mirror of
https://github.com/modelec/odo_STM32.git
synced 2026-01-18 16:27:25 +01:00
comm de test fonctionnelle avec pc/rasp
This commit is contained in:
Maxime
52
.mxproject
52
.mxproject
File diff suppressed because one or more lines are too long
@@ -5,7 +5,7 @@
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|||||||
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
|
<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.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
|
||||||
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" 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="-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} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true">
|
<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} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true">
|
||||||
<language-scope id="org.eclipse.cdt.core.gcc"/>
|
<language-scope id="org.eclipse.cdt.core.gcc"/>
|
||||||
<language-scope id="org.eclipse.cdt.core.g++"/>
|
<language-scope id="org.eclipse.cdt.core.g++"/>
|
||||||
</provider>
|
</provider>
|
||||||
@@ -16,7 +16,7 @@
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|||||||
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
|
<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.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
|
||||||
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" 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="-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} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true">
|
<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} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true">
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||||||
<language-scope id="org.eclipse.cdt.core.gcc"/>
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<language-scope id="org.eclipse.cdt.core.gcc"/>
|
||||||
<language-scope id="org.eclipse.cdt.core.g++"/>
|
<language-scope id="org.eclipse.cdt.core.g++"/>
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||||||
</provider>
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</provider>
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||||||
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|||||||
23
Core/Inc/commSTM.h
Normal file
23
Core/Inc/commSTM.h
Normal file
@@ -0,0 +1,23 @@
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|||||||
|
/*
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||||||
|
* commSTM.h
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||||||
|
*
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||||||
|
* Created on: May 13, 2025
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||||||
|
* Author: maxch
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||||||
|
*/
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||||||
|
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||||||
|
#ifndef INC_COMMSTM_H_
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#define INC_COMMSTM_H_
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||||||
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||||||
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#include <stdint.h>
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#include <stddef.h>
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||||||
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#include "usbd_cdc_if.h"
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||||||
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|
||||||
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// À appeler régulièrement pour parser ce qui a été reçu
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void USB_Comm_Process(void);
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|
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||||||
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// À appeler dans CDC_Receive_FS (depuis usbd_cdc_if.c)
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void USB_Comm_OnReceive(uint8_t* Buf, uint32_t Len);
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||||||
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||||||
|
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||||||
|
#endif /* INC_COMMSTM_H_ */
|
||||||
49
Core/Inc/gpio.h
Normal file
49
Core/Inc/gpio.h
Normal file
@@ -0,0 +1,49 @@
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|||||||
|
/* USER CODE BEGIN Header */
|
||||||
|
/**
|
||||||
|
******************************************************************************
|
||||||
|
* @file gpio.h
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||||||
|
* @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__
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||||||
|
#define __GPIO_H__
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
extern "C" {
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||||||
|
#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 */
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||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
#endif /*__ GPIO_H__ */
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||||||
