整理格式

.vscode/settings.json

@@ -9,6 +9,8 @@
         "vector": "c",
         "can.h": "c",
         "device.h": "c",
-        "gpio.h": "c"
+        "gpio.h": "c",
+        "uart.h": "c",
+        "motor_rm.h": "c"
     }
 }

README.md

@@ -1,15 +1,14 @@
 # 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">
-  <img src="./img/MRobot.png" height="100" alt="MRobot Logo">
-  <p>是时候使用更简洁的方式开发单片机了</p>
+  <img src="assets\logo\MRobot.png" height="80" alt="MRobot Logo">
   <p>
-    <!-- <img src="https://img.shields.io/github/license/xrobot-org/XRobot.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/last-commit/xrobot-org/XRobot.svg" alt="Last Commit">
-    <img src="https://img.shields.io/badge/language-c/c++-F34B7D.svg" alt="Language"> -->
+    <img src="https://img.shields.io/github/license/goldenfishs/MRobot.svg" alt="License">
+    <img src="https://img.shields.io/github/repo-size/goldenfishs/MRobot.svg" alt="Repo Size">
+    <img src="https://img.shields.io/github/last-commit/goldenfishs/MRobot.svg" alt="Last Commit">
+    <img src="https://img.shields.io/badge/language-c/python-F34B7D.svg" alt="Language">
   </p>
 </div>
 
@@ -17,7 +16,7 @@
 
 ## 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**。
 
@@ -87,52 +86,5 @@
 使用以下命令构建可执行文件：
 
 ```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"
+```

app/code_generate_interface.py

@@ -155,50 +155,64 @@ class CodeGenerateInterface(QWidget):
 
 
 
-
     def generate_code(self):
-        """生成代码逻辑 - 修复导入问题并添加配置重载"""
+        """生成所有代码，包括未加载页面"""
         try:
-            # 收集所有已加载的页面对象，并按类型分类
+            # 先收集所有页面名（从CSV配置文件读取）
+            script_dir = os.path.dirname(os.path.abspath(__file__))
+            csv_path = os.path.join(script_dir, "../assets/User_code/config.csv")
+            csv_path = os.path.abspath(csv_path)
+            all_class_names = []
+            if os.path.exists(csv_path):
+                with open(csv_path, newline='', encoding='utf-8') as f:
+                    reader = csv.reader(f)
+                    for row in reader:
+                        row = [cell.strip() for cell in row if cell.strip()]
+                        if not row:
+                            continue
+                        main_title = row[0]
+                        for sub in row[1:]:
+                            class_name = f"{main_title}_{sub}".replace("-", "_")
+                            all_class_names.append(class_name)
+
+            # 创建所有页面对象（无论是否点击过）
             bsp_pages = []
             component_pages = []
             device_pages = []
-            
-            for i in range(self.stack.count()):
-                widget = self.stack.widget(i)
-                # 根据页面类型分类
-                if hasattr(widget, '_generate_bsp_code_internal'):
-                    bsp_pages.append(widget)
-                elif hasattr(widget, '_generate_component_code_internal'):
-                    component_pages.append(widget)
-                elif hasattr(widget, '_generate_device_code_internal'):
-                    device_pages.append(widget)
-            
+            for class_name in all_class_names:
+                widget = self._get_or_create_page(class_name)
+                if widget:
+                    if hasattr(widget, '_generate_bsp_code_internal') and widget not in bsp_pages:
+                        bsp_pages.append(widget)
+                    elif hasattr(widget, '_generate_component_code_internal') and widget not in component_pages:
+                        component_pages.append(widget)
+                    elif hasattr(widget, '_generate_device_code_internal') and widget not in device_pages:
+                        device_pages.append(widget)
+
             # 确保导入成功
             from app.code_page.bsp_interface import bsp
             from app.code_page.component_interface import component
             from app.code_page.device_interface import device
-            
+
             # 生成 BSP 代码
             bsp_result = bsp.generate_bsp(self.project_path, bsp_pages)
-            
+
             # 生成 Component 代码  
             component_result = component.generate_component(self.project_path, component_pages)
-            
+
             # 生成 Device 代码
             device_result = device.generate_device(self.project_path, device_pages)
-            
+
             # 合并结果信息
             combined_result = f"BSP代码生成:\n{bsp_result}\n\nComponent代码生成:\n{component_result}\n\nDevice代码生成:\n{device_result}"
-            
-            # 用 InfoBar 在主界面弹出
+
             InfoBar.success(
                 title="代码生成结果",
                 content=combined_result,
                 parent=self,
                 duration=5000
             )
-            
+
         except ImportError as e:
             InfoBar.error(
                 title="导入错误", 
@@ -215,8 +229,6 @@ class CodeGenerateInterface(QWidget):
             )
 
 
-
-
     def _get_freertos_status(self):
         """获取FreeRTOS状态"""
         ioc_files = [f for f in os.listdir(self.project_path) if f.endswith('.ioc')]

app/code_page/bsp_interface.py

@@ -7,6 +7,7 @@ from app.tools.code_generator import CodeGenerator
 import os
 import csv
 import shutil
+import re
 
 def preserve_all_user_regions(new_code, old_code):
     """ Preserves all user-defined regions in the new code based on the old code.
