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Code Issues Actions Packages Projects Releases Wiki Activity

添加ioc和自动任务

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Robofish 2026-02-03 21:21:20 +08:00
parent 4a3e0d8391
commit 21052cf0a7
9 changed files with 2034 additions and 2 deletions
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.DS_Store vendored
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174
app/code_configuration_interface.py
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@ -2,8 +2,11 @@ from PyQt5.QtWidgets import QWidget, QVBoxLayout, QStackedWidget, QSizePolicy
from PyQt5.QtCore import Qt from PyQt5.QtCore import Qt
from qfluentwidgets import PushSettingCard, FluentIcon, TabBar from qfluentwidgets import PushSettingCard, FluentIcon, TabBar
from qfluentwidgets import TitleLabel, BodyLabel, PushButton, FluentIcon from qfluentwidgets import TitleLabel, BodyLabel, PushButton, FluentIcon
from PyQt5.QtWidgets import QFileDialog from PyQt5.QtWidgets import QFileDialog, QDialog, QHBoxLayout
from qfluentwidgets import ComboBox, PrimaryPushButton, SubtitleLabel
import os import os
import shutil
import tempfile
from .function_fit_interface import FunctionFitInterface from .function_fit_interface import FunctionFitInterface
from .ai_interface import AIInterface from .ai_interface import AIInterface
from qfluentwidgets import InfoBar from qfluentwidgets import InfoBar
@ -56,6 +59,10 @@ class CodeConfigurationInterface(QWidget):
self.update_template_btn.setFixedWidth(200) self.update_template_btn.setFixedWidth(200)
mainLayout.addWidget(self.update_template_btn, alignment=Qt.AlignmentFlag.AlignCenter) mainLayout.addWidget(self.update_template_btn, alignment=Qt.AlignmentFlag.AlignCenter)
self.preset_ioc_btn = PushButton(FluentIcon.LIBRARY, "获取预设IOC")
self.preset_ioc_btn.setFixedWidth(200)
mainLayout.addWidget(self.preset_ioc_btn, alignment=Qt.AlignmentFlag.AlignCenter)
mainLayout.addSpacing(10) mainLayout.addSpacing(10)
mainLayout.addStretch() mainLayout.addStretch()
@ -69,6 +76,7 @@ class CodeConfigurationInterface(QWidget):
self.tabBar.tabCloseRequested.connect(self.onCloseTab) self.tabBar.tabCloseRequested.connect(self.onCloseTab)
self.choose_btn.clicked.connect(self.choose_project_folder) # 启用选择项目路径按钮 self.choose_btn.clicked.connect(self.choose_project_folder) # 启用选择项目路径按钮
self.update_template_btn.clicked.connect(self.on_update_template) self.update_template_btn.clicked.connect(self.on_update_template)
self.preset_ioc_btn.clicked.connect(self.use_preset_ioc) # 启用预设工程按钮
def on_update_template(self): def on_update_template(self):
@ -88,6 +96,170 @@ class CodeConfigurationInterface(QWidget):
) )
update_code(parent=self, info_callback=info, error_callback=error) update_code(parent=self, info_callback=info, error_callback=error)
def get_preset_ioc_files(self):
"""获取预设的ioc文件列表"""
try:
preset_ioc_dir = os.path.join(os.path.dirname(os.path.dirname(__file__)), "assets", "User_code", "ioc")
if not os.path.exists(preset_ioc_dir):
return []
ioc_files = []
for filename in os.listdir(preset_ioc_dir):
if filename.endswith('.ioc'):
ioc_files.append({
'name': os.path.splitext(filename)[0],
'filename': filename,
'path': os.path.join(preset_ioc_dir, filename)
})
return ioc_files
except Exception as e:
print(f"获取预设ioc文件失败: {e}")
return []
def use_preset_ioc(self):
"""使用预设ioc文件"""
preset_files = self.get_preset_ioc_files()
if not preset_files:
InfoBar.warning(
title="无预设工程",
content="未找到可用的预设工程文件",
parent=self,
duration=2000
)
return
# 创建选择对话框
dialog = QDialog(self)
dialog.setWindowTitle("获取预设IOC")
dialog.resize(400, 200)
dialog.setModal(True)
layout = QVBoxLayout(dialog)
layout.setContentsMargins(24, 24, 24, 24)
layout.setSpacing(16)
# 标题
title_label = SubtitleLabel("选择要使用的IOC模版")
layout.addWidget(title_label)
# 选择下拉框
select_layout = QHBoxLayout()
select_label = BodyLabel("预设IOC：")
preset_combo = ComboBox()
# 修复ComboBox数据问题
for i, preset in enumerate(preset_files):
preset_combo.addItem(preset['name'])
select_layout.addWidget(select_label)
select_layout.addWidget(preset_combo)
layout.addLayout(select_layout)
layout.addSpacing(16)
# 按钮区域
btn_layout = QHBoxLayout()
btn_layout.addStretch()
cancel_btn = PushButton("取消")
ok_btn = PrimaryPushButton("保存到")
cancel_btn.clicked.connect(dialog.reject)
ok_btn.clicked.connect(dialog.accept)
btn_layout.addWidget(cancel_btn)
btn_layout.addWidget(ok_btn)
layout.addLayout(btn_layout)
# 显示对话框
if dialog.exec() == QDialog.Accepted:
selected_index = preset_combo.currentIndex()
if selected_index >= 0 and selected_index < len(preset_files):
selected_preset = preset_files[selected_index]
self.save_preset_template(selected_preset)
def save_preset_template(self, preset_info):
"""保存预设模板到用户指定位置"""
try:
# 让用户选择保存位置
save_dir = QFileDialog.getExistingDirectory(
self,
f"选择保存 {preset_info['name']} 模板的位置",
os.path.expanduser("~")
)
if not save_dir:
return
# 复制ioc文件到用户选择的目录
target_path = os.path.join(save_dir, preset_info['filename'])
# 检查目标文件是否已存在
if os.path.exists(target_path):
from qfluentwidgets import Dialog
dialog = Dialog("文件已存在", f"目标位置已存在 {preset_info['filename']}，是否覆盖？", self)
if dialog.exec() != Dialog.Accepted:
return
# 复制文件
shutil.copy2(preset_info['path'], target_path)
InfoBar.success(
title="模板保存成功",
content=f"预设模板 {preset_info['name']} 已保存到:\n{target_path}",
parent=self,
duration=3000
)
except Exception as e:
InfoBar.error(
title="保存失败",
content=f"保存预设模板失败: {str(e)}",
parent=self,
duration=3000
)
def open_project_from_path(self, folder_path):
"""从指定路径打开工程"""
try:
if not os.path.exists(folder_path):
return
ioc_files = [f for f in os.listdir(folder_path) if f.endswith('.ioc')]
if ioc_files:
# 检查是否已存在 codeGenPage 标签页
for i in range(self.stackedWidget.count()):
widget = self.stackedWidget.widget(i)
if widget is not None and widget.objectName() == "codeGenPage":
# 如果已存在，则切换到该标签页，并更新路径显示
if hasattr(widget, "project_path"):
widget.project_path = folder_path
if hasattr(widget, "refresh"):
widget.refresh()
self.stackedWidget.setCurrentWidget(widget)
self.tabBar.setCurrentTab("codeGenPage")
return
# 不存在则新建
code_gen_page = CodeGenerateInterface(folder_path, self)
self.addSubInterface(code_gen_page, "codeGenPage", "代码生成")
self.stackedWidget.setCurrentWidget(code_gen_page)
self.tabBar.setCurrentTab("codeGenPage")
else:
InfoBar.error(
title="未找到.ioc文件",
content="所选文件夹不是有效的CUBEMX工程目录",
parent=self,
duration=3000
)
except Exception as e:
InfoBar.error(
title="打开工程失败",
content=f"打开工程失败: {str(e)}",
parent=self,
duration=3000
)
def choose_project_folder(self): def choose_project_folder(self):
folder = QFileDialog.getExistingDirectory(self, "选择CUBEMX工程目录") folder = QFileDialog.getExistingDirectory(self, "选择CUBEMX工程目录")
if not folder: if not folder:

25
app/data_interface.py
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@ -637,6 +637,31 @@ class DataInterface(QWidget):
for t in task_list: for t in task_list:
desc = t.get("description", "") desc = t.get("description", "")
desc_wrapped = "\n ".join(textwrap.wrap(desc, 20)) desc_wrapped = "\n ".join(textwrap.wrap(desc, 20))
# 检查是否是预设任务
if t.get("preset_task"):
# 使用预设任务的代码
preset_task_name = t["preset_task"]
from app.tools.code_generator import CodeGenerator
task_template_dir = CodeGenerator.get_assets_dir("User_code/task/template_task")
preset_task_file = os.path.join(task_template_dir, f"{preset_task_name}.c")
if os.path.exists(preset_task_file):
# 直接复制预设任务文件
task_c_path = os.path.join(output_dir, f"{t['name']}.c")
with open(preset_task_file, 'r', encoding='utf-8') as f:
preset_code = f.read()
# 如果任务名称不同，需要替换函数名
if preset_task_name != t["name"]:
# 替换任务函数名
preset_code = preset_code.replace(f"Task_{preset_task_name}", t["function"])
preset_code = preset_code.replace(f" {preset_task_name} Task", f" {t['name']} Task")
save_with_preserve(task_c_path, preset_code)
continue
# 使用默认模板生成任务代码
context_task = { context_task = {
"task_name": t["name"], "task_name": t["name"],
"task_function": t["function"], "task_function": t["function"],

283
app/tools/code_task_config.py
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@ -1,7 +1,7 @@
from PyQt5.QtWidgets import QDialog, QVBoxLayout, QHBoxLayout, QWidget, QScrollArea from PyQt5.QtWidgets import QDialog, QVBoxLayout, QHBoxLayout, QWidget, QScrollArea
from qfluentwidgets import ( from qfluentwidgets import (
BodyLabel, TitleLabel, HorizontalSeparator, PushButton, PrimaryPushButton, BodyLabel, TitleLabel, HorizontalSeparator, PushButton, PrimaryPushButton,
LineEdit, SpinBox, DoubleSpinBox, CheckBox, TextEdit LineEdit, SpinBox, DoubleSpinBox, CheckBox, TextEdit, ComboBox
) )
from qfluentwidgets import theme, Theme from qfluentwidgets import theme, Theme
import yaml import yaml
@ -76,12 +76,20 @@ class TaskConfigDialog(QDialog):
self.add_btn = PrimaryPushButton("创建新任务") self.add_btn = PrimaryPushButton("创建新任务")
self.add_btn.setAutoDefault(False) # 禁止回车触发 self.add_btn.setAutoDefault(False) # 禁止回车触发
self.add_btn.setDefault(False) self.add_btn.setDefault(False)
# 新增：预设任务按钮
self.preset_btn = PushButton("使用预设任务")
self.preset_btn.setAutoDefault(False)
self.preset_btn.setDefault(False)
self.del_btn = PushButton("删除当前任务") self.del_btn = PushButton("删除当前任务")
