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Robofish 2025-08-09 04:42:11 +08:00
parent 62549172dd
commit e070e723aa
9 changed files with 719 additions and 242 deletions
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3
.vscode/settings.json vendored
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@ -10,6 +10,7 @@
"can.h": "c", "can.h": "c",
"device.h": "c", "device.h": "c",
"gpio.h": "c", "gpio.h": "c",
"uart.h": "c" "uart.h": "c",
"motor_rm.h": "c"
} }
} }

64
README.md
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@ -1,15 +1,14 @@
# MRobot # MRobot
更加高效快捷的 STM32 开发架构，诞生于 Robocon 和 Robomaster，但绝不仅限于此。 更加高效快捷的机器人开发工具，诞生于 Robocon 和 Robomaster，但绝不仅限于此。
<div align="center"> <div align="center">
<img src="./img/MRobot.png" height="100" alt="MRobot Logo"> <img src="assets\logo\MRobot.png" height="80" alt="MRobot Logo">
<p>是时候使用更简洁的方式开发单片机了</p>
<p> <p>
<!-- <img src="https://img.shields.io/github/license/xrobot-org/XRobot.svg" alt="License"> <img src="https://img.shields.io/github/license/goldenfishs/MRobot.svg" alt="License">
<img src="https://img.shields.io/github/repo-size/xrobot-org/XRobot.svg" alt="Repo Size"> <img src="https://img.shields.io/github/repo-size/goldenfishs/MRobot.svg" alt="Repo Size">
<img src="https://img.shields.io/github/last-commit/xrobot-org/XRobot.svg" alt="Last Commit"> <img src="https://img.shields.io/github/last-commit/goldenfishs/MRobot.svg" alt="Last Commit">
<img src="https://img.shields.io/badge/language-c/c++-F34B7D.svg" alt="Language"> --> <img src="https://img.shields.io/badge/language-c/python-F34B7D.svg" alt="Language">
</p> </p>
</div> </div>
@ -17,7 +16,7 @@
## 引言 ## 引言
提起嵌入式开发，绝大多数人对每次繁琐的配置，以及查阅各种文档来写东西感到非常枯燥和浪费使时间，对于小形形目创建优雅的架构又比较费事，那么我们哟u没有办法快速完成基础环境的搭建后直接开始写逻辑代码呢？ 提起嵌入式开发，绝大多数人对每次繁琐的配置，以及查阅各种文档来写东西感到非常枯燥和浪费使时间，对于小形形目创建优雅的架构又比较费事，那么我们有没有办法快速完成基础环境的搭建后直接开始写逻辑代码呢？
这就是**MRobot**。 这就是**MRobot**。
@ -87,52 +86,5 @@
使用以下命令构建可执行文件： 使用以下命令构建可执行文件：
```bash ```bash
pyinstaller --onefile --windowed
pyinstaller MR_Toolbox.py --onefile --noconsole --icon=img\M.ico --add-data "mr_tool_img\MRobot.png;mr_tool_img"
pyinstaller MR_Tool.py --onefile --noconsole --icon=img\M.ico --add-data "mr_tool_img\MRobot.png;mr_tool_img" --add-data "src;src" --add-data "User;User"
pyinstaller --noconfirm --onefile --windowed ^
--add-data "User_code;User_code" ^
--add-data "img;img" ^
--icon "img\M.ico" ^
MRobot.py
pyinstaller --noconfirm --onefile --windowed --add-data "img;img" --add-data "User_code;User_code" --add-data "mech_lib;mech_lib" --icon=img/MRobot.ico MRobot.py
python3 -m PyInstaller --noconfirm --onefile --windowed \
--add-data "img:img" \
--add-data "User_code:User_code" \
--add-data "mech_lib:mech_lib" \
--icon=img/MRobot.ico \
MRobot.py
python3 -m PyInstaller --windowed --name MRobot \
--add-data "img:MRobot.app/Contents/Resources/img" \
--add-data "User_code:MRobot.app/Contents/Resources/User_code" \
--add-data "mech_lib:MRobot.app/Contents/Resources/mech_lib" \
MRobot.py
pyinstaller --noconfirm --onefile --windowed --add-data "img;img" --add-data "User_code;User_code" --icon=img/M.ico MRobot.py
pyinstaller MRobot.py
pyinstaller --noconfirm --onefile --windowed --icon=img/M.ico --add-data "img;img" --add-data "User_code;User_code" --add-data "mech_lib;mech_lib" MRobot.py
pyinstaller --onefile --windowed --icon=assets/logo/M.ico --add-data "assets/logo:assets/logo" --add-data "assets/User_code:assets/User_code" --add-data "assets/mech_lib:assets/mech_lib" --collect-all pandas MRobot.py
pyinstaller --onefile --windowed --icon=assets/logo/M.ico --add-data "assets/logo:assets/logo" --add-data "assets/User_code:assets/User_code" --add-data "assets/mech_lib:assets/mech_lib" MRobot.py
python3 -m pyinstaller MRobot.py --onefile --windowed --add-data "assets:assets" --add-data "app:app" --add-data "app/tools:app/tools"
python -m pyinstaller MRobot.py --onefile --windowed --add-data "assets;assets" --add-data "app;app" --add-data "app/tools;app/tools"
/Users/lvzucheng/Library/Python/3.9/bin/pyinstaller MRobot.py --onefile --windowed --add-data "assets:assets" --add-data "app:app" --add-data "app/tools:app/tools"
pyinstaller MRobot.py --onefile --windowed --add-data "assets;assets" --add-data "app;app" --add-data "app/tools;app/tools" pyinstaller MRobot.py --onefile --windowed --add-data "assets;assets" --add-data "app;app" --add-data "app/tools;app/tools"
```

66
app/code_page/bsp_interface.py
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@ -7,6 +7,7 @@ from app.tools.code_generator import CodeGenerator
import os import os
import csv import csv
import shutil import shutil
import re
def preserve_all_user_regions(new_code, old_code): def preserve_all_user_regions(new_code, old_code):
""" Preserves all user-defined regions in the new code based on the old code. """ Preserves all user-defined regions in the new code based on the old code.
