Gimbal Teststand Development

embedded-software/firmware/README.md

@@ -27,6 +27,10 @@ cmake --preset debug && cmake --build --preset debug
 # GNSS radio
 cd ulysses-gnss-radio
 cmake --preset Debug && cmake --build --preset Debug
+
+# Gimbal test stand
+cd gimbal_test_stand
+cmake --preset debug && cmake --build --preset debug
 ```
 
 ## Testing

embedded-software/firmware/gimbal_test_stand/.mxproject

@@ -0,0 +1,26 @@
+[PreviousLibFiles]
+LibFiles=Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_cortex.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_ll_cortex.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_i2c.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_ll_i2c.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_i2c_ex.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_dma.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_dma_ex.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_rcc.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_rcc_ex.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_ll_bus.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_ll_rcc.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_ll_crs.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_ll_system.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_ll_utils.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_flash.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_flash_ex.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_gpio.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_gpio_ex.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_ll_gpio.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_ll_dma.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_ll_dmamux.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_pwr.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_pwr_ex.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_ll_pwr.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_def.h;Drivers/STM32H5xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_exti.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_ll_exti.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_icache.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_ll_icache.h;Drivers/BSP/STM32H5xx_Nucleo/stm32h5xx_nucleo_errno.h;Drivers/BSP/STM32H5xx_Nucleo/stm32h5xx_nucleo.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_usart.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_usart_ex.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_uart.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_uart_ex.h;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_cortex.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_i2c.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_i2c_ex.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_dma.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_dma_ex.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_rcc.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_rcc_ex.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_flash.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_flash_ex.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_gpio.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_pwr.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_pwr_ex.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_exti.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_icache.c;Drivers/BSP/STM32H5xx_Nucleo/stm32h5xx_nucleo.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_usart.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_usart_ex.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_uart_ex.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_uart.c;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_cortex.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_ll_cortex.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_i2c.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_ll_i2c.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_i2c_ex.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_dma.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_dma_ex.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_rcc.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_rcc_ex.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_ll_bus.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_ll_rcc.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_ll_crs.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_ll_system.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_ll_utils.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_flash.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_flash_ex.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_gpio.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_gpio_ex.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_ll_gpio.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_ll_dma.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_ll_dmamux.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_pwr.