self.del_btn.setAutoDefault(False) # 禁止回车触发 self.del_btn.setAutoDefault(False) # 禁止回车触发
self.del_btn.setDefault(False) self.del_btn.setDefault(False)
self.add_btn.clicked.connect(self.add_task) self.add_btn.clicked.connect(self.add_task)
self.preset_btn.clicked.connect(self.add_preset_task)
self.del_btn.clicked.connect(self.delete_current_task) self.del_btn.clicked.connect(self.delete_current_task)
btn_layout.addWidget(self.add_btn) btn_layout.addWidget(self.add_btn)
btn_layout.addWidget(self.preset_btn)
btn_layout.addWidget(self.del_btn) btn_layout.addWidget(self.del_btn)
btn_layout.addStretch() # 添加/删除靠左，stretch在中间 btn_layout.addStretch() # 添加/删除靠左，stretch在中间
@ -135,6 +143,274 @@ class TaskConfigDialog(QDialog):
self.task_btn_layout.addWidget(btn) self.task_btn_layout.addWidget(btn)
self.task_btn_layout.addStretch() self.task_btn_layout.addStretch()
def get_preset_tasks(self):
"""获取所有可用的预设任务"""
from app.tools.code_generator import CodeGenerator
task_dir = CodeGenerator.get_assets_dir("User_code/task/template_task")
preset_tasks = []
if not os.path.exists(task_dir):
return preset_tasks
for filename in os.listdir(task_dir):
if filename.endswith('.c') and not filename.endswith('.template'):
task_name = os.path.splitext(filename)[0]
preset_tasks.append(task_name)
return preset_tasks
def load_preset_task_config(self, task_name):
"""从 yaml 配置文件中加载预设任务的配置"""
try:
from app.tools.code_generator import CodeGenerator
template_dir = CodeGenerator.get_assets_dir("User_code/task/template_task")
config_file = os.path.join(template_dir, "task.yaml")
if not os.path.exists(config_file):
return None
with open(config_file, 'r', encoding='utf-8') as f:
config_data = yaml.safe_load(f)
if config_data and task_name in config_data:
return config_data[task_name]
return None
except Exception as e:
print(f"加载预设任务配置失败: {e}")
return None
def load_preset_task_code(self, task_name):
"""加载预设任务的代码内容"""
from app.tools.code_generator import CodeGenerator
task_dir = CodeGenerator.get_assets_dir("User_code/task/template_task")
task_file = os.path.join(task_dir, f"{task_name}.c")
if os.path.exists(task_file):
with open(task_file, 'r', encoding='utf-8') as f:
return f.read()
return None
def add_preset_task(self):
"""添加预设任务"""
preset_tasks = self.get_preset_tasks()
if not preset_tasks:
InfoBar.warning(
title="无预设任务",
content="未找到可用的预设任务模板",
parent=self,
duration=2000
)
return
# 创建自适应主题的对话框
dialog = QDialog(self)
dialog.setWindowTitle("选择预设任务")
dialog.resize(600, 500)
dialog.setModal(True)
layout = QVBoxLayout(dialog)
layout.setContentsMargins(24, 24, 24, 24)
layout.setSpacing(18)
# 固定内容区域
fixed_content = QWidget()
fixed_content.setFixedHeight(180) # 减少固定高度
fixed_layout = QVBoxLayout(fixed_content)
fixed_layout.setContentsMargins(0, 0, 0, 0)
fixed_layout.setSpacing(18)
# 标题
title_label = TitleLabel("选择预设任务模板")
fixed_layout.addWidget(title_label)
# 说明文字
desc_label = BodyLabel("选择一个预设任务模板，系统将自动复制相应的代码和配置")
fixed_layout.addWidget(desc_label)
fixed_layout.addWidget(HorizontalSeparator())
# 任务选择
select_layout = QHBoxLayout()
select_layout.setSpacing(12)
select_label = BodyLabel("预设任务：")
preset_combo = ComboBox()
preset_combo.addItems(preset_tasks)
preset_combo.setCurrentIndex(0)
preset_combo.setMinimumWidth(160)
select_layout.addWidget(select_label)
select_layout.addWidget(preset_combo)
select_layout.addStretch()
fixed_layout.addLayout(select_layout)
# 参数信息 - 单行显示
params_layout = QHBoxLayout()
params_layout.setSpacing(24) # 适中的间距
self.info_freq = BodyLabel("")
self.info_delay = BodyLabel("")
self.info_stack = BodyLabel("")
self.info_ctrl = BodyLabel("")
self.info_freq.setMinimumWidth(120)
self.info_delay.setMinimumWidth(100)
self.info_stack.setMinimumWidth(120)
self.info_ctrl.setMinimumWidth(100)
params_layout.addWidget(self.info_freq)
params_layout.addWidget(self.info_delay)
params_layout.addWidget(self.info_stack)
params_layout.addWidget(self.info_ctrl)
params_layout.addStretch()
fixed_layout.addLayout(params_layout)
fixed_layout.addStretch() # 在固定区域内保持紧凑
layout.addWidget(fixed_content)
# 弹性描述区域
desc_layout = QVBoxLayout()
desc_layout.setSpacing(8)
desc_title = BodyLabel("描述：")
desc_title.setStyleSheet("font-weight: bold;")
desc_layout.addWidget(desc_title)
self.preview_desc = TextEdit()
self.preview_desc.setReadOnly(True)
self.preview_desc.setMinimumHeight(60) # 最小高度
desc_layout.addWidget(self.preview_desc)
layout.addLayout(desc_layout, stretch=1) # 弹性伸缩
# 按钮区域
layout.addWidget(HorizontalSeparator())
btn_layout = QHBoxLayout()
btn_layout.addStretch()
cancel_btn = PushButton("取消")
ok_btn = PrimaryPushButton("确定添加")
cancel_btn.clicked.connect(dialog.reject)
ok_btn.clicked.connect(dialog.accept)
btn_layout.addWidget(cancel_btn)
btn_layout.addWidget(ok_btn)
layout.addLayout(btn_layout)
# 预览更新函数
def update_preview():
selected = preset_combo.currentText()
self.update_preset_preview(selected)
preset_combo.currentTextChanged.connect(update_preview)
# 存储对话框状态
self.current_preview_dialog = dialog
self.preview_combo = preset_combo
# 初始化预览
if preset_tasks:
update_preview()
# 显示对话框
if dialog.exec() == QDialog.Accepted:
selected_task = preset_combo.currentText()
self.save_form()
new_idx = len(self.tasks)
# 从配置文件加载预设任务参数
config = self.load_preset_task_config(selected_task)
if config:
new_task = self._make_task_obj({
"name": config.get("name", selected_task),
"frequency": config.get("frequency", 500),
"delay": config.get("delay", 0),
"stack": config.get("stack", 256),
"description": config.get("description", ""),
"freq_control": config.get("freq_control", True)
})
else:
new_task = self._make_task_obj({"name": selected_task})
new_task["preset_task"] = selected_task
self.tasks.append(new_task)
self.current_index = new_idx
self.refresh_task_btns()
self.show_task_form(self.tasks[self.current_index])
InfoBar.success(
title="添加成功",
content=f"已添加预设任务：{selected_task}",
parent=self,
duration=2000
)
def update_preset_preview(self, task_name):
"""更新预设任务预览信息"""
# 从配置加载信息
config = self.load_preset_task_config(task_name)
if config:
self.info_freq.setText(f"频率: {config.get('frequency', 500)} Hz")
self.info_delay.setText(f"延时: {config.get('delay', 0)} ms")
self.info_stack.setText(f"堆栈: {config.get('stack', 256)} Bytes")
freq_ctrl = "启用" if config.get('freq_control', True) else "禁用"
self.info_ctrl.setText(f"频率控制: {freq_ctrl}")
description = config.get('description', f'预设任务：{task_name}')
self.preview_desc.setText(description)
else:
self.info_freq.setText("频率: 500 Hz")
self.info_delay.setText("延时: 0 ms")
self.info_stack.setText("堆栈: 256 Bytes")
self.info_ctrl.setText("频率控制: 启用")
self.preview_desc.setText(f"预设任务：{task_name}")
def on_preset_task_selected(self, task_name):
"""预设任务选择事件（向后兼容）"""
pass
def get_preset_task_description(self, task_name):
"""获取预设任务的描述信息"""
# 首先尝试从 yaml 配置中获取描述
config = self.load_preset_task_config(task_name)
if config and 'description' in config:
return f"预设任务：{task_name}\n\n{config['description']}\n\n频率控制：{'启用' if config.get('freq_control', True) else '禁用'}\n运行频率：{config.get('frequency', 500)} Hz\n堆栈大小：{config.get('stack', 256)} Bytes\n初始延时：{config.get('delay', 0)} ms"
# 如果没有配置文件，则从代码注释中提取
try:
task_code = self.load_preset_task_code(task_name)
if task_code:
# 尝试从注释中提取描述
lines = task_code.split('\n')
description_lines = []
in_comment = False
for line in lines[:20]: # 只检查前20行
line = line.strip()
if line.startswith('/*'):
in_comment = True
if 'Task' in line and line != '/*':
description_lines.append(line.replace('/*', '').strip())
continue
elif line.endswith('*/'):
in_comment = False
break
elif in_comment and line and not line.startswith('*'):
description_lines.append(line)
if description_lines:
return '\n'.join(description_lines)
else:
return f"预设任务：{task_name}\n这是一个预定义的任务模板，包含完整的实现代码。"
else:
return f"预设任务：{task_name}\n无法读取任务描述。"
except Exception as e:
return f"预设任务：{task_name}\n读取描述时出现错误：{str(e)}"
def add_task(self): def add_task(self):
self.save_form() self.save_form()
new_idx = len(self.tasks) new_idx = len(self.tasks)
@ -302,5 +578,10 @@ class TaskConfigDialog(QDialog):
} }
if freq_ctrl: if freq_ctrl:
task["frequency"] = freq task["frequency"] = freq
# 保留预设任务信息
if "preset_task" in t:
task["preset_task"] = t["preset_task"]
tasks.append(task) tasks.append(task)
return tasks return tasks

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assets/.DS_Store vendored
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assets/User_code/ioc/CtrBoard-H7_ALL.ioc Normal file
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@ -0,0 +1,700 @@
#MicroXplorer Configuration settings - do not modify
ADC1.Channel-0\#ChannelRegularConversion=ADC_CHANNEL_4
ADC1.Channel-1\#ChannelRegularConversion=ADC_CHANNEL_19
ADC1.ClockPrescaler=ADC_CLOCK_ASYNC_DIV64
ADC1.ContinuousConvMode=ENABLE
ADC1.ConversionDataManagement=ADC_CONVERSIONDATA_DMA_CIRCULAR
ADC1.IPParameters=Rank-0\#ChannelRegularConversion,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,OffsetNumber-0\#ChannelRegularConversion,OffsetSignedSaturation-0\#ChannelRegularConversion,NbrOfConversionFlag,master,ClockPrescaler,ContinuousConvMode,ConversionDataManagement,Rank-1\#ChannelRegularConversion,Channel-1\#ChannelRegularConversion,SamplingTime-1\#ChannelRegularConversion,OffsetNumber-1\#ChannelRegularConversion,OffsetSignedSaturation-1\#ChannelRegularConversion,NbrOfConversion
