fix

build.cmd

@@ -1,3 +1,3 @@
 cd project/cmake
 cmake -DCMAKE_TOOLCHAIN_FILE="toolchain-arm-none-eabi.cmake" -G "MinGW Makefiles" .\CMakeLists.txt
-mingw32-make
+mingw32-make -j16

project/cmake/CMakeLists.txt

@@ -132,18 +132,12 @@ add_executable(${PROJECT_NAME}.elf
 #     ${PROJECT_NAME}
 # )
 
-# set(ELF_FILE ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.elf)
+set(ELF_FILE ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.elf)
-# set(HEX_FILE ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.hex)
+set(HEX_FILE ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.hex)
-# set(BIN_FILE ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.bin)
+set(BIN_FILE ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.bin)
 
-# add_custom_command(TARGET "${PROJECT_NAME}.elf" POST_BUILD
+add_custom_command(TARGET "${PROJECT_NAME}.elf" POST_BUILD
-#     COMMAND ${CMAKE_OBJCOPY} -Obinary ${ELF_FILE} ${BIN_FILE}
+    COMMAND ${CMAKE_OBJCOPY} -Obinary ${ELF_FILE} ${BIN_FILE}
-#     COMMAND ${CMAKE_OBJCOPY} -Oihex  ${ELF_FILE} ${HEX_FILE}
+    COMMAND ${CMAKE_OBJCOPY} -Oihex  ${ELF_FILE} ${HEX_FILE}
-#     COMMENT "Building ${PROJECT_NAME}.bin and ${PROJECT_NAME}.hex"
+    COMMAND ${CMAKE_SIZE} --format=berkeley ${PROJECT_NAME}.elf ${PROJECT_NAME}.hex
-
+)
-#     COMMAND ${CMAKE_COMMAND} -E copy ${HEX_FILE} "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.hex"
-#     COMMAND ${CMAKE_COMMAND} -E copy ${BIN_FILE} "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.bin"
-
-#     COMMAND ${CMAKE_SIZE} --format=berkeley ${PROJECT_NAME}.elf ${PROJECT_NAME}.hex
-#     COMMENT "Invoking: Cross ARM GNU Print Size"
-# )

project/cmake/toolchain-arm-none-eabi.cmake

@@ -12,8 +12,9 @@ if (WIN32)
     set(CMAKE_C_COMPILER ${TOOLCHAIN_PATH}/bin/${TOOLCHAIN_PREFIX}gcc.exe)
     set(CMAKE_CXX_COMPILER ${TOOLCHAIN_PATH}/bin/${TOOLCHAIN_PREFIX}gcc.exe)
     set(CMAKE_AR ${TOOLCHAIN_PATH}/bin/${TOOLCHAIN_PREFIX}ar.exe)
-    set(CMAKE_OBJCOPY arm-none-eabi-objcopy)
+    set(CMAKE_OBJCOPY ${TOOLCHAIN_PATH}/bin/${TOOLCHAIN_PREFIX}objcopy.exe)
-    set(CMAKE_OBJDUMP arm-none-eabi-objdump)
+    set(CMAKE_OBJDUMP ${TOOLCHAIN_PATH}/bin/${TOOLCHAIN_PREFIX}objdump.exe)
+    set(CMAKE_SIZE ${TOOLCHAIN_PATH}/bin/${TOOLCHAIN_PREFIX}size.exe)
 
 elseif(UNIX)
 

src/App/main.c

@@ -9,12 +9,14 @@
  */
 
 /* Includes ------------------------------------------------------------------*/
+#include <stdio.h>
+
 #include "main.h"
 
 hall_handle_t hall_handle;
 foc_handle_t foc_handle;
 
-const char *data = "hello world";
+const char *data = "hello world\n";
 /* Function ------------------------------------------------------------------*/
 
 /**
@@ -24,7 +26,6 @@ const char *data = "hello world";
 int main(void)
 {
     board_init();
-
     foc_handle.pwm_period = 168 * 1000000 / 16000;
 
     // while (1)
@@ -57,12 +58,11 @@ int main(void)
     // // svmpw()
     while (1)
     {
-        HAL_UART_Transmit(&huart1, data, 1, 0xFFFF);
-        // hall_handle.control_elec_angle++;
-        // foc_handle.Valphabeta = math_rev_park(foc_handle.Vqd, hall_handle.control_elec_angle);
-        // svmpw(foc_handle);
         // 测试PWM输出
         // __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, 42 * 1000000 / 16000);
+
+        // printf("direction is %d", hall_handle.direction);
+
         led_ctrl(1);
         HAL_Delay(500);
         led_ctrl(0);
@@ -70,4 +70,20 @@ int main(void)
     }
 }
 
