ADD: control via uart. Send two int16 (4 bytes) to usart 2 to control the motors with an arduino or a raspberry pi
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@ -14,12 +14,15 @@
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// ################################################################################
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#define DEBUG_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
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#define DEBUG_SERIAL_USART3 // left sensor board cable, disable if ADC or PPM is used!
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//#define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuck) is used!
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#define DEBUG_BAUD 115200 // UART baud rate
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//#define DEBUG_SERIAL_SERVOTERM
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#define DEBUG_SERIAL_ASCII // human readable output. i.e. "345;1337;0;0\n\r"
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#define CONTROL_SERIAL_USART2
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#define CONTROL_BAUD 9600
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//#define DEBUG_I2C_LCD // standard 16x2 or larger text-lcd via i2c-converter on right sensor board cable
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#define TIMEOUT 5 // number of wrong / missing commands before emergency off
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@ -27,7 +30,7 @@
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// ################################################################################
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// ###### CONTROL VIA RC REMOTE ######
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// left sensor board cable. Channel 1: steering, Channel 2: speed.
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// left sensor board cable. Channel 1: steering, Channel 2: speed.
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//#define CONTROL_PPM // use PPM-Sum as input. disable DEBUG_SERIAL_USART2!
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//#define PPM_NUM_CHANNELS 6 // total number of PPM channels to receive, even if they are not used.
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@ -41,7 +44,7 @@
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// ###### CONTROL VIA NINTENDO NUNCHUCK ######
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// left sensor board cable. keep cable short, use shielded cable, use ferrits, stabalize voltage in nunchuck, use the right one of the 2 types of nunchucks, add i2c pullups.
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#define CONTROL_NUNCHUCK // use nunchuck as input. disable DEBUG_SERIAL_USART3!
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//#define CONTROL_NUNCHUCK // use nunchuck as input. disable DEBUG_SERIAL_USART3!
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// ################################################################################
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@ -17,6 +17,12 @@ extern I2C_HandleTypeDef hi2c2;
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DMA_HandleTypeDef hdma_i2c2_rx;
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DMA_HandleTypeDef hdma_i2c2_tx;
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typedef struct{
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float motorR;
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float motorL;
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//uint32_t crc;
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} Serialcommand;
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#ifdef CONTROL_PPM
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uint16_t ppm_captured_value[PPM_NUM_CHANNELS + 1] = {500, 500};
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uint16_t ppm_captured_value_buffer[PPM_NUM_CHANNELS+1] = {500, 500};
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@ -24,8 +30,16 @@ uint32_t ppm_timeout = 0;
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bool ppm_valid = true;
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volatile Serialcommand command;
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#define IN_RANGE(x, low, up) (((x) >= (low)) && ((x) <= (up)))
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#ifdef CONTROL_SERIAL_USART2
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void Telemetry_Init(){
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HAL_UART_Receive_DMA(&huart2, (uint8_t *)&command, 8);
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}
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#endif
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void PPM_ISR_Callback() {
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// Dummy loop with 16 bit count wrap around
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uint16_t rc_delay = TIM2->CNT;
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24
Src/main.c
24
Src/main.c
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@ -34,11 +34,21 @@ extern ADC_HandleTypeDef hadc2;
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extern volatile adc_buf_t adc_buffer;
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//LCD_PCF8574_HandleTypeDef lcd;
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extern I2C_HandleTypeDef hi2c2;
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extern UART_HandleTypeDef huart2;
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int cmd1; // normalized input values. -1000 to 1000
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int cmd2;
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int cmd3;
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typedef struct{
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int16_t motorR;
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int16_t motorL;
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//uint32_t crc;
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} Serialcommand;
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volatile Serialcommand command;
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uint8_t button1, button2;
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int steer; // global variable for steering. -1000 to 1000
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@ -122,6 +132,11 @@ int main(void) {
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Nunchuck_Init();
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#endif
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#ifdef CONTROL_SERIAL_USART2
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UART_Control_Init();
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HAL_UART_Receive_DMA(&huart2, (uint8_t *)&command, 4);
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#endif
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#ifdef DEBUG_I2C_LCD
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I2C_Init();
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HAL_Delay(50);
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@ -148,7 +163,7 @@ int main(void) {
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while(1) {
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HAL_Delay(5);
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#ifdef CONTROL_NUNCHUCK
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Nunchuck_Read();
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cmd1 = CLAMP((nunchuck_data[0] - 127) * 8, -1000, 1000); // x - axis. Nunchuck joystick readings range 30 - 230
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@ -169,7 +184,7 @@ int main(void) {
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// ADC values range: 0-4095, see ADC-calibration in config.h
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cmd1 = CLAMP(adc_buffer.l_tx2 - ADC1_MIN, 0, ADC1_MAX) / (ADC1_MAX / 1000.0f); // ADC1
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cmd2 = CLAMP(adc_buffer.l_rx2 - ADC2_MIN, 0, ADC2_MAX) / (ADC2_MAX / 1000.0f); // ADC2
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// use ADCs as button inputs:
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button1 = (uint8_t)(adc_buffer.l_tx2 > 2000); // ADC1
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button2 = (uint8_t)(adc_buffer.l_rx2 > 2000); // ADC2
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@ -177,6 +192,11 @@ int main(void) {
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timeout = 0;
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#endif
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#ifdef CONTROL_SERIAL_USART2
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cmd1 = CLAMP((int16_t)command.motorR, -1000, 1000);
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cmd2 = CLAMP((int16_t)command.motorL, -1000, 1000);
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#endif
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// ####### LOW-PASS FILTER #######
