correction et code pid prêt à l'envoi dans les moteurs

Core/Inc/tim.h

@@ -38,6 +38,8 @@ extern TIM_HandleTypeDef htim2;
 
 extern TIM_HandleTypeDef htim3;
 
+extern TIM_HandleTypeDef htim8;
+
 /* USER CODE BEGIN Private defines */
 
 /* USER CODE END Private defines */
@@ -45,6 +47,7 @@ extern TIM_HandleTypeDef htim3;
 void MX_TIM1_Init(void);
 void MX_TIM2_Init(void);
 void MX_TIM3_Init(void);
+void MX_TIM8_Init(void);
 
 void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
 

Core/Src/main.c

@@ -22,7 +22,6 @@
 #include "usb_device.h"
 #include "gpio.h"
 
-
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 
@@ -98,6 +97,7 @@ int main(void)
   MX_TIM1_Init();
   MX_TIM3_Init();
   MX_USB_Device_Init();
+  MX_TIM8_Init();
   /* USER CODE BEGIN 2 */
 
  // HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_1); // IN1A

Core/Src/modelec.cpp

@@ -79,7 +79,7 @@ void determinationCoefPosition(Point objectifPoint, Point pointActuel, PidPositi
 	int erreurG = pidG.getPWMCommand(nouvelOrdreG);
 	int erreurD = pidD.getPWMCommand(nouvelOrdreD);
 
-	const int maxErreur = 20;
+	const int maxErreur = 5;
 
 	if (erreurG > maxErreur) {
 	    erreurG = maxErreur;
@@ -112,7 +112,7 @@ void ModelecOdometrySetup(void **out_pid, void **out_pidG, void **out_pidD) {
 	theta = 0.0f;
 	//motor.accelerer(300);
 
-    *out_pid = new PidPosition(0,0,0,0,0,0,Point());
+    *out_pid = new PidPosition(1.5,0.02,0.4,3.0, 0.01, 0.6, Point());
     *out_pidG = new PidVitesse(0.2, 0.05, 0.01, 0);
     *out_pidD = new PidVitesse(0.2, 0.05, 0.01, 0);
 
@@ -172,8 +172,8 @@ void ModelecOdometryUpdate() {
 
 	//motor.setLeftCurrentSpeed(vitesseLeft);
 	//motor.setRightCurrentSpeed(vitesseRight);
-	motor.setLeftCurrentSpeed(motor.getLeftCurrentSpeed()+0.05);
+	motor.setLeftCurrentSpeed(vitesseLeft);
-	motor.setRightCurrentSpeed(motor.getRightCurrentSpeed()+0.05);
+	motor.setRightCurrentSpeed(vitesseRight);
 }
 
 void publishStatus(){
@@ -195,21 +195,21 @@ void ModelecOdometryLoop(void* pid, void* pidG, void* pidD) {
 	//On met à jour toutes les 10ms
 	if (isDelayPassed(10)) {
 		ModelecOdometryUpdate();
-		USB_Comm_Process();
+		//USB_Comm_Process();
-		/*
+
-		HAL_Delay(1000);
+		//HAL_Delay(1000);
 		Point currentPoint(x, y,theta, StatePoint::INTERMEDIAIRE);
-		Point targetPoint(0.20, 0.20,0, StatePoint::FINAL);
+		Point targetPoint(0.50, 0.0,0, StatePoint::FINAL);
 		char debugMsg[128];
 		sprintf(debugMsg, "Speed avant determination : L=%.3f | R=%.3f\r\n",
-		        motor.getLeftCurrentSpeed(), motor.getRightCurrentSpeed());
+		motor.getLeftCurrentSpeed(), motor.getRightCurrentSpeed());
 		CDC_Transmit_FS((uint8_t*)debugMsg, strlen(debugMsg));
 
 
 		determinationCoefPosition(currentPoint,targetPoint, *pidPosition, *pidVitesseG, *pidVitesseD);
-		HAL_Delay(1000);
+		//HAL_Delay(1000);
 		motor.update();
-		*/
+
 
 
 