+/// 重定向c库函数printf到串口DEBUG_USART，重定向后可使用printf函数
+int fputc(int ch, FILE *f)
+{
+    /* 发送一个字节数据到串口DEBUG_USART */
+    HAL_UART_Transmit(&huart1, (uint8_t *)&ch, 1, 0xFFFF);
+    return (ch);
+}
+
+/// 重定向c库函数scanf到串口DEBUG_USART，重写向后可使用scanf、getchar等函数
+int fgetc(FILE *f)
+{
+    int ch;
+    HAL_UART_Receive(&huart1, (uint8_t *)&ch, 1, 0xFFFF);
+    return (ch);
+}
+
 /* END OF FILE ---------------------------------------------------------------*/

src/Bsp/board.c

@@ -42,7 +42,7 @@ void SystemClock_Config(void)
     RCC_OscInitStruct.PLL.PLLM = 25;
     RCC_OscInitStruct.PLL.PLLN = 336;
     RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
-    RCC_OscInitStruct.PLL.PLLQ = 4;
+    RCC_OscInitStruct.PLL.PLLQ = 7;
     if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
     {
         Error_Handler();
@@ -65,7 +65,7 @@ void SystemClock_Config(void)
  * @brief NVIC Configuration.
  * @retval None
  */
-static void MX_NVIC_Init(void)
+void MX_NVIC_Init(void)
 {
     /* ADC_IRQn interrupt configuration */
     // HAL_NVIC_SetPriority(ADC_IRQn, 2, 0);
@@ -91,41 +91,10 @@ void FOC_Init()
 {
     HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); // 开启三个PWM通道输出
     HAL_TIMEx_PWMN_Start(&htim1, TIM_CHANNEL_1);
-    HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); // 开启三个PWM通道输出
+    HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
     HAL_TIMEx_PWMN_Start(&htim1, TIM_CHANNEL_2);
-    HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); // 开启三个PWM通道输出
+    HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);
     HAL_TIMEx_PWMN_Start(&htim1, TIM_CHANNEL_3);
-
-    // LL_TIM_OC_SetCompareCH1(TIM1, 42 * 1000000 / 16000);
-    // LL_TIM_OC_SetCompareCH2(TIM1, 42 * 1000000 / 16000);
-    // LL_TIM_OC_SetCompareCH3(TIM1, 42 * 1000000 / 16000);
-    // LL_TIM_OC_SetCompareCH1(TIM1, 42 * 1000000 / 16000);
-    // __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, 2400);
-    // __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, 2400);
-
-    // HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
-    // HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);
-
-    /* wait for a new PWM period */
-    // LL_TIM_ClearFlag_UPDATE(TIM1);
-    // // while (LL_TIM_IsActiveFlag_UPDATE(TIM1) == 0)
-    // // {
-    // // }
-    // /* Clear Update Flag */
-    // LL_TIM_ClearFlag_UPDATE(TIM1);
-
-    /* Main PWM Output Enable */
-    // TIM1->BDTR |= LL_TIM_OSSI_ENABLE;
-    // LL_TIM_EnableAllOutputs(TIM1);
-
-    // /* Clear Update Flag */
-    // LL_TIM_ClearFlag_UPDATE(TIM1);
-    // /* Enable Update IRQ */
-    // LL_TIM_EnableIT_UPDATE(TIM1);
-
-    // LL_TIM_OC_SetCompareCH1(TIM1, 42 * 1000000 / 16000);
-    // LL_TIM_OC_SetCompareCH2(TIM1, 42 * 1000000 / 16000);
-    // LL_TIM_OC_SetCompareCH3(TIM1, 42 * 1000000 / 16000);
 }
 
 /**
@@ -138,7 +107,6 @@ void board_init(void)
 
     HAL_Init();
     SystemClock_Config();
-    // SystemCoreClockUpdate();
 
     MX_GPIO_Init();
     MX_USART1_UART_Init();

src/Bsp/stm32f4xx_hal_conf.h

@@ -95,7 +95,7 @@
   *        (when HSE is used as system clock source, directly or through the PLL).
   */
 #if !defined  (HSE_VALUE)
-  #define HSE_VALUE    8000000U /*!< Value of the External oscillator in Hz */
+  #define HSE_VALUE    25000000U /*!< Value of the External oscillator in Hz */
 #endif /* HSE_VALUE */
 
 #if !defined  (HSE_STARTUP_TIMEOUT)

src/Bsp/usart.c

@@ -69,14 +69,11 @@ void HAL_UART_MspInit(UART_HandleTypeDef *uartHandle)
         */
         GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7;
         GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-        GPIO_InitStruct.Pull = GPIO_PULLUP;
+        GPIO_InitStruct.Pull = GPIO_NOPULL;
-        GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+        GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
         GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
         HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
-        /* USART1 interrupt Init */
-        HAL_NVIC_SetPriority(USART1_IRQn, 0, 0);
-        HAL_NVIC_EnableIRQ(USART1_IRQn);
         /* USER CODE BEGIN USART1_MspInit 1 */
 
         /* USER CODE END USART1_MspInit 1 */

src/Foc/hall.c

@@ -7,8 +7,6 @@
  */
 void calc_hall_angle(hall_handle_t *handle, uint8_t new_state)
 {
-   
-
     switch (new_state)
     {
     case HALL_STATE_5: