first commit

Makefile

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+##############################################################################
+# Build global options
+# NOTE: Can be overridden externally.
+#
+
+# Compiler options here.
+ifeq ($(USE_OPT),)
+  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16 -std=gnu99
+  USE_OPT += -DSTM32F40_41xxx
+endif
+
+# C specific options here (added to USE_OPT).
+ifeq ($(USE_COPT),)
+  USE_COPT = 
+endif
+
+# C++ specific options here (added to USE_OPT).
+ifeq ($(USE_CPPOPT),)
+  USE_CPPOPT = -fno-rtti
+endif
+
+# Enable this if you want the linker to remove unused code and data
+ifeq ($(USE_LINK_GC),)
+  USE_LINK_GC = yes
+endif
+
+# If enabled, this option allows to compile the application in THUMB mode.
+ifeq ($(USE_THUMB),)
+  USE_THUMB = yes
+endif
+
+# Enable this if you want to see the full log while compiling.
+ifeq ($(USE_VERBOSE_COMPILE),)
+  USE_VERBOSE_COMPILE = yes
+endif
+
+#
+# Build global options
+##############################################################################
+
+##############################################################################
+# Architecture or project specific options
+#
+
+# Enables the use of FPU on Cortex-M4.
+ifeq ($(USE_FPU),)
+  USE_FPU = yes
+endif
+
+# Enable this if you really want to use the STM FWLib.
+ifeq ($(USE_FWLIB),)
+  USE_FWLIB = yes
+endif
+
+#
+# Architecture or project specific options
+##############################################################################
+
+##############################################################################
+# Project, sources and paths
+#
+
+# Define project name here
+PROJECT = BLDC_4_ChibiOS
+
+# Imported source files and paths
+CHIBIOS = ../../ChibiOS-RT-master
+include $(CHIBIOS)/boards/ST_STM32F4_DISCOVERY/board.mk
+include $(CHIBIOS)/os/hal/platforms/STM32F4xx/platform.mk
+include $(CHIBIOS)/os/hal/hal.mk
+include $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F4xx/port.mk
+include $(CHIBIOS)/os/kernel/kernel.mk
+
+# Define linker script file here
+LDSCRIPT= $(PORTLD)/STM32F407xG.ld
+#LDSCRIPT= $(PORTLD)/STM32F407xG_CCM.ld
+
+# C sources that can be compiled in ARM or THUMB mode depending on the global
+# setting.
+CSRC = $(PORTSRC) \
+       $(KERNSRC) \
+       $(TESTSRC) \
+       $(HALSRC) \
+       $(PLATFORMSRC) \
+       $(BOARDSRC) \
+       $(CHIBIOS)/os/various/chprintf.c \
+       $(CHIBIOS)/os/various/shell.c \
+       $(CHIBIOS)/os/various/syscalls.c \
+       main.c \
+       myUSB.c \
+       irq_handlers.c \
+       buffer.c \
+       comm.c \
+       crc.c \
+       digital_filter.c \
+       ledpwm.c \
+       mcpwm.c \
+       servo_dec.c \
+       utils.c \
+       servo.c \
+       packet.c \
+       terminal.c
+
+# C++ sources that can be compiled in ARM or THUMB mode depending on the global
+# setting.
+CPPSRC =
+
+# C sources to be compiled in ARM mode regardless of the global setting.
+# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
+#       option that results in lower performance and larger code size.
+ACSRC =
+
+# C++ sources to be compiled in ARM mode regardless of the global setting.
+# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
+#       option that results in lower performance and larger code size.
+ACPPSRC =
+
+# C sources to be compiled in THUMB mode regardless of the global setting.
+# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
+#       option that results in lower performance and larger code size.
+TCSRC =
+
+# C sources to be compiled in THUMB mode regardless of the global setting.
+# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
+#       option that results in lower performance and larger code size.
+TCPPSRC =
+
+# List ASM source files here
+ASMSRC = $(PORTASM)
+
+INCDIR = $(PORTINC) $(KERNINC) $(TESTINC) \
+         $(HALINC) $(PLATFORMINC) $(BOARDINC) \
+         $(CHIBIOS)/os/various/devices_lib/accel \
+         $(CHIBIOS)/os/various \
+         $(CHIBIOS)/os/various $(CC2520INC)
+
+#
+# Project, sources and paths
+##############################################################################
+
+##############################################################################
+# Compiler settings
+#
+
+MCU  = cortex-m4
+
+#TRGT = arm-elf-
+#TRGT = ~/sat/bin/arm-none-eabi-
+TRGT = arm-none-eabi-
+CC   = $(TRGT)gcc
+CPPC = $(TRGT)g++
+# Enable loading with g++ only if you need C++ runtime support.
+# NOTE: You can use C++ even without C++ support if you are careful. C++
+#       runtime support makes code size explode.
+LD   = $(TRGT)gcc
+#LD   = $(TRGT)g++
+CP   = $(TRGT)objcopy
+AS   = $(TRGT)gcc -x assembler-with-cpp
+OD   = $(TRGT)objdump
+SIZE   = $(TRGT)size
+HEX  = $(CP) -O ihex
+BIN  = $(CP) -O binary
+
+# ARM-specific options here
+AOPT =
+
+# THUMB-specific options here
+TOPT = -mthumb -DTHUMB
+
+# Define C warning options here
+CWARN = -Wall -Wextra -Wstrict-prototypes
+
+# Define C++ warning options here
+CPPWARN = -Wall -Wextra
+
+#
+# Compiler settings
+##############################################################################
+
+##############################################################################
+# Start of default section
+#
+
+# List all default C defines here, like -D_DEBUG=1
+DDEFS =
+
+# List all default ASM defines here, like -D_DEBUG=1
+DADEFS =
+
+# List all default directories to look for include files here
+DINCDIR =
+
+# List the default directory to look for the libraries here
+DLIBDIR =
+
+# List all default libraries here
+DLIBS =
+
+#
+# End of default section
+##############################################################################
+
+##############################################################################
+# Start of user section
+#
+
+# List all user C define here, like -D_DEBUG=1
+UDEFS =
+
+# Define ASM defines here
+UADEFS =
+
+# List all user directories here
+UINCDIR =
+
+# List the user directory to look for the libraries here
+ULIBDIR =
+
+# List all user libraries here
+ULIBS = -lm
+
+#
+# End of user defines
+##############################################################################
+
+ifeq ($(USE_FPU),yes)
+  USE_OPT += -mfloat-abi=softfp -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
+  DDEFS += -DCORTEX_USE_FPU=TRUE
+else
+  DDEFS += -DCORTEX_USE_FPU=FALSE
+endif
+
+ifeq ($(USE_FWLIB),yes)
+  include $(CHIBIOS)/ext/stdperiph_stm32f4/stm32lib.mk
+  CSRC += $(STM32SRC)
+  INCDIR += $(STM32INC)
+  USE_OPT += -DUSE_STDPERIPH_DRIVER
+endif
+
+include $(CHIBIOS)/os/ports/GCC/ARMCMx/rules.mk
+
+# Print size
+all:
+	$(SIZE) build/$(PROJECT).elf
+
+build/$(PROJECT).bin: build/$(PROJECT).elf 
+	$(BIN) build/$(PROJECT).elf build/$(PROJECT).bin
+
+# Program
+upload: build/$(PROJECT).bin
+	qstlink2 --cli --erase --write build/$(PROJECT).bin
+
+debug-start:
+	openocd -f stm32-bv_openocd.cfg
+
+

