加入C板样例的bsp_can和CAN_receive函数库

CMakeLists.txt

@@ -45,6 +45,8 @@ target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE
 # Add sources to executable
 target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     # Add user sources here
+    Core/Src/CAN_receive.c
+    Core/Src/bsp_can.c
 )
 
 # Add include paths

Core/Inc/CAN_receive.h

@@ -0,0 +1,92 @@
+/**
+  ****************************(C) COPYRIGHT 2019 DJI****************************
+  * @file       can_receive.c/h
+  * @brief      there is CAN interrupt function  to receive motor data,
+  *             and CAN send function to send motor current to control motor.
+  *             <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>CAN<41>жϽ<D0B6><CFBD>պ<EFBFBD><D5BA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,CAN<41><4E><EFBFBD>ͺ<EFBFBD><CDBA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>͵<EFBFBD><CDB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5>.
+  * @note       
+  * @history
+  *  Version    Date            Author          Modification
+  *  V1.0.0     Dec-26-2018     RM              1. done
+  *
+  @verbatim
+  ==============================================================================
+
+  ==============================================================================
+  @endverbatim
+  ****************************(C) COPYRIGHT 2019 DJI****************************
+  */
+
+#ifndef CAN_RECEIVE_H
+#define CAN_RECEIVE_H
+
+#include "main.h"
+
+#define CHASSIS_CAN hcan1
+
+/* CAN send and receive ID */
+typedef enum
+{
+    CAN_CHASSIS_ALL_ID = 0x200,
+    CAN_3508_M1_ID = 0x201,
+    CAN_3508_M2_ID = 0x202,
+    CAN_3508_M3_ID = 0x203,
+    CAN_3508_M4_ID = 0x204,
+
+} can_msg_id_e;
+
+//rm motor data
+typedef struct
+{
+    uint16_t ecd;
+    int16_t speed_rpm;
+    int16_t given_current;
+    uint8_t temperate;
+    int16_t last_ecd;
+} motor_measure_t;
+
+
+/**
+  * @brief          send CAN packet of ID 0x700, it will set chassis motor 3508 to quick ID setting
+  * @param[in]      none
+  * @retval         none
+  */
+/**
+  * @brief          <20><><EFBFBD><EFBFBD>IDΪ0x700<30><30>CAN<41><4E>,<2C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>3508<30><38><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ID
+  * @param[in]      none
+  * @retval         none
+  */
+extern void CAN_cmd_chassis_reset_ID(void);
+
+/**
+  * @brief          send control current of motor (0x201, 0x202, 0x203, 0x204)
+  * @param[in]      motor1: (0x201) 3508 motor control current, range [-16384,16384] 
+  * @param[in]      motor2: (0x202) 3508 motor control current, range [-16384,16384] 
+  * @param[in]      motor3: (0x203) 3508 motor control current, range [-16384,16384] 
+  * @param[in]      motor4: (0x204) 3508 motor control current, range [-16384,16384] 
+  * @retval         none
+  */
+/**
+  * @brief          <20><><EFBFBD>͵<EFBFBD><CDB5><EFBFBD><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5><EFBFBD>(0x201,0x202,0x203,0x204)
+  * @param[in]      motor1: (0x201) 3508<30><38><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5><EFBFBD>, <20><>Χ [-16384,16384]
+  * @param[in]      motor2: (0x202) 3508<30><38><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5><EFBFBD>, <20><>Χ [-16384,16384]
+  * @param[in]      motor3: (0x203) 3508<30><38><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5><EFBFBD>, <20><>Χ [-16384,16384]
+  * @param[in]      motor4: (0x204) 3508<30><38><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5><EFBFBD>, <20><>Χ [-16384,16384]
+  * @retval         none
+  */
+extern void CAN_cmd_chassis(int16_t motor1, int16_t motor2, int16_t motor3, int16_t motor4);
+
+/**
+  * @brief          return the chassis 3508 motor data point
+  * @param[in]      i: motor number,range [0,3]
+  * @retval         motor data point
+  */
+/**
+  * @brief          <20><><EFBFBD>ص<EFBFBD><D8B5>̵<EFBFBD><CCB5> 3508<30><38><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
+  * @param[in]      i: <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<2C><>Χ[0,3]
+  * @retval         <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
+  */
+extern const motor_measure_t *get_chassis_motor_measure_point(uint8_t i);
+
+
+#endif

Core/Inc/FreeRTOSConfig.h

@@ -51,7 +51,6 @@
 #if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
   #include <stdint.h>
   extern uint32_t SystemCoreClock;
-  void xPortSysTickHandler(void);
 #endif
 #ifndef CMSIS_device_header
 #define CMSIS_device_header "stm32f4xx.h"
@@ -162,7 +161,7 @@ standard names. */
 
 /* 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 1
+#define USE_CUSTOM_SYSTICK_HANDLER_IMPLEMENTATION 0
 
 /* USER CODE BEGIN Defines */
 /* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */

Core/Inc/bsp_can.h

@@ -0,0 +1,8 @@
+#ifndef BSP_CAN_H
+#define BSP_CAN_H
+#include "main.h"
+
+
+extern void can_filter_init(void);
+
+#endif