ADC1.NbrOfConversion=2
ADC1.NbrOfConversionFlag=1
ADC1.OffsetNumber-0\#ChannelRegularConversion=ADC_OFFSET_NONE
ADC1.OffsetNumber-1\#ChannelRegularConversion=ADC_OFFSET_NONE
ADC1.OffsetSignedSaturation-0\#ChannelRegularConversion=DISABLE
ADC1.OffsetSignedSaturation-1\#ChannelRegularConversion=DISABLE
ADC1.Rank-0\#ChannelRegularConversion=1
ADC1.Rank-1\#ChannelRegularConversion=2
ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_32CYCLES_5
ADC1.SamplingTime-1\#ChannelRegularConversion=ADC_SAMPLETIME_32CYCLES_5
ADC1.master=1
CAD.formats=
CAD.pinconfig=
CAD.provider=
CORTEX_M7.BaseAddress-Cortex_Memory_Protection_Unit_Region0_Settings=0x24000000
CORTEX_M7.CPU_DCache=Disabled
CORTEX_M7.CPU_ICache=Disabled
CORTEX_M7.Enable-Cortex_Memory_Protection_Unit_Region0_Settings=MPU_REGION_ENABLE
CORTEX_M7.IPParameters=CPU_DCache,CPU_ICache,MPU_Control,Enable-Cortex_Memory_Protection_Unit_Region0_Settings,BaseAddress-Cortex_Memory_Protection_Unit_Region0_Settings,Size-Cortex_Memory_Protection_Unit_Region0_Settings,TypeExtField-Cortex_Memory_Protection_Unit_Region0_Settings,IsCacheable-Cortex_Memory_Protection_Unit_Region0_Settings,IsBufferable-Cortex_Memory_Protection_Unit_Region0_Settings
CORTEX_M7.IsBufferable-Cortex_Memory_Protection_Unit_Region0_Settings=MPU_ACCESS_BUFFERABLE
CORTEX_M7.IsCacheable-Cortex_Memory_Protection_Unit_Region0_Settings=MPU_ACCESS_CACHEABLE
CORTEX_M7.MPU_Control=__NULL
CORTEX_M7.Size-Cortex_Memory_Protection_Unit_Region0_Settings=MPU_REGION_SIZE_512B
CORTEX_M7.TypeExtField-Cortex_Memory_Protection_Unit_Region0_Settings=MPU_TEX_LEVEL1
Dma.ADC1.0.Direction=DMA_PERIPH_TO_MEMORY
Dma.ADC1.0.EventEnable=DISABLE
Dma.ADC1.0.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.ADC1.0.Instance=DMA1_Stream0
Dma.ADC1.0.MemDataAlignment=DMA_MDATAALIGN_HALFWORD
Dma.ADC1.0.MemInc=DMA_MINC_ENABLE
Dma.ADC1.0.Mode=DMA_CIRCULAR
Dma.ADC1.0.PeriphDataAlignment=DMA_PDATAALIGN_HALFWORD
Dma.ADC1.0.PeriphInc=DMA_PINC_DISABLE
Dma.ADC1.0.Polarity=HAL_DMAMUX_REQ_GEN_RISING
Dma.ADC1.0.Priority=DMA_PRIORITY_LOW
Dma.ADC1.0.RequestNumber=1
Dma.ADC1.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
Dma.ADC1.0.SignalID=NONE
Dma.ADC1.0.SyncEnable=DISABLE
Dma.ADC1.0.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
Dma.ADC1.0.SyncRequestNumber=1
Dma.ADC1.0.SyncSignalID=NONE
Dma.Request0=ADC1
Dma.Request1=SPI2_RX
Dma.Request2=SPI2_TX
Dma.Request3=UART5_RX
Dma.RequestsNb=4
Dma.SPI2_RX.1.Direction=DMA_PERIPH_TO_MEMORY
Dma.SPI2_RX.1.EventEnable=DISABLE
Dma.SPI2_RX.1.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.SPI2_RX.1.Instance=DMA1_Stream1
Dma.SPI2_RX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.SPI2_RX.1.MemInc=DMA_MINC_ENABLE
Dma.SPI2_RX.1.Mode=DMA_NORMAL
Dma.SPI2_RX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.SPI2_RX.1.PeriphInc=DMA_PINC_DISABLE
Dma.SPI2_RX.1.Polarity=HAL_DMAMUX_REQ_GEN_RISING
Dma.SPI2_RX.1.Priority=DMA_PRIORITY_LOW
Dma.SPI2_RX.1.RequestNumber=1
Dma.SPI2_RX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
Dma.SPI2_RX.1.SignalID=NONE
Dma.SPI2_RX.1.SyncEnable=DISABLE
Dma.SPI2_RX.1.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
Dma.SPI2_RX.1.SyncRequestNumber=1
Dma.SPI2_RX.1.SyncSignalID=NONE
Dma.SPI2_TX.2.Direction=DMA_MEMORY_TO_PERIPH
Dma.SPI2_TX.2.EventEnable=DISABLE
Dma.SPI2_TX.2.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.SPI2_TX.2.Instance=DMA1_Stream2
Dma.SPI2_TX.2.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.SPI2_TX.2.MemInc=DMA_MINC_ENABLE
Dma.SPI2_TX.2.Mode=DMA_NORMAL
Dma.SPI2_TX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.SPI2_TX.2.PeriphInc=DMA_PINC_DISABLE
Dma.SPI2_TX.2.Polarity=HAL_DMAMUX_REQ_GEN_RISING
Dma.SPI2_TX.2.Priority=DMA_PRIORITY_LOW
Dma.SPI2_TX.2.RequestNumber=1
Dma.SPI2_TX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
Dma.SPI2_TX.2.SignalID=NONE
Dma.SPI2_TX.2.SyncEnable=DISABLE
Dma.SPI2_TX.2.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
Dma.SPI2_TX.2.SyncRequestNumber=1
Dma.SPI2_TX.2.SyncSignalID=NONE
Dma.UART5_RX.3.Direction=DMA_PERIPH_TO_MEMORY
Dma.UART5_RX.3.EventEnable=DISABLE
Dma.UART5_RX.3.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.UART5_RX.3.Instance=DMA1_Stream3
Dma.UART5_RX.3.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.UART5_RX.3.MemInc=DMA_MINC_ENABLE
Dma.UART5_RX.3.Mode=DMA_NORMAL
Dma.UART5_RX.3.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.UART5_RX.3.PeriphInc=DMA_PINC_DISABLE
Dma.UART5_RX.3.Polarity=HAL_DMAMUX_REQ_GEN_RISING
Dma.UART5_RX.3.Priority=DMA_PRIORITY_LOW
Dma.UART5_RX.3.RequestNumber=1
Dma.UART5_RX.3.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
Dma.UART5_RX.3.SignalID=NONE
Dma.UART5_RX.3.SyncEnable=DISABLE
Dma.UART5_RX.3.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
Dma.UART5_RX.3.SyncRequestNumber=1
Dma.UART5_RX.3.SyncSignalID=NONE
FDCAN1.AutoRetransmission=ENABLE
FDCAN1.CalculateBaudRateNominal=1000000
FDCAN1.CalculateTimeBitNominal=1000
FDCAN1.CalculateTimeQuantumNominal=200.0
FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr,NominalTimeSeg1,AutoRetransmission
FDCAN1.NominalPrescaler=24
FDCAN1.NominalTimeSeg1=3
FDCAN1.RxFifo0ElmtsNbr=32
FDCAN1.StdFiltersNbr=1
FDCAN1.TxFifoQueueElmtsNbr=32
FDCAN2.AutoRetransmission=ENABLE
FDCAN2.CalculateBaudRateNominal=1000000
FDCAN2.CalculateTimeBitNominal=1000
FDCAN2.CalculateTimeQuantumNominal=200.0
FDCAN2.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,MessageRAMOffset,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr,NominalTimeSeg1,AutoRetransmission,RxFifo1ElmtsNbr
FDCAN2.MessageRAMOffset=0x406
FDCAN2.NominalPrescaler=24
FDCAN2.NominalTimeSeg1=3
FDCAN2.RxFifo0ElmtsNbr=32
FDCAN2.RxFifo1ElmtsNbr=32
FDCAN2.StdFiltersNbr=1
FDCAN2.TxFifoQueueElmtsNbr=32
FDCAN3.AutoRetransmission=ENABLE
FDCAN3.CalculateBaudRateNominal=1000000
FDCAN3.CalculateTimeBitNominal=1000
FDCAN3.CalculateTimeQuantumNominal=200.0
FDCAN3.ExtFiltersNbr=1
FDCAN3.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,MessageRAMOffset,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr,NominalTimeSeg1,AutoRetransmission,RxFifo1ElmtsNbr,ExtFiltersNbr
FDCAN3.MessageRAMOffset=0x812
FDCAN3.NominalPrescaler=24
FDCAN3.NominalTimeSeg1=3
FDCAN3.RxFifo0ElmtsNbr=32
FDCAN3.RxFifo1ElmtsNbr=32
FDCAN3.StdFiltersNbr=1
FDCAN3.TxFifoQueueElmtsNbr=32
FREERTOS.IPParameters=Tasks01,configTOTAL_HEAP_SIZE
FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
FREERTOS.configTOTAL_HEAP_SIZE=0x10000
File.Version=6
GPIO.groupedBy=Group By Peripherals
KeepUserPlacement=false
MMTAppRegionsCount=0
MMTConfigApplied=false
Mcu.CPN=STM32H723VGT6
Mcu.Family=STM32H7
Mcu.IP0=ADC1
Mcu.IP1=CORTEX_M7
Mcu.IP10=OCTOSPI1
Mcu.IP11=RCC
Mcu.IP12=SPI1
Mcu.IP13=SPI2
Mcu.IP14=SYS
Mcu.IP15=TIM1
Mcu.IP16=TIM2
Mcu.IP17=TIM3
Mcu.IP18=TIM12
Mcu.IP19=UART5
Mcu.IP2=DEBUG
Mcu.IP20=UART7
Mcu.IP21=USART1
Mcu.IP22=USART2
Mcu.IP23=USART3
Mcu.IP24=USART10
Mcu.IP25=USB_OTG_HS
Mcu.IP3=DMA
Mcu.IP4=FDCAN1
Mcu.IP5=FDCAN2
Mcu.IP6=FDCAN3
Mcu.IP7=FREERTOS
Mcu.IP8=MEMORYMAP
Mcu.IP9=NVIC
Mcu.IPNb=26
Mcu.Name=STM32H723VGTx
Mcu.Package=LQFP100
Mcu.Pin0=PE2
Mcu.Pin1=PE3
Mcu.Pin10=PC3_C
Mcu.Pin11=PA0
Mcu.Pin12=PA1
Mcu.Pin13=PA2
Mcu.Pin14=PA3
Mcu.Pin15=PA5
Mcu.Pin16=PA7
Mcu.Pin17=PC4
Mcu.Pin18=PC5
Mcu.Pin19=PB0
Mcu.Pin2=PC13
Mcu.Pin20=PB1
Mcu.Pin21=PB2
Mcu.Pin22=PE7
Mcu.Pin23=PE8
Mcu.Pin24=PE9
Mcu.Pin25=PE10
Mcu.Pin26=PE11
Mcu.Pin27=PE12
Mcu.Pin28=PE13
Mcu.Pin29=PE15
Mcu.Pin3=PC14-OSC32_IN
Mcu.Pin30=PB10
Mcu.Pin31=PB11
Mcu.Pin32=PB12
Mcu.Pin33=PB13
Mcu.Pin34=PB14
Mcu.Pin35=PB15
Mcu.Pin36=PD8
Mcu.Pin37=PD9
Mcu.Pin38=PD10
Mcu.Pin39=PD11
Mcu.Pin4=PC15-OSC32_OUT
Mcu.Pin40=PD12
Mcu.Pin41=PD13
Mcu.Pin42=PA8
Mcu.Pin43=PA9
Mcu.Pin44=PA10
Mcu.Pin45=PA11
Mcu.Pin46=PA12
Mcu.Pin47=PA13(JTMS/SWDIO)
Mcu.Pin48=PA14(JTCK/SWCLK)
Mcu.Pin49=PA15(JTDI)
Mcu.Pin5=PH0-OSC_IN
Mcu.Pin50=PC12
Mcu.Pin51=PD0
Mcu.Pin52=PD1
Mcu.Pin53=PD2
Mcu.Pin54=PD4
Mcu.Pin55=PD5
Mcu.Pin56=PD6
Mcu.Pin57=PD7
Mcu.Pin58=PB3(JTDO/TRACESWO)
Mcu.Pin59=PB5
Mcu.Pin6=PH1-OSC_OUT
Mcu.Pin60=PB6
Mcu.Pin61=VP_FREERTOS_VS_CMSIS_V2
Mcu.Pin62=VP_OCTOSPI1_VS_octo
Mcu.Pin63=VP_SYS_VS_tim23
Mcu.Pin64=VP_MEMORYMAP_VS_MEMORYMAP
Mcu.Pin7=PC0
Mcu.Pin8=PC1
Mcu.Pin9=PC2_C
Mcu.PinsNb=65
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32H723VGTx
MxCube.Version=6.15.0
MxDb.Version=DB.6.0.150
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.DMA1_Stream0_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA1_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA1_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA1_Stream3_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.EXTI15_10_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.FDCAN1_IT0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.FDCAN1_IT1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.FDCAN2_IT0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.FDCAN2_IT1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.FDCAN3_IT0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.FDCAN3_IT1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.ForceEnableDMAVector=true