@ -543,6 +544,54 @@ class bsp_spi(BspPeripheralBase):
get_available_spi get_available_spi
) )
def patch_uart_interrupts(project_path, uart_instances):
"""自动修改 stm32f4xx_it.c，插入 UART BSP 相关代码"""
it_path = os.path.join(project_path, "Core/Src/stm32f4xx_it.c")
if not os.path.exists(it_path):
return
with open(it_path, "r", encoding="utf-8") as f:
code = f.read()
# 1. 插入 #include "bsp/uart.h"
include_pattern = r"(/\* USER CODE BEGIN Includes \*/)(.*?)(/\* USER CODE END Includes \*/)"
if '#include "bsp/uart.h"' not in code:
code = re.sub(
include_pattern,
lambda m: f'{m.group(1)}\n#include "bsp/uart.h"{m.group(2)}{m.group(3)}',
code,
flags=re.DOTALL
)
# 2. 插入 BSP_UART_IRQHandler(&huartx);
for instance in uart_instances:
num = ''.join(filter(str.isdigit, instance))
irq_pattern = (
rf"(void\s+USART{num}_IRQHandler\s*\(\s*void\s*\)\s*\{{.*?/\* USER CODE BEGIN USART{num}_IRQn 1 \*/)(.*?)(/\* USER CODE END USART{num}_IRQn 1 \*/)"
)
if f"BSP_UART_IRQHandler(&huart{num});" not in code:
code = re.sub(
irq_pattern,
lambda m: f"{m.group(1)}\n BSP_UART_IRQHandler(&huart{num});{m.group(2)}{m.group(3)}",
code,
flags=re.DOTALL
)
# 兼容 UARTx 命名
irq_pattern_uart = (
rf"(void\s+UART{num}_IRQHandler\s*\(\s*void\s*\)\s*\{{.*?/\* USER CODE BEGIN UART{num}_IRQn 1 \*/)(.*?)(/\* USER CODE END UART{num}_IRQn 1 \*/)"
)
if f"BSP_UART_IRQHandler(&huart{num});" not in code:
code = re.sub(
irq_pattern_uart,
lambda m: f"{m.group(1)}\n BSP_UART_IRQHandler(&huart{num});{m.group(2)}{m.group(3)}",
code,
flags=re.DOTALL
)
with open(it_path, "w", encoding="utf-8") as f:
f.write(code)
class bsp_uart(BspPeripheralBase): class bsp_uart(BspPeripheralBase):
def __init__(self, project_path): def __init__(self, project_path):
super().__init__( super().__init__(
@ -554,7 +603,22 @@ class bsp_uart(BspPeripheralBase):
"uart", "uart",
get_available_uart get_available_uart
) )
def _generate_bsp_code_internal(self):
if not self.is_need_generate():
return False
configs = self._collect_configs()
if not configs:
return False
template_dir = CodeGenerator.get_template_dir()
if not self._generate_header_file(configs, template_dir):
return False
if not self._generate_source_file(configs, template_dir):
return False
self._save_config(configs)
# 自动补充 stm32f4xx_it.c
uart_instances = [instance for _, instance in configs]
patch_uart_interrupts(self.project_path, uart_instances)
return True
class bsp_gpio(QWidget): class bsp_gpio(QWidget):
def __init__(self, project_path): def __init__(self, project_path):
super().__init__() super().__init__()

1
assets/User_code/device/dr16.h
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@ -41,6 +41,7 @@ int8_t DR16_Restart(void);
int8_t DR16_StartDmaRecv(DR16_t *dr16); int8_t DR16_StartDmaRecv(DR16_t *dr16);
bool DR16_WaitDmaCplt(uint32_t timeout); bool DR16_WaitDmaCplt(uint32_t timeout);
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif

16
assets/User_code/device/motor.c
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@ -18,24 +18,32 @@
/* Exported functions ------------------------------------------------------- */ /* Exported functions ------------------------------------------------------- */
float MOTOR_GetRotorAbsAngle(const MOTOR_t *motor) { float MOTOR_GetRotorAbsAngle(const MOTOR_t *motor) {
if (motor == NULL) return DEVICE_ERR_NULL; if (motor == NULL) return DEVICE_ERR_NULL;
if (motor->reverse) {
return -motor->feedback.rotor_abs_angle;
}else{
return motor->feedback.rotor_abs_angle; return motor->feedback.rotor_abs_angle;
} }
}
float MOTOR_GetRotorSpeed(const MOTOR_t *motor) { float MOTOR_GetRotorSpeed(const MOTOR_t *motor) {
if (motor == NULL) return DEVICE_ERR_NULL; if (motor == NULL) return DEVICE_ERR_NULL;
if (motor->reverse) {
return -motor->feedback.rotor_speed;
}else{
return motor->feedback.rotor_speed; return motor->feedback.rotor_speed;
} }
}
float MOTOR_GetTorqueCurrent(const MOTOR_t *motor) { float MOTOR_GetTorqueCurrent(const MOTOR_t *motor) {
if (motor == NULL) return DEVICE_ERR_NULL; if (motor == NULL) return DEVICE_ERR_NULL;
if (motor->reverse) {
return -motor->feedback.torque_current;
}else{
return motor->feedback.torque_current; return motor->feedback.torque_current;
} }
}
float MOTOR_GetTemp(const MOTOR_t *motor) { float MOTOR_GetTemp(const MOTOR_t *motor) {
if (motor == NULL) return DEVICE_ERR_NULL; if (motor == NULL) return DEVICE_ERR_NULL;
return motor->feedback.temp; return motor->feedback.temp;
} }

3
assets/User_code/device/motor.h
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@ -19,7 +19,7 @@ typedef struct {
typedef struct { typedef struct {
DEVICE_Header_t header; DEVICE_Header_t header;
bool reverse; /* 是否反装 */ bool reverse; /* 是否反装 true表示反装 */
MOTOR_Feedback_t feedback; MOTOR_Feedback_t feedback;
} MOTOR_t; } MOTOR_t;
@ -29,7 +29,6 @@ float MOTOR_GetRotorSpeed(const MOTOR_t *motor);
float MOTOR_GetTorqueCurrent(const MOTOR_t *motor); float MOTOR_GetTorqueCurrent(const MOTOR_t *motor);
float MOTOR_GetTemp(const MOTOR_t *motor); float MOTOR_GetTemp(const MOTOR_t *motor);
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif

177
assets/User_code/device/motor_rm.c
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@ -2,30 +2,20 @@
CAN总线上的设备 CAN总线上的设备
