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UART receiving issue

Da3
Associate II

‎2026-05-14 6:42 AM

Hello, I was able to successfully implement a way to read motor status and various parameters through UART on putty with my B-G431B-ESC1. However, when I tried following tutorials to add a way to also control the motor status (turning it on and off), I keep getting no response from the motor when I type commands in putty. I don't know if something is wrong with my code or with the way I set up putty, but im leaning more towards the code since the TX part works well. Im quite a beginner with this so maybe its something very ***, but i really cant wrap my head around it. Linked to the post is my main.c. thank you.

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11 REPLIES 11
Karl Yamashita
Principal
In response to Da3

‎2026-05-18 3:46 PM

Try testing the UART in polling method instead of interrupt. That way we can eliminate a HW issue, at least on the Rx pin. If it works, then we can narrow it down to just an interrupt/initialization issue.

The code below if for polling the UART. If successful, it'll print if motor started/stopped.

 

#include "main.h"
#include <stdio.h>
#include <string.h>
#include <mc_config.h>
#include <stdbool.h>

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
ADC_HandleTypeDef hadc1;
ADC_HandleTypeDef hadc2;

COMP_HandleTypeDef hcomp1;
COMP_HandleTypeDef hcomp2;
COMP_HandleTypeDef hcomp4;

CORDIC_HandleTypeDef hcordic;

DAC_HandleTypeDef hdac3;

OPAMP_HandleTypeDef hopamp1;
OPAMP_HandleTypeDef hopamp2;
OPAMP_HandleTypeDef hopamp3;

TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim4;

UART_HandleTypeDef huart2;
DMA_HandleTypeDef hdma_usart2_rx;
DMA_HandleTypeDef hdma_usart2_tx;

/* USER CODE BEGIN PV */
int velocita = 0;
const char* get_state_name(MCI_State_t state) {
    switch (state) {
        case IDLE:            return "IDLE";
        case ALIGNMENT:       return "ALIGNMENT";
        case START:           return "STARTING";
        case RUN:             return "RUNNING";
        case FAULT_NOW:       return "FAULT_ACTIVE";
        case FAULT_OVER:      return "FAULT_OVER";
        default:              return "UNKNOWN";
    }
}
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_DMA_Init(void);
static void MX_ADC1_Init(void);
static void MX_ADC2_Init(void);
static void MX_COMP1_Init(void);
static void MX_COMP2_Init(void);
static void MX_COMP4_Init(void);
static void MX_CORDIC_Init(void);
static void MX_DAC3_Init(void);
static void MX_OPAMP1_Init(void);
static void MX_OPAMP2_Init(void);
static void MX_OPAMP3_Init(void);
static void MX_TIM1_Init(void);
static void MX_TIM4_Init(void);
static void MX_USART2_UART_Init(void);
static void MX_NVIC_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
char msg[128];
uint8_t rx_data[1];
int16_t target_speed = 2500;
bool lettura = false;
int32_t cnt = 0;
//#define SPEED_STEP 200;

//volatile uint8_t count = 0;

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_ADC1_Init();
  MX_ADC2_Init();
  MX_COMP1_Init();
  MX_COMP2_Init();
  MX_COMP4_Init();
  MX_CORDIC_Init();
  MX_DAC3_Init();
  MX_OPAMP1_Init();
  MX_OPAMP2_Init();
  MX_OPAMP3_Init();
  MX_TIM1_Init();
  MX_TIM4_Init();
  MX_USART2_UART_Init();
  MX_MotorControl_Init();

  /* Initialize interrupts */
  MX_NVIC_Init();
  /* USER CODE BEGIN 2 */
  #define POLLING_METHOD
  #ifndef POLLING_METHOD
  HAL_UART_Receive_IT(&huart2, rx_data, 1);
  #endif
  // HAL_UART_Receive(&huart2, rx_data, 2, 5000);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
	  MCI_State_t currentState = MC_GetSTMStateMotor1();
	  /*if (currentState == IDLE)
	  {
	      MC_StartMotor1();
	  }

	  if (currentState == ALIGNMENT)
	  {
	      MC_ProgramSpeedRampMotor1(3500, 50);
	  }*/

