diff --git a/.mxproject b/.mxproject
index 5797706..eec66ba 100644
--- a/.mxproject
+++ b/.mxproject
@@ -1,19 +1,19 @@
[PreviousLibFiles]
-LibFiles=Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_adc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_bus.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_rcc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_system.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_utils.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_gpio.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_dma.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_dmamux.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_pwr.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_cortex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h;Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_exti.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_crc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_crc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_i2c.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rng.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_rng.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_spi.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_tim.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usart.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h;Middlewares/Third_Party/FreeRTOS/Source/include/croutine.h;Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h;Middlewares/Third_Party/FreeRTOS/Source/include/event_groups.h;Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h;Middlewares/Third_Party/FreeRTOS/Source/include/list.h;Middlewares/Third_Party/FreeRTOS/Source/include/message_buffer.h;Middlewares/Third_Party/FreeRTOS/Source/include/mpu_prototypes.h;Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h;Middlewares/Third_Party/FreeRTOS/Source/include/portable.h;Middlewares/Third_Party/FreeRTOS/Source/include/projdefs.h;Middlewares/Third_Party/FreeRTOS/Source/include/queue.h;Middlewares/Third_Party/FreeRTOS/Source/include/semphr.h;Middlewares/Third_Party/FreeRTOS/Source/include/stack_macros.h;Middlewares/Third_Party/FreeRTOS/Source/include/StackMacros.h;Middlewares/Third_Party/FreeRTOS/Source/include/stream_buffer.h;Middlewares/Third_Party/FreeRTOS/Source/include/task.h;Middlewares/Third_Party/FreeRTOS/Source/include/timers.h;Middlewares/Third_Party/FreeRTOS/Source/include/atomic.h;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_os2.h;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_adc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_crc.c;Drivers/STM32F4xx_HAL_Driver/Src/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[PreviousUsedKeilFiles]
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+HeaderPath=../Drivers/STM32F4xx_HAL_Driver/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F;../Middlewares/ST/STM32_USB_Device_Library/Core/Inc;../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Drivers/CMSIS/Include;../Core/Inc;../USB_DEVICE/App;../USB_DEVICE/Target;
CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;USE_HAL_DRIVER;
[PreviousUsedCMakes]
-SourceFiles=Core/Src/main.c;Core/Src/gpio.c;Core/Src/freertos.c;Core/Src/adc.c;Core/Src/can.c;Core/Src/crc.c;Core/Src/dma.c;Core/Src/i2c.c;Core/Src/rng.c;Core/Src/spi.c;Core/Src/tim.c;Core/Src/usart.c;Core/Src/usb_otg.c;Core/Src/stm32f4xx_it.c;Core/Src/stm32f4xx_hal_msp.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_adc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_crc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rng.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;Core/Src/system_stm32f4xx.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_adc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_crc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rng.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;Core/Src/system_stm32f4xx.c;;;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;
-HeaderPath=Drivers/STM32F4xx_HAL_Driver/Inc;Drivers/STM32F4xx_HAL_Driver/Inc/Legacy;Middlewares/Third_Party/FreeRTOS/Source/include;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F;Drivers/CMSIS/Device/ST/STM32F4xx/Include;Drivers/CMSIS/Include;Core/Inc;
+SourceFiles=Core/Src/main.c;Core/Src/gpio.c;Core/Src/freertos.c;Core/Src/adc.c;Core/Src/can.c;Core/Src/crc.c;Core/Src/dma.c;Core/Src/i2c.c;Core/Src/rng.c;Core/Src/spi.c;Core/Src/tim.c;Core/Src/usart.c;USB_DEVICE/App/usb_device.c;USB_DEVICE/Target/usbd_conf.c;USB_DEVICE/App/usbd_desc.c;USB_DEVICE/App/usbd_cdc_if.c;Core/Src/stm32f4xx_it.c;Core/Src/stm32f4xx_hal_msp.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_adc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_crc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rng.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c;Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c;Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;Core/Src/system_stm32f4xx.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_adc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_crc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rng.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c;Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c;Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;Core/Src/system_stm32f4xx.c;;;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c;Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c;
+HeaderPath=Drivers/STM32F4xx_HAL_Driver/Inc;Drivers/STM32F4xx_HAL_Driver/Inc/Legacy;Middlewares/Third_Party/FreeRTOS/Source/include;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F;Middlewares/ST/STM32_USB_Device_Library/Core/Inc;Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc;Drivers/CMSIS/Device/ST/STM32F4xx/Include;Drivers/CMSIS/Include;Core/Inc;USB_DEVICE/App;USB_DEVICE/Target;
CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;USE_HAL_DRIVER;
[PreviousGenFiles]
AdvancedFolderStructure=true
-HeaderFileListSize=15
+HeaderFileListSize=18
HeaderFiles#0=../Core/Inc/gpio.h
HeaderFiles#1=../Core/Inc/FreeRTOSConfig.h
HeaderFiles#2=../Core/Inc/adc.h
@@ -25,14 +25,19 @@ HeaderFiles#7=../Core/Inc/rng.h
HeaderFiles#8=../Core/Inc/spi.h
HeaderFiles#9=../Core/Inc/tim.h
HeaderFiles#10=../Core/Inc/usart.h
-HeaderFiles#11=../Core/Inc/usb_otg.h
-HeaderFiles#12=../Core/Inc/stm32f4xx_it.h
-HeaderFiles#13=../Core/Inc/stm32f4xx_hal_conf.h
-HeaderFiles#14=../Core/Inc/main.h
-HeaderFolderListSize=1
+HeaderFiles#11=../USB_DEVICE/App/usb_device.h
+HeaderFiles#12=../USB_DEVICE/Target/usbd_conf.h
+HeaderFiles#13=../USB_DEVICE/App/usbd_desc.h
+HeaderFiles#14=../USB_DEVICE/App/usbd_cdc_if.h
+HeaderFiles#15=../Core/Inc/stm32f4xx_it.h
+HeaderFiles#16=../Core/Inc/stm32f4xx_hal_conf.h
+HeaderFiles#17=../Core/Inc/main.h
+HeaderFolderListSize=3
HeaderPath#0=../Core/Inc
+HeaderPath#1=../USB_DEVICE/App
+HeaderPath#2=../USB_DEVICE/Target
HeaderFiles=;
-SourceFileListSize=15
+SourceFileListSize=18
SourceFiles#0=../Core/Src/gpio.c
SourceFiles#1=../Core/Src/freertos.c
SourceFiles#2=../Core/Src/adc.c
@@ -44,11 +49,16 @@ SourceFiles#7=../Core/Src/rng.c
SourceFiles#8=../Core/Src/spi.c
SourceFiles#9=../Core/Src/tim.c
SourceFiles#10=../Core/Src/usart.c
-SourceFiles#11=../Core/Src/usb_otg.c
-SourceFiles#12=../Core/Src/stm32f4xx_it.c
-SourceFiles#13=../Core/Src/stm32f4xx_hal_msp.c
-SourceFiles#14=../Core/Src/main.c
-SourceFolderListSize=1
+SourceFiles#11=../USB_DEVICE/App/usb_device.c
+SourceFiles#12=../USB_DEVICE/Target/usbd_conf.c
+SourceFiles#13=../USB_DEVICE/App/usbd_desc.c
+SourceFiles#14=../USB_DEVICE/App/usbd_cdc_if.c
+SourceFiles#15=../Core/Src/stm32f4xx_it.c
+SourceFiles#16=../Core/Src/stm32f4xx_hal_msp.c
+SourceFiles#17=../Core/Src/main.c
+SourceFolderListSize=3
SourcePath#0=../Core/Src
+SourcePath#1=../USB_DEVICE/App
+SourcePath#2=../USB_DEVICE/Target
SourceFiles=;
diff --git a/Core/Inc/stm32f4xx_it.h b/Core/Inc/stm32f4xx_it.h
index 0352788..19378a7 100644
--- a/Core/Inc/stm32f4xx_it.h
+++ b/Core/Inc/stm32f4xx_it.h
@@ -71,6 +71,7 @@ void DMA2_Stream2_IRQHandler(void);
void DMA2_Stream3_IRQHandler(void);
void CAN2_RX0_IRQHandler(void);
void CAN2_RX1_IRQHandler(void);
+void OTG_FS_IRQHandler(void);
void DMA2_Stream5_IRQHandler(void);
void DMA2_Stream6_IRQHandler(void);
void DMA2_Stream7_IRQHandler(void);
diff --git a/Core/Inc/usb_otg.h b/Core/Inc/usb_otg.h
deleted file mode 100644
index be2b9b7..0000000
--- a/Core/Inc/usb_otg.h
+++ /dev/null
@@ -1,52 +0,0 @@
-/* USER CODE BEGIN Header */
-/**
- ******************************************************************************
- * @file usb_otg.h
- * @brief This file contains all the function prototypes for
- * the usb_otg.c file
- ******************************************************************************
- * @attention
- *
- * Copyright (c) 2025 STMicroelectronics.
- * All rights reserved.
- *
- * This software is licensed under terms that can be found in the LICENSE file
- * in the root directory of this software component.
- * If no LICENSE file comes with this software, it is provided AS-IS.
- *
- ******************************************************************************
- */
-/* USER CODE END Header */
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __USB_OTG_H__
-#define __USB_OTG_H__
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Includes ------------------------------------------------------------------*/
-#include "main.h"
-
-/* USER CODE BEGIN Includes */
-
-/* USER CODE END Includes */
-
-extern PCD_HandleTypeDef hpcd_USB_OTG_FS;
-
-/* USER CODE BEGIN Private defines */
-
-/* USER CODE END Private defines */
-
-void MX_USB_OTG_FS_PCD_Init(void);
-
-/* USER CODE BEGIN Prototypes */
-
-/* USER CODE END Prototypes */
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __USB_OTG_H__ */
-
diff --git a/Core/Src/freertos.c b/Core/Src/freertos.c
index 498ae34..0163ecb 100644
--- a/Core/Src/freertos.c
+++ b/Core/Src/freertos.c
@@ -64,6 +64,7 @@ const osThreadAttr_t defaultTask_attributes = {
void StartDefaultTask(void *argument);
+extern void MX_USB_DEVICE_Init(void);
void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
/* Hook prototypes */
@@ -143,6 +144,8 @@ void MX_FREERTOS_Init(void) {
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void *argument)
{
+ /* init code for USB_DEVICE */
+ MX_USB_DEVICE_Init();
/* USER CODE BEGIN StartDefaultTask */
osThreadTerminate(osThreadGetId());
/* USER CODE END StartDefaultTask */
diff --git a/Core/Src/main.c b/Core/Src/main.c
index 0d4a0e3..6883e26 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -29,7 +29,7 @@
#include "spi.h"
#include "tim.h"
#include "usart.h"
-#include "usb_otg.h"
+#include "usb_device.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
@@ -120,7 +120,6 @@ int main(void)
MX_USART1_UART_Init();
MX_USART6_UART_Init();
MX_TIM7_Init();
- MX_USB_OTG_FS_PCD_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
diff --git a/Core/Src/stm32f4xx_it.c b/Core/Src/stm32f4xx_it.c
index 6e1aeb2..97aabfe 100644
--- a/Core/Src/stm32f4xx_it.c
+++ b/Core/Src/stm32f4xx_it.c
@@ -1,498 +1,513 @@
-/* USER CODE BEGIN Header */
-/**
- ******************************************************************************
- * @file stm32f4xx_it.c
- * @brief Interrupt Service Routines.
