(#5) Regenerated ioc for ext interrupts

Northeastern-Electric-Racing · Mar 25, 2024 · ada1d7c · ada1d7c
1 parent 1a00c36
commit ada1d7c
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Showing 5 changed files with 56 additions and 16 deletions.
diff --git a/CM7/Core/Inc/main.h b/CM7/Core/Inc/main.h
@@ -60,6 +60,12 @@ void MX_FDCAN1_Init(void);
 /* USER CODE END EFP */
 
 /* Private defines -----------------------------------------------------------*/
+#define ENC1_Z_Pin GPIO_PIN_2
+#define ENC1_Z_GPIO_Port GPIOA
+#define ENC1_Z_EXTI_IRQn EXTI2_IRQn
+#define ENC2_Z_Pin GPIO_PIN_14
+#define ENC2_Z_GPIO_Port GPIOD
+#define ENC2_Z_EXTI_IRQn EXTI15_10_IRQn
 
 /* USER CODE BEGIN Private defines */
 

diff --git a/CM7/Core/Src/main.c b/CM7/Core/Src/main.c
@@ -27,6 +27,7 @@
 #include "gatedriver.h"
 #include "fault.h"
 #include "ssi_encoder.h"
+#include "inc_encoder.h"
 
 /* USER CODE END Includes */
 
@@ -196,6 +197,10 @@ int main(void)
 
   ssi_encoder_t *ssi_encoder_left = ssi_encoder_init(&hspi2);
   ssi_encoder_t *ssi_encoder_right = ssi_encoder_init(&hspi4);
+
+  inc_encoder_t *inc_encoder_left = inc_encoder_init(&htim2, ENC1_Z_Pin);
+  inc_encoder_t *inc_encoder_right = inc_encoder_init(&htim4, ENC2_Z_Pin);
+
   /* USER CODE END RTOS_MUTEX */
 
   /* USER CODE BEGIN RTOS_SEMAPHORES */
@@ -1094,8 +1099,9 @@ static void MX_DMA_Init(void)
  */
 static void MX_GPIO_Init(void)
 {
-  /* USER CODE BEGIN MX_GPIO_Init_1 */
-  /* USER CODE END MX_GPIO_Init_1 */
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+/* USER CODE BEGIN MX_GPIO_Init_1 */
+/* USER CODE END MX_GPIO_Init_1 */
 
   /* GPIO Ports Clock Enable */
   __HAL_RCC_GPIOE_CLK_ENABLE();
@@ -1107,8 +1113,27 @@ static void MX_GPIO_Init(void)
   __HAL_RCC_GPIOD_CLK_ENABLE();
   __HAL_RCC_GPIOG_CLK_ENABLE();
 
-  /* USER CODE BEGIN MX_GPIO_Init_2 */
-  /* USER CODE END MX_GPIO_Init_2 */
+  /*Configure GPIO pin : ENC1_Z_Pin */
+  GPIO_InitStruct.Pin = ENC1_Z_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(ENC1_Z_GPIO_Port, &GPIO_InitStruct);
+
+  /*Configure GPIO pin : ENC2_Z_Pin */
+  GPIO_InitStruct.Pin = ENC2_Z_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(ENC2_Z_GPIO_Port, &GPIO_InitStruct);
+
+  /* EXTI interrupt init*/
+  HAL_NVIC_SetPriority(EXTI2_IRQn, 5, 0);
+  HAL_NVIC_EnableIRQ(EXTI2_IRQn);
+
+  HAL_NVIC_SetPriority(EXTI15_10_IRQn, 5, 0);
+  HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);
+
+/* USER CODE BEGIN MX_GPIO_Init_2 */
+/* USER CODE END MX_GPIO_Init_2 */
 }
 
 /* USER CODE BEGIN 4 */

diff --git a/Makefile/CM4/Makefile b/Makefile/CM4/Makefile
@@ -1,5 +1,5 @@
 ##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [4.2.0-B44] date: [Mon Mar 18 20:28:19 EDT 2024] 
+# File automatically-generated by tool: [projectgenerator] version: [4.2.0-B44] date: [Fri Mar 22 12:04:46 EDT 2024] 
 ##########################################################################################################################
 
 # ------------------------------------------------

diff --git a/Makefile/CM7/Makefile b/Makefile/CM7/Makefile
@@ -1,5 +1,5 @@
 ##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [4.2.0-B44] date: [Mon Mar 18 20:28:19 EDT 2024] 
+# File automatically-generated by tool: [projectgenerator] version: [4.2.0-B44] date: [Fri Mar 22 12:04:47 EDT 2024] 
 ##########################################################################################################################
 
 # ------------------------------------------------
@@ -52,6 +52,8 @@ C_SOURCES =  \
 ../../CM7/Core/Src/controls/svgen.c \
 ../../CM7/Core/Src/controls/pid.c \
 ../../CM7/Core/Src/controls/filter_fo.c \
+../../CM7/Core/Src/inc_encoder.c \
+../../CM7/Core/Src/exti.c \
 ../../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cortex.c \
 ../../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc.c \
 ../../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc_ex.c \

