diff --git a/.mxproject b/.mxproject index c38bb76..cb9e030 100644 --- a/.mxproject +++ b/.mxproject @@ -2,36 +2,40 @@ LibFiles=Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_pcd.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_pcd_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_usb.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_def.h;Drivers\STM32G4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_rcc.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_rcc_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_bus.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_rcc.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_system.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_utils.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_crs.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_flash.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_flash_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_flash_ramfunc.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_gpio.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_gpio_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_gpio.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_exti.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_exti.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_dma.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_dma_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_dma.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_dmamux.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_pwr.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_pwr_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_pwr.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_cortex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_cortex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_tim.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_tim.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_tim_ex.h;Middlewares\ST\STM32_USB_Device_Library\Core\Inc\usbd_core.h;Middlewares\ST\STM32_USB_Device_Library\Core\Inc\usbd_ctlreq.h;Middlewares\ST\STM32_USB_Device_Library\Core\Inc\usbd_def.h;Middlewares\ST\STM32_USB_Device_Library\Core\Inc\usbd_ioreq.h;Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Inc\usbd_cdc.h;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_pcd.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_pcd_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_ll_usb.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_rcc.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_rcc_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash_ramfunc.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_gpio.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_exti.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_dma.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_dma_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_pwr.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_pwr_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_cortex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_tim.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_tim_ex.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_core.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ctlreq.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ioreq.c;Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Src\usbd_cdc.c;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_pcd.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_pcd_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_usb.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_def.h;Drivers\STM32G4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_rcc.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_rcc_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_bus.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_rcc.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_system.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_utils.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_crs.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_flash.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_flash_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_flash_ramfunc.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_gpio.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_gpio_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_gpio.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_exti.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_exti.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_dma.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_dma_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_dma.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_dmamux.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_pwr.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_pwr_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_pwr.