- ******************************************************************************
- * @attention
- *
- * © Copyright (c) 2025 STMicroelectronics.
- * All rights reserved.
- *
- * 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 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 */
- while (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 */
- /* 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 */
- /* 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(USER_KEY_Pin);
- /* 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(CMPS_INT_Pin);
- /* 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(ACCL_INT_Pin);
- /* 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(GYRO_INT_Pin);
- /* 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 */
-
- /* 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 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 */
+/* USER CODE BEGIN Header */
+/**
+ ******************************************************************************
+ * @file stm32f4xx_it.c
+ * @brief Interrupt Service Routines.
+ ******************************************************************************
+ * @attention
+ *
+ * © Copyright (c) 2025 STMicroelectronics.
+ * All rights reserved.
+ *
+ * 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 */
+ while (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 */
+ /* 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 */
+ /* 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(USER_KEY_Pin);
+ /* 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(CMPS_INT_Pin);
+ /* 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(ACCL_INT_Pin);
+ /* 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(GYRO_INT_Pin);
+ /* 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 */
+
+ /* 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 */
diff --git a/Core/Src/usb_otg.c b/Core/Src/usb_otg.c
deleted file mode 100644
index 052faf9..0000000
--- a/Core/Src/usb_otg.c
+++ /dev/null
@@ -1,116 +0,0 @@
-/* USER CODE BEGIN Header */
-/**
- ******************************************************************************
- * @file usb_otg.c
- * @brief This file provides code for the configuration
- * of the USB_OTG instances.
- ******************************************************************************
- * @attention
- *
- * Copyright (c) 2025 STMicroelectronics.
- * All rights reserved.
- *
- * This software is licensed under terms that can be found in the LICENSE file
- * in the root directory of this software component.
- * If no LICENSE file comes with this software, it is provided AS-IS.
- *
- ******************************************************************************
- */
-/* USER CODE END Header */
-/* Includes ------------------------------------------------------------------*/
-#include "usb_otg.h"
-
-/* USER CODE BEGIN 0 */
-
-/* USER CODE END 0 */
-
-PCD_HandleTypeDef hpcd_USB_OTG_FS;
-
-/* USB_OTG_FS init function */
-
-void MX_USB_OTG_FS_PCD_Init(void)
-{
-
- /* USER CODE BEGIN USB_OTG_FS_Init 0 */
-
- /* USER CODE END USB_OTG_FS_Init 0 */
-
- /* USER CODE BEGIN USB_OTG_FS_Init 1 */
-
- /* USER CODE END USB_OTG_FS_Init 1 */
- hpcd_USB_OTG_FS.Instance = USB_OTG_FS;
- hpcd_USB_OTG_FS.Init.dev_endpoints = 4;
- hpcd_USB_OTG_FS.Init.speed = PCD_SPEED_FULL;
- hpcd_USB_OTG_FS.Init.dma_enable = DISABLE;
- hpcd_USB_OTG_FS.Init.phy_itface = PCD_PHY_EMBEDDED;
- hpcd_USB_OTG_FS.Init.Sof_enable = DISABLE;
- hpcd_USB_OTG_FS.Init.low_power_enable = DISABLE;
- hpcd_USB_OTG_FS.Init.lpm_enable = DISABLE;
- hpcd_USB_OTG_FS.Init.vbus_sensing_enable = DISABLE;
- hpcd_USB_OTG_FS.Init.use_dedicated_ep1 = DISABLE;
- if (HAL_PCD_Init(&hpcd_USB_OTG_FS) != HAL_OK)
- {
- Error_Handler();
- }
- /* USER CODE BEGIN USB_OTG_FS_Init 2 */
-
- /* USER CODE END USB_OTG_FS_Init 2 */
-
-}
-
-void HAL_PCD_MspInit(PCD_HandleTypeDef* pcdHandle)
-{
-
- GPIO_InitTypeDef GPIO_InitStruct = {0};
- if(pcdHandle->Instance==USB_OTG_FS)
- {
- /* USER CODE BEGIN USB_OTG_FS_MspInit 0 */
-
- /* USER CODE END USB_OTG_FS_MspInit 0 */
-
- __HAL_RCC_GPIOA_CLK_ENABLE();
- /**USB_OTG_FS GPIO Configuration
- PA12 ------> USB_OTG_FS_DP
- PA11 ------> USB_OTG_FS_DM
- */
- GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_11;
- GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
- GPIO_InitStruct.Pull = GPIO_NOPULL;
- GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
- GPIO_InitStruct.Alternate = GPIO_AF10_OTG_FS;
- HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-
- /* USB_OTG_FS clock enable */
- __HAL_RCC_USB_OTG_FS_CLK_ENABLE();
- /* USER CODE BEGIN USB_OTG_FS_MspInit 1 */
-
- /* USER CODE END USB_OTG_FS_MspInit 1 */
- }
-}
-
-void HAL_PCD_MspDeInit(PCD_HandleTypeDef* pcdHandle)
-{
-
- if(pcdHandle->Instance==USB_OTG_FS)
- {
- /* USER CODE BEGIN USB_OTG_FS_MspDeInit 0 */
-
- /* USER CODE END USB_OTG_FS_MspDeInit 0 */
- /* Peripheral clock disable */
- __HAL_RCC_USB_OTG_FS_CLK_DISABLE();
-
- /**USB_OTG_FS GPIO Configuration
- PA12 ------> USB_OTG_FS_DP
- PA11 ------> USB_OTG_FS_DM
- */
- HAL_GPIO_DeInit(GPIOA, GPIO_PIN_12|GPIO_PIN_11);
-
- /* USER CODE BEGIN USB_OTG_FS_MspDeInit 1 */
-
- /* USER CODE END USB_OTG_FS_MspDeInit 1 */
- }
-}
-
-/* USER CODE BEGIN 1 */
-
-/* USER CODE END 1 */
diff --git a/DevC.ioc b/DevC.ioc
index 4003ed0..993e674 100644
--- a/DevC.ioc
+++ b/DevC.ioc
@@ -180,7 +180,8 @@ Mcu.IP22=TIM10
Mcu.IP23=USART1
Mcu.IP24=USART3
Mcu.IP25=USART6
-Mcu.IP26=USB_OTG_FS
+Mcu.IP26=USB_DEVICE
+Mcu.IP27=USB_OTG_FS
Mcu.IP3=CAN2
Mcu.IP4=CRC
Mcu.IP5=DMA
@@ -188,7 +189,7 @@ Mcu.IP6=FREERTOS
Mcu.IP7=I2C1
Mcu.IP8=I2C2
Mcu.IP9=I2C3
-Mcu.IPNb=27
+Mcu.IPNb=28
Mcu.Name=STM32F407I(E-G)Hx
Mcu.Package=UFBGA176
Mcu.Pin0=PB8
@@ -253,10 +254,11 @@ Mcu.Pin61=VP_TIM5_VS_ClockSourceINT
Mcu.Pin62=VP_TIM7_VS_ClockSourceINT
Mcu.Pin63=VP_TIM8_VS_ClockSourceINT
Mcu.Pin64=VP_TIM10_VS_ClockSourceINT
+Mcu.Pin65=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
Mcu.Pin7=PB9
Mcu.Pin8=PB7
Mcu.Pin9=PB6
-Mcu.PinsNb=65
+Mcu.PinsNb=66
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32F407IGHx
@@ -285,6 +287,7 @@ NVIC.ForceEnableDMAVector=true
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+NVIC.OTG_FS_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false\:false
NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false
@@ -566,7 +569,7 @@ ProjectManager.ToolChainLocation=
ProjectManager.UAScriptAfterPath=
ProjectManager.UAScriptBeforePath=
ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-MX_DMA_Init-DMA-false-HAL-true,3-SystemClock_Config-RCC-false-HAL-false,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_ADC3_Init-ADC3-false-HAL-true,6-MX_CAN1_Init-CAN1-false-HAL-true,7-MX_CAN2_Init-CAN2-false-HAL-true,8-MX_I2C1_Init-I2C1-false-HAL-true,9-MX_SPI1_Init-SPI1-false-HAL-true,10-MX_TIM4_Init-TIM4-false-HAL-true,11-MX_TIM5_Init-TIM5-false-HAL-true,12-MX_USART3_UART_Init-USART3-false-HAL-true,13-MX_TIM8_Init-TIM8-false-HAL-true,14-MX_CRC_Init-CRC-false-HAL-true,15-MX_RNG_Init-RNG-false-HAL-true,16-MX_I2C2_Init-I2C2-false-HAL-true,17-MX_I2C3_Init-I2C3-false-HAL-true,18-MX_SPI2_Init-SPI2-false-HAL-true,19-MX_TIM1_Init-TIM1-false-HAL-true,20-MX_TIM3_Init-TIM3-false-HAL-true,21-MX_TIM10_Init-TIM10-false-HAL-true,22-MX_USART1_UART_Init-USART1-false-HAL-true,23-MX_USART6_UART_Init-USART6-false-HAL-true,24-MX_TIM7_Init-TIM7-false-HAL-true,25-MX_USB_OTG_FS_PCD_Init-USB_OTG_FS-false-HAL-true
+ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-MX_DMA_Init-DMA-false-HAL-true,3-SystemClock_Config-RCC-false-HAL-false,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_ADC3_Init-ADC3-false-HAL-true,6-MX_CAN1_Init-CAN1-false-HAL-true,7-MX_CAN2_Init-CAN2-false-HAL-true,8-MX_I2C1_Init-I2C1-false-HAL-true,9-MX_SPI1_Init-SPI1-false-HAL-true,10-MX_TIM4_Init-TIM4-false-HAL-true,11-MX_TIM5_Init-TIM5-false-HAL-true,12-MX_USART3_UART_Init-USART3-false-HAL-true,13-MX_TIM8_Init-TIM8-false-HAL-true,14-MX_CRC_Init-CRC-false-HAL-true,15-MX_RNG_Init-RNG-false-HAL-true,16-MX_I2C2_Init-I2C2-false-HAL-true,17-MX_I2C3_Init-I2C3-false-HAL-true,18-MX_SPI2_Init-SPI2-false-HAL-true,19-MX_TIM1_Init-TIM1-false-HAL-true,20-MX_TIM3_Init-TIM3-false-HAL-true,21-MX_TIM10_Init-TIM10-false-HAL-true,22-MX_USART1_UART_Init-USART1-false-HAL-true,23-MX_USART6_UART_Init-USART6-false-HAL-true,24-MX_TIM7_Init-TIM7-false-HAL-true,25-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false
