bsp写的差不多了

assets/User_code/bsp/buzzer_gpio.c

@@ -1,32 +0,0 @@
-
-
-/* Includes ----------------------------------------------------------------- */
-#include <gpio.h>
-#include "bsp/bsp.h"
-#include "bsp/buzzer_gpio.h"
-/* Private define ----------------------------------------------------------- */
-#define BSP_BUZZER_GPIO GPIOA
-#define BSP_BUZZER_PIN GPIO_PIN_1
-/* Private macro ------------------------------------------------------------ */
-/* Private typedef ---------------------------------------------------------- */
-/* Private variables -------------------------------------------------------- */
-/* Private function --------------------------------------------------------- */
-/* Exported functions ------------------------------------------------------- */
-int8_t BSP_Buzzer_Set(BSP_Buzzer_Status_t s)
-{
-    switch (s)
-    {
-    case BSP_BUZZER_ON:
-        HAL_GPIO_WritePin(BSP_BUZZER_GPIO, BSP_BUZZER_PIN, GPIO_PIN_SET); // 打开蜂鸣器
-        break;
-    case BSP_BUZZER_OFF:
-        HAL_GPIO_WritePin(BSP_BUZZER_GPIO, BSP_BUZZER_PIN, GPIO_PIN_RESET); // 关闭蜂鸣器
-        break;
-    case BSP_BUZZER_TAGGLE:
-        HAL_GPIO_TogglePin(BSP_BUZZER_GPIO, BSP_BUZZER_PIN); // 切换蜂鸣器状态
-        break;
-    default:
-        return BSP_ERR;
-    }
-    return BSP_OK;
-}

assets/User_code/bsp/can.c

@@ -9,10 +9,7 @@ static void (*CAN_Callback[BSP_CAN_NUM][BSP_CAN_CB_NUM])(void);
 
 /* Private function  -------------------------------------------------------- */
 static BSP_CAN_t CAN_Get(CAN_HandleTypeDef *hcan) {
-  if (hcan->Instance == CAN2)
-    return BSP_CAN_2;
-  else if (hcan->Instance == CAN1)
-    return BSP_CAN_1;
+/* AUTO GENERATED CAN_GET */
   else
     return BSP_CAN_ERR;
 }
@@ -124,10 +121,7 @@ void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan) {
 /* Exported functions ------------------------------------------------------- */
 CAN_HandleTypeDef *BSP_CAN_GetHandle(BSP_CAN_t can) {
   switch (can) {
-    case BSP_CAN_2:
-      return &hcan2;
-    case BSP_CAN_1:
-      return &hcan1;
+/* AUTO GENERATED BSP_CAN_GET_HANDLE */
     default:
       return NULL;
   }

assets/User_code/bsp/can.h

@@ -13,8 +13,7 @@ extern "C" {
 /* Exported macro ----------------------------------------------------------- */
 /* Exported types ----------------------------------------------------------- */
 typedef enum {
-  BSP_CAN_1,
-  BSP_CAN_2,
+/* AUTO GENERATED BSP_CAN_NAME */
   BSP_CAN_NUM,
   BSP_CAN_ERR,
 } BSP_CAN_t;

assets/User_code/bsp/delay.c

@@ -1,118 +1,34 @@
-#include "bsp_delay.h"
+/* Includes ----------------------------------------------------------------- */
+#include "bsp/delay.h"
 
-#include "cmsis_os.h"
-#include "main.h"
+#include <cmsis_os2.h>
+#include <main.h>
 
 /* Private define ----------------------------------------------------------- */
 /* Private macro ------------------------------------------------------------ */
 /* Private typedef ---------------------------------------------------------- */
 /* Private variables -------------------------------------------------------- */
-static uint8_t fac_us = 0;
-static uint32_t fac_ms = 0;
 /* Private function  -------------------------------------------------------- */
-static void delay_ticks(uint32_t ticks)
-{
-    uint32_t told = SysTick->VAL;
-    uint32_t tnow = 0;
-    uint32_t tcnt = 0;
-    uint32_t reload = SysTick->LOAD;
-    while (1)
-    {
-        tnow = SysTick->VAL;
-        if (tnow != told)
-        {
-            if (tnow < told)
-            {
-                tcnt += told - tnow;
-            }
-            else
-            {
-                tcnt += reload - tnow + told;
-            }
-            told = tnow;
-            if (tcnt >= ticks)
-            {
-                break;
-            }
-        }
-    }
-}
 /* Exported functions ------------------------------------------------------- */
+int8_t BSP_Delay(uint32_t ms) {
+  uint32_t tick_period = 1000u / osKernelGetTickFreq();
+  uint32_t ticks = ms / tick_period;
 
-/**
- * @brief 毫秒延时函数
- * @param ms
- * @return
- */
-int8_t BSP_Delay(uint32_t ms)
-{
-    uint32_t tick_period = 1000u / osKernelGetTickFreq();
-    uint32_t ticks = ms / tick_period;
-
-    switch (osKernelGetState())
-    {
+  switch (osKernelGetState()) {
     case osKernelError:
     case osKernelReserved:
     case osKernelLocked:
     case osKernelSuspended:
-        return BSP_ERR;
+      return BSP_ERR;
 
     case osKernelRunning:
-        osDelay(ticks ? ticks : 1);
-        break;
+      osDelay(ticks ? ticks : 1);
+      break;
 
     case osKernelInactive:
     case osKernelReady:
-        HAL_Delay(ms);
-        break;
-    }
-    return BSP_OK;
-}
-
-/**
- * @brief 延时初始化
- * @param  
- * @return 
- */
-int8_t BSP_Delay_Init(void)
-{
-    if (SystemCoreClock == 0)
-    {
-        return BSP_ERR;
-    }
-    fac_us = SystemCoreClock / 1000000;
-    fac_ms = SystemCoreClock / 1000;
-    return BSP_OK;
-}
-
-/**
- * @brief 微秒延时，注意：此函数会阻塞当前线程，直到延时结束，并且会被中断打断
- * @param us 
- * @return 
- */
-int8_t BSP_Delay_us(uint32_t us)
-{
-    if (fac_us == 0)
-    {
-        return BSP_ERR;
-    }
-    uint32_t ticks = us * fac_us;
-    delay_ticks(ticks);
-    return BSP_OK;
-}
-
-/**
- * @brief 毫秒延时，注意：此函数会阻塞当前线程，直到延时结束，并且会被中断打断
- * @param ms 
- * @return 
- */
-int8_t BSP_Delay_ms(uint32_t ms)
-{
-    if (fac_ms == 0)
-    {
-        return BSP_ERR;
-    }
-    uint32_t ticks = ms * fac_ms;
-    delay_ticks(ticks);
-    return BSP_OK;
+      HAL_Delay(ms);
+      break;
+  }
+  return BSP_OK;
 }

assets/User_code/bsp/delay.h

@@ -1,34 +1,20 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /* Includes ----------------------------------------------------------------- */
-#include "bsp\delay.h"
+#include <stdint.h>
 
-#include <cmsis_os2.h>
-#include <main.h>
+#include "bsp/bsp.h"
 
-/* Private define ----------------------------------------------------------- */
-/* Private macro ------------------------------------------------------------ */
-/* Private typedef ---------------------------------------------------------- */
-/* Private variables -------------------------------------------------------- */
-/* Private function  -------------------------------------------------------- */
-/* Exported functions ------------------------------------------------------- */
-int8_t BSP_Delay(uint32_t ms) {
-  uint32_t tick_period = 1000u / osKernelGetTickFreq();
-  uint32_t ticks = ms / tick_period;
+/* Exported constants ------------------------------------------------------- */
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+/* Exported functions prototypes -------------------------------------------- */
+int8_t BSP_Delay(uint32_t ms);
 
-  switch (osKernelGetState()) {
-    case osKernelError:
-    case osKernelReserved:
-    case osKernelLocked:
-    case osKernelSuspended:
-      return BSP_ERR;
-
-    case osKernelRunning:
-      osDelay(ticks ? ticks : 1);
-      break;
-
-    case osKernelInactive:
-    case osKernelReady:
-      HAL_Delay(ms);
-      break;
-  }
-  return BSP_OK;
+#ifdef __cplusplus
 }
+#endif

assets/User_code/bsp/dependencies.csv

@@ -1,2 +0,0 @@
-i2c,I2C
-uart,USART,UART

assets/User_code/bsp/describe.csv

@@ -1,3 +1,5 @@
 uart,要求开启dma和中断
 can,要求开启can的中断
-delay,暂时只有delay_ms函数
+gpio,要求设置label开启中断
+spi,要求开启spi中断
+i2c,要求开始spi中断

assets/User_code/bsp/gpio.c

@@ -0,0 +1,53 @@
+/* Includes ----------------------------------------------------------------- */
+#include "bsp/gpio.h"
+
+#include <gpio.h>
+#include <main.h>
+
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private typedef ---------------------------------------------------------- */
+/* Private variables -------------------------------------------------------- */
+static void (*GPIO_Callback[16])(void);
+
+/* Private function  -------------------------------------------------------- */
+void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
+  for (uint8_t i = 0; i < 16; i++) {
+    if (GPIO_Pin & (1 << i)) {
+      if (GPIO_Callback[i]) {
+        GPIO_Callback[i]();
+      }
+    }
+  }
+}
+
+/* Exported functions ------------------------------------------------------- */
+int8_t BSP_GPIO_RegisterCallback(uint16_t pin, void (*callback)(void)) {
+  if (callback == NULL) return BSP_ERR_NULL;
+
+  for (uint8_t i = 0; i < 16; i++) {
+    if (pin & (1 << i)) {
+      GPIO_Callback[i] = callback;
+      break;
+    }
+  }
+  return BSP_OK;
+}
+
+int8_t BSP_GPIO_EnableIRQ(uint16_t pin) {
+  switch (pin) {
+    /* AUTO GENERATED BSP_GPIO_ENABLE_IRQ */
+    default:
+      return BSP_ERR;
+  }
+  return BSP_OK;
+}
+
+int8_t BSP_GPIO_DisableIRQ(uint16_t pin) {
+  switch (pin) {
+    /* AUTO GENERATED BSP_GPIO_DISABLE_IRQ */
+    default:
+      return BSP_ERR;
+  }
+  return BSP_OK;
+}

assets/User_code/bsp/gpio.h

@@ -12,26 +12,12 @@ extern "C" {
 /* Exported constants ------------------------------------------------------- */
 /* Exported macro ----------------------------------------------------------- */
 /* Exported types ----------------------------------------------------------- */
-
-/* GPIO设备枚举，与设备对应 */
-typedef enum {
-  BSP_GPIO_USER_KEY,
-  /* BSP_GPIO_XXX, */
-  BSP_GPIO_NUM,
-  BSP_GPIO_ERR,
-} BSP_GPIO_t;
-
-/* GPIO支持的中断回调函数类型 */
-typedef enum {
-  BSP_GPIO_EXTI_CB,
-  BSP_GPIO_CB_NUM,
-} BSP_GPIO_Callback_t;
-
 /* Exported functions prototypes -------------------------------------------- */
-int8_t BSP_GPIO_RegisterCallback(BSP_GPIO_t gpio, BSP_GPIO_Callback_t type, void (*callback)(void));
-int8_t BSP_GPIO_EnableIRQ(BSP_GPIO_t gpio);
-int8_t BSP_GPIO_DisableIRQ(BSP_GPIO_t gpio);
+int8_t BSP_GPIO_RegisterCallback(uint16_t pin, void (*callback)(void));
+
+int8_t BSP_GPIO_EnableIRQ(uint16_t pin);
+int8_t BSP_GPIO_DisableIRQ(uint16_t pin);
 