#ifdef POLLING_METHOD
    if(HAL_UART_Receive(&huart2, rx_data, 1, 100) == HAL_OK)
    {
        if((rx_data[0] == 's' || rx_data[0] == 'S') && MC_GetSTMStateMotor1() == IDLE)
        {
            MC_StartMotor1();
            MC_ProgramSpeedRampMotor1(3500, 500);
            sprintf(msg, "Motor Started\r\n");
            HAL_UART_Transmit(&huart2, (uint8_t*)msg, strlen(msg), 100);
        }
        else if(rx_data[0] == 'x' || rx_data[0] == 'X')
        {
            MC_StopMotor1();
            sprintf(msg, "Motor Stopped\r\n");
            HAL_UART_Transmit(&huart2, (uint8_t*)msg, strlen(msg), 100);
        }
    }
#else
	  if(lettura == true)
	  {
		  if((rx_data[0] == 's' || rx_data[0] == 'S') && MC_GetSTMStateMotor1() == IDLE)
		  {
			  MC_StartMotor1();
			  MC_ProgramSpeedRampMotor1(3500, 500);
		  }
		  else if(rx_data[0] == 'x' || rx_data[0] == 'X')
		  {
			  MC_StopMotor1();
		  }
		  lettura = false;
	  }

	  if (currentState == FAULT_NOW || currentState == FAULT_OVER)
	  {
	      MC_AcknowledgeFaultMotor1();
	      // HAL_Delay(100);
	  }
	  velocita = MC_GetMecSpeedAverageMotor1();
	  const char* stateName = get_state_name(currentState);

	  sprintf(msg, "Stato: %s | RPM el: %d | RPM mech: %.1f | Rev counter: %ld\r\n", stateName, velocita*10, velocita/15.5, HALL_M1.RevolutionCounter/155);
	  HAL_UART_Transmit(&huart2, (uint8_t*)msg, strlen(msg), 100);
	  HAL_Delay(2000);
#endif
  }
  /* USER CODE END 3 */
}


/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1_BOOST);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV2;
  RCC_OscInitStruct.PLL.PLLN = 85;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV8;
  RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
  RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
  {
    Error_Handler();
  }

  /** Enables the Clock Security System
  */
  HAL_RCC_EnableCSS();
}

/**
  * @brief NVIC Configuration.
  * @retval None
  */
static void MX_NVIC_Init(void)
{
  /* USART2_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(USART2_IRQn, 3, 1);
  HAL_NVIC_EnableIRQ(USART2_IRQn);
  /* DMA1_Channel1_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 3, 0);
  HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
  /* TIM1_BRK_TIM15_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(TIM1_BRK_TIM15_IRQn, 4, 1);
  HAL_NVIC_EnableIRQ(TIM1_BRK_TIM15_IRQn);
  /* TIM1_UP_TIM16_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(TIM1_UP_TIM16_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(TIM1_UP_TIM16_IRQn);
  /* ADC1_2_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(ADC1_2_IRQn, 2, 0);
  HAL_NVIC_EnableIRQ(ADC1_2_IRQn);
  /* TIM4_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(TIM4_IRQn, 2, 0);
  HAL_NVIC_EnableIRQ(TIM4_IRQn);
  /* EXTI15_10_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(EXTI15_10_IRQn, 3, 0);
  HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);
}

/**
  * @brief ADC1 Initialization Function
  * @PAram None
  * @retval None
  */
static void MX_ADC1_Init(void)
{

  /* USER CODE BEGIN ADC1_Init 0 */

  /* USER CODE END ADC1_Init 0 */

  ADC_MultiModeTypeDef multimode = {0};
  ADC_InjectionConfTypeDef sConfigInjected = {0};
  ADC_ChannelConfTypeDef sConfig = {0};