@@ -474,8 +475,7 @@ class bsp_can(BspPeripheralBase):
                 "    HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);  // 激活 FIFO0 中断",
                 "",
                 "    // 注册回调函数",
-                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_CAN1, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifoCallback);",
-                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_CAN2, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifoCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifoCallback);",
             ])
         else:
             # 只有单个CAN的情况
@@ -543,6 +543,54 @@ class bsp_spi(BspPeripheralBase):
             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):
     def __init__(self, project_path):
         super().__init__(
@@ -554,7 +602,22 @@ class bsp_uart(BspPeripheralBase):
             "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):
     def __init__(self, project_path):
         super().__init__()

assets/User_code/bsp/can.c

@@ -11,6 +11,7 @@
 /* Private macro ------------------------------------------------------------ */
 /* Private typedef ---------------------------------------------------------- */
 typedef struct BSP_CAN_QueueNode {
+    BSP_CAN_t can;         /* CAN通道 */
     uint32_t can_id; /* 解析后的CAN ID */
     osMessageQueueId_t queue; /* 消息队列ID */
     uint8_t queue_size; /* 队列大小 */
@@ -26,9 +27,9 @@ static BSP_CAN_IdParser_t id_parser = NULL; /* ID解析器 */
 
 /* Private function prototypes ---------------------------------------------- */
 static BSP_CAN_t CAN_Get(CAN_HandleTypeDef *hcan);
-static osMessageQueueId_t BSP_CAN_FindQueue(uint32_t can_id);
-static int8_t BSP_CAN_CreateIdQueue(uint32_t can_id, uint8_t queue_size);
-static int8_t BSP_CAN_DeleteIdQueue(uint32_t can_id);
+static osMessageQueueId_t BSP_CAN_FindQueue(BSP_CAN_t can, uint32_t can_id);
+static int8_t BSP_CAN_CreateIdQueue(BSP_CAN_t can, uint32_t can_id, uint8_t queue_size);
+static int8_t BSP_CAN_DeleteIdQueue(BSP_CAN_t can, uint32_t can_id);
 static void BSP_CAN_RxFifoCallback(void);
 static BSP_CAN_FrameType_t BSP_CAN_GetFrameType(CAN_RxHeaderTypeDef *header);
 static uint32_t BSP_CAN_DefaultIdParser(uint32_t original_id, BSP_CAN_FrameType_t frame_type);
@@ -50,10 +51,10 @@ static BSP_CAN_t CAN_Get(CAN_HandleTypeDef *hcan) {
  * @brief 查找指定CAN ID的消息队列
  * @note 调用前需要获取互斥锁
  */
-static osMessageQueueId_t BSP_CAN_FindQueue(uint32_t can_id) {
+static osMessageQueueId_t BSP_CAN_FindQueue(BSP_CAN_t can, uint32_t can_id) {
     BSP_CAN_QueueNode_t *node = queue_list;
     while (node != NULL) {
-        if (node->can_id == can_id) {
+        if (node->can == can && node->can_id == can_id) {
             return node->queue;
         }
         node = node->next;
@@ -65,47 +66,37 @@ static osMessageQueueId_t BSP_CAN_FindQueue(uint32_t can_id) {
  * @brief 创建指定CAN ID的消息队列
  * @note 内部函数，已包含互斥锁保护
  */
-static int8_t BSP_CAN_CreateIdQueue(uint32_t can_id, uint8_t queue_size) {
+static int8_t BSP_CAN_CreateIdQueue(BSP_CAN_t can, uint32_t can_id, uint8_t queue_size) {
     if (queue_size == 0) {
         queue_size = BSP_CAN_DEFAULT_QUEUE_SIZE;
     }
-    
-    // 获取互斥锁
     if (osMutexAcquire(queue_mutex, CAN_QUEUE_MUTEX_TIMEOUT) != osOK) {
         return BSP_ERR_TIMEOUT;
     }
-    
-    // 检查是否已存在
     BSP_CAN_QueueNode_t *node = queue_list;
     while (node != NULL) {
-        if (node->can_id == can_id) {
+        if (node->can == can && node->can_id == can_id) {
             osMutexRelease(queue_mutex);
             return BSP_ERR;  // 已存在
         }
         node = node->next;
     }
-    
-    // 创建新节点
     BSP_CAN_QueueNode_t *new_node = (BSP_CAN_QueueNode_t *)BSP_Malloc(sizeof(BSP_CAN_QueueNode_t));
     if (new_node == NULL) {
         osMutexRelease(queue_mutex);
         return BSP_ERR_NULL;
     }
-    
-    // 创建消息队列
     new_node->queue = osMessageQueueNew(queue_size, sizeof(BSP_CAN_Message_t), NULL);
     if (new_node->queue == NULL) {
         BSP_Free(new_node);
         osMutexRelease(queue_mutex);
         return BSP_ERR;
     }
-    
-    // 初始化节点
+    new_node->can = can;
     new_node->can_id = can_id;
     new_node->queue_size = queue_size;
     new_node->next = queue_list;
     queue_list = new_node;
-    
     osMutexRelease(queue_mutex);
     return BSP_OK;
 }
@@ -114,32 +105,25 @@ static int8_t BSP_CAN_CreateIdQueue(uint32_t can_id, uint8_t queue_size) {
  * @brief 删除指定CAN ID的消息队列
  * @note 内部函数，已包含互斥锁保护
  */
-static int8_t BSP_CAN_DeleteIdQueue(uint32_t can_id) {
-    // 获取互斥锁
+static int8_t BSP_CAN_DeleteIdQueue(BSP_CAN_t can, uint32_t can_id) {
     if (osMutexAcquire(queue_mutex, CAN_QUEUE_MUTEX_TIMEOUT) != osOK) {
         return BSP_ERR_TIMEOUT;
     }
-    
     BSP_CAN_QueueNode_t **current = &queue_list;
     while (*current != NULL) {
-        if ((*current)->can_id == can_id) {
+        if ((*current)->can == can && (*current)->can_id == can_id) {