README.md

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+This is the source code for my custom BLDC controller. I will post a link to a complete tutorial on my homepage soon.

buffer.c

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+/*
+	Copyright 2012-2014 Benjamin Vedder	[email protected]
+
+	This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+/*
+ * buffer.c
+ *
+ *  Created on: 13 maj 2013
+ *      Author: benjamin
+ */
+
+#include "buffer.h"
+
+void buffer_append_int32(uint8_t* buffer, int32_t number, int32_t *index) {
+	buffer[(*index)++] = number >> 24;
+	buffer[(*index)++] = number >> 16;
+	buffer[(*index)++] = number >> 8;
+	buffer[(*index)++] = number;
+}
+
+void buffer_append_uint32(uint8_t* buffer, uint32_t number, int32_t *index) {
+	buffer[(*index)++] = number >> 24;
+	buffer[(*index)++] = number >> 16;
+	buffer[(*index)++] = number >> 8;
+	buffer[(*index)++] = number;
+}
+
+void buffer_append_int16(uint8_t* buffer, int16_t number, int32_t *index) {
+	buffer[(*index)++] = number >> 8;
+	buffer[(*index)++] = number;
+}
+
+void buffer_append_uint16(uint8_t* buffer, uint16_t number, int32_t *index) {
+	buffer[(*index)++] = number >> 8;
+	buffer[(*index)++] = number;
+}
+
+int16_t buffer_get_int16(const uint8_t *buffer, int32_t *index) {
+	int16_t res =	((uint16_t) buffer[*index]) << 8 |
+					((uint16_t) buffer[*index + 1]);
+	*index += 2;
+	return res;
+}
+
+uint16_t buffer_get_uint16(const uint8_t *buffer, int32_t *index) {
+	uint16_t res = 	((uint16_t) buffer[*index]) << 8 |
+					((uint16_t) buffer[*index + 1]);
+	*index += 2;
+	return res;
+}
+
+int32_t buffer_get_int32(const uint8_t *buffer, int32_t *index) {
+	int32_t res =	((uint32_t) buffer[*index]) << 24 |
+					((uint32_t) buffer[*index]) << 16 |
+					((uint32_t) buffer[*index]) << 8 |
+					((uint32_t) buffer[*index + 1]);
+	*index += 4;
+	return res;
+}
+
+uint32_t buffer_get_uint32(const uint8_t *buffer, int32_t *index) {
+	uint32_t res =	((uint32_t) buffer[*index]) << 24 |
+					((uint32_t) buffer[*index]) << 16 |
+					((uint32_t) buffer[*index]) << 8 |
+					((uint32_t) buffer[*index + 1]);
+	*index += 4;
+	return res;
+}

buffer.h

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+/*
+ * buffer.h
+ *
+ *  Created on: 13 maj 2013
+ *      Author: benjamin
+ */
+
+#ifndef BUFFER_H_
+#define BUFFER_H_
+
+#include <stdint.h>
+
+void buffer_append_int32(uint8_t* buffer, int32_t number, int32_t *index);
+void buffer_append_uint32(uint8_t* buffer, uint32_t number, int32_t *index);
+void buffer_append_int16(uint8_t* buffer, int16_t number, int32_t *index);
+void buffer_append_uint16(uint8_t* buffer, uint16_t number, int32_t *index);
+int16_t buffer_get_int16(const uint8_t *buffer, int32_t *index);
+uint16_t buffer_get_uint16(const uint8_t *buffer, int32_t *index);
+int32_t buffer_get_int32(const uint8_t *buffer, int32_t *index);
+uint32_t buffer_get_uint32(const uint8_t *buffer, int32_t *index);
+
+#endif /* BUFFER_H_ */