  /* USER CODE BEGIN ADC1_Init 1 */

  /* USER CODE END ADC1_Init 1 */

  /** Common config
  */
  hadc1.Instance = ADC1;
  hadc1.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV1;
  hadc1.Init.Resolution = ADC_RESOLUTION_12B;
  hadc1.Init.DataAlign = ADC_DATAALIGN_LEFT;
  hadc1.Init.GainCompensation = 0;
  hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE;
  hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
  hadc1.Init.LowPowerAutoWait = DISABLE;
  hadc1.Init.ContinuousConvMode = DISABLE;
  hadc1.Init.NbrOfConversion = 2;
  hadc1.Init.DiscontinuousConvMode = DISABLE;
  hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
  hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
  hadc1.Init.DMAContinuousRequests = DISABLE;
  hadc1.Init.Overrun = ADC_OVR_DATA_PRESERVED;
  hadc1.Init.OversamplingMode = DISABLE;
  if (HAL_ADC_Init(&hadc1) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure the ADC multi-mode
  */
  multimode.Mode = ADC_MODE_INDEPENDENT;
  if (HAL_ADCEx_MultiModeConfigChannel(&hadc1, &multimode) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure Injected Channel
  */
  sConfigInjected.InjectedChannel = ADC_CHANNEL_3;
  sConfigInjected.InjectedRank = ADC_INJECTED_RANK_1;
  sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_6CYCLES_5;
  sConfigInjected.InjectedSingleDiff = ADC_SINGLE_ENDED;
  sConfigInjected.InjectedOffsetNumber = ADC_OFFSET_NONE;
  sConfigInjected.InjectedOffset = 0;
  sConfigInjected.InjectedNbrOfConversion = 2;
  sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
  sConfigInjected.AutoInjectedConv = DISABLE;
  sConfigInjected.QueueInjectedContext = DISABLE;
  sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJEC_T1_CC4;
  sConfigInjected.ExternalTrigInjecConvEdge = ADC_EXTERNALTRIGINJECCONV_EDGE_RISING;
  sConfigInjected.InjecOversamplingMode = DISABLE;
  if (HAL_ADCEx_InjectedConfigChannel(&hadc1, &sConfigInjected) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure Injected Channel
  */
  sConfigInjected.InjectedChannel = ADC_CHANNEL_12;
  sConfigInjected.InjectedRank = ADC_INJECTED_RANK_2;
  if (HAL_ADCEx_InjectedConfigChannel(&hadc1, &sConfigInjected) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure Regular Channel
  */
  sConfig.Channel = ADC_CHANNEL_1;
  sConfig.Rank = ADC_REGULAR_RANK_1;
  sConfig.SamplingTime = ADC_SAMPLETIME_47CYCLES_5;
  sConfig.SingleDiff = ADC_SINGLE_ENDED;
  sConfig.OffsetNumber = ADC_OFFSET_NONE;
  sConfig.Offset = 0;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure Regular Channel
  */
  sConfig.Channel = ADC_CHANNEL_5;
  sConfig.Rank = ADC_REGULAR_RANK_2;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN ADC1_Init 2 */

  /* USER CODE END ADC1_Init 2 */

}

/**
  * @brief ADC2 Initialization Function
  * @PAram None
  * @retval None
  */
static void MX_ADC2_Init(void)
{

  /* USER CODE BEGIN ADC2_Init 0 */

  /* USER CODE END ADC2_Init 0 */

  ADC_InjectionConfTypeDef sConfigInjected = {0};