将所有CAN总线上挂载的设备抽象成一个设备进行配置和控制 将所有CAN总线上挂载的设备抽象成一个设备进行配置和控制
*/ */
/* Includes ----------------------------------------------------------------- */ /* Includes ----------------------------------------------------------------- */
#include "motor_rm.h" #include "motor_rm.h"
#include <stdbool.h> #include <stdbool.h>
#include <string.h> #include <string.h>
#include "bsp/can.h" #include "bsp/can.h"
#include "bsp/mm.h" #include "bsp/mm.h"
#include "bsp/time.h" #include "bsp/time.h"
#include "component/user_math.h" #include "component/user_math.h"
/* Private define ----------------------------------------------------------- */ /* Private define ----------------------------------------------------------- */
/* Motor id */
/* id feedback id control id */
/* 1-4 0x205 to 0x208 0x1ff */
/* 5-7 0x209 to 0x20B 0x2ff */
#define GM6020_FB_ID_BASE (0x205) #define GM6020_FB_ID_BASE (0x205)
#define GM6020_CTRL_ID_BASE (0x1ff) #define GM6020_CTRL_ID_BASE (0x1ff)
#define GM6020_CTRL_ID_EXTAND (0x2ff) #define GM6020_CTRL_ID_EXTAND (0x2ff)
/* id feedback id control id */
/* 1-4 0x201 to 0x204 0x200 */
/* 5-8 0x205 to 0x208 0x1ff */
#define M3508_M2006_FB_ID_BASE (0x201) #define M3508_M2006_FB_ID_BASE (0x201)
#define M3508_M2006_CTRL_ID_BASE (0x200) #define M3508_M2006_CTRL_ID_BASE (0x200)
#define M3508_M2006_CTRL_ID_EXTAND (0x1ff) #define M3508_M2006_CTRL_ID_EXTAND (0x1ff)
@ -46,18 +36,17 @@
/* Private variables -------------------------------------------------------- */ /* Private variables -------------------------------------------------------- */
static MOTOR_RM_CANManager_t *can_managers[BSP_CAN_NUM] = {NULL}; static MOTOR_RM_CANManager_t *can_managers[BSP_CAN_NUM] = {NULL};
/* Private function -------------------------------------------------------- */
static int8_t MOTOR_RM_GetLogicalIndex(uint16_t can_id, MOTOR_RM_Module_t module) { static int8_t MOTOR_RM_GetLogicalIndex(uint16_t can_id, MOTOR_RM_Module_t module) {
switch (module) { switch (module) {
case MOTOR_M2006: case MOTOR_M2006:
case MOTOR_M3508: case MOTOR_M3508:
if (can_id >= M3508_M2006_FB_ID_BASE && can_id < M3508_M2006_FB_ID_BASE + 7) { if (can_id >= M3508_M2006_FB_ID_BASE && can_id < M3508_M2006_FB_ID_BASE + 7) {
return can_id - M3508_M2006_FB_ID_BASE; // 返回1-8 return can_id - M3508_M2006_FB_ID_BASE;
} }
break; break;
case MOTOR_GM6020: case MOTOR_GM6020:
if (can_id >= GM6020_FB_ID_BASE && can_id < GM6020_FB_ID_BASE + 6) { if (can_id >= GM6020_FB_ID_BASE && can_id < GM6020_FB_ID_BASE + 6) {
return can_id - GM6020_FB_ID_BASE + 4; // 返回5-11 return can_id - GM6020_FB_ID_BASE + 4;
} }
break; break;
default: default:
@ -68,14 +57,10 @@ static int8_t MOTOR_RM_GetLogicalIndex(uint16_t can_id, MOTOR_RM_Module_t module
static int16_t MOTOR_RM_GetLSB(MOTOR_RM_Module_t module) { static int16_t MOTOR_RM_GetLSB(MOTOR_RM_Module_t module) {
switch (module) { switch (module) {
case MOTOR_M2006: case MOTOR_M2006: return M2006_MAX_ABS_LSB;
return M2006_MAX_ABS_LSB; case MOTOR_M3508: return M3508_MAX_ABS_LSB;
case MOTOR_M3508: case MOTOR_GM6020: return GM6020_MAX_ABS_LSB;
return M3508_MAX_ABS_LSB; default: return DEVICE_ERR;
case MOTOR_GM6020:
return GM6020_MAX_ABS_LSB;
default:
return DEVICE_ERR;
} }
} }
@ -87,24 +72,18 @@ static MOTOR_RM_CANManager_t* MOTOR_RM_GetCANManager(BSP_CAN_t can) {
static int8_t MOTOR_RM_CreateCANManager(BSP_CAN_t can) { static int8_t MOTOR_RM_CreateCANManager(BSP_CAN_t can) {
if (can >= BSP_CAN_NUM) return DEVICE_ERR; if (can >= BSP_CAN_NUM) return DEVICE_ERR;
if (can_managers[can] != NULL) return DEVICE_OK; if (can_managers[can] != NULL) return DEVICE_OK;
can_managers[can] = (MOTOR_RM_CANManager_t*)BSP_Malloc(sizeof(MOTOR_RM_CANManager_t)); can_managers[can] = (MOTOR_RM_CANManager_t*)BSP_Malloc(sizeof(MOTOR_RM_CANManager_t));
if (can_managers[can] == NULL) return DEVICE_ERR; if (can_managers[can] == NULL) return DEVICE_ERR;
memset(can_managers[can], 0, sizeof(MOTOR_RM_CANManager_t)); memset(can_managers[can], 0, sizeof(MOTOR_RM_CANManager_t));
can_managers[can]->can = can; can_managers[can]->can = can;
return DEVICE_OK;
return 0;
} }
static void Motor_RM_Decode(MOTOR_RM_t *motor, BSP_CAN_Message_t *msg) { static void Motor_RM_Decode(MOTOR_RM_t *motor, BSP_CAN_Message_t *msg) {
uint16_t raw_angle = (uint16_t)((msg->data[0] << 8) | msg->data[1]); uint16_t raw_angle = (uint16_t)((msg->data[0] << 8) | msg->data[1]);
int16_t raw_current = (int16_t)((msg->data[4] << 8) | msg->data[5]); int16_t raw_current = (int16_t)((msg->data[4] << 8) | msg->data[5]);
motor->motor.feedback.rotor_abs_angle = raw_angle / (float)MOTOR_ENC_RES * M_2PI; motor->motor.feedback.rotor_abs_angle = raw_angle / (float)MOTOR_ENC_RES * M_2PI;
motor->motor.feedback.rotor_speed = (int16_t)((msg->data[2] << 8) | msg->data[3]); motor->motor.feedback.rotor_speed = (int16_t)((msg->data[2] << 8) | msg->data[3]);
// 根据电机类型选择正确的LSB
int16_t lsb = MOTOR_RM_GetLSB(motor->param.module); int16_t lsb = MOTOR_RM_GetLSB(motor->param.module);
motor->motor.feedback.torque_current = raw_current * lsb / (float)MOTOR_CUR_RES; motor->motor.feedback.torque_current = raw_current * lsb / (float)MOTOR_CUR_RES;
motor->motor.feedback.temp = msg->data[6]; motor->motor.feedback.temp = msg->data[6];