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false\:false
NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
NVIC.SPI2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false
NVIC.SavedPendsvIrqHandlerGenerated=true
NVIC.SavedSvcallIrqHandlerGenerated=true
NVIC.SavedSystickIrqHandlerGenerated=true
NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false
NVIC.TIM23_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
NVIC.TimeBase=TIM23_IRQn
NVIC.TimeBaseIP=TIM23
NVIC.UART5_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.UART7_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
NVIC.USART10_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
NVIC.USART1_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
NVIC.USART2_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
NVIC.USART3_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
PA0.Locked=true
PA0.Signal=S_TIM2_CH1_ETR
PA1.Locked=true
PA1.Mode=OCTOSPI1_IOL_Port1L
PA1.Signal=OCTOSPIM_P1_IO3
PA10.Locked=true
PA10.Mode=Asynchronous
PA10.Signal=USART1_RX
PA11.Mode=Device_Only_FS
PA11.Signal=USB_OTG_HS_DM
PA12.Mode=Device_Only_FS
PA12.Signal=USB_OTG_HS_DP
PA13(JTMS/SWDIO).Locked=true
PA13(JTMS/SWDIO).Mode=Serial_Wire
PA13(JTMS/SWDIO).Signal=DEBUG_JTMS-SWDIO
PA14(JTCK/SWCLK).Locked=true
PA14(JTCK/SWCLK).Mode=Serial_Wire
PA14(JTCK/SWCLK).Signal=DEBUG_JTCK-SWCLK
PA15(JTDI).Locked=true
PA15(JTDI).Signal=GPIO_Input
PA2.Locked=true
PA2.Signal=S_TIM2_CH3
PA3.Locked=true
PA3.Mode=OCTOSPI1_IOL_Port1L
PA3.Signal=OCTOSPIM_P1_IO2
PA5.Locked=true
PA5.Signal=ADCx_INP19
PA7.GPIOParameters=GPIO_Label
PA7.GPIO_Label=WS2812
PA7.Locked=true
PA7.Signal=S_TIM3_CH2
PA8.Locked=true
PA8.Mode=Clock-out-1
PA8.Signal=RCC_MCO_1
PA9.Locked=true
PA9.Mode=Asynchronous
PA9.Signal=USART1_TX
PB0.Locked=true
PB0.Mode=OCTOSPI1_IOL_Port1L
PB0.Signal=OCTOSPIM_P1_IO1
PB1.GPIOParameters=GPIO_Label
PB1.GPIO_Label=IMU_HEAT
PB1.Locked=true
PB1.Signal=S_TIM3_CH4
PB10.GPIOParameters=GPIO_Label
PB10.GPIO_Label=LCD_BLK
PB10.Locked=true
PB10.Signal=GPIO_Output
PB11.GPIOParameters=GPIO_Label
PB11.GPIO_Label=LCD_RES
PB11.Locked=true
PB11.Signal=GPIO_Output
PB12.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label
PB12.GPIO_Label=DCMI_REST
PB12.GPIO_PuPd=GPIO_PULLUP
PB12.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
PB12.Locked=true
PB12.PinState=GPIO_PIN_SET
PB12.Signal=GPIO_Output
PB13.GPIOParameters=GPIO_Speed
PB13.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
PB13.Locked=true
PB13.Mode=Full_Duplex_Master
PB13.Signal=SPI2_SCK
PB14.Mode=Hardware Flow Control (RS485)
PB14.Signal=USART3_DE
PB15.GPIOParameters=GPIO_Label
PB15.GPIO_Label=BUZZER
PB15.Locked=true
PB15.Signal=S_TIM12_CH2
PB2.Locked=true
PB2.Mode=O1_P1_CLK
PB2.Signal=OCTOSPIM_P1_CLK
PB3(JTDO/TRACESWO).GPIOParameters=GPIO_Speed
PB3(JTDO/TRACESWO).GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
PB3(JTDO/TRACESWO).Mode=TX_Only_Simplex_Unidirect_Master
PB3(JTDO/TRACESWO).Signal=SPI1_SCK
PB5.Locked=true
PB5.Mode=FDCAN_Activate
PB5.Signal=FDCAN2_RX
PB6.Locked=true
PB6.Mode=FDCAN_Activate
PB6.Signal=FDCAN2_TX
PC0.GPIOParameters=GPIO_Speed,PinState,GPIO_Label
PC0.GPIO_Label=ACCL_CS
PC0.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
PC0.Locked=true
PC0.PinState=GPIO_PIN_SET
PC0.Signal=GPIO_Output
PC1.GPIOParameters=GPIO_Speed
PC1.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
PC1.Mode=Full_Duplex_Master
PC1.Signal=SPI2_MOSI
PC12.Mode=Asynchronous
PC12.Signal=UART5_TX
PC13.GPIOParameters=PinState,GPIO_Label
PC13.GPIO_Label=POWER_24V_2
PC13.Locked=true
PC13.PinState=GPIO_PIN_SET
PC13.Signal=GPIO_Output
PC14-OSC32_IN.GPIOParameters=PinState,GPIO_Label
PC14-OSC32_IN.GPIO_Label=POWER_24V_1
PC14-OSC32_IN.Locked=true
PC14-OSC32_IN.PinState=GPIO_PIN_SET
PC14-OSC32_IN.Signal=GPIO_Output
PC15-OSC32_OUT.GPIOParameters=PinState,GPIO_Label
PC15-OSC32_OUT.GPIO_Label=POWER_5V
PC15-OSC32_OUT.Locked=true
PC15-OSC32_OUT.PinState=GPIO_PIN_SET
PC15-OSC32_OUT.Signal=GPIO_Output
PC2_C.GPIOParameters=GPIO_Speed
PC2_C.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
PC2_C.Mode=Full_Duplex_Master
PC2_C.Signal=SPI2_MISO
PC3_C.GPIOParameters=GPIO_Speed,PinState,GPIO_Label
PC3_C.GPIO_Label=GYRO_CS
PC3_C.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
PC3_C.Locked=true
PC3_C.PinState=GPIO_PIN_SET
PC3_C.Signal=GPIO_Output
PC4.Locked=true
PC4.Signal=ADCx_INP4
PC5.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label
PC5.GPIO_Label=DCMI_PWDN
PC5.GPIO_PuPd=GPIO_NOPULL
PC5.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
PC5.Locked=true
PC5.PinState=GPIO_PIN_SET
PC5.Signal=GPIO_Output
PD0.Mode=FDCAN_Activate
PD0.Signal=FDCAN1_RX
PD1.Locked=true
PD1.Mode=FDCAN_Activate
PD1.Signal=FDCAN1_TX
PD10.GPIOParameters=GPIO_Label
PD10.GPIO_Label=LCD_DC
PD10.Locked=true
PD10.Signal=GPIO_Output
PD11.Locked=true
PD11.Mode=OCTOSPI1_IOL_Port1L
PD11.Signal=OCTOSPIM_P1_IO0
PD12.Mode=FDCAN_Activate
PD12.Signal=FDCAN3_RX
PD13.Locked=true
PD13.Mode=FDCAN_Activate
PD13.Signal=FDCAN3_TX
PD2.Mode=Asynchronous
PD2.Signal=UART5_RX
PD4.Locked=true
PD4.Mode=Hardware Flow Control (RS485)
PD4.Signal=USART2_DE
PD5.Locked=true
PD5.Mode=Asynchronous
PD5.Signal=USART2_TX
PD6.Locked=true
PD6.Mode=Asynchronous
PD6.Signal=USART2_RX
PD7.GPIOParameters=GPIO_Speed
PD7.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
PD7.Locked=true
PD7.Mode=TX_Only_Simplex_Unidirect_Master
PD7.Signal=SPI1_MOSI
PD8.Mode=Asynchronous
PD8.Signal=USART3_TX
PD9.Mode=Asynchronous
PD9.Signal=USART3_RX
PE10.GPIOParameters=GPIO_Label
PE10.GPIO_Label=ACCL_INT
PE10.Locked=true
PE10.Signal=GPXTI10
PE11.Locked=true
PE11.Mode=OCTOSPI1_Port1_NCS
PE11.Signal=OCTOSPIM_P1_NCS
PE12.GPIOParameters=GPIO_Label
PE12.GPIO_Label=GYRO_INT
PE12.Locked=true
PE12.Signal=GPXTI12
PE13.Signal=S_TIM1_CH3
PE15.GPIOParameters=GPIO_Label
PE15.GPIO_Label=LCD_CS
PE15.Locked=true
PE15.Signal=GPIO_Output
PE2.Mode=Asynchronous
PE2.Signal=USART10_RX
PE3.Mode=Asynchronous
PE3.Signal=USART10_TX
PE7.Mode=Asynchronous
PE7.Signal=UART7_RX
PE8.Mode=Asynchronous
PE8.Signal=UART7_TX
PE9.Locked=true
PE9.Signal=S_TIM1_CH1
PH0-OSC_IN.Mode=HSE-External-Oscillator
PH0-OSC_IN.Signal=RCC_OSC_IN
PH1-OSC_OUT.Mode=HSE-External-Oscillator
PH1-OSC_OUT.Signal=RCC_OSC_OUT
PinOutPanel.RotationAngle=0
ProjectManager.AskForMigrate=true
ProjectManager.BackupPrevious=false
ProjectManager.CompilerLinker=GCC
ProjectManager.CompilerOptimize=6
ProjectManager.ComputerToolchain=false
ProjectManager.CoupleFile=true
ProjectManager.CustomerFirmwarePackage=
ProjectManager.DefaultFWLocation=true
ProjectManager.DeletePrevious=true
ProjectManager.DeviceId=STM32H723VGTx
ProjectManager.FirmwarePackage=STM32Cube FW_H7 V1.12.1
ProjectManager.FreePins=false
ProjectManager.HalAssertFull=false
ProjectManager.HeapSize=0x1000
ProjectManager.KeepUserCode=true
ProjectManager.LastFirmware=true
ProjectManager.LibraryCopy=0
ProjectManager.MainLocation=Core/Src
ProjectManager.NoMain=false
ProjectManager.PreviousToolchain=
ProjectManager.ProjectBuild=false
ProjectManager.ProjectFileName=CtrBoard-H7_ALL.ioc
ProjectManager.ProjectName=CtrBoard-H7_ALL
ProjectManager.ProjectStructure=
ProjectManager.RegisterCallBack=
ProjectManager.StackSize=0x2000
ProjectManager.TargetToolchain=MDK-ARM V5.32
ProjectManager.ToolChainLocation=
ProjectManager.UAScriptAfterPath=
ProjectManager.UAScriptBeforePath=
ProjectManager.UnderRoot=false
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_TIM12_Init-TIM12-false-HAL-true,6-MX_SPI1_Init-SPI1-false-HAL-true,7-MX_SPI2_Init-SPI2-false-HAL-true,8-MX_TIM3_Init-TIM3-false-HAL-true,9-MX_USART1_UART_Init-USART1-false-HAL-true,10-MX_USART2_UART_Init-USART2-false-HAL-true,11-MX_USART3_UART_Init-USART3-false-HAL-true,12-MX_UART7_Init-UART7-false-HAL-true,13-MX_USART10_UART_Init-USART10-false-HAL-true,14-MX_FDCAN1_Init-FDCAN1-false-HAL-true,15-MX_FDCAN2_Init-FDCAN2-false-HAL-true,16-MX_FDCAN3_Init-FDCAN3-false-HAL-true,17-MX_TIM1_Init-TIM1-false-HAL-true,18-MX_TIM2_Init-TIM2-false-HAL-true,19-MX_OCTOSPI1_Init-OCTOSPI1-false-HAL-true,20-MX_USB_OTG_HS_PCD_Init-USB_OTG_HS-false-HAL-true,21-MX_UART5_Init-UART5-false-HAL-true,0-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true
RCC.ADCFreq_Value=96000000
RCC.AHB12Freq_Value=240000000
RCC.AHB4Freq_Value=240000000
RCC.APB1Freq_Value=120000000
RCC.APB2Freq_Value=120000000
RCC.APB3Freq_Value=120000000
RCC.APB4Freq_Value=120000000
RCC.AXIClockFreq_Value=240000000
RCC.CECFreq_Value=32000
RCC.CKPERFreq_Value=64000000
RCC.CortexFreq_Value=480000000
RCC.CpuClockFreq_Value=480000000
RCC.D1CPREFreq_Value=480000000
RCC.D1PPRE=RCC_APB3_DIV2
RCC.D2PPRE1=RCC_APB1_DIV2
RCC.D2PPRE2=RCC_APB2_DIV2
RCC.D3PPRE=RCC_APB4_DIV2
RCC.DFSDMACLkFreq_Value=120000000
RCC.DFSDMFreq_Value=120000000
RCC.DIVM1=2
RCC.DIVM2=2
RCC.DIVN1=40
RCC.DIVN2=16
RCC.DIVP1=1
RCC.DIVP1Freq_Value=480000000
RCC.DIVP2Freq_Value=96000000
RCC.DIVP3Freq_Value=48375000
RCC.DIVQ1=4
RCC.DIVQ1Freq_Value=120000000
RCC.DIVQ2Freq_Value=96000000
RCC.DIVQ3Freq_Value=48375000
RCC.DIVR1Freq_Value=240000000
RCC.DIVR2Freq_Value=96000000
RCC.DIVR3Freq_Value=48375000
RCC.EnbaleCSS=false
RCC.FDCANFreq_Value=120000000
RCC.FMCFreq_Value=240000000