  /* USER CODE BEGIN ADC2_Init 1 */

  /* USER CODE END ADC2_Init 1 */

  /** Common config
  */
  hadc2.Instance = ADC2;
  hadc2.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV1;
  hadc2.Init.Resolution = ADC_RESOLUTION_12B;
  hadc2.Init.DataAlign = ADC_DATAALIGN_LEFT;
  hadc2.Init.GainCompensation = 0;
  hadc2.Init.ScanConvMode = ADC_SCAN_ENABLE;
  hadc2.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
  hadc2.Init.LowPowerAutoWait = DISABLE;
  hadc2.Init.ContinuousConvMode = DISABLE;
  hadc2.Init.NbrOfConversion = 1;
  hadc2.Init.DiscontinuousConvMode = DISABLE;
  hadc2.Init.DMAContinuousRequests = DISABLE;
  hadc2.Init.Overrun = ADC_OVR_DATA_PRESERVED;
  hadc2.Init.OversamplingMode = DISABLE;
  if (HAL_ADC_Init(&hadc2) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure Injected Channel
  */
  sConfigInjected.InjectedChannel = ADC_CHANNEL_VOPAMP3_ADC2;
  sConfigInjected.InjectedRank = ADC_INJECTED_RANK_1;
  sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_6CYCLES_5;
  sConfigInjected.InjectedSingleDiff = ADC_SINGLE_ENDED;
  sConfigInjected.InjectedOffsetNumber = ADC_OFFSET_NONE;
  sConfigInjected.InjectedOffset = 0;
  sConfigInjected.InjectedNbrOfConversion = 2;
  sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
  sConfigInjected.AutoInjectedConv = DISABLE;
  sConfigInjected.QueueInjectedContext = DISABLE;
  sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJEC_T1_CC4;
  sConfigInjected.ExternalTrigInjecConvEdge = ADC_EXTERNALTRIGINJECCONV_EDGE_RISING;
  sConfigInjected.InjecOversamplingMode = DISABLE;
  if (HAL_ADCEx_InjectedConfigChannel(&hadc2, &sConfigInjected) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure Injected Channel
  */
  sConfigInjected.InjectedChannel = ADC_CHANNEL_3;
  sConfigInjected.InjectedRank = ADC_INJECTED_RANK_2;
  if (HAL_ADCEx_InjectedConfigChannel(&hadc2, &sConfigInjected) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN ADC2_Init 2 */

  /* USER CODE END ADC2_Init 2 */

}

/**
  * @brief COMP1 Initialization Function
  * @PAram None
  * @retval None
  */
static void MX_COMP1_Init(void)
{

  /* USER CODE BEGIN COMP1_Init 0 */

  /* USER CODE END COMP1_Init 0 */

  /* USER CODE BEGIN COMP1_Init 1 */

  /* USER CODE END COMP1_Init 1 */
  hcomp1.Instance = COMP1;
  hcomp1.Init.InputPlus = COMP_INPUT_PLUS_IO1;
  hcomp1.Init.InputMinus = COMP_INPUT_MINUS_DAC3_CH1;
  hcomp1.Init.OutputPol = COMP_OUTPUTPOL_NONINVERTED;
  hcomp1.Init.Hysteresis = COMP_HYSTERESIS_NONE;
  hcomp1.Init.BlankingSrce = COMP_BLANKINGSRC_NONE;
  hcomp1.Init.TriggerMode = COMP_TRIGGERMODE_NONE;
  if (HAL_COMP_Init(&hcomp1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN COMP1_Init 2 */

  /* USER CODE END COMP1_Init 2 */

}

/**
  * @brief COMP2 Initialization Function
  * @PAram None
  * @retval None
  */
static void MX_COMP2_Init(void)
{

  /* USER CODE BEGIN COMP2_Init 0 */

  /* USER CODE END COMP2_Init 0 */

  /* USER CODE BEGIN COMP2_Init 1 */

  /* USER CODE END COMP2_Init 1 */
  hcomp2.Instance = COMP2;
  hcomp2.Init.InputPlus = COMP_INPUT_PLUS_IO1;
  hcomp2.Init.InputMinus = COMP_INPUT_MINUS_DAC3_CH2;
  hcomp2.Init.OutputPol = COMP_OUTPUTPOL_NONINVERTED;
  hcomp2.Init.Hysteresis = COMP_HYSTERESIS_NONE;
  hcomp2.Init.BlankingSrce = COMP_BLANKINGSRC_NONE;
  hcomp2.Init.TriggerMode = COMP_TRIGGERMODE_NONE;
  if (HAL_COMP_Init(&hcomp2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN COMP2_Init 2 */

  /* USER CODE END COMP2_Init 2 */

}

/**
  * @brief COMP4 Initialization Function
  * @PAram None
  * @retval None
  */
static void MX_COMP4_Init(void)
{

