From f0931e76d2211b1bca1acd847f844b0fb6eb8d17 Mon Sep 17 00:00:00 2001 From: ws <1621320660@qq.com> Date: Wed, 16 Apr 2025 16:24:23 +0800 Subject: [PATCH] =?UTF-8?q?=E5=88=9D=E8=AF=95=E4=B8=89=E6=91=A9=E6=93=A6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .mxproject | 16 +++---- Core/Src/dma.c | 2 +- Core/Src/gpio.c | 2 +- Core/Src/stm32f4xx_it.c | 16 +++---- MDK-ARM/.vscode/c_cpp_properties.json | 36 ++++++++-------- MDK-ARM/.vscode/keil-assistant.log | 16 +++++++ MDK-ARM/.vscode/settings.json | 4 +- MDK-ARM/.vscode/uv4.log | 6 +-- MDK-ARM/.vscode/uv4.log.lock | 2 +- MDK-ARM/R1-shooter.uvoptx | 62 ++++++++++++++++++++++++--- R1-shooter.ioc | 5 ++- User/bsp/uart_it.c | 2 +- User/device/detect.c | 2 +- User/device/device.h | 3 +- User/device/nuc.c | 28 ++++++++++++ User/device/nuc.h | 2 + User/module/ball.cpp | 51 +++++++++++++++------- User/task/ballTask.cpp | 6 ++- User/task/nucTask.cpp | 3 ++ 19 files changed, 193 insertions(+), 71 deletions(-) diff --git a/.mxproject b/.mxproject index 57e2c91..85c98e7 100644 --- a/.mxproject +++ b/.mxproject @@ -1,3 +1,11 @@ +[PreviousLibFiles] +LibFiles=Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_bus.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_system.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_utils.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dmamux.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h;Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_spi.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_tim.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usart.h;Middlewares\Third_Party\FreeRTOS\Source\include\croutine.h;Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h;Middlewares\Third_Party\FreeRTOS\Source\include\event_groups.h;Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h;Middlewares\Third_Party\FreeRTOS\Source\include\list.h;Middlewares\Third_Party\FreeRTOS\Source\include\message_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_prototypes.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h;Middlewares\Third_Party\FreeRTOS\Source\include\portable.h;Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h;Middlewares\Third_Party\FreeRTOS\Source\include\queue.h;Middlewares\Third_Party\FreeRTOS\Source\include\semphr.h;Middlewares\Third_Party\FreeRTOS\Source\include\stack_macros.h;Middlewares\Third_Party\FreeRTOS\Source\include\StackMacros.h;Middlewares\Third_Party\FreeRTOS\Source\include\stream_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\task.h;Middlewares\Third_Party\FreeRTOS\Source\include\timers.h;Middlewares\Third_Party\FreeRTOS\Source\include\atomic.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\freertos_mpool.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\freertos_os2.h;Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\port.c;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_bus.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_system.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_utils.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dmamux.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h;Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_spi.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_tim.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usart.h;Middlewares\Third_Party\FreeRTOS\Source\include\croutine.h;Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h;Middlewares\Third_Party\FreeRTOS\Source\include\event_groups.h;Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h;Middlewares\Third_Party\FreeRTOS\Source\include\list.h;Middlewares\Third_Party\FreeRTOS\Source\include\message_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_prototypes.