Ultrawipf · Nikiss999 · Jul 31, 2024
diff --git a/Firmware/Targets/F411CE/.cproject b/Firmware/Targets/F411CE/.cproject
diff --git a/Firmware/Targets/F411CE/.project b/Firmware/Targets/F411CE/.project
@@ -0,0 +1,40 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>OpenFFBoard_F411CE</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
+			<triggers>clean,full,incremental,</triggers>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
+			<triggers>full,incremental,</triggers>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>com.st.stm32cube.ide.mcu.MCUProjectNature</nature>
+		<nature>com.st.stm32cube.ide.mcu.MCUCubeProjectNature</nature>
+		<nature>org.eclipse.cdt.core.cnature</nature>
+		<nature>org.eclipse.cdt.core.ccnature</nature>
+		<nature>com.st.stm32cube.ide.mcu.MCUCubeIdeServicesRevAev2ProjectNature</nature>
+		<nature>com.st.stm32cube.ide.mcu.MCUAdvancedStructureProjectNature</nature>
+		<nature>com.st.stm32cube.ide.mcu.MCUSingleCpuProjectNature</nature>
+		<nature>com.st.stm32cube.ide.mcu.MCURootProjectNature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
+	</natures>
+	<linkedResources>
+		<link>
+			<name>FFBoard</name>
+			<type>2</type>
+			<locationURI>PARENT-2-PROJECT_LOC/FFBoard</locationURI>
+		</link>
+	</linkedResources>
+</projectDescription>
diff --git a/Firmware/Targets/F411CE/Core/Inc/FreeRTOSConfig.h b/Firmware/Targets/F411CE/Core/Inc/FreeRTOSConfig.h
@@ -0,0 +1,176 @@
+/* USER CODE BEGIN Header */
+/*
+ * FreeRTOS Kernel V10.2.1
+ * Portion Copyright (C) 2017 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * Portion Copyright (C) 2019 StMicroelectronics, Inc.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+/* USER CODE END Header */
+
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+/*-----------------------------------------------------------
+ * Application specific definitions.
+ *
+ * These definitions should be adjusted for your particular hardware and
+ * application requirements.
+ *
+ * These parameters and more are described within the 'configuration' section of the
+ * FreeRTOS API documentation available on the FreeRTOS.org web site.
+ *
+ * See http://www.freertos.org/a00110.html
+ *----------------------------------------------------------*/
+
+/* USER CODE BEGIN Includes */
+/* Section where include file can be added */
+/* USER CODE END Includes */
+
+/* Ensure definitions are only used by the compiler, and not by the assembler. */
+#if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
+  #include <stdint.h>
+  extern uint32_t SystemCoreClock;
+#endif
+#ifndef CMSIS_device_header
+#define CMSIS_device_header "stm32f4xx.h"
+#endif /* CMSIS_device_header */
+
+#define configENABLE_FPU                         1
+#define configENABLE_MPU                         0
+
+#define configUSE_PREEMPTION                     1
+#define configSUPPORT_STATIC_ALLOCATION          1
+#define configSUPPORT_DYNAMIC_ALLOCATION         1
+#define configUSE_IDLE_HOOK                      0
+#define configUSE_TICK_HOOK                      0
+#define configCPU_CLOCK_HZ                       ( SystemCoreClock )
+#define configTICK_RATE_HZ                       ((TickType_t)1000)
+#define configMAX_PRIORITIES                     ( 56 )
+#define configMINIMAL_STACK_SIZE                 ((uint16_t)128)
+#define configTOTAL_HEAP_SIZE                    ((size_t)0xffff)
+#define configMAX_TASK_NAME_LEN                  ( 16 )
+#define configUSE_TRACE_FACILITY                 1
+#define configUSE_16_BIT_TICKS                   0
+#define configUSE_MUTEXES                        1
+#define configQUEUE_REGISTRY_SIZE                8
+#define configCHECK_FOR_STACK_OVERFLOW           2
+#define configUSE_RECURSIVE_MUTEXES              1
+#define configUSE_COUNTING_SEMAPHORES            1
+#define configUSE_PORT_OPTIMISED_TASK_SELECTION  0
+#define configRECORD_STACK_HIGH_ADDRESS          1
+/* USER CODE BEGIN MESSAGE_BUFFER_LENGTH_TYPE */
+/* Defaults to size_t for backward compatibility, but can be changed
+   if lengths will always be less than the number of bytes in a size_t. */
