8;
htim8.Init.Prescaler = 0;
htim8.Init.CounterMode = TIM_COUNTERMODE_UP;
htim8.Init.Period = 630;
htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim8.Init.RepetitionCounter = 0;
htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
if (HAL_TIM_PWM_Init(&htim8) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim8, &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(&htim8, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_2) != 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.BreakFilter = 0;
sBreakDeadTimeConfig.BreakAFMode = TIM_BREAK_AFMODE_INPUT;
sBreakDeadTimeConfig.Break2State = TIM_BREAK2_DISABLE;
sBreakDeadTimeConfig.Break2Polarity = TIM_BREAK2POLARITY_HIGH;
sBreakDeadTimeConfig.Break2Filter = 0;
sBreakDeadTimeConfig.Break2AFMode = TIM_BREAK_AFMODE_INPUT;
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
if (HAL_TIMEx_ConfigBreakDeadTime(&htim8, &sBreakDeadTimeConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM8_Init 2 */
/* USER CODE END TIM8_Init 2 */
HAL_TIM_MspPostInit(&htim8);
}
/**
* @brief GPIO Initialization Function
* @param None
@@ -507,74 +368,14 @@ static void MX_TIM8_Init(void)
*/
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_GPIOF_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_10, GPIO_PIN_RESET);
/*Configure GPIO pins : PA2 PA3 */
GPIO_InitStruct.Pin = GPIO_PIN_2|GPIO_PIN_3;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF12_LPUART1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pin : PA5 */
GPIO_InitStruct.Pin = GPIO_PIN_5;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF15_EVENTOUT;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pin : PB0 */
GPIO_InitStruct.Pin = GPIO_PIN_0;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pin : PA10 */
GPIO_InitStruct.Pin = GPIO_PIN_10;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pin : PA15 */
GPIO_InitStruct.Pin = GPIO_PIN_15;
GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF4_I2C1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pin : PB5 */
GPIO_InitStruct.Pin = GPIO_PIN_5;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF15_EVENTOUT;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pin : PB7 */
GPIO_InitStruct.Pin = GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF4_I2C1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}

4
Core/Src/modelec.cpp
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@@ -152,7 +152,7 @@ void ModelecOdometryUpdate() {
char msg[128];
sprintf(msg, " Update current position : X: %.3f m, Y: %.3f m, Theta: %.3f rad\r\n", x, y, theta);
//CDC_Transmit_FS((uint8_t*) msg, strlen(msg));
CDC_Transmit_FS((uint8_t*) msg, strlen(msg));
float dt = 0.01f; // 10 ms
// Calcul des vitesses des roues
@@ -193,6 +193,7 @@ void ModelecOdometryLoop(void* pid, void* pidG, void* pidD) {
//On met à jour toutes les 10ms
if (isDelayPassed(10)) {
ModelecOdometryUpdate();
/*
HAL_Delay(1000);
Point currentPoint(x, y,theta, StatePoint::INTERMEDIAIRE);
Point targetPoint(0.20, 0.20,0, StatePoint::FINAL);
@@ -205,6 +206,7 @@ void ModelecOdometryLoop(void* pid, void* pidG, void* pidD) {
determinationCoefPosition(currentPoint,targetPoint, *pidPosition, *pidVitesseG, *pidVitesseD);
HAL_Delay(1000);
motor.update();
*/

164
Core/Src/stm32g4xx_hal_msp.c
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@@ -59,7 +59,7 @@
/* USER CODE END 0 */
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
/**
/**
* Initializes the Global MSP.