Core/Src/motors.cpp

@@ -125,6 +125,15 @@ void Motor::stopTurning() {
 
 void Motor::update() {
 
+	const int16_t PWM_MAX = 626;
+
+
+    if (this->leftTarget_PWM > PWM_MAX) this->leftTarget_PWM = PWM_MAX;
+    if (this->leftTarget_PWM < -PWM_MAX) this->leftTarget_PWM = -PWM_MAX;
+
+    if (this->rightTarget_PWM > PWM_MAX) this->rightTarget_PWM = PWM_MAX;
+    if (this->rightTarget_PWM < -PWM_MAX) this->rightTarget_PWM = -PWM_MAX;
+
 	// Appliquer targetSpeed dans currentSpeed
     this->leftCurrent_PWM = this->leftTarget_PWM;
     this->rightCurrent_PWM = this->rightTarget_PWM;
@@ -146,12 +155,15 @@ void Motor::update() {
             TIM1->CCR2 = static_cast<uint16_t>(-this->rightCurrent_PWM); // IN2B (arrière)
             TIM1->CCR1 = 0;                                               // IN1B
         }
+        //[STM32] PWM_LEFT: 600 | PWM_RIGHT: 600 || TIM8->CCR1: 0 | TIM8->CCR2: 0 M1->CCR1: 600 | TIM1->CCR2: 0
 
     char msg[128];
-        snprintf(msg, sizeof(msg),
+    snprintf(msg, sizeof(msg),
-                 "TIM8->CCR1: %lu | TIM8->CCR2: %lu | TIM1->CCR1: %lu | TIM1->CCR2: %lu\r\n",
+                 "PWM_LEFT: %d | PWM_RIGHT: %d || TIM8->CCR1: %lu | TIM8->CCR2: %lu | TIM1->CCR1: %lu | TIM1->CCR2: %lu\r\n",
+                 this->leftCurrent_PWM, this->rightCurrent_PWM,
                  (uint32_t)TIM8->CCR1, (uint32_t)TIM8->CCR2,
                  (uint32_t)TIM1->CCR1, (uint32_t)TIM1->CCR2);
-        CDC_Transmit_FS((uint8_t*)msg, strlen(msg));
+
+    CDC_Transmit_FS((uint8_t*)msg, strlen(msg));
 }
 

Core/Src/tim.c

@@ -27,6 +27,7 @@
 TIM_HandleTypeDef htim1;
 TIM_HandleTypeDef htim2;
 TIM_HandleTypeDef htim3;
+TIM_HandleTypeDef htim8;
 
 /* TIM1 init function */
 void MX_TIM1_Init(void)
@@ -196,6 +197,87 @@ void MX_TIM3_Init(void)
 
   /* USER CODE END TIM3_Init 2 */
 
+}
+/* TIM8 init function */
+void MX_TIM8_Init(void)
+{
+
+  /* USER CODE BEGIN TIM8_Init 0 */
+
+  /* USER CODE END TIM8_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {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_Base_Init(&htim8) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim8, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  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);
+
 }
 
 void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
@@ -212,6 +294,17 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
 
   /* USER CODE END TIM1_MspInit 1 */
   }
+  else if(tim_baseHandle->Instance==TIM8)
+  {
+  /* USER CODE BEGIN TIM8_MspInit 0 */
+
+  /* USER CODE END TIM8_MspInit 0 */
+    /* TIM8 clock enable */
+    __HAL_RCC_TIM8_CLK_ENABLE();
+  /* USER CODE BEGIN TIM8_MspInit 1 */
+
+  /* USER CODE END TIM8_MspInit 1 */
+  }
 }
 
 void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
@@ -284,7 +377,6 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
   /* USER CODE BEGIN TIM1_MspPostInit 0 */
 
   /* USER CODE END TIM1_MspPostInit 0 */
-
     __HAL_RCC_GPIOA_CLK_ENABLE();
     /**TIM1 GPIO Configuration
     PA8     ------> TIM1_CH1
@@ -301,6 +393,35 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
 
   /* USER CODE END TIM1_MspPostInit 1 */
   }
+  else if(timHandle->Instance==TIM8)
+  {
+  /* USER CODE BEGIN TIM8_MspPostInit 0 */
+
+  /* USER CODE END TIM8_MspPostInit 0 */
+
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    /**TIM8 GPIO Configuration
+    PA14     ------> TIM8_CH2
+    PA15     ------> TIM8_CH1
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_14;
+    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(GPIOA, &GPIO_InitStruct);
+
+    GPIO_InitStruct.Pin = GPIO_PIN_15;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF2_TIM8;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM8_MspPostInit 1 */
+
+  /* USER CODE END TIM8_MspPostInit 1 */
+  }
 