RCC.FamilyName=M
RCC.HCLK3ClockFreq_Value=240000000
RCC.HCLKFreq_Value=240000000
RCC.HPRE=RCC_HCLK_DIV2
RCC.HSE_VALUE=24000000
RCC.I2C123Freq_Value=120000000
RCC.I2C4Freq_Value=120000000
RCC.IPParameters=ADCFreq_Value,AHB12Freq_Value,AHB4Freq_Value,APB1Freq_Value,APB2Freq_Value,APB3Freq_Value,APB4Freq_Value,AXIClockFreq_Value,CECFreq_Value,CKPERFreq_Value,CortexFreq_Value,CpuClockFreq_Value,D1CPREFreq_Value,D1PPRE,D2PPRE1,D2PPRE2,D3PPRE,DFSDMACLkFreq_Value,DFSDMFreq_Value,DIVM1,DIVM2,DIVN1,DIVN2,DIVP1,DIVP1Freq_Value,DIVP2Freq_Value,DIVP3Freq_Value,DIVQ1,DIVQ1Freq_Value,DIVQ2Freq_Value,DIVQ3Freq_Value,DIVR1Freq_Value,DIVR2Freq_Value,DIVR3Freq_Value,EnbaleCSS,FDCANFreq_Value,FMCFreq_Value,FamilyName,HCLK3ClockFreq_Value,HCLKFreq_Value,HPRE,HSE_VALUE,I2C123Freq_Value,I2C4Freq_Value,LPTIM1Freq_Value,LPTIM2Freq_Value,LPTIM345Freq_Value,LPUART1Freq_Value,LTDCFreq_Value,MCO1PinFreq_Value,MCO2PinFreq_Value,PLL2FRACN,PLL2_VCI_Range-AdvancedSettings,PLL2_VCO_SEL-AdvancedSettings,PLL3FRACN,PLL3_VCO_SEL-AdvancedSettings,PLLFRACN,PLLSourceVirtual,QSPIFreq_Value,RNGFreq_Value,RTCFreq_Value,SAI1Freq_Value,SAI4AFreq_Value,SAI4BFreq_Value,SDMMCFreq_Value,SPDIFRXFreq_Value,SPI123Freq_Value,SPI45Freq_Value,SPI6CLockSelection,SPI6Freq_Value,SWPMI1Freq_Value,SYSCLKFreq_VALUE,SYSCLKSource,Tim1OutputFreq_Value,Tim2OutputFreq_Value,TraceFreq_Value,USART16Freq_Value,USART234578Freq_Value,USBCLockSelection,USBFreq_Value,VCO1OutputFreq_Value,VCO2OutputFreq_Value,VCO3OutputFreq_Value,VCOInput1Freq_Value,VCOInput2Freq_Value,VCOInput3Freq_Value
RCC.LPTIM1Freq_Value=120000000
RCC.LPTIM2Freq_Value=120000000
RCC.LPTIM345Freq_Value=120000000
RCC.LPUART1Freq_Value=120000000
RCC.LTDCFreq_Value=48375000
RCC.MCO1PinFreq_Value=64000000
RCC.MCO2PinFreq_Value=480000000
RCC.PLL2FRACN=0
RCC.PLL2_VCI_Range-AdvancedSettings=RCC_PLL2VCIRANGE_0
RCC.PLL2_VCO_SEL-AdvancedSettings=RCC_PLL2VCOWIDE
RCC.PLL3FRACN=0
RCC.PLL3_VCO_SEL-AdvancedSettings=RCC_PLL3VCOMEDIUM
RCC.PLLFRACN=0
RCC.PLLSourceVirtual=RCC_PLLSOURCE_HSE
RCC.QSPIFreq_Value=240000000
RCC.RNGFreq_Value=48000000
RCC.RTCFreq_Value=32000
RCC.SAI1Freq_Value=120000000
RCC.SAI4AFreq_Value=120000000
RCC.SAI4BFreq_Value=120000000
RCC.SDMMCFreq_Value=120000000
RCC.SPDIFRXFreq_Value=120000000
RCC.SPI123Freq_Value=120000000
RCC.SPI45Freq_Value=120000000
RCC.SPI6CLockSelection=RCC_SPI6CLKSOURCE_HSE
RCC.SPI6Freq_Value=24000000
RCC.SWPMI1Freq_Value=120000000
RCC.SYSCLKFreq_VALUE=480000000
RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
RCC.Tim1OutputFreq_Value=240000000
RCC.Tim2OutputFreq_Value=240000000
RCC.TraceFreq_Value=240000000
RCC.USART16Freq_Value=120000000
RCC.USART234578Freq_Value=120000000
RCC.USBCLockSelection=RCC_USBCLKSOURCE_HSI48
RCC.USBFreq_Value=48000000
RCC.VCO1OutputFreq_Value=480000000
RCC.VCO2OutputFreq_Value=192000000
RCC.VCO3OutputFreq_Value=96750000
RCC.VCOInput1Freq_Value=12000000
RCC.VCOInput2Freq_Value=12000000
RCC.VCOInput3Freq_Value=750000
SH.ADCx_INP19.0=ADC1_INP19,IN19-Single-Ended
SH.ADCx_INP19.ConfNb=1
SH.ADCx_INP4.0=ADC1_INP4,IN4-Single-Ended
SH.ADCx_INP4.ConfNb=1
SH.GPXTI10.0=GPIO_EXTI10
SH.GPXTI10.ConfNb=1
SH.GPXTI12.0=GPIO_EXTI12
SH.GPXTI12.ConfNb=1
SH.S_TIM12_CH2.0=TIM12_CH2,PWM Generation2 CH2
SH.S_TIM12_CH2.ConfNb=1
SH.S_TIM1_CH1.0=TIM1_CH1,PWM Generation1 CH1
SH.S_TIM1_CH1.ConfNb=1
SH.S_TIM1_CH3.0=TIM1_CH3,PWM Generation3 CH3
SH.S_TIM1_CH3.ConfNb=1
SH.S_TIM2_CH1_ETR.0=TIM2_CH1,PWM Generation1 CH1
SH.S_TIM2_CH1_ETR.ConfNb=1
SH.S_TIM2_CH3.0=TIM2_CH3,PWM Generation3 CH3
SH.S_TIM2_CH3.ConfNb=1
SH.S_TIM3_CH2.0=TIM3_CH2,PWM Generation2 CH2
SH.S_TIM3_CH2.ConfNb=1
SH.S_TIM3_CH4.0=TIM3_CH4,PWM Generation4 CH4
SH.S_TIM3_CH4.ConfNb=1
SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_4
SPI1.CLKPolarity=SPI_POLARITY_HIGH
SPI1.CalculateBaudRate=30.0 MBits/s
SPI1.DataSize=SPI_DATASIZE_8BIT
SPI1.Direction=SPI_DIRECTION_2LINES_TXONLY
SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,DataSize,BaudRatePrescaler,CLKPolarity
SPI1.Mode=SPI_MODE_MASTER
SPI1.VirtualType=VM_MASTER
SPI2.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_32
SPI2.CLKPhase=SPI_PHASE_2EDGE
SPI2.CLKPolarity=SPI_POLARITY_HIGH
SPI2.CalculateBaudRate=3.75 MBits/s
SPI2.DataSize=SPI_DATASIZE_8BIT
SPI2.Direction=SPI_DIRECTION_2LINES
SPI2.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,DataSize,BaudRatePrescaler,CLKPolarity,CLKPhase
SPI2.Mode=SPI_MODE_MASTER
SPI2.VirtualType=VM_MASTER
TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
TIM1.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
TIM1.IPParameters=Channel-PWM Generation3 CH3,Channel-PWM Generation1 CH1,Period,Pulse-PWM Generation1 CH1,Pulse-PWM Generation3 CH3,Prescaler
TIM1.Period=10000
TIM1.Prescaler=24
TIM1.Pulse-PWM\ Generation1\ CH1=5000
TIM1.Pulse-PWM\ Generation3\ CH3=5000
TIM12.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
TIM12.IPParameters=Channel-PWM Generation2 CH2,Prescaler,Period
TIM12.Period=2000-1
TIM12.Prescaler=24-1
TIM2.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
TIM2.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
TIM2.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation3 CH3,Period,Pulse-PWM Generation1 CH1,Pulse-PWM Generation3 CH3,Prescaler
TIM2.Period=10000
TIM2.Prescaler=24
TIM2.Pulse-PWM\ Generation1\ CH1=5000
TIM2.Pulse-PWM\ Generation3\ CH3=5000
TIM3.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
TIM3.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
TIM3.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
TIM3.IPParameters=Channel-PWM Generation4 CH4,Prescaler,Period,AutoReloadPreload,Channel-PWM Generation2 CH2
TIM3.Period=10000-1
TIM3.Prescaler=24-1
UART5.BaudRate=100000
UART5.IPParameters=Mode,WordLength,Parity,BaudRate
UART5.Mode=MODE_RX
UART5.Parity=PARITY_EVEN
UART5.WordLength=WORDLENGTH_9B
UART7.BaudRate=921600
UART7.IPParameters=BaudRate
USART1.BaudRate=921600
USART1.IPParameters=VirtualMode-Asynchronous,BaudRate
USART1.VirtualMode-Asynchronous=VM_ASYNC
USART10.BaudRate=921600
USART10.IPParameters=VirtualMode,BaudRate
USART10.VirtualMode=VM_ASYNC
USART2.BaudRate=921600
USART2.IPParameters=VirtualMode-Asynchronous,VirtualMode-Hardware Flow Control (RS485),BaudRate
USART2.VirtualMode-Asynchronous=VM_ASYNC
USART2.VirtualMode-Hardware\ Flow\ Control\ (RS485)=VM_ASYNC
USART3.BaudRate=921600
USART3.IPParameters=VirtualMode-Asynchronous,VirtualMode-Hardware Flow Control (RS485),BaudRate
USART3.VirtualMode-Asynchronous=VM_ASYNC
USART3.VirtualMode-Hardware\ Flow\ Control\ (RS485)=VM_ASYNC
USB_OTG_HS.IPParameters=VirtualMode-Device_Only_FS
USB_OTG_HS.VirtualMode-Device_Only_FS=Device_Only_FS
VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2
VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2
VP_MEMORYMAP_VS_MEMORYMAP.Mode=CurAppReg
VP_MEMORYMAP_VS_MEMORYMAP.Signal=MEMORYMAP_VS_MEMORYMAP
VP_OCTOSPI1_VS_octo.Mode=octo_mode
VP_OCTOSPI1_VS_octo.Signal=OCTOSPI1_VS_octo
VP_SYS_VS_tim23.Mode=TIM23
VP_SYS_VS_tim23.Signal=SYS_VS_tim23
board=custom
rtos.0.ip=FREERTOS

743
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#MicroXplorer Configuration settings - do not modify
ADC1.Channel-0\#ChannelRegularConversion=ADC_CHANNEL_TEMPSENSOR
ADC1.ClockPrescaler=ADC_CLOCK_SYNC_PCLK_DIV6
ADC1.IPParameters=Rank-0\#ChannelRegularConversion,master,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,NbrOfConversionFlag,ClockPrescaler
ADC1.NbrOfConversionFlag=1
ADC1.Rank-0\#ChannelRegularConversion=1
ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
ADC1.master=1
ADC3.Channel-0\#ChannelRegularConversion=ADC_CHANNEL_8
ADC3.ClockPrescaler=ADC_CLOCK_SYNC_PCLK_DIV6
ADC3.IPParameters=Rank-0\#ChannelRegularConversion,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,NbrOfConversionFlag,ClockPrescaler
ADC3.NbrOfConversionFlag=1
ADC3.Rank-0\#ChannelRegularConversion=1
ADC3.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
CAD.formats=
CAD.pinconfig=
CAD.provider=
CAN1.ABOM=DISABLE
CAN1.BS1=CAN_BS1_6TQ
CAN1.BS2=CAN_BS2_7TQ
CAN1.CalculateBaudRate=1000000
CAN1.CalculateTimeBit=1000
CAN1.CalculateTimeQuantum=71.42857142857143
CAN1.IPParameters=CalculateTimeQuantum,BS1,BS2,Prescaler,TXFP,ABOM,CalculateTimeBit,CalculateBaudRate,NART
CAN1.NART=ENABLE
CAN1.Prescaler=3
CAN1.TXFP=ENABLE
CAN2.BS1=CAN_BS1_6TQ
CAN2.BS2=CAN_BS2_7TQ
CAN2.CalculateBaudRate=1000000
CAN2.CalculateTimeBit=1000
CAN2.CalculateTimeQuantum=71.42857142857143
CAN2.IPParameters=CalculateTimeQuantum,BS1,BS2,Prescaler,TXFP,CalculateTimeBit,CalculateBaudRate,NART
CAN2.NART=ENABLE
CAN2.Prescaler=3
CAN2.TXFP=ENABLE
Dma.I2C2_TX.2.Direction=DMA_MEMORY_TO_PERIPH
Dma.I2C2_TX.2.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.I2C2_TX.2.Instance=DMA1_Stream7
Dma.I2C2_TX.2.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.I2C2_TX.2.MemInc=DMA_MINC_ENABLE
Dma.I2C2_TX.2.Mode=DMA_NORMAL
Dma.I2C2_TX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.I2C2_TX.2.PeriphInc=DMA_PINC_DISABLE
Dma.I2C2_TX.2.Priority=DMA_PRIORITY_HIGH
Dma.I2C2_TX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
Dma.I2C3_RX.7.Direction=DMA_PERIPH_TO_MEMORY
Dma.I2C3_RX.7.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.I2C3_RX.7.Instance=DMA1_Stream2