             BSP_CAN_QueueNode_t *to_delete = *current;
             *current = (*current)->next;
-            
-            // 删除队列和节点
             osMessageQueueDelete(to_delete->queue);
             BSP_Free(to_delete);
-            
             osMutexRelease(queue_mutex);
             return BSP_OK;
         }
         current = &(*current)->next;
     }
-    
     osMutexRelease(queue_mutex);
     return BSP_ERR;  // 未找到
 }
-
 /**
  * @brief 获取帧类型
  */
@@ -165,26 +149,15 @@ static uint32_t BSP_CAN_DefaultIdParser(uint32_t original_id, BSP_CAN_FrameType_
 static void BSP_CAN_RxFifoCallback(void) {
     CAN_RxHeaderTypeDef rx_header;
     uint8_t rx_data[BSP_CAN_MAX_DLC];
-    
-    // 遍历所有CAN接口处理FIFO0
     for (int can_idx = 0; can_idx < BSP_CAN_NUM; can_idx++) {
         CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle((BSP_CAN_t)can_idx);
         if (hcan == NULL) continue;
-        
         while (HAL_CAN_GetRxFifoFillLevel(hcan, CAN_RX_FIFO0) > 0) {
             if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_header, rx_data) == HAL_OK) {
-                // 获取原始ID
                 uint32_t original_id = (rx_header.IDE == CAN_ID_STD) ? rx_header.StdId : rx_header.ExtId;
-                
-                // 获取帧类型
                 BSP_CAN_FrameType_t frame_type = BSP_CAN_GetFrameType(&rx_header);
-                
-                // 解析ID
                 uint32_t parsed_id = BSP_CAN_ParseId(original_id, frame_type);
-                
-                // 直接查找队列，不使用互斥锁（中断中快速执行）
-                osMessageQueueId_t queue = BSP_CAN_FindQueue(parsed_id);
-                
+                osMessageQueueId_t queue = BSP_CAN_FindQueue((BSP_CAN_t)can_idx, parsed_id);
                 if (queue != NULL) {
                     BSP_CAN_Message_t msg = {0};
                     msg.frame_type = frame_type;
@@ -194,9 +167,7 @@ static void BSP_CAN_RxFifoCallback(void) {
                     if (rx_header.RTR == CAN_RTR_DATA) {
                         memcpy(msg.data, rx_data, rx_header.DLC);
                     }
-                    msg.timestamp = HAL_GetTick();  // 添加时间戳
-                    
-                    // 非阻塞发送，如果队列满了就丢弃
+                    msg.timestamp = HAL_GetTick();
                     osMessageQueuePut(queue, &msg, 0, BSP_CAN_TIMEOUT_IMMEDIATE);
                 }
             }
@@ -476,89 +447,70 @@ int8_t BSP_CAN_TransmitRemoteFrame(BSP_CAN_t can, BSP_CAN_RemoteFrame_t *frame)
     return BSP_CAN_Transmit(can, format, frame->id, NULL, frame->dlc);
 }
 
-int8_t BSP_CAN_RegisterId(uint32_t can_id, uint8_t queue_size) {
+int8_t BSP_CAN_RegisterId(BSP_CAN_t can, uint32_t can_id, uint8_t queue_size) {
     if (!inited) {
         return BSP_ERR_INITED;
     }
-    
-    return BSP_CAN_CreateIdQueue(can_id, queue_size);
+    return BSP_CAN_CreateIdQueue(can, can_id, queue_size);
 }
 
-int8_t BSP_CAN_UnregisterIdQueue(uint32_t can_id) {
+int8_t BSP_CAN_UnregisterIdQueue(BSP_CAN_t can, uint32_t can_id) {
     if (!inited) {
         return BSP_ERR_INITED;
     }
-    
-    return BSP_CAN_DeleteIdQueue(can_id);
+    return BSP_CAN_DeleteIdQueue(can, can_id);
 }
 
-int8_t BSP_CAN_GetMessage(uint32_t can_id, BSP_CAN_Message_t *msg, uint32_t timeout) {
+int8_t BSP_CAN_GetMessage(BSP_CAN_t can, uint32_t can_id, BSP_CAN_Message_t *msg, uint32_t timeout) {
     if (!inited) {
         return BSP_ERR_INITED;
     }
     if (msg == NULL) {
         return BSP_ERR_NULL;
     }
-    
-    // 线程安全地查找队列
     if (osMutexAcquire(queue_mutex, CAN_QUEUE_MUTEX_TIMEOUT) != osOK) {
         return BSP_ERR_TIMEOUT;
     }
-    
-    osMessageQueueId_t queue = BSP_CAN_FindQueue(can_id);
+    osMessageQueueId_t queue = BSP_CAN_FindQueue(can, can_id);
     osMutexRelease(queue_mutex);
-    
     if (queue == NULL) {
-        return BSP_ERR_NO_DEV;  // 队列不存在
+        return BSP_ERR_NO_DEV;
     }
-    
     osStatus_t result = osMessageQueueGet(queue, msg, NULL, timeout);
     return (result == osOK) ? BSP_OK : BSP_ERR;
 }
 
-int32_t BSP_CAN_GetQueueCount(uint32_t can_id) {
+int32_t BSP_CAN_GetQueueCount(BSP_CAN_t can, uint32_t can_id) {
     if (!inited) {
         return -1;
     }
-    
-    // 线程安全地查找队列
     if (osMutexAcquire(queue_mutex, CAN_QUEUE_MUTEX_TIMEOUT) != osOK) {
         return -1;
     }
-    
-    osMessageQueueId_t queue = BSP_CAN_FindQueue(can_id);
+    osMessageQueueId_t queue = BSP_CAN_FindQueue(can, can_id);
     osMutexRelease(queue_mutex);
-    
     if (queue == NULL) {
-        return -1;  // 队列不存在
+        return -1;
     }
-    
     return (int32_t)osMessageQueueGetCount(queue);
 }
 
-int8_t BSP_CAN_FlushQueue(uint32_t can_id) {
+int8_t BSP_CAN_FlushQueue(BSP_CAN_t can, uint32_t can_id) {
     if (!inited) {
         return BSP_ERR_INITED;
     }
-    
-    // 线程安全地查找队列
     if (osMutexAcquire(queue_mutex, CAN_QUEUE_MUTEX_TIMEOUT) != osOK) {
         return BSP_ERR_TIMEOUT;
     }
-    
-    osMessageQueueId_t queue = BSP_CAN_FindQueue(can_id);