 #ifdef __cplusplus
 }
-#endif
+#endif

assets/User_code/bsp/gpio_exti.c

@@ -1,72 +0,0 @@
-/* Includes ----------------------------------------------------------------- */
-#include "bsp\gpio.h"
-
-#include <gpio.h>
-#include <main.h>
-
-/* Private define ----------------------------------------------------------- */
-/* Private macro ------------------------------------------------------------ */
-/* Private typedef ---------------------------------------------------------- */
-/* Private variables -------------------------------------------------------- */
-static void (*GPIO_Callback[BSP_GPIO_NUM][BSP_GPIO_CB_NUM])(void);
-
-/* Private function  -------------------------------------------------------- */
-static BSP_GPIO_t GPIO_Get(uint16_t pin) {
-  switch (pin) {
-    case USER_KEY_Pin:
-      return BSP_GPIO_USER_KEY;
-    /* case XXX_Pin:
-      return BSP_GPIO_XXX; */
-    default:
-      return BSP_GPIO_ERR;
-  }
-}
-
-void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
-  BSP_GPIO_t gpio = GPIO_Get(GPIO_Pin);
-  if (gpio != BSP_GPIO_ERR) {
-    if (GPIO_Callback[gpio][BSP_GPIO_EXTI_CB]) {
-      GPIO_Callback[gpio][BSP_GPIO_EXTI_CB]();
-    }
-  }
-}
-
-/* Exported functions ------------------------------------------------------- */
-int8_t BSP_GPIO_RegisterCallback(BSP_GPIO_t gpio, BSP_GPIO_Callback_t type, void (*callback)(void)) {
-  if (callback == NULL || gpio >= BSP_GPIO_NUM || type >= BSP_GPIO_CB_NUM) return BSP_ERR_NULL;
-
-  GPIO_Callback[gpio][type] = callback;
-  return BSP_OK;
-}
-
-int8_t BSP_GPIO_EnableIRQ(BSP_GPIO_t gpio) {
-  switch (gpio) {
-    case BSP_GPIO_USER_KEY:
-      HAL_NVIC_EnableIRQ(USER_KEY_EXTI_IRQn);
-      break;
-
-    /* case BSP_GPIO_XXX:
-      HAL_NVIC_EnableIRQ(XXX_IRQn);
-      break; */
-
-    default:
-      return BSP_ERR;
-  }
-  return BSP_OK;
-}
-
-int8_t BSP_GPIO_DisableIRQ(BSP_GPIO_t gpio) {
-  switch (gpio) {
-    case BSP_GPIO_USER_KEY:
-      HAL_NVIC_DisableIRQ(USER_KEY_EXTI_IRQn);
-      break;
-
-    /* case BSP_GPIO_XXX:
-      HAL_NVIC_DisableIRQ(XXX_IRQn);
-      break; */
-
-    default:
-      return BSP_ERR;
-  }
-  return BSP_OK;
-}

assets/User_code/bsp/i2c.c

@@ -9,10 +9,7 @@ static void (*I2C_Callback[BSP_I2C_NUM][BSP_I2C_CB_NUM])(void);
 
 /* Private function  -------------------------------------------------------- */
 static BSP_I2C_t I2C_Get(I2C_HandleTypeDef *hi2c) {
-  if (hi2c->Instance == I2C1) 
-    return BSP_I2C_EXAMPLE;
-  // else if (hi2c->Instance == I2CX)
-  //   return BSP_I2C_XXX;
+/* AUTO GENERATED I2C_GET */
   else
     return BSP_I2C_ERR;
 }
@@ -92,10 +89,7 @@ void HAL_I2C_AbortCpltCallback(I2C_HandleTypeDef *hi2c) {
 /* Exported functions ------------------------------------------------------- */
 I2C_HandleTypeDef *BSP_I2C_GetHandle(BSP_I2C_t i2c) {
   switch (i2c) {
-    case BSP_I2C_EXAMPLE:
-      return &hi2c1;
-    // case BSP_I2C_XXX:
-    //         return &hi2cX;
+/* AUTO GENERATED BSP_I2C_GET_HANDLE */
     default:
       return NULL;
   }

assets/User_code/bsp/i2c.h

@@ -17,8 +17,10 @@ extern "C" {
 
 /* I2C实体枚举，与设备对应 */
 typedef enum {
-  BSP_I2C_EXAMPLE,
-  /* BSP_I2C_XXX,*/
+/* AUTO GENERATED BSP_I2C_NAME */
+  /* USER BSP_I2C END*/
+  /* USER_I2C_XXX */
+  /* USER BSP_I2C END */
   BSP_I2C_NUM,
   BSP_I2C_ERR,
 } BSP_I2C_t;