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|
||||||
@@ -49,8 +49,6 @@ extern "C" {
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|
|
||||||
/* USER CODE END EM */
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/* USER CODE END EM */
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||||||
|
|
||||||
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
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|
||||||
|
|
||||||
/* Exported functions prototypes ---------------------------------------------*/
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/* Exported functions prototypes ---------------------------------------------*/
|
||||||
void Error_Handler(void);
|
void Error_Handler(void);
|
||||||
|
|
||||||
|
|||||||
60
Core/Inc/tim.h
Normal file
60
Core/Inc/tim.h
Normal file
@@ -0,0 +1,60 @@
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|||||||
|
/* 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__
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||||||
|
#define __TIM_H__
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||||||
|
|
||||||
|
#ifdef __cplusplus
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||||||
|
extern "C" {
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* Includes ------------------------------------------------------------------*/
|
||||||
|
#include "main.h"
|
||||||
|
|
||||||
|
/* USER CODE BEGIN Includes */
|
||||||
|
|
||||||
|
/* USER CODE END Includes */
|
||||||
|
|
||||||
|
extern TIM_HandleTypeDef htim1;
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||||||
|
|
||||||
|
extern TIM_HandleTypeDef htim2;
|
||||||
|
|
||||||
|
extern TIM_HandleTypeDef htim3;
|
||||||
|
|
||||||
|
/* USER CODE BEGIN Private defines */
|
||||||
|
|
||||||
|
/* USER CODE END Private defines */
|
||||||
|
|
||||||
|
void MX_TIM1_Init(void);
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||||||
|
void MX_TIM2_Init(void);
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||||||
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void MX_TIM3_Init(void);
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||||||
|
|
||||||
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void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
|
||||||
|
|
||||||
|
/* USER CODE BEGIN Prototypes */
|
||||||
|
|
||||||
|
/* USER CODE END Prototypes */
|
||||||
|
|
||||||
|
#ifdef __cplusplus
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||||||
|
}
|
||||||
|
#endif
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||||||
|
|
||||||
|
#endif /* __TIM_H__ */
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||||||
|
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||||||
79
Core/Src/commSTM.cpp
Normal file
79
Core/Src/commSTM.cpp
Normal file
@@ -0,0 +1,79 @@
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|||||||
|
/*
|
||||||
|
* commSTM.c
|
||||||
|
*
|
||||||
|
* Created on: May 13, 2025
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||||||
|
* Author: maxch
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||||||
|
*/
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
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||||||
|
#include "commSTM.h"
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||||||
|
#include "usbd_cdc.h"
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||||||
|
#include <string.h>
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||||||
|
#include <stdio.h>
|
||||||
|
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||||||
|
// ⚠️ fourni par CubeMX dans usb_device.c
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||||||
|
extern USBD_HandleTypeDef hUsbDeviceFS;
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||||||
|
|
||||||
|
// Buffer de réception circulaire
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||||||
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#define RX_BUFFER_SIZE 256
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||||||
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static char usb_rx_buffer[RX_BUFFER_SIZE];
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||||||
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static volatile uint16_t usb_rx_index = 0;
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||||||
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static volatile uint8_t data_ready = 0;
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||||||
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||||||
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static char parse_buffer[RX_BUFFER_SIZE]; // Pour parser la ligne complète
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||||||
|
|
||||||
|
// Fonction à appeler depuis CDC_Receive_FS
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||||||
|
void USB_Comm_OnReceive(uint8_t* Buf, uint32_t Len) {
|
||||||
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if (Len + usb_rx_index >= RX_BUFFER_SIZE) {
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||||||
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// Trop de données, on reset le buffer