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_cortex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_ll_cortex.h;Drivers\STM32G4xx_HA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[PreviousUsedCubeIDEFiles] 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-HeaderPath=Drivers\STM32G4xx_HAL_Driver\Inc;Drivers\STM32G4xx_HAL_Driver\Inc\Legacy;Middlewares\ST\STM32_USB_Device_Library\Core\Inc;Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Inc;Drivers\CMSIS\Device\ST\STM32G4xx\Include;Drivers\CMSIS\Include;USB_Device\App;USB_Device\Target;Core\Inc; +SourceFiles=Core\Src\main.c;Core\Src\gpio.c;Core\Src\tim.c;USB_Device\App\usb_device.c;USB_Device\Target\usbd_conf.c;USB_Device\App\usbd_desc.c;USB_Device\App\usbd_cdc_if.c;Core\Src\stm32g4xx_it.c;Core\Src\stm32g4xx_hal_msp.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_pcd.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_pcd_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_ll_usb.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_rcc.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_rcc_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash_ramfunc.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_gpio.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_exti.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_dma.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_dma_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_pwr.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_pwr_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_cortex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_tim.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_tim_ex.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_core.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ctlreq.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ioreq.c;Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Src\usbd_cdc.c;Drivers\CMSIS\Device\ST\STM32G4xx\Source\Templates\system_stm32g4xx.c;Core\Src\system_stm32g4xx.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_pcd.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_pcd_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_ll_usb.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_rcc.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_rcc_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash_ramfunc.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_gpio.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_exti.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_dma.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_dma_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_pwr.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_pwr_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_cortex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_tim.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_tim_ex.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_core.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ctlreq.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ioreq.c;Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Src\usbd_cdc.c;Drivers\CMSIS\Device\ST\STM32G4xx\Source\Templates\system_stm32g4xx.c;Core\Src\system_stm32g4xx.c;;;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_core.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ctlreq.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ioreq.c;Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Src\usbd_cdc.c; +HeaderPath=Drivers\STM32G4xx_HAL_Driver\Inc;Drivers\STM32G4xx_HAL_Driver\Inc\Legacy;Middlewares\ST\STM32_USB_Device_Library\Core\Inc;Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Inc;Drivers\CMSIS\Device\ST\STM32G4xx\Include;Drivers\CMSIS\Include;Core\Inc;USB_Device\App;USB_Device\Target; CDefines=USE_HAL_DRIVER;STM32G491xx;USE_HAL_DRIVER;USE_HAL_DRIVER; [PreviousGenFiles] AdvancedFolderStructure=true -HeaderFileListSize=7 -HeaderFiles#0=..\USB_Device\App\usb_device.h -HeaderFiles#1=..\USB_Device\Target\usbd_conf.h -HeaderFiles#2=..\USB_Device\App\usbd_desc.h -HeaderFiles#3=..\USB_Device\App\usbd_cdc_if.h -HeaderFiles#4=..\Core\Inc\stm32g4xx_it.h -HeaderFiles#5=..\Core\Inc\stm32g4xx_hal_conf.h -HeaderFiles#6=..\Core\Inc\main.h +HeaderFileListSize=9 +HeaderFiles#0=..\Core\Inc\gpio.h +HeaderFiles#1=..\Core\Inc\tim.h +HeaderFiles#2=..\USB_Device\App\usb_device.h +HeaderFiles#3=..\USB_Device\Target\usbd_conf.h +HeaderFiles#4=..\USB_Device\App\usbd_desc.h +HeaderFiles#5=..\USB_Device\App\usbd_cdc_if.h +HeaderFiles#6=..\Core\Inc\stm32g4xx_it.h +HeaderFiles#7=..\Core\Inc\stm32g4xx_hal_conf.h +HeaderFiles#8=..\Core\Inc\main.h HeaderFolderListSize=3 -HeaderPath#0=..\USB_Device\App -HeaderPath#1=..\USB_Device\Target -HeaderPath#2=..\Core\Inc +HeaderPath#0=..\Core\Inc +HeaderPath#1=..\USB_Device\App +HeaderPath#2=..\USB_Device\Target HeaderFiles=; -SourceFileListSize=7 -SourceFiles#0=..