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h;Middlewares\Third_Party\FreeRTOS\Source\include\portable.h;Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h;Middlewares\Third_Party\FreeRTOS\Source\include\queue.h;Middlewares\Third_Party\FreeRTOS\Source\include\semphr.h;Middlewares\Third_Party\FreeRTOS\Source\include\stack_macros.h;Middlewares\Third_Party\FreeRTOS\Source\include\StackMacros.h;Middlewares\Third_Party\FreeRTOS\Source\include\stream_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\task.h;Middlewares\Third_Party\FreeRTOS\Source\include\timers.h;Middlewares\Third_Party\FreeRTOS\Source\include\atomic.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\freertos_mpool.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\freertos_os2.h;Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h;Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h;Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h;Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h;Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Drivers\CMSIS\Include\cachel1_armv7.h;Drivers\CMSIS\Include\cmsis_armcc.h;Drivers\CMSIS\Include\cmsis_armclang.h;Drivers\CMSIS\Include\cmsis_armclang_ltm.h;Drivers\CMSIS\Include\cmsis_compiler.h;Drivers\CMSIS\Include\cmsis_gcc.h;Drivers\CMSIS\Include\cmsis_iccarm.h;Drivers\CMSIS\Include\cmsis_version.h;Drivers\CMSIS\Include\core_armv81mml.h;Drivers\CMSIS\Include\core_armv8mbl.h;Drivers\CMSIS\Include\core_armv8mml.h;Drivers\CMSIS\Include\core_cm0.h;Drivers\CMSIS\Include\core_cm0plus.h;Drivers\CMSIS\Include\core_cm1.h;Drivers\CMSIS\Include\core_cm23.h;Drivers\CMSIS\Include\core_cm3.h;Drivers\CMSIS\Include\core_cm33.h;Drivers\CMSIS\Include\core_cm35p.h;Drivers\CMSIS\Include\core_cm4.h;Drivers\CMSIS\Include\core_cm55.h;Drivers\CMSIS\Include\core_cm7.h;Drivers\CMSIS\Include\core_cm85.h;Drivers\CMSIS\Include\core_sc000.h;Drivers\CMSIS\Include\core_sc300.h;Drivers\CMSIS\Include\core_starmc1.h;Drivers\CMSIS\Include\mpu_armv7.h;Drivers\CMSIS\Include\mpu_armv8.h;Drivers\CMSIS\Include\pac_armv81.h;Drivers\CMSIS\Include\pmu_armv8.h;Drivers\CMSIS\Include\tz_context.h; + +[PreviousUsedKeilFiles] +SourceFiles=..\Core\Src\main.c;..\Core\Src\gpio.c;..\Core\Src\freertos.c;..\Core\Src\can.c;..\Core\Src\dma.c;..\Core\Src\spi.c;..\Core\Src\tim.c;..\Core\Src\usart.c;..\Core\Src\stm32f4xx_it.c;..\Core\Src\stm32f4xx_hal_msp.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;..\Middlewares\Third_Party\FreeRTOS\Source\croutine.c;..\Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;..\Middlewares\Third_Party\FreeRTOS\Source\list.c;..\Middlewares\Third_Party\FreeRTOS\Source\queue.c;..\Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;..\Middlewares\Third_Party\FreeRTOS\Source\tasks.c;..\Middlewares\Third_Party\FreeRTOS\Source\timers.c;..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\port.c;..\Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;..\Core\Src\system_stm32f4xx.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;..\Middlewares\Third_Party\FreeRTOS\Source\croutine.c;..\Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;..\Middlewares\Third_Party\FreeRTOS\Source\list.c;..\Middlewares\Third_Party\FreeRTOS\Source\queue.c;..\Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;..\Middlewares\Third_Party\FreeRTOS\Source\tasks.c;..\Middlewares\Third_Party\FreeRTOS\Source\timers.c;..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\port.c;..\Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;..\Core\Src\system_stm32f4xx.c;;;..\Middlewares\Third_Party\FreeRTOS\Source\croutine.c;..\Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;..\Middlewares\Third_Party\FreeRTOS\Source\list.c;..\Middlewares\Third_Party\FreeRTOS\Source\queue.c;..\Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;..\Middlewares\Third_Party\FreeRTOS\Source\tasks.c;..\Middlewares\Third_Party\FreeRTOS\Source\timers.c;..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\port.c; +HeaderPath=..\Drivers\STM32F4xx_HAL_Driver\Inc;..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy;..\Middlewares\Third_Party\FreeRTOS\Source\include;..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2;..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F;..\Drivers\CMSIS\Device\ST\STM32F4xx\Include;..\Drivers\CMSIS\Include;..\Core\Inc; +CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;USE_HAL_DRIVER; + [PreviousGenFiles] AdvancedFolderStructure=true HeaderFileListSize=10 @@ -29,11 +37,3 @@ SourceFolderListSize=1 SourcePath#0=..\Core\Src SourceFiles=; -[PreviousLibFiles] -LibFiles=Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_bus.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_system.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_utils.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dmamux.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h;Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_spi.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_tim.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usart.h;Middlewares\Third_Party\FreeRTOS\Source\include\croutine.h;Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h;Middlewares\Third_Party\FreeRTOS\Source\include\event_groups.h;Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h;Middlewares\Third_Party\FreeRTOS\Source\include\list.h;Middlewares\Third_Party\FreeRTOS\Source\include\message_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_prototypes.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h;Middlewares\Third_Party\FreeRTOS\Source\include\portable.h;Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h;Middlewares\Third_Party\FreeRTOS\Source\include\queue.h;Middlewares\Third_Party\FreeRTOS\Source\include\semphr.h;Middlewares\Third_Party\FreeRTOS\Source\include\stack_macros.h;Middlewares\Third_Party\FreeRTOS\Source\include\StackMacros.h;Middlewares\Third_Party\FreeRTOS\Source\include\stream_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\task.h;Middlewares\Third_Party\FreeRTOS\Source\include\timers.h;Middlewares\Third_Party\FreeRTOS\Source\include\atomic.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\freertos_mpool.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\freertos_os2.h;Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\port.c;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_bus.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_system.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_utils.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dmamux.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h;Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_spi.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_tim.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usart.h;Middlewares\Third_Party\FreeRTOS\Source\include\croutine.h;Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h;Middlewares\Third_Party\FreeRTOS\Source\include\event_groups.h;Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h;Middlewares\Third_Party\FreeRTOS\Source\include\list.h;Middlewares\Third_Party\FreeRTOS\Source\include\message_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_prototypes.