*/
void HAL_MspInit(void)
@@ -83,81 +83,6 @@ void HAL_MspInit(void)
/* USER CODE END MspInit 1 */
}
/**
* @brief ADC MSP Initialization
* This function configures the hardware resources used in this example
* @param hadc: ADC handle pointer
* @retval None
*/
void HAL_ADC_MspInit(ADC_HandleTypeDef* hadc)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
if(hadc->Instance==ADC2)
{
/* USER CODE BEGIN ADC2_MspInit 0 */
/* USER CODE END ADC2_MspInit 0 */
/** Initializes the peripherals clocks
*/
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC12;
PeriphClkInit.Adc12ClockSelection = RCC_ADC12CLKSOURCE_SYSCLK;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
Error_Handler();
}
/* Peripheral clock enable */
__HAL_RCC_ADC12_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**ADC2 GPIO Configuration
PA6 ------> ADC2_IN3
PA7 ------> ADC2_IN4
*/
GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN ADC2_MspInit 1 */
/* USER CODE END ADC2_MspInit 1 */
}
}
/**
* @brief ADC MSP De-Initialization
* This function freeze the hardware resources used in this example
* @param hadc: ADC handle pointer
* @retval None
*/
void HAL_ADC_MspDeInit(ADC_HandleTypeDef* hadc)
{
if(hadc->Instance==ADC2)
{
/* USER CODE BEGIN ADC2_MspDeInit 0 */
/* USER CODE END ADC2_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_ADC12_CLK_DISABLE();
/**ADC2 GPIO Configuration
PA6 ------> ADC2_IN3
PA7 ------> ADC2_IN4
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_6|GPIO_PIN_7);
/* USER CODE BEGIN ADC2_MspDeInit 1 */
/* USER CODE END ADC2_MspDeInit 1 */
}
}
/**
* @brief TIM_Base MSP Initialization
* This function configures the hardware resources used in this example
@@ -205,8 +130,8 @@ void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* htim_encoder)
*/
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
@@ -230,15 +155,15 @@ void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* htim_encoder)
*/
GPIO_InitStruct.Pin = GPIO_PIN_4;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_4;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
@@ -249,29 +174,6 @@ void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* htim_encoder)
}
/**
* @brief TIM_PWM MSP Initialization
* This function configures the hardware resources used in this example
* @param htim_pwm: TIM_PWM handle pointer
* @retval None
*/
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* htim_pwm)
{
if(htim_pwm->Instance==TIM8)
{
/* USER CODE BEGIN TIM8_MspInit 0 */
/* USER CODE END TIM8_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM8_CLK_ENABLE();
/* USER CODE BEGIN TIM8_MspInit 1 */
/* USER CODE END TIM8_MspInit 1 */
}
}
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
@@ -280,6 +182,7 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
/* USER CODE BEGIN TIM1_MspPostInit 0 */
/* USER CODE END TIM1_MspPostInit 0 */
__HAL_RCC_GPIOA_CLK_ENABLE();
/**TIM1 GPIO Configuration
PA8 ------> TIM1_CH1
@@ -296,35 +199,6 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
/* USER CODE END TIM1_MspPostInit 1 */
}
else if(htim->Instance==TIM8)
{
/* USER CODE BEGIN TIM8_MspPostInit 0 */
/* USER CODE END TIM8_MspPostInit 0 */
__HAL_RCC_GPIOB_CLK_ENABLE();
/**TIM8 GPIO Configuration
PB6 ------> TIM8_CH1
PB8-BOOT0 ------> TIM8_CH2
*/
GPIO_InitStruct.Pin = GPIO_PIN_6;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF5_TIM8;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_8;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF10_TIM8;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* USER CODE BEGIN TIM8_MspPostInit 1 */
/* USER CODE END TIM8_MspPostInit 1 */
}
}
/**
@@ -398,28 +272,6 @@ void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* htim_encoder)