 }
 
@@ -318,6 +439,17 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
 
   /* USER CODE END TIM1_MspDeInit 1 */
   }
+  else if(tim_baseHandle->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 */
+  }
 }
 
 void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* tim_encoderHandle)

USB_Device/App/usbd_cdc_if.c

@@ -1,50 +1,142 @@
-/* usbd_cdc_if.c */
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file           : usbd_cdc_if.c
+  * @version        : v3.0_Cube
+  * @brief          : Usb device for Virtual Com Port.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2025 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 "usbd_cdc_if.h"
-#include <string.h>
+
-#include <stdio.h>
+/* USER CODE BEGIN INCLUDE */
+
+/* USER CODE END INCLUDE */
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+/* Private macro -------------------------------------------------------------*/
+
+/* USER CODE BEGIN PV */
+/* Private variables ---------------------------------------------------------*/
+
+/* USER CODE END PV */
+
+/** @addtogroup STM32_USB_OTG_DEVICE_LIBRARY
+  * @brief Usb device library.
+  * @{
+  */
+
+/** @addtogroup USBD_CDC_IF
+  * @{
+  */
+
+/** @defgroup USBD_CDC_IF_Private_TypesDefinitions USBD_CDC_IF_Private_TypesDefinitions
+  * @brief Private types.
+  * @{
+  */
+
+/* USER CODE BEGIN PRIVATE_TYPES */
+
+/* USER CODE END PRIVATE_TYPES */
+
+/**
+  * @}
+  */
+
+/** @defgroup USBD_CDC_IF_Private_Defines USBD_CDC_IF_Private_Defines
+  * @brief Private defines.
+  * @{
+  */
+
+/* USER CODE BEGIN PRIVATE_DEFINES */
+/* USER CODE END PRIVATE_DEFINES */
+
+/**
+  * @}
+  */
+
+/** @defgroup USBD_CDC_IF_Private_Macros USBD_CDC_IF_Private_Macros
+  * @brief Private macros.
+  * @{
+  */
+
+/* USER CODE BEGIN PRIVATE_MACRO */
+
+/* USER CODE END PRIVATE_MACRO */
+
+/**
+  * @}
+  */
+
+/** @defgroup USBD_CDC_IF_Private_Variables USBD_CDC_IF_Private_Variables
+  * @brief Private variables.
+  * @{
+  */
+/* Create buffer for reception and transmission           */
+/* It's up to user to redefine and/or remove those define */
+/** Received data over USB are stored in this buffer      */
+uint8_t UserRxBufferFS[APP_RX_DATA_SIZE];
+
+/** Data to send over USB CDC are stored in this buffer   */
+uint8_t UserTxBufferFS[APP_TX_DATA_SIZE];
+
+/* USER CODE BEGIN PRIVATE_VARIABLES */
+
+/* USER CODE END PRIVATE_VARIABLES */
+
+/**
+  * @}
+  */
+
+/** @defgroup USBD_CDC_IF_Exported_Variables USBD_CDC_IF_Exported_Variables
+  * @brief Public variables.
+  * @{
+  */
 
 extern USBD_HandleTypeDef hUsbDeviceFS;
 
-static uint8_t UserRxBufferFS[APP_RX_DATA_SIZE];
+/* USER CODE BEGIN EXPORTED_VARIABLES */
-static uint8_t UserTxBufferFS[APP_TX_DATA_SIZE];
 