  /* USER CODE BEGIN COMP4_Init 0 */

  /* USER CODE END COMP4_Init 0 */

  /* USER CODE BEGIN COMP4_Init 1 */

  /* USER CODE END COMP4_Init 1 */
  hcomp4.Instance = COMP4;
  hcomp4.Init.InputPlus = COMP_INPUT_PLUS_IO1;
  hcomp4.Init.InputMinus = COMP_INPUT_MINUS_DAC3_CH2;
  hcomp4.Init.OutputPol = COMP_OUTPUTPOL_NONINVERTED;
  hcomp4.Init.Hysteresis = COMP_HYSTERESIS_NONE;
  hcomp4.Init.BlankingSrce = COMP_BLANKINGSRC_NONE;
  hcomp4.Init.TriggerMode = COMP_TRIGGERMODE_NONE;
  if (HAL_COMP_Init(&hcomp4) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN COMP4_Init 2 */

  /* USER CODE END COMP4_Init 2 */

}

/**
  * @brief CORDIC Initialization Function
  * @PAram None
  * @retval None
  */
static void MX_CORDIC_Init(void)
{

  /* USER CODE BEGIN CORDIC_Init 0 */

  /* USER CODE END CORDIC_Init 0 */

  /* USER CODE BEGIN CORDIC_Init 1 */

  /* USER CODE END CORDIC_Init 1 */
  hcordic.Instance = CORDIC;
  if (HAL_CORDIC_Init(&hcordic) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN CORDIC_Init 2 */

  /* USER CODE END CORDIC_Init 2 */

}

/**
  * @brief DAC3 Initialization Function
  * @PAram None
  * @retval None
  */
static void MX_DAC3_Init(void)
{

  /* USER CODE BEGIN DAC3_Init 0 */

  /* USER CODE END DAC3_Init 0 */

  DAC_ChannelConfTypeDef sConfig = {0};

  /* USER CODE BEGIN DAC3_Init 1 */

  /* USER CODE END DAC3_Init 1 */

  /** DAC Initialization
  */
  hdac3.Instance = DAC3;
  if (HAL_DAC_Init(&hdac3) != HAL_OK)
  {
    Error_Handler();
  }

  /** DAC channel OUT1 config
  */
  sConfig.DAC_HighFrequency = DAC_HIGH_FREQUENCY_INTERFACE_MODE_AUTOMATIC;
  sConfig.DAC_DMADoubleDataMode = DISABLE;
  sConfig.DAC_SignedFormat = DISABLE;
  sConfig.DAC_SampleAndHold = DAC_SAMPLEANDHOLD_DISABLE;
  sConfig.DAC_Trigger = DAC_TRIGGER_NONE;
  sConfig.DAC_Trigger2 = DAC_TRIGGER_NONE;
  sConfig.DAC_OutputBuffer = DAC_OUTPUTBUFFER_DISABLE;
  sConfig.DAC_ConnectOnChipPeripheral = DAC_CHIPCONNECT_INTERNAL;
  sConfig.DAC_UserTrimming = DAC_TRIMMING_FACTORY;
  if (HAL_DAC_ConfigChannel(&hdac3, &sConfig, DAC_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }

  /** DAC channel OUT2 config
  */
  if (HAL_DAC_ConfigChannel(&hdac3, &sConfig, DAC_CHANNEL_2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN DAC3_Init 2 */

  /* USER CODE END DAC3_Init 2 */

}

/**
  * @brief OPAMP1 Initialization Function
  * @PAram None
  * @retval None
  */
static void MX_OPAMP1_Init(void)
{