RCC.48MHZClocksFreq_Value=48000000
RCC.AHBFreq_Value=168000000
RCC.APB1CLKDivider=RCC_HCLK_DIV4
@@ -697,6 +700,10 @@ USART3.Parity=PARITY_EVEN
USART3.VirtualMode=VM_ASYNC
USART6.IPParameters=VirtualMode
USART6.VirtualMode=VM_ASYNC
+USB_DEVICE.CLASS_NAME_FS=CDC
+USB_DEVICE.IPParameters=VirtualMode-CDC_FS,VirtualModeFS,CLASS_NAME_FS
+USB_DEVICE.VirtualMode-CDC_FS=Cdc
+USB_DEVICE.VirtualModeFS=Cdc_FS
USB_OTG_FS.IPParameters=VirtualMode
USB_OTG_FS.VirtualMode=Device_Only
VP_ADC1_TempSens_Input.Mode=IN-TempSens
@@ -725,5 +732,7 @@ VP_TIM7_VS_ClockSourceINT.Mode=Enable_Timer
VP_TIM7_VS_ClockSourceINT.Signal=TIM7_VS_ClockSourceINT
VP_TIM8_VS_ClockSourceINT.Mode=Internal
VP_TIM8_VS_ClockSourceINT.Signal=TIM8_VS_ClockSourceINT
+VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS.Mode=CDC_FS
+VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS.Signal=USB_DEVICE_VS_USB_DEVICE_CDC_FS
board=custom
rtos.0.ip=FREERTOS
diff --git a/MDK-ARM/DevC.uvprojx b/MDK-ARM/DevC.uvprojx
index a4aa8f0..6257dff 100644
--- a/MDK-ARM/DevC.uvprojx
+++ b/MDK-ARM/DevC.uvprojx
@@ -340,7 +340,7 @@
USE_HAL_DRIVER,STM32F407xx
- ../Core/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Drivers/CMSIS/Include;../User
+ ../Core/Inc;../USB_DEVICE/App;../USB_DEVICE/Target;../Drivers/STM32F4xx_HAL_Driver/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F;../Middlewares/ST/STM32_USB_Device_Library/Core/Inc;../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Drivers/CMSIS/Include;../User
@@ -454,62 +454,6 @@
1
../Core/Src/usart.c
-
- usb_otg.c
- 1
- ../Core/Src/usb_otg.c
-
-
- 2
- 0
- 0
- 0
- 0
- 1
- 2
- 2
- 2
- 2
- 11
-
-
- 1
-
-
-
- 2
- 0
- 2
- 2
- 2
- 2
- 2
- 2
- 2
- 2
- 0
- 2
- 2
- 2
- 2
- 2
- 0
- 0
- 2
- 2
- 2
- 2
- 2
-
-
-
-
-
-
-
-
-
-
stm32f4xx_it.c
1
@@ -522,23 +466,53 @@
+
+ Application/User/USB_DEVICE/App
+
+
+ usb_device.c
+ 1
+ ../USB_DEVICE/App/usb_device.c
+
+
+ usbd_desc.c
+ 1
+ ../USB_DEVICE/App/usbd_desc.c
+
+
+ usbd_cdc_if.c
+ 1
+ ../USB_DEVICE/App/usbd_cdc_if.c
+
+
+
+
+ Application/User/USB_DEVICE/Target
+
+
+ usbd_conf.c
+ 1
+ ../USB_DEVICE/Target/usbd_conf.c
+
+
+
Drivers/STM32F4xx_HAL_Driver
- stm32f4xx_hal_adc.c
+ stm32f4xx_hal_pcd.c
1
- ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c
+ ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd.c
- stm32f4xx_hal_adc_ex.c
+ stm32f4xx_hal_pcd_ex.c
1
- ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c
+ ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd_ex.c
- stm32f4xx_ll_adc.c
+ stm32f4xx_ll_usb.c
1
- ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_adc.c
+ ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c
stm32f4xx_hal_rcc.c
@@ -605,6 +579,21 @@
1
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c
+
+ stm32f4xx_hal_adc.c
+ 1
+ ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c
+
+
+ stm32f4xx_hal_adc_ex.c
+ 1
+ ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c
+
+
+ stm32f4xx_ll_adc.c
+ 1
+ ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_adc.c
+
stm32f4xx_hal_can.c
1
@@ -650,21 +639,6 @@
1
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c
-
- stm32f4xx_hal_pcd.c
- 1
- ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd.c
-
-
- stm32f4xx_hal_pcd_ex.c
- 1
- ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd_ex.c
-
-
- stm32f4xx_ll_usb.c
- 1
- ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c
-
@@ -732,6 +706,31 @@
+
+ Middlewares/USB_Device_Library
+
+
+ usbd_core.c
+ 1
+ ../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c
+
+
+ usbd_ctlreq.c
+ 1
+ ../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c
+
+
+ usbd_ioreq.c
+ 1
+ ../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c
+
+
+ usbd_cdc.c
+ 1
+ ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c
+
+
+
User/bsp
@@ -915,6 +914,11 @@
1
..\User\task\ctrl_chassis.c
+
+ ctrl_gimbal.c
+ 1
+ ..\User\task\ctrl_gimbal.c
+
diff --git a/MDK-ARM/DevC/DevC.lnp b/MDK-ARM/DevC/DevC.lnp
index 161b477..db4e409 100644
--- a/MDK-ARM/DevC/DevC.lnp
+++ b/MDK-ARM/DevC/DevC.lnp
@@ -12,12 +12,15 @@
"devc\spi.o"
"devc\tim.o"
"devc\usart.o"
-"devc\usb_otg.o"
"devc\stm32f4xx_it.o"
"devc\stm32f4xx_hal_msp.o"
-"devc\stm32f4xx_hal_adc.o"
-"devc\stm32f4xx_hal_adc_ex.o"
-"devc\stm32f4xx_ll_adc.o"
+"devc\usb_device.o"
+"devc\usbd_desc.o"
+"devc\usbd_cdc_if.o"
+"devc\usbd_conf.o"
+"devc\stm32f4xx_hal_pcd.o"
+"devc\stm32f4xx_hal_pcd_ex.o"
+"devc\stm32f4xx_ll_usb.o"
"devc\stm32f4xx_hal_rcc.o"
"devc\stm32f4xx_hal_rcc_ex.o"
"devc\stm32f4xx_hal_flash.o"
@@ -31,6 +34,9 @@
"devc\stm32f4xx_hal_cortex.o"
"devc\stm32f4xx_hal.o"
"devc\stm32f4xx_hal_exti.o"
+"devc\stm32f4xx_hal_adc.o"
+"devc\stm32f4xx_hal_adc_ex.o"
+"devc\stm32f4xx_ll_adc.o"
"devc\stm32f4xx_hal_can.o"
"devc\stm32f4xx_hal_crc.o"
"devc\stm32f4xx_hal_i2c.o"
@@ -40,9 +46,6 @@
"devc\stm32f4xx_hal_tim.o"
"devc\stm32f4xx_hal_tim_ex.o"
"devc\stm32f4xx_hal_uart.o"
-"devc\stm32f4xx_hal_pcd.o"
-"devc\stm32f4xx_hal_pcd_ex.o"
-"devc\stm32f4xx_ll_usb.o"
"devc\system_stm32f4xx.o"
"devc\croutine.o"
"devc\event_groups.o"
@@ -54,6 +57,10 @@
"devc\cmsis_os2.o"
"devc\heap_4.o"
"devc\port.o"
+"devc\usbd_core.o"
+"devc\usbd_ctlreq.o"
+"devc\usbd_ioreq.o"
+"devc\usbd_cdc.o"
"devc\can_1.o"
"devc\dwt.o"
"devc\gpio_1.o"
@@ -85,6 +92,7 @@
"devc\user_task.o"
"devc\atti_esti.o"
"devc\ctrl_chassis.o"
+"devc\ctrl_gimbal.o"
--strict --scatter "DevC\DevC.sct"
--summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols
--info sizes --info totals --info unused --info veneers
diff --git a/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc/usbd_cdc.h b/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc/usbd_cdc.h
new file mode 100644
index 0000000..42ff56c
--- /dev/null
+++ b/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc/usbd_cdc.h
@@ -0,0 +1,187 @@
+/**
+ ******************************************************************************
+ * @file usbd_cdc.h
+ * @author MCD Application Team
+ * @brief header file for the usbd_cdc.c file.
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2015 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __USB_CDC_H
+#define __USB_CDC_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "usbd_ioreq.h"
+
+/** @addtogroup STM32_USB_DEVICE_LIBRARY
+ * @{
+ */
+
+/** @defgroup usbd_cdc
+ * @brief This file is the Header file for usbd_cdc.c
+ * @{
+ */
+
+
+/** @defgroup usbd_cdc_Exported_Defines
+ * @{
+ */
+#ifndef CDC_IN_EP
+#define CDC_IN_EP 0x81U /* EP1 for data IN */
+#endif /* CDC_IN_EP */
+#ifndef CDC_OUT_EP
+#define CDC_OUT_EP 0x01U /* EP1 for data OUT */
+#endif /* CDC_OUT_EP */
+#ifndef CDC_CMD_EP
+#define CDC_CMD_EP 0x82U /* EP2 for CDC commands */
+#endif /* CDC_CMD_EP */
+
+#ifndef CDC_HS_BINTERVAL
+#define CDC_HS_BINTERVAL 0x10U
+#endif /* CDC_HS_BINTERVAL */
+
+#ifndef CDC_FS_BINTERVAL
+#define CDC_FS_BINTERVAL 0x10U
+#endif /* CDC_FS_BINTERVAL */
+
+#ifndef CDC_CMD_PACKET_SIZE
+#define CDC_CMD_PACKET_SIZE 8U /* Control Endpoint Packet size */
+#endif /* CDC_CMD_PACKET_SIZE */
+
+/* CDC Endpoints parameters: you can fine tune these values depending on the needed baudrates and performance. */
+#define CDC_DATA_HS_MAX_PACKET_SIZE 512U /* Endpoint IN & OUT Packet size */
+#define CDC_DATA_FS_MAX_PACKET_SIZE 64U /* Endpoint IN & OUT Packet size */
+
+#define USB_CDC_CONFIG_DESC_SIZ 67U
+#define CDC_DATA_HS_IN_PACKET_SIZE CDC_DATA_HS_MAX_PACKET_SIZE
+#define CDC_DATA_HS_OUT_PACKET_SIZE CDC_DATA_HS_MAX_PACKET_SIZE
+
+#define CDC_DATA_FS_IN_PACKET_SIZE CDC_DATA_FS_MAX_PACKET_SIZE