+#define configMESSAGE_BUFFER_LENGTH_TYPE         size_t
+/* USER CODE END MESSAGE_BUFFER_LENGTH_TYPE */
+
+/* Co-routine definitions. */
+#define configUSE_CO_ROUTINES                    0
+#define configMAX_CO_ROUTINE_PRIORITIES          ( 2 )
+
+/* Software timer definitions. */
+#define configUSE_TIMERS                         1
+#define configTIMER_TASK_PRIORITY                ( 2 )
+#define configTIMER_QUEUE_LENGTH                 10
+#define configTIMER_TASK_STACK_DEPTH             256
+
+/* The following flag must be enabled only when using newlib */
+#define configUSE_NEWLIB_REENTRANT          1
+
+/* CMSIS-RTOS V2 flags */
+#define configUSE_OS2_THREAD_SUSPEND_RESUME  1
+#define configUSE_OS2_THREAD_ENUMERATE       1
+#define configUSE_OS2_EVENTFLAGS_FROM_ISR    1
+#define configUSE_OS2_THREAD_FLAGS           1
+#define configUSE_OS2_TIMER                  1
+#define configUSE_OS2_MUTEX                  1
+
+/* Set the following definitions to 1 to include the API function, or zero
+to exclude the API function. */
+#define INCLUDE_vTaskPrioritySet             1
+#define INCLUDE_uxTaskPriorityGet            1
+#define INCLUDE_vTaskDelete                  1
+#define INCLUDE_vTaskCleanUpResources        0
+#define INCLUDE_vTaskSuspend                 1
+#define INCLUDE_vTaskDelayUntil              1
+#define INCLUDE_vTaskDelay                   1
+#define INCLUDE_xTaskGetSchedulerState       1
+#define INCLUDE_xTimerPendFunctionCall       1
+#define INCLUDE_xQueueGetMutexHolder         1
+#define INCLUDE_uxTaskGetStackHighWaterMark  1
+#define INCLUDE_xTaskGetCurrentTaskHandle    1
+#define INCLUDE_eTaskGetState                1
+
+/*
+ * The CMSIS-RTOS V2 FreeRTOS wrapper is dependent on the heap implementation used
+ * by the application thus the correct define need to be enabled below
+ */
+#define USE_FreeRTOS_HEAP_4
+
+/* Cortex-M specific definitions. */
+#ifdef __NVIC_PRIO_BITS
+ /* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
+ #define configPRIO_BITS         __NVIC_PRIO_BITS
+#else
+ #define configPRIO_BITS         4
+#endif
+
+/* The lowest interrupt priority that can be used in a call to a "set priority"
+function. */
+#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY   15
+
+/* The highest interrupt priority that can be used by any interrupt service
+routine that makes calls to interrupt safe FreeRTOS API functions.  DO NOT CALL
+INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
+PRIORITY THAN THIS! (higher priorities are lower numeric values. */
+#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
+
+/* Interrupt priorities used by the kernel port layer itself.  These are generic
+to all Cortex-M ports, and do not rely on any particular library functions. */
+#define configKERNEL_INTERRUPT_PRIORITY 		( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
+/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
+See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY 	( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
+
+/* Normal assert() semantics without relying on the provision of an assert.h
+header file. */
+/* USER CODE BEGIN 1 */
+#define configASSERT( x ) if ((x) == 0) {taskDISABLE_INTERRUPTS(); for( ;; );}
+/* USER CODE END 1 */
+
+/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
+standard names. */
+#define vPortSVCHandler    SVC_Handler
+#define xPortPendSVHandler PendSV_Handler
+
+/* IMPORTANT: After 10.3.1 update, Systick_Handler comes from NVIC (if SYS timebase = systick), otherwise from cmsis_os2.c */
+
+#define USE_CUSTOM_SYSTICK_HANDLER_IMPLEMENTATION 0
+
+/* USER CODE BEGIN Defines */
+#define CPP_FREERTOS_NO_EXCEPTIONS // For freertos cpp addons
+/* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */
+/* USER CODE END Defines */
+
+#endif /* FREERTOS_CONFIG_H */
diff --git a/Firmware/Targets/F411CE/Core/Inc/main.h b/Firmware/Targets/F411CE/Core/Inc/main.h
@@ -0,0 +1,134 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file           : main.h
+  * @brief          : Header for main.c file.