Dma.I2C3_RX.7.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.I2C3_RX.7.MemInc=DMA_MINC_ENABLE
Dma.I2C3_RX.7.Mode=DMA_NORMAL
Dma.I2C3_RX.7.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.I2C3_RX.7.PeriphInc=DMA_PINC_DISABLE
Dma.I2C3_RX.7.Priority=DMA_PRIORITY_LOW
Dma.I2C3_RX.7.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
Dma.Request0=SPI1_RX
Dma.Request1=SPI1_TX
Dma.Request2=I2C2_TX
Dma.Request3=USART3_RX
Dma.Request4=USART6_RX
Dma.Request5=USART6_TX
Dma.Request6=USART1_TX
Dma.Request7=I2C3_RX
Dma.Request8=USART1_RX
Dma.RequestsNb=9
Dma.SPI1_RX.0.Direction=DMA_PERIPH_TO_MEMORY
Dma.SPI1_RX.0.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.SPI1_RX.0.Instance=DMA2_Stream2
Dma.SPI1_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.SPI1_RX.0.MemInc=DMA_MINC_ENABLE
Dma.SPI1_RX.0.Mode=DMA_NORMAL
Dma.SPI1_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.SPI1_RX.0.PeriphInc=DMA_PINC_DISABLE
Dma.SPI1_RX.0.Priority=DMA_PRIORITY_VERY_HIGH
Dma.SPI1_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
Dma.SPI1_TX.1.Direction=DMA_MEMORY_TO_PERIPH
Dma.SPI1_TX.1.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.SPI1_TX.1.Instance=DMA2_Stream3
Dma.SPI1_TX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.SPI1_TX.1.MemInc=DMA_MINC_ENABLE
Dma.SPI1_TX.1.Mode=DMA_NORMAL
Dma.SPI1_TX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.SPI1_TX.1.PeriphInc=DMA_PINC_DISABLE
Dma.SPI1_TX.1.Priority=DMA_PRIORITY_HIGH
Dma.SPI1_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
Dma.USART1_RX.8.Direction=DMA_PERIPH_TO_MEMORY
Dma.USART1_RX.8.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.USART1_RX.8.Instance=DMA2_Stream5
Dma.USART1_RX.8.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.USART1_RX.8.MemInc=DMA_MINC_ENABLE
Dma.USART1_RX.8.Mode=DMA_NORMAL
Dma.USART1_RX.8.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.USART1_RX.8.PeriphInc=DMA_PINC_DISABLE
Dma.USART1_RX.8.Priority=DMA_PRIORITY_MEDIUM
Dma.USART1_RX.8.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
Dma.USART1_TX.6.Direction=DMA_MEMORY_TO_PERIPH
Dma.USART1_TX.6.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.USART1_TX.6.Instance=DMA2_Stream7
Dma.USART1_TX.6.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.USART1_TX.6.MemInc=DMA_MINC_ENABLE
Dma.USART1_TX.6.Mode=DMA_NORMAL
Dma.USART1_TX.6.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.USART1_TX.6.PeriphInc=DMA_PINC_DISABLE
Dma.USART1_TX.6.Priority=DMA_PRIORITY_MEDIUM
Dma.USART1_TX.6.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
Dma.USART3_RX.3.Direction=DMA_PERIPH_TO_MEMORY
Dma.USART3_RX.3.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.USART3_RX.3.Instance=DMA1_Stream1
Dma.USART3_RX.3.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.USART3_RX.3.MemInc=DMA_MINC_ENABLE
Dma.USART3_RX.3.Mode=DMA_NORMAL
Dma.USART3_RX.3.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.USART3_RX.3.PeriphInc=DMA_PINC_DISABLE
Dma.USART3_RX.3.Priority=DMA_PRIORITY_HIGH
Dma.USART3_RX.3.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
Dma.USART6_RX.4.Direction=DMA_PERIPH_TO_MEMORY
Dma.USART6_RX.4.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.USART6_RX.4.Instance=DMA2_Stream1
Dma.USART6_RX.4.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.USART6_RX.4.MemInc=DMA_MINC_ENABLE
Dma.USART6_RX.4.Mode=DMA_NORMAL
Dma.USART6_RX.4.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.USART6_RX.4.PeriphInc=DMA_PINC_DISABLE
Dma.USART6_RX.4.Priority=DMA_PRIORITY_MEDIUM
Dma.USART6_RX.4.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
Dma.USART6_TX.5.Direction=DMA_MEMORY_TO_PERIPH
Dma.USART6_TX.5.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.USART6_TX.5.Instance=DMA2_Stream6
Dma.USART6_TX.5.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.USART6_TX.5.MemInc=DMA_MINC_ENABLE
Dma.USART6_TX.5.Mode=DMA_NORMAL
Dma.USART6_TX.5.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.USART6_TX.5.PeriphInc=DMA_PINC_DISABLE
Dma.USART6_TX.5.Priority=DMA_PRIORITY_MEDIUM
Dma.USART6_TX.5.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
FREERTOS.FootprintOK=true
FREERTOS.INCLUDE_pcTaskGetTaskName=1
FREERTOS.INCLUDE_uxTaskGetStackHighWaterMark2=1
FREERTOS.INCLUDE_vTaskCleanUpResources=1
FREERTOS.INCLUDE_xEventGroupSetBitFromISR=1
FREERTOS.INCLUDE_xSemaphoreGetMutexHolder=1
FREERTOS.INCLUDE_xTaskAbortDelay=1
FREERTOS.INCLUDE_xTaskGetCurrentTaskHandle=1
FREERTOS.INCLUDE_xTaskGetHandle=1
FREERTOS.IPParameters=Tasks01,FootprintOK,configENABLE_FPU,configENABLE_BACKWARD_COMPATIBILITY,configRECORD_STACK_HIGH_ADDRESS,configCHECK_FOR_STACK_OVERFLOW,configGENERATE_RUN_TIME_STATS,configUSE_STATS_FORMATTING_FUNCTIONS,configTOTAL_HEAP_SIZE,INCLUDE_xTaskGetCurrentTaskHandle,INCLUDE_xTaskGetHandle,INCLUDE_uxTaskGetStackHighWaterMark2,INCLUDE_xEventGroupSetBitFromISR,INCLUDE_xTaskAbortDelay,INCLUDE_pcTaskGetTaskName,INCLUDE_xSemaphoreGetMutexHolder,INCLUDE_vTaskCleanUpResources,configUSE_APPLICATION_TASK_TAG
FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
FREERTOS.configCHECK_FOR_STACK_OVERFLOW=2
FREERTOS.configENABLE_BACKWARD_COMPATIBILITY=0
FREERTOS.configENABLE_FPU=1
FREERTOS.configGENERATE_RUN_TIME_STATS=1
FREERTOS.configRECORD_STACK_HIGH_ADDRESS=1
FREERTOS.configTOTAL_HEAP_SIZE=0x10000
FREERTOS.configUSE_APPLICATION_TASK_TAG=0
FREERTOS.configUSE_STATS_FORMATTING_FUNCTIONS=1
File.Version=6
GPIO.groupedBy=Group By Peripherals
I2C1.I2C_Mode=I2C_Fast
I2C1.IPParameters=I2C_Mode
I2C2.I2C_Mode=I2C_Fast
I2C2.IPParameters=I2C_Mode
I2C3.I2C_Mode=I2C_Fast
I2C3.IPParameters=I2C_Mode
KeepUserPlacement=false
Mcu.CPN=STM32F407IGH6
Mcu.Family=STM32F4
Mcu.IP0=ADC1
Mcu.IP1=ADC3
Mcu.IP10=NVIC
Mcu.IP11=RCC
Mcu.IP12=RNG
Mcu.IP13=SPI1
Mcu.IP14=SPI2
Mcu.IP15=SYS
Mcu.IP16=TIM1
Mcu.IP17=TIM3
Mcu.IP18=TIM4
Mcu.IP19=TIM5
Mcu.IP2=CAN1
Mcu.IP20=TIM7
Mcu.IP21=TIM8
Mcu.IP22=TIM10
Mcu.IP23=USART1
Mcu.IP24=USART3
Mcu.IP25=USART6
Mcu.IP26=USB_DEVICE
Mcu.IP27=USB_OTG_FS
Mcu.IP3=CAN2
Mcu.IP4=CRC
Mcu.IP5=DMA
Mcu.IP6=FREERTOS
Mcu.IP7=I2C1
Mcu.IP8=I2C2
Mcu.IP9=I2C3
Mcu.IPNb=28
Mcu.Name=STM32F407I(E-G)Hx
Mcu.Package=UFBGA176
Mcu.Pin0=PB8
Mcu.Pin1=PB5
Mcu.Pin10=PD0
Mcu.Pin11=PC11
Mcu.Pin12=PC10
Mcu.Pin13=PA12
Mcu.Pin14=PI6
Mcu.Pin15=PG9
Mcu.Pin16=PD1
Mcu.Pin17=PA11
Mcu.Pin18=PF0
Mcu.Pin19=PA9
Mcu.Pin2=PG14
Mcu.Pin20=PC9
Mcu.Pin21=PA8
Mcu.Pin22=PH0-OSC_IN
Mcu.Pin23=PC8
Mcu.Pin24=PH1-OSC_OUT
Mcu.Pin25=PF1
Mcu.Pin26=PC6
Mcu.Pin27=PG6
Mcu.Pin28=PF6
Mcu.Pin29=PH12
Mcu.Pin3=PB4
Mcu.Pin30=PG3
Mcu.Pin31=PF10
Mcu.Pin32=PH11
Mcu.Pin33=PH10
Mcu.Pin34=PC0
Mcu.Pin35=PC1
Mcu.Pin36=PC2
Mcu.Pin37=PD14
Mcu.Pin38=PA0-WKUP
Mcu.Pin39=PA4
Mcu.Pin4=PB3
Mcu.Pin40=PC4
Mcu.Pin41=PE13
Mcu.Pin42=PC5
Mcu.Pin43=PE9
Mcu.Pin44=PE11
Mcu.Pin45=PE14
Mcu.Pin46=PB12
Mcu.Pin47=PB13
Mcu.Pin48=PA7
Mcu.Pin49=PB0
Mcu.Pin5=PA14
Mcu.Pin50=PB14
Mcu.Pin51=PB15
Mcu.Pin52=VP_ADC1_TempSens_Input
Mcu.Pin53=VP_ADC1_Vref_Input
Mcu.Pin54=VP_CRC_VS_CRC
Mcu.Pin55=VP_FREERTOS_VS_CMSIS_V2
Mcu.Pin56=VP_RNG_VS_RNG
Mcu.Pin57=VP_SYS_VS_Systick
Mcu.Pin58=VP_TIM1_VS_ClockSourceINT
Mcu.Pin59=VP_TIM3_VS_ClockSourceINT
Mcu.Pin6=PA13
Mcu.Pin60=VP_TIM4_VS_ClockSourceINT
Mcu.Pin61=VP_TIM5_VS_ClockSourceINT
Mcu.Pin62=VP_TIM7_VS_ClockSourceINT
Mcu.Pin63=VP_TIM8_VS_ClockSourceINT
Mcu.Pin64=VP_TIM10_VS_ClockSourceINT
Mcu.Pin65=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
Mcu.Pin7=PB9
Mcu.Pin8=PB7
Mcu.Pin9=PB6
Mcu.PinsNb=66
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32F407IGHx
MxCube.Version=6.15.0
MxDb.Version=DB.6.0.150
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.CAN1_RX0_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
NVIC.CAN1_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.CAN1_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.CAN2_RX0_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
NVIC.CAN2_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.CAN2_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.DMA1_Stream1_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
NVIC.DMA1_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA1_Stream7_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
NVIC.DMA2_Stream1_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
NVIC.DMA2_Stream2_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
NVIC.DMA2_Stream3_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
NVIC.DMA2_Stream5_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA2_Stream6_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
NVIC.DMA2_Stream7_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.EXTI0_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
NVIC.EXTI3_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
NVIC.EXTI4_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
NVIC.EXTI9_5_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
NVIC.ForceEnableDMAVector=true
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.OTG_FS_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false\:false
NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false
NVIC.SavedPendsvIrqHandlerGenerated=true
NVIC.SavedSvcallIrqHandlerGenerated=true
NVIC.SavedSystickIrqHandlerGenerated=true
NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:true\:false\:true\:false