assets/User_code/bsp/led_gpio.c

@@ -1,50 +0,0 @@
-/* Includes ----------------------------------------------------------------- */
-#include "bsp/led_gpio.h"
-#include "bsp/bsp.h"
-#include <gpio.h>
-
-/* Private define ----------------------------------------------------------- */
-/* Private macro ------------------------------------------------------------ */
-/* Private typedef ---------------------------------------------------------- */
-
-/* Private variables -------------------------------------------------------- */
-static uint32_t led_stats; // 使用位掩码记录每个通道的状态，最多支持32LED
-
-// 定义 LED 引脚和端口映射表：需要根据自己的修改，添加，或删减。
-static const BSP_LED_Config_t LED_CONFIGS[] = {
-    {GPIOA, GPIO_PIN_2}, // BSP_LED_1
-    {GPIOA, GPIO_PIN_3}, // BSP_LED_2
-    {GPIOA, GPIO_PIN_4}, // BSP_LED_3
-};
-
-#define LED_CHANNEL_COUNT (sizeof(LED_CONFIGS) / sizeof(LED_CONFIGS[0])) // 通道数量
-
-/* Private function --------------------------------------------------------- */
-/* Exported functions ------------------------------------------------------- */
-int8_t BSP_LED_Set(BSP_LED_Channel_t ch, BSP_LED_Status_t s)
-{
-    if (ch < LED_CHANNEL_COUNT)
-    {
-        GPIO_TypeDef *port = LED_CONFIGS[ch].port;
-        uint16_t pin = LED_CONFIGS[ch].pin;
-        switch (s)
-        {
-        case BSP_LED_ON:
-            led_stats |= (1 << ch);
-            HAL_GPIO_WritePin(port, pin, GPIO_PIN_SET); // 点亮LED
-            break;
-        case BSP_LED_OFF:
-            led_stats &= ~(1 << ch);
-            HAL_GPIO_WritePin(port, pin, GPIO_PIN_RESET); // 熄灭LED
-            break;
-        case BSP_LED_TAGGLE:
-            led_stats ^= (1 << ch);
-            HAL_GPIO_TogglePin(port, pin); // 切换LED状态
-            break;
-        default:
-            return BSP_ERR;
-        }
-        return BSP_OK;
-    }
-    return BSP_ERR;
-}

assets/User_code/bsp/led_gpio.h

@@ -1,36 +0,0 @@
-#pragma once
-
-/* Includes ----------------------------------------------------------------- */
-#include <stdint.h>
-#include "gpio.h"
-/* Exported constants ------------------------------------------------------- */
-/* Exported macro ----------------------------------------------------------- */
-/* Exported types ----------------------------------------------------------- */
-
-/* LED灯状态，设置用 */
-typedef enum
-{
-    BSP_LED_ON,
-    BSP_LED_OFF,
-    BSP_LED_TAGGLE,
-} BSP_LED_Status_t;
-
-/* LED通道 */
-typedef enum
-{
-    BSP_LED_1,
-    BSP_LED_2,
-    BSP_LED_3,
-    /*BSP_LED_XXX*/
-} BSP_LED_Channel_t;
-
-/* LED GPIO 配置 */
-typedef struct
-{
-    GPIO_TypeDef *port; // GPIO 端口 (如 GPIOA, GPIOB)
-    uint16_t pin;       // GPIO 引脚
-} BSP_LED_Config_t;
-
-/* Exported functions prototypes -------------------------------------------- */
-
-int8_t BSP_LED_Set(BSP_LED_Channel_t ch, BSP_LED_Status_t s);

assets/User_code/bsp/mm.c

@@ -0,0 +1,14 @@
+/* Includes ----------------------------------------------------------------- */
+#include "bsp\mm.h"
+
+#include "FreeRTOS.h"
+
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private typedef ---------------------------------------------------------- */
+/* Private variables -------------------------------------------------------- */
+/* Private function  -------------------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+inline void *BSP_Malloc(size_t size) { return pvPortMalloc(size); }
+
+inline void BSP_Free(void *pv) { vPortFree(pv); }

assets/User_code/bsp/mm.h

@@ -1,20 +1,20 @@
 #pragma once
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /* Includes ----------------------------------------------------------------- */
+#include <stddef.h>
 #include <stdint.h>
 