-static int8_t CDC_Init_FS(void)
+/* USER CODE END EXPORTED_VARIABLES */
+
+/**
+  * @}
+  */
+
+/** @defgroup USBD_CDC_IF_Private_FunctionPrototypes USBD_CDC_IF_Private_FunctionPrototypes
+  * @brief Private functions declaration.
+  * @{
+  */
+
+static int8_t CDC_Init_FS(void);
+static int8_t CDC_DeInit_FS(void);
+static int8_t CDC_Control_FS(uint8_t cmd, uint8_t* pbuf, uint16_t length);
+static int8_t CDC_Receive_FS(uint8_t* pbuf, uint32_t *Len);
+static int8_t CDC_TransmitCplt_FS(uint8_t *pbuf, uint32_t *Len, uint8_t epnum);
+
+/* USER CODE BEGIN PRIVATE_FUNCTIONS_DECLARATION */
+
+/* USER CODE END PRIVATE_FUNCTIONS_DECLARATION */
+
+/**
+  * @}
+  */
+
+USBD_CDC_ItfTypeDef USBD_Interface_fops_FS =
 {
-  USBD_CDC_SetTxBuffer(&hUsbDeviceFS, UserTxBufferFS, 0);
-  USBD_CDC_SetRxBuffer(&hUsbDeviceFS, UserRxBufferFS);
-  USBD_CDC_ReceivePacket(&hUsbDeviceFS);
-  return (USBD_OK);
-}
-
-static int8_t CDC_DeInit_FS(void)
-{
-  return (USBD_OK);
-}
-
-static int8_t CDC_Control_FS(uint8_t cmd, uint8_t* pbuf, uint16_t length)
-{
-  return (USBD_OK);
-}
-
-static int8_t CDC_Receive_FS(uint8_t* Buf, uint32_t *Len)
-{
-  Buf[*Len] = '\0';
-  USB_CDC_ProcessCommand((char*)Buf);
-  USBD_CDC_SetRxBuffer(&hUsbDeviceFS, &Buf[0]);
-  USBD_CDC_ReceivePacket(&hUsbDeviceFS);
-  return (USBD_OK);
-}
-
-static int8_t CDC_TransmitCplt_FS(uint8_t *Buf, uint32_t *Len, uint8_t epnum)
-{
-  UNUSED(Buf);
-  UNUSED(Len);
-  UNUSED(epnum);
-  return (USBD_OK);
-}
-
-USBD_CDC_ItfTypeDef USBD_Interface_fops_FS = {
   CDC_Init_FS,
   CDC_DeInit_FS,
   CDC_Control_FS,
@@ -52,35 +144,185 @@ USBD_CDC_ItfTypeDef USBD_Interface_fops_FS = {
   CDC_TransmitCplt_FS
 };
 
-uint8_t CDC_Transmit_FS(uint8_t* Buf, uint16_t Len)
+/* Private functions ---------------------------------------------------------*/
+/**
+  * @brief  Initializes the CDC media low layer over the FS USB IP
+  * @retval USBD_OK if all operations are OK else USBD_FAIL
+  */
+static int8_t CDC_Init_FS(void)
 {
-  if (hUsbDeviceFS.pClassData == NULL) return USBD_FAIL;
+  /* USER CODE BEGIN 3 */
-  USBD_CDC_SetTxBuffer(&hUsbDeviceFS, Buf, Len);
+  /* Set Application Buffers */
-  return USBD_CDC_TransmitPacket(&hUsbDeviceFS);
+  USBD_CDC_SetTxBuffer(&hUsbDeviceFS, UserTxBufferFS, 0);
+  USBD_CDC_SetRxBuffer(&hUsbDeviceFS, UserRxBufferFS);
+  return (USBD_OK);
+  /* USER CODE END 3 */
 }
 
-/* Command parser */
+/**
-void USB_CDC_ProcessCommand(const char* command)
+  * @brief  DeInitializes the CDC media low layer
+  * @retval USBD_OK if all operations are OK else USBD_FAIL
+  */
+static int8_t CDC_DeInit_FS(void)
 {
-  char response[APP_TX_DATA_SIZE];
+  /* USER CODE BEGIN 4 */
+  return (USBD_OK);
+  /* USER CODE END 4 */
+}
 