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_pwr_ex.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_ll_pwr.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_def.h;Drivers/STM32H5xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_exti.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_ll_exti.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_icache.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_ll_icache.h;Drivers/BSP/STM32H5xx_Nucleo/stm32h5xx_nucleo_errno.h;Drivers/BSP/STM32H5xx_Nucleo/stm32h5xx_nucleo.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_usart.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_usart_ex.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_uart.h;Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_uart_ex.h;Drivers/CMSIS/Device/ST/STM32H5xx/Include/stm32h533xx.h;Drivers/CMSIS/Device/ST/STM32H5xx/Include/stm32h5xx.h;Drivers/CMSIS/Device/ST/STM32H5xx/Include/system_stm32h5xx.h;Drivers/CMSIS/Device/ST/STM32H5xx/Include/system_stm32h5xx.h;Drivers/CMSIS/Device/ST/STM32H5xx/Source/Templates/system_stm32h5xx.c;Drivers/CMSIS/Include/core_armv8mbl.h;Drivers/CMSIS/Include/core_cm0.h;Drivers/CMSIS/Include/pac_armv81.h;Drivers/CMSIS/Include/core_armv8mml.h;Drivers/CMSIS/Include/core_cm33.h;Drivers/CMSIS/Include/cmsis_armclang.h;Drivers/CMSIS/Include/cmsis_version.h;Drivers/CMSIS/Include/cachel1_armv7.h;Drivers/CMSIS/Include/core_cm23.h;Drivers/CMSIS/Include/core_cm35p.h;Drivers/CMSIS/Include/cmsis_compiler.h;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Include/core_cm1.h;Drivers/CMSIS/Include/cmsis_iccarm.h;Drivers/CMSIS/Include/mpu_armv8.h;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/core_cm85.h;Drivers/CMSIS/Include/cmsis_armclang_ltm.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/core_starmc1.h;Drivers/CMSIS/Include/core_cm4.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/tz_context.h;Drivers/CMSIS/Include/pmu_armv8.h;Drivers/CMSIS/Include/core_armv81mml.h;Drivers/CMSIS/Include/mpu_armv7.h;Drivers/CMSIS/Include/core_cm55.h;Drivers/CMSIS/Include/core_sc300.h;Drivers/CMSIS/Include/core_cm3.h;
+
+[PreviousUsedCMakes]
+SourceFiles=Core/Src/main.c;Core/Src/stm32h5xx_it.c;Core/Src/stm32h5xx_hal_msp.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_cortex.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_i2c.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_i2c_ex.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_dma.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_dma_ex.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_rcc.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_rcc_ex.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_flash.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_flash_ex.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_gpio.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_pwr.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_pwr_ex.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_exti.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_icache.c;Drivers/BSP/STM32H5xx_Nucleo/stm32h5xx_nucleo.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_usart.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_usart_ex.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_uart_ex.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_uart.c;Drivers/CMSIS/Device/ST/STM32H5xx/Source/Templates/system_stm32h5xx.c;Core/Src/system_stm32h5xx.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_cortex.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_i2c.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_i2c_ex.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_dma.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_dma_ex.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_rcc.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_rcc_ex.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_flash.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_flash_ex.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_gpio.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_pwr.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_pwr_ex.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_exti.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_icache.c;Drivers/BSP/STM32H5xx_Nucleo/stm32h5xx_nucleo.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_usart.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_usart_ex.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_uart_ex.c;Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_uart.c;Drivers/CMSIS/Device/ST/STM32H5xx/Source/Templates/system_stm32h5xx.c;Core/Src/system_stm32h5xx.c;;;
+HeaderPath=Drivers/STM32H5xx_HAL_Driver/Inc;Drivers/STM32H5xx_HAL_Driver/Inc/Legacy;Drivers/BSP/STM32H5xx_Nucleo;Drivers/CMSIS/Device/ST/STM32H5xx/Include;Drivers/CMSIS/Include;Core/Inc;
+CDefines=USE_NUCLEO_64;USE_HAL_DRIVER;STM32H533xx;USE_HAL_DRIVER;USE_HAL_DRIVER;
+
+[PreviousGenFiles]
+AdvancedFolderStructure=true
+HeaderFileListSize=4
+HeaderFiles#0=../Core/Inc/stm32h5xx_nucleo_conf.h