@ -112,76 +91,59 @@ static void Motor_RM_Decode(MOTOR_RM_t *motor, BSP_CAN_Message_t *msg) {
/* Exported functions ------------------------------------------------------- */ /* Exported functions ------------------------------------------------------- */
int8_t MOTOR_RM_Register(MOTOR_RM_Param_t *param) { int8_t MOTOR_RM_Register(MOTOR_RM_Param_t *param) {
if (param == NULL) return DEVICE_ERR_NULL; if (param == NULL) return DEVICE_ERR_NULL;
if (MOTOR_RM_CreateCANManager(param->can) != DEVICE_OK) return DEVICE_ERR;
// 1. 检查并创建CAN管理器
if (MOTOR_RM_CreateCANManager(param->can) != DEVICE_OK) {
return DEVICE_ERR;
}
// 获取对应的CAN管理器
MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager(param->can); MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager(param->can);
if (manager == NULL) return DEVICE_ERR; if (manager == NULL) return DEVICE_ERR;
// 检查是否已注册
// 2. 检查电机是否已注册
for (int i = 0; i < manager->motor_count; i++) { for (int i = 0; i < manager->motor_count; i++) {
if (manager->motors[i] != NULL && if (manager->motors[i] && manager->motors[i]->param.id == param->id) {
manager->motors[i]->param.id == param->id) { return DEVICE_ERR_INITED;
return DEVICE_ERR_INITED; // 电机已存在
} }
} }
// 检查数量
// 3. 检查是否还能添加更多电机 if (manager->motor_count >= MOTOR_RM_MAX_MOTORS) return DEVICE_ERR;
if (manager->motor_count >= MOTOR_RM_MAX_MOTORS) { // 创建新电机实例
return DEVICE_ERR; // 电机数量已满
}
// 4. 创建新的电机实例
MOTOR_RM_t *new_motor = (MOTOR_RM_t*)BSP_Malloc(sizeof(MOTOR_RM_t)); MOTOR_RM_t *new_motor = (MOTOR_RM_t*)BSP_Malloc(sizeof(MOTOR_RM_t));
if (new_motor == NULL) return DEVICE_ERR; if (new_motor == NULL) return DEVICE_ERR;
// 5. 初始化电机参数
memcpy(&new_motor->param, param, sizeof(MOTOR_RM_Param_t)); memcpy(&new_motor->param, param, sizeof(MOTOR_RM_Param_t));
memset(&new_motor->motor, 0, sizeof(MOTOR_t)); memset(&new_motor->motor, 0, sizeof(MOTOR_t));
new_motor->motor.reverse = param->reverse; new_motor->motor.reverse = param->reverse;
// 注册CAN接收ID
// 6. 注册CAN接收ID（直接使用实际CAN ID）
if (BSP_CAN_RegisterId(param->can, param->id, 3) != BSP_OK) { if (BSP_CAN_RegisterId(param->can, param->id, 3) != BSP_OK) {
BSP_Free(new_motor); BSP_Free(new_motor);
return DEVICE_ERR; return DEVICE_ERR;
} }
// 7. 将电机添加到管理器中
manager->motors[manager->motor_count] = new_motor; manager->motors[manager->motor_count] = new_motor;
manager->motor_count++; manager->motor_count++;
return DEVICE_OK; return DEVICE_OK;
} }
int8_t MOTOR_RM_Update(BSP_CAN_t can, uint16_t id) { int8_t MOTOR_RM_Update(MOTOR_RM_Param_t *param) {
MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager(can); if (param == NULL) return DEVICE_ERR_NULL;
MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager(param->can);
if (manager == NULL) return DEVICE_ERR_NO_DEV; if (manager == NULL) return DEVICE_ERR_NO_DEV;
for (int i = 0; i < manager->motor_count; i++) { for (int i = 0; i < manager->motor_count; i++) {
MOTOR_RM_t *motor = manager->motors[i]; MOTOR_RM_t *motor = manager->motors[i];
if (motor != NULL && motor->param.id == id) { if (motor && motor->param.id == param->id) {
BSP_CAN_Message_t rx_msg; BSP_CAN_Message_t rx_msg;
if (BSP_CAN_GetMessage(can, id, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) { if (BSP_CAN_GetMessage(param->can, param->id, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) {
uint64_t now_time = BSP_TIME_Get(); uint64_t now_time = BSP_TIME_Get();
if (now_time - motor->motor.header.last_online_time > 1000) { if (now_time - motor->motor.header.last_online_time > 1000) {
motor->motor.header.online = false; motor->motor.header.online = false;
return DEVICE_ERR_NO_DEV; // 电机不在线 return DEVICE_ERR_NO_DEV;
} }
return DEVICE_ERR; // 没有新数据但电机在线 return DEVICE_ERR;
} }
// 解码接收到的消息
motor->motor.header.online = true; motor->motor.header.online = true;
motor->motor.header.last_online_time = BSP_TIME_Get(); motor->motor.header.last_online_time = BSP_TIME_Get();
Motor_RM_Decode(motor, &rx_msg); Motor_RM_Decode(motor, &rx_msg);
return DEVICE_OK; // 成功更新 return DEVICE_OK;
} }
} }
return DEVICE_ERR_NO_DEV; // 未找到对应电机 return DEVICE_ERR_NO_DEV;
} }
int8_t MOTOR_RM_UpdateAll(void) { int8_t MOTOR_RM_UpdateAll(void) {
@ -189,11 +151,10 @@ int8_t MOTOR_RM_UpdateAll(void) {
for (int can = 0; can < BSP_CAN_NUM; can++) { for (int can = 0; can < BSP_CAN_NUM; can++) {
MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager((BSP_CAN_t)can); MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager((BSP_CAN_t)can);
if (manager == NULL) continue; if (manager == NULL) continue;
for (int i = 0; i < manager->motor_count; i++) { for (int i = 0; i < manager->motor_count; i++) {
MOTOR_RM_t *motor = manager->motors[i]; MOTOR_RM_t *motor = manager->motors[i];
if (motor != NULL) { if (motor != NULL) {
if (MOTOR_RM_Update((BSP_CAN_t)can, motor->param.id) != DEVICE_OK) { if (MOTOR_RM_Update(&motor->param) != DEVICE_OK) {
ret = DEVICE_ERR; ret = DEVICE_ERR;
} }
} }
@ -202,33 +163,29 @@ int8_t MOTOR_RM_UpdateAll(void) {
return ret; return ret;
} }
int8_t MOTOR_RM_SetOutput(BSP_CAN_t can, uint16_t id, float value) { int8_t MOTOR_RM_SetOutput(MOTOR_RM_Param_t *param, float value) {
MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager(can); if (param == NULL) return DEVICE_ERR_NULL;
MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager(param->can);
if (manager == NULL) return DEVICE_ERR_NO_DEV; if (manager == NULL) return DEVICE_ERR_NO_DEV;
if (value > 1.0f) value = 1.0f; if (value > 1.0f) value = 1.0f;
if (value < -1.0f) value = -1.0f; if (value < -1.0f) value = -1.0f;
MOTOR_RM_t *motor = MOTOR_RM_GetMotor(param);
MOTOR_RM_t *motor = MOTOR_RM_GetMotor(can, id);
if (motor == NULL) return DEVICE_ERR_NO_DEV; if (motor == NULL) return DEVICE_ERR_NO_DEV;
int8_t logical_index = MOTOR_RM_GetLogicalIndex(param->id, param->module);
int8_t logical_index = MOTOR_RM_GetLogicalIndex(id, motor->param.module);
if (logical_index < 0) return DEVICE_ERR; if (logical_index < 0) return DEVICE_ERR;
MOTOR_RM_MsgOutput_t *output_msg = &manager->output_msg; MOTOR_RM_MsgOutput_t *output_msg = &manager->output_msg;
int16_t output_value = (int16_t)(value * (float)MOTOR_RM_GetLSB(motor->param.module)); int16_t output_value = (int16_t)(value * (float)MOTOR_RM_GetLSB(param->module));
output_msg->output[logical_index] = output_value; output_msg->output[logical_index] = output_value;
return DEVICE_OK; return DEVICE_OK;
} }
int8_t MOTOR_RM_Ctrl(BSP_CAN_t can, uint16_t id) { int8_t MOTOR_RM_Ctrl(MOTOR_RM_Param_t *param) {
MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager(can); if (param == NULL) return DEVICE_ERR_NULL;
MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager(param->can);
if (manager == NULL) return DEVICE_ERR_NO_DEV; if (manager == NULL) return DEVICE_ERR_NO_DEV;
MOTOR_RM_MsgOutput_t *output_msg = &manager->output_msg; MOTOR_RM_MsgOutput_t *output_msg = &manager->output_msg;
BSP_CAN_StdDataFrame_t tx_frame; BSP_CAN_StdDataFrame_t tx_frame;
uint16_t id = param->id;
switch (id) { switch (id) {
case M3508_M2006_FB_ID_BASE: case M3508_M2006_FB_ID_BASE:
case M3508_M2006_FB_ID_BASE+1: case M3508_M2006_FB_ID_BASE+1:
@ -236,14 +193,10 @@ int8_t MOTOR_RM_Ctrl(BSP_CAN_t can, uint16_t id) {
case M3508_M2006_FB_ID_BASE+3: case M3508_M2006_FB_ID_BASE+3:
tx_frame.id = M3508_M2006_CTRL_ID_BASE; tx_frame.id = M3508_M2006_CTRL_ID_BASE;
tx_frame.dlc = MOTOR_TX_BUF_SIZE; tx_frame.dlc = MOTOR_TX_BUF_SIZE;
tx_frame.data[0] = (uint8_t)((output_msg->output[0] >> 8) & 0xFF); for (int i = 0; i < 4; i++) {
tx_frame.data[1] = (uint8_t)(output_msg->output[0] & 0xFF); tx_frame.data[i*2] = (uint8_t)((output_msg->output[i] >> 8) & 0xFF);
tx_frame.data[2] = (uint8_t)((output_msg->output[1] >> 8) & 0xFF); tx_frame.data[i*2+1] = (uint8_t)(output_msg->output[i] & 0xFF);
tx_frame.data[3] = (uint8_t)(output_msg->output[1] & 0xFF); }
tx_frame.data[4] = (uint8_t)((output_msg->output[2] >> 8) & 0xFF);
tx_frame.data[5] = (uint8_t)(output_msg->output[2] & 0xFF);
tx_frame.data[6] = (uint8_t)((output_msg->output[3] >> 8) & 0xFF);
tx_frame.data[7] = (uint8_t)(output_msg->output[3] & 0xFF);
break; break;
case M3508_M2006_FB_ID_BASE+4: case M3508_M2006_FB_ID_BASE+4:
case M3508_M2006_FB_ID_BASE+5: case M3508_M2006_FB_ID_BASE+5:
@ -251,59 +204,49 @@ int8_t MOTOR_RM_Ctrl(BSP_CAN_t can, uint16_t id) {
case M3508_M2006_FB_ID_BASE+7: case M3508_M2006_FB_ID_BASE+7:
tx_frame.id = M3508_M2006_CTRL_ID_EXTAND; tx_frame.id = M3508_M2006_CTRL_ID_EXTAND;
tx_frame.dlc = MOTOR_TX_BUF_SIZE; tx_frame.dlc = MOTOR_TX_BUF_SIZE;
tx_frame.data[0] = (uint8_t)((output_msg->output[4] >> 8) & 0xFF); for (int i = 4; i < 8; i++) {
tx_frame.data[1] = (uint8_t)(output_msg->output[4] & 0xFF); tx_frame.data[(i-4)*2] = (uint8_t)((output_msg->output[i] >> 8) & 0xFF);
tx_frame.data[2] = (uint8_t)((output_msg->output[5] >> 8) & 0xFF); tx_frame.data[(i-4)*2+1] = (uint8_t)(output_msg->output[i] & 0xFF);
tx_frame.data[3] = (uint8_t)(output_msg->output[5] & 0xFF); }
tx_frame.data[4] = (uint8_t)((output_msg->output[6] >> 8) & 0xFF);
tx_frame.data[5] = (uint8_t)(output_msg->output[6] & 0xFF);
tx_frame.data[6] = (uint8_t)((output_msg->output[7] >> 8) & 0xFF);
tx_frame.data[7] = (uint8_t)(output_msg->output[7] & 0xFF);
break; break;
case GM6020_FB_ID_BASE+4: case GM6020_FB_ID_BASE+4:
case GM6020_FB_ID_BASE+5: case GM6020_FB_ID_BASE+5:
case GM6020_FB_ID_BASE+6: case GM6020_FB_ID_BASE+6:
tx_frame.id = GM6020_CTRL_ID_EXTAND; tx_frame.id = GM6020_CTRL_ID_EXTAND;
tx_frame.dlc = MOTOR_TX_BUF_SIZE; tx_frame.dlc = MOTOR_TX_BUF_SIZE;
tx_frame.data[0] = (uint8_t)((output_msg->output[8] >> 8) & 0xFF); for (int i = 8; i < 11; i++) {
tx_frame.data[1] = (uint8_t)(output_msg->output[8] & 0xFF); tx_frame.data[(i-8)*2] = (uint8_t)((output_msg->output[i] >> 8) & 0xFF);
tx_frame.data[2] = (uint8_t)((output_msg->output[9] >> 8) & 0xFF); tx_frame.data[(i-8)*2+1] = (uint8_t)(output_msg->output[i] & 0xFF);
tx_frame.data[3] = (uint8_t)(output_msg->output[9] & 0xFF); }
tx_frame.data[4] = (uint8_t)((output_msg->output[10] >> 8) & 0xFF);
tx_frame.data[5] = (uint8_t)(output_msg->output[10] & 0xFF);
tx_frame.data[6] = 0; tx_frame.data[6] = 0;
tx_frame.data[7] = 0; tx_frame.data[7] = 0;
break; break;
default: default:
return DEVICE_ERR; // 不支持的控制ID return DEVICE_ERR;
}
return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
} }
return BSP_CAN_TransmitStdDataFrame(can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; MOTOR_RM_t* MOTOR_RM_GetMotor(MOTOR_RM_Param_t *param) {
} if (param == NULL) return NULL;
MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager(param->can);
MOTOR_RM_t* MOTOR_RM_GetMotor(BSP_CAN_t can, uint16_t id) {
MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager(can);
if (manager == NULL) return NULL; if (manager == NULL) return NULL;
for (int i = 0; i < manager->motor_count; i++) { for (int i = 0; i < manager->motor_count; i++) {
MOTOR_RM_t *motor = manager->motors[i]; MOTOR_RM_t *motor = manager->motors[i];
if (motor != NULL && motor->param.id == id) { if (motor && motor->param.id == param->id) {
return motor; return motor;
} }
} }
return NULL; return NULL;
} }
int8_t MOTOR_RM_Relax(BSP_CAN_t can, uint16_t id) { int8_t MOTOR_RM_Relax(MOTOR_RM_Param_t *param) {
int8_t ret = MOTOR_RM_SetOutput(can, id, 0.0f); return MOTOR_RM_SetOutput(param, 0.0f);
if (ret != DEVICE_OK) return ret;
return DEVICE_OK;
} }
int8_t MOTOR_RM_Offine(BSP_CAN_t can, uint16_t id) { int8_t MOTOR_RM_Offine(MOTOR_RM_Param_t *param) {
MOTOR_RM_t *motor = MOTOR_RM_GetMotor(can, id); MOTOR_RM_t *motor = MOTOR_RM_GetMotor(param);
if (motor != NULL) { if (motor) {
motor->motor.header.online = false; motor->motor.header.online = false;
return DEVICE_OK; return DEVICE_OK;
} }

84
assets/User_code/device/motor_rm.h
View File

@ -10,7 +10,7 @@ extern "C" {
#include "bsp/can.h" #include "bsp/can.h"
/* Exported constants ------------------------------------------------------- */ /* Exported constants ------------------------------------------------------- */
#define MOTOR_RM_MAX_MOTORS 11 /* 最大电机数量 */ #define MOTOR_RM_MAX_MOTORS 11
/* Exported macro ----------------------------------------------------------- */ /* Exported macro ----------------------------------------------------------- */
/* Exported types ----------------------------------------------------------- */ /* Exported types ----------------------------------------------------------- */
@ -37,91 +37,87 @@ typedef union {
int16_t gm6020_id20B; int16_t gm6020_id20B;
} named; } named;
} MOTOR_RM_MsgOutput_t; } MOTOR_RM_MsgOutput_t;
/*注册电机时候每个电机需要的参数*/
/*每个电机需要的参数*/
typedef struct { typedef struct {
BSP_CAN_t can; BSP_CAN_t can;
uint16_t id; // 实际CAN ID，如0x201, 0x205等 uint16_t id;
MOTOR_RM_Module_t module; MOTOR_RM_Module_t module;
bool reverse; bool reverse;
} MOTOR_RM_Param_t; } MOTOR_RM_Param_t;
/*电机实例*/
typedef struct MOTOR_RM_t { typedef struct MOTOR_RM_t {
MOTOR_RM_Param_t param; MOTOR_RM_Param_t param;
MOTOR_t motor; MOTOR_t motor;
} MOTOR_RM_t; } MOTOR_RM_t;
/*CAN管理器，管理一个CAN总线上所有的电机*/
typedef struct { typedef struct {
BSP_CAN_t can; BSP_CAN_t can;
MOTOR_RM_MsgOutput_t output_msg; MOTOR_RM_MsgOutput_t output_msg;
MOTOR_RM_t *motors[MOTOR_RM_MAX_MOTORS]; // 最多15个电机 MOTOR_RM_t *motors[MOTOR_RM_MAX_MOTORS];
uint8_t motor_count; uint8_t motor_count;
} MOTOR_RM_CANManager_t; } MOTOR_RM_CANManager_t;
/* Exported functions prototypes -------------------------------------------- */ /* Exported functions prototypes -------------------------------------------- */
/** /**
* @brief 注册一个RM电机 * @brief 注册一个RM电机
* @param param 电机参数 * @param param 电机参数
* @return 0 成功，其他值失败 * @return
*/ */
int8_t MOTOR_RM_Register(MOTOR_RM_Param_t *param); int8_t MOTOR_RM_Register(MOTOR_RM_Param_t *param);
/** /**
* @brief 更新单个电机数据 * @brief 更新指定电机数据
* @param can CAN通道 * @param param 电机参数
* @param id 电机实际CAN ID * @return
* @return 0 成功，其他值失败
*/ */
int8_t MOTOR_RM_Update(BSP_CAN_t can, uint16_t id); int8_t MOTOR_RM_Update(MOTOR_RM_Param_t *param);
/** /**
* @brief 更新所有注册了的电机数据 * @brief 设置一个电机的输出
* @return 0 成功，其他值失败 * @param param 电机参数
* @param value 输出值，范围[-1.0, 1.0]
* @return
*/ */
int8_t MOTOR_RM_UpdateAll(void); int8_t MOTOR_RM_SetOutput(MOTOR_RM_Param_t *param, float value);
/** /**
* @brief 设置电机输出值 * @brief 发送控制命令到电机，注意一个CAN可以控制多个电机，所以只需要发送一次即可
* @param can CAN通道 * @param param 电机参数
* @param id 电机实际CAN ID * @return
* @param value 输出值（归一化，-1.0到1.0）
* @return 0 成功，其他值失败
*/ */
int8_t MOTOR_RM_SetOutput(BSP_CAN_t can, uint16_t id, float value); int8_t MOTOR_RM_Ctrl(MOTOR_RM_Param_t *param);
/** /**
* @brief 发送电机控制命令 * @brief 获取指定电机的实例指针
* @param can CAN通道 * @param param 电机参数
* @param ctrl_id 控制帧ID（0x200, 0x1ff, 0x2ff） * @return
* @return 0 成功，其他值失败
*/ */
int8_t MOTOR_RM_Ctrl(BSP_CAN_t can, uint16_t ctrl_id); MOTOR_RM_t* MOTOR_RM_GetMotor(MOTOR_RM_Param_t *param);
/**
* @brief 获取电机实例
* @param can CAN通道
* @param id 电机实际CAN ID
* @return 电机实例指针，失败返回NULL
*/
MOTOR_RM_t* MOTOR_RM_GetMotor(BSP_CAN_t can, uint16_t id);
/** /**
* @brief 使电机松弛（设置输出为0） * @brief 使电机松弛（设置输出为0）
* @param can CAN通道 * @param param
* @param id 电机实际CAN ID * @return
* @return 0 成功，其他值失败
*/ */
int8_t MOTOR_RM_Relax(BSP_CAN_t can, uint16_t id); int8_t MOTOR_RM_Relax(MOTOR_RM_Param_t *param);
/** /**
* @brief 使电机离线（输出为0并标记为不在线） * @brief 使电机离线（设置在线状态为false）
* @param can CAN通道 * @param param
* @param id 电机实际CAN ID * @return
* @return 0 成功，其他值失败
*/ */
int8_t MOTOR_RM_Offine(BSP_CAN_t can, uint16_t id); int8_t MOTOR_RM_Offine(MOTOR_RM_Param_t *param);
/**
* @brief
* @param
* @return
*/
int8_t MOTOR_RM_UpdateAll(void);
#ifdef __cplusplus #ifdef __cplusplus
} }

513
stm32f4xx_it.c Normal file
View File

@ -0,0 +1,513 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32f4xx_it.c
* @brief Interrupt Service Routines.