+#define CDC_DATA_FS_OUT_PACKET_SIZE CDC_DATA_FS_MAX_PACKET_SIZE
+
+#define CDC_REQ_MAX_DATA_SIZE 0x7U
+/*---------------------------------------------------------------------*/
+/* CDC definitions */
+/*---------------------------------------------------------------------*/
+#define CDC_SEND_ENCAPSULATED_COMMAND 0x00U
+#define CDC_GET_ENCAPSULATED_RESPONSE 0x01U
+#define CDC_SET_COMM_FEATURE 0x02U
+#define CDC_GET_COMM_FEATURE 0x03U
+#define CDC_CLEAR_COMM_FEATURE 0x04U
+#define CDC_SET_LINE_CODING 0x20U
+#define CDC_GET_LINE_CODING 0x21U
+#define CDC_SET_CONTROL_LINE_STATE 0x22U
+#define CDC_SEND_BREAK 0x23U
+
+/**
+ * @}
+ */
+
+
+/** @defgroup USBD_CORE_Exported_TypesDefinitions
+ * @{
+ */
+
+/**
+ * @}
+ */
+typedef struct
+{
+ uint32_t bitrate;
+ uint8_t format;
+ uint8_t paritytype;
+ uint8_t datatype;
+} USBD_CDC_LineCodingTypeDef;
+
+typedef struct _USBD_CDC_Itf
+{
+ int8_t (* Init)(void);
+ int8_t (* DeInit)(void);
+ int8_t (* Control)(uint8_t cmd, uint8_t *pbuf, uint16_t length);
+ int8_t (* Receive)(uint8_t *Buf, uint32_t *Len);
+ int8_t (* TransmitCplt)(uint8_t *Buf, uint32_t *Len, uint8_t epnum);
+} USBD_CDC_ItfTypeDef;
+
+
+typedef struct
+{
+ uint32_t data[CDC_DATA_HS_MAX_PACKET_SIZE / 4U]; /* Force 32-bit alignment */
+ uint8_t CmdOpCode;
+ uint8_t CmdLength;
+ uint8_t *RxBuffer;
+ uint8_t *TxBuffer;
+ uint32_t RxLength;
+ uint32_t TxLength;
+
+ __IO uint32_t TxState;
+ __IO uint32_t RxState;
+} USBD_CDC_HandleTypeDef;
+
+
+
+/** @defgroup USBD_CORE_Exported_Macros
+ * @{
+ */
+
+/**
+ * @}
+ */
+
+/** @defgroup USBD_CORE_Exported_Variables
+ * @{
+ */
+
+extern USBD_ClassTypeDef USBD_CDC;
+#define USBD_CDC_CLASS &USBD_CDC
+/**
+ * @}
+ */
+
+/** @defgroup USB_CORE_Exported_Functions
+ * @{
+ */
+uint8_t USBD_CDC_RegisterInterface(USBD_HandleTypeDef *pdev,
+ USBD_CDC_ItfTypeDef *fops);
+
+#ifdef USE_USBD_COMPOSITE
+uint8_t USBD_CDC_SetTxBuffer(USBD_HandleTypeDef *pdev, uint8_t *pbuff,
+ uint32_t length, uint8_t ClassId);
+uint8_t USBD_CDC_TransmitPacket(USBD_HandleTypeDef *pdev, uint8_t ClassId);
+#else
+uint8_t USBD_CDC_SetTxBuffer(USBD_HandleTypeDef *pdev, uint8_t *pbuff,
+ uint32_t length);
+uint8_t USBD_CDC_TransmitPacket(USBD_HandleTypeDef *pdev);
+#endif /* USE_USBD_COMPOSITE */
+uint8_t USBD_CDC_SetRxBuffer(USBD_HandleTypeDef *pdev, uint8_t *pbuff);
+uint8_t USBD_CDC_ReceivePacket(USBD_HandleTypeDef *pdev);
+/**
+ * @}
+ */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __USB_CDC_H */
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
diff --git a/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c b/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c
new file mode 100644
index 0000000..ad8da25
--- /dev/null
+++ b/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c
@@ -0,0 +1,893 @@
+/**
+ ******************************************************************************
+ * @file usbd_cdc.c
+ * @author MCD Application Team
+ * @brief This file provides the high layer firmware functions to manage the
+ * following functionalities of the USB CDC Class:
+ * - Initialization and Configuration of high and low layer
+ * - Enumeration as CDC Device (and enumeration for each implemented memory interface)
+ * - OUT/IN data transfer
+ * - Command IN transfer (class requests management)
+ * - Error management
+ *
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2015 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ * @verbatim
+ *
+ * ===================================================================
+ * CDC Class Driver Description
+ * ===================================================================
+ * This driver manages the "Universal Serial Bus Class Definitions for Communications Devices
+ * Revision 1.2 November 16, 2007" and the sub-protocol specification of "Universal Serial Bus
+ * Communications Class Subclass Specification for PSTN Devices Revision 1.2 February 9, 2007"
+ * This driver implements the following aspects of the specification:
+ * - Device descriptor management
+ * - Configuration descriptor management
+ * - Enumeration as CDC device with 2 data endpoints (IN and OUT) and 1 command endpoint (IN)
+ * - Requests management (as described in section 6.2 in specification)
+ * - Abstract Control Model compliant
+ * - Union Functional collection (using 1 IN endpoint for control)
+ * - Data interface class
+ *
+ * These aspects may be enriched or modified for a specific user application.
+ *
+ * This driver doesn't implement the following aspects of the specification
+ * (but it is possible to manage these features with some modifications on this driver):
+ * - Any class-specific aspect relative to communication classes should be managed by user application.
+ * - All communication classes other than PSTN are not managed
+ *
+ * @endverbatim
+ *
+ ******************************************************************************
+ */
+
+/* BSPDependencies
+- "stm32xxxxx_{eval}{discovery}{nucleo_144}.c"
+- "stm32xxxxx_{eval}{discovery}_io.c"
+EndBSPDependencies */
+
+/* Includes ------------------------------------------------------------------*/
+#include "usbd_cdc.h"
+#include "usbd_ctlreq.h"
+
+
+/** @addtogroup STM32_USB_DEVICE_LIBRARY
+ * @{
+ */
+
+
+/** @defgroup USBD_CDC
+ * @brief usbd core module
+ * @{
+ */
+
+/** @defgroup USBD_CDC_Private_TypesDefinitions
+ * @{
+ */
+/**
+ * @}
+ */
+
+
+/** @defgroup USBD_CDC_Private_Defines
+ * @{
+ */
+/**
+ * @}
+ */
+
+
+/** @defgroup USBD_CDC_Private_Macros
+ * @{
+ */
+
+/**
+ * @}
+ */
+
+
+/** @defgroup USBD_CDC_Private_FunctionPrototypes
+ * @{
+ */
+
+static uint8_t USBD_CDC_Init(USBD_HandleTypeDef *pdev, uint8_t cfgidx);
+static uint8_t USBD_CDC_DeInit(USBD_HandleTypeDef *pdev, uint8_t cfgidx);
+static uint8_t USBD_CDC_Setup(USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req);
+static uint8_t USBD_CDC_DataIn(USBD_HandleTypeDef *pdev, uint8_t epnum);
+static uint8_t USBD_CDC_DataOut(USBD_HandleTypeDef *pdev, uint8_t epnum);
+static uint8_t USBD_CDC_EP0_RxReady(USBD_HandleTypeDef *pdev);
+#ifndef USE_USBD_COMPOSITE
+static uint8_t *USBD_CDC_GetFSCfgDesc(uint16_t *length);
+static uint8_t *USBD_CDC_GetHSCfgDesc(uint16_t *length);
+static uint8_t *USBD_CDC_GetOtherSpeedCfgDesc(uint16_t *length);
+uint8_t *USBD_CDC_GetDeviceQualifierDescriptor(uint16_t *length);
+#endif /* USE_USBD_COMPOSITE */
+
+#ifndef USE_USBD_COMPOSITE
+/* USB Standard Device Descriptor */
+__ALIGN_BEGIN static uint8_t USBD_CDC_DeviceQualifierDesc[USB_LEN_DEV_QUALIFIER_DESC] __ALIGN_END =
+{
+ USB_LEN_DEV_QUALIFIER_DESC,
+ USB_DESC_TYPE_DEVICE_QUALIFIER,
+ 0x00,
+ 0x02,
+ 0x00,
+ 0x00,
+ 0x00,
+ 0x40,
+ 0x01,
+ 0x00,
+};
+#endif /* USE_USBD_COMPOSITE */
+/**
+ * @}
+ */
+
+/** @defgroup USBD_CDC_Private_Variables
+ * @{
+ */
+
+
+/* CDC interface class callbacks structure */
+USBD_ClassTypeDef USBD_CDC =
+{
+ USBD_CDC_Init,
+ USBD_CDC_DeInit,
+ USBD_CDC_Setup,
+ NULL, /* EP0_TxSent */
+ USBD_CDC_EP0_RxReady,
+ USBD_CDC_DataIn,
+ USBD_CDC_DataOut,
+ NULL,
+ NULL,
+ NULL,
+#ifdef USE_USBD_COMPOSITE
+ NULL,
+ NULL,
+ NULL,
+ NULL,
+#else
+ USBD_CDC_GetHSCfgDesc,
+ USBD_CDC_GetFSCfgDesc,
+ USBD_CDC_GetOtherSpeedCfgDesc,
+ USBD_CDC_GetDeviceQualifierDescriptor,
+#endif /* USE_USBD_COMPOSITE */
+};
+
+#ifndef USE_USBD_COMPOSITE
+/* USB CDC device Configuration Descriptor */
+__ALIGN_BEGIN static uint8_t USBD_CDC_CfgDesc[USB_CDC_CONFIG_DESC_SIZ] __ALIGN_END =
+{
+ /* Configuration Descriptor */
+ 0x09, /* bLength: Configuration Descriptor size */
+ USB_DESC_TYPE_CONFIGURATION, /* bDescriptorType: Configuration */
+ USB_CDC_CONFIG_DESC_SIZ, /* wTotalLength */
+ 0x00,
+ 0x02, /* bNumInterfaces: 2 interfaces */
+ 0x01, /* bConfigurationValue: Configuration value */
+ 0x00, /* iConfiguration: Index of string descriptor
+ describing the configuration */
+#if (USBD_SELF_POWERED == 1U)
+ 0xC0, /* bmAttributes: Bus Powered according to user configuration */
+#else