}
/**
* @brief TIM_PWM MSP De-Initialization
* This function freeze the hardware resources used in this example
* @param htim_pwm: TIM_PWM handle pointer
* @retval None
*/
void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* htim_pwm)
{
if(htim_pwm->Instance==TIM8)
{
/* USER CODE BEGIN TIM8_MspDeInit 0 */
/* USER CODE END TIM8_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM8_CLK_DISABLE();
/* USER CODE BEGIN TIM8_MspDeInit 1 */
/* USER CODE END TIM8_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

2318
Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_adc.h
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Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_adc_ex.h
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9204
Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_adc.h
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Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_adc.c
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2384
Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_adc_ex.c
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1419
Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_ll_adc.c
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133
pcb_odo.ioc
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@@ -1,12 +1,4 @@
#MicroXplorer Configuration settings - do not modify
ADC2.Channel-0\#ChannelRegularConversion=ADC_CHANNEL_3
ADC2.CommonPathInternal=null|null|null|null
ADC2.IPParameters=Rank-0\#ChannelRegularConversion,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,OffsetNumber-0\#ChannelRegularConversion,NbrOfConversionFlag,SingleDiff-0\#ChannelRegularConversion,CommonPathInternal
ADC2.NbrOfConversionFlag=1
ADC2.OffsetNumber-0\#ChannelRegularConversion=ADC_OFFSET_NONE
ADC2.Rank-0\#ChannelRegularConversion=1
ADC2.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
ADC2.SingleDiff-0\#ChannelRegularConversion=ADC_DIFFERENTIAL_ENDED
CAD.formats=
CAD.pinconfig=
CAD.provider=
@@ -15,47 +7,31 @@ GPIO.groupedBy=Group By Peripherals
KeepUserPlacement=false
Mcu.CPN=STM32G491KEU6
Mcu.Family=STM32G4
Mcu.IP0=ADC2
Mcu.IP1=NVIC
Mcu.IP2=RCC
Mcu.IP3=SYS
Mcu.IP4=TIM1
Mcu.IP5=TIM2
Mcu.IP6=TIM3
Mcu.IP7=TIM8
Mcu.IP8=USB
Mcu.IP9=USB_DEVICE
Mcu.IPNb=10
Mcu.IP0=NVIC
Mcu.IP1=RCC
Mcu.IP2=SYS
Mcu.IP3=TIM1
Mcu.IP4=TIM2
Mcu.IP5=TIM3
Mcu.IP6=USB
Mcu.IP7=USB_DEVICE
Mcu.IPNb=8
Mcu.Name=STM32G491K(C-E)Ux
Mcu.Package=UFQFPN32
Mcu.Pin0=PA0
Mcu.Pin1=PA1
Mcu.Pin10=PA9
Mcu.Pin11=PA10
Mcu.Pin12=PA11
Mcu.Pin13=PA12
Mcu.Pin14=PA13
Mcu.Pin15=PA14
Mcu.Pin16=PA15
Mcu.Pin17=PB3
Mcu.Pin18=PB4
Mcu.Pin19=PB5
Mcu.Pin2=PA2
Mcu.Pin20=PB6
Mcu.Pin21=PB7
Mcu.Pin22=PB8-BOOT0
Mcu.Pin23=VP_SYS_VS_Systick
Mcu.Pin24=VP_SYS_VS_DBSignals
Mcu.Pin25=VP_TIM1_VS_ClockSourceINT
Mcu.Pin26=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
Mcu.Pin3=PA3
Mcu.Pin4=PA4
Mcu.Pin5=PA5
Mcu.Pin6=PA6
Mcu.Pin7=PA7
Mcu.Pin8=PB0
Mcu.Pin9=PA8
Mcu.PinsNb=27
Mcu.Pin0=PF0-OSC_IN
Mcu.Pin1=PA0
Mcu.Pin10=VP_SYS_VS_DBSignals
Mcu.Pin11=VP_TIM1_VS_ClockSourceINT
Mcu.Pin12=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
Mcu.Pin2=PA1
Mcu.Pin3=PA4
Mcu.Pin4=PA8
Mcu.Pin5=PA9
Mcu.Pin6=PA11
Mcu.Pin7=PA12
Mcu.Pin8=PB4
Mcu.Pin9=VP_SYS_VS_Systick
Mcu.PinsNb=13
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32G491KEUx
@@ -73,54 +49,37 @@ 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.USB_LP_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
PA0.GPIOParameters=GPIO_Speed,GPIO_PuPd
PA0.GPIO_PuPd=GPIO_PULLUP
PA0.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PA0.Locked=true
PA0.Signal=S_TIM2_CH1
PA1.GPIOParameters=GPIO_ModeDefaultPP,GPIO_Speed,GPIO_PuPd
PA1.GPIO_ModeDefaultPP=GPIO_MODE_AF_PP