  /* USER CODE BEGIN OPAMP1_Init 0 */

  /* USER CODE END OPAMP1_Init 0 */

  /* USER CODE BEGIN OPAMP1_Init 1 */

  /* USER CODE END OPAMP1_Init 1 */
  hopamp1.Instance = OPAMP1;
  hopamp1.Init.PowerMode = OPAMP_POWERMODE_NORMALSPEED;
  hopamp1.Init.Mode = OPAMP_PGA_MODE;
  hopamp1.Init.NonInvertingInput = OPAMP_NONINVERTINGINPUT_IO0;
  hopamp1.Init.InternalOutput = DISABLE;
  hopamp1.Init.TimerControlledMuxmode = OPAMP_TIMERCONTROLLEDMUXMODE_DISABLE;
  hopamp1.Init.PgaConnect = OPAMP_PGA_CONNECT_INVERTINGINPUT_IO0_BIAS;
  hopamp1.Init.PgaGain = OPAMP_PGA_GAIN_16_OR_MINUS_15;
  hopamp1.Init.UserTrimming = OPAMP_TRIMMING_FACTORY;
  if (HAL_OPAMP_Init(&hopamp1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN OPAMP1_Init 2 */

  /* USER CODE END OPAMP1_Init 2 */

}

/**
  * @brief OPAMP2 Initialization Function
  * @PAram None
  * @retval None
  */
static void MX_OPAMP2_Init(void)
{

  /* USER CODE BEGIN OPAMP2_Init 0 */

  /* USER CODE END OPAMP2_Init 0 */

  /* USER CODE BEGIN OPAMP2_Init 1 */

  /* USER CODE END OPAMP2_Init 1 */
  hopamp2.Instance = OPAMP2;
  hopamp2.Init.PowerMode = OPAMP_POWERMODE_NORMALSPEED;
  hopamp2.Init.Mode = OPAMP_PGA_MODE;
  hopamp2.Init.NonInvertingInput = OPAMP_NONINVERTINGINPUT_IO0;
  hopamp2.Init.InternalOutput = DISABLE;
  hopamp2.Init.TimerControlledMuxmode = OPAMP_TIMERCONTROLLEDMUXMODE_DISABLE;
  hopamp2.Init.PgaConnect = OPAMP_PGA_CONNECT_INVERTINGINPUT_IO0_BIAS;
  hopamp2.Init.PgaGain = OPAMP_PGA_GAIN_16_OR_MINUS_15;
  hopamp2.Init.UserTrimming = OPAMP_TRIMMING_FACTORY;
  if (HAL_OPAMP_Init(&hopamp2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN OPAMP2_Init 2 */

  /* USER CODE END OPAMP2_Init 2 */

}

/**
  * @brief OPAMP3 Initialization Function
  * @PAram None
  * @retval None
  */
static void MX_OPAMP3_Init(void)
{

  /* USER CODE BEGIN OPAMP3_Init 0 */

  /* USER CODE END OPAMP3_Init 0 */

  /* USER CODE BEGIN OPAMP3_Init 1 */

  /* USER CODE END OPAMP3_Init 1 */
  hopamp3.Instance = OPAMP3;
  hopamp3.Init.PowerMode = OPAMP_POWERMODE_NORMALSPEED;
  hopamp3.Init.Mode = OPAMP_PGA_MODE;
  hopamp3.Init.NonInvertingInput = OPAMP_NONINVERTINGINPUT_IO0;
  hopamp3.Init.InternalOutput = ENABLE;
  hopamp3.Init.TimerControlledMuxmode = OPAMP_TIMERCONTROLLEDMUXMODE_DISABLE;
  hopamp3.Init.PgaConnect = OPAMP_PGA_CONNECT_INVERTINGINPUT_IO0_BIAS;
  hopamp3.Init.PgaGain = OPAMP_PGA_GAIN_16_OR_MINUS_15;
  hopamp3.Init.UserTrimming = OPAMP_TRIMMING_FACTORY;
  if (HAL_OPAMP_Init(&hopamp3) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN OPAMP3_Init 2 */

  /* USER CODE END OPAMP3_Init 2 */

}

/**
  * @brief TIM1 Initialization Function
  * @PAram None
  * @retval None
  */
static void MX_TIM1_Init(void)
{

  /* USER CODE BEGIN TIM1_Init 0 */

  /* USER CODE END TIM1_Init 0 */

  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIMEx_BreakInputConfigTypeDef sBreakInputConfig = {0};
  TIM_OC_InitTypeDef sConfigOC = {0};
  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};

