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Basic System Manager #25

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Basic System Manager #25

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8e64c6b
Setup example config
antimonyB Jul 4, 2023
3022d5e
Improve config structure and implement driver factory function
antimonyB Jul 4, 2023
b164cd8
Expand config to handle drivers and flightmodes more generically
antimonyB Jul 8, 2023
d43c97a
Basic SM Skeleton
TheSpaceDragon Jul 9, 2023
bac420a
Compile Commit
TheSpaceDragon Jul 12, 2023
1c36299
Compile Check v2
TheSpaceDragon Jul 12, 2023
e1ac153
Added basic SBUS implementation
TheSpaceDragon Jul 13, 2023
aa716bc
added the motor instantiations and adjusted ioc for the PWM timers
Navtajh04 Jul 24, 2023
25c3510
Configured SBUS and IWDG in IOC
TheSpaceDragon Jul 29, 2023
b21ea84
Renamed Watchdog Directory
TheSpaceDragon Jul 29, 2023
2440bb7
Addressed Comments
TheSpaceDragon Aug 2, 2023
03bd944
Addressed Comments
TheSpaceDragon Aug 14, 2023
4b40609
fixed accidental file deletions
Navtajh04 Aug 2, 2023
e145187
Added CMakelines and modified main.c file
Ayounggie Sep 20, 2023
b2ee695
Logic fixed, main.cpp added, Cmake complete.
uwuarg Sep 21, 2023
53eb661
fixed logic error, weird compiling spotted.
uwuarg Sep 24, 2023
c9ab7f2
This is working SBUS on nucleo l552zeq
Aidan-B Sep 28, 2023
8439752
Tweaks to make SM run & get SBUS input
Aidan-B Sep 28, 2023
3b67227
changed dma from circular mode to normal mode
HardyYu Sep 30, 2023
01fc823
changed sbus default value to zero, fixed aileron
HardyYu Sep 30, 2023
1940548
inverted pitch and elevator
uwuarg Oct 5, 2023
a57de6a
Basic AM thread in SM (#30)
lekangwang Nov 27, 2023
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Binary file modified .DS_Store
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1 change: 1 addition & 0 deletions .gitignore
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Expand Up @@ -24,3 +24,4 @@
.DS_Store/
Tools/*/build
Debug/
/.metadata/
2 changes: 2 additions & 0 deletions .settings/com.st.stm32cube.ide.mcu.sfrview.prefs
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@@ -0,0 +1,2 @@
eclipse.preferences.version=1
sfrviewstate={"fFavorites"\:{"fLists"\:{}},"fProperties"\:{"fNodeProperties"\:{}}}
1 change: 1 addition & 0 deletions Boardfiles/discoveryl562qe/Core/Src/main.c
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Expand Up @@ -59,6 +59,7 @@ SD_HandleTypeDef hsd1;

SPI_HandleTypeDef hspi1;

TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim4;
TIM_HandleTypeDef htim16;
TIM_HandleTypeDef htim17;
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2 changes: 1 addition & 1 deletion Boardfiles/nucleol552zeq/.mxproject
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8 changes: 4 additions & 4 deletions Boardfiles/nucleol552zeq/.settings/language.settings.xml
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Expand Up @@ -5,7 +5,7 @@
<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.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1342465184571275188" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1628936830714960303" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>
Expand All @@ -16,7 +16,7 @@
<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.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1342465184571275188" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1628936830714960303" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>
Expand All @@ -27,7 +27,7 @@
<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.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1342465184571275188" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1628936830714960303" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>
Expand All @@ -38,7 +38,7 @@
<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.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1342465184571275188" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1628936830714960303" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>
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2 changes: 1 addition & 1 deletion Boardfiles/nucleol552zeq/.settings/stm32cubeide.project.prefs
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@@ -1,5 +1,5 @@
635E684B79701B039C64EA45C3F84D30=133CEB6F04A68B38073C17D67206B6A5
66BE74F758C12D739921AEA421D593D3=0
8DF89ED150041C4CBC7CB9A9CAA90856=26D62537746E9FFBD9A8CC3638B113BC
DC22A860405A8BF2F2C095E5B6529F12=E03D1377FF9DFAFFEE5681C9DDDBDE4E
DC22A860405A8BF2F2C095E5B6529F12=26D62537746E9FFBD9A8CC3638B113BC
eclipse.preferences.version=1
3 changes: 3 additions & 0 deletions Boardfiles/nucleol552zeq/Core/Inc/stm32l5xx_it.h
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Expand Up @@ -54,7 +54,10 @@ void UsageFault_Handler(void);
void DebugMon_Handler(void);
void DMA1_Channel1_IRQHandler(void);
void DMA1_Channel2_IRQHandler(void);
void DMA1_Channel3_IRQHandler(void);
void DMA1_Channel4_IRQHandler(void);
void TIM5_IRQHandler(void);
void USART2_IRQHandler(void);
/* USER CODE BEGIN EFP */

/* USER CODE END EFP */
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3 changes: 3 additions & 0 deletions Boardfiles/nucleol552zeq/Core/Inc/tim.h
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Expand Up @@ -36,6 +36,8 @@ extern TIM_HandleTypeDef htim1;

extern TIM_HandleTypeDef htim2;

extern TIM_HandleTypeDef htim3;

extern TIM_HandleTypeDef htim4;

extern TIM_HandleTypeDef htim5;
Expand All @@ -46,6 +48,7 @@ extern TIM_HandleTypeDef htim5;

void MX_TIM1_Init(void);
void MX_TIM2_Init(void);
void MX_TIM3_Init(void);
void MX_TIM4_Init(void);
void MX_TIM5_Init(void);

Expand Down
6 changes: 6 additions & 0 deletions Boardfiles/nucleol552zeq/Core/Src/dma.c
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Expand Up @@ -50,6 +50,12 @@ void MX_DMA_Init(void)
/* DMA1_Channel2_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel2_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel2_IRQn);
/* DMA1_Channel3_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel3_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel3_IRQn);
/* DMA1_Channel4_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel4_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel4_IRQn);

}

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2 changes: 1 addition & 1 deletion Boardfiles/nucleol552zeq/Core/Src/gpio.c
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Expand Up @@ -46,10 +46,10 @@ void MX_GPIO_Init(void)
GPIO_InitTypeDef GPIO_InitStruct = {0};

/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOE_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOF_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOE_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOG_CLK_ENABLE();
Expand Down
4 changes: 2 additions & 2 deletions Boardfiles/nucleol552zeq/Core/Src/iwdg.c
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Expand Up @@ -38,9 +38,9 @@ void MX_IWDG_Init(void)

/* USER CODE END IWDG_Init 1 */
hiwdg.Instance = IWDG;
hiwdg.Init.Prescaler = IWDG_PRESCALER_4;
hiwdg.Init.Prescaler = IWDG_PRESCALER_8;
hiwdg.Init.Window = 4095;
hiwdg.Init.Reload = 4095;
hiwdg.Init.Reload = 3999;
if (HAL_IWDG_Init(&hiwdg) != HAL_OK)
{
Error_Handler();
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22 changes: 19 additions & 3 deletions Boardfiles/nucleol552zeq/Core/Src/main.c → Boardfiles/nucleol552zeq/Core/Src/main.cpp
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Expand Up @@ -34,7 +34,9 @@

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

#include "SystemManager.hpp"
#include "drivers_config.hpp"
#include "independent_watchdog.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
Expand All @@ -59,15 +61,21 @@
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
void MX_FREERTOS_Init(void);
extern "C" {
void SystemClock_Config(void);
void MX_FREERTOS_Init(void);
}
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void SMTask(void *pvParameters) {
SystemManager SM;
SM.flyManually();