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h;Middlewares\Third_Party\FreeRTOS\Source\include\portable.h;Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h;Middlewares\Third_Party\FreeRTOS\Source\include\queue.h;Middlewares\Third_Party\FreeRTOS\Source\include\semphr.h;Middlewares\Third_Party\FreeRTOS\Source\include\stack_macros.h;Middlewares\Third_Party\FreeRTOS\Source\include\StackMacros.h;Middlewares\Third_Party\FreeRTOS\Source\include\stream_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\task.h;Middlewares\Third_Party\FreeRTOS\Source\include\timers.h;Middlewares\Third_Party\FreeRTOS\Source\include\atomic.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\freertos_mpool.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\freertos_os2.h;Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h;Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h;Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h;Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h;Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Drivers\CMSIS\Include\cachel1_armv7.h;Drivers\CMSIS\Include\cmsis_armcc.h;Drivers\CMSIS\Include\cmsis_armclang.h;Drivers\CMSIS\Include\cmsis_armclang_ltm.h;Drivers\CMSIS\Include\cmsis_compiler.h;Drivers\CMSIS\Include\cmsis_gcc.h;Drivers\CMSIS\Include\cmsis_iccarm.h;Drivers\CMSIS\Include\cmsis_version.h;Drivers\CMSIS\Include\core_armv81mml.h;Drivers\CMSIS\Include\core_armv8mbl.h;Drivers\CMSIS\Include\core_armv8mml.h;Drivers\CMSIS\Include\core_cm0.h;Drivers\CMSIS\Include\core_cm0plus.h;Drivers\CMSIS\Include\core_cm1.h;Drivers\CMSIS\Include\core_cm23.h;Drivers\CMSIS\Include\core_cm3.h;Drivers\CMSIS\Include\core_cm33.h;Drivers\CMSIS\Include\core_cm35p.h;Drivers\CMSIS\Include\core_cm4.h;Drivers\CMSIS\Include\core_cm55.h;Drivers\CMSIS\Include\core_cm7.h;Drivers\CMSIS\Include\core_cm85.h;Drivers\CMSIS\Include\core_sc000.h;Drivers\CMSIS\Include\core_sc300.h;Drivers\CMSIS\Include\core_starmc1.h;Drivers\CMSIS\Include\mpu_armv7.h;Drivers\CMSIS\Include\mpu_armv8.h;Drivers\CMSIS\Include\pac_armv81.h;Drivers\CMSIS\Include\pmu_armv8.h;Drivers\CMSIS\Include\tz_context.h; - -[PreviousUsedKeilFiles] -SourceFiles=..\Core\Src\main.c;..\Core\Src\gpio.c;..\Core\Src\freertos.c;..\Core\Src\can.c;..\Core\Src\dma.c;..\Core\Src\spi.c;..\Core\Src\tim.c;..\Core\Src\usart.c;..\Core\Src\stm32f4xx_it.c;..\Core\Src\stm32f4xx_hal_msp.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;..\Middlewares\Third_Party\FreeRTOS\Source\croutine.c;..\Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;..\Middlewares\Third_Party\FreeRTOS\Source\list.c;..\Middlewares\Third_Party\FreeRTOS\Source\queue.c;..\Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;..\Middlewares\Third_Party\FreeRTOS\Source\tasks.c;..\Middlewares\Third_Party\FreeRTOS\Source\timers.c;..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\port.c;..\Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;..\Core\Src\system_stm32f4xx.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;..\Middlewares\Third_Party\FreeRTOS\Source\croutine.c;..\Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;..\Middlewares\Third_Party\FreeRTOS\Source\list.c;..\Middlewares\Third_Party\FreeRTOS\Source\queue.c;..\Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;..\Middlewares\Third_Party\FreeRTOS\Source\tasks.c;..\Middlewares\Third_Party\FreeRTOS\Source\timers.c;..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\port.c;..\Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;..\Core\Src\system_stm32f4xx.c;;;..\Middlewares\Third_Party\FreeRTOS\Source\croutine.c;..\Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;..\Middlewares\Third_Party\FreeRTOS\Source\list.c;..\Middlewares\Third_Party\FreeRTOS\Source\queue.c;..\Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;..\Middlewares\Third_Party\FreeRTOS\Source\tasks.c;..\Middlewares\Third_Party\FreeRTOS\Source\timers.c;..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\port.c; -HeaderPath=..\Drivers\STM32F4xx_HAL_Driver\Inc;..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy;..\Middlewares\Third_Party\FreeRTOS\Source\include;..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2;..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F;..\Drivers\CMSIS\Device\ST\STM32F4xx\Include;..\Drivers\CMSIS\Include;..\Core\Inc; -CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;USE_HAL_DRIVER; - diff --git a/Core/Src/dma.c b/Core/Src/dma.c index c5626e4..4ec8b50 100644 --- a/Core/Src/dma.c +++ b/Core/Src/dma.c @@ -57,7 +57,7 @@ void MX_DMA_Init(void) HAL_NVIC_SetPriority(DMA2_Stream3_IRQn, 5, 0); HAL_NVIC_EnableIRQ(DMA2_Stream3_IRQn); /* DMA2_Stream5_IRQn interrupt configuration */ - HAL_NVIC_SetPriority(DMA2_Stream5_IRQn, 0, 0); + HAL_NVIC_SetPriority(DMA2_Stream5_IRQn, 5, 0); HAL_NVIC_EnableIRQ(DMA2_Stream5_IRQn); } diff --git a/Core/Src/gpio.c b/Core/Src/gpio.c index e5cc0d3..8779997 100644 --- a/Core/Src/gpio.c +++ b/Core/Src/gpio.c @@ -69,7 +69,7 @@ void MX_GPIO_Init(void) /*Configure GPIO pin : PtPin */ GPIO_InitStruct.Pin = ext_up_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING; + GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING; GPIO_InitStruct.Pull = GPIO_NOPULL; HAL_GPIO_Init(ext_up_GPIO_Port, &GPIO_InitStruct); diff --git a/Core/Src/stm32f4xx_it.c b/Core/Src/stm32f4xx_it.c index f54e09f..c17f522 100644 --- a/Core/Src/stm32f4xx_it.c +++ b/Core/Src/stm32f4xx_it.c @@ -279,16 +279,16 @@ void USART1_IRQHandler(void) /** * @brief This function handles USART3 global interrupt. */ -// void USART3_IRQHandler(void) -// { -// /* USER CODE BEGIN USART3_IRQn 0 */ +//void USART3_IRQHandler(void) +//{ +// /* USER CODE BEGIN USART3_IRQn 0 */ -// /* USER CODE END USART3_IRQn 0 */ -// HAL_UART_IRQHandler(&huart3); -// /* USER CODE BEGIN USART3_IRQn 1 */ +// /* USER CODE END USART3_IRQn 0 */ +// HAL_UART_IRQHandler(&huart3); +// /* USER CODE BEGIN USART3_IRQn 1 */ -// /* USER CODE END USART3_IRQn 1 */ -// } +// /* USER CODE END USART3_IRQn 1 */ +//} /** * @brief This function handles DMA2 stream1 global interrupt. diff --git a/MDK-ARM/.vscode/c_cpp_properties.json b/MDK-ARM/.vscode/c_cpp_properties.json index 380e32a..120b12d 100644 --- a/MDK-ARM/.vscode/c_cpp_properties.json +++ b/MDK-ARM/.vscode/c_cpp_properties.json @@ -3,26 +3,26 @@ { "name": "R1-shooter", "includePath": [ - "d:\\Desktop\\r1\\Core\\Inc", - "d:\\Desktop\\r1\\Drivers\\STM32F4xx_HAL_Driver\\Inc", - "d:\\Desktop\\r1\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy", - "d:\\Desktop\\r1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include", - "d:\\Desktop\\r1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2", - "d:\\Desktop\\r1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F", - "d:\\Desktop\\r1\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include", - "d:\\Desktop\\r1\\Drivers\\CMSIS\\Include", - "d:\\Desktop\\r1\\User\\bsp", - "d:\\Desktop\\r1\\User\\module", - "d:\\Desktop\\r1\\User\\task", - "d:\\Desktop\\r1\\User\\lib", - "d:\\Desktop\\r1\\User\\device", + "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Core\\Inc", + "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Drivers\\STM32F4xx_HAL_Driver\\Inc", + "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy", + "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include", + "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2", + "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F", + "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include", + "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Drivers\\CMSIS\\Include", + "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\User\\bsp", + "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\User\\module", + "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\User\\task", + "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\User\\lib", + "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\User\\device", "D:\\keil\\ARM\\ARMCC\\include", "D:\\keil\\ARM\\ARMCC\\include\\rw", - "d:\\Desktop\\r1\\MDK-ARM", - "d:\\Desktop\\r1\\Core\\Src", - "d:\\Desktop\\r1\\Drivers\\STM32F4xx_HAL_Driver\\Src", - "d:\\Desktop\\r1\\Middlewares\\Third_Party\\FreeRTOS\\Source", - "d:\\Desktop\\r1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang" + "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\MDK-ARM", + "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Core\\Src", + "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Drivers\\STM32F4xx_HAL_Driver\\Src", + "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source", + "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang" ], "defines": [ "USE_HAL_DRIVER", diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log index fbc1334..c3bdeca 100644 --- a/MDK-ARM/.vscode/keil-assistant.log +++ b/MDK-ARM/.vscode/keil-assistant.log @@ -6,3 +6,19 @@ [info] Log at : 2025/4/11|11:30:04|GMT+0800 +[info] Log at : 2025/4/12|15:24:41|GMT+0800 + +[info] Log at : 2025/4/12|16:54:05|GMT+0800 + +[info] Log at : 2025/4/12|20:08:54|GMT+0800 + +[info] Log at : 2025/4/13|14:54:26|GMT+0800 + +[info] Log at : 2025/4/13|20:47:22|GMT+0800 + +[info] Log at : 2025/4/14|21:15:31|GMT+0800 + +[info] Log at : 2025/4/14|22:54:52|GMT+0800 + +[info] Log at : 2025/4/16|16:20:32|GMT+0800 + diff --git a/MDK-ARM/.vscode/settings.json b/MDK-ARM/.vscode/settings.json index 1873d0d..cdb910e 100644 --- a/MDK-ARM/.vscode/settings.json +++ b/MDK-ARM/.vscode/settings.json @@ -7,6 +7,8 @@ "detect.h": "c", "usertask.h": "c", "task.h": "c", - "djimotor.h": "c" + "djimotor.h": "c", + "nuc.h": "c", + "crc_ccitt.h": "c" } } \ No newline at end of file diff --git a/MDK-ARM/.vscode/uv4.log b/MDK-ARM/.vscode/uv4.log index b2206bb..84f9363 100644 --- a/MDK-ARM/.vscode/uv4.log +++ b/MDK-ARM/.vscode/uv4.log @@ -1,8 +1,4 @@ *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin' Build target 'R1-shooter' -compiling encodeCan.cpp... -linking... -Program Size: Code=27336 RO-data=1776 RW-data=244 ZI-data=22764 -FromELF: creating hex file... "R1-shooter\R1-shooter.axf" - 0 Error(s), 0 Warning(s). -Build Time Elapsed: 00:00:03 +Build Time Elapsed: 00:00:01 diff --git a/MDK-ARM/.vscode/uv4.log.lock b/MDK-ARM/.vscode/uv4.log.lock index c1868ac..8787f84 100644 --- a/MDK-ARM/.vscode/uv4.log.lock +++ b/MDK-ARM/.vscode/uv4.log.lock @@ -1 +1 @@ -2025/4/11 17:42:35 \ No newline at end of file +2025/4/13 22:09:19 \ No newline at end of file diff --git a/MDK-ARM/R1-shooter.uvoptx b/MDK-ARM/R1-shooter.uvoptx index 1ffe408..12e95e5 100644 --- a/MDK-ARM/R1-shooter.uvoptx +++ b/MDK-ARM/R1-shooter.uvoptx @@ -153,27 +153,77 @@ 0 1 - abc,0x0A + rc_ctrl,0x0A 1 1 - rc_ctrl,0x0A + aaa,0x0A 2 1 - aaa,0x0A + key,0x0A 3 1 - key,0x0A + task_struct,0x0A 4 1 - task_struct,0x0A + gimbal,0x0A + + + 5 + 1 + angle1,0x0A + + + 6 + 1 + k,0x0A + + + 7 + 1 + ball,0x0A + + + 8 + 1 + cnt1,0x0A + + + 9 + 1 + cmd_fromnuc + + + 10 + 1 + nucbuf + + + 11 + 1 + nucData + + + 12 + 1 + send,0x0A + + + 13 + 1 + speed1,0x0A + + + 14 + 1 + abc,0x0A @@ -1010,7 +1060,7 @@ User/task - 1 + 0 0 0 0 diff --git a/R1-shooter.ioc b/R1-shooter.ioc index eab95a9..8787544 100644 --- a/R1-shooter.ioc +++ b/R1-shooter.ioc @@ -154,7 +154,7 @@ NVIC.DMA1_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true NVIC.DMA2_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true NVIC.DMA2_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true NVIC.DMA2_Stream3_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true -NVIC.DMA2_Stream5_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true\:true +NVIC.DMA2_Stream5_IRQn=true\:5\:0\:false\:false\:true\:false\:false\:true\:true NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false NVIC.EXTI0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.EXTI4_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true @@ -291,8 +291,9 @@ PI6.GPIOParameters=GPIO_Label PI6.GPIO_Label=up-ball PI6.Locked=true PI6.Signal=GPIO_Input -PI7.GPIOParameters=GPIO_Label +PI7.GPIOParameters=GPIO_Label,GPIO_ModeDefaultEXTI PI7.GPIO_Label=ext-up +PI7.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_RISING_FALLING PI7.Locked=true PI7.Signal=GPXTI7 PinOutPanel.CurrentBGAView=Top diff --git a/User/bsp/uart_it.c b/User/bsp/uart_it.c index 1ef2e21..af6bfb9 100644 --- a/User/bsp/uart_it.c +++ b/User/bsp/uart_it.c @@ -13,7 +13,7 @@ static BSP_UART_t UART_Get(UART_HandleTypeDef *huart) { return BSP_UART_DR16; else if (huart->Instance == USART1) return BSP_UART_REF; - else if (huart->Instance == USART6) + else if (huart->Instance == USART1) return BSP_UART_AI; /* else if (huart->Instance == USARTX) diff --git a/User/device/detect.c b/User/device/detect.c index f4c3961..2c45c1e 100644 --- a/User/device/detect.c +++ b/User/device/detect.c @@ -7,7 +7,7 @@ int key=0; void detect_exit(void) { - delay_ms(10); // 延时10ms + delay_ms(100); // 延时10ms key++; // 按键按下时变量自增 __HAL_GPIO_EXTI_CLEAR_IT(KEY_Pin); // 清除中断标志位 } diff --git a/User/device/device.h b/User/device/device.h index ecc42cc..5ab6d87 100644 --- a/User/device/device.h +++ b/User/device/device.h @@ -9,7 +9,8 @@ DEVICE_OK = 0, DEVICE_ERR = -1, DEVICE_ERR_NULL = -2, DEVICE_ERR_INITED = -3, -DEVICE_ERR_NO_DEV = -4 +DEVICE_ERR_NO_DEV = -4, +DEVICE_ERR_OVERFLOW = -5, }device_status_e; /* SIGNAL是有bit位置区分的，一个SIGNAL只能包含一个高bit位。 diff --git a/User/device/nuc.c b/User/device/nuc.c index b2c725c..40a6d23 100644 --- a/User/device/nuc.c +++ b/User/device/nuc.c @@ -3,6 +3,7 @@ #include "crc_ccitt.h" uint8_t nucbuf[32]; +uint8_t packet[32]; // 假设最大数据包长度为 32 字节 static void NUC_IdleCallback(void) { // osThreadFlagsSet(thread_alert,SIGNAL_NUC_RAW_REDY); @@ -39,6 +40,33 @@ bool_t NUC_WaitDmaCplt(void) { return 1; } +int8_t NUC_SendPacket(void *data, uint16_t length) { + if (data == NULL || length == 0) { + return DEVICE_ERR_NULL; // 数据为空或长度为 0 + } + + uint8_t packet[32]; // 假设最大数据包长度为 32 字节 + if (length + 5 > sizeof(packet)) { // 帧头 + 帧类型 + 数据 + CRC + 帧尾 + return DEVICE_ERR_OVERFLOW; // 数据包长度超出限制 + } + + // 构建数据包 + packet[0] = HEAD; // 帧头 + packet[1] = SEND; // 发送帧类型 + memcpy(&packet[2], data, length); // 数据内容 + uint16_t crc = do_crc_table(data, length); // 计算 CRC 校验 + packet[length + 2] = (crc >> 8) & 