+    osMessageQueueId_t queue = BSP_CAN_FindQueue(can, can_id);
     osMutexRelease(queue_mutex);
-    
     if (queue == NULL) {
-        return BSP_ERR_NO_DEV;  // 队列不存在
+        return BSP_ERR_NO_DEV;
     }
-    
-    // 清空队列中的所有消息
     BSP_CAN_Message_t temp_msg;
     while (osMessageQueueGet(queue, &temp_msg, NULL, BSP_CAN_TIMEOUT_IMMEDIATE) == osOK) {
-        // 继续取出消息直到队列为空
+        // 清空
     }
-    
     return BSP_OK;
 }
 

assets/User_code/bsp/can.h

@@ -162,41 +162,46 @@ int8_t BSP_CAN_TransmitRemoteFrame(BSP_CAN_t can, BSP_CAN_RemoteFrame_t *frame);
 
 /**
  * @brief 注册 CAN ID 接收队列
+ * @param can CAN 枚举
  * @param can_id 解析后的CAN ID
  * @param queue_size 队列大小，0使用默认值
  * @return BSP_OK 成功，其他值失败
  */
-int8_t BSP_CAN_RegisterId(uint32_t can_id, uint8_t queue_size);
+int8_t BSP_CAN_RegisterId(BSP_CAN_t can, uint32_t can_id, uint8_t queue_size);
 
 /**
  * @brief 注销 CAN ID 接收队列
+ * @param can CAN 枚举
  * @param can_id 解析后的CAN ID
  * @return BSP_OK 成功，其他值失败
  */
-int8_t BSP_CAN_UnregisterIdQueue(uint32_t can_id);
+int8_t BSP_CAN_UnregisterIdQueue(BSP_CAN_t can, uint32_t can_id);
 
 /**
- * @brief 获取 CAN 消息（阻塞方式）
+ * @brief 获取 CAN 消息
+ * @param can CAN 枚举
  * @param can_id 解析后的CAN ID
  * @param msg 存储消息的结构体指针
  * @param timeout 超时时间（毫秒），0为立即返回，osWaitForever为永久等待
  * @return BSP_OK 成功，其他值失败
  */
-int8_t BSP_CAN_GetMessage(uint32_t can_id, BSP_CAN_Message_t *msg, uint32_t timeout);
+int8_t BSP_CAN_GetMessage(BSP_CAN_t can, uint32_t can_id, BSP_CAN_Message_t *msg, uint32_t timeout);
 
 /**
  * @brief 获取指定ID队列中的消息数量
+ * @param can CAN 枚举
  * @param can_id 解析后的CAN ID
  * @return 消息数量，-1表示队列不存在
  */
-int32_t BSP_CAN_GetQueueCount(uint32_t can_id);
+int32_t BSP_CAN_GetQueueCount(BSP_CAN_t can, uint32_t can_id);
 
 /**
  * @brief 清空指定ID队列中的所有消息
+ * @param can CAN 枚举
  * @param can_id 解析后的CAN ID
  * @return BSP_OK 成功，其他值失败
  */
-int8_t BSP_CAN_FlushQueue(uint32_t can_id);
+int8_t BSP_CAN_FlushQueue(BSP_CAN_t can, uint32_t can_id);
 
 /**
  * @brief 注册ID解析器

assets/User_code/bsp/describe.csv

@@ -1,5 +1,5 @@
 uart,要求开启dma和中断
-can,要求开启can的中断要求开启can的中断要求开启can的中断要求开启can的中断要求开启can的中断要求开启can的中断要求开启can的中断要求开启can的中断要求开启can的中断要求开启can的中断要求开启can的中断要求开启can的中断要求开启can的中断
+can,2222
 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/config.csv

@@ -1,4 +1,4 @@
 bsp,can,dwt,gpio,i2c,mm,spi,uart,pwm,time
 component,ahrs,ballistics,capacity,cmd,crc8,crc16,error_detect,filter,FreeRTOS_CLI,limiter,mixer,pid,ui,user_math
-device,dr16,bmi088
-module,chassis,gimbal,arm,shoot
+device,dr16,bmi088,ist8310,motor,motor_rm
+module,

assets/User_code/device/bmi088.h

@@ -23,6 +23,7 @@ typedef struct {
 } BMI088_Cali_t; /* BMI088校准数据 */
 
 typedef struct {
+  DEVICE_Header_t header;
   AHRS_Accl_t accl;
   AHRS_Gyro_t gyro;
 

assets/User_code/device/config.yaml

@@ -48,4 +48,29 @@ devices:
       - name: "SIGNAL_BMI088_GYRO_NEW_DATA"
     files:
       header: "bmi088.h"
-      source: "bmi088.c"
+      source: "bmi088.c"
+
+  ist8310:
+    name: "IST8310"
+    description: "IST8310 地磁传感器"
+    dependencies:
+      bsp: ["i2c", "gpio"]
+      component: []
+    bsp_requirements:
+      - type: "i2c"
+        var_name: "BSP_I2C_COMP"
+        description: "用于与 IST8310 通信的 I2C 总线"
+      - type: "gpio"
+        var_name: "CMPS_RST_Pin"
+        description: "IST8310 复位引脚"
+        gpio_type: "output"
+      - type: "gpio"
+        var_name: "CMPS_INT_Pin"
+        description: "IST8310 数据中断引脚"
+        gpio_type: "EXTI"
+    thread_signals:
+      - name: "SIGNAL_IST8310_MAGN_RAW_REDY"
+      - name: "SIGNAL_IST8310_MAGN_NEW_DATA"
+    files:
+      header: "ist8310.h"
+      source: "ist8310.c"

assets/User_code/device/device.h

@@ -4,6 +4,9 @@
 extern "C" {
 #endif
 
+#include <stdbool.h>
+#include <stdint.h>
+
 #define DEVICE_OK (0)
 #define DEVICE_ERR (-1)
 #define DEVICE_ERR_NULL (-2)

assets/User_code/device/dr16.c

@@ -8,7 +8,7 @@
 #include <string.h>
 
 #include "bsp/uart.h"
-
+#include "bsp/time.h"
 /* Private define ----------------------------------------------------------- */
 #define DR16_CH_VALUE_MIN (364u)
 #define DR16_CH_VALUE_MID (1024u)

assets/User_code/device/dr16.h

@@ -30,6 +30,7 @@ typedef struct __packed {
 } DR16_Data_t;
 
 typedef struct {
+  DEVICE_Header_t header;
   DR16_Data_t data;
 } DR16_t;
 
@@ -40,6 +41,7 @@ int8_t DR16_Restart(void);
 int8_t DR16_StartDmaRecv(DR16_t *dr16);
 bool DR16_WaitDmaCplt(uint32_t timeout);
 
+
 #ifdef __cplusplus
 }
 #endif

assets/User_code/device/ist8310.c

@@ -0,0 +1,162 @@
+/*
+        IST8310 地磁传感器。
+
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "ist8310.h"
+
+#include <gpio.h>
+#include <stdbool.h>
+#include <string.h>
+
+#include "bsp/time.h"
+#include "bsp/gpio.h"
+#include "bsp/i2c.h"
+
+/* Private define ----------------------------------------------------------- */
+#define IST8310_WAI (0x00)
+#define IST8310_STAT1 (0x02)
+#define IST8310_DATAXL (0x03)
+#define IST8310_STAT2 (0x09)
+#define IST8310_CNTL1 (0x0A)