Core/Inc/stm32f4xx_hal_conf.h

@@ -63,7 +63,7 @@
 /* #define HAL_SD_MODULE_ENABLED */
 /* #define HAL_MMC_MODULE_ENABLED */
 /* #define HAL_SPI_MODULE_ENABLED */
-/* #define HAL_TIM_MODULE_ENABLED */
+#define HAL_TIM_MODULE_ENABLED
 /* #define HAL_UART_MODULE_ENABLED */
 /* #define HAL_USART_MODULE_ENABLED */
 /* #define HAL_IRDA_MODULE_ENABLED */

Core/Inc/stm32f4xx_it.h

@@ -52,7 +52,7 @@ void MemManage_Handler(void);
 void BusFault_Handler(void);
 void UsageFault_Handler(void);
 void DebugMon_Handler(void);
-void SysTick_Handler(void);
+void TIM6_DAC_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */

Core/Src/CAN_receive.c

@@ -0,0 +1,137 @@
+/**
+  ****************************(C) COPYRIGHT 2019 DJI****************************
+  * @file       can_receive.c/h
+  * @brief      there is CAN interrupt function  to receive motor data,
+  *             and CAN send function to send motor current to control motor.
+  * @note       
+  * @history
+  *  Version    Date            Author          Modification
+  *  V1.0.0     Dec-26-2018     RM              1. done
+  *
+  @verbatim
+  ==============================================================================
+
+  ==============================================================================
+  @endverbatim
+  ****************************(C) COPYRIGHT 2019 DJI****************************
+  */
+
+#include "CAN_receive.h"
+#include "main.h"
+
+
+
+extern CAN_HandleTypeDef hcan1;
+//motor data read
+#define get_motor_measure(ptr, data)                                    \
+    {                                                                   \
+        (ptr)->last_ecd = (ptr)->ecd;                                   \
+        (ptr)->ecd = (uint16_t)((data)[0] << 8 | (data)[1]);            \
+        (ptr)->speed_rpm = (uint16_t)((data)[2] << 8 | (data)[3]);      \
+        (ptr)->given_current = (uint16_t)((data)[4] << 8 | (data)[5]);  \
+        (ptr)->temperate = (data)[6];                                   \
+    }
+/*
+motor data,  0:chassis motor1 3508;1:chassis motor2 3508;2:chassis motor3 3508;3:chassis motor4 3508;
+*/
+static motor_measure_t motor_chassis[4];
+
+static CAN_TxHeaderTypeDef  chassis_tx_message;
+static uint8_t              chassis_can_send_data[8];
+
+/**
+  * @brief          hal CAN fifo call back, receive motor data
+  * @param[in]      hcan, the point to CAN handle
+  * @retval         none
+  */
+void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
+{
+    CAN_RxHeaderTypeDef rx_header;
+    uint8_t rx_data[8];
+
+    HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_header, rx_data);
+
+    switch (rx_header.StdId)
+    {
+        case CAN_3508_M1_ID:
+        case CAN_3508_M2_ID:
+        case CAN_3508_M3_ID:
+        case CAN_3508_M4_ID:
+        {
+            static uint8_t i = 0;
+            //get motor id
+            i = rx_header.StdId - CAN_3508_M1_ID;
+            get_motor_measure(&motor_chassis[i], rx_data);
+            break;
+        }
+
+        default:
+        {
+            break;
+        }
+    }
+}
+
+
+
+/**
+  * @brief          send CAN packet of ID 0x700, it will set chassis motor 3508 to quick ID setting
+  * @param[in]      none
+  * @retval         none
+  */
+void CAN_cmd_chassis_reset_ID(void)
+{
+    uint32_t send_mail_box;
+    chassis_tx_message.StdId = 0x700;
+    chassis_tx_message.IDE = CAN_ID_STD;
+    chassis_tx_message.RTR = CAN_RTR_DATA;
+    chassis_tx_message.DLC = 0x08;
+    chassis_can_send_data[0] = 0;
+    chassis_can_send_data[1] = 0;
+    chassis_can_send_data[2] = 0;
+    chassis_can_send_data[3] = 0;
+    chassis_can_send_data[4] = 0;
+    chassis_can_send_data[5] = 0;
+    chassis_can_send_data[6] = 0;
+    chassis_can_send_data[7] = 0;
+
+    HAL_CAN_AddTxMessage(&CHASSIS_CAN, &chassis_tx_message, chassis_can_send_data, &send_mail_box);
+}
+
+
+/**
+  * @brief          send control current of motor (0x201, 0x202, 0x203, 0x204)
+  * @param[in]      motor1: (0x201) 3508 motor control current, range [-16384,16384] 
+  * @param[in]      motor2: (0x202) 3508 motor control current, range [-16384,16384] 
+  * @param[in]      motor3: (0x203) 3508 motor control current, range [-16384,16384] 
+  * @param[in]      motor4: (0x204) 3508 motor control current, range [-16384,16384] 
+  * @retval         none
+  */
+void CAN_cmd_chassis(int16_t motor1, int16_t motor2, int16_t motor3, int16_t motor4)
+{
+    uint32_t send_mail_box;
+    chassis_tx_message.StdId = CAN_CHASSIS_ALL_ID;
+    chassis_tx_message.IDE = CAN_ID_STD;
+    chassis_tx_message.RTR = CAN_RTR_DATA;
+    chassis_tx_message.DLC = 0x08;
+    chassis_can_send_data[0] = motor1 >> 8;
+    chassis_can_send_data[1] = motor1;
+    chassis_can_send_data[2] = motor2 >> 8;
+    chassis_can_send_data[3] = motor2;
+    chassis_can_send_data[4] = motor3 >> 8;
+    chassis_can_send_data[5] = motor3;
+    chassis_can_send_data[6] = motor4 >> 8;
+    chassis_can_send_data[7] = motor4;
+
+    HAL_CAN_AddTxMessage(&CHASSIS_CAN, &chassis_tx_message, chassis_can_send_data, &send_mail_box);
+}
+
+/**
+  * @brief          return the chassis 3508 motor data point
+  * @param[in]      i: motor number,range [0,3]
+  * @retval         motor data point
+  */
+const motor_measure_t *get_chassis_motor_measure_point(uint8_t i)
+{
+    return &motor_chassis[(i & 0x03)];
+}