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under Ultimate Liberty license
* SLA0044, the "License"; You may not use this file except in compliance with
* the License. You may obtain a copy of the License at:
* www.st.com/SLA0044
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f4xx_it.h"
#include "FreeRTOS.h"
#include "task.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "bsp/uart.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */
/* USER CODE END TD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/* External variables --------------------------------------------------------*/
extern PCD_HandleTypeDef hpcd_USB_OTG_FS;
extern CAN_HandleTypeDef hcan1;
extern CAN_HandleTypeDef hcan2;
extern DMA_HandleTypeDef hdma_i2c2_tx;
extern DMA_HandleTypeDef hdma_i2c3_rx;
extern DMA_HandleTypeDef hdma_spi1_rx;
extern DMA_HandleTypeDef hdma_spi1_tx;
extern TIM_HandleTypeDef htim1;
extern TIM_HandleTypeDef htim7;
extern DMA_HandleTypeDef hdma_usart1_tx;
extern DMA_HandleTypeDef hdma_usart1_rx;
extern DMA_HandleTypeDef hdma_usart3_rx;
extern DMA_HandleTypeDef hdma_usart6_rx;
extern DMA_HandleTypeDef hdma_usart6_tx;
extern UART_HandleTypeDef huart1;
extern UART_HandleTypeDef huart6;
/* USER CODE BEGIN EV */
/* USER CODE END EV */
/******************************************************************************/
/* Cortex-M4 Processor Interruption and Exception Handlers */
/******************************************************************************/
/**
* @brief This function handles Non maskable interrupt.
*/
void NMI_Handler(void)
{
/* USER CODE BEGIN NonMaskableInt_IRQn 0 */
/* USER CODE END NonMaskableInt_IRQn 0 */
/* USER CODE BEGIN NonMaskableInt_IRQn 1 */
/* USER CODE END NonMaskableInt_IRQn 1 */
}
/**
* @brief This function handles Hard fault interrupt.
*/
void HardFault_Handler(void)
{
/* USER CODE BEGIN HardFault_IRQn 0 */
/* USER CODE END HardFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_HardFault_IRQn 0 */
__NOP();
/* USER CODE END W1_HardFault_IRQn 0 */
}
}
/**
* @brief This function handles Memory management fault.
*/
void MemManage_Handler(void)
{
/* USER CODE BEGIN MemoryManagement_IRQn 0 */
/* USER CODE END MemoryManagement_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */
__NOP();
/* USER CODE END W1_MemoryManagement_IRQn 0 */
}
}
/**
* @brief This function handles Pre-fetch fault, memory access fault.
*/
void BusFault_Handler(void)
{
/* USER CODE BEGIN BusFault_IRQn 0 */
/* USER CODE END BusFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_BusFault_IRQn 0 */
/* USER CODE END W1_BusFault_IRQn 0 */
}
}
/**
* @brief This function handles Undefined instruction or illegal state.
*/
void UsageFault_Handler(void)
{
/* USER CODE BEGIN UsageFault_IRQn 0 */
/* USER CODE END UsageFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_UsageFault_IRQn 0 */
/* USER CODE END W1_UsageFault_IRQn 0 */
}
}
/**
* @brief This function handles Debug monitor.
*/
void DebugMon_Handler(void)
{
/* USER CODE BEGIN DebugMonitor_IRQn 0 */
/* USER CODE END DebugMonitor_IRQn 0 */
/* USER CODE BEGIN DebugMonitor_IRQn 1 */
/* USER CODE END DebugMonitor_IRQn 1 */
}
/**
* @brief This function handles System tick timer.
*/
void SysTick_Handler(void)
{
/* USER CODE BEGIN SysTick_IRQn 0 */
/* USER CODE END SysTick_IRQn 0 */
HAL_IncTick();
#if (INCLUDE_xTaskGetSchedulerState == 1 )
if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED)
{
#endif /* INCLUDE_xTaskGetSchedulerState */
xPortSysTickHandler();
#if (INCLUDE_xTaskGetSchedulerState == 1 )
}
#endif /* INCLUDE_xTaskGetSchedulerState */
/* USER CODE BEGIN SysTick_IRQn 1 */
/* USER CODE END SysTick_IRQn 1 */
}
/******************************************************************************/
/* STM32F4xx Peripheral Interrupt Handlers */
/* Add here the Interrupt Handlers for the used peripherals. */
/* For the available peripheral interrupt handler names, */
/* please refer to the startup file (startup_stm32f4xx.s). */
/******************************************************************************/
/**
* @brief This function handles EXTI line0 interrupt.
*/
void EXTI0_IRQHandler(void)
{
/* USER CODE BEGIN EXTI0_IRQn 0 */
/* USER CODE END EXTI0_IRQn 0 */
HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_0);
/* USER CODE BEGIN EXTI0_IRQn 1 */
/* USER CODE END EXTI0_IRQn 1 */
}
/**
* @brief This function handles EXTI line3 interrupt.
*/
void EXTI3_IRQHandler(void)
{
/* USER CODE BEGIN EXTI3_IRQn 0 */
/* USER CODE END EXTI3_IRQn 0 */
HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_3);
/* USER CODE BEGIN EXTI3_IRQn 1 */
/* USER CODE END EXTI3_IRQn 1 */
}
/**
* @brief This function handles EXTI line4 interrupt.
*/
void EXTI4_IRQHandler(void)
{
/* USER CODE BEGIN EXTI4_IRQn 0 */
/* USER CODE END EXTI4_IRQn 0 */
HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_4);
/* USER CODE BEGIN EXTI4_IRQn 1 */
/* USER CODE END EXTI4_IRQn 1 */
}
/**
* @brief This function handles DMA1 stream1 global interrupt.
*/
void DMA1_Stream1_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Stream1_IRQn 0 */
/* USER CODE END DMA1_Stream1_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart3_rx);
/* USER CODE BEGIN DMA1_Stream1_IRQn 1 */
/* USER CODE END DMA1_Stream1_IRQn 1 */
}
/**
* @brief This function handles DMA1 stream2 global interrupt.
*/
void DMA1_Stream2_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Stream2_IRQn 0 */
/* USER CODE END DMA1_Stream2_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_i2c3_rx);
/* USER CODE BEGIN DMA1_Stream2_IRQn 1 */
/* USER CODE END DMA1_Stream2_IRQn 1 */
}
/**
* @brief This function handles CAN1 RX0 interrupts.
*/
void CAN1_RX0_IRQHandler(void)
{
/* USER CODE BEGIN CAN1_RX0_IRQn 0 */
/* USER CODE END CAN1_RX0_IRQn 0 */
HAL_CAN_IRQHandler(&hcan1);
/* USER CODE BEGIN CAN1_RX0_IRQn 1 */
/* USER CODE END CAN1_RX0_IRQn 1 */
}
/**
* @brief This function handles CAN1 RX1 interrupt.