+#define IST8310_CNTL2 (0x0B)
+#define IST8310_STR (0x0C)
+#define IST8310_TEMPL (0x1C)
+#define IST8310_TEMPH (0x1D)
+#define IST8310_AVGCNTL (0x41)
+#define IST8310_PDCNTL (0x42)
+
+#define IST8310_CHIP_ID (0x10)
+
+#define IST8310_IIC_ADDRESS (0x0E << 1)
+
+#define IST8310_LEN_RX_BUFF (6)
+/* Private macro ------------------------------------------------------------ */
+#define IST8310_SET() \
+  BSP_GPIO_WritePin(CMPS_RST_Pin, GPIO_PIN_SET)
+#define IST8310_RESET() \
+  BSP_GPIO_WritePin(CMPS_RST_Pin, GPIO_PIN_RESET)
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private variables -------------------------------------------------------- */
+uint8_t ist8310_rxbuf[IST8310_LEN_RX_BUFF];
+
+static osThreadId_t thread_alert;
+static bool inited = false;
+
+/* Private function  -------------------------------------------------------- */
+static void IST8310_WriteSingle(uint8_t reg, uint8_t data) {
+  BSP_I2C_MemWriteByte(BSP_I2C_COMP, IST8310_IIC_ADDRESS, reg, data);
+}
+
+static uint8_t IST8310_ReadSingle(uint8_t reg) {
+  return BSP_I2C_MemReadByte(BSP_I2C_COMP, IST8310_IIC_ADDRESS, reg);
+}
+
+
+static void IST8310_Read(uint8_t reg, uint8_t *data, uint8_t len) {
+  if (data == NULL) return;
+  BSP_I2C_MemRead(BSP_I2C_COMP, IST8310_IIC_ADDRESS, reg, data, len, true);
+}
+
+static void IST8310_MemRxCpltCallback(void) {
+  osThreadFlagsSet(thread_alert, SIGNAL_IST8310_MAGN_RAW_REDY);
+}
+
+static void IST8310_IntCallback(void) {
+  osThreadFlagsSet(thread_alert, SIGNAL_IST8310_MAGN_NEW_DATA);
+}
+
+/* Exported functions ------------------------------------------------------- */
+int8_t IST8310_Init(IST8310_t *ist8310, const IST8310_Cali_t *cali) {
+  if (ist8310 == NULL) return DEVICE_ERR_NULL;
+  if (cali == NULL) return DEVICE_ERR_NULL;
+  if (inited) return DEVICE_ERR_INITED;
+  if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL;
+
+  ist8310->cali = cali;
+
+  IST8310_RESET();
+  BSP_TIME_Delay(50);
+  IST8310_SET();
+  BSP_TIME_Delay(50);
+
+  if (IST8310_ReadSingle(IST8310_WAI) != IST8310_CHIP_ID)
+    return DEVICE_ERR_NO_DEV;
+
+  BSP_GPIO_DisableIRQ(CMPS_INT_Pin);
+
+  BSP_I2C_RegisterCallback(BSP_I2C_COMP, HAL_I2C_MEM_RX_CPLT_CB,
+                           IST8310_MemRxCpltCallback);
+  BSP_GPIO_RegisterCallback(CMPS_INT_Pin, IST8310_IntCallback);
+
+  /* Init. */
+  /* 0x00: Stand-By mode. 0x01: Single measurement mode. */
+
+  /* 0x08: Data ready function enable. DRDY signal active low*/
+  IST8310_WriteSingle(IST8310_CNTL2, 0x08);
+
+  IST8310_WriteSingle(IST8310_AVGCNTL, 0x09);
+  IST8310_WriteSingle(IST8310_PDCNTL, 0xC0);
+  IST8310_WriteSingle(IST8310_CNTL1, 0x0B);
+  BSP_TIME_Delay(10);
+
+  inited = true;
+
+  BSP_GPIO_EnableIRQ(CMPS_INT_Pin);
+  return DEVICE_OK;
+}
+
+bool IST8310_WaitNew(uint32_t timeout) {
+  return (osThreadFlagsWait(SIGNAL_IST8310_MAGN_NEW_DATA, osFlagsWaitAll,
+                            timeout) == SIGNAL_IST8310_MAGN_NEW_DATA);
+}
+
+int8_t IST8310_StartDmaRecv() {
+  IST8310_Read(IST8310_DATAXL, ist8310_rxbuf, IST8310_LEN_RX_BUFF);
+  return DEVICE_OK;
+}
+
+uint32_t IST8310_WaitDmaCplt() {
+  return osThreadFlagsWait(SIGNAL_IST8310_MAGN_RAW_REDY, osFlagsWaitAll,
+                           osWaitForever);
+}
+
+int8_t IST8310_Parse(IST8310_t *ist8310) {
+  if (ist8310 == NULL) return DEVICE_ERR_NULL;
+
+#if 1
+  /* Magn -> T */
+  int16_t raw_x, raw_y, raw_z;
+  memcpy(&raw_x, ist8310_rxbuf + 0, sizeof(raw_x));
+  memcpy(&raw_y, ist8310_rxbuf + 2, sizeof(raw_y));
+  memcpy(&raw_z, ist8310_rxbuf + 4, sizeof(raw_z));
+
+  ist8310->magn.x = (float)raw_x;
+  ist8310->magn.y = (float)raw_y;
+  ist8310->magn.z = (float)-raw_z;
+
+#else
+  const int16_t *raw_x = (int16_t *)(ist8310_rxbuf + 0);
+  const int16_t *raw_y = (int16_t *)(ist8310_rxbuf + 2);
+  const int16_t *raw_z = (int16_t *)(ist8310_rxbuf + 4);
+
+  ist8310->magn.x = (float)*raw_x;
+  ist8310->magn.y = (float)*raw_y;
+  ist8310->magn.z = -(float)*raw_z;
+#endif
+
+  ist8310->magn.x *= 3.0f / 20.0f;
+  ist8310->magn.y *= 3.0f / 20.0f;
+  ist8310->magn.z *= 3.0f / 20.0f;
+
+  ist8310->magn.x = (ist8310->magn.x - ist8310->cali->magn_offset.x) *
+                    ist8310->cali->magn_scale.x;
+  ist8310->magn.y = (ist8310->magn.y - ist8310->cali->magn_offset.y) *
+                    ist8310->cali->magn_scale.y;
+  ist8310->magn.z = (ist8310->magn.z - ist8310->cali->magn_offset.y) *
+                    ist8310->cali->magn_scale.z;
+
+  return DEVICE_OK;
+}

assets/User_code/device/ist8310.h

@@ -0,0 +1,49 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include <cmsis_os2.h>
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "component/ahrs.h"
+#include "device/device.h"
+
+/* Exported constants ------------------------------------------------------- */
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+typedef struct {
+  struct {
+    float x;
+    float y;
+    float z;
+  } magn_offset; /* 磁力计偏置 */
+
+  struct {
+    float x;