Core/Src/bsp_can.c

@@ -0,0 +1,24 @@
+#include "bsp_can.h"
+#include "main.h"
+
+
+extern CAN_HandleTypeDef hcan1;
+
+void can_filter_init(void)
+{
+
+    CAN_FilterTypeDef can_filter_st;
+    can_filter_st.FilterActivation = ENABLE;
+    can_filter_st.FilterMode = CAN_FILTERMODE_IDMASK;
+    can_filter_st.FilterScale = CAN_FILTERSCALE_32BIT;
+    can_filter_st.FilterIdHigh = 0x0000;
+    can_filter_st.FilterIdLow = 0x0000;
+    can_filter_st.FilterMaskIdHigh = 0x0000;
+    can_filter_st.FilterMaskIdLow = 0x0000;
+    can_filter_st.FilterBank = 0;
+    can_filter_st.FilterFIFOAssignment = CAN_RX_FIFO0;
+    HAL_CAN_ConfigFilter(&hcan1, &can_filter_st);
+    HAL_CAN_Start(&hcan1);
+    HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);
+
+}

Core/Src/main.c

@@ -163,6 +163,28 @@ void SystemClock_Config(void)
 
 /* USER CODE END 4 */
 
+/**
+  * @brief  Period elapsed callback in non blocking mode
+  * @note   This function is called  when TIM6 interrupt took place, inside
+  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
+  * a global variable "uwTick" used as application time base.
+  * @param  htim : TIM handle
+  * @retval None
+  */
+void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
+{
+  /* USER CODE BEGIN Callback 0 */
+
+  /* USER CODE END Callback 0 */
+  if (htim->Instance == TIM6)
+  {
+    HAL_IncTick();
+  }
+  /* USER CODE BEGIN Callback 1 */
+
+  /* USER CODE END Callback 1 */
+}
+
 /**
   * @brief  This function is executed in case of error occurrence.
   * @retval None

Core/Src/stm32f4xx_hal_timebase_tim.c

@@ -0,0 +1,137 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_hal_timebase_tim.c
+  * @brief   HAL time base based on the hardware TIM.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2026 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_hal.h"
+#include "stm32f4xx_hal_tim.h"
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+TIM_HandleTypeDef        htim6;
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+
+/**
+  * @brief  This function configures the TIM6 as a time base source.
+  *         The time source is configured  to have 1ms time base with a dedicated
+  *         Tick interrupt priority.
+  * @note   This function is called  automatically at the beginning of program after
+  *         reset by HAL_Init() or at any time when clock is configured, by HAL_RCC_ClockConfig().
+  * @param  TickPriority: Tick interrupt priority.
+  * @retval HAL status
+  */
+HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
+{
+  RCC_ClkInitTypeDef    clkconfig;
+  uint32_t              uwTimclock, uwAPB1Prescaler = 0U;
+
+  uint32_t              uwPrescalerValue = 0U;
+  uint32_t              pFLatency;
+
+  HAL_StatusTypeDef     status;
+
+  /* Enable TIM6 clock */
+  __HAL_RCC_TIM6_CLK_ENABLE();
+
+  /* Get clock configuration */
+  HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);
+
+  /* Get APB1 prescaler */
+  uwAPB1Prescaler = clkconfig.APB1CLKDivider;
+  /* Compute TIM6 clock */
+  if (uwAPB1Prescaler == RCC_HCLK_DIV1)
+  {
+    uwTimclock = HAL_RCC_GetPCLK1Freq();
+  }
+  else
+  {
+    uwTimclock = 2UL * HAL_RCC_GetPCLK1Freq();
+  }
+
+  /* Compute the prescaler value to have TIM6 counter clock equal to 1MHz */
+  uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000U) - 1U);
+
+  /* Initialize TIM6 */
+  htim6.Instance = TIM6;
+
+  /* Initialize TIMx peripheral as follow:
+   * Period = [(TIM6CLK/1000) - 1]. to have a (1/1000) s time base.
+   * Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock.
+   * ClockDivision = 0
+   * Counter direction = Up
+   */
+  htim6.Init.Period = (1000000U / 1000U) - 1U;
+  htim6.Init.Prescaler = uwPrescalerValue;
+  htim6.Init.ClockDivision = 0;
+  htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim6.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+
+  status = HAL_TIM_Base_Init(&htim6);
+  if (status == HAL_OK)
+  {
+    /* Start the TIM time Base generation in interrupt mode */
+    status = HAL_TIM_Base_Start_IT(&htim6);
+    if (status == HAL_OK)
+    {
+    /* Enable the TIM6 global Interrupt */
+        HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
+      /* Configure the SysTick IRQ priority */
+      if (TickPriority < (1UL << __NVIC_PRIO_BITS))
+      {
+        /* Configure the TIM IRQ priority */
+        HAL_NVIC_SetPriority(TIM6_DAC_IRQn, TickPriority, 0U);
+        uwTickPrio = TickPriority;
+      }
+      else
+      {
+        status = HAL_ERROR;
+      }
+    }
+  }
+
+ /* Return function status */
+  return status;
+}
+
+/**
+  * @brief  Suspend Tick increment.
+  * @note   Disable the tick increment by disabling TIM6 update interrupt.
+  * @param  None
+  * @retval None
+  */
+void HAL_SuspendTick(void)
+{
+  /* Disable TIM6 update Interrupt */
+  __HAL_TIM_DISABLE_IT(&htim6, TIM_IT_UPDATE);
+}
+
+/**
+  * @brief  Resume Tick increment.
+  * @note   Enable the tick increment by Enabling TIM6 update interrupt.
+  * @param  None
+  * @retval None
+  */
+void HAL_ResumeTick(void)
+{
+  /* Enable TIM6 Update interrupt */
+  __HAL_TIM_ENABLE_IT(&htim6, TIM_IT_UPDATE);
+}
+