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steer = steer * (1.0 - FILTER) + cmd1 * FILTER;
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77
Src/setup.c
77
Src/setup.c
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@ -43,8 +43,85 @@ TIM_HandleTypeDef htim_left;
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ADC_HandleTypeDef hadc1;
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ADC_HandleTypeDef hadc2;
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I2C_HandleTypeDef hi2c2;
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UART_HandleTypeDef huart2;
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DMA_HandleTypeDef hdma_usart2_rx;
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DMA_HandleTypeDef hdma_usart2_tx;
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volatile adc_buf_t adc_buffer;
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#ifdef CONTROL_SERIAL_USART2
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void UART_Control_Init() {
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GPIO_InitTypeDef GPIO_InitStruct;
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__HAL_RCC_USART2_CLK_ENABLE();
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/* DMA1_Channel6_IRQn interrupt configuration */
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//HAL_NVIC_SetPriority(DMA1_Channel6_IRQn, 5, 6);
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//HAL_NVIC_EnableIRQ(DMA1_Channel6_IRQn);
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HAL_NVIC_SetPriority(DMA1_Channel6_IRQn, 5, 6);
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HAL_NVIC_EnableIRQ(DMA1_Channel6_IRQn);
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/* DMA1_Channel7_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(DMA1_Channel7_IRQn, 5, 7);
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HAL_NVIC_EnableIRQ(DMA1_Channel7_IRQn);
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huart2.Instance = USART2;
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huart2.Init.BaudRate = CONTROL_BAUD;
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huart2.Init.WordLength = UART_WORDLENGTH_8B;
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huart2.Init.StopBits = UART_STOPBITS_1;
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huart2.Init.Parity = UART_PARITY_NONE;
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huart2.Init.Mode = UART_MODE_TX_RX;
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huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
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// huart2.Init.OverSampling = UART_OVERSAMPLING_16;
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HAL_UART_Init(&huart2);
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__HAL_RCC_DMA1_CLK_ENABLE();
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/* USER CODE BEGIN USART2_MspInit 0 */
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__HAL_RCC_GPIOA_CLK_ENABLE();
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/* USER CODE END USART2_MspInit 0 */
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/* Peripheral clock enable */
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__HAL_RCC_USART2_CLK_ENABLE();
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GPIO_InitStruct.Pull = GPIO_PULLUP; //GPIO_NOPULL;
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GPIO_InitStruct.Pin = GPIO_PIN_2;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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GPIO_InitStruct.Pin = GPIO_PIN_3;
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GPIO_InitStruct.Mode = GPIO_MODE_INPUT; //GPIO_MODE_AF_PP;
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// GPIO_InitStruct.Pull = GPIO_NOPULL;
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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/* Peripheral DMA init*/
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hdma_usart2_rx.Instance = DMA1_Channel6;
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hdma_usart2_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
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hdma_usart2_rx.Init.PeriphInc = DMA_PINC_DISABLE;
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hdma_usart2_rx.Init.MemInc = DMA_MINC_ENABLE;
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hdma_usart2_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
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hdma_usart2_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
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hdma_usart2_rx.Init.Mode = DMA_CIRCULAR; //DMA_NORMAL;
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hdma_usart2_rx.Init.Priority = DMA_PRIORITY_LOW;
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HAL_DMA_Init(&hdma_usart2_rx);
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__HAL_LINKDMA(&huart2,hdmarx,hdma_usart2_rx);
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hdma_usart2_tx.Instance = DMA1_Channel7;
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hdma_usart2_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
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hdma_usart2_tx.Init.PeriphInc = DMA_PINC_DISABLE;
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hdma_usart2_tx.Init.MemInc = DMA_MINC_ENABLE;
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hdma_usart2_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
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hdma_usart2_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
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hdma_usart2_tx.Init.Mode = DMA_NORMAL;
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hdma_usart2_tx.Init.Priority = DMA_PRIORITY_LOW;
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HAL_DMA_Init(&hdma_usart2_tx);
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__HAL_LINKDMA(&huart2,hdmatx,hdma_usart2_tx);
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}
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#endif
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#ifdef DEBUG_SERIAL_USART3
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void UART_Init() {
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__HAL_RCC_USART3_CLK_ENABLE();
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@ -40,6 +40,9 @@ extern DMA_HandleTypeDef hdma_i2c2_rx;
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extern DMA_HandleTypeDef hdma_i2c2_tx;
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extern I2C_HandleTypeDef hi2c2;
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extern DMA_HandleTypeDef hdma_usart2_rx;
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extern DMA_HandleTypeDef hdma_usart2_tx;
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/* USER CODE BEGIN 0 */
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/* USER CODE END 0 */
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@ -223,6 +226,33 @@ void EXTI3_IRQHandler(void)
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}
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#endif
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#ifdef CONTROL_SERIAL_USART2
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void DMA1_Channel6_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA1_Channel4_IRQn 0 */
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/* USER CODE END DMA1_Channel4_IRQn 0 */
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HAL_DMA_IRQHandler(&hdma_usart2_rx);
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/* USER CODE BEGIN DMA1_Channel4_IRQn 1 */
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/* USER CODE END DMA1_Channel4_IRQn 1 */
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}
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/**
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* @brief This function handles DMA1 channel5 global interrupt.
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*/
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void DMA1_Channel7_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA1_Channel5_IRQn 0 */
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/* USER CODE END DMA1_Channel5_IRQn 0 */
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HAL_DMA_IRQHandler(&hdma_usart2_tx);
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/* USER CODE BEGIN DMA1_Channel5_IRQn 1 */
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/* USER CODE END DMA1_Channel5_IRQn 1 */
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}
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#endif
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/******************************************************************************/
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/* STM32F1xx Peripheral Interrupt Handlers */
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/* Add here the Interrupt Handlers for the used peripherals. */
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1637
build/hover.hex
1637
build/hover.hex
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