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‎Makefile

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##############################################################################
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# Build global options
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# NOTE: Can be overridden externally.
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#
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# Compiler options here.
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ifeq ($(USE_OPT),)
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USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16 -std=gnu99
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USE_OPT += -DSTM32F40_41xxx
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endif
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# C specific options here (added to USE_OPT).
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ifeq ($(USE_COPT),)
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USE_COPT =
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endif
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# C++ specific options here (added to USE_OPT).
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ifeq ($(USE_CPPOPT),)
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USE_CPPOPT = -fno-rtti
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endif
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# Enable this if you want the linker to remove unused code and data
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ifeq ($(USE_LINK_GC),)
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USE_LINK_GC = yes
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endif
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# If enabled, this option allows to compile the application in THUMB mode.
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ifeq ($(USE_THUMB),)
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USE_THUMB = yes
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endif
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# Enable this if you want to see the full log while compiling.
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ifeq ($(USE_VERBOSE_COMPILE),)
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USE_VERBOSE_COMPILE = yes
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endif
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#
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# Build global options
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##############################################################################
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##############################################################################
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# Architecture or project specific options
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#
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# Enables the use of FPU on Cortex-M4.
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ifeq ($(USE_FPU),)
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USE_FPU = yes
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endif
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# Enable this if you really want to use the STM FWLib.
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ifeq ($(USE_FWLIB),)
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USE_FWLIB = yes
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endif
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#
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# Architecture or project specific options
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##############################################################################
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##############################################################################
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# Project, sources and paths
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#
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# Define project name here
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PROJECT = BLDC_4_ChibiOS
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# Imported source files and paths
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CHIBIOS = ../../ChibiOS-RT-master
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include $(CHIBIOS)/boards/ST_STM32F4_DISCOVERY/board.mk
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include $(CHIBIOS)/os/hal/platforms/STM32F4xx/platform.mk
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include $(CHIBIOS)/os/hal/hal.mk
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include $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F4xx/port.mk
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include $(CHIBIOS)/os/kernel/kernel.mk
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# Define linker script file here
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LDSCRIPT= $(PORTLD)/STM32F407xG.ld
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#LDSCRIPT= $(PORTLD)/STM32F407xG_CCM.ld
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# C sources that can be compiled in ARM or THUMB mode depending on the global
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# setting.
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CSRC = $(PORTSRC) \
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$(KERNSRC) \
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$(TESTSRC) \
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$(HALSRC) \
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$(PLATFORMSRC) \
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$(BOARDSRC) \
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$(CHIBIOS)/os/various/chprintf.c \
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$(CHIBIOS)/os/various/shell.c \
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$(CHIBIOS)/os/various/syscalls.c \
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main.c \
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myUSB.c \
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irq_handlers.c \
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buffer.c \
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comm.c \
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crc.c \
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digital_filter.c \
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ledpwm.c \
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mcpwm.c \
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servo_dec.c \
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utils.c \
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servo.c \
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packet.c \
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terminal.c
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# C++ sources that can be compiled in ARM or THUMB mode depending on the global
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# setting.
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CPPSRC =
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# C sources to be compiled in ARM mode regardless of the global setting.
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# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
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# option that results in lower performance and larger code size.
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ACSRC =
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# C++ sources to be compiled in ARM mode regardless of the global setting.
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# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
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# option that results in lower performance and larger code size.
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ACPPSRC =
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# C sources to be compiled in THUMB mode regardless of the global setting.
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# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
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# option that results in lower performance and larger code size.
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TCSRC =
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# C sources to be compiled in THUMB mode regardless of the global setting.
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# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
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# option that results in lower performance and larger code size.
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TCPPSRC =
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# List ASM source files here
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ASMSRC = $(PORTASM)
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INCDIR = $(PORTINC) $(KERNINC) $(TESTINC) \
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$(HALINC) $(PLATFORMINC) $(BOARDINC) \
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$(CHIBIOS)/os/various/devices_lib/accel \
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$(CHIBIOS)/os/various \
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$(CHIBIOS)/os/various $(CC2520INC)
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#
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# Project, sources and paths
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##############################################################################
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##############################################################################
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# Compiler settings
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#
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MCU = cortex-m4
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#TRGT = arm-elf-
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#TRGT = ~/sat/bin/arm-none-eabi-
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TRGT = arm-none-eabi-
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CC = $(TRGT)gcc
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CPPC = $(TRGT)g++
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# Enable loading with g++ only if you need C++ runtime support.
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# NOTE: You can use C++ even without C++ support if you are careful. C++
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# runtime support makes code size explode.
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LD = $(TRGT)gcc
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#LD = $(TRGT)g++
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CP = $(TRGT)objcopy
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AS = $(TRGT)gcc -x assembler-with-cpp
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OD = $(TRGT)objdump
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SIZE = $(TRGT)size
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HEX = $(CP) -O ihex
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BIN = $(CP) -O binary
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# ARM-specific options here
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AOPT =
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# THUMB-specific options here
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TOPT = -mthumb -DTHUMB
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# Define C warning options here
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CWARN = -Wall -Wextra -Wstrict-prototypes
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# Define C++ warning options here
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CPPWARN = -Wall -Wextra
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#
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# Compiler settings
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##############################################################################
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##############################################################################
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# Start of default section
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#
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# List all default C defines here, like -D_DEBUG=1
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DDEFS =
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# List all default ASM defines here, like -D_DEBUG=1
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DADEFS =
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# List all default directories to look for include files here
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DINCDIR =
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# List the default directory to look for the libraries here
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DLIBDIR =
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# List all default libraries here
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DLIBS =
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#
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# End of default section
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##############################################################################
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##############################################################################
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# Start of user section
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#
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# List all user C define here, like -D_DEBUG=1
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UDEFS =
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# Define ASM defines here
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UADEFS =
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# List all user directories here
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UINCDIR =
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# List the user directory to look for the libraries here
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ULIBDIR =
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# List all user libraries here
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ULIBS = -lm
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#
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# End of user defines
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##############################################################################
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ifeq ($(USE_FPU),yes)
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USE_OPT += -mfloat-abi=softfp -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
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DDEFS += -DCORTEX_USE_FPU=TRUE
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else
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DDEFS += -DCORTEX_USE_FPU=FALSE
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endif
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ifeq ($(USE_FWLIB),yes)
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include $(CHIBIOS)/ext/stdperiph_stm32f4/stm32lib.mk
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CSRC += $(STM32SRC)
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INCDIR += $(STM32INC)
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USE_OPT += -DUSE_STDPERIPH_DRIVER
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endif
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include $(CHIBIOS)/os/ports/GCC/ARMCMx/rules.mk
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# Print size
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all:
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$(SIZE) build/$(PROJECT).elf
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build/$(PROJECT).bin: build/$(PROJECT).elf
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$(BIN) build/$(PROJECT).elf build/$(PROJECT).bin
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# Program
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upload: build/$(PROJECT).bin
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qstlink2 --cli --erase --write build/$(PROJECT).bin
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debug-start:
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openocd -f stm32-bv_openocd.cfg
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‎README.md

