# gb_stm32

**Repository Path**: dayuanc/gb_stm32

## Basic Information

- **Project Name**: gb_stm32
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2020-07-29
- **Last Updated**: 2020-12-24

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# For UR decoration impedance control.

Version v0.01 -- by Dayuan

2019/09/04

## Current function:


*  PC Real-time monitoring data by DataScopeDP -- Usart1 by plug in USB - Mini RS232

    Download and tutorial in [Datascope](http://219.223.251.59:5050/public_group/datascope)
> Prerequesite: PC driver CH340
*  PWM output  
>  PA7  / use TIM14 Channel 1
*  Motor Enable 
>  PA6
*  Force sensor read / use RS485  
>  Usart2 A-B -- baut rate:115200
>  Read Hz : 200Hz hover
*  MCU time catch 
*  Encoder Inc read : TO be verified 
> PC6 - A  PC7 - B  PG7 -Z
*  Limit Switch for Encoder calibration  - PC12
*  ROS Communication Port 
> Usart3 - PB10 - tx , PB11 - rx

`define three uint32_t static variale like:`
 
        static uint32_t time_test1, time_test2, time_error; 
        
`RTos task infinite cycle below`

        {
            time_test2 = get_sys_time();
            time_error = time_test2 - time_test1;
            /*
                some task code
            */
            time_test1 = get_sys_time();
            osDelay(1);
        }
        
Then you can read `time_error` variable to get this task running span.

## TO DO

* [ ] Inc Encoder read by Timer -- tobe verified

* [ ] ROS communication by usart -- tobe verified

* [ ] motor control -- speed cycle and position cycle 

* [ ] algorithm

* [ ] create timer to detect force sensor over time error 


## MDK-Project path

`MDK-ARM / gb.uvprojx`

## ALL Project component

*  Drviers
    - CMSIS -- driver for general hardware
    - HAL -- driver for stm32

*  Inc -- .h files

*  MDK-ARM -- **Keil project**
        
*  Middlewares -- FreeRTos

*  Src

    - Auto generate system initial .c files
 
    - User define functions .c files

*  gb.ioc -- CubeMx Project for auto generate MDK project