diff --git a/proteus.ioc b/proteus.ioc
@@ -76,6 +76,7 @@ CAD.pinconfig=
 CAD.provider=
 CortexM4.IPs=CORTEX_M4\:I,DEBUG,FATFS_M4\:I,FREERTOS_M4\:I,IWDG2\:I,OPENAMP_M4\:I,PDM2PCM_M4\:I,PWR,RCC,RESMGR_UTILITY,SYS_M4\:I,USB_DEVICE_M4\:I,USB_HOST_M4\:I,VREFBUF,WWDG2\:I,GPIO,DMA,BDMA,MDMA,NVIC2\:I,FDCAN1\:I,CRC,USB_OTG_FS\:I,QUADSPI\:I,UART4\:I
 CortexM7.IPs=CORTEX_M7\:I,DEBUG\:I,FATFS_M7\:I,FREERTOS_M7\:I,IWDG1\:I,OPENAMP_M7\:I,PDM2PCM_M7\:I,PWR\:I,RCC\:I,RESMGR_UTILITY\:I,SYS\:I,USB_DEVICE_M7\:I,USB_HOST_M7\:I,VREFBUF\:I,WWDG1\:I,GPIO\:I,DMA\:I,BDMA\:I,MDMA\:I,NVIC1\:I,FDCAN1,SPI1\:I,SPI2\:I,SPI4\:I,CRC\:I,TIM1\:I,TIM8\:I,TIM2\:I,TIM3\:I,TIM4\:I,ADC1\:I,SPI3\:I,ADC3\:I
+CortexM7.Pins=PA2,PD14
 Dma.ADC1.0.Direction=DMA_PERIPH_TO_MEMORY
 Dma.ADC1.0.EventEnable=DISABLE
 Dma.ADC1.0.FIFOMode=DMA_FIFOMODE_DISABLE
@@ -253,6 +254,8 @@ NVIC1.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC1.DMA1_Stream0_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC1.DMA1_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC1.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+NVIC1.EXTI15_10_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC1.EXTI2_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC1.ForceEnableDMAVector=true
 NVIC1.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC1.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
@@ -301,10 +304,12 @@ PA14\ (JTCK/SWCLK).GPIOParameters=PinAttribute
 PA14\ (JTCK/SWCLK).Mode=Trace_Asynchronous_SW
 PA14\ (JTCK/SWCLK).PinAttribute=CortexM7
 PA14\ (JTCK/SWCLK).Signal=DEBUG_JTCK-SWCLK
-PA2.GPIOParameters=PinAttribute
+PA2.ContextOwner=CortexM7
+PA2.GPIOParameters=GPIO_Label,PinAttribute
+PA2.GPIO_Label=ENC1_Z
 PA2.Locked=true
 PA2.PinAttribute=CortexM7
-PA2.Signal=S_TIM2_CH3
+PA2.Signal=GPXTI2
 PA3.Locked=true
 PA3.Signal=ADCx_INP15
 PA4.Locked=true
@@ -454,10 +459,12 @@ PD12.Signal=S_TIM4_CH1
 PD13.GPIOParameters=PinAttribute
 PD13.PinAttribute=CortexM7
 PD13.Signal=S_TIM4_CH2
-PD14.GPIOParameters=PinAttribute
+PD14.ContextOwner=CortexM7
+PD14.GPIOParameters=GPIO_Label,PinAttribute
+PD14.GPIO_Label=ENC2_Z
 PD14.Locked=true
 PD14.PinAttribute=CortexM7
-PD14.Signal=S_TIM4_CH3
+PD14.Signal=GPXTI14
 PD6.GPIOParameters=GPIO_Label,PinAttribute
 PD6.GPIO_Label=ADC_RST_A
 PD6.Locked=true
@@ -731,6 +738,10 @@ SH.ADCx_INP8.0=ADC1_INP8,IN8-Single-Ended
 SH.ADCx_INP8.ConfNb=1
 SH.ADCx_INP9.0=ADC1_INP9,IN9-Single-Ended
 SH.ADCx_INP9.ConfNb=1
+SH.GPXTI14.0=GPIO_EXTI14
+SH.GPXTI14.ConfNb=1
+SH.GPXTI2.0=GPIO_EXTI2
+SH.GPXTI2.ConfNb=1
 SH.S_TIM1_CH1.0=TIM1_CH1,PWM Generation1 CH1 CH1N
 SH.S_TIM1_CH1.ConfNb=1
 SH.S_TIM1_CH2.0=TIM1_CH2,PWM Generation2 CH2 CH2N
@@ -741,14 +752,10 @@ SH.S_TIM2_CH1_ETR.0=TIM2_CH1,Encoder_Interface
 SH.S_TIM2_CH1_ETR.ConfNb=1
 SH.S_TIM2_CH2.0=TIM2_CH2,Encoder_Interface
 SH.S_TIM2_CH2.ConfNb=1
-SH.S_TIM2_CH3.0=TIM2_CH3
-SH.S_TIM2_CH3.ConfNb=1
 SH.S_TIM4_CH1.0=TIM4_CH1,Encoder_Interface
 SH.S_TIM4_CH1.ConfNb=1
 SH.S_TIM4_CH2.0=TIM4_CH2,Encoder_Interface
 SH.S_TIM4_CH2.ConfNb=1
-SH.S_TIM4_CH3.0=TIM4_CH3
-SH.S_TIM4_CH3.ConfNb=1
 SH.S_TIM8_CH1.0=TIM8_CH1,PWM Generation1 CH1 CH1N
 SH.S_TIM8_CH1.ConfNb=1
 SH.S_TIM8_CH2.0=TIM8_CH2,PWM Generation2 CH2 CH2N
@@ -803,5 +810,5 @@ VP_SYS_M4_VS_Systick.Signal=SYS_M4_VS_Systick
 VP_SYS_VS_Systick.Mode=SysTick
 VP_SYS_VS_Systick.Signal=SYS_VS_Systick
 board=custom
-rtos.0.ip=FREERTOS_M4
-rtos.1.ip=FREERTOS_M7
+rtos.0.ip=FREERTOS_M7
+rtos.1.ip=FREERTOS_M4