  /* USER CODE BEGIN TIM1_Init 1 */

  /* USER CODE END TIM1_Init 1 */
  htim1.Instance = TIM1;
  htim1.Init.Prescaler = ((TIM_CLOCK_DIVIDER) - 1);
  htim1.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED1;
  htim1.Init.Period = ((PWM_PERIOD_CYCLES) / 2);
  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV2;
  htim1.Init.RepetitionCounter = (REP_COUNTER);
  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_OC4REF;
  sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sBreakInputConfig.Source = TIM_BREAKINPUTSOURCE_COMP1;
  sBreakInputConfig.Enable = TIM_BREAKINPUTSOURCE_ENABLE;
  sBreakInputConfig.Polarity = TIM_BREAKINPUTSOURCE_POLARITY_HIGH;
  if (HAL_TIMEx_ConfigBreakInput(&htim1, TIM_BREAKINPUT_BRK, &sBreakInputConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sBreakInputConfig.Source = TIM_BREAKINPUTSOURCE_COMP2;
  if (HAL_TIMEx_ConfigBreakInput(&htim1, TIM_BREAKINPUT_BRK, &sBreakInputConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sBreakInputConfig.Source = TIM_BREAKINPUTSOURCE_COMP4;
  if (HAL_TIMEx_ConfigBreakInput(&htim1, TIM_BREAKINPUT_BRK, &sBreakInputConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = ((PWM_PERIOD_CYCLES) / 4);
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM2;
  sConfigOC.Pulse = (((PWM_PERIOD_CYCLES) / 2) - (HTMIN));
  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
  {
    Error_Handler();
  }
  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_ENABLE;
  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_ENABLE;
  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
  sBreakDeadTimeConfig.DeadTime = ((DEAD_TIME_COUNTS) / 2);
  sBreakDeadTimeConfig.BreakState = TIM_BREAK_ENABLE;
  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
  sBreakDeadTimeConfig.BreakFilter = 4;
  sBreakDeadTimeConfig.BreakAFMode = TIM_BREAK_AFMODE_INPUT;
  sBreakDeadTimeConfig.Break2State = TIM_BREAK2_DISABLE;
  sBreakDeadTimeConfig.Break2Polarity = TIM_BREAK2POLARITY_HIGH;
  sBreakDeadTimeConfig.Break2Filter = 3;
  sBreakDeadTimeConfig.Break2AFMode = TIM_BREAK_AFMODE_INPUT;
  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
  if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM1_Init 2 */

  /* USER CODE END TIM1_Init 2 */
  HAL_TIM_MspPostInit(&htim1);

}

/**
  * @brief TIM4 Initialization Function
  * @PAram None
  * @retval None
  */
static void MX_TIM4_Init(void)
{

  /* USER CODE BEGIN TIM4_Init 0 */

  /* USER CODE END TIM4_Init 0 */

  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_HallSensor_InitTypeDef sConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};

  /* USER CODE BEGIN TIM4_Init 1 */

  /* USER CODE END TIM4_Init 1 */
  htim4.Instance = TIM4;
  htim4.Init.Prescaler = 0;
  htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim4.Init.Period = M1_HALL_TIM_PERIOD;
  htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
  {
    Error_Handler();
  }
  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
  sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
  sConfig.IC1Filter = M1_HALL_IC_FILTER;
  sConfig.Commutation_Delay = 0;
  if (HAL_TIMEx_HallSensor_Init(&htim4, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_OC2REF;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM4_Init 2 */

  /* USER CODE END TIM4_Init 2 */

}

/**
  * @brief USART2 Initialization Function
  * @PAram None
  * @retval None
  */
static void MX_USART2_UART_Init(void)
{