+ 0x80, /* bmAttributes: Bus Powered according to user configuration */
+#endif /* USBD_SELF_POWERED */
+ USBD_MAX_POWER, /* MaxPower (mA) */
+
+ /*---------------------------------------------------------------------------*/
+
+ /* Interface Descriptor */
+ 0x09, /* bLength: Interface Descriptor size */
+ USB_DESC_TYPE_INTERFACE, /* bDescriptorType: Interface */
+ /* Interface descriptor type */
+ 0x00, /* bInterfaceNumber: Number of Interface */
+ 0x00, /* bAlternateSetting: Alternate setting */
+ 0x01, /* bNumEndpoints: One endpoint used */
+ 0x02, /* bInterfaceClass: Communication Interface Class */
+ 0x02, /* bInterfaceSubClass: Abstract Control Model */
+ 0x01, /* bInterfaceProtocol: Common AT commands */
+ 0x00, /* iInterface */
+
+ /* Header Functional Descriptor */
+ 0x05, /* bLength: Endpoint Descriptor size */
+ 0x24, /* bDescriptorType: CS_INTERFACE */
+ 0x00, /* bDescriptorSubtype: Header Func Desc */
+ 0x10, /* bcdCDC: spec release number */
+ 0x01,
+
+ /* Call Management Functional Descriptor */
+ 0x05, /* bFunctionLength */
+ 0x24, /* bDescriptorType: CS_INTERFACE */
+ 0x01, /* bDescriptorSubtype: Call Management Func Desc */
+ 0x00, /* bmCapabilities: D0+D1 */
+ 0x01, /* bDataInterface */
+
+ /* ACM Functional Descriptor */
+ 0x04, /* bFunctionLength */
+ 0x24, /* bDescriptorType: CS_INTERFACE */
+ 0x02, /* bDescriptorSubtype: Abstract Control Management desc */
+ 0x02, /* bmCapabilities */
+
+ /* Union Functional Descriptor */
+ 0x05, /* bFunctionLength */
+ 0x24, /* bDescriptorType: CS_INTERFACE */
+ 0x06, /* bDescriptorSubtype: Union func desc */
+ 0x00, /* bMasterInterface: Communication class interface */
+ 0x01, /* bSlaveInterface0: Data Class Interface */
+
+ /* Endpoint 2 Descriptor */
+ 0x07, /* bLength: Endpoint Descriptor size */
+ USB_DESC_TYPE_ENDPOINT, /* bDescriptorType: Endpoint */
+ CDC_CMD_EP, /* bEndpointAddress */
+ 0x03, /* bmAttributes: Interrupt */
+ LOBYTE(CDC_CMD_PACKET_SIZE), /* wMaxPacketSize */
+ HIBYTE(CDC_CMD_PACKET_SIZE),
+ CDC_FS_BINTERVAL, /* bInterval */
+ /*---------------------------------------------------------------------------*/
+
+ /* Data class interface descriptor */
+ 0x09, /* bLength: Endpoint Descriptor size */
+ USB_DESC_TYPE_INTERFACE, /* bDescriptorType: */
+ 0x01, /* bInterfaceNumber: Number of Interface */
+ 0x00, /* bAlternateSetting: Alternate setting */
+ 0x02, /* bNumEndpoints: Two endpoints used */
+ 0x0A, /* bInterfaceClass: CDC */
+ 0x00, /* bInterfaceSubClass */
+ 0x00, /* bInterfaceProtocol */
+ 0x00, /* iInterface */
+
+ /* Endpoint OUT Descriptor */
+ 0x07, /* bLength: Endpoint Descriptor size */
+ USB_DESC_TYPE_ENDPOINT, /* bDescriptorType: Endpoint */
+ CDC_OUT_EP, /* bEndpointAddress */
+ 0x02, /* bmAttributes: Bulk */
+ LOBYTE(CDC_DATA_FS_MAX_PACKET_SIZE), /* wMaxPacketSize */
+ HIBYTE(CDC_DATA_FS_MAX_PACKET_SIZE),
+ 0x00, /* bInterval */
+
+ /* Endpoint IN Descriptor */
+ 0x07, /* bLength: Endpoint Descriptor size */
+ USB_DESC_TYPE_ENDPOINT, /* bDescriptorType: Endpoint */
+ CDC_IN_EP, /* bEndpointAddress */
+ 0x02, /* bmAttributes: Bulk */
+ LOBYTE(CDC_DATA_FS_MAX_PACKET_SIZE), /* wMaxPacketSize */
+ HIBYTE(CDC_DATA_FS_MAX_PACKET_SIZE),
+ 0x00 /* bInterval */
+};
+#endif /* USE_USBD_COMPOSITE */
+
+static uint8_t CDCInEpAdd = CDC_IN_EP;
+static uint8_t CDCOutEpAdd = CDC_OUT_EP;
+static uint8_t CDCCmdEpAdd = CDC_CMD_EP;
+
+/**
+ * @}
+ */
+
+/** @defgroup USBD_CDC_Private_Functions
+ * @{
+ */
+
+/**
+ * @brief USBD_CDC_Init
+ * Initialize the CDC interface
+ * @param pdev: device instance
+ * @param cfgidx: Configuration index
+ * @retval status
+ */
+static uint8_t USBD_CDC_Init(USBD_HandleTypeDef *pdev, uint8_t cfgidx)
+{
+ UNUSED(cfgidx);
+ USBD_CDC_HandleTypeDef *hcdc;
+
+ hcdc = (USBD_CDC_HandleTypeDef *)USBD_malloc(sizeof(USBD_CDC_HandleTypeDef));
+
+ if (hcdc == NULL)
+ {
+ pdev->pClassDataCmsit[pdev->classId] = NULL;
+ return (uint8_t)USBD_EMEM;
+ }
+
+ (void)USBD_memset(hcdc, 0, sizeof(USBD_CDC_HandleTypeDef));
+
+ pdev->pClassDataCmsit[pdev->classId] = (void *)hcdc;
+ pdev->pClassData = pdev->pClassDataCmsit[pdev->classId];
+
+#ifdef USE_USBD_COMPOSITE
+ /* Get the Endpoints addresses allocated for this class instance */
+ CDCInEpAdd = USBD_CoreGetEPAdd(pdev, USBD_EP_IN, USBD_EP_TYPE_BULK, (uint8_t)pdev->classId);
+ CDCOutEpAdd = USBD_CoreGetEPAdd(pdev, USBD_EP_OUT, USBD_EP_TYPE_BULK, (uint8_t)pdev->classId);
+ CDCCmdEpAdd = USBD_CoreGetEPAdd(pdev, USBD_EP_IN, USBD_EP_TYPE_INTR, (uint8_t)pdev->classId);
+#endif /* USE_USBD_COMPOSITE */
+
+ if (pdev->dev_speed == USBD_SPEED_HIGH)
+ {
+ /* Open EP IN */
+ (void)USBD_LL_OpenEP(pdev, CDCInEpAdd, USBD_EP_TYPE_BULK,
+ CDC_DATA_HS_IN_PACKET_SIZE);
+
+ pdev->ep_in[CDCInEpAdd & 0xFU].is_used = 1U;
+
+ /* Open EP OUT */
+ (void)USBD_LL_OpenEP(pdev, CDCOutEpAdd, USBD_EP_TYPE_BULK,
+ CDC_DATA_HS_OUT_PACKET_SIZE);
+
+ pdev->ep_out[CDCOutEpAdd & 0xFU].is_used = 1U;
+
+ /* Set bInterval for CDC CMD Endpoint */
+ pdev->ep_in[CDCCmdEpAdd & 0xFU].bInterval = CDC_HS_BINTERVAL;
+ }
+ else
+ {
+ /* Open EP IN */
+ (void)USBD_LL_OpenEP(pdev, CDCInEpAdd, USBD_EP_TYPE_BULK,
+ CDC_DATA_FS_IN_PACKET_SIZE);
+
+ pdev->ep_in[CDCInEpAdd & 0xFU].is_used = 1U;
+
+ /* Open EP OUT */
+ (void)USBD_LL_OpenEP(pdev, CDCOutEpAdd, USBD_EP_TYPE_BULK,
+ CDC_DATA_FS_OUT_PACKET_SIZE);
+
+ pdev->ep_out[CDCOutEpAdd & 0xFU].is_used = 1U;
+
+ /* Set bInterval for CMD Endpoint */
+ pdev->ep_in[CDCCmdEpAdd & 0xFU].bInterval = CDC_FS_BINTERVAL;
+ }
+
+ /* Open Command IN EP */
+ (void)USBD_LL_OpenEP(pdev, CDCCmdEpAdd, USBD_EP_TYPE_INTR, CDC_CMD_PACKET_SIZE);
+ pdev->ep_in[CDCCmdEpAdd & 0xFU].is_used = 1U;
+
+ hcdc->RxBuffer = NULL;
+
+ /* Init physical Interface components */
+ ((USBD_CDC_ItfTypeDef *)pdev->pUserData[pdev->classId])->Init();
+
+ /* Init Xfer states */
+ hcdc->TxState = 0U;
+ hcdc->RxState = 0U;
+
+ if (hcdc->RxBuffer == NULL)
+ {
+ return (uint8_t)USBD_EMEM;
+ }
+
+ if (pdev->dev_speed == USBD_SPEED_HIGH)
+ {
+ /* Prepare Out endpoint to receive next packet */
+ (void)USBD_LL_PrepareReceive(pdev, CDCOutEpAdd, hcdc->RxBuffer,
+ CDC_DATA_HS_OUT_PACKET_SIZE);
+ }
+ else
+ {
+ /* Prepare Out endpoint to receive next packet */
+ (void)USBD_LL_PrepareReceive(pdev, CDCOutEpAdd, hcdc->RxBuffer,
+ CDC_DATA_FS_OUT_PACKET_SIZE);
+ }
+
+ return (uint8_t)USBD_OK;
+}
+
+/**
+ * @brief USBD_CDC_Init
+ * DeInitialize the CDC layer
+ * @param pdev: device instance
+ * @param cfgidx: Configuration index
+ * @retval status
+ */
+static uint8_t USBD_CDC_DeInit(USBD_HandleTypeDef *pdev, uint8_t cfgidx)
+{
+ UNUSED(cfgidx);
+
+
+#ifdef USE_USBD_COMPOSITE
+ /* Get the Endpoints addresses allocated for this CDC class instance */
+ CDCInEpAdd = USBD_CoreGetEPAdd(pdev, USBD_EP_IN, USBD_EP_TYPE_BULK, (uint8_t)pdev->classId);
+ CDCOutEpAdd = USBD_CoreGetEPAdd(pdev, USBD_EP_OUT, USBD_EP_TYPE_BULK, (uint8_t)pdev->classId);
+ CDCCmdEpAdd = USBD_CoreGetEPAdd(pdev, USBD_EP_IN, USBD_EP_TYPE_INTR, (uint8_t)pdev->classId);
+#endif /* USE_USBD_COMPOSITE */
+
+ /* Close EP IN */
+ (void)USBD_LL_CloseEP(pdev, CDCInEpAdd);
+ pdev->ep_in[CDCInEpAdd & 0xFU].is_used = 0U;
+
+ /* Close EP OUT */
+ (void)USBD_LL_CloseEP(pdev, CDCOutEpAdd);
+ pdev->ep_out[CDCOutEpAdd & 0xFU].is_used = 0U;
+
+ /* Close Command IN EP */
+ (void)USBD_LL_CloseEP(pdev, CDCCmdEpAdd);
+ pdev->ep_in[CDCCmdEpAdd & 0xFU].is_used = 0U;
+ pdev->ep_in[CDCCmdEpAdd & 0xFU].bInterval = 0U;
+
+ /* DeInit physical Interface components */
+ if (pdev->pClassDataCmsit[pdev->classId] != NULL)
+ {
+ ((USBD_CDC_ItfTypeDef *)pdev->pUserData[pdev->classId])->DeInit();
+ (void)USBD_free(pdev->pClassDataCmsit[pdev->classId]);
+ pdev->pClassDataCmsit[pdev->classId] = NULL;
+ pdev->pClassData = NULL;
+ }
+
+ return (uint8_t)USBD_OK;
+}
+
+/**
+ * @brief USBD_CDC_Setup
+ * Handle the CDC specific requests
+ * @param pdev: instance
+ * @param req: usb requests
+ * @retval status
+ */
+static uint8_t USBD_CDC_Setup(USBD_HandleTypeDef *pdev,