-  if (strncmp(command, "GET;POS", 7) == 0) {
+/**
-    snprintf(response, sizeof(response), "SET;POS;100;200;1.57\r\n");
+  * @brief  Manage the CDC class requests
-  } else if (strncmp(command, "GET;SPEED", 9) == 0) {
+  * @param  cmd: Command code
-    snprintf(response, sizeof(response), "SET;SPEED;10;20;0.5\r\n");
+  * @param  pbuf: Buffer containing command data (request parameters)
-  } else if (strncmp(command, "GET;DIST;", 9) == 0) {
+  * @param  length: Number of data to be sent (in bytes)
-    int tof_id = atoi(command + 9);
+  * @retval Result of the operation: USBD_OK if all operations are OK else USBD_FAIL
-    snprintf(response, sizeof(response), "SET;DIST;%d;123\r\n", tof_id);
+  */
-  } else if (strncmp(command, "GET;PID", 7) == 0) {
+static int8_t CDC_Control_FS(uint8_t cmd, uint8_t* pbuf, uint16_t length)
-    snprintf(response, sizeof(response), "SET;PID;1.0;0.5;0.1\r\n");
+{
-  } else if (strncmp(command, "SET;POS;", 9) == 0 ||
+  /* USER CODE BEGIN 5 */
-             strncmp(command, "SET;PID;", 9) == 0 ||
+  switch(cmd)
-             strncmp(command, "SET;START;", 11) == 0 ||
+  {
-             strncmp(command, "SET;WAYPOINT;", 13) == 0) {
+    case CDC_SEND_ENCAPSULATED_COMMAND:
-    snprintf(response, sizeof(response), "OK;%s\r\n", command + 4);
+
-  } else {
+    break;
-    snprintf(response, sizeof(response), "KO;%s\r\n", command);
+
+    case CDC_GET_ENCAPSULATED_RESPONSE:
+
+    break;
+
+    case CDC_SET_COMM_FEATURE:
+
+    break;
+
+    case CDC_GET_COMM_FEATURE:
+
+    break;
+
+    case CDC_CLEAR_COMM_FEATURE:
+
+    break;
+
+  /*******************************************************************************/
+  /* Line Coding Structure                                                       */
+  /*-----------------------------------------------------------------------------*/
+  /* Offset | Field       | Size | Value  | Description                          */
+  /* 0      | dwDTERate   |   4  | Number |Data terminal rate, in bits per second*/
+  /* 4      | bCharFormat |   1  | Number | Stop bits                            */
+  /*                                        0 - 1 Stop bit                       */
+  /*                                        1 - 1.5 Stop bits                    */
+  /*                                        2 - 2 Stop bits                      */
+  /* 5      | bParityType |  1   | Number | Parity                               */
+  /*                                        0 - None                             */
+  /*                                        1 - Odd                              */
+  /*                                        2 - Even                             */
+  /*                                        3 - Mark                             */
+  /*                                        4 - Space                            */
+  /* 6      | bDataBits  |   1   | Number Data bits (5, 6, 7, 8 or 16).          */
+  /*******************************************************************************/
+    case CDC_SET_LINE_CODING:
+
+    break;
+
+    case CDC_GET_LINE_CODING:
+
+    break;
+
+    case CDC_SET_CONTROL_LINE_STATE:
+
+    break;
+
+    case CDC_SEND_BREAK:
+
+    break;
+
+  default:
+    break;
   }
 