PA1.GPIO_PuPd=GPIO_PULLUP
PA1.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PA1.Locked=true
PA1.Signal=S_TIM2_CH2
PA10.Locked=true
PA10.Signal=GPIO_Output
PA11.Mode=Device
PA11.Signal=USB_DM
PA12.Mode=Device
PA12.Signal=USB_DP
PA13.Locked=true
PA13.Signal=SYS_JTMS-SWDIO
PA14.Locked=true
PA14.Signal=SYS_JTCK-SWCLK
PA15.Locked=true
PA15.Signal=I2C1_SCL
PA2.Locked=true
PA2.Signal=LPUART1_TX
PA3.Locked=true
PA3.Signal=LPUART1_RX
PA4.GPIOParameters=GPIO_Speed,GPIO_PuPd
PA4.GPIO_PuPd=GPIO_PULLUP
PA4.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PA4.Locked=true
PA4.Signal=S_TIM3_CH2
PA5.Locked=true
PA5.Signal=EVENTOUT
PA6.Locked=true
PA6.Mode=IN3-Differential
PA6.Signal=ADC2_IN3
PA7.Locked=true
PA7.Mode=IN3-Differential
PA7.Signal=ADC2_IN4
PA8.Locked=true
PA8.Signal=S_TIM1_CH1
PA9.Locked=true
PA9.Signal=S_TIM1_CH2
PB0.Locked=true
PB0.Signal=GPIO_Output
PB3.Locked=true
PB3.Signal=SYS_JTDO-SWO
PB4.GPIOParameters=GPIO_Speed,GPIO_PuPd
PB4.GPIO_PuPd=GPIO_PULLUP
PB4.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PB4.Locked=true
PB4.Signal=S_TIM3_CH1
PB5.Locked=true
PB5.Signal=EVENTOUT
PB6.Locked=true
PB6.Signal=S_TIM8_CH1
PB7.Locked=true
PB7.Signal=I2C1_SDA
PB8-BOOT0.Locked=true
PB8-BOOT0.Signal=S_TIM8_CH2
PF0-OSC_IN.Mode=HSE-External-Clock-Source
PF0-OSC_IN.Signal=RCC_OSC_IN
PinOutPanel.RotationAngle=0
ProjectManager.AskForMigrate=true
ProjectManager.BackupPrevious=false
@@ -153,7 +112,7 @@ ProjectManager.ToolChainLocation=
ProjectManager.UAScriptAfterPath=
ProjectManager.UAScriptBeforePath=
ProjectManager.UnderRoot=true
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_ADC2_Init-ADC2-false-HAL-true,4-MX_TIM2_Init-TIM2-false-HAL-true,5-MX_TIM1_Init-TIM1-false-HAL-true,6-MX_TIM3_Init-TIM3-false-HAL-true,7-MX_TIM8_Init-TIM8-false-HAL-true,8-MX_USB_Device_Init-USB_DEVICE-false-HAL-false
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_TIM1_Init-TIM1-false-HAL-true,5-MX_TIM3_Init-TIM3-false-HAL-true,6-MX_USB_Device_Init-USB_DEVICE-false-HAL-false
RCC.AHBFreq_Value=16000000
RCC.APB1Freq_Value=16000000
RCC.APB1TimFreq_Value=16000000
@@ -204,20 +163,16 @@ SH.S_TIM3_CH1.0=TIM3_CH1,Encoder_Interface
SH.S_TIM3_CH1.ConfNb=1
SH.S_TIM3_CH2.0=TIM3_CH2,Encoder_Interface
SH.S_TIM3_CH2.ConfNb=1
SH.S_TIM8_CH1.0=TIM8_CH1,PWM Generation1 CH1
SH.S_TIM8_CH1.ConfNb=1
SH.S_TIM8_CH2.0=TIM8_CH2,PWM Generation2 CH2
SH.S_TIM8_CH2.ConfNb=1
TIM1.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
TIM1.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
TIM1.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,PeriodNoDither,AutoReloadPreload
TIM1.PeriodNoDither=630
TIM8.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
TIM8.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
TIM8.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
TIM8.IPParameters=Channel-PWM Generation2 CH2,PeriodNoDither,AutoReloadPreload,Channel-PWM Generation1 CH1
TIM8.PeriodNoDither=630
TIM2.EncoderMode=TIM_ENCODERMODE_TI12
TIM2.IPParameters=PeriodNoDither,EncoderMode
TIM2.PeriodNoDither=65535
TIM3.EncoderMode=TIM_ENCODERMODE_TI12
TIM3.IPParameters=EncoderMode
USB_DEVICE.CLASS_NAME_FS=CDC
USB_DEVICE.IPParameters=VirtualMode,VirtualModeFS,CLASS_NAME_FS
USB_DEVICE.VirtualMode=Cdc

14
usb-cbc.py Normal file
View File

@@ -0,0 +1,14 @@
import serial
SERIAL_PORT = 'COM8' # Change selon ton port
BAUDRATE = 115200 # Peu importe ici, c’est USB, mais ça évite des bugs parfois
try:
with serial.Serial(SERIAL_PORT, BAUDRATE, timeout=1) as ser:
print(f"Écoute sur {SERIAL_PORT}...")
while True:
line = ser.readline().decode(errors='ignore').strip()
if line:
print(f"[STM32] {line}")
except serial.SerialException as e:
print(f"Erreur : {e}")