+HeaderFiles#1=../Core/Inc/stm32h5xx_it.h
+HeaderFiles#2=../Core/Inc/stm32h5xx_hal_conf.h
+HeaderFiles#3=../Core/Inc/main.h
+HeaderFolderListSize=1
+HeaderPath#0=../Core/Inc
+HeaderFiles=;
+SourceFileListSize=3
+SourceFiles#0=../Core/Src/stm32h5xx_it.c
+SourceFiles#1=../Core/Src/stm32h5xx_hal_msp.c
+SourceFiles#2=../Core/Src/main.c
+SourceFolderListSize=1
+SourcePath#0=../Core/Src
+SourceFiles=;
+

embedded-software/firmware/gimbal_test_stand/.vscode/extensions.json

@@ -0,0 +1,7 @@
+{
+    "recommendations": [
+        "ms-vscode.cmake-tools",
+        "marus25.cortex-debug",
+        "ms-vscode.cpptools"
+    ]
+}

embedded-software/firmware/gimbal_test_stand/.vscode/launch.json

@@ -0,0 +1,46 @@
+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "Ulysses - Debug",
+            "cwd": "${workspaceFolder}",
+            "executable": "${config:cmake.buildDirectory}/debug/gimbal_test_stand.elf",
+            "request": "launch",
+            "type": "cortex-debug",
+            "servertype": "openocd",
+            "serverpath": "${env:STM32_OPENOCD_PATH}",
+            "configFiles": [
+                "interface/stlink-dap.cfg",
+                "target/stm32h5x.cfg"
+            ],
+            "svdFile": "${workspaceFolder}/platform/svd/STM32H533.svd",
+            "searchDir": [
+                "${env:STM32_OPENOCD_SCRIPTS_PATH}"
+            ],
+            "runToEntryPoint": "main",
+            "showDevDebugOutput": "raw"
+        },
+        {
+            "name": "Ulysses - Release",
+            "cwd": "${workspaceFolder}",
+            "executable": "${config:cmake.buildDirectory}/release/gimbal_test_stand.elf",
+            "request": "launch",
+            "type": "cortex-debug",
+            "servertype": "openocd",
+            "serverpath": "${env:STM32_OPENOCD_PATH}",
+            "configFiles": [
+                "interface/stlink-dap.cfg",
+                "target/stm32h5x.cfg"
+            ],
+            "svdFile": "${workspaceFolder}/platform/svd/STM32H533.svd",
+            "searchDir": [
+                "${env:STM32_OPENOCD_SCRIPTS_PATH}"
+            ],
+            "runToEntryPoint": "main",
+            "showDevDebugOutput": "raw"
+        }
+    ]
+}

embedded-software/firmware/gimbal_test_stand/CMakeLists.txt

@@ -0,0 +1,68 @@
+cmake_minimum_required(VERSION 3.22)
+
+#
+# This file is generated only once,
+# and is not re-generated if converter is called multiple times.
+#
+# User is free to modify the file as much as necessary
+#
+
+# Setup compiler settings
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_C_STANDARD_REQUIRED ON)
+set(CMAKE_C_EXTENSIONS ON)
+
+
+# Define the build type
+if(NOT CMAKE_BUILD_TYPE)
+    set(CMAKE_BUILD_TYPE "debug")
+endif()
+
+# Set the project name
+set(CMAKE_PROJECT_NAME gimbal_test_stand)
+
+# Enable compile command to ease indexing with e.g. clangd
+set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)
+
+# Core project settings
+project(${CMAKE_PROJECT_NAME})
+message("Build type: " ${CMAKE_BUILD_TYPE})
+
+# Enable CMake support for ASM and C languages
+enable_language(C ASM)
+
+# Create an executable object type
+add_executable(${CMAKE_PROJECT_NAME})
+
+# Add STM32CubeMX generated sources
+add_subdirectory(cmake/stm32cubemx)
+
+# Link directories setup
+target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE
+    # Add user defined library search paths
+)
+
+# Add sources to executable
+target_sources(${CMAKE_PROJECT_NAME} PRIVATE
+    # Add user sources here
+)
+
+# Add include paths
+target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE
+    # Add user defined include paths
+)
+
+# Add project symbols (macros)
+target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
+    # Add user defined symbols
+)
+
+# Remove wrong libob.a library dependency when using cpp files
+list(REMOVE_ITEM CMAKE_C_IMPLICIT_LINK_LIBRARIES ob)
+
+# Add linked libraries
+target_link_libraries(${CMAKE_PROJECT_NAME}
+    stm32cubemx
+
+    # Add user defined libraries
+)

embedded-software/firmware/gimbal_test_stand/CMakePresets.json

@@ -0,0 +1,38 @@
+{
+    "version": 3,
+    "configurePresets": [
+        {
+            "name": "default",
+            "hidden": true,
+            "generator": "Ninja",
+            "binaryDir": "${sourceDir}/build/${presetName}",
+		    "toolchainFile": "${sourceDir}/cmake/gcc-arm-none-eabi.cmake",
+            "cacheVariables": {
+            }
+        },
+        {
+            "name": "debug",
+            "inherits": "default",
+            "cacheVariables": {
+                "CMAKE_BUILD_TYPE": "debug"
+            }
+        },
+        {
+            "name": "release",
+            "inherits": "default",
+            "cacheVariables": {
+                "CMAKE_BUILD_TYPE": "release"
+            }
+        }
+    ],
+    "buildPresets": [
+        {
+            "name": "debug",
+            "configurePreset": "debug"
+        },
+        {
+            "name": "release",
+            "configurePreset": "release"
+        }
+    ]
+}