+ USBD_SetupReqTypedef *req)
+{
+ USBD_CDC_HandleTypeDef *hcdc = (USBD_CDC_HandleTypeDef *)pdev->pClassDataCmsit[pdev->classId];
+ uint16_t len;
+ uint8_t ifalt = 0U;
+ uint16_t status_info = 0U;
+ USBD_StatusTypeDef ret = USBD_OK;
+
+ if (hcdc == NULL)
+ {
+ return (uint8_t)USBD_FAIL;
+ }
+
+ switch (req->bmRequest & USB_REQ_TYPE_MASK)
+ {
+ case USB_REQ_TYPE_CLASS:
+ if (req->wLength != 0U)
+ {
+ if ((req->bmRequest & 0x80U) != 0U)
+ {
+ ((USBD_CDC_ItfTypeDef *)pdev->pUserData[pdev->classId])->Control(req->bRequest,
+ (uint8_t *)hcdc->data,
+ req->wLength);
+
+ len = MIN(CDC_REQ_MAX_DATA_SIZE, req->wLength);
+ (void)USBD_CtlSendData(pdev, (uint8_t *)hcdc->data, len);
+ }
+ else
+ {
+ hcdc->CmdOpCode = req->bRequest;
+ hcdc->CmdLength = (uint8_t)MIN(req->wLength, USB_MAX_EP0_SIZE);
+
+ (void)USBD_CtlPrepareRx(pdev, (uint8_t *)hcdc->data, hcdc->CmdLength);
+ }
+ }
+ else
+ {
+ ((USBD_CDC_ItfTypeDef *)pdev->pUserData[pdev->classId])->Control(req->bRequest,
+ (uint8_t *)req, 0U);
+ }
+ break;
+
+ case USB_REQ_TYPE_STANDARD:
+ switch (req->bRequest)
+ {
+ case USB_REQ_GET_STATUS:
+ if (pdev->dev_state == USBD_STATE_CONFIGURED)
+ {
+ (void)USBD_CtlSendData(pdev, (uint8_t *)&status_info, 2U);
+ }
+ else
+ {
+ USBD_CtlError(pdev, req);
+ ret = USBD_FAIL;
+ }
+ break;
+
+ case USB_REQ_GET_INTERFACE:
+ if (pdev->dev_state == USBD_STATE_CONFIGURED)
+ {
+ (void)USBD_CtlSendData(pdev, &ifalt, 1U);
+ }
+ else
+ {
+ USBD_CtlError(pdev, req);
+ ret = USBD_FAIL;
+ }
+ break;
+
+ case USB_REQ_SET_INTERFACE:
+ if (pdev->dev_state != USBD_STATE_CONFIGURED)
+ {
+ USBD_CtlError(pdev, req);
+ ret = USBD_FAIL;
+ }
+ break;
+
+ case USB_REQ_CLEAR_FEATURE:
+ break;
+
+ default:
+ USBD_CtlError(pdev, req);
+ ret = USBD_FAIL;
+ break;
+ }
+ break;
+
+ default:
+ USBD_CtlError(pdev, req);
+ ret = USBD_FAIL;
+ break;
+ }
+
+ return (uint8_t)ret;
+}
+
+/**
+ * @brief USBD_CDC_DataIn
+ * Data sent on non-control IN endpoint
+ * @param pdev: device instance
+ * @param epnum: endpoint number
+ * @retval status
+ */
+static uint8_t USBD_CDC_DataIn(USBD_HandleTypeDef *pdev, uint8_t epnum)
+{
+ USBD_CDC_HandleTypeDef *hcdc;
+ PCD_HandleTypeDef *hpcd = (PCD_HandleTypeDef *)pdev->pData;
+
+ if (pdev->pClassDataCmsit[pdev->classId] == NULL)
+ {
+ return (uint8_t)USBD_FAIL;
+ }
+
+ hcdc = (USBD_CDC_HandleTypeDef *)pdev->pClassDataCmsit[pdev->classId];
+
+ if ((pdev->ep_in[epnum & 0xFU].total_length > 0U) &&
+ ((pdev->ep_in[epnum & 0xFU].total_length % hpcd->IN_ep[epnum & 0xFU].maxpacket) == 0U))
+ {
+ /* Update the packet total length */
+ pdev->ep_in[epnum & 0xFU].total_length = 0U;
+
+ /* Send ZLP */
+ (void)USBD_LL_Transmit(pdev, epnum, NULL, 0U);
+ }
+ else
+ {
+ hcdc->TxState = 0U;
+
+ if (((USBD_CDC_ItfTypeDef *)pdev->pUserData[pdev->classId])->TransmitCplt != NULL)
+ {
+ ((USBD_CDC_ItfTypeDef *)pdev->pUserData[pdev->classId])->TransmitCplt(hcdc->TxBuffer, &hcdc->TxLength, epnum);
+ }
+ }
+
+ return (uint8_t)USBD_OK;
+}
+
+/**
+ * @brief USBD_CDC_DataOut
+ * Data received on non-control Out endpoint
+ * @param pdev: device instance
+ * @param epnum: endpoint number
+ * @retval status
+ */
+static uint8_t USBD_CDC_DataOut(USBD_HandleTypeDef *pdev, uint8_t epnum)
+{
+ USBD_CDC_HandleTypeDef *hcdc = (USBD_CDC_HandleTypeDef *)pdev->pClassDataCmsit[pdev->classId];
+
+ if (pdev->pClassDataCmsit[pdev->classId] == NULL)
+ {
+ return (uint8_t)USBD_FAIL;
+ }
+
+ /* Get the received data length */
+ hcdc->RxLength = USBD_LL_GetRxDataSize(pdev, epnum);
+
+ /* USB data will be immediately processed, this allow next USB traffic being
+ NAKed till the end of the application Xfer */
+
+ ((USBD_CDC_ItfTypeDef *)pdev->pUserData[pdev->classId])->Receive(hcdc->RxBuffer, &hcdc->RxLength);
+
+ return (uint8_t)USBD_OK;
+}
+
+/**
+ * @brief USBD_CDC_EP0_RxReady
+ * Handle EP0 Rx Ready event
+ * @param pdev: device instance
+ * @retval status
+ */
+static uint8_t USBD_CDC_EP0_RxReady(USBD_HandleTypeDef *pdev)
+{
+ USBD_CDC_HandleTypeDef *hcdc = (USBD_CDC_HandleTypeDef *)pdev->pClassDataCmsit[pdev->classId];
+
+ if (hcdc == NULL)
+ {
+ return (uint8_t)USBD_FAIL;
+ }
+
+ if ((pdev->pUserData[pdev->classId] != NULL) && (hcdc->CmdOpCode != 0xFFU))
+ {
+ ((USBD_CDC_ItfTypeDef *)pdev->pUserData[pdev->classId])->Control(hcdc->CmdOpCode,
+ (uint8_t *)hcdc->data,
+ (uint16_t)hcdc->CmdLength);
+ hcdc->CmdOpCode = 0xFFU;
+ }
+
+ return (uint8_t)USBD_OK;
+}
+#ifndef USE_USBD_COMPOSITE
+/**
+ * @brief USBD_CDC_GetFSCfgDesc
+ * Return configuration descriptor
+ * @param length : pointer data length
+ * @retval pointer to descriptor buffer
+ */
+static uint8_t *USBD_CDC_GetFSCfgDesc(uint16_t *length)
+{
+ USBD_EpDescTypeDef *pEpCmdDesc = USBD_GetEpDesc(USBD_CDC_CfgDesc, CDC_CMD_EP);
+ USBD_EpDescTypeDef *pEpOutDesc = USBD_GetEpDesc(USBD_CDC_CfgDesc, CDC_OUT_EP);
+ USBD_EpDescTypeDef *pEpInDesc = USBD_GetEpDesc(USBD_CDC_CfgDesc, CDC_IN_EP);
+
+ if (pEpCmdDesc != NULL)
+ {
+ pEpCmdDesc->bInterval = CDC_FS_BINTERVAL;
+ }
+
+ if (pEpOutDesc != NULL)
+ {
+ pEpOutDesc->wMaxPacketSize = CDC_DATA_FS_MAX_PACKET_SIZE;
+ }
+
+ if (pEpInDesc != NULL)
+ {
+ pEpInDesc->wMaxPacketSize = CDC_DATA_FS_MAX_PACKET_SIZE;
+ }
+
+ *length = (uint16_t)sizeof(USBD_CDC_CfgDesc);
+ return USBD_CDC_CfgDesc;
+}
+
+/**
+ * @brief USBD_CDC_GetHSCfgDesc
+ * Return configuration descriptor
+ * @param length : pointer data length
+ * @retval pointer to descriptor buffer
+ */
+static uint8_t *USBD_CDC_GetHSCfgDesc(uint16_t *length)
+{
+ USBD_EpDescTypeDef *pEpCmdDesc = USBD_GetEpDesc(USBD_CDC_CfgDesc, CDC_CMD_EP);
+ USBD_EpDescTypeDef *pEpOutDesc = USBD_GetEpDesc(USBD_CDC_CfgDesc, CDC_OUT_EP);
+ USBD_EpDescTypeDef *pEpInDesc = USBD_GetEpDesc(USBD_CDC_CfgDesc, CDC_IN_EP);
+
+ if (pEpCmdDesc != NULL)
+ {
+ pEpCmdDesc->bInterval = CDC_HS_BINTERVAL;
+ }
+
+ if (pEpOutDesc != NULL)
+ {
+ pEpOutDesc->wMaxPacketSize = CDC_DATA_HS_MAX_PACKET_SIZE;
+ }
+
+ if (pEpInDesc != NULL)
+ {
+ pEpInDesc->wMaxPacketSize = CDC_DATA_HS_MAX_PACKET_SIZE;
+ }
+
+ *length = (uint16_t)sizeof(USBD_CDC_CfgDesc);
+ return USBD_CDC_CfgDesc;
+}
+
+/**
+ * @brief USBD_CDC_GetOtherSpeedCfgDesc
+ * Return configuration descriptor
+ * @param length : pointer data length
+ * @retval pointer to descriptor buffer
+ */
+static uint8_t *USBD_CDC_GetOtherSpeedCfgDesc(uint16_t *length)
+{
+ USBD_EpDescTypeDef *pEpCmdDesc = USBD_GetEpDesc(USBD_CDC_CfgDesc, CDC_CMD_EP);
+ USBD_EpDescTypeDef *pEpOutDesc = USBD_GetEpDesc(USBD_CDC_CfgDesc, CDC_OUT_EP);
+ USBD_EpDescTypeDef *pEpInDesc = USBD_GetEpDesc(USBD_CDC_CfgDesc, CDC_IN_EP);
+
+ if (pEpCmdDesc != NULL)
+ {
+ pEpCmdDesc->bInterval = CDC_FS_BINTERVAL;
+ }
+
+ if (pEpOutDesc != NULL)
+ {
+ pEpOutDesc->wMaxPacketSize = CDC_DATA_FS_MAX_PACKET_SIZE;
+ }
+
+ if (pEpInDesc != NULL)
+ {
+ pEpInDesc->wMaxPacketSize = CDC_DATA_FS_MAX_PACKET_SIZE;
+ }
+
+ *length = (uint16_t)sizeof(USBD_CDC_CfgDesc);
+ return USBD_CDC_CfgDesc;
+}
+
+/**
+ * @brief USBD_CDC_GetDeviceQualifierDescriptor
+ * return Device Qualifier descriptor
+ * @param length : pointer data length
+ * @retval pointer to descriptor buffer
+ */
+uint8_t *USBD_CDC_GetDeviceQualifierDescriptor(uint16_t *length)
+{
+ *length = (uint16_t)sizeof(USBD_CDC_DeviceQualifierDesc);
+
+ return USBD_CDC_DeviceQualifierDesc;
+}
+#endif /* USE_USBD_COMPOSITE */
+/**
+ * @brief USBD_CDC_RegisterInterface
+ * @param pdev: device instance
+ * @param fops: CD Interface callback
+ * @retval status
+ */
+uint8_t USBD_CDC_RegisterInterface(USBD_HandleTypeDef *pdev,
+ USBD_CDC_ItfTypeDef *fops)
+{
+ if (fops == NULL)
+ {
+ return (uint8_t)USBD_FAIL;
+ }
+
+ pdev->pUserData[pdev->classId] = fops;
+
+ return (uint8_t)USBD_OK;
+}
+
+
+/**
+ * @brief USBD_CDC_SetTxBuffer
+ * @param pdev: device instance
+ * @param pbuff: Tx Buffer
+ * @param length: length of data to be sent
+ * @param ClassId: The Class ID
+ * @retval status
+ */
+#ifdef USE_USBD_COMPOSITE
+uint8_t USBD_CDC_SetTxBuffer(USBD_HandleTypeDef *pdev,