\USB_Device\App\usb_device.c -SourceFiles#1=..\USB_Device\Target\usbd_conf.c -SourceFiles#2=..\USB_Device\App\usbd_desc.c -SourceFiles#3=..\USB_Device\App\usbd_cdc_if.c -SourceFiles#4=..\Core\Src\stm32g4xx_it.c -SourceFiles#5=..\Core\Src\stm32g4xx_hal_msp.c -SourceFiles#6=..\Core\Src\main.c +SourceFileListSize=9 +SourceFiles#0=..\Core\Src\gpio.c +SourceFiles#1=..\Core\Src\tim.c +SourceFiles#2=..\USB_Device\App\usb_device.c +SourceFiles#3=..\USB_Device\Target\usbd_conf.c +SourceFiles#4=..\USB_Device\App\usbd_desc.c +SourceFiles#5=..\USB_Device\App\usbd_cdc_if.c +SourceFiles#6=..\Core\Src\stm32g4xx_it.c +SourceFiles#7=..\Core\Src\stm32g4xx_hal_msp.c +SourceFiles#8=..\Core\Src\main.c SourceFolderListSize=3 -SourcePath#0=..\USB_Device\App -SourcePath#1=..\USB_Device\Target -SourcePath#2=..\Core\Src +SourcePath#0=..\Core\Src +SourcePath#1=..\USB_Device\App +SourcePath#2=..\USB_Device\Target SourceFiles=; diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml index e16f230..5946296 100644 --- a/.settings/language.settings.xml +++ b/.settings/language.settings.xml @@ -5,7 +5,7 @@ - + @@ -16,7 +16,7 @@ - + diff --git a/Core/Inc/commSTM.h b/Core/Inc/commSTM.h new file mode 100644 index 0000000..7e2587a --- /dev/null +++ b/Core/Inc/commSTM.h @@ -0,0 +1,23 @@ +/* + * commSTM.h + * + * Created on: May 13, 2025 + * Author: maxch + */ + +#ifndef INC_COMMSTM_H_ +#define INC_COMMSTM_H_ + + +#include +#include +#include "usbd_cdc_if.h" + +// À appeler régulièrement pour parser ce qui a été reçu +void USB_Comm_Process(void); + +// À appeler dans CDC_Receive_FS (depuis usbd_cdc_if.c) +void USB_Comm_OnReceive(uint8_t* Buf, uint32_t Len); + + +#endif /* INC_COMMSTM_H_ */ diff --git a/Core/Inc/gpio.h b/Core/Inc/gpio.h new file mode 100644 index 0000000..9ac4857 --- /dev/null +++ b/Core/Inc/gpio.h @@ -0,0 +1,49 @@ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * @file gpio.h + * @brief This file contains all the function prototypes for + * the gpio.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 __GPIO_H__ +#define __GPIO_H__ + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "main.h" + +/* USER CODE BEGIN Includes */ + +/* USER CODE END Includes */ + +/* USER CODE BEGIN Private defines */ + +/* USER CODE END Private defines */ + +void MX_GPIO_Init(void); + +/* USER CODE BEGIN Prototypes */ + +/* USER CODE END Prototypes */ + +#ifdef __cplusplus +} +#endif +#endif /*__ GPIO_H__ */ + diff --git a/Core/Inc/main.h b/Core/Inc/main.h index b0a0b10..ed8b4e4 100644 --- a/Core/Inc/main.h +++ b/Core/Inc/main.h @@ -49,8 +49,6 @@ extern "C" { /* USER CODE END EM */ -void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim); - /* Exported functions prototypes ---------------------------------------------*/ void Error_Handler(void); diff --git a/Core/Inc/tim.h b/Core/Inc/tim.h new file mode 100644 index 0000000..0e17667 --- /dev/null +++ b/Core/Inc/tim.h @@ -0,0 +1,60 @@ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * @file tim.h + * @brief This file contains all the function prototypes for + * the tim.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 __TIM_H__ +#define __TIM_H__ + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "main.h" + +/* USER CODE BEGIN Includes */ + +/* USER CODE END Includes */ + +extern TIM_HandleTypeDef htim1; + +extern TIM_HandleTypeDef htim2; + +extern TIM_HandleTypeDef htim3; + +/* USER CODE BEGIN Private defines */ + +/* USER CODE END Private defines */ + +void MX_TIM1_Init(void); +void MX_TIM2_Init(void); +void MX_TIM3_Init(void); + +void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim); + +/* USER CODE BEGIN Prototypes */ + +/* USER CODE END Prototypes */ + +#ifdef __cplusplus +} +#endif + +#endif /* __TIM_H__ */ + diff --git a/Core/Src/commSTM.cpp b/Core/Src/commSTM.cpp new file mode 100644 index 0000000..e551bc7 --- /dev/null +++ b/Core/Src/commSTM.cpp @@ -0,0 +1,79 @@ +/* + * commSTM.c + * + * Created on: May 13, 2025 + * Author: maxch + */ + + + + +#include "commSTM.h" +#include "usbd_cdc.h" +#include +#include + +// ⚠️ fourni par CubeMX dans usb_device.c +extern USBD_HandleTypeDef hUsbDeviceFS; + +// Buffer de réception circulaire +#define RX_BUFFER_SIZE 256 +static char usb_rx_buffer[RX_BUFFER_SIZE]; +static volatile uint16_t usb_rx_index = 0; +static volatile uint8_t data_ready = 0; + +static char parse_buffer[RX_BUFFER_SIZE]; // Pour parser la ligne complète + +// Fonction à appeler depuis CDC_Receive_FS +void USB_Comm_OnReceive(uint8_t* Buf, uint32_t Len) { + if (Len + usb_rx_index >= RX_BUFFER_SIZE) { + // Trop de données, on reset le buffer + usb_rx_index = 0; + return; + } + + for (uint32_t i = 0; i < Len; i++) { + char c = Buf[i]; + if (c == '\n' || c == '\r') { + // Fin de commande + usb_rx_buffer[usb_rx_index] = '\0'; + memcpy(parse_buffer, usb_rx_buffer, usb_rx_index + 1); + usb_rx_index = 0; + data_ready = 1; + return; + } else { + usb_rx_buffer[usb_rx_index++] = c; + } + } +} + +// Répondre