+  *                   This file contains the common defines of the application.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __MAIN_H
+#define __MAIN_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_hal.h"
+
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+/* Exported types ------------------------------------------------------------*/
+/* USER CODE BEGIN ET */
+
+/* USER CODE END ET */
+
+/* Exported constants --------------------------------------------------------*/
+/* USER CODE BEGIN EC */
+/* USER CODE END EC */
+
+/* Exported macro ------------------------------------------------------------*/
+/* USER CODE BEGIN EM */
+
+/* USER CODE END EM */
+
+void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
+
+/* Exported functions prototypes ---------------------------------------------*/
+void Error_Handler(void);
+
+/* USER CODE BEGIN EFP */
+void RebootDFU();
+/* USER CODE END EFP */
+
+/* Private defines -----------------------------------------------------------*/
+#define LED_SYS_Pin GPIO_PIN_13
+#define LED_SYS_GPIO_Port GPIOC
+#define ENCODER_Z_Pin GPIO_PIN_14
+#define ENCODER_Z_GPIO_Port GPIOC
+#define ENCODER_Z_EXTI_IRQn EXTI15_10_IRQn
+#define E_STOP_Pin GPIO_PIN_15
+#define E_STOP_GPIO_Port GPIOC
+#define E_STOP_EXTI_IRQn EXTI15_10_IRQn
+#define AIN0_Pin GPIO_PIN_0
+#define AIN0_GPIO_Port GPIOA
+#define AIN1_Pin GPIO_PIN_1
+#define AIN1_GPIO_Port GPIOA
+#define AIN2_Pin GPIO_PIN_2
+#define AIN2_GPIO_Port GPIOA
+#define AIN3_Pin GPIO_PIN_3
+#define AIN3_GPIO_Port GPIOA
+#define AIN4_Pin GPIO_PIN_4
+#define AIN4_GPIO_Port GPIOA
+#define AIN5_Pin GPIO_PIN_5
+#define AIN5_GPIO_Port GPIOA
+#define ADC_VEXT_Pin GPIO_PIN_6
+#define ADC_VEXT_GPIO_Port GPIOA
+#define ADC_VINT_Pin GPIO_PIN_7
+#define ADC_VINT_GPIO_Port GPIOA
+#define PWM3_Pin GPIO_PIN_0
+#define PWM3_GPIO_Port GPIOB
+#define PWM4_Pin GPIO_PIN_1
+#define PWM4_GPIO_Port GPIOB
+#define DRV_BRAKE_Pin GPIO_PIN_2
+#define DRV_BRAKE_GPIO_Port GPIOB
+#define DIN5_Pin GPIO_PIN_10
+#define DIN5_GPIO_Port GPIOB
+#define DIN0_Pin GPIO_PIN_12
+#define DIN0_GPIO_Port GPIOB
+#define DIN1_Pin GPIO_PIN_13
+#define DIN1_GPIO_Port GPIOB
+#define DIN2_Pin GPIO_PIN_14
+#define DIN2_GPIO_Port GPIOB
+#define DIN3_Pin GPIO_PIN_15
+#define DIN3_GPIO_Port GPIOB
+#define ENCODER_A_Pin GPIO_PIN_8
+#define ENCODER_A_GPIO_Port GPIOA
+#define ENCODER_B_Pin GPIO_PIN_9
+#define ENCODER_B_GPIO_Port GPIOA
+#define DIN4_Pin GPIO_PIN_10
+#define DIN4_GPIO_Port GPIOA
+#define SPI1_SS1_Pin GPIO_PIN_15
+#define SPI1_SS1_GPIO_Port GPIOA
+void   MX_USB_OTG_FS_PCD_Init(void);
+/* USER CODE BEGIN Private defines */
+#define GPIO_UNEXPOSED_PORT                   GPIOE
+#define GPIO_UNEXPOSED_OUTPUT_Pin             GPIO_PIN_0
+#define GPIO_UNEXPOSED_OUTPUT_GPIO_PORT       GPIO_UNEXPOSED_PORT
+#define GPIO_UNEXPOSED_INPUT_LOW_Pin          GPIO_PIN_1
+#define GPIO_UNEXPOSED_INPUT_LOW_GPIO_PORT    GPIO_UNEXPOSED_PORT
+#define GPIO_UNEXPOSED_INPUT_HIGH_Pin         GPIO_PIN_2
+#define GPIO_UNEXPOSED_INPUT_HIGH_GPIO_PORT   GPIO_UNEXPOSED_PORT
+#define LED_ERR_Pin                           GPIO_UNEXPOSED_OUTPUT_Pin
+#define LED_ERR_GPIO_Port                     GPIO_UNEXPOSED_OUTPUT_GPIO_PORT
+//#define LED_SYS_Pin                           GPIO_UNEXPOSED_OUTPUT_Pin
+//#define LED_SYS_GPIO_Port                     GPIO_UNEXPOSED_OUTPUT_GPIO_PORT
+#define LED_CLIP_Pin                          GPIO_UNEXPOSED_OUTPUT_Pin
+#define LED_CLIP_GPIO_Port                    GPIO_UNEXPOSED_OUTPUT_GPIO_PORT
+#define BUTTON_A_Pin                          GPIO_UNEXPOSED_INPUT_LOW_Pin
+#define BUTTON_A_GPIO_Port                    GPIO_UNEXPOSED_INPUT_LOW_GPIO_PORT
+
+/* USER CODE END Private defines */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __MAIN_H */