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||||||
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usb_rx_index = 0;
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||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
for (uint32_t i = 0; i < Len; i++) {
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||||||
|
char c = Buf[i];
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||||||
|
if (c == '\n' || c == '\r') {
|
||||||
|
// Fin de commande
|
||||||
|
usb_rx_buffer[usb_rx_index] = '\0';
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||||||
|
memcpy(parse_buffer, usb_rx_buffer, usb_rx_index + 1);
|
||||||
|
usb_rx_index = 0;
|
||||||
|
data_ready = 1;
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||||||
|
return;
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||||||
|
} else {
|
||||||
|
usb_rx_buffer[usb_rx_index++] = c;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
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||||||
|
|
||||||
|
// Répondre via USB
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||||||
|
static void USB_Comm_Send(const char* message) {
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||||||
|
if (message != NULL) {
|
||||||
|
CDC_Transmit_FS((uint8_t*)message, strlen(message));
|
||||||
|
}
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||||||
|
}
|
||||||
|
|
||||||
|
// Analyse et réponse aux commandes reçues
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||||||
|
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");
|
||||||
|
}
|
||||||
|
}
|
||||||
54
Core/Src/gpio.c
Normal file
54
Core/Src/gpio.c
Normal file
@@ -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 */
|
||||||
214
Core/Src/main.c
214
Core/Src/main.c
@@ -18,7 +18,10 @@
|
|||||||
/* USER CODE END Header */
|
/* USER CODE END Header */
|
||||||
/* Includes ------------------------------------------------------------------*/
|
/* Includes ------------------------------------------------------------------*/
|
||||||
#include "main.h"
|
#include "main.h"
|
||||||
|
#include "tim.h"
|
||||||
#include "usb_device.h"
|
#include "usb_device.h"
|
||||||
|
#include "gpio.h"
|
||||||
|
|
||||||
|
|
||||||
/* Private includes ----------------------------------------------------------*/
|
/* Private includes ----------------------------------------------------------*/
|
||||||
/* USER CODE BEGIN Includes */
|
/* USER CODE BEGIN Includes */
|
||||||
@@ -44,9 +47,6 @@ void ModelecOdometryLoop(void* pid, void* pidG, void* pidD);
|
|||||||
/* USER CODE END PM */
|
/* USER CODE END PM */
|
||||||
|
|
||||||
/* Private variables ---------------------------------------------------------*/
|
/* Private variables ---------------------------------------------------------*/
|
||||||
TIM_HandleTypeDef htim1;
|
|
||||||
TIM_HandleTypeDef htim2;
|
|
||||||
TIM_HandleTypeDef htim3;
|
|
||||||
|
|
||||||
/* USER CODE BEGIN PV */
|
/* USER CODE BEGIN PV */
|
||||||
int counter1=0;
|
int counter1=0;
|
||||||
@@ -55,10 +55,6 @@ int counter2=0;
|
|||||||
|
|
||||||
/* Private function prototypes -----------------------------------------------*/
|
/* Private function prototypes -----------------------------------------------*/
|
||||||
void SystemClock_Config(void);
|
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 BEGIN PFP */
|
||||||
|
|
||||||
/* USER CODE END PFP */
|
/* USER CODE END PFP */
|
||||||
@@ -129,6 +125,7 @@ int main(void)
|
|||||||
counter2 = __HAL_TIM_GET_COUNTER(&htim2);
|
counter2 = __HAL_TIM_GET_COUNTER(&htim2);
|
||||||
counter1 = __HAL_TIM_GET_COUNTER(&htim3);
|
counter1 = __HAL_TIM_GET_COUNTER(&htim3);
|
||||||
ModelecOdometryLoop(pid, pidG, pidD);
|
ModelecOdometryLoop(pid, pidG, pidD);
|
||||||
|
|
||||||
/* USER CODE END WHILE */
|
/* USER CODE END WHILE */
|
||||||
|
|
||||||
/* USER CODE BEGIN 3 */
|
/* 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 BEGIN 4 */
|
||||||
|
|
||||||
/* USER CODE END 4 */
|
/* USER CODE END 4 */
|
||||||
|
|||||||
@@ -12,6 +12,8 @@
|
|||||||
#include "point.h"
|
#include "point.h"
|
||||||
#include "pidPosition.h"
|
#include "pidPosition.h"
|
||||||
#include "usbd_cdc_if.h"
|
#include "usbd_cdc_if.h"
|
||||||
|
#include "commSTM.h"
|
||||||
|
|
||||||
extern "C" {
|
extern "C" {
|
||||||
|
|
||||||
extern TIM_HandleTypeDef htim3;
|
extern TIM_HandleTypeDef htim3;
|
||||||
@@ -193,6 +195,7 @@ void ModelecOdometryLoop(void* pid, void* pidG, void* pidD) {
|
|||||||
//On met à jour toutes les 10ms
|
//On met à jour toutes les 10ms
|
||||||
if (isDelayPassed(10)) {
|
if (isDelayPassed(10)) {
|
||||||
ModelecOdometryUpdate();
|
ModelecOdometryUpdate();
|
||||||
|
USB_Comm_Process();
|
||||||
/*
|
/*
|
||||||
HAL_Delay(1000);
|
HAL_Delay(1000);
|
||||||
Point currentPoint(x, y,theta, StatePoint::INTERMEDIAIRE);
|
Point currentPoint(x, y,theta, StatePoint::INTERMEDIAIRE);
|
||||||
|
|||||||
@@ -57,8 +57,6 @@
|
|||||||
/* USER CODE BEGIN 0 */
|
/* USER CODE BEGIN 0 */
|
||||||
|
|
||||||
/* USER CODE END 0 */
|
/* USER CODE END 0 */
|
||||||
|
|
||||||
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
|
|
||||||
/**
|
/**
|
||||||
* Initializes the Global MSP.