+    float y;
+    float z;
+  } magn_scale;   /* 磁力计缩放 */
+} IST8310_Cali_t; /* IST8310校准数据 */
+
+typedef struct {
+  DEVICE_Header_t header;
+  AHRS_Magn_t magn;
+  const IST8310_Cali_t *cali;
+} IST8310_t;
+
+/* Exported functions prototypes -------------------------------------------- */
+int8_t IST8310_Init(IST8310_t *ist8310, const IST8310_Cali_t *cali);
+int8_t IST8310_Restart(void);
+
+bool IST8310_WaitNew(uint32_t timeout);
+int8_t IST8310_StartDmaRecv();
+uint32_t IST8310_WaitDmaCplt();
+int8_t IST8310_Parse(IST8310_t *ist8310);
+
+#ifdef __cplusplus
+}
+#endif

assets/User_code/device/motor.c

@@ -0,0 +1,49 @@
+/*
+        DR16接收机
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "motor.h"
+
+#include <string.h>
+
+
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private typedef ---------------------------------------------------------- */
+/* Private variables -------------------------------------------------------- */
+
+/* Private function  -------------------------------------------------------- */
+
+/* Exported functions ------------------------------------------------------- */
+float MOTOR_GetRotorAbsAngle(const MOTOR_t *motor) {
+  if (motor == NULL) return DEVICE_ERR_NULL;
+  if (motor->reverse) {
+    return -motor->feedback.rotor_abs_angle;
+  }else{
+    return motor->feedback.rotor_abs_angle;
+  }
+}
+
+float MOTOR_GetRotorSpeed(const MOTOR_t *motor) {
+  if (motor == NULL) return DEVICE_ERR_NULL;
+  if (motor->reverse) {
+    return -motor->feedback.rotor_speed;
+  }else{
+    return motor->feedback.rotor_speed;
+  }
+}
+
+float MOTOR_GetTorqueCurrent(const MOTOR_t *motor) {
+  if (motor == NULL) return DEVICE_ERR_NULL;
+  if (motor->reverse) {
+    return -motor->feedback.torque_current;
+  }else{
+    return motor->feedback.torque_current;
+  }
+}
+
+float MOTOR_GetTemp(const MOTOR_t *motor) {
+  if (motor == NULL) return DEVICE_ERR_NULL;
+  return motor->feedback.temp;
+}

assets/User_code/device/motor.h

@@ -0,0 +1,34 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include "device/device.h"
+
+/* Exported constants ------------------------------------------------------- */
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+typedef struct {
+    float rotor_abs_angle; /* 转子绝对角度 */
+    float rotor_speed; /* 实际转子转速 */
+    float torque_current; /* 转矩电流 */
+    float temp; /* 温度 */
+} MOTOR_Feedback_t;
+
+typedef struct {
+    DEVICE_Header_t header;
+    bool reverse; /* 是否反装 true表示反装 */
+    MOTOR_Feedback_t feedback;
+} MOTOR_t;
+
+/* Exported functions prototypes -------------------------------------------- */
+float MOTOR_GetRotorAbsAngle(const MOTOR_t *motor);
+float MOTOR_GetRotorSpeed(const MOTOR_t *motor);
+float MOTOR_GetTorqueCurrent(const MOTOR_t *motor);
+float MOTOR_GetTemp(const MOTOR_t *motor);
+
+#ifdef __cplusplus
+}
+#endif

assets/User_code/device/motor_rm.c

@@ -0,0 +1,254 @@
+/*
+  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
+*/
+/* Includes ----------------------------------------------------------------- */
+#include "motor_rm.h"
+#include <stdbool.h>
+#include <string.h>
+#include "bsp/can.h"
+#include "bsp/mm.h"
+#include "bsp/time.h"
+#include "component/user_math.h"
+
+/* Private define ----------------------------------------------------------- */
+#define GM6020_FB_ID_BASE        (0x205)
+#define GM6020_CTRL_ID_BASE      (0x1ff)
+#define GM6020_CTRL_ID_EXTAND    (0x2ff)
+
+#define M3508_M2006_FB_ID_BASE   (0x201)
+#define M3508_M2006_CTRL_ID_BASE (0x200)
+#define M3508_M2006_CTRL_ID_EXTAND (0x1ff)
+#define M3508_M2006_ID_SETTING_ID (0x700)
+
+#define GM6020_MAX_ABS_LSB       (30000)
+#define M3508_MAX_ABS_LSB        (16384)
+#define M2006_MAX_ABS_LSB        (10000)
+
+#define MOTOR_TX_BUF_SIZE        (8)
+#define MOTOR_RX_BUF_SIZE        (8)
+
+#define MOTOR_ENC_RES            (8192)   /* 电机编码器分辨率 */
+#define MOTOR_CUR_RES            (16384)  /* 电机转矩电流分辨率 */
+
+/* Private macro ------------------------------------------------------------ */
+/* Private typedef ---------------------------------------------------------- */
+/* Private variables -------------------------------------------------------- */
+static MOTOR_RM_CANManager_t *can_managers[BSP_CAN_NUM] = {NULL};
+
+static int8_t MOTOR_RM_GetLogicalIndex(uint16_t can_id, MOTOR_RM_Module_t module) {
+    switch (module) {
+        case MOTOR_M2006:
+        case MOTOR_M3508:
+            if (can_id >= M3508_M2006_FB_ID_BASE && can_id < M3508_M2006_FB_ID_BASE + 7) {
+                return can_id - M3508_M2006_FB_ID_BASE;
+            }
+            break;
+        case MOTOR_GM6020:
+            if (can_id >= GM6020_FB_ID_BASE && can_id < GM6020_FB_ID_BASE + 6) {
+                return can_id - GM6020_FB_ID_BASE + 4;
+            }
+            break;
+        default:
+            break;
+    }
+    return DEVICE_ERR;
+}
+
+static int16_t MOTOR_RM_GetLSB(MOTOR_RM_Module_t module) {
+    switch (module) {