via USB +static void USB_Comm_Send(const char* message) { + if (message != NULL) { + CDC_Transmit_FS((uint8_t*)message, strlen(message)); + } +} + +// Analyse et réponse aux commandes reçues +void USB_Comm_Process(void) { + if (!data_ready) return; + + data_ready = 0; + + if (strncmp(parse_buffer, "GET;POS", 7) == 0) { + USB_Comm_Send("SET;POS;123;456;1.57\n"); + } + else if (strncmp(parse_buffer, "GET;SPEED", 9) == 0) { + USB_Comm_Send("SET;SPEED;12;34;0.1\n"); + } + else if (strncmp(parse_buffer, "GET;PID", 7) == 0) { + USB_Comm_Send("SET;PID;1.0;0.1;0.05\n"); + } + else if (strncmp(parse_buffer, "SET;POS;", 8) == 0) { + // Tu peux parser les valeurs et mettre à jour ta position ici + USB_Comm_Send("OK;POS\n"); + } + else { + USB_Comm_Send("KO;UNKNOWN\n"); + } +} diff --git a/Core/Src/gpio.c b/Core/Src/gpio.c new file mode 100644 index 0000000..3c9ef94 --- /dev/null +++ b/Core/Src/gpio.c @@ -0,0 +1,54 @@ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * @file gpio.c + * @brief This file provides code for the configuration + * of all used GPIO pins. + ****************************************************************************** + * @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 "gpio.h" + +/* USER CODE BEGIN 0 */ + +/* USER CODE END 0 */ + +/*----------------------------------------------------------------------------*/ +/* Configure GPIO */ +/*----------------------------------------------------------------------------*/ +/* USER CODE BEGIN 1 */ + +/* USER CODE END 1 */ + +/** Configure pins as + * Analog + * Input + * Output + * EVENT_OUT + * EXTI +*/ +void MX_GPIO_Init(void) +{ + + /* GPIO Ports Clock Enable */ + __HAL_RCC_GPIOF_CLK_ENABLE(); + __HAL_RCC_GPIOA_CLK_ENABLE(); + __HAL_RCC_GPIOB_CLK_ENABLE(); + +} + +/* USER CODE BEGIN 2 */ + +/* USER CODE END 2 */ diff --git a/Core/Src/main.c b/Core/Src/main.c index 0b98779..4e56626 100644 --- a/Core/Src/main.c +++ b/Core/Src/main.c @@ -18,7 +18,10 @@ /* USER CODE END Header */ /* Includes ------------------------------------------------------------------*/ #include "main.h" +#include "tim.h" #include "usb_device.h" +#include "gpio.h" + /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ @@ -44,9 +47,6 @@ void ModelecOdometryLoop(void* pid, void* pidG, void* pidD); /* USER CODE END PM */ /* Private variables ---------------------------------------------------------*/ -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; -TIM_HandleTypeDef htim3; /* USER CODE BEGIN PV */ int counter1=0; @@ -55,10 +55,6 @@ int counter2=0; /* Private function prototypes -----------------------------------------------*/ void SystemClock_Config(void); -static void MX_GPIO_Init(void); -static void MX_TIM2_Init(void); -static void MX_TIM1_Init(void); -static void MX_TIM3_Init(void); /* USER CODE BEGIN PFP */ /* USER CODE END PFP */ @@ -129,6 +125,7 @@ int main(void) counter2 = __HAL_TIM_GET_COUNTER(&htim2); counter1 = __HAL_TIM_GET_COUNTER(&htim3); ModelecOdometryLoop(pid, pidG, pidD); + /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ @@ -177,209 +174,6 @@ void SystemClock_Config(void) } } -/** - * @brief TIM1 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 630; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &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(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &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(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} - -/** - * @brief TIM2 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM2_Init(void) -{ - - /* USER CODE BEGIN TIM2_Init 0 */ - - /* USER CODE END TIM2_Init 0 */ - - TIM_Encoder_InitTypeDef sConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - - /* USER CODE BEGIN TIM2_Init 1 */ - - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 0; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 65535; - htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - sConfig.EncoderMode = TIM_ENCODERMODE_TI12; - sConfig.IC1Polarity = TIM_ICPOLARITY_RISING; - sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI; - sConfig.IC1Prescaler = TIM_ICPSC_DIV1; - sConfig.IC1Filter = 0; - sConfig.IC2Polarity = TIM_ICPOLARITY_RISING; - sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI; - sConfig.IC2Prescaler = TIM_ICPSC_DIV1; - sConfig.IC2Filter = 0; - if (HAL_TIM_Encoder_Init(&htim2, &sConfig) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - - /* USER CODE END TIM2_Init 2 */ - -} - -/** - * @brief TIM3 Initialization Function - * @param None - * @retval None - */ -static void MX_TIM3_Init(void) -{ - - /* USER CODE BEGIN TIM3_Init 0 */ - - /* USER CODE END TIM3_Init 0 */ - - TIM_Encoder_InitTypeDef sConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - - /* USER CODE BEGIN TIM3_Init 1 */ - - /* USER CODE END TIM3_Init 1 */ - htim3.Instance = TIM3; - htim3.Init.Prescaler = 0; - htim3.Init.CounterMode = TIM_COUNTERMODE_UP; - htim3.Init.Period = 