*/
void CAN1_RX1_IRQHandler(void)
{
/* USER CODE BEGIN CAN1_RX1_IRQn 0 */
/* USER CODE END CAN1_RX1_IRQn 0 */
HAL_CAN_IRQHandler(&hcan1);
/* USER CODE BEGIN CAN1_RX1_IRQn 1 */
/* USER CODE END CAN1_RX1_IRQn 1 */
}
/**
* @brief This function handles EXTI line[9:5] interrupts.
*/
void EXTI9_5_IRQHandler(void)
{
/* USER CODE BEGIN EXTI9_5_IRQn 0 */
/* USER CODE END EXTI9_5_IRQn 0 */
HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_5);
/* USER CODE BEGIN EXTI9_5_IRQn 1 */
/* USER CODE END EXTI9_5_IRQn 1 */
}
/**
* @brief This function handles TIM1 break interrupt and TIM9 global interrupt.
*/
void TIM1_BRK_TIM9_IRQHandler(void)
{
/* USER CODE BEGIN TIM1_BRK_TIM9_IRQn 0 */
/* USER CODE END TIM1_BRK_TIM9_IRQn 0 */
HAL_TIM_IRQHandler(&htim1);
/* USER CODE BEGIN TIM1_BRK_TIM9_IRQn 1 */
/* USER CODE END TIM1_BRK_TIM9_IRQn 1 */
}
/**
* @brief This function handles USART1 global interrupt.
*/
void USART1_IRQHandler(void)
{
/* USER CODE BEGIN USART1_IRQn 0 */
/* USER CODE END USART1_IRQn 0 */
HAL_UART_IRQHandler(&huart1);
/* USER CODE BEGIN USART1_IRQn 1 */
BSP_UART_IRQHandler(&huart1);
/* USER CODE END USART1_IRQn 1 */
}
/**
* @brief This function handles DMA1 stream7 global interrupt.
*/
void DMA1_Stream7_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Stream7_IRQn 0 */
/* USER CODE END DMA1_Stream7_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_i2c2_tx);
/* USER CODE BEGIN DMA1_Stream7_IRQn 1 */
/* USER CODE END DMA1_Stream7_IRQn 1 */
}
/**
* @brief This function handles TIM7 global interrupt.
*/
void TIM7_IRQHandler(void)
{
/* USER CODE BEGIN TIM7_IRQn 0 */
/* USER CODE END TIM7_IRQn 0 */
HAL_TIM_IRQHandler(&htim7);
/* USER CODE BEGIN TIM7_IRQn 1 */
/* USER CODE END TIM7_IRQn 1 */
}
/**
* @brief This function handles DMA2 stream1 global interrupt.
*/
void DMA2_Stream1_IRQHandler(void)
{
/* USER CODE BEGIN DMA2_Stream1_IRQn 0 */
/* USER CODE END DMA2_Stream1_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart6_rx);
/* USER CODE BEGIN DMA2_Stream1_IRQn 1 */
/* USER CODE END DMA2_Stream1_IRQn 1 */
}
/**
* @brief This function handles DMA2 stream2 global interrupt.
*/
void DMA2_Stream2_IRQHandler(void)
{
/* USER CODE BEGIN DMA2_Stream2_IRQn 0 */
/* USER CODE END DMA2_Stream2_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_spi1_rx);
/* USER CODE BEGIN DMA2_Stream2_IRQn 1 */
/* USER CODE END DMA2_Stream2_IRQn 1 */
}
/**
* @brief This function handles DMA2 stream3 global interrupt.
*/
void DMA2_Stream3_IRQHandler(void)
{
/* USER CODE BEGIN DMA2_Stream3_IRQn 0 */
/* USER CODE END DMA2_Stream3_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_spi1_tx);
/* USER CODE BEGIN DMA2_Stream3_IRQn 1 */
/* USER CODE END DMA2_Stream3_IRQn 1 */
}
/**
* @brief This function handles CAN2 RX0 interrupts.
*/
void CAN2_RX0_IRQHandler(void)
{
/* USER CODE BEGIN CAN2_RX0_IRQn 0 */
/* USER CODE END CAN2_RX0_IRQn 0 */
HAL_CAN_IRQHandler(&hcan2);
/* USER CODE BEGIN CAN2_RX0_IRQn 1 */
/* USER CODE END CAN2_RX0_IRQn 1 */
}
/**
* @brief This function handles CAN2 RX1 interrupt.
*/
void CAN2_RX1_IRQHandler(void)
{
/* USER CODE BEGIN CAN2_RX1_IRQn 0 */
/* USER CODE END CAN2_RX1_IRQn 0 */
HAL_CAN_IRQHandler(&hcan2);
/* USER CODE BEGIN CAN2_RX1_IRQn 1 */
/* USER CODE END CAN2_RX1_IRQn 1 */
}
/**
* @brief This function handles USB On The Go FS global interrupt.
*/
void OTG_FS_IRQHandler(void)
{
/* USER CODE BEGIN OTG_FS_IRQn 0 */
/* USER CODE END OTG_FS_IRQn 0 */
HAL_PCD_IRQHandler(&hpcd_USB_OTG_FS);
/* USER CODE BEGIN OTG_FS_IRQn 1 */
/* USER CODE END OTG_FS_IRQn 1 */
}
/**
* @brief This function handles DMA2 stream5 global interrupt.
*/
void DMA2_Stream5_IRQHandler(void)
{
/* USER CODE BEGIN DMA2_Stream5_IRQn 0 */
/* USER CODE END DMA2_Stream5_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart1_rx);
/* USER CODE BEGIN DMA2_Stream5_IRQn 1 */
/* USER CODE END DMA2_Stream5_IRQn 1 */
}
/**
* @brief This function handles DMA2 stream6 global interrupt.
*/
void DMA2_Stream6_IRQHandler(void)
{
/* USER CODE BEGIN DMA2_Stream6_IRQn 0 */
/* USER CODE END DMA2_Stream6_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart6_tx);
/* USER CODE BEGIN DMA2_Stream6_IRQn 1 */
/* USER CODE END DMA2_Stream6_IRQn 1 */
}
/**
* @brief This function handles DMA2 stream7 global interrupt.
*/
void DMA2_Stream7_IRQHandler(void)
{
/* USER CODE BEGIN DMA2_Stream7_IRQn 0 */
/* USER CODE END DMA2_Stream7_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart1_tx);
/* USER CODE BEGIN DMA2_Stream7_IRQn 1 */
/* USER CODE END DMA2_Stream7_IRQn 1 */
}
/**
* @brief This function handles USART6 global interrupt.
*/
void USART6_IRQHandler(void)
{
/* USER CODE BEGIN USART6_IRQn 0 */
/* USER CODE END USART6_IRQn 0 */
HAL_UART_IRQHandler(&huart6);
/* USER CODE BEGIN USART6_IRQn 1 */
BSP_UART_IRQHandler(&huart6);
/* USER CODE END USART6_IRQn 1 */
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/