+ uint8_t *pbuff, uint32_t length, uint8_t ClassId)
+{
+ USBD_CDC_HandleTypeDef *hcdc = (USBD_CDC_HandleTypeDef *)pdev->pClassDataCmsit[ClassId];
+#else
+uint8_t USBD_CDC_SetTxBuffer(USBD_HandleTypeDef *pdev,
+ uint8_t *pbuff, uint32_t length)
+{
+ USBD_CDC_HandleTypeDef *hcdc = (USBD_CDC_HandleTypeDef *)pdev->pClassDataCmsit[pdev->classId];
+#endif /* USE_USBD_COMPOSITE */
+
+ if (hcdc == NULL)
+ {
+ return (uint8_t)USBD_FAIL;
+ }
+
+ hcdc->TxBuffer = pbuff;
+ hcdc->TxLength = length;
+
+ return (uint8_t)USBD_OK;
+}
+
+/**
+ * @brief USBD_CDC_SetRxBuffer
+ * @param pdev: device instance
+ * @param pbuff: Rx Buffer
+ * @retval status
+ */
+uint8_t USBD_CDC_SetRxBuffer(USBD_HandleTypeDef *pdev, uint8_t *pbuff)
+{
+ USBD_CDC_HandleTypeDef *hcdc = (USBD_CDC_HandleTypeDef *)pdev->pClassDataCmsit[pdev->classId];
+
+ if (hcdc == NULL)
+ {
+ return (uint8_t)USBD_FAIL;
+ }
+
+ hcdc->RxBuffer = pbuff;
+
+ return (uint8_t)USBD_OK;
+}
+
+
+/**
+ * @brief USBD_CDC_TransmitPacket
+ * Transmit packet on IN endpoint
+ * @param pdev: device instance
+ * @param ClassId: The Class ID
+ * @retval status
+ */
+#ifdef USE_USBD_COMPOSITE
+uint8_t USBD_CDC_TransmitPacket(USBD_HandleTypeDef *pdev, uint8_t ClassId)
+{
+ USBD_CDC_HandleTypeDef *hcdc = (USBD_CDC_HandleTypeDef *)pdev->pClassDataCmsit[ClassId];
+#else
+uint8_t USBD_CDC_TransmitPacket(USBD_HandleTypeDef *pdev)
+{
+ USBD_CDC_HandleTypeDef *hcdc = (USBD_CDC_HandleTypeDef *)pdev->pClassDataCmsit[pdev->classId];
+#endif /* USE_USBD_COMPOSITE */
+
+ USBD_StatusTypeDef ret = USBD_BUSY;
+
+#ifdef USE_USBD_COMPOSITE
+ /* Get the Endpoints addresses allocated for this class instance */
+ CDCInEpAdd = USBD_CoreGetEPAdd(pdev, USBD_EP_IN, USBD_EP_TYPE_BULK, ClassId);
+#endif /* USE_USBD_COMPOSITE */
+
+ if (hcdc == NULL)
+ {
+ return (uint8_t)USBD_FAIL;
+ }
+
+ if (hcdc->TxState == 0U)
+ {
+ /* Tx Transfer in progress */
+ hcdc->TxState = 1U;
+
+ /* Update the packet total length */
+ pdev->ep_in[CDCInEpAdd & 0xFU].total_length = hcdc->TxLength;
+
+ /* Transmit next packet */
+ (void)USBD_LL_Transmit(pdev, CDCInEpAdd, hcdc->TxBuffer, hcdc->TxLength);
+
+ ret = USBD_OK;
+ }
+
+ return (uint8_t)ret;
+}
+
+/**
+ * @brief USBD_CDC_ReceivePacket
+ * prepare OUT Endpoint for reception
+ * @param pdev: device instance
+ * @retval status
+ */
+uint8_t USBD_CDC_ReceivePacket(USBD_HandleTypeDef *pdev)
+{
+ USBD_CDC_HandleTypeDef *hcdc = (USBD_CDC_HandleTypeDef *)pdev->pClassDataCmsit[pdev->classId];
+
+#ifdef USE_USBD_COMPOSITE
+ /* Get the Endpoints addresses allocated for this class instance */
+ CDCOutEpAdd = USBD_CoreGetEPAdd(pdev, USBD_EP_OUT, USBD_EP_TYPE_BULK, (uint8_t)pdev->classId);
+#endif /* USE_USBD_COMPOSITE */
+
+ if (pdev->pClassDataCmsit[pdev->classId] == NULL)
+ {
+ return (uint8_t)USBD_FAIL;
+ }
+
+ if (pdev->dev_speed == USBD_SPEED_HIGH)
+ {
+ /* Prepare Out endpoint to receive next packet */
+ (void)USBD_LL_PrepareReceive(pdev, CDCOutEpAdd, hcdc->RxBuffer,
+ CDC_DATA_HS_OUT_PACKET_SIZE);
+ }
+ else
+ {
+ /* Prepare Out endpoint to receive next packet */
+ (void)USBD_LL_PrepareReceive(pdev, CDCOutEpAdd, hcdc->RxBuffer,
+ CDC_DATA_FS_OUT_PACKET_SIZE);
+ }
+
+ return (uint8_t)USBD_OK;
+}
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
diff --git a/Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_core.h b/Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_core.h
new file mode 100644
index 0000000..4672921
--- /dev/null
+++ b/Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_core.h
@@ -0,0 +1,175 @@
+/**
+ ******************************************************************************
+ * @file usbd_core.h
+ * @author MCD Application Team
+ * @brief Header file for usbd_core.c file
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2015 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __USBD_CORE_H
+#define __USBD_CORE_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "usbd_conf.h"
+#include "usbd_def.h"
+#include "usbd_ioreq.h"
+#include "usbd_ctlreq.h"
+
+/** @addtogroup STM32_USB_DEVICE_LIBRARY
+ * @{
+ */
+
+/** @defgroup USBD_CORE
+ * @brief This file is the Header file for usbd_core.c file
+ * @{
+ */
+
+
+/** @defgroup USBD_CORE_Exported_Defines
+ * @{
+ */
+#ifndef USBD_DEBUG_LEVEL
+#define USBD_DEBUG_LEVEL 0U
+#endif /* USBD_DEBUG_LEVEL */
+/**
+ * @}
+ */
+
+
+/** @defgroup USBD_CORE_Exported_TypesDefinitions
+ * @{
+ */
+
+
+/**
+ * @}
+ */
+
+
+
+/** @defgroup USBD_CORE_Exported_Macros
+ * @{
+ */
+
+/**
+ * @}
+ */
+
+/** @defgroup USBD_CORE_Exported_Variables
+ * @{
+ */
+#define USBD_SOF USBD_LL_SOF
+/**
+ * @}
+ */
+
+/** @defgroup USBD_CORE_Exported_FunctionsPrototype
+ * @{
+ */
+USBD_StatusTypeDef USBD_Init(USBD_HandleTypeDef *pdev, USBD_DescriptorsTypeDef *pdesc, uint8_t id);
+USBD_StatusTypeDef USBD_DeInit(USBD_HandleTypeDef *pdev);
+USBD_StatusTypeDef USBD_Start(USBD_HandleTypeDef *pdev);
+USBD_StatusTypeDef USBD_Stop(USBD_HandleTypeDef *pdev);
+USBD_StatusTypeDef USBD_RegisterClass(USBD_HandleTypeDef *pdev, USBD_ClassTypeDef *pclass);
+#if (USBD_USER_REGISTER_CALLBACK == 1U)
+USBD_StatusTypeDef USBD_RegisterDevStateCallback(USBD_HandleTypeDef *pdev, USBD_DevStateCallbackTypeDef pUserCallback);
+#endif /* USBD_USER_REGISTER_CALLBACK */
+
+#ifdef USE_USBD_COMPOSITE
+USBD_StatusTypeDef USBD_RegisterClassComposite(USBD_HandleTypeDef *pdev, USBD_ClassTypeDef *pclass,
+ USBD_CompositeClassTypeDef classtype, uint8_t *EpAddr);
+
+USBD_StatusTypeDef USBD_UnRegisterClassComposite(USBD_HandleTypeDef *pdev);
+uint8_t USBD_CoreGetEPAdd(USBD_HandleTypeDef *pdev, uint8_t ep_dir, uint8_t ep_type, uint8_t ClassId);
+#endif /* USE_USBD_COMPOSITE */
+
+uint8_t USBD_CoreFindIF(USBD_HandleTypeDef *pdev, uint8_t index);
+uint8_t USBD_CoreFindEP(USBD_HandleTypeDef *pdev, uint8_t index);
+
+USBD_StatusTypeDef USBD_RunTestMode(USBD_HandleTypeDef *pdev);
+USBD_StatusTypeDef USBD_SetClassConfig(USBD_HandleTypeDef *pdev, uint8_t cfgidx);
+USBD_StatusTypeDef USBD_ClrClassConfig(USBD_HandleTypeDef *pdev, uint8_t cfgidx);
+
+USBD_StatusTypeDef USBD_LL_SetupStage(USBD_HandleTypeDef *pdev, uint8_t *psetup);
+USBD_StatusTypeDef USBD_LL_DataOutStage(USBD_HandleTypeDef *pdev, uint8_t epnum, uint8_t *pdata);
+USBD_StatusTypeDef USBD_LL_DataInStage(USBD_HandleTypeDef *pdev, uint8_t epnum, uint8_t *pdata);
+
+USBD_StatusTypeDef USBD_LL_Reset(USBD_HandleTypeDef *pdev);
+USBD_StatusTypeDef USBD_LL_SetSpeed(USBD_HandleTypeDef *pdev, USBD_SpeedTypeDef speed);
+USBD_StatusTypeDef USBD_LL_Suspend(USBD_HandleTypeDef *pdev);
+USBD_StatusTypeDef USBD_LL_Resume(USBD_HandleTypeDef *pdev);
+
+USBD_StatusTypeDef USBD_LL_SOF(USBD_HandleTypeDef *pdev);
+USBD_StatusTypeDef USBD_LL_IsoINIncomplete(USBD_HandleTypeDef *pdev, uint8_t epnum);
+USBD_StatusTypeDef USBD_LL_IsoOUTIncomplete(USBD_HandleTypeDef *pdev, uint8_t epnum);
+
+USBD_StatusTypeDef USBD_LL_DevConnected(USBD_HandleTypeDef *pdev);
+USBD_StatusTypeDef USBD_LL_DevDisconnected(USBD_HandleTypeDef *pdev);
+
+/* USBD Low Level Driver */
+USBD_StatusTypeDef USBD_LL_Init(USBD_HandleTypeDef *pdev);
+USBD_StatusTypeDef USBD_LL_DeInit(USBD_HandleTypeDef *pdev);
+USBD_StatusTypeDef USBD_LL_Start(USBD_HandleTypeDef *pdev);
+USBD_StatusTypeDef USBD_LL_Stop(USBD_HandleTypeDef *pdev);
+
+USBD_StatusTypeDef USBD_LL_OpenEP(USBD_HandleTypeDef *pdev, uint8_t ep_addr,
+ uint8_t ep_type, uint16_t ep_mps);
+
+USBD_StatusTypeDef USBD_LL_CloseEP(USBD_HandleTypeDef *pdev, uint8_t ep_addr);
+USBD_StatusTypeDef USBD_LL_FlushEP(USBD_HandleTypeDef *pdev, uint8_t ep_addr);
+USBD_StatusTypeDef USBD_LL_StallEP(USBD_HandleTypeDef *pdev, uint8_t ep_addr);
+USBD_StatusTypeDef USBD_LL_ClearStallEP(USBD_HandleTypeDef *pdev, uint8_t ep_addr);
+USBD_StatusTypeDef USBD_LL_SetUSBAddress(USBD_HandleTypeDef *pdev, uint8_t dev_addr);
+
+USBD_StatusTypeDef USBD_LL_Transmit(USBD_HandleTypeDef *pdev, uint8_t ep_addr,
+ uint8_t *pbuf, uint32_t size);
+
+USBD_StatusTypeDef USBD_LL_PrepareReceive(USBD_HandleTypeDef *pdev, uint8_t ep_addr,