65535; - htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - sConfig.EncoderMode = TIM_ENCODERMODE_TI12; - sConfig.IC1Polarity = TIM_ICPOLARITY_RISING; - sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI; - sConfig.IC1Prescaler = TIM_ICPSC_DIV1; - sConfig.IC1Filter = 0; - sConfig.IC2Polarity = TIM_ICPOLARITY_RISING; - sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI; - sConfig.IC2Prescaler = TIM_ICPSC_DIV1; - sConfig.IC2Filter = 0; - if (HAL_TIM_Encoder_Init(&htim3, &sConfig) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM3_Init 2 */ - - /* USER CODE END TIM3_Init 2 */ - -} - -/** - * @brief GPIO Initialization Function - * @param None - * @retval None - */ -static void MX_GPIO_Init(void) -{ -/* 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(); - -/* USER CODE BEGIN MX_GPIO_Init_2 */ -/* USER CODE END MX_GPIO_Init_2 */ -} - /* USER CODE BEGIN 4 */ /* USER CODE END 4 */ diff --git a/Core/Src/modelec.cpp b/Core/Src/modelec.cpp index 3e664ad..ee7bf94 100644 --- a/Core/Src/modelec.cpp +++ b/Core/Src/modelec.cpp @@ -12,6 +12,8 @@ #include "point.h" #include "pidPosition.h" #include "usbd_cdc_if.h" +#include "commSTM.h" + extern "C" { extern TIM_HandleTypeDef htim3; @@ -193,6 +195,7 @@ void ModelecOdometryLoop(void* pid, void* pidG, void* pidD) { //On met à jour toutes les 10ms if (isDelayPassed(10)) { ModelecOdometryUpdate(); + USB_Comm_Process(); /* HAL_Delay(1000); Point currentPoint(x, y,theta, StatePoint::INTERMEDIAIRE); diff --git a/Core/Src/stm32g4xx_hal_msp.c b/Core/Src/stm32g4xx_hal_msp.c index acba79c..5fe1381 100644 --- a/Core/Src/stm32g4xx_hal_msp.c +++ b/Core/Src/stm32g4xx_hal_msp.c @@ -57,9 +57,7 @@ /* USER CODE BEGIN 0 */ /* USER CODE END 0 */ - -void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim); - /** +/** * Initializes the Global MSP. */ void HAL_MspInit(void) @@ -83,195 +81,6 @@ void HAL_MspInit(void) /* USER CODE END MspInit 1 */ } -/** -* @brief TIM_Base MSP Initialization -* This function configures the hardware resources used in this example -* @param htim_base: TIM_Base handle pointer -* @retval None -*/ -void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base) -{ - if(htim_base->Instance==TIM1) - { - /* USER CODE BEGIN TIM1_MspInit 0 */ - - /* USER CODE END TIM1_MspInit 0 */ - /* Peripheral clock enable */ - __HAL_RCC_TIM1_CLK_ENABLE(); - /* USER CODE BEGIN TIM1_MspInit 1 */ - - /* USER CODE END TIM1_MspInit 1 */ - - } - -} - -/** -* @brief TIM_Encoder MSP Initialization -* This function configures the hardware resources used in this example -* @param htim_encoder: TIM_Encoder handle pointer -* @retval None -*/ -void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* htim_encoder) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; - if(htim_encoder->Instance==TIM2) - { - /* USER CODE BEGIN TIM2_MspInit 0 */ - - /* USER CODE END TIM2_MspInit 0 */ - /* Peripheral clock enable */ - __HAL_RCC_TIM2_CLK_ENABLE(); - - __HAL_RCC_GPIOA_CLK_ENABLE(); - /**TIM2 GPIO Configuration - PA0 ------> TIM2_CH1 - PA1 ------> TIM2_CH2 - */ - GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1; - GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; - GPIO_InitStruct.Pull = GPIO_PULLUP; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - GPIO_InitStruct.Alternate = GPIO_AF1_TIM2; - HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); - - /* USER CODE BEGIN TIM2_MspInit 1 */ - - /* USER CODE END TIM2_MspInit 1 */ - } - else if(htim_encoder->Instance==TIM3) - { - /* USER CODE BEGIN TIM3_MspInit 0 */ - - /* USER CODE END TIM3_MspInit 0 */ - /* Peripheral clock enable */ - __HAL_RCC_TIM3_CLK_ENABLE(); - - __HAL_RCC_GPIOA_CLK_ENABLE(); - __HAL_RCC_GPIOB_CLK_ENABLE(); - /**TIM3 GPIO Configuration - PA4 ------> TIM3_CH2 - PB4 ------> TIM3_CH1 - */ - GPIO_InitStruct.Pin = GPIO_PIN_4; - GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; - 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_PULLUP; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - GPIO_InitStruct.Alternate = GPIO_AF2_TIM3; - HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); - - /* USER CODE BEGIN TIM3_MspInit 1 */ - - /* USER CODE END TIM3_MspInit 1 */ - } - -} - -void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim) -{ - GPIO_InitTypeDef GPIO_InitStruct = {0}; - if(htim->Instance==TIM1) - { - /* USER CODE BEGIN TIM1_MspPostInit 0 */ - - /* USER CODE END TIM1_MspPostInit 0 */ - - __HAL_RCC_GPIOA_CLK_ENABLE(); - /**TIM1 GPIO Configuration - PA8 ------> TIM1_CH1 - PA9 ------> TIM1_CH2 - */ - GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9; - GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - GPIO_InitStruct.Alternate = GPIO_AF6_TIM1; - HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); - - /* USER CODE BEGIN TIM1_MspPostInit 1 */ - - /* USER CODE END TIM1_MspPostInit 1 */ - } - -} -/** -* @brief TIM_Base MSP De-Initialization -* This function freeze the hardware resources used in this example -* @param htim_base: TIM_Base handle pointer -* @retval None -*/ -void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base) -{ - if(htim_base->Instance==TIM1) - { - /* USER CODE BEGIN TIM1_MspDeInit 0 */ - - /* USER CODE END TIM1_MspDeInit 0 */ - /* Peripheral clock disable */ - __HAL_RCC_TIM1_CLK_DISABLE(); - /* USER CODE BEGIN TIM1_MspDeInit 1 */ - - /* USER CODE END TIM1_MspDeInit 1 */ - } - -} - -/** -* @brief TIM_Encoder MSP De-Initialization -* This function freeze the hardware resources used in this example -* @param htim_encoder: TIM_Encoder handle pointer -* @retval None -*/ -void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* htim_encoder) -{ - if(htim_encoder->Instance==TIM2) - { - /* USER CODE BEGIN TIM2_MspDeInit 0 */ - - /* USER CODE END TIM2_MspDeInit 0 */ - /* Peripheral clock disable */ - __HAL_RCC_TIM2_CLK_DISABLE(); - - /**TIM2 GPIO Configuration - PA0 ------> TIM2_CH1 - PA1 ------> TIM2_CH2 - */ - HAL_GPIO_DeInit(GPIOA, GPIO_PIN_0|GPIO_PIN_1); - - /* USER CODE BEGIN TIM2_MspDeInit 1 */ - - /* USER CODE END TIM2_MspDeInit 1 */ - } - else if(htim_encoder->Instance==TIM3) - { - /* USER CODE BEGIN TIM3_MspDeInit 0 */ - - /* USER CODE END TIM3_MspDeInit 0 */ - /* Peripheral clock disable */ - __HAL_RCC_TIM3_CLK_DISABLE(); - - /**TIM3 GPIO Configuration - PA4 ------> TIM3_CH2 - PB4 ------> TIM3_CH1 - */ - HAL_GPIO_DeInit(GPIOA, GPIO_PIN_4); - - HAL_GPIO_DeInit(GPIOB, GPIO_PIN_4); - - /* USER CODE BEGIN TIM3_MspDeInit 1 */ - - /* USER CODE END TIM3_MspDeInit 1 */ - } - -} - /* USER CODE BEGIN 1 */ /* USER CODE END 1 */ diff --git a/Core/Src/tim.c b/Core/Src/tim.c new file mode 100644 index 0000000..80aad96 --- /dev/null +++ b/Core/Src/tim.c @@ -0,0 +1,368 @@ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * @file tim.c + * @brief This file provides code for the configuration + * of the TIM instances. + ****************************************************************************** + * @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 "tim.h" + +/* USER CODE BEGIN 0 */ + +/* USER CODE END 0 */ + +TIM_HandleTypeDef htim1; +TIM_HandleTypeDef htim2; +TIM_HandleTypeDef htim3; + +/* TIM1 init function */ +void MX_TIM1_Init(void) +{ + + /* USER CODE BEGIN TIM1_Init 0 */ + + /* USER CODE END TIM1_Init 0 */ + + TIM_ClockConfigTypeDef sClockSourceConfig = {0}; + TIM_MasterConfigTypeDef sMasterConfig = {0}; + TIM_OC_InitTypeDef sConfigOC = {0}; + TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; + + /* USER CODE BEGIN TIM1_Init 1 */ + + /* USER CODE END TIM1_Init 1 */ + htim1.Instance = TIM1; + htim1.Init.Prescaler = 0; + htim1.Init.CounterMode = TIM_COUNTERMODE_UP; + htim1.Init.Period = 630; + htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; + htim1.Init.RepetitionCounter = 0; + htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE; + if (HAL_TIM_Base_Init(&htim1) != HAL_OK) + { + Error_Handler(); + } + sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; + if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) + { + Error_Handler(); + } + if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) + { + Error_Handler(); + } + sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; + sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET; + sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; + if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &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(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) + { + Error_Handler(); + } + if (HAL_TIM_PWM_ConfigChannel(&htim1, &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(&htim1, &sBreakDeadTimeConfig) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN TIM1_Init 2 */ + + /* USER CODE END TIM1_Init 2 */ + HAL_TIM_MspPostInit(&htim1); + +} +/* TIM2 init function */ +void MX_TIM2_Init(void) +{ + + /* USER CODE BEGIN TIM2_Init 0 */ + + /* USER CODE END TIM2_Init 0 */ + + TIM_Encoder_InitTypeDef sConfig = {0}; + TIM_MasterConfigTypeDef sMasterConfig = {0}; + + /* USER CODE BEGIN TIM2_Init 1 */ + + /* USER CODE END TIM2_Init 1 */ + htim2.Instance = TIM2; + htim2.Init.Prescaler = 0; + htim2.Init.CounterMode = TIM_COUNTERMODE_UP; + htim2.Init.Period = 65535; + htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; + htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; + sConfig.EncoderMode = TIM_ENCODERMODE_TI12; + sConfig.IC1Polarity = TIM_ICPOLARITY_RISING; + sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI; + sConfig.IC1Prescaler = TIM_ICPSC_DIV1; + sConfig.IC1Filter = 0; + sConfig.IC2Polarity = TIM_ICPOLARITY_RISING; + sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI; + sConfig.IC2Prescaler = TIM_ICPSC_DIV1; + sConfig.IC2Filter = 0; + if (HAL_TIM_Encoder_Init(&htim2, &sConfig) != HAL_OK) + { + Error_Handler(); + } + sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; + sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; + if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN TIM2_Init 2 */ + + /* USER CODE END TIM2_Init 2 */ + +} +/* TIM3 init function */ +void MX_TIM3_Init(void) +{ + + /* USER CODE BEGIN TIM3_Init 0 */ + + /* USER CODE END TIM3_Init 0 */ + + TIM_Encoder_InitTypeDef sConfig = {0}; + TIM_MasterConfigTypeDef sMasterConfig = {0}; + + /* USER CODE BEGIN TIM3_Init 1 */ + + /* USER CODE END TIM3_Init 1 */ + htim3.Instance = TIM3; + htim3.Init.Prescaler = 0; + htim3.Init.CounterMode = TIM_COUNTERMODE_UP; + htim3.Init.Period = 65535; + htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; + htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; + sConfig.EncoderMode = TIM_ENCODERMODE_TI12; + sConfig.IC1Polarity = TIM_ICPOLARITY_RISING; + sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI; + sConfig.IC1Prescaler = TIM_ICPSC_DIV1; + sConfig.IC1Filter = 0; + sConfig.IC2Polarity = TIM_ICPOLARITY_RISING; + sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI; + sConfig.IC2Prescaler = TIM_ICPSC_DIV1; + sConfig.IC2Filter = 0; + if (HAL_TIM_Encoder_Init(&htim3, &sConfig) != HAL_OK) + { + Error_Handler(); + } + sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; + sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; + if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN TIM3_Init 2 */ + + /* USER CODE END TIM3_Init 2 */ + +} + +void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle) +{ + + if(tim_baseHandle->Instance==TIM1) + { + /* USER CODE BEGIN TIM1_MspInit 0 */ + + /* USER CODE END TIM1_MspInit 0 */ + /* TIM1 clock enable */ + __HAL_RCC_TIM1_CLK_ENABLE(); + /* USER CODE BEGIN TIM1_MspInit 1 */ + + /* USER CODE END TIM1_MspInit 1 */ + } +} + +void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle) +{ + + GPIO_InitTypeDef GPIO_InitStruct = {0}; + if(tim_encoderHandle->Instance==TIM2) + { + /* USER CODE BEGIN TIM2_MspInit 0 */ + + /* USER CODE END TIM2_MspInit 0 */ + /* TIM2 clock enable */ + __HAL_RCC_TIM2_CLK_ENABLE(); + + __HAL_RCC_GPIOA_CLK_ENABLE(); + /**TIM2 GPIO Configuration + PA0 ------> TIM2_CH1 + PA1 ------> TIM2_CH2 + */ + GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_PULLUP; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; + GPIO_InitStruct.Alternate = GPIO_AF1_TIM2; + HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); + + /* USER CODE BEGIN TIM2_MspInit 1 */ + + /* USER CODE END TIM2_MspInit 1 */ + } + else if(tim_encoderHandle->Instance==TIM3) + { + /* USER CODE BEGIN TIM3_MspInit 0 */ + + /* USER CODE END TIM3_MspInit 0 */ + /* TIM3 clock enable */ + __HAL_RCC_TIM3_CLK_ENABLE(); + + __HAL_RCC_GPIOA_CLK_ENABLE(); + __HAL_RCC_GPIOB_CLK_ENABLE(); + /**TIM3 GPIO Configuration + PA4 ------> TIM3_CH2 + PB4 ------> TIM3_CH1 + */ + GPIO_InitStruct.Pin = GPIO_PIN_4; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + 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_PULLUP; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; + GPIO_InitStruct.Alternate = GPIO_AF2_TIM3; + HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); + + /* USER CODE BEGIN TIM3_MspInit 1 */ + + /* USER CODE END TIM3_MspInit 1 */ + } +} +void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle) +{ + + GPIO_InitTypeDef GPIO_InitStruct = {0}; + if(timHandle->Instance==TIM1) + { + /* USER CODE BEGIN TIM1_MspPostInit 0 */ + + /* USER CODE END TIM1_MspPostInit 0 */ + + __HAL_RCC_GPIOA_CLK_ENABLE(); + /**TIM1 GPIO Configuration + PA8 ------> TIM1_CH1 + PA9 ------> TIM1_CH2 + */ + GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; + GPIO_InitStruct.Alternate = GPIO_AF6_TIM1; + HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); + + /* USER CODE BEGIN TIM1_MspPostInit 1 */ + + /* USER CODE END TIM1_MspPostInit 1 */ + } + +} + +void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle) +{ + + if(tim_baseHandle->Instance==TIM1) + { + /* USER CODE BEGIN TIM1_MspDeInit 0 */ + + /* USER CODE END TIM1_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_TIM1_CLK_DISABLE(); + /* USER CODE BEGIN TIM1_MspDeInit 1 */ + + /* USER CODE END TIM1_MspDeInit 1 */ + } +} + +void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* tim_encoderHandle) +{ + + if(tim_encoderHandle->Instance==TIM2) + { + /* USER CODE BEGIN TIM2_MspDeInit 0 */ + + /* USER CODE END TIM2_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_TIM2_CLK_DISABLE(); + + /**TIM2 GPIO Configuration + PA0 ------> TIM2_CH1 + PA1 ------> TIM2_CH2 + */ + HAL_GPIO_DeInit(GPIOA, GPIO_PIN_0|GPIO_PIN_1); + + /* USER CODE BEGIN TIM2_MspDeInit 1 */ + + /* USER CODE END TIM2_MspDeInit 1 */ + } + else if(tim_encoderHandle->Instance==TIM3) + { + /* USER CODE BEGIN TIM3_MspDeInit 0 */ + + /* USER CODE END TIM3_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_TIM3_CLK_DISABLE(); + + /**TIM3 GPIO Configuration + PA4 ------> TIM3_CH2 + PB4 ------> TIM3_CH1 + */ + HAL_GPIO_DeInit(GPIOA, GPIO_PIN_4); + + HAL_GPIO_DeInit(GPIOB, GPIO_PIN_4); + + /* USER CODE BEGIN TIM3_MspDeInit 1 */ + + /* USER CODE END TIM3_MspDeInit 1 */ + } +} + +/* USER CODE BEGIN 1 */ + +/* USER CODE END 1 */ diff --git a/USB_Device/App/usbd_cdc_if.c b/USB_Device/App/usbd_cdc_if.c index c769c92..e3d262c 100644 --- a/USB_Device/App/usbd_cdc_if.c +++ b/USB_Device/App/usbd_cdc_if.c @@ -1,142 +1,50 @@ -/* 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 */ +/* usbd_cdc_if.c */ -/* Includes ------------------------------------------------------------------*/ #include "usbd_cdc_if.