Core/Src/stm32f4xx_it.c

@@ -20,8 +20,6 @@
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
 #include "stm32f4xx_it.h"
-#include "FreeRTOS.h"
-#include "task.h"
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 /* USER CODE END Includes */
@@ -57,6 +55,7 @@
 /* USER CODE END 0 */
 
 /* External variables --------------------------------------------------------*/
+extern TIM_HandleTypeDef htim6;
 
 /* USER CODE BEGIN EV */
 
@@ -153,28 +152,6 @@ void DebugMon_Handler(void)
   /* USER CODE END DebugMonitor_IRQn 1 */
 }
 
-/**
-  * @brief This function handles System tick timer.
-  */
-void SysTick_Handler(void)
-{
-  /* USER CODE BEGIN SysTick_IRQn 0 */
-
-  /* USER CODE END SysTick_IRQn 0 */
-  HAL_IncTick();
-#if (INCLUDE_xTaskGetSchedulerState == 1 )
-  if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED)
-  {
-#endif /* INCLUDE_xTaskGetSchedulerState */
-  xPortSysTickHandler();
-#if (INCLUDE_xTaskGetSchedulerState == 1 )
-  }
-#endif /* INCLUDE_xTaskGetSchedulerState */
-  /* USER CODE BEGIN SysTick_IRQn 1 */
-
-  /* USER CODE END SysTick_IRQn 1 */
-}
-
 /******************************************************************************/
 /* STM32F4xx Peripheral Interrupt Handlers                                    */
 /* Add here the Interrupt Handlers for the used peripherals.                  */
@@ -182,6 +159,20 @@ void SysTick_Handler(void)
 /* please refer to the startup file (startup_stm32f4xx.s).                    */
 /******************************************************************************/
 
+/**
+  * @brief This function handles TIM6 global interrupt, DAC1 and DAC2 underrun error interrupts.
+  */
+void TIM6_DAC_IRQHandler(void)
+{
+  /* USER CODE BEGIN TIM6_DAC_IRQn 0 */
+
+  /* USER CODE END TIM6_DAC_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim6);
+  /* USER CODE BEGIN TIM6_DAC_IRQn 1 */
+
+  /* USER CODE END TIM6_DAC_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */

Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h

@@ -0,0 +1,357 @@
+/**
+  ******************************************************************************
+  * @file    stm32f4xx_hal_tim_ex.h
+  * @author  MCD Application Team
+  * @brief   Header file of TIM HAL Extended module.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef STM32F4xx_HAL_TIM_EX_H
+#define STM32F4xx_HAL_TIM_EX_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_hal_def.h"
+
+/** @addtogroup STM32F4xx_HAL_Driver
+  * @{
+  */
+
+/** @addtogroup TIMEx
+  * @{
+  */
+
+/* Exported types ------------------------------------------------------------*/
+/** @defgroup TIMEx_Exported_Types TIM Extended Exported Types
+  * @{
+  */
+
+/**
+  * @brief  TIM Hall sensor Configuration Structure definition
+  */
+
+typedef struct
+{
+  uint32_t IC1Polarity;         /*!< Specifies the active edge of the input signal.
+                                     This parameter can be a value of @ref TIM_Input_Capture_Polarity */
+
+  uint32_t IC1Prescaler;        /*!< Specifies the Input Capture Prescaler.
+                                     This parameter can be a value of @ref TIM_Input_Capture_Prescaler */
+
+  uint32_t IC1Filter;           /*!< Specifies the input capture filter.
+                                     This parameter can be a number between Min_Data = 0x0 and Max_Data = 0xF */
+
+  uint32_t Commutation_Delay;   /*!< Specifies the pulse value to be loaded into the Capture Compare Register.
+                                     This parameter can be a number between Min_Data = 0x0000 and Max_Data = 0xFFFF */
+} TIM_HallSensor_InitTypeDef;
+/**
+  * @}
+  */
+/* End of exported types -----------------------------------------------------*/
+
+/* Exported constants --------------------------------------------------------*/
+/** @defgroup TIMEx_Exported_Constants TIM Extended Exported Constants
+  * @{
+  */
+
+/** @defgroup TIMEx_Remap TIM Extended Remapping
+  * @{
+  */
+#if defined (TIM2)
+#if defined(TIM8)
+#define TIM_TIM2_TIM8_TRGO                     0x00000000U                              /*!< TIM2 ITR1 is connected to TIM8 TRGO */
+#endif /*  TIM8 */
+#define TIM_TIM2_ETH_PTP                       TIM_OR_ITR1_RMP_0                        /*!< TIM2 ITR1 is connected to PTP trigger output */
+#define TIM_TIM2_USBFS_SOF                     TIM_OR_ITR1_RMP_1                        /*!< TIM2 ITR1 is connected to OTG FS SOF */
+#define TIM_TIM2_USBHS_SOF                     (TIM_OR_ITR1_RMP_1 | TIM_OR_ITR1_RMP_0)  /*!< TIM2 ITR1 is connected to OTG HS SOF */
+#endif /* TIM2 */
+
+#define TIM_TIM5_GPIO                          0x00000000U                              /*!< TIM5 TI4 is connected to GPIO */
+#define TIM_TIM5_LSI                           TIM_OR_TI4_RMP_0                         /*!< TIM5 TI4 is connected to LSI */
+#define TIM_TIM5_LSE                           TIM_OR_TI4_RMP_1                         /*!< TIM5 TI4 is connected to LSE */
+#define TIM_TIM5_RTC                           (TIM_OR_TI4_RMP_1 | TIM_OR_TI4_RMP_0)    /*!< TIM5 TI4 is connected to the RTC wakeup interrupt */
+
+#define TIM_TIM11_GPIO                         0x00000000U                              /*!< TIM11 TI1 is connected to GPIO */
+#define TIM_TIM11_HSE                          TIM_OR_TI1_RMP_1                         /*!< TIM11 TI1 is connected to HSE_RTC clock */
+#if defined(SPDIFRX)
+#define TIM_TIM11_SPDIFRX                      TIM_OR_TI1_RMP_0                         /*!< TIM11 TI1 is connected to SPDIFRX_FRAME_SYNC */
+#endif /* SPDIFRX*/
+
+#if defined(LPTIM_OR_TIM1_ITR2_RMP) && defined(LPTIM_OR_TIM5_ITR1_RMP) && defined(LPTIM_OR_TIM5_ITR1_RMP)
+#define LPTIM_REMAP_MASK                       0x10000000U
+
+#define TIM_TIM9_TIM3_TRGO                     LPTIM_REMAP_MASK                             /*!< TIM9 ITR1 is connected to TIM3 TRGO */
+#define TIM_TIM9_LPTIM                         (LPTIM_REMAP_MASK | LPTIM_OR_TIM9_ITR1_RMP)  /*!< TIM9 ITR1 is connected to LPTIM1 output */
+
+#define TIM_TIM5_TIM3_TRGO                     LPTIM_REMAP_MASK                             /*!< TIM5 ITR1 is connected to TIM3 TRGO */
+#define TIM_TIM5_LPTIM                         (LPTIM_REMAP_MASK | LPTIM_OR_TIM5_ITR1_RMP)  /*!< TIM5 ITR1 is connected to LPTIM1 output */
+
+#define TIM_TIM1_TIM3_TRGO                     LPTIM_REMAP_MASK                             /*!< TIM1 ITR2 is connected to TIM3 TRGO */
+#define TIM_TIM1_LPTIM                         (LPTIM_REMAP_MASK | LPTIM_OR_TIM1_ITR2_RMP)  /*!< TIM1 ITR2 is connected to LPTIM1 output */
+#endif /* LPTIM_OR_TIM1_ITR2_RMP &&  LPTIM_OR_TIM5_ITR1_RMP && LPTIM_OR_TIM5_ITR1_RMP */
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+/* End of exported constants -------------------------------------------------*/
+
+/* Exported macro ------------------------------------------------------------*/
+/** @defgroup TIMEx_Exported_Macros TIM Extended Exported Macros
+  * @{
+  */
+
+/**
+  * @}
+  */
+/* End of exported macro -----------------------------------------------------*/
+
+/* Private macro -------------------------------------------------------------*/
+/** @defgroup TIMEx_Private_Macros TIM Extended Private Macros
+  * @{
+  */
+#if defined(SPDIFRX)
+#define IS_TIM_REMAP(INSTANCE, TIM_REMAP)                                 \
+  ((((INSTANCE) == TIM2)  && (((TIM_REMAP) == TIM_TIM2_TIM8_TRGO)      || \
+                              ((TIM_REMAP) == TIM_TIM2_USBFS_SOF)      || \