+        case MOTOR_M2006: return M2006_MAX_ABS_LSB;
+        case MOTOR_M3508: return M3508_MAX_ABS_LSB;
+        case MOTOR_GM6020: return GM6020_MAX_ABS_LSB;
+        default: return DEVICE_ERR;
+    }
+}
+
+static MOTOR_RM_CANManager_t* MOTOR_RM_GetCANManager(BSP_CAN_t can) {
+    if (can >= BSP_CAN_NUM) return NULL;
+    return can_managers[can];
+}
+
+static int8_t MOTOR_RM_CreateCANManager(BSP_CAN_t can) {
+    if (can >= BSP_CAN_NUM) return DEVICE_ERR;
+    if (can_managers[can] != NULL) return DEVICE_OK;
+    can_managers[can] = (MOTOR_RM_CANManager_t*)BSP_Malloc(sizeof(MOTOR_RM_CANManager_t));
+    if (can_managers[can] == NULL) return DEVICE_ERR;
+    memset(can_managers[can], 0, sizeof(MOTOR_RM_CANManager_t));
+    can_managers[can]->can = can;
+    return DEVICE_OK;
+}
+
+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]);
+    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_speed = (int16_t)((msg->data[2] << 8) | msg->data[3]);
+    int16_t lsb = MOTOR_RM_GetLSB(motor->param.module);
+    motor->motor.feedback.torque_current = raw_current * lsb / (float)MOTOR_CUR_RES;
+    motor->motor.feedback.temp = msg->data[6];
+}
+
+/* Exported functions ------------------------------------------------------- */
+
+
+int8_t MOTOR_RM_Register(MOTOR_RM_Param_t *param) {
+    if (param == NULL) return DEVICE_ERR_NULL;
+    if (MOTOR_RM_CreateCANManager(param->can) != DEVICE_OK) return DEVICE_ERR;
+    MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager(param->can);
+    if (manager == NULL) return DEVICE_ERR;
+    // 检查是否已注册
+    for (int i = 0; i < manager->motor_count; i++) {
+        if (manager->motors[i] && manager->motors[i]->param.id == param->id) {
+            return DEVICE_ERR_INITED;
+        }
+    }
+    // 检查数量
+    if (manager->motor_count >= MOTOR_RM_MAX_MOTORS) return DEVICE_ERR;
+    // 创建新电机实例
+    MOTOR_RM_t *new_motor = (MOTOR_RM_t*)BSP_Malloc(sizeof(MOTOR_RM_t));
+    if (new_motor == NULL) return DEVICE_ERR;
+    memcpy(&new_motor->param, param, sizeof(MOTOR_RM_Param_t));
+    memset(&new_motor->motor, 0, sizeof(MOTOR_t));
+    new_motor->motor.reverse = param->reverse;
+    // 注册CAN接收ID
+    if (BSP_CAN_RegisterId(param->can, param->id, 3) != BSP_OK) {
+        BSP_Free(new_motor);
+        return DEVICE_ERR;
+    }
+    manager->motors[manager->motor_count] = new_motor;
+    manager->motor_count++;
+    return DEVICE_OK;
+}
+
+int8_t MOTOR_RM_Update(MOTOR_RM_Param_t *param) {
+    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;
+    for (int i = 0; i < manager->motor_count; i++) {
+        MOTOR_RM_t *motor = manager->motors[i];
+        if (motor && motor->param.id == param->id) {
+            BSP_CAN_Message_t rx_msg;
+            if (BSP_CAN_GetMessage(param->can, param->id, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) {
+                uint64_t now_time = BSP_TIME_Get();
+                if (now_time - motor->motor.header.last_online_time > 1000) {
+                    motor->motor.header.online = false;
+                    return DEVICE_ERR_NO_DEV;
+                }
+                return DEVICE_ERR;
+            }
+            motor->motor.header.online = true;
+            motor->motor.header.last_online_time = BSP_TIME_Get();
+            Motor_RM_Decode(motor, &rx_msg);
+            return DEVICE_OK;
+        }
+    }
+    return DEVICE_ERR_NO_DEV;
+}
+
+int8_t MOTOR_RM_UpdateAll(void) {
+    int8_t ret = DEVICE_OK;
+    for (int can = 0; can < BSP_CAN_NUM; can++) {
+        MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager((BSP_CAN_t)can);
+        if (manager == NULL) continue;
+        for (int i = 0; i < manager->motor_count; i++) {
+            MOTOR_RM_t *motor = manager->motors[i];
+            if (motor != NULL) {
+                if (MOTOR_RM_Update(&motor->param) != DEVICE_OK) {
+                    ret = DEVICE_ERR;
+                }
+            }
+        }
+    }
+    return ret;
+}
+
+int8_t MOTOR_RM_SetOutput(MOTOR_RM_Param_t *param, float value) {
+    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 (value > 1.0f) value = 1.0f;
+    if (value < -1.0f) value = -1.0f;
+    MOTOR_RM_t *motor = MOTOR_RM_GetMotor(param);
+    if (motor == NULL) return DEVICE_ERR_NO_DEV;
+    int8_t logical_index = MOTOR_RM_GetLogicalIndex(param->id, param->module);
+    if (logical_index < 0) return DEVICE_ERR;
+    MOTOR_RM_MsgOutput_t *output_msg = &manager->output_msg;
+    int16_t output_value = (int16_t)(value * (float)MOTOR_RM_GetLSB(param->module));
+    output_msg->output[logical_index] = output_value;
+    return DEVICE_OK;
+}
+
+int8_t MOTOR_RM_Ctrl(MOTOR_RM_Param_t *param) {
+    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;
+    MOTOR_RM_MsgOutput_t *output_msg = &manager->output_msg;
+    BSP_CAN_StdDataFrame_t tx_frame;
+    uint16_t id = param->id;
+    switch (id) {
+        case M3508_M2006_FB_ID_BASE:
+        case M3508_M2006_FB_ID_BASE+1:
+        case M3508_M2006_FB_ID_BASE+2:
