Platform.io

.gitignore

@@ -1,2 +1,10 @@
 build/*
 !build/hover.hex
+.pioenvs
+.piolibdeps
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.travis.yml
+.vscode/extensions.json
+lib/readme.txt

Makefile

@@ -35,13 +35,13 @@ Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_adc.c \
 Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c \
 Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_i2c.c \
 Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c \
-Src/system_stm32f1xx.c \
-Src/setup.c \
-Src/control.c \
-Src/main.c \
-Src/bldc.c \
-Src/comms.c \
-Src/stm32f1xx_it.c \
+src/system_stm32f1xx.c \
+src/setup.c \
+src/control.c \
+src/main.c \
+src/bldc.c \
+src/comms.c \
+src/stm32f1xx_it.c \
 
 # ASM sources
 ASM_SOURCES =  \
@@ -89,7 +89,7 @@ AS_INCLUDES =
 
 # C includes
 C_INCLUDES =  \
--IInc \
+-Iinc \
 -IDrivers/STM32F1xx_HAL_Driver/Inc \
 -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy \
 -IDrivers/CMSIS/Device/ST/STM32F1xx/Include \
@@ -135,10 +135,10 @@ vpath %.c $(sort $(dir $(C_SOURCES)))
 OBJECTS += $(addprefix $(BUILD_DIR)/,$(notdir $(ASM_SOURCES:.s=.o)))
 vpath %.s $(sort $(dir $(ASM_SOURCES)))
 
-$(BUILD_DIR)/%.o: %.c Inc/config.h Makefile | $(BUILD_DIR)
+$(BUILD_DIR)/%.o: %.c inc/config.h Makefile | $(BUILD_DIR)
 	$(CC) -c $(CFLAGS) -Wa,-a,-ad,-alms=$(BUILD_DIR)/$(notdir $(<:.c=.lst)) $< -o $@
 
-$(BUILD_DIR)/%.o: %.s Inc/config.h Makefile | $(BUILD_DIR)
+$(BUILD_DIR)/%.o: %.s inc/config.h Makefile | $(BUILD_DIR)
 	$(AS) -c $(CFLAGS) $< -o $@
 
 $(BUILD_DIR)/$(TARGET).elf: $(OBJECTS) Makefile
@@ -155,7 +155,7 @@ $(BUILD_DIR):
 	mkdir -p $@
 
 format:
-	find Src/ Inc/ -iname '*.h' -o -iname '*.c' | xargs clang-format -i
+	find src/ inc/ -iname '*.h' -o -iname '*.c' | xargs clang-format -i
 #######################################
 # clean up
 #######################################

README.md

@@ -21,8 +21,16 @@ http://vocke.tv/lib/exe/fetch.php?media=20150722_hoverboard_sch.pdf
 
 ---
 
+## Building
+To build the firmware, just type "make". Make sure you have specified your gcc-arm-none-eabi binary (version 7 works, there is a version that does not!) location in the Makefile ("PREFIX = ..."). 
+
+The firmware will also build (and flash) very easily from platform.io, plaformio.ini file included.  Simply open the folder in the IDE of choice (vscode or Atom), and press the 'PlatformIO:Build' or the 'PlatformIO:Upload' button (bottom left in vscode). 
+
+(Note: if you have no buttons, use Debug/Add Configuration, and select 'PlatformIO Debugger'; seems to kick it into life).
+
+
 ## Flashing
-To build the firmware, just type "make". Make sure you have specified your gcc-arm-none-eabi binary (version 7 works, there is a version that does not!) location in the Makefile ("PREFIX = ..."). Right to the STM32, there is a debugging header with GND, 3V3, SWDIO and SWCLK. Connect GND, SWDIO and SWCLK to your SWD programmer, like the ST-Link found on many STM devboards.
+Right to the STM32, there is a debugging header with GND, 3V3, SWDIO and SWCLK. Connect GND, SWDIO and SWCLK to your SWD programmer, like the ST-Link found on many STM devboards.
 
 Make sure you hold the powerbutton or connect a jumper to the power button pins while flashing the firmware, as the STM might release the power latch and switches itself off during flashing. Battery > 36V have to be connected while flashing.
 

platformio.ini

@@ -0,0 +1,17 @@
+; PlatformIO Project Configuration File2
+; http://docs.platformio.org/page/projectconf.html
+
+[platformio]
+include_dir = inc
+
+[env:genericSTM32F103RC]
+platform = ststm32
+framework = stm32cube
+board = genericSTM32F103RC
+build_flags =
+    -DUSE_HAL_DRIVER
+    -DSTM32F103xE
+    -Wl,-T${PROJECT_DIR}/STM32F103RCTx_FLASH.ld
+    -Wl,-lc
+    -Wl,-lm
+    -Wl,-lnosys

Src/bldc.c → src/bldc.c

@@ -36,7 +36,7 @@ const uint8_t hall_to_pos[8] = {
     0,
 };
 
-inline void blockPWM(int pwm, int pos, int *u, int *v, int *w) {
+static inline void blockPWM(int pwm, int pos, int *u, int *v, int *w) {
   switch(pos) {
     case 0:
       *u = 0;
@@ -75,7 +75,7 @@ inline void blockPWM(int pwm, int pos, int *u, int *v, int *w) {
   }
 }
 
-inline void blockPhaseCurrent(int pos, int u, int v, int *q) {
+static inline void blockPhaseCurrent(int pos, int u, int v, int *q) {
   switch(pos) {
     case 0:
       *q = u - v;