Merge pull request #6 from TaiyouKomazawa/develop

Develop パッチ1.0.1の適応
TaiyouKomazawa · Jan 20, 2022 · 0a4c5ee · 0a4c5ee
2 parents a970dcf + 632cd03
commit 0a4c5ee
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Showing 4 changed files with 57 additions and 7 deletions.
diff --git a/.cproject b/.cproject
@@ -53,7 +53,7 @@
 									<listOptionValue builtIn="false" value="../Drivers/CMSIS/Device/ST/STM32F3xx/Include"/>
 									<listOptionValue builtIn="false" value="../Drivers/CMSIS/Include"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/InteractiveMD/Core/SerialBridge}&quot;"/>
-									<listOptionValue builtIn="false" value="/home/ubuntu/STM32CubeIDE/workspace_1.7.0/InteractiveMD/Core/SerialBridge/src"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/InteractiveMD/Core/SerialBridge/src}&quot;"/>
 								</option>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1151209756" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
 							</tool>
@@ -127,12 +127,16 @@
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.1378320802" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/InteractiveMD}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.406971965" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.427802708" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.920309402" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.value.g0" valueType="enumerated"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.920309402" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.value.g0" valueType="enumerated"/>
+								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.includepaths.809410666" name="Include paths (-I)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.includepaths" useByScannerDiscovery="false" valueType="includePath">
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/InteractiveMD/Core/SerialBridge}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/InteractiveMD/Core/SerialBridge/src}&quot;"/>
+								</option>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input.1156123596" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input"/>
 							</tool>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1334803847" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler">
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.1194685347" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.value.g0" valueType="enumerated"/>
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.840231132" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.os" valueType="enumerated"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.840231132" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.o0" valueType="enumerated"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols.1288304377" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
 									<listOptionValue builtIn="false" value="STM32F303x8"/>
@@ -143,12 +147,14 @@
 									<listOptionValue builtIn="false" value="../Drivers/STM32F3xx_HAL_Driver/Inc/Legacy"/>
 									<listOptionValue builtIn="false" value="../Drivers/CMSIS/Device/ST/STM32F3xx/Include"/>
 									<listOptionValue builtIn="false" value="../Drivers/CMSIS/Include"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/InteractiveMD/Core/SerialBridge}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/InteractiveMD/Core/SerialBridge/src}&quot;"/>
 								</option>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.349656468" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
 							</tool>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.917772068" name="MCU G++ Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler">
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel.394947149" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel.value.g0" valueType="enumerated"/>
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level.422283056" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level.value.os" valueType="enumerated"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level.422283056" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level.value.o0" valueType="enumerated"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.definedsymbols.1581826103" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
 									<listOptionValue builtIn="false" value="STM32F303x8"/>
@@ -159,12 +165,14 @@
 									<listOptionValue builtIn="false" value="../Drivers/STM32F3xx_HAL_Driver/Inc/Legacy"/>
 									<listOptionValue builtIn="false" value="../Drivers/CMSIS/Device/ST/STM32F3xx/Include"/>
 									<listOptionValue builtIn="false" value="../Drivers/CMSIS/Include"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/InteractiveMD/Core/SerialBridge}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/InteractiveMD/Core/SerialBridge/src}&quot;"/>
 								</option>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.input.cpp.443755607" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.input.cpp"/>
 							</tool>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.1849190582" name="MCU GCC Linker" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.214366408" name="MCU G++ Linker" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker">
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.option.script.777226296" name="Linker Script (-T)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.option.script" value="${workspace_loc:/${ProjName}/STM32F303K8TX_FLASH.ld}" valueType="string"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.option.script.777226296" name="Linker Script (-T)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.option.script" useByScannerDiscovery="false" value="${workspace_loc:/${ProjName}/STM32F303K8TX_FLASH.ld}" valueType="string"/>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.input.454627413" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.input">
 									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
 									<additionalInput kind="additionalinput" paths="$(LIBS)"/>

diff --git a/Core/Src/main.cpp b/Core/Src/main.cpp
@@ -54,7 +54,7 @@
 #define M2		1U  /* モータ2の要素 */
 
 /** @brief モータ制御器の更新タイミング */
-#define CTRL_INTERVAL 	(1.0 / 100)   //[sec]
+#define CTRL_INTERVAL 	(1.0 / 200)   //[sec]
 /** @brief 電流センサ(ACS712ELCTR-05B)の感度 */
 #define ACS712_V_2_I		(1 / 0.185)   //[A/V]
 /** @brief 暴走検知用カウンタの許容値(この回数を超えると非常停止する) */

diff --git a/InteractiveMD Release.cfg b/InteractiveMD Release.cfg
@@ -0,0 +1,42 @@
+# This is an genericBoard board with a single STM32F303K8Tx chip
+#
+# Generated by STM32CubeIDE
+# Take care that such file, as generated, may be overridden without any early notice. Please have a look to debug launch configuration setup(s)
+
+source [find interface/stlink-dap.cfg]
+
+
+set WORKAREASIZE 0x1000
+
+transport select "dapdirect_swd"
+
+set CHIPNAME STM32F303K8Tx
+set BOARDNAME genericBoard
+
+# Enable debug when in low power modes
+set ENABLE_LOW_POWER 1
+
+# Stop Watchdog counters when halt
+set STOP_WATCHDOG 1
+
+# STlink Debug clock frequency
+set CLOCK_FREQ 8000
+
+# Reset configuration
+# use hardware reset, connect under reset
+# connect_assert_srst needed if low power mode application running (WFI...)
+reset_config srst_only srst_nogate connect_assert_srst
+set CONNECT_UNDER_RESET 1
+set CORE_RESET 0
+
+# ACCESS PORT NUMBER
+set AP_NUM 0
+# GDB PORT
+set GDB_PORT 3333
+
+
+
+# BCTM CPU variables
+
+source [find target/stm32f3x.cfg]
+
diff --git a/README.md b/README.md
@@ -1,6 +1,6 @@
 # InteractiveMD
 
-**Version 1.0.0**
+**Version 1.0.1**
 
 ## 概要