+                              ((TIM_REMAP) == TIM_TIM2_USBHS_SOF)))    || \
+   (((INSTANCE) == TIM5)  && (((TIM_REMAP) == TIM_TIM5_GPIO)           || \
+                              ((TIM_REMAP) == TIM_TIM5_LSI)            || \
+                              ((TIM_REMAP) == TIM_TIM5_LSE)            || \
+                              ((TIM_REMAP) == TIM_TIM5_RTC)))          || \
+   (((INSTANCE) == TIM11) && (((TIM_REMAP) == TIM_TIM11_GPIO)          || \
+                              ((TIM_REMAP) == TIM_TIM11_SPDIFRX)       || \
+                              ((TIM_REMAP) == TIM_TIM11_HSE))))
+#elif defined(TIM2)
+#if defined(LPTIM_OR_TIM1_ITR2_RMP) && defined(LPTIM_OR_TIM5_ITR1_RMP) && defined(LPTIM_OR_TIM5_ITR1_RMP)
+#define IS_TIM_REMAP(INSTANCE, TIM_REMAP)                                 \
+  ((((INSTANCE) == TIM2)  && (((TIM_REMAP) == TIM_TIM2_TIM8_TRGO)      || \
+                              ((TIM_REMAP) == TIM_TIM2_ETH_PTP)        || \
+                              ((TIM_REMAP) == TIM_TIM2_USBFS_SOF)      || \
+                              ((TIM_REMAP) == TIM_TIM2_USBHS_SOF)))    || \
+   (((INSTANCE) == TIM5)  && (((TIM_REMAP) == TIM_TIM5_GPIO)           || \
+                              ((TIM_REMAP) == TIM_TIM5_LSI)            || \
+                              ((TIM_REMAP) == TIM_TIM5_LSE)            || \
+                              ((TIM_REMAP) == TIM_TIM5_RTC)))          || \
+   (((INSTANCE) == TIM11) && (((TIM_REMAP) == TIM_TIM11_GPIO)          || \
+                              ((TIM_REMAP) == TIM_TIM11_HSE)))         || \
+   (((INSTANCE) == TIM1)  && (((TIM_REMAP) == TIM_TIM1_TIM3_TRGO)      || \
+                              ((TIM_REMAP) == TIM_TIM1_LPTIM)))        || \
+   (((INSTANCE) == TIM5)  && (((TIM_REMAP) == TIM_TIM5_TIM3_TRGO)      || \
+                              ((TIM_REMAP) == TIM_TIM5_LPTIM)))        || \
+   (((INSTANCE) == TIM9)  && (((TIM_REMAP) == TIM_TIM9_TIM3_TRGO)      || \
+                              ((TIM_REMAP) == TIM_TIM9_LPTIM))))
+#elif defined(TIM8)
+#define IS_TIM_REMAP(INSTANCE, TIM_REMAP)                                 \
+  ((((INSTANCE) == TIM2)  && (((TIM_REMAP) == TIM_TIM2_TIM8_TRGO)      || \
+                              ((TIM_REMAP) == TIM_TIM2_ETH_PTP)        || \
+                              ((TIM_REMAP) == TIM_TIM2_USBFS_SOF)      || \
+                              ((TIM_REMAP) == TIM_TIM2_USBHS_SOF)))    || \
+   (((INSTANCE) == TIM5)  && (((TIM_REMAP) == TIM_TIM5_GPIO)           || \
+                              ((TIM_REMAP) == TIM_TIM5_LSI)            || \
+                              ((TIM_REMAP) == TIM_TIM5_LSE)            || \
+                              ((TIM_REMAP) == TIM_TIM5_RTC)))          || \
+   (((INSTANCE) == TIM11) && (((TIM_REMAP) == TIM_TIM11_GPIO)          || \
+                              ((TIM_REMAP) == TIM_TIM11_HSE))))
+#else
+#define IS_TIM_REMAP(INSTANCE, TIM_REMAP)                                 \
+  ((((INSTANCE) == TIM2)  && (((TIM_REMAP) == TIM_TIM2_ETH_PTP)        || \
+                              ((TIM_REMAP) == TIM_TIM2_USBFS_SOF)      || \
+                              ((TIM_REMAP) == TIM_TIM2_USBHS_SOF)))    || \
+   (((INSTANCE) == TIM5)  && (((TIM_REMAP) == TIM_TIM5_GPIO)           || \
+                              ((TIM_REMAP) == TIM_TIM5_LSI)            || \
+                              ((TIM_REMAP) == TIM_TIM5_LSE)            || \
+                              ((TIM_REMAP) == TIM_TIM5_RTC)))          || \
+   (((INSTANCE) == TIM11) && (((TIM_REMAP) == TIM_TIM11_GPIO)          || \
+                              ((TIM_REMAP) == TIM_TIM11_HSE))))
+#endif /* LPTIM_OR_TIM1_ITR2_RMP &&  LPTIM_OR_TIM5_ITR1_RMP && LPTIM_OR_TIM5_ITR1_RMP */
+#else
+#define IS_TIM_REMAP(INSTANCE, TIM_REMAP)                                 \
+  ((((INSTANCE) == TIM5)  && (((TIM_REMAP) == TIM_TIM5_GPIO)           || \
+                              ((TIM_REMAP) == TIM_TIM5_LSI)            || \
+                              ((TIM_REMAP) == TIM_TIM5_LSE)            || \
+                              ((TIM_REMAP) == TIM_TIM5_RTC)))          || \
+   (((INSTANCE) == TIM11) && (((TIM_REMAP) == TIM_TIM11_GPIO)          || \
+                              ((TIM_REMAP) == TIM_TIM11_HSE))))
+#endif /* SPDIFRX */
+
+/**
+  * @}
+  */
+/* End of private macro ------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+/** @addtogroup TIMEx_Exported_Functions TIM Extended Exported Functions
+  * @{
+  */
+
+/** @addtogroup TIMEx_Exported_Functions_Group1 Extended Timer Hall Sensor functions
+  *  @brief    Timer Hall Sensor functions
+  * @{
+  */
+/*  Timer Hall Sensor functions  **********************************************/
+HAL_StatusTypeDef HAL_TIMEx_HallSensor_Init(TIM_HandleTypeDef *htim, const TIM_HallSensor_InitTypeDef *sConfig);
+HAL_StatusTypeDef HAL_TIMEx_HallSensor_DeInit(TIM_HandleTypeDef *htim);
+
+void HAL_TIMEx_HallSensor_MspInit(TIM_HandleTypeDef *htim);
+void HAL_TIMEx_HallSensor_MspDeInit(TIM_HandleTypeDef *htim);
+
+/* Blocking mode: Polling */
+HAL_StatusTypeDef HAL_TIMEx_HallSensor_Start(TIM_HandleTypeDef *htim);
+HAL_StatusTypeDef HAL_TIMEx_HallSensor_Stop(TIM_HandleTypeDef *htim);
+/* Non-Blocking mode: Interrupt */
+HAL_StatusTypeDef HAL_TIMEx_HallSensor_Start_IT(TIM_HandleTypeDef *htim);
+HAL_StatusTypeDef HAL_TIMEx_HallSensor_Stop_IT(TIM_HandleTypeDef *htim);
+/* Non-Blocking mode: DMA */
+HAL_StatusTypeDef HAL_TIMEx_HallSensor_Start_DMA(TIM_HandleTypeDef *htim, uint32_t *pData, uint16_t Length);