NVIC.TIM1_BRK_TIM9_IRQn=true\:5\:0\:false\:false\:true\:false\:false\:true\:true
NVIC.TIM7_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.USART1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.USART6_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.UsageFault_IRQn=true\:0\:0\:true\:false\:true\:false\:false\:false\:false
PA0-WKUP.GPIOParameters=GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultEXTI
PA0-WKUP.GPIO_Label=USER_KEY
PA0-WKUP.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_FALLING
PA0-WKUP.GPIO_PuPd=GPIO_PULLUP
PA0-WKUP.Locked=true
PA0-WKUP.Signal=GPXTI0
PA11.Mode=Device_Only
PA11.Signal=USB_OTG_FS_DM
PA12.Mode=Device_Only
PA12.Signal=USB_OTG_FS_DP
PA13.Mode=Serial_Wire
PA13.Signal=SYS_JTMS-SWDIO
PA14.Mode=Serial_Wire
PA14.Signal=SYS_JTCK-SWCLK
PA4.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label
PA4.GPIO_Label=ACCL_CS
PA4.GPIO_PuPd=GPIO_PULLUP
PA4.GPIO_Speed=GPIO_SPEED_FREQ_MEDIUM
PA4.Locked=true
PA4.PinState=GPIO_PIN_SET
PA4.Signal=GPIO_Output
PA7.GPIOParameters=GPIO_PuPd
PA7.GPIO_PuPd=GPIO_PULLUP
PA7.Locked=true
PA7.Mode=Full_Duplex_Master
PA7.Signal=SPI1_MOSI
PA8.GPIOParameters=GPIO_Pu
PA8.GPIO_Pu=GPIO_PULLUP
PA8.Locked=true
PA8.Mode=I2C
PA8.Signal=I2C3_SCL
PA9.Locked=true
PA9.Mode=Asynchronous
PA9.Signal=USART1_TX
PB0.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label
PB0.GPIO_Label=GYRO_CS
PB0.GPIO_PuPd=GPIO_PULLUP
PB0.GPIO_Speed=GPIO_SPEED_FREQ_MEDIUM
PB0.Locked=true
PB0.PinState=GPIO_PIN_SET
PB0.Signal=GPIO_Output
PB12.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label
PB12.GPIO_Label=SPI2_CS
PB12.GPIO_PuPd=GPIO_PULLUP
PB12.GPIO_Speed=GPIO_SPEED_FREQ_MEDIUM
PB12.Locked=true
PB12.PinState=GPIO_PIN_SET
PB12.Signal=GPIO_Output
PB13.GPIOParameters=GPIO_PuPd
PB13.GPIO_PuPd=GPIO_PULLUP
PB13.Locked=true
PB13.Mode=Full_Duplex_Master
PB13.Signal=SPI2_SCK
PB14.GPIOParameters=GPIO_PuPd
PB14.GPIO_PuPd=GPIO_PULLUP
PB14.Locked=true
PB14.Mode=Full_Duplex_Master
PB14.Signal=SPI2_MISO
PB15.GPIOParameters=GPIO_PuPd
PB15.GPIO_PuPd=GPIO_PULLUP
PB15.Locked=true
PB15.Mode=Full_Duplex_Master
PB15.Signal=SPI2_MOSI
PB3.GPIOParameters=GPIO_PuPd
PB3.GPIO_PuPd=GPIO_PULLUP
PB3.Locked=true
PB3.Mode=Full_Duplex_Master
PB3.Signal=SPI1_SCK
PB4.GPIOParameters=GPIO_PuPd
PB4.GPIO_PuPd=GPIO_PULLUP
PB4.Locked=true
PB4.Mode=Full_Duplex_Master
PB4.Signal=SPI1_MISO
PB5.Locked=true
PB5.Mode=CAN_Activate
PB5.Signal=CAN2_RX
PB6.Locked=true
PB6.Mode=CAN_Activate
PB6.Signal=CAN2_TX
PB7.Locked=true
PB7.Mode=Asynchronous
PB7.Signal=USART1_RX
PB8.GPIOParameters=GPIO_Pu
PB8.GPIO_Pu=GPIO_PULLUP
PB8.Locked=true
PB8.Mode=I2C
PB8.Signal=I2C1_SCL
PB9.GPIOParameters=GPIO_Pu
PB9.GPIO_Pu=GPIO_PULLUP
PB9.Locked=true
PB9.Mode=I2C
PB9.Signal=I2C1_SDA
PC0.GPIOParameters=GPIO_Label
PC0.GPIO_Label=HW0
PC0.Locked=true
PC0.Signal=GPIO_Input
PC1.GPIOParameters=GPIO_Label
PC1.GPIO_Label=HW1
PC1.Locked=true
PC1.Signal=GPIO_Input
PC10.Locked=true
PC10.Mode=Asynchronous
PC10.Signal=USART3_TX
PC11.Locked=true
PC11.Mode=Asynchronous
PC11.Signal=USART3_RX
PC2.GPIOParameters=GPIO_Label
PC2.GPIO_Label=HW2
PC2.Locked=true
PC2.Signal=GPIO_Input
PC4.GPIOParameters=GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultEXTI
PC4.GPIO_Label=ACCL_INT
PC4.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_FALLING
PC4.GPIO_PuPd=GPIO_PULLUP
PC4.Locked=true
PC4.Signal=GPXTI4
PC5.GPIOParameters=GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultEXTI
PC5.GPIO_Label=GYRO_INT
PC5.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_FALLING
PC5.GPIO_PuPd=GPIO_PULLUP
PC5.Locked=true
PC5.Signal=GPXTI5
PC6.GPIOParameters=GPIO_Speed,GPIO_PuPd
PC6.GPIO_PuPd=GPIO_PULLUP
PC6.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PC6.Locked=true
PC6.Signal=S_TIM8_CH1
PC8.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
PC8.GPIO_Label=LASER
PC8.GPIO_PuPd=GPIO_PULLUP
PC8.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PC8.Locked=true
PC8.Signal=S_TIM3_CH3
PC9.GPIOParameters=GPIO_Pu
PC9.GPIO_Pu=GPIO_PULLUP
PC9.Locked=true
PC9.Mode=I2C
PC9.Signal=I2C3_SDA
PD0.Locked=true
PD0.Mode=CAN_Activate
PD0.Signal=CAN1_RX
PD1.Locked=true
PD1.Mode=CAN_Activate
PD1.Signal=CAN1_TX
PD14.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
PD14.GPIO_Label=BUZZER
PD14.GPIO_PuPd=GPIO_PULLUP
PD14.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
PD14.Locked=true
PD14.Signal=S_TIM4_CH3
PE11.GPIOParameters=GPIO_Speed,GPIO_PuPd
PE11.GPIO_PuPd=GPIO_PULLUP
PE11.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PE11.Locked=true
PE11.Signal=S_TIM1_CH2
PE13.GPIOParameters=GPIO_Speed,GPIO_PuPd
PE13.GPIO_PuPd=GPIO_PULLUP
PE13.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PE13.Locked=true
PE13.Signal=S_TIM1_CH3
PE14.GPIOParameters=GPIO_Speed,GPIO_PuPd
PE14.GPIO_PuPd=GPIO_PULLUP
PE14.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PE14.Locked=true
PE14.Signal=S_TIM1_CH4
PE9.GPIOParameters=GPIO_Speed,GPIO_PuPd
PE9.GPIO_PuPd=GPIO_PULLUP
PE9.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PE9.Locked=true
PE9.Signal=S_TIM1_CH1
PF0.GPIOParameters=GPIO_Pu
PF0.GPIO_Pu=GPIO_PULLUP
PF0.Locked=true
PF0.Mode=I2C
PF0.Signal=I2C2_SDA
PF1.GPIOParameters=GPIO_Pu
PF1.GPIO_Pu=GPIO_PULLUP
PF1.Locked=true
PF1.Mode=I2C
PF1.Signal=I2C2_SCL
PF10.GPIOParameters=GPIO_Label
PF10.GPIO_Label=ADC_BAT
PF10.Locked=true
PF10.Mode=IN8
PF10.Signal=ADC3_IN8
PF6.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
PF6.GPIO_Label=IMU_HEAT_PWM
PF6.GPIO_PuPd=GPIO_PULLDOWN
PF6.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PF6.Locked=true
PF6.Signal=S_TIM10_CH1
PG14.Locked=true
PG14.Mode=Asynchronous
PG14.Signal=USART6_TX
PG3.GPIOParameters=GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultEXTI
PG3.GPIO_Label=CMPS_INT
PG3.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_FALLING
PG3.GPIO_PuPd=GPIO_PULLUP
PG3.Locked=true
PG3.Signal=GPXTI3
PG6.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label
PG6.GPIO_Label=CMPS_RST
PG6.GPIO_PuPd=GPIO_PULLUP
PG6.GPIO_Speed=GPIO_SPEED_FREQ_MEDIUM
PG6.Locked=true
PG6.PinState=GPIO_PIN_RESET
PG6.Signal=GPIO_Output
PG9.Locked=true
PG9.Mode=Asynchronous
PG9.Signal=USART6_RX
PH0-OSC_IN.Mode=HSE-External-Oscillator
PH0-OSC_IN.Signal=RCC_OSC_IN
PH1-OSC_OUT.Mode=HSE-External-Oscillator
PH1-OSC_OUT.Signal=RCC_OSC_OUT
PH10.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
PH10.GPIO_Label=LED_B
PH10.GPIO_PuPd=GPIO_PULLUP
PH10.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PH10.Locked=true
PH10.Signal=S_TIM5_CH1
PH11.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
PH11.GPIO_Label=LED_G
PH11.GPIO_PuPd=GPIO_PULLUP
PH11.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PH11.Locked=true
PH11.Signal=S_TIM5_CH2
PH12.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
PH12.GPIO_Label=LED_R
PH12.GPIO_PuPd=GPIO_PULLUP
PH12.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PH12.Locked=true
PH12.Signal=S_TIM5_CH3
PI6.GPIOParameters=GPIO_Speed,GPIO_PuPd
PI6.GPIO_PuPd=GPIO_PULLUP
PI6.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PI6.Signal=S_TIM8_CH2
PinOutPanel.CurrentBGAView=Top
PinOutPanel.RotationAngle=0
ProjectManager.AskForMigrate=true
ProjectManager.BackupPrevious=false
ProjectManager.CompilerLinker=GCC
ProjectManager.CompilerOptimize=6
ProjectManager.ComputerToolchain=false
ProjectManager.CoupleFile=true
ProjectManager.CustomerFirmwarePackage=
ProjectManager.DefaultFWLocation=true
ProjectManager.DeletePrevious=true
ProjectManager.DeviceId=STM32F407IGHx
ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.28.3
ProjectManager.FreePins=false
ProjectManager.HalAssertFull=true
ProjectManager.HeapSize=0x1000
ProjectManager.KeepUserCode=true
ProjectManager.LastFirmware=true
ProjectManager.LibraryCopy=0
ProjectManager.MainLocation=Core/Src
ProjectManager.NoMain=false
ProjectManager.PreviousToolchain=
ProjectManager.ProjectBuild=false
ProjectManager.ProjectFileName=DevC.ioc
ProjectManager.ProjectName=DevC
ProjectManager.ProjectStructure=
ProjectManager.RegisterCallBack=
ProjectManager.StackSize=0x1000
ProjectManager.TargetToolchain=CMake
ProjectManager.ToolChainLocation=
ProjectManager.UAScriptAfterPath=
ProjectManager.UAScriptBeforePath=
ProjectManager.UnderRoot=false
ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-MX_DMA_Init-DMA-false-HAL-true,3-SystemClock_Config-RCC-false-HAL-false,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_ADC3_Init-ADC3-false-HAL-true,6-MX_CAN1_Init-CAN1-false-HAL-true,7-MX_CAN2_Init-CAN2-false-HAL-true,8-MX_I2C1_Init-I2C1-false-HAL-true,9-MX_SPI1_Init-SPI1-false-HAL-true,10-MX_TIM4_Init-TIM4-false-HAL-true,11-MX_TIM5_Init-TIM5-false-HAL-true,12-MX_USART3_UART_Init-USART3-false-HAL-true,13-MX_TIM8_Init-TIM8-false-HAL-true,14-MX_CRC_Init-CRC-false-HAL-true,15-MX_RNG_Init-RNG-false-HAL-true,16-MX_I2C2_Init-I2C2-false-HAL-true,17-MX_I2C3_Init-I2C3-false-HAL-true,18-MX_SPI2_Init-SPI2-false-HAL-true,19-MX_TIM1_Init-TIM1-false-HAL-true,20-MX_TIM3_Init-TIM3-false-HAL-true,21-MX_TIM10_Init-TIM10-false-HAL-true,22-MX_USART1_UART_Init-USART1-false-HAL-true,23-MX_USART6_UART_Init-USART6-false-HAL-true,24-MX_TIM7_Init-TIM7-false-HAL-true,25-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false