+        case M3508_M2006_FB_ID_BASE+3:
+            tx_frame.id = M3508_M2006_CTRL_ID_BASE;
+            tx_frame.dlc = MOTOR_TX_BUF_SIZE;
+            for (int i = 0; i < 4; i++) {
+                tx_frame.data[i*2] = (uint8_t)((output_msg->output[i] >> 8) & 0xFF);
+                tx_frame.data[i*2+1] = (uint8_t)(output_msg->output[i] & 0xFF);
+            }
+            break;
+        case M3508_M2006_FB_ID_BASE+4:
+        case M3508_M2006_FB_ID_BASE+5:
+        case M3508_M2006_FB_ID_BASE+6:
+        case M3508_M2006_FB_ID_BASE+7:
+            tx_frame.id = M3508_M2006_CTRL_ID_EXTAND;
+            tx_frame.dlc = MOTOR_TX_BUF_SIZE;
+            for (int i = 4; i < 8; i++) {
+                tx_frame.data[(i-4)*2] = (uint8_t)((output_msg->output[i] >> 8) & 0xFF);
+                tx_frame.data[(i-4)*2+1] = (uint8_t)(output_msg->output[i] & 0xFF);
+            }
+            break;
+        case GM6020_FB_ID_BASE+4:
+        case GM6020_FB_ID_BASE+5:
+        case GM6020_FB_ID_BASE+6:
+            tx_frame.id = GM6020_CTRL_ID_EXTAND;
+            tx_frame.dlc = MOTOR_TX_BUF_SIZE;
+            for (int i = 8; i < 11; i++) {
+                tx_frame.data[(i-8)*2] = (uint8_t)((output_msg->output[i] >> 8) & 0xFF);
+                tx_frame.data[(i-8)*2+1] = (uint8_t)(output_msg->output[i] & 0xFF);
+            }
+            tx_frame.data[6] = 0;
+            tx_frame.data[7] = 0;
+            break;
+        default:
+            return DEVICE_ERR;
+    }
+    return BSP_CAN_TransmitStdDataFrame(param->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);
+    if (manager == NULL) return NULL;
+    for (int i = 0; i < manager->motor_count; i++) {
+        MOTOR_RM_t *motor = manager->motors[i];
+        if (motor && motor->param.id == param->id) {
+            return motor;
+        }
+    }
+    return NULL;
+}
+
+int8_t MOTOR_RM_Relax(MOTOR_RM_Param_t *param) {
+    return MOTOR_RM_SetOutput(param, 0.0f);
+}
+
+int8_t MOTOR_RM_Offine(MOTOR_RM_Param_t *param) {
+    MOTOR_RM_t *motor = MOTOR_RM_GetMotor(param);
+    if (motor) {
+        motor->motor.header.online = false;
+        return DEVICE_OK;
+    }
+    return DEVICE_ERR_NO_DEV;
+}

assets/User_code/device/motor_rm.h

@@ -0,0 +1,124 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include "device/device.h"
+#include "device/motor.h"
+#include "bsp/can.h"
+
+/* Exported constants ------------------------------------------------------- */
+#define MOTOR_RM_MAX_MOTORS 11
+
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+typedef enum {
+    MOTOR_M2006,
+    MOTOR_M3508,
+    MOTOR_GM6020,
+} MOTOR_RM_Module_t;
+
+/*一个can最多控制11个电机*/
+typedef union {
+  int16_t output[MOTOR_RM_MAX_MOTORS];
+  struct {
+    int16_t m3508_m2006_id201;
+    int16_t m3508_m2006_id202;
+    int16_t m3508_m2006_id203;
+    int16_t m3508_m2006_id204;
+    int16_t m3508_m2006_gm6020_id205;
+    int16_t m3508_m2006_gm6020_id206;
+    int16_t m3508_m2006_gm6020_id207;
+    int16_t m3508_m2006_gm6020_id208;
+    int16_t gm6020_id209;
+    int16_t gm6020_id20A;
+    int16_t gm6020_id20B;
+  } named;
+} MOTOR_RM_MsgOutput_t;
+
+/*每个电机需要的参数*/
+typedef struct {
+    BSP_CAN_t can;
+    uint16_t id;
+    MOTOR_RM_Module_t module;
+    bool reverse;
+} MOTOR_RM_Param_t;
+
+/*电机实例*/
+typedef struct MOTOR_RM_t {
+    MOTOR_RM_Param_t param;
+    MOTOR_t motor;
+} MOTOR_RM_t;
+
+/*CAN管理器，管理一个CAN总线上所有的电机*/
+typedef struct {
+    BSP_CAN_t can;
+    MOTOR_RM_MsgOutput_t output_msg;
+    MOTOR_RM_t *motors[MOTOR_RM_MAX_MOTORS];
+    uint8_t motor_count;
+} MOTOR_RM_CANManager_t;
+
+/* Exported functions prototypes -------------------------------------------- */
+
+/**
+ * @brief 注册一个RM电机
+ * @param param 电机参数
+ * @return 
+ */
+int8_t MOTOR_RM_Register(MOTOR_RM_Param_t *param);
+
+/**
+ * @brief 更新指定电机数据
+ * @param param 电机参数
+ * @return 
+ */
+int8_t MOTOR_RM_Update(MOTOR_RM_Param_t *param);
+
+/**
+ * @brief 设置一个电机的输出
+ * @param param 电机参数
+ * @param value 输出值，范围[-1.0, 1.0]
+ * @return 
+ */
+int8_t MOTOR_RM_SetOutput(MOTOR_RM_Param_t *param, float value);
+
+/**
+ * @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 param 电机参数
+ * @return 
+ */
+int8_t MOTOR_RM_Ctrl(MOTOR_RM_Param_t *param);
+
+/**
+ * @brief 获取指定电机的实例指针
+ * @param param 电机参数
+ * @return 
+ */
+MOTOR_RM_t* MOTOR_RM_GetMotor(MOTOR_RM_Param_t *param);
+
+/**
+ * @brief 使电机松弛（设置输出为0）
+ * @param param 
+ * @return 
+ */
+int8_t MOTOR_RM_Relax(MOTOR_RM_Param_t *param);
+
+/**
+ * @brief 使电机离线（设置在线状态为false）
+ * @param param 
+ * @return 
+ */
+int8_t MOTOR_RM_Offine(MOTOR_RM_Param_t *param);
+
+/**
+ * @brief 
+ * @param  
+ * @return 
+ */
+int8_t MOTOR_RM_UpdateAll(void);
+
+#ifdef __cplusplus
+}
+#endif

assets/User_code/module/dependencies.csv

@@ -1,5 +0,0 @@
-oled_i2c,bsp/i2c
-bmp280_i2c,bsp/i2c
-pc_uart,bsp/uart
-key_gpio,bsp/gpio_exti
-servo,bsp/servo_pwm

stm32f4xx_it.c

@@ -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****/