+HAL_StatusTypeDef HAL_TIMEx_HallSensor_Stop_DMA(TIM_HandleTypeDef *htim);
+/**
+  * @}
+  */
+
+/** @addtogroup TIMEx_Exported_Functions_Group2 Extended Timer Complementary Output Compare functions
+  *  @brief   Timer Complementary Output Compare functions
+  * @{
+  */
+/*  Timer Complementary Output Compare functions  *****************************/
+/* Blocking mode: Polling */
+HAL_StatusTypeDef HAL_TIMEx_OCN_Start(TIM_HandleTypeDef *htim, uint32_t Channel);
+HAL_StatusTypeDef HAL_TIMEx_OCN_Stop(TIM_HandleTypeDef *htim, uint32_t Channel);
+
+/* Non-Blocking mode: Interrupt */
+HAL_StatusTypeDef HAL_TIMEx_OCN_Start_IT(TIM_HandleTypeDef *htim, uint32_t Channel);
+HAL_StatusTypeDef HAL_TIMEx_OCN_Stop_IT(TIM_HandleTypeDef *htim, uint32_t Channel);
+
+/* Non-Blocking mode: DMA */
+HAL_StatusTypeDef HAL_TIMEx_OCN_Start_DMA(TIM_HandleTypeDef *htim, uint32_t Channel, const uint32_t *pData,
+                                          uint16_t Length);
+HAL_StatusTypeDef HAL_TIMEx_OCN_Stop_DMA(TIM_HandleTypeDef *htim, uint32_t Channel);
+/**
+  * @}
+  */
+
+/** @addtogroup TIMEx_Exported_Functions_Group3 Extended Timer Complementary PWM functions
+  *  @brief    Timer Complementary PWM functions
+  * @{
+  */
+/*  Timer Complementary PWM functions  ****************************************/
+/* Blocking mode: Polling */
+HAL_StatusTypeDef HAL_TIMEx_PWMN_Start(TIM_HandleTypeDef *htim, uint32_t Channel);
+HAL_StatusTypeDef HAL_TIMEx_PWMN_Stop(TIM_HandleTypeDef *htim, uint32_t Channel);
+
+/* Non-Blocking mode: Interrupt */
+HAL_StatusTypeDef HAL_TIMEx_PWMN_Start_IT(TIM_HandleTypeDef *htim, uint32_t Channel);
+HAL_StatusTypeDef HAL_TIMEx_PWMN_Stop_IT(TIM_HandleTypeDef *htim, uint32_t Channel);
+/* Non-Blocking mode: DMA */
+HAL_StatusTypeDef HAL_TIMEx_PWMN_Start_DMA(TIM_HandleTypeDef *htim, uint32_t Channel, const uint32_t *pData,
+                                           uint16_t Length);
+HAL_StatusTypeDef HAL_TIMEx_PWMN_Stop_DMA(TIM_HandleTypeDef *htim, uint32_t Channel);
+/**
+  * @}
+  */
+
+/** @addtogroup TIMEx_Exported_Functions_Group4 Extended Timer Complementary One Pulse functions
+  *  @brief    Timer Complementary One Pulse functions
+  * @{
+  */
+/*  Timer Complementary One Pulse functions  **********************************/
+/* Blocking mode: Polling */
+HAL_StatusTypeDef HAL_TIMEx_OnePulseN_Start(TIM_HandleTypeDef *htim, uint32_t OutputChannel);
+HAL_StatusTypeDef HAL_TIMEx_OnePulseN_Stop(TIM_HandleTypeDef *htim, uint32_t OutputChannel);
+
+/* Non-Blocking mode: Interrupt */
+HAL_StatusTypeDef HAL_TIMEx_OnePulseN_Start_IT(TIM_HandleTypeDef *htim, uint32_t OutputChannel);
+HAL_StatusTypeDef HAL_TIMEx_OnePulseN_Stop_IT(TIM_HandleTypeDef *htim, uint32_t OutputChannel);
+/**
+  * @}
+  */
+
+/** @addtogroup TIMEx_Exported_Functions_Group5 Extended Peripheral Control functions
+  *  @brief    Peripheral Control functions
+  * @{
+  */
+/* Extended Control functions  ************************************************/
+HAL_StatusTypeDef HAL_TIMEx_ConfigCommutEvent(TIM_HandleTypeDef *htim, uint32_t  InputTrigger,
+                                              uint32_t  CommutationSource);
+HAL_StatusTypeDef HAL_TIMEx_ConfigCommutEvent_IT(TIM_HandleTypeDef *htim, uint32_t  InputTrigger,
+                                                 uint32_t  CommutationSource);
+HAL_StatusTypeDef HAL_TIMEx_ConfigCommutEvent_DMA(TIM_HandleTypeDef *htim, uint32_t  InputTrigger,
+                                                  uint32_t  CommutationSource);
+HAL_StatusTypeDef HAL_TIMEx_MasterConfigSynchronization(TIM_HandleTypeDef *htim,
+                                                        const TIM_MasterConfigTypeDef *sMasterConfig);
+HAL_StatusTypeDef HAL_TIMEx_ConfigBreakDeadTime(TIM_HandleTypeDef *htim,
+                                                const TIM_BreakDeadTimeConfigTypeDef *sBreakDeadTimeConfig);
+HAL_StatusTypeDef HAL_TIMEx_RemapConfig(TIM_HandleTypeDef *htim, uint32_t Remap);
+/**
+  * @}
+  */
+
+/** @addtogroup TIMEx_Exported_Functions_Group6 Extended Callbacks functions
+  * @brief    Extended Callbacks functions
+  * @{
+  */
+/* Extended Callback **********************************************************/
+void HAL_TIMEx_CommutCallback(TIM_HandleTypeDef *htim);
+void HAL_TIMEx_CommutHalfCpltCallback(TIM_HandleTypeDef *htim);
+void HAL_TIMEx_BreakCallback(TIM_HandleTypeDef *htim);
+/**
+  * @}
+  */
+
+/** @addtogroup TIMEx_Exported_Functions_Group7 Extended Peripheral State functions
+  * @brief    Extended Peripheral State functions
+  * @{
+  */
+/* Extended Peripheral State functions  ***************************************/
+HAL_TIM_StateTypeDef HAL_TIMEx_HallSensor_GetState(const TIM_HandleTypeDef *htim);
+HAL_TIM_ChannelStateTypeDef HAL_TIMEx_GetChannelNState(const TIM_HandleTypeDef *htim,  uint32_t ChannelN);
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+/* End of exported functions -------------------------------------------------*/
+
+/* Private functions----------------------------------------------------------*/
+/** @addtogroup TIMEx_Private_Functions TIM Extended Private Functions
+  * @{
+  */
+void TIMEx_DMACommutationCplt(DMA_HandleTypeDef *hdma);
+void TIMEx_DMACommutationHalfCplt(DMA_HandleTypeDef *hdma);
+/**
+  * @}
+  */
+/* End of private functions --------------------------------------------------*/
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+#ifdef __cplusplus
+}
+#endif
+
+
+#endif /* STM32F4xx_HAL_TIM_EX_H */