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. - * @{ - */ +#include +#include extern USBD_HandleTypeDef hUsbDeviceFS; -/* USER CODE BEGIN EXPORTED_VARIABLES */ +static uint8_t UserRxBufferFS[APP_RX_DATA_SIZE]; +static uint8_t UserTxBufferFS[APP_TX_DATA_SIZE]; -/* 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 = +static int8_t CDC_Init_FS(void) { + 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, @@ -144,185 +52,35 @@ USBD_CDC_ItfTypeDef USBD_Interface_fops_FS = CDC_TransmitCplt_FS }; -/* 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) -{ - /* USER CODE BEGIN 3 */ - /* Set Application Buffers */ - USBD_CDC_SetTxBuffer(&hUsbDeviceFS, UserTxBufferFS, 0); - USBD_CDC_SetRxBuffer(&hUsbDeviceFS, UserRxBufferFS); - return (USBD_OK); - /* USER CODE END 3 */ -} - -/** - * @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) -{ - /* USER CODE BEGIN 4 */ - return (USBD_OK); - /* USER CODE END 4 */ -} - -/** - * @brief Manage the CDC class requests - * @param cmd: Command code - * @param pbuf: Buffer containing command data (request parameters) - * @param length: Number of data to be sent (in bytes) - * @retval Result of the operation: USBD_OK if all operations are OK else USBD_FAIL - */ -static int8_t CDC_Control_FS(uint8_t cmd, uint8_t* pbuf, uint16_t length) -{ - /* USER CODE BEGIN 5 */ - switch(cmd) - { - case CDC_SEND_ENCAPSULATED_COMMAND: - - break; - - 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; - } - - 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; - } + if (hUsbDeviceFS.pClassData == NULL) return USBD_FAIL; USBD_CDC_SetTxBuffer(&hUsbDeviceFS, Buf, Len); - result = USBD_CDC_TransmitPacket(&hUsbDeviceFS); - /* USER CODE END 7 */ - return result; + return USBD_CDC_TransmitPacket(&hUsbDeviceFS); } -/** - * @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) +/* Command parser */ +void USB_CDC_ProcessCommand(const char* command) { - uint8_t result = USBD_OK; - /* USER CODE BEGIN 13 */ - UNUSED(Buf); - UNUSED(Len); - UNUSED(epnum); - /* USER CODE END 13 */ - return result; + char response[APP_TX_DATA_SIZE]; + + if (strncmp(command, "GET;POS", 7) == 0) { + snprintf(response, sizeof(response), "SET;POS;100;200;1.57\r\n"); + } else if (strncmp(command, "GET;SPEED", 9) == 0) { + snprintf(response, sizeof(response), "SET;SPEED;10;20;0.5\r\n"); + } else if (strncmp(command, "GET;DIST;", 9) == 0) { + int tof_id = atoi(command + 9); + snprintf(response, sizeof(response), "SET;DIST;%d;123\r\n", tof_id); + } else if (strncmp(command, "GET;PID", 7) == 0) { + snprintf(response, sizeof(response), "SET;PID;1.0;0.5;0.1\r\n"); + } else if (strncmp(command, "SET;POS;", 9) == 0 || + strncmp(command, "SET;PID;", 9) == 0 || + strncmp(command, "SET;START;", 11) == 0 || + strncmp(command, "SET;WAYPOINT;", 13) == 0) { + snprintf(response, sizeof(response), "OK;%s\r\n", command + 4); + } else { + snprintf(response, sizeof(response), "KO;%s\r\n", command); + } + + CDC_Transmit_FS((uint8_t*)response, strlen(response)); } - -/* USER CODE BEGIN PRIVATE_FUNCTIONS_IMPLEMENTATION */ - -/* USER CODE END PRIVATE_FUNCTIONS_IMPLEMENTATION */ - -/** - * @} - */ - -/** - * @} - */ diff --git a/USB_Device/App/usbd_cdc_if.h b/USB_Device/App/usbd_cdc_if.h index 9b0c37c..2afa84d 100644 --- a/USB_Device/App/usbd_cdc_if.h +++ b/USB_Device/App/usbd_cdc_if.h @@ -1,24 +1,5 @@ -/* 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 */ +/* usbd_cdc_if.h */ -/* Define to prevent recursive inclusion -------------------------------------*/ #ifndef __USBD_CDC_IF_H__ #define __USBD_CDC_IF_H__ @@ -26,106 +7,18 @@ 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); - -/* USER CODE BEGIN EXPORTED_FUNCTIONS */ - -/* USER CODE END EXPORTED_FUNCTIONS */ - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ +void USB_CDC_ProcessCommand(const char* command); #ifdef __cplusplus } #endif #endif /* __USBD_CDC_IF_H__ */ - diff --git a/pcb_odo Debug.launch b/pcb_odo Debug.launch index 49c31be..e6cb214 100644 --- a/pcb_odo Debug.launch +++ b/pcb_odo Debug.launch @@ -9,7 +9,7 @@ - + @@ -23,7 +23,7 @@ - + diff --git a/pcb_odo.ioc b/pcb_odo.ioc index 7a972ec..85e528c 100644 --- a/pcb_odo.ioc +++ b/pcb_odo.ioc @@ -86,7 +86,7 @@ ProjectManager.BackupPrevious=false ProjectManager.CompilerLinker=GCC ProjectManager.CompilerOptimize=6 ProjectManager.ComputerToolchain=false -ProjectManager.CoupleFile=false +ProjectManager.CoupleFile=true ProjectManager.CustomerFirmwarePackage= ProjectManager.DefaultFWLocation=true ProjectManager.DeletePrevious=true