|
* Initializes the Global MSP.
|
||||||
*/
|
*/
|
||||||
@@ -83,195 +81,6 @@ void HAL_MspInit(void)
|
|||||||
/* USER CODE END MspInit 1 */
|
/* 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 BEGIN 1 */
|
||||||
|
|
||||||
/* USER CODE END 1 */
|
/* USER CODE END 1 */
|
||||||
|
|||||||
368
Core/Src/tim.c
Normal file
368
Core/Src/tim.c
Normal file
@@ -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 */
|
||||||
@@ -1,142 +1,50 @@
|
|||||||
/* USER CODE BEGIN Header */
|
/* usbd_cdc_if.c */
|
||||||
/**
|
|
||||||
******************************************************************************
|
|
||||||
* @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 "usbd_cdc_if.h"
|
||||||
|
#include <string.h>
|
||||||
/* USER CODE BEGIN INCLUDE */
|
#include <stdio.h>
|
||||||
|
|
||||||
/* 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;
|
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 */
|
static int8_t CDC_Init_FS(void)
|
||||||
|
|
||||||
/**
|
|
||||||
* @}
|
|
||||||
*/
|
|
||||||
|
|
||||||
/** @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_Init_FS,
|
||||||
CDC_DeInit_FS,
|
CDC_DeInit_FS,
|
||||||
CDC_Control_FS,
|
CDC_Control_FS,
|
||||||
@@ -144,185 +52,35 @@ USBD_CDC_ItfTypeDef USBD_Interface_fops_FS =
|
|||||||
CDC_TransmitCplt_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 CDC_Transmit_FS(uint8_t* Buf, uint16_t Len)
|
||||||
{
|
{
|
||||||
uint8_t result = USBD_OK;
|
if (hUsbDeviceFS.pClassData == NULL) return USBD_FAIL;
|
||||||
/* 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);
|
USBD_CDC_SetTxBuffer(&hUsbDeviceFS, Buf, Len);
|
||||||
result = USBD_CDC_TransmitPacket(&hUsbDeviceFS);
|
return USBD_CDC_TransmitPacket(&hUsbDeviceFS);
|
||||||
/* USER CODE END 7 */
|
|
||||||
return result;
|
|
||||||
}
|
}
|
||||||
|
|
||||||
/**
|
/* Command parser */
|
||||||
* @brief CDC_TransmitCplt_FS
|
void USB_CDC_ProcessCommand(const char* command)
|
||||||
* 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;
|
char response[APP_TX_DATA_SIZE];
|
||||||
/* USER CODE BEGIN 13 */
|
|
||||||
UNUSED(Buf);
|
if (strncmp(command, "GET;POS", 7) == 0) {
|
||||||
UNUSED(Len);
|
snprintf(response, sizeof(response), "SET;POS;100;200;1.57\r\n");
|
||||||
UNUSED(epnum);
|
} else if (strncmp(command, "GET;SPEED", 9) == 0) {
|
||||||
/* USER CODE END 13 */
|
snprintf(response, sizeof(response), "SET;SPEED;10;20;0.5\r\n");
|
||||||
return result;
|
} 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);
|
||||||
}
|
}
|
||||||
|
|
||||||
/* USER CODE BEGIN PRIVATE_FUNCTIONS_IMPLEMENTATION */
|
CDC_Transmit_FS((uint8_t*)response, strlen(response));
|
||||||
|
}
|
||||||
/* USER CODE END PRIVATE_FUNCTIONS_IMPLEMENTATION */
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @}
|
|
||||||
*/
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @}
|
|
||||||
*/
|
|
||||||
|
|||||||
@@ -1,24 +1,5 @@
|
|||||||
/* USER CODE BEGIN Header */
|
/* usbd_cdc_if.h */
|
||||||
/**
|
|
||||||
******************************************************************************
|
|
||||||
* @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__
|
#ifndef __USBD_CDC_IF_H__
|
||||||
#define __USBD_CDC_IF_H__
|
#define __USBD_CDC_IF_H__
|
||||||
|
|
||||||
@@ -26,106 +7,18 @@
|
|||||||
extern "C" {
|
extern "C" {
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
/* Includes ------------------------------------------------------------------*/
|
|
||||||
#include "usbd_cdc.h"
|
#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_RX_DATA_SIZE 2048
|
||||||