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This is the source code for my custom BLDC controller. I will post a link to a complete tutorial on my homepage soon.

‎buffer.c

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/*
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Copyright 2012-2014 Benjamin Vedder [email protected]
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* buffer.c
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*
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* Created on: 13 maj 2013
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* Author: benjamin
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*/
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#include "buffer.h"
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void buffer_append_int32(uint8_t* buffer, int32_t number, int32_t *index) {
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buffer[(*index)++] = number >> 24;
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buffer[(*index)++] = number >> 16;
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buffer[(*index)++] = number >> 8;
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buffer[(*index)++] = number;
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}
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void buffer_append_uint32(uint8_t* buffer, uint32_t number, int32_t *index) {
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buffer[(*index)++] = number >> 24;
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buffer[(*index)++] = number >> 16;
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buffer[(*index)++] = number >> 8;
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buffer[(*index)++] = number;
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}
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void buffer_append_int16(uint8_t* buffer, int16_t number, int32_t *index) {
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buffer[(*index)++] = number >> 8;
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buffer[(*index)++] = number;
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}
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void buffer_append_uint16(uint8_t* buffer, uint16_t number, int32_t *index) {
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buffer[(*index)++] = number >> 8;
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buffer[(*index)++] = number;
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}
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int16_t buffer_get_int16(const uint8_t *buffer, int32_t *index) {
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int16_t res = ((uint16_t) buffer[*index]) << 8 |
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((uint16_t) buffer[*index + 1]);
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*index += 2;
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return res;
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}
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uint16_t buffer_get_uint16(const uint8_t *buffer, int32_t *index) {
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uint16_t res = ((uint16_t) buffer[*index]) << 8 |
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((uint16_t) buffer[*index + 1]);
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*index += 2;
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return res;
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}
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int32_t buffer_get_int32(const uint8_t *buffer, int32_t *index) {
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int32_t res = ((uint32_t) buffer[*index]) << 24 |
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((uint32_t) buffer[*index]) << 16 |
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((uint32_t) buffer[*index]) << 8 |
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((uint32_t) buffer[*index + 1]);
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*index += 4;
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return res;
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}
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uint32_t buffer_get_uint32(const uint8_t *buffer, int32_t *index) {
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uint32_t res = ((uint32_t) buffer[*index]) << 24 |
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((uint32_t) buffer[*index]) << 16 |
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((uint32_t) buffer[*index]) << 8 |
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((uint32_t) buffer[*index + 1]);
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*index += 4;
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return res;
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}

‎buffer.h

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/*
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* buffer.h
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*
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* Created on: 13 maj 2013
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* Author: benjamin
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*/
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#ifndef BUFFER_H_
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#define BUFFER_H_
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#include <stdint.h>
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void buffer_append_int32(uint8_t* buffer, int32_t number, int32_t *index);
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void buffer_append_uint32(uint8_t* buffer, uint32_t number, int32_t *index);
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void buffer_append_int16(uint8_t* buffer, int16_t number, int32_t *index);
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void buffer_append_uint16(uint8_t* buffer, uint16_t number, int32_t *index);
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int16_t buffer_get_int16(const uint8_t *buffer, int32_t *index);
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uint16_t buffer_get_uint16(const uint8_t *buffer, int32_t *index);
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int32_t buffer_get_int32(const uint8_t *buffer, int32_t *index);
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uint32_t buffer_get_uint32(const uint8_t *buffer, int32_t *index);
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#endif /* BUFFER_H_ */

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