}
/* USER CODE END 0 */

/**
Expand Down Expand Up @@ -118,8 +126,16 @@ int main(void)
MX_ADC1_Init();
MX_ICACHE_Init();
MX_IWDG_Init();
MX_TIM3_Init();
/* USER CODE BEGIN 2 */




TaskHandle_t hSM = NULL;
xTaskCreate(SMTask, "SM", 500U, NULL, osPriorityNormal, &hSM);


/* USER CODE END 2 */

/* Init scheduler */
Expand Down
8 changes: 4 additions & 4 deletions Boardfiles/nucleol552zeq/Core/Src/spi.c
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Expand Up @@ -110,11 +110,11 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle)

__HAL_RCC_GPIOA_CLK_ENABLE();
/**SPI1 GPIO Configuration
PA1 ------> SPI1_SCK
PA5 ------> SPI1_SCK
PA6 ------> SPI1_MISO
PA7 ------> SPI1_MOSI
*/
GPIO_InitStruct.Pin = GPIO_PIN_1|GPIO_PIN_6|GPIO_PIN_7;
GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
Expand Down Expand Up @@ -180,11 +180,11 @@ void HAL_SPI_MspDeInit(SPI_HandleTypeDef* spiHandle)
__HAL_RCC_SPI1_CLK_DISABLE();

/**SPI1 GPIO Configuration
PA1 ------> SPI1_SCK
PA5 ------> SPI1_SCK
PA6 ------> SPI1_MISO
PA7 ------> SPI1_MOSI
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_1|GPIO_PIN_6|GPIO_PIN_7);
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7);

/* USER CODE BEGIN SPI1_MspDeInit 1 */

Expand Down
45 changes: 45 additions & 0 deletions Boardfiles/nucleol552zeq/Core/Src/stm32l5xx_it.c
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Expand Up @@ -57,6 +57,9 @@
/* USER CODE END 0 */

/* External variables --------------------------------------------------------*/
extern DMA_HandleTypeDef hdma_usart2_rx;
extern DMA_HandleTypeDef hdma_usart2_tx;
extern UART_HandleTypeDef huart2;
extern DMA_HandleTypeDef hdma_tim5_ch1;
extern DMA_HandleTypeDef hdma_tim5_ch2;
extern TIM_HandleTypeDef htim5;
Expand Down Expand Up @@ -190,6 +193,34 @@ void DMA1_Channel2_IRQHandler(void)
/* USER CODE END DMA1_Channel2_IRQn 1 */
}

/**
* @brief This function handles DMA1 channel3 global interrupt.
*/
void DMA1_Channel3_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Channel3_IRQn 0 */

/* USER CODE END DMA1_Channel3_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart2_rx);
/* USER CODE BEGIN DMA1_Channel3_IRQn 1 */

/* USER CODE END DMA1_Channel3_IRQn 1 */
}

/**
* @brief This function handles DMA1 channel4 global interrupt.
*/
void DMA1_Channel4_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Channel4_IRQn 0 */

/* USER CODE END DMA1_Channel4_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart2_tx);
/* USER CODE BEGIN DMA1_Channel4_IRQn 1 */

/* USER CODE END DMA1_Channel4_IRQn 1 */
}

/**
* @brief This function handles TIM5 global interrupt.
*/
Expand All @@ -204,6 +235,20 @@ void TIM5_IRQHandler(void)
/* USER CODE END TIM5_IRQn 1 */
}

/**
* @brief This function handles USART2 global interrupt / USART2 wake-up interrupt through EXTI line 27.
*/
void USART2_IRQHandler(void)
{
/* USER CODE BEGIN USART2_IRQn 0 */

/* USER CODE END USART2_IRQn 0 */
HAL_UART_IRQHandler(&huart2);
/* USER CODE BEGIN USART2_IRQn 1 */

/* USER CODE END USART2_IRQn 1 */
}

/* USER CODE BEGIN 1 */

/* USER CODE END 1 */
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