Infantry_chassis.ioc

@@ -29,7 +29,7 @@ Mcu.Pin3=PD1
 Mcu.Pin4=PH0-OSC_IN
 Mcu.Pin5=PH1-OSC_OUT
 Mcu.Pin6=VP_FREERTOS_VS_CMSIS_V2
-Mcu.Pin7=VP_SYS_VS_Systick
+Mcu.Pin7=VP_SYS_VS_tim6
 Mcu.PinsNb=8
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
@@ -48,7 +48,10 @@ NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false
 NVIC.SavedPendsvIrqHandlerGenerated=true
 NVIC.SavedSvcallIrqHandlerGenerated=true
 NVIC.SavedSystickIrqHandlerGenerated=true
-NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:true\:false\:true\:false
+NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false
+NVIC.TIM6_DAC_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
+NVIC.TimeBase=TIM6_DAC_IRQn
+NVIC.TimeBaseIP=TIM6
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 PA13.Mode=Serial_Wire
 PA13.Signal=SYS_JTMS-SWDIO
@@ -133,6 +136,7 @@ RCC.VCOOutputFreq_Value=336000000
 RCC.VcooutputI2S=192000000
 VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2
 VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2
-VP_SYS_VS_Systick.Mode=SysTick
+VP_SYS_VS_tim6.Mode=TIM6
-VP_SYS_VS_Systick.Signal=SYS_VS_Systick
+VP_SYS_VS_tim6.Signal=SYS_VS_tim6
 board=custom
+rtos.0.ip=FREERTOS

cmake/stm32cubemx/CMakeLists.txt

@@ -28,6 +28,7 @@ set(MX_Application_Src
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/can.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/stm32f4xx_it.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/stm32f4xx_hal_msp.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/stm32f4xx_hal_timebase_tim.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/sysmem.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/syscalls.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../startup_stm32f407xx.s
@@ -36,6 +37,8 @@ set(MX_Application_Src
 # STM32 HAL/LL Drivers
 set(STM32_Drivers_Src
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/system_stm32f4xx.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c