Minh/motorupdate

.github/workflows/build.yaml

@@ -10,10 +10,12 @@ jobs:
       - uses: fiam/arm-none-eabi-gcc@v1
         with:
           release: '9-2020-q2'
+      - run: cd motorControllerV1 && cmake -G "Unix Makefiles" -DCMAKE_TOOLCHAIN_FILE=./cmake/arm-none-eabi-gcc.cmake -DCMAKE_BUILD_TYPE=Debug . && cmake --build . -- -j 4
       - run: cd motor_controller && cmake -G "Unix Makefiles" -DCMAKE_TOOLCHAIN_FILE=./cmake/arm-none-eabi-gcc.cmake -DCMAKE_BUILD_TYPE=Debug . && cmake --build . -- -j 4
       - run: cd examples/adc && cmake -G "Unix Makefiles" -DCMAKE_TOOLCHAIN_FILE=./cmake/arm-none-eabi-gcc.cmake -DCMAKE_BUILD_TYPE=Debug . && cmake --build . -- -j 4
       - run: cd examples/dac && cmake -G "Unix Makefiles" -DCMAKE_TOOLCHAIN_FILE=./cmake/arm-none-eabi-gcc.cmake -DCMAKE_BUILD_TYPE=Debug . && cmake --build . -- -j 4
       - run: cd examples/blinky && cmake -G "Unix Makefiles" -DCMAKE_TOOLCHAIN_FILE=./cmake/arm-none-eabi-gcc.cmake -DCMAKE_BUILD_TYPE=Debug . && cmake --build . -- -j 4
       - run: cd examples/pwm && cmake -G "Unix Makefiles" -DCMAKE_TOOLCHAIN_FILE=./cmake/arm-none-eabi-gcc.cmake -DCMAKE_BUILD_TYPE=Debug . && cmake --build . -- -j 4
       - run: cd examples/pollingInput && cmake -G "Unix Makefiles" -DCMAKE_TOOLCHAIN_FILE=./cmake/arm-none-eabi-gcc.cmake -DCMAKE_BUILD_TYPE=Debug . && cmake --build . -- -j 4
       - run: cd examples/interruptInput && cmake -G "Unix Makefiles" -DCMAKE_TOOLCHAIN_FILE=./cmake/arm-none-eabi-gcc.cmake -DCMAKE_BUILD_TYPE=Debug . && cmake --build . -- -j 4
+

.gitmodules

@@ -11,3 +11,6 @@
 [submodule "common/etl"]
 	path = common/etl
 	url = https://github.com/ETLCPP/etl
+[submodule "ChibiOS-Contrib"]
+	path = ChibiOS-Contrib
+	url = https://github.com/ChibiOS/ChibiOS-Contrib

adc/.gitignore

@@ -0,0 +1,61 @@
+ Prerequisites
+*.d
+
+# Object files
+*.o
+*.ko
+*.obj
+*.elf
+
+# Linker output
+*.ilk
+*.map
+*.exp
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Shared objects (inc. Windows DLLs)
+*.dll
+*.so
+*.so.*
+*.dylib
+
+# Executables
+*.exe
+*.out
+*.app
+*.i*86
+*.x86_64
+*.hex
+
+# Debug files
+*.dSYM/
+*.su
+*.idb
+*.pdb
+
+# Kernel Module Compile Results
+*.mod*
+*.cmd
+.tmp_versions/
+modules.order
+Module.symvers
+Mkfile.old
+dkms.conf
+
+#STM32Cube IDE build files
+Debug/
+.settings
+
+#CMake build files
+build/
+
+#VS code settings
+.vscode/.cortex-debug.peripherals.state.json
+.vscode/.cortex-debug.registers.state.json
+
+#python unnecessary file
+__pycache__/
+.idea/

adc/.vscode/extensions.json

@@ -0,0 +1,10 @@
+{
+	// See https://go.microsoft.com/fwlink/?LinkId=827846
+	// for the documentation about the extensions.json format
+	"recommendations": [
+		"ms-vscode.cpptools",
+		"twxs.cmake",
+        "ms-vscode.cmake-tools",
+        "marus25.cortex-debug"
+	]
+}

adc/.vscode/launch.json

@@ -0,0 +1,17 @@
+{
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "cwd": "${workspaceRoot}",
+            "executable": "${command:cmake.launchTargetPath}",
+            "name": "Debug Microcontroller",
+            "request": "launch",
+            "type": "cortex-debug",
+            "servertype": "openocd",
+            "configFiles": ["${workspaceFolder}/../common/f3_openocd.cfg"],
+            "svdFile": "${workspaceFolder}/../common/SVD/STM32F303.svd",
+            "demangle": true,
+            "runToMain": true
+        }
+    ]
+}

adc/.vscode/settings.json

@@ -0,0 +1,7 @@
+
+{
+    "cmake.configureSettings": {
+        "CMAKE_TOOLCHAIN_FILE" : "${workspaceFolder}/cmake/arm-none-eabi-gcc.cmake",
+    },
+    "cmake.parallelJobs": 12
+}

adc/.vscode/tasks.json

@@ -0,0 +1,23 @@
+{
+    "version": "2.0.0",
+    "tasks": [
+        { 
+            "label": "CMake Build",
+            "command": "cmd",
+            "args": ["-c", "${input:buildCommand}"],
+            "type": "shell",
+            "problemMatcher": [],
+            "group": {
+                "kind": "build",
+                "isDefault": true
+            }
+        }
+    ],
+    "inputs": [
+      {
+        "id": "buildCommand",
+        "type": "command",
+        "command": "cmake.tasksBuildCommand"
+      }
+    ]
+  }

adc/App/Src/main.cpp

@@ -0,0 +1,41 @@
+#include "ch.h"
+#include "hal.h"
+#include "chprintf.h"
+static const ADCConversionGroup adcCfg = {
+  .circular     = false,
+  .num_channels = 1,
+  .end_cb       = NULL,
+  .error_cb     = NULL,
+  .cfgr         = ADC_CFGR_CONT,
+  .tr1          = ADC_TR_DISABLED,
+  .tr2          = ADC_TR_DISABLED,
+  .tr3          = ADC_TR_DISABLED,
+  .awd2cr       = 0U,
+  .awd3cr       = 0U,
+  .smpr         = {
+    ADC_SMPR1_SMP_AN1(ADC_SMPR_SMP_19P5),
+    0
+  },
+  .sqr          = {
+    ADC_SQR1_SQ1_N(ADC_CHANNEL_IN1),
+    0,
+    0,
+    0
+  }
+};
+int main(void)
+{
+	chSysInit();
+	halInit();
+	palSetPadMode(GPIOA, GPIOA_PIN0, PAL_MODE_INPUT_ANALOG);
+	sdStart(&SD2, NULL);
+	adcStart(&ADCD1, NULL);
+	while(1) {
+		adcsample_t buffer[2];
+		msg_t status = adcConvert(&ADCD1, &adcCfg, buffer, 2);
+		chprintf((BaseSequentialStream*)&SD2, "ADC 0 is %d \r\n", buffer[0]);
+		chThdSleepMilliseconds(20);
+	}
+}
+
+