-  CDC_Transmit_FS((uint8_t*)response, strlen(response));
+  return (USBD_OK);
+  /* USER CODE END 5 */
 }
+
+/**
+  * @brief  Data received over USB OUT endpoint are sent over CDC interface
+  *         through this function.
+  *
+  *         @note
+  *         This function will issue a NAK packet on any OUT packet received on
+  *         USB endpoint until exiting this function. If you exit this function
+  *         before transfer is complete on CDC interface (ie. using DMA controller)
+  *         it will result in receiving more data while previous ones are still
+  *         not sent.
+  *
+  * @param  Buf: Buffer of data to be received
+  * @param  Len: Number of data received (in bytes)
+  * @retval Result of the operation: USBD_OK if all operations are OK else USBD_FAIL
+  */
+static int8_t CDC_Receive_FS(uint8_t* Buf, uint32_t *Len)
+{
+  /* USER CODE BEGIN 6 */
+  USBD_CDC_SetRxBuffer(&hUsbDeviceFS, &Buf[0]);
+  USBD_CDC_ReceivePacket(&hUsbDeviceFS);
+  return (USBD_OK);
+  /* USER CODE END 6 */
+}
+
+/**
+  * @brief  CDC_Transmit_FS
+  *         Data to send over USB IN endpoint are sent over CDC interface
+  *         through this function.
+  *         @note
+  *
+  *
+  * @param  Buf: Buffer of data to be sent
+  * @param  Len: Number of data to be sent (in bytes)
+  * @retval USBD_OK if all operations are OK else USBD_FAIL or USBD_BUSY
+  */
+uint8_t CDC_Transmit_FS(uint8_t* Buf, uint16_t Len)
+{
+  uint8_t result = USBD_OK;
+  /* USER CODE BEGIN 7 */
+  USBD_CDC_HandleTypeDef *hcdc = (USBD_CDC_HandleTypeDef*)hUsbDeviceFS.pClassData;
+  if (hcdc->TxState != 0){
+    return USBD_BUSY;
+  }
+  USBD_CDC_SetTxBuffer(&hUsbDeviceFS, Buf, Len);
+  result = USBD_CDC_TransmitPacket(&hUsbDeviceFS);
+  /* USER CODE END 7 */
+  return result;
+}
+
+/**
+  * @brief  CDC_TransmitCplt_FS
+  *         Data transmitted callback
+  *
+  *         @note
+  *         This function is IN transfer complete callback used to inform user that
+  *         the submitted Data is successfully sent over USB.
+  *
+  * @param  Buf: Buffer of data to be received
+  * @param  Len: Number of data received (in bytes)
+  * @retval Result of the operation: USBD_OK if all operations are OK else USBD_FAIL
+  */
+static int8_t CDC_TransmitCplt_FS(uint8_t *Buf, uint32_t *Len, uint8_t epnum)
+{
+  uint8_t result = USBD_OK;
+  /* USER CODE BEGIN 13 */
+  UNUSED(Buf);
+  UNUSED(Len);
+  UNUSED(epnum);
+  /* USER CODE END 13 */
+  return result;
+}
+
+/* USER CODE BEGIN PRIVATE_FUNCTIONS_IMPLEMENTATION */
+
+/* USER CODE END PRIVATE_FUNCTIONS_IMPLEMENTATION */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */

USB_Device/App/usbd_cdc_if.h

@@ -1,5 +1,24 @@
-/* usbd_cdc_if.h */
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file           : usbd_cdc_if.h
+  * @version        : v3.0_Cube
+  * @brief          : Header for usbd_cdc_if.c file.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2025 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 __USBD_CDC_IF_H__
 #define __USBD_CDC_IF_H__
 
@@ -7,18 +26,106 @@
  extern "C" {
 #endif
 
+/* Includes ------------------------------------------------------------------*/
 #include "usbd_cdc.h"
 
+/* USER CODE BEGIN INCLUDE */
+
+/* USER CODE END INCLUDE */
+
+/** @addtogroup STM32_USB_OTG_DEVICE_LIBRARY
+  * @brief For Usb device.
+  * @{
+  */
+
+/** @defgroup USBD_CDC_IF USBD_CDC_IF
+  * @brief Usb VCP device module
+  * @{
+  */
+
+/** @defgroup USBD_CDC_IF_Exported_Defines USBD_CDC_IF_Exported_Defines
+  * @brief Defines.
+  * @{
+  */
+/* Define size for the receive and transmit buffer over CDC */
 #define APP_RX_DATA_SIZE  2048
 #define APP_TX_DATA_SIZE  2048
+/* USER CODE BEGIN EXPORTED_DEFINES */
 
+/* USER CODE END EXPORTED_DEFINES */
+
+/**
+  * @}
+  */
+
+/** @defgroup USBD_CDC_IF_Exported_Types USBD_CDC_IF_Exported_Types
+  * @brief Types.
+  * @{
+  */
+
+/* USER CODE BEGIN EXPORTED_TYPES */
+
+/* USER CODE END EXPORTED_TYPES */
+
+/**
+  * @}
+  */
+
+/** @defgroup USBD_CDC_IF_Exported_Macros USBD_CDC_IF_Exported_Macros
+  * @brief Aliases.
+  * @{
+  */
+
+/* USER CODE BEGIN EXPORTED_MACRO */
+
+/* USER CODE END EXPORTED_MACRO */
+
+/**
+  * @}
+  */
+
+/** @defgroup USBD_CDC_IF_Exported_Variables USBD_CDC_IF_Exported_Variables
+  * @brief Public variables.
+  * @{
+  */
+
+/** CDC Interface callback. */
 extern USBD_CDC_ItfTypeDef USBD_Interface_fops_FS;
 
+/* USER CODE BEGIN EXPORTED_VARIABLES */
+
+/* USER CODE END EXPORTED_VARIABLES */
+
+/**
+  * @}
+  */
+
+/** @defgroup USBD_CDC_IF_Exported_FunctionsPrototype USBD_CDC_IF_Exported_FunctionsPrototype
+  * @brief Public functions declaration.
+  * @{
+  */
+
 uint8_t CDC_Transmit_FS(uint8_t* Buf, uint16_t Len);
-void USB_CDC_ProcessCommand(const char* command);
+
+/* USER CODE BEGIN EXPORTED_FUNCTIONS */
+
+/* USER CODE END EXPORTED_FUNCTIONS */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
 
 #ifdef __cplusplus
 }
 #endif
 
 #endif /* __USBD_CDC_IF_H__ */
+

pcb_odo.ioc

@@ -13,25 +13,29 @@ Mcu.IP2=SYS
 Mcu.IP3=TIM1
 Mcu.IP4=TIM2
 Mcu.IP5=TIM3
-Mcu.IP6=USB
+Mcu.IP6=TIM8
-Mcu.IP7=USB_DEVICE
+Mcu.IP7=USB
-Mcu.IPNb=8
+Mcu.IP8=USB_DEVICE
+Mcu.IPNb=9
 Mcu.Name=STM32G491K(C-E)Ux
 Mcu.Package=UFQFPN32
 Mcu.Pin0=PF0-OSC_IN
 Mcu.Pin1=PA0
-Mcu.Pin10=VP_SYS_VS_DBSignals
+Mcu.Pin10=PB4
-Mcu.Pin11=VP_TIM1_VS_ClockSourceINT
+Mcu.Pin11=VP_SYS_VS_Systick
-Mcu.Pin12=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
+Mcu.Pin12=VP_SYS_VS_DBSignals
+Mcu.Pin13=VP_TIM1_VS_ClockSourceINT
+Mcu.Pin14=VP_TIM8_VS_ClockSourceINT
+Mcu.Pin15=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.Pin8=PA14
-Mcu.Pin9=VP_SYS_VS_Systick
+Mcu.Pin9=PA15
-Mcu.PinsNb=13
+Mcu.PinsNb=16
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32G491KEUx
@@ -64,6 +68,8 @@ PA11.Mode=Device
 PA11.Signal=USB_DM
 PA12.Mode=Device
 PA12.Signal=USB_DP
+PA14.Signal=S_TIM8_CH2
+PA15.Signal=S_TIM8_CH1
 PA4.GPIOParameters=GPIO_Speed,GPIO_PuPd
 PA4.GPIO_PuPd=GPIO_PULLUP
 PA4.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
@@ -163,6 +169,10 @@ 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
@@ -173,6 +183,11 @@ TIM2.IPParameters=PeriodNoDither,EncoderMode
 TIM2.PeriodNoDither=65535
 TIM3.EncoderMode=TIM_ENCODERMODE_TI12
 TIM3.IPParameters=EncoderMode
+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 Generation1 CH1,Channel-PWM Generation2 CH2,PeriodNoDither,AutoReloadPreload
+TIM8.PeriodNoDither=630
 USB_DEVICE.CLASS_NAME_FS=CDC
 USB_DEVICE.IPParameters=VirtualMode,VirtualModeFS,CLASS_NAME_FS
 USB_DEVICE.VirtualMode=Cdc
@@ -183,6 +198,8 @@ VP_SYS_VS_Systick.Mode=SysTick
 VP_SYS_VS_Systick.Signal=SYS_VS_Systick
 VP_TIM1_VS_ClockSourceINT.Mode=Internal
 VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT
+VP_TIM8_VS_ClockSourceINT.Mode=Internal
+VP_TIM8_VS_ClockSourceINT.Signal=TIM8_VS_ClockSourceINT
 VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS.Mode=CDC_FS
 VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS.Signal=USB_DEVICE_VS_USB_DEVICE_CDC_FS
 board=custom