  /* USER CODE BEGIN USART2_Init 0 */

  /* USER CODE END USART2_Init 0 */

  /* USER CODE BEGIN USART2_Init 1 */

  /* USER CODE END USART2_Init 1 */
  huart2.Instance = USART2;
  huart2.Init.BaudRate = 115200;
  huart2.Init.WordLength = UART_WORDLENGTH_8B;
  huart2.Init.StopBits = UART_STOPBITS_1;
  huart2.Init.Parity = UART_PARITY_NONE;
  huart2.Init.Mode = UART_MODE_TX_RX;
  huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart2.Init.OverSampling = UART_OVERSAMPLING_16;
  huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
  huart2.Init.ClockPrescaler = UART_PRESCALER_DIV1;
  huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
  if (HAL_UART_Init(&huart2) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_UARTEx_SetTxFifoThreshold(&huart2, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_UARTEx_SetRxFifoThreshold(&huart2, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_UARTEx_DisableFifoMode(&huart2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART2_Init 2 */

  /* USER CODE END USART2_Init 2 */

}

/**
  * Enable DMA controller clock
  */
static void MX_DMA_Init(void)
{

  /* DMA controller clock enable */
  __HAL_RCC_DMAMUX1_CLK_ENABLE();
  __HAL_RCC_DMA1_CLK_ENABLE();

}

/**
  * @brief GPIO Initialization Function
  * @PAram None
  * @retval None
  */
static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};
  /* USER CODE BEGIN MX_GPIO_Init_1 */

  /* USER CODE END MX_GPIO_Init_1 */

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOF_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();

  /*Configure GPIO pin : Start_Stop_Pin */
  GPIO_InitStruct.Pin = Start_Stop_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(Start_Stop_GPIO_Port, &GPIO_InitStruct);

  /* USER CODE BEGIN MX_GPIO_Init_2 */

  /* USER CODE END MX_GPIO_Init_2 */
}

/* USER CODE BEGIN 4 */
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
	cnt++;
	lettura = true;
    if(huart->Instance == USART2)
    {
        HAL_UART_Transmit(&huart2, rx_data, 1, 100);
        HAL_UART_Receive_IT(&huart2, rx_data, 1);
    }

}
/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @PAram  file: pointer to the source file name
  * @PAram  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

 

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CAN Jammer an open source CAN bus hacking tool
CANableV3 Open Source

Da3
Associate II
In response to Karl Yamashita

‎2026-05-19 12:17 AM

Thanks for your help, but I've managed to fix the issue by using the HAL_UART_Receive_DMA function in place of HAL_UART_Receive_IT. Still not sure why it works this way, but at this point I honestly don't even care. Now the code correctly updates the counter and boolean variable, as well as echoing back and starting/stopping the motor. I have another small issue though. When I use the command MC_StartMotor1() in the if function which checks if 's' has been pressed and if the current state is IDLE, it starts the motor at a fixed speed (which I found to be the DEFAULT_TARGET_SPEED_RPM found in drive_parameters.h), ignoring all MC_ProgramSpeedRampMotor1() commands that I try to give it afterwards. This is a problem because I wanted to implement a way to increase/decrease speed by pressing +/-. Here attached is the snippet of code that controls the startup. Even though I feed the motor a speed ramp to 2000 RPM, it starts at 3500, which is the DEFAULT_TARGET_SPEED_RPM. I can prove this because if I modify the value in the file drive_parameters.h the startup speed also changes. Thanks again.

if((rx_data[0] == 's' || rx_data[0] == 'S') && MC_GetSTMStateMotor1() == IDLE)
		{
			MC_StartMotor1();
			MC_ProgramSpeedRampMotor1(2000, 50);
			sprintf(err, "Motore avviato!\r\n");
		    HAL_UART_Transmit(&huart2, (uint8_t*)err, strlen(err), 100);
		}



		if((rx_data[0] == 's' || rx_data[0] == 'S') && (MC_GetSTMStateMotor1() == FAULT_NOW  || MC_GetSTMStateMotor1() == FAULT_OVER))
		{
			sprintf(err, "Errore! Il motore non è in condizioni di partire! Controlla l'alimentazione\r\n");
		    HAL_UART_Transmit(&huart2, (uint8_t*)err, strlen(err), 100);
		}

 

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