0xFF; // CRC 高字节 + packet[length + 3] = crc & 0xFF; // CRC 低字节 + packet[length + 4] = TAIL; // 帧尾 + + // 发送数据包 + if (HAL_UART_Transmit(BSP_UART_GetHandle(BSP_UART_AI), packet, length + 5, HAL_MAX_DELAY) != HAL_OK) { + return DEVICE_ERR; // 发送失败 + } + + return DEVICE_OK; // 发送成功 +} + int8_t NUC_RawParse(NUC_t *n) { if (n == NULL) return DEVICE_ERR_NULL; union { diff --git a/User/device/nuc.h b/User/device/nuc.h index fe939c0..690abe2 100644 --- a/User/device/nuc.h +++ b/User/device/nuc.h @@ -15,6 +15,7 @@ extern "C" { #define ODOM (0x04) #define PICK (0x06) #define VISION (0x09) +#define SEND (0X07) // 写结构体存入视觉信息 typedef struct { @@ -38,6 +39,7 @@ int8_t NUC_Restart(void); bool_t NUC_WaitDmaCplt(void); int8_t NUC_RawParse(NUC_t *n); int8_t NUC_HandleOffline(NUC_t *cmd); +int8_t NUC_SendPacket(void *data, uint16_t length); #ifdef __cplusplus } diff --git a/User/module/ball.cpp b/User/module/ball.cpp index 8c2deda..51dd632 100644 --- a/User/module/ball.cpp +++ b/User/module/ball.cpp @@ -9,7 +9,7 @@ extern int key; // 定义状态机变量 BallState_t currentBallState = BALL_IDLE; -#define MOTOR_SPEED 5000 +#define MOTOR_SPEED 1000 const fp32 Ball:: M3508_speed_PID[3] = {5, 0, 0}; @@ -34,12 +34,17 @@ Ball ::Ball() void Ball ::Spin(float speed) { - for(int i = 0;i < MOTOR_NUM;i ++) + + speedSet[MOTOR_1] = -speed; + result[MOTOR_1] = PID_calc(&speed_pid[MOTOR_1],hand_Motor[MOTOR_1]->speed_rpm,speedSet[MOTOR_1]); + + for(int i = 1;i < MOTOR_NUM;i ++) { speedSet[i] = speed; result[i] = PID_calc(&speed_pid[i],hand_Motor[i]->speed_rpm,speedSet[i]); } + CAN_cmd_200(result[MOTOR_1],result[MOTOR_2],result[MOTOR_3],0,&hcan1); osDelay(1); @@ -47,23 +52,39 @@ void Ball ::Spin(float speed) void Ball::ballHadling(void) { - static bool isReversed = false; // 静态变量，记录当前摩擦轮状态，初始为正转 - - if (key > 0) // 检测按键是否被按下 + if (key > 0) // 检测按键是否被按下 { - key = 0; // 重置按键状态，防止重复触发 - - if (isReversed) + if (key % 2 == 1) // key 为奇数，摩擦轮正转 { - // 当前为反转，切换为正转 - Spin(MOTOR_SPEED); // 正转 - isReversed = false; + Spin(5000); // 正转 } - else + else if (key % 2 == 0) // key 为偶数，摩擦轮反转 { - // 当前为正转，切换为反转 - Spin(-MOTOR_SPEED); // 反转 - isReversed = true; + Spin(-5000); // 反转 } } + } + +// void Ball::ballHadling(void) +// { +// static bool isReversed = false; // 静态变量，记录当前摩擦轮状态，初始为正转 + +// if (key > 0) // 检测按键是否被按下 +// { +// key = 0; // 重置按键状态，防止重复触发 + +// if (isReversed) +// { +// // 当前为反转，切换为正转 +// Spin(MOTOR_SPEED); // 正转 +// isReversed = false; +// } +// else +// { +// // 当前为正转，切换为反转 +// Spin(-MOTOR_SPEED); // 反转 +// isReversed = true; +// } +// } +// } diff --git a/User/task/ballTask.cpp b/User/task/ballTask.cpp index 3e89adc..af7afe9 100644 --- a/User/task/ballTask.cpp +++ b/User/task/ballTask.cpp @@ -9,6 +9,7 @@ extern RC_ctrl_t rc_ctrl; Ball ball; int abc=0; int c30=0; +int speed1=500; void FunctionBall(void *argument) { @@ -22,8 +23,9 @@ void FunctionBall(void *argument) #ifdef DEBUG task_struct.stack_water_mark.ball = osThreadGetStackSpace(osThreadGetId()); #endif - - //ball.ballHadling(); // 处理摩擦轮转动 + abc=HAL_GPIO_ReadPin(STOP_GPIO_Port, STOP_Pin); + ball.ballHadling(); // 处理摩擦轮转动 + // ball.Spin(speed1); osDelay(3); tick += delay_tick; /* 计算下一个唤醒时刻 */ diff --git a/User/task/nucTask.cpp b/User/task/nucTask.cpp index fa36a5b..5f3497a 100644 --- a/User/task/nucTask.cpp +++ b/User/task/nucTask.cpp @@ -8,6 +8,8 @@ #ifdef DEBUG NUC_t cmd_fromnuc; +//int send[3]={1,2,3}; +float send[3]={1,2,3}; #endif @@ -30,6 +32,7 @@ void Function_nuc(void *argument) NUC_RawParse(&cmd_fromnuc); + NUC_SendPacket(&send, sizeof(send)); // 发送数据包 //掉线处理有空写 // if(NUC_WaitDmaCplt()) // {