RCC.48MHZClocksFreq_Value=48000000
RCC.AHBFreq_Value=168000000
RCC.APB1CLKDivider=RCC_HCLK_DIV4
RCC.APB1Freq_Value=42000000
RCC.APB1TimFreq_Value=84000000
RCC.APB2CLKDivider=RCC_HCLK_DIV2
RCC.APB2Freq_Value=84000000
RCC.APB2TimFreq_Value=168000000
RCC.CortexFreq_Value=168000000
RCC.EthernetFreq_Value=168000000
RCC.FCLKCortexFreq_Value=168000000
RCC.FamilyName=M
RCC.HCLKFreq_Value=168000000
RCC.HSE_VALUE=12000000
RCC.HSI_VALUE=16000000
RCC.I2SClocksFreq_Value=192000000
RCC.IPParameters=48MHZClocksFreq_Value,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2CLKDivider,APB2Freq_Value,APB2TimFreq_Value,CortexFreq_Value,EthernetFreq_Value,FCLKCortexFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI_VALUE,I2SClocksFreq_Value,LSE_VALUE,LSI_VALUE,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLM,PLLN,PLLQ,PLLQCLKFreq_Value,RCC_RTC_Clock_Source,RCC_RTC_Clock_SourceVirtual,RCC_RTC_Clock_Source_FROM_HSE,RTCFreq_Value,RTCHSEDivFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VcooutputI2S
RCC.LSE_VALUE=32768
RCC.LSI_VALUE=32000
RCC.MCO2PinFreq_Value=168000000
RCC.PLLCLKFreq_Value=168000000
RCC.PLLM=6
RCC.PLLN=168
RCC.PLLQ=7
RCC.PLLQCLKFreq_Value=48000000
RCC.RCC_RTC_Clock_Source=RCC_RTCCLKSOURCE_LSI
RCC.RCC_RTC_Clock_SourceVirtual=RCC_RTCCLKSOURCE_HSE_DIV30
RCC.RCC_RTC_Clock_Source_FROM_HSE=RCC_RTCCLKSOURCE_HSE_DIV30
RCC.RTCFreq_Value=32000
RCC.RTCHSEDivFreq_Value=400000
RCC.SYSCLKFreq_VALUE=168000000
RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
RCC.VCOI2SOutputFreq_Value=384000000
RCC.VCOInputFreq_Value=2000000
RCC.VCOOutputFreq_Value=336000000
RCC.VcooutputI2S=192000000
SH.GPXTI0.0=GPIO_EXTI0
SH.GPXTI0.ConfNb=1
SH.GPXTI3.0=GPIO_EXTI3
SH.GPXTI3.ConfNb=1
SH.GPXTI4.0=GPIO_EXTI4
SH.GPXTI4.ConfNb=1
SH.GPXTI5.0=GPIO_EXTI5
SH.GPXTI5.ConfNb=1
SH.S_TIM10_CH1.0=TIM10_CH1,PWM Generation1 CH1
SH.S_TIM10_CH1.ConfNb=1
SH.S_TIM1_CH1.0=TIM1_CH1,PWM Generation1 CH1
SH.S_TIM1_CH1.ConfNb=1
SH.S_TIM1_CH2.0=TIM1_CH2,PWM Generation2 CH2
SH.S_TIM1_CH2.ConfNb=1
SH.S_TIM1_CH3.0=TIM1_CH3,PWM Generation3 CH3
SH.S_TIM1_CH3.ConfNb=1
SH.S_TIM1_CH4.0=TIM1_CH4,PWM Generation4 CH4
SH.S_TIM1_CH4.ConfNb=1
SH.S_TIM3_CH3.0=TIM3_CH3,PWM Generation3 CH3
SH.S_TIM3_CH3.ConfNb=1
SH.S_TIM4_CH3.0=TIM4_CH3,PWM Generation3 CH3
SH.S_TIM4_CH3.ConfNb=1
SH.S_TIM5_CH1.0=TIM5_CH1,PWM Generation1 CH1
SH.S_TIM5_CH1.ConfNb=1
SH.S_TIM5_CH2.0=TIM5_CH2,PWM Generation2 CH2
SH.S_TIM5_CH2.ConfNb=1
SH.S_TIM5_CH3.0=TIM5_CH3,PWM Generation3 CH3
SH.S_TIM5_CH3.ConfNb=1
SH.S_TIM8_CH1.0=TIM8_CH1,PWM Generation1 CH1
SH.S_TIM8_CH1.ConfNb=1
SH.S_TIM8_CH2.0=TIM8_CH2,PWM Generation2 CH2
SH.S_TIM8_CH2.ConfNb=1
SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_16
SPI1.CLKPhase=SPI_PHASE_2EDGE
SPI1.CLKPolarity=SPI_POLARITY_HIGH
SPI1.CalculateBaudRate=5.25 MBits/s
SPI1.Direction=SPI_DIRECTION_2LINES
SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler,CLKPolarity,CLKPhase
SPI1.Mode=SPI_MODE_MASTER
SPI1.VirtualType=VM_MASTER
SPI2.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_64
SPI2.CLKPhase=SPI_PHASE_1EDGE
SPI2.CLKPolarity=SPI_POLARITY_LOW
SPI2.CalculateBaudRate=656.25 KBits/s
SPI2.Direction=SPI_DIRECTION_2LINES
SPI2.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler,CLKPolarity,CLKPhase
SPI2.Mode=SPI_MODE_MASTER
SPI2.VirtualType=VM_MASTER
TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
TIM1.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
TIM1.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
TIM1.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
TIM1.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4,Period,Prescaler,Pulse-PWM Generation1 CH1,Pulse-PWM Generation2 CH2,Pulse-PWM Generation3 CH3,Pulse-PWM Generation4 CH4
TIM1.Period=19999
TIM1.Prescaler=167
TIM1.Pulse-PWM\ Generation1\ CH1=0
TIM1.Pulse-PWM\ Generation2\ CH2=0
TIM1.Pulse-PWM\ Generation3\ CH3=0
TIM1.Pulse-PWM\ Generation4\ CH4=1000
TIM10.Channel=TIM_CHANNEL_1
TIM10.IPParameters=Channel,Period
TIM10.Period=4999
TIM3.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
TIM3.IPParameters=Channel-PWM Generation3 CH3,Period
TIM3.Period=65535
TIM4.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
TIM4.IPParameters=Channel-PWM Generation3 CH3,Prescaler,Period
TIM4.Period=65535
TIM4.Prescaler=167
TIM5.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
TIM5.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
TIM5.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
TIM5.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Prescaler,Period
TIM5.Period=65535
TIM5.Prescaler=0
TIM7.IPParameters=Period,Prescaler
TIM7.Period=9
TIM7.Prescaler=83
TIM8.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
TIM8.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
TIM8.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Prescaler,Period,Pulse-PWM Generation1 CH1,Pulse-PWM Generation2 CH2
TIM8.Period=19999
TIM8.Prescaler=167
TIM8.Pulse-PWM\ Generation1\ CH1=1000
TIM8.Pulse-PWM\ Generation2\ CH2=1000
USART1.IPParameters=VirtualMode
USART1.VirtualMode=VM_ASYNC
USART3.BaudRate=100000
USART3.IPParameters=VirtualMode,BaudRate,Parity,Mode
USART3.Mode=MODE_RX
USART3.Parity=PARITY_EVEN
USART3.VirtualMode=VM_ASYNC
USART6.IPParameters=VirtualMode
USART6.VirtualMode=VM_ASYNC
USB_DEVICE.CLASS_NAME_FS=CDC
USB_DEVICE.IPParameters=VirtualMode-CDC_FS,VirtualModeFS,CLASS_NAME_FS
USB_DEVICE.VirtualMode-CDC_FS=Cdc
USB_DEVICE.VirtualModeFS=Cdc_FS
USB_OTG_FS.IPParameters=VirtualMode
USB_OTG_FS.VirtualMode=Device_Only
VP_ADC1_TempSens_Input.Mode=IN-TempSens
VP_ADC1_TempSens_Input.Signal=ADC1_TempSens_Input
VP_ADC1_Vref_Input.Mode=IN-Vrefint
VP_ADC1_Vref_Input.Signal=ADC1_Vref_Input
VP_CRC_VS_CRC.Mode=CRC_Activate
VP_CRC_VS_CRC.Signal=CRC_VS_CRC
VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2
VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2
VP_RNG_VS_RNG.Mode=RNG_Activate
VP_RNG_VS_RNG.Signal=RNG_VS_RNG
VP_SYS_VS_Systick.Mode=SysTick
VP_SYS_VS_Systick.Signal=SYS_VS_Systick
VP_TIM10_VS_ClockSourceINT.Mode=Enable_Timer
VP_TIM10_VS_ClockSourceINT.Signal=TIM10_VS_ClockSourceINT
VP_TIM1_VS_ClockSourceINT.Mode=Internal
VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT
VP_TIM3_VS_ClockSourceINT.Mode=Internal
VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT
VP_TIM4_VS_ClockSourceINT.Mode=Internal
VP_TIM4_VS_ClockSourceINT.Signal=TIM4_VS_ClockSourceINT
VP_TIM5_VS_ClockSourceINT.Mode=Internal
VP_TIM5_VS_ClockSourceINT.Signal=TIM5_VS_ClockSourceINT
VP_TIM7_VS_ClockSourceINT.Mode=Enable_Timer
VP_TIM7_VS_ClockSourceINT.Signal=TIM7_VS_ClockSourceINT
VP_TIM8_VS_ClockSourceINT.Mode=Internal
VP_TIM8_VS_ClockSourceINT.Signal=TIM8_VS_ClockSourceINT
VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS.Mode=CDC_FS
VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS.Signal=USB_DEVICE_VS_USB_DEVICE_CDC_FS
board=custom
rtos.0.ip=FREERTOS

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/*
atti_esti Task
带有pwm温控的纯陀螺仪（BMI088）姿态解算任务（无磁力计，赛场环境一般不适用）。
控制IMU加热到指定温度防止温漂，收集IMU数据给AHRS算法。
收集BMI088的数据，解算后得到四元数，转换为欧拉角之后放到消息队列中，
等待其他任务取用。
陀螺仪使用前需要校准，校准结果保存在bmi088_cali结构体中，需要自行实现。
*/
/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "bsp/mm.h"
#include "bsp/pwm.h"
#include "component/ahrs.h"
#include "component/pid.h"
#include "device/bmi088.h"
/* USER INCLUDE END */
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
BMI088_t bmi088;
AHRS_t gimbal_ahrs;
AHRS_Magn_t magn;
AHRS_Eulr_t eulr_to_send;
KPID_t imu_temp_ctrl_pid;
/*默认校准参数*/
BMI088_Cali_t cali_bmi088 = {
.gyro_offset = {0.0f, 0.0f, 0.0f},
};
static const KPID_Params_t imu_temp_ctrl_pid_param = {
.k = 0.15f,
.p = 1.0f,
.i = 0.0f,
.d = 0.0f,
.i_limit = 1.0f,
.out_limit = 1.0f,
};
/* USER STRUCT END */
/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
void Task_atti_esti(void *argument) {
(void)argument; /* 未使用argument，消除警告 */
osDelay(ATTI_ESTI_INIT_DELAY); /* 延时一段时间再开启任务 */
/* USER CODE INIT BEGIN */
BMI088_Init(&bmi088, &cali_bmi088);
AHRS_Init(&gimbal_ahrs, &magn, BMI088_GetUpdateFreq(&bmi088));
PID_Init(&imu_temp_ctrl_pid, KPID_MODE_NO_D,
1.0f / BMI088_GetUpdateFreq(&bmi088), &imu_temp_ctrl_pid_param);
BSP_PWM_Start(BSP_PWM_IMU_HEAT);
/* USER CODE INIT END */
while (1) {
/* USER CODE BEGIN */
BMI088_WaitNew();
BMI088_AcclStartDmaRecv();
BMI088_AcclWaitDmaCplt();
BMI088_GyroStartDmaRecv();
BMI088_GyroWaitDmaCplt();
/* 锁住RTOS内核防止数据解析过程中断，造成错误 */
osKernelLock();
/* 接收完所有数据后，把数据从原始字节加工成方便计算的数据 */
BMI088_ParseAccl(&bmi088);
BMI088_ParseGyro(&bmi088);
/* 根据设备接收到的数据进行姿态解析 */
AHRS_Update(&gimbal_ahrs, &bmi088.accl, &bmi088.gyro, &magn);
/* 根据解析出来的四元数计算欧拉角 */
AHRS_GetEulr(&eulr_to_send, &gimbal_ahrs);
osKernelUnlock();
BSP_PWM_SetComp(BSP_PWM_IMU_HEAT, PID_Calc(&imu_temp_ctrl_pid, 40.5f,
bmi088.temp, 0.0f, 0.0f));
/* USER CODE END */
}
}

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atti_esti:
name: "atti_esti"
frequency: 1000
delay: 100
stack: 512
freq_control: false
description: |
带有PWM温控的纯陀螺仪（BMI088）姿态解算任务
功能特点：
- 控制IMU加热到指定温度防止温漂
- 收集BMI088数据给AHRS算法进行姿态解算
- 解算后得到四元数，转换为欧拉角放到消息队列
- 使用PID控制IMU温度到40.5°C
- 运行频率1000Hz，提供高精度姿态信息
注意事项：
- 陀螺仪使用前需要校准，校准结果保存在bmi088_cali结构体中
- 无磁力计版本，适用于干净的电磁环境
- 需要配置PWM通道用于IMU加热控制