 /* Exported constants ------------------------------------------------------- */
 /* Exported macro ----------------------------------------------------------- */
 /* Exported types ----------------------------------------------------------- */
-
-/* 设置BUZZER状态 */
-typedef enum
-{
-    BSP_BUZZER_ON,
-    BSP_BUZZER_OFF,
-    BSP_BUZZER_TAGGLE,
-} BSP_Buzzer_Status_t;
-
 /* Exported functions prototypes -------------------------------------------- */
+void *BSP_Malloc(size_t size);
+void BSP_Free(void *pv);
 
-int8_t BSP_Buzzer_Set(BSP_Buzzer_Status_t s);
+#ifdef __cplusplus
+}
+#endif

assets/User_code/bsp/spi.c

@@ -9,12 +9,7 @@ static void (*SPI_Callback[BSP_SPI_NUM][BSP_SPI_CB_NUM])(void);
 
 /* Private function  -------------------------------------------------------- */
 static BSP_SPI_t SPI_Get(SPI_HandleTypeDef *hspi) {
-  if (hspi->Instance == SPI1)
-    return BSP_SPI_EXAMPLE;
-  /*
-  else if (hspi->Instance == SPIX)
-                  return BSP_SPI_XXX;
-  */
+/* AUTO GENERATED SPI_GET */
   else
     return BSP_SPI_ERR;
 }
@@ -87,12 +82,7 @@ void HAL_SPI_AbortCpltCallback(SPI_HandleTypeDef *hspi) {
 /* Exported functions ------------------------------------------------------- */
 SPI_HandleTypeDef *BSP_SPI_GetHandle(BSP_SPI_t spi) {
   switch (spi) {
-    case BSP_SPI_EXAMPLE:
-      return &hspi1;
-    /*
-    case BSP_SPI_XXX:
-            return &hspiX;
-    */
+/* AUTO GENERATED BSP_SPI_GET_HANDLE */
     default:
       return NULL;
   }

assets/User_code/bsp/spi.h

@@ -17,8 +17,7 @@ extern "C" {
 
 /* SPI实体枚举，与设备对应 */
 typedef enum {
-  BSP_SPI_EXAMPLE,
-  /* BSP_SPI_XXX,*/
+/* AUTO GENERATED BSP_SPI_NAME */
   BSP_SPI_NUM,
   BSP_SPI_ERR,
 } BSP_SPI_t;

assets/User_code/bsp/uart.c

@@ -9,10 +9,7 @@ static void (*UART_Callback[BSP_UART_NUM][BSP_UART_CB_NUM])(void);
 
 /* Private function  -------------------------------------------------------- */
 static BSP_UART_t UART_Get(UART_HandleTypeDef *huart) {
-  if (huart->Instance == USART1)
-    return BSP_UART_EXAMPLE;
-  // else if (huart->Instance == USARTX)
-  //   return BSP_UART_XXX;
+/* AUTO GENERATED UART_GET */
   else
     return BSP_UART_ERR;
 }
@@ -101,10 +98,7 @@ void BSP_UART_IRQHandler(UART_HandleTypeDef *huart) {
 
 UART_HandleTypeDef *BSP_UART_GetHandle(BSP_UART_t uart) {
   switch (uart) {
-    case BSP_UART_EXAMPLE:
-      return &huart1;
-    // case BSP_UART_XXX:
-    //   return &huartX;
+/* AUTO GENERATED BSP_UART_GET_HANDLE */
     default:
       return NULL;
   }

assets/User_code/bsp/uart.h

@@ -17,8 +17,7 @@ extern "C" {
 
 /* UART实体枚举，与设备对应 */
 typedef enum {
-  BSP_UART_EXAMPLE,
-  /*BSP_UART_XXX*/
+/* AUTO GENERATED BSP_UART_NAME */
   BSP_UART_NUM,
   BSP_UART_ERR,
 } BSP_UART_t;

assets/User_code/config.csv

@@ -0,0 +1,4 @@
+bsp,can,delay,dwt,,gpio,i2c,mm,spi,uart,
+component,peripheral,driver,library,hal,freertos,stm32cube
+device,dr16,ai,nuc
+module,chassis,gimbal,arm,shoot