#define APP_TX_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;
|
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);
|
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
|
#ifdef __cplusplus
|
||||||
}
|
}
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
#endif /* __USBD_CDC_IF_H__ */
|
#endif /* __USBD_CDC_IF_H__ */
|
||||||
|
|
||||||
|
|||||||
@@ -9,7 +9,7 @@
|
|||||||
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_permission" value=""/>
|
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_permission" value=""/>
|
||||||
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_pwd_file" value=""/>
|
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_pwd_file" value=""/>
|
||||||
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_live_expr" value="true"/>
|
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_live_expr" value="true"/>
|
||||||
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_swv" value="false"/>
|
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_swv" value="true"/>
|
||||||
<intAttribute key="com.st.stm32cube.ide.mcu.debug.launch.formatVersion" value="2"/>
|
<intAttribute key="com.st.stm32cube.ide.mcu.debug.launch.formatVersion" value="2"/>
|
||||||
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.ip_address_local" value="localhost"/>
|
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.ip_address_local" value="localhost"/>
|
||||||
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.limit_swo_clock.enabled" value="false"/>
|
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.limit_swo_clock.enabled" value="false"/>
|
||||||
@@ -23,7 +23,7 @@
|
|||||||
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.haltonexception" value="true"/>
|
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.haltonexception" value="true"/>
|
||||||
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swd_mode" value="true"/>
|
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swd_mode" value="true"/>
|
||||||
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_port" value="61235"/>
|
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_port" value="61235"/>
|
||||||
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_trace_hclk" value="16000000"/>
|
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_trace_hclk" value="32000000"/>
|
||||||
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.useRemoteTarget" value="true"/>
|
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.useRemoteTarget" value="true"/>
|
||||||
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.vector_table" value=""/>
|
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.vector_table" value=""/>
|
||||||
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.verify_flash_download" value="true"/>
|
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.verify_flash_download" value="true"/>
|
||||||
|
|||||||
@@ -86,7 +86,7 @@ ProjectManager.BackupPrevious=false
|
|||||||
ProjectManager.CompilerLinker=GCC
|
ProjectManager.CompilerLinker=GCC
|
||||||
ProjectManager.CompilerOptimize=6
|
ProjectManager.CompilerOptimize=6
|
||||||
ProjectManager.ComputerToolchain=false
|
ProjectManager.ComputerToolchain=false
|
||||||
ProjectManager.CoupleFile=false
|
ProjectManager.CoupleFile=true
|
||||||
ProjectManager.CustomerFirmwarePackage=
|
ProjectManager.CustomerFirmwarePackage=
|
||||||
ProjectManager.DefaultFWLocation=true
|
ProjectManager.DefaultFWLocation=true
|
||||||
ProjectManager.DeletePrevious=true
|
ProjectManager.DeletePrevious=true
|
||||||
|
|||||||
Reference in New Issue
Block a user