+ uint8_t *pbuf, uint32_t size);
+
+#ifdef USBD_HS_TESTMODE_ENABLE
+USBD_StatusTypeDef USBD_LL_SetTestMode(USBD_HandleTypeDef *pdev, uint8_t testmode);
+#endif /* USBD_HS_TESTMODE_ENABLE */
+
+uint8_t USBD_LL_IsStallEP(USBD_HandleTypeDef *pdev, uint8_t ep_addr);
+uint32_t USBD_LL_GetRxDataSize(USBD_HandleTypeDef *pdev, uint8_t ep_addr);
+
+void USBD_LL_Delay(uint32_t Delay);
+
+void *USBD_GetEpDesc(uint8_t *pConfDesc, uint8_t EpAddr);
+USBD_DescHeaderTypeDef *USBD_GetNextDesc(uint8_t *pbuf, uint16_t *ptr);
+
+/**
+ * @}
+ */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __USBD_CORE_H */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+
diff --git a/Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_ctlreq.h b/Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_ctlreq.h
new file mode 100644
index 0000000..6c45d6c
--- /dev/null
+++ b/Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_ctlreq.h
@@ -0,0 +1,101 @@
+/**
+ ******************************************************************************
+ * @file usbd_req.h
+ * @author MCD Application Team
+ * @brief Header file for the usbd_req.c file
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2015 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __USB_REQUEST_H
+#define __USB_REQUEST_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "usbd_def.h"
+
+
+/** @addtogroup STM32_USB_DEVICE_LIBRARY
+ * @{
+ */
+
+/** @defgroup USBD_REQ
+ * @brief header file for the usbd_req.c file
+ * @{
+ */
+
+/** @defgroup USBD_REQ_Exported_Defines
+ * @{
+ */
+/**
+ * @}
+ */
+
+
+/** @defgroup USBD_REQ_Exported_Types
+ * @{
+ */
+/**
+ * @}
+ */
+
+
+
+/** @defgroup USBD_REQ_Exported_Macros
+ * @{
+ */
+/**
+ * @}
+ */
+
+/** @defgroup USBD_REQ_Exported_Variables
+ * @{
+ */
+/**
+ * @}
+ */
+
+/** @defgroup USBD_REQ_Exported_FunctionsPrototype
+ * @{
+ */
+
+USBD_StatusTypeDef USBD_StdDevReq(USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req);
+USBD_StatusTypeDef USBD_StdItfReq(USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req);
+USBD_StatusTypeDef USBD_StdEPReq(USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req);
+
+void USBD_CtlError(USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req);
+void USBD_ParseSetupRequest(USBD_SetupReqTypedef *req, uint8_t *pdata);
+void USBD_GetString(uint8_t *desc, uint8_t *unicode, uint16_t *len);
+
+/**
+ * @}
+ */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __USB_REQUEST_H */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+
diff --git a/Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_def.h b/Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_def.h
new file mode 100644
index 0000000..5b2394e
--- /dev/null
+++ b/Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_def.h
@@ -0,0 +1,524 @@
+/**
+ ******************************************************************************
+ * @file usbd_def.h
+ * @author MCD Application Team
+ * @brief General defines for the usb device library
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2015 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __USBD_DEF_H
+#define __USBD_DEF_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "usbd_conf.h"
+
+/** @addtogroup STM32_USBD_DEVICE_LIBRARY
+ * @{
+ */
+
+/** @defgroup USB_DEF
+ * @brief general defines for the usb device library file
+ * @{
+ */
+
+/** @defgroup USB_DEF_Exported_Defines
+ * @{
+ */
+
+#ifndef NULL
+#define NULL 0U
+#endif /* NULL */
+
+#ifndef USBD_MAX_NUM_INTERFACES
+#define USBD_MAX_NUM_INTERFACES 1U
+#endif /* USBD_MAX_NUM_CONFIGURATION */
+
+#ifndef USBD_MAX_NUM_CONFIGURATION
+#define USBD_MAX_NUM_CONFIGURATION 1U
+#endif /* USBD_MAX_NUM_CONFIGURATION */
+
+#ifdef USE_USBD_COMPOSITE
+#ifndef USBD_MAX_SUPPORTED_CLASS
+#define USBD_MAX_SUPPORTED_CLASS 4U
+#endif /* USBD_MAX_SUPPORTED_CLASS */
+#else
+#ifndef USBD_MAX_SUPPORTED_CLASS
+#define USBD_MAX_SUPPORTED_CLASS 1U
+#endif /* USBD_MAX_SUPPORTED_CLASS */
+#endif /* USE_USBD_COMPOSITE */
+
+#ifndef USBD_MAX_CLASS_ENDPOINTS
+#define USBD_MAX_CLASS_ENDPOINTS 5U
+#endif /* USBD_MAX_CLASS_ENDPOINTS */
+
+#ifndef USBD_MAX_CLASS_INTERFACES
+#define USBD_MAX_CLASS_INTERFACES 5U
+#endif /* USBD_MAX_CLASS_INTERFACES */
+
+#ifndef USBD_LPM_ENABLED
+#define USBD_LPM_ENABLED 0U
+#endif /* USBD_LPM_ENABLED */
+
+#ifndef USBD_SELF_POWERED
+#define USBD_SELF_POWERED 1U
+#endif /*USBD_SELF_POWERED */
+
+#ifndef USBD_MAX_POWER
+#define USBD_MAX_POWER 0x32U /* 100 mA */
+#endif /* USBD_MAX_POWER */
+
+#ifndef USBD_SUPPORT_USER_STRING_DESC
+#define USBD_SUPPORT_USER_STRING_DESC 0U
+#endif /* USBD_SUPPORT_USER_STRING_DESC */
+
+#ifndef USBD_CLASS_USER_STRING_DESC
+#define USBD_CLASS_USER_STRING_DESC 0U
+#endif /* USBD_CLASS_USER_STRING_DESC */
+
+#define USB_LEN_DEV_QUALIFIER_DESC 0x0AU
+#define USB_LEN_DEV_DESC 0x12U
+#define USB_LEN_CFG_DESC 0x09U
+#define USB_LEN_IF_DESC 0x09U
+#define USB_LEN_EP_DESC 0x07U
+#define USB_LEN_OTG_DESC 0x03U
+#define USB_LEN_LANGID_STR_DESC 0x04U
+#define USB_LEN_OTHER_SPEED_DESC_SIZ 0x09U
+
+#define USBD_IDX_LANGID_STR 0x00U
+#define USBD_IDX_MFC_STR 0x01U
+#define USBD_IDX_PRODUCT_STR 0x02U
+#define USBD_IDX_SERIAL_STR 0x03U
+#define USBD_IDX_CONFIG_STR 0x04U
+#define USBD_IDX_INTERFACE_STR 0x05U
+
+#define USB_REQ_TYPE_STANDARD 0x00U
+#define USB_REQ_TYPE_CLASS 0x20U
+#define USB_REQ_TYPE_VENDOR 0x40U
+#define USB_REQ_TYPE_MASK 0x60U
+
+#define USB_REQ_RECIPIENT_DEVICE 0x00U
+#define USB_REQ_RECIPIENT_INTERFACE 0x01U
+#define USB_REQ_RECIPIENT_ENDPOINT 0x02U
+#define USB_REQ_RECIPIENT_MASK 0x03U
+
+#define USB_REQ_GET_STATUS 0x00U
+#define USB_REQ_CLEAR_FEATURE 0x01U
+#define USB_REQ_SET_FEATURE 0x03U
+#define USB_REQ_SET_ADDRESS 0x05U
+#define USB_REQ_GET_DESCRIPTOR 0x06U
+#define USB_REQ_SET_DESCRIPTOR 0x07U
+#define USB_REQ_GET_CONFIGURATION 0x08U
+#define USB_REQ_SET_CONFIGURATION 0x09U
+#define USB_REQ_GET_INTERFACE 0x0AU
+#define USB_REQ_SET_INTERFACE 0x0BU
+#define USB_REQ_SYNCH_FRAME 0x0CU
+
+#define USB_DESC_TYPE_DEVICE 0x01U
+#define USB_DESC_TYPE_CONFIGURATION 0x02U
+#define USB_DESC_TYPE_STRING 0x03U
+#define USB_DESC_TYPE_INTERFACE 0x04U
+#define USB_DESC_TYPE_ENDPOINT 0x05U
+#define USB_DESC_TYPE_DEVICE_QUALIFIER 0x06U
+#define USB_DESC_TYPE_OTHER_SPEED_CONFIGURATION 0x07U
+#define USB_DESC_TYPE_IAD 0x0BU
+#define USB_DESC_TYPE_BOS 0x0FU
+
+#define USB_CONFIG_REMOTE_WAKEUP 0x02U
+#define USB_CONFIG_SELF_POWERED 0x01U
+
+#define USB_FEATURE_EP_HALT 0x00U
+#define USB_FEATURE_REMOTE_WAKEUP 0x01U
+#define USB_FEATURE_TEST_MODE 0x02U
+
+#define USB_DEVICE_CAPABITY_TYPE 0x10U
+
+#define USB_CONF_DESC_SIZE 0x09U
+#define USB_IF_DESC_SIZE 0x09U
+#define USB_EP_DESC_SIZE 0x07U
+#define USB_IAD_DESC_SIZE 0x08U
+
+#define USB_HS_MAX_PACKET_SIZE 512U
+#define USB_FS_MAX_PACKET_SIZE 64U
+#define USB_MAX_EP0_SIZE 64U
+
+/* Device Status */
+#define USBD_STATE_DEFAULT 0x01U
+#define USBD_STATE_ADDRESSED 0x02U
+#define USBD_STATE_CONFIGURED 0x03U
+#define USBD_STATE_SUSPENDED 0x04U
+
+
+/* EP0 State */
+#define USBD_EP0_IDLE 0x00U
+#define USBD_EP0_SETUP 0x01U
+#define USBD_EP0_DATA_IN 0x02U
+#define USBD_EP0_DATA_OUT 0x03U
+#define USBD_EP0_STATUS_IN 0x04U
+#define USBD_EP0_STATUS_OUT 0x05U
+#define USBD_EP0_STALL 0x06U
+
+#define USBD_EP_TYPE_CTRL 0x00U
+#define USBD_EP_TYPE_ISOC 0x01U
+#define USBD_EP_TYPE_BULK 0x02U
+#define USBD_EP_TYPE_INTR 0x03U
+
+#ifdef USE_USBD_COMPOSITE
+#define USBD_EP_IN 0x80U
+#define USBD_EP_OUT 0x00U
+#define USBD_FUNC_DESCRIPTOR_TYPE 0x24U
+#define USBD_DESC_SUBTYPE_ACM 0x0FU
+#define USBD_DESC_ECM_BCD_LOW 0x00U
+#define USBD_DESC_ECM_BCD_HIGH 0x10U
+#endif /* USE_USBD_COMPOSITE */
+/**
+ * @}
+ */
+
+
+/** @defgroup USBD_DEF_Exported_TypesDefinitions
+ * @{
+ */
+
+typedef struct usb_setup_req
+{
+ uint8_t bmRequest;
+ uint8_t bRequest;
+ uint16_t wValue;
+ uint16_t wIndex;
+ uint16_t wLength;
+} USBD_SetupReqTypedef;
+
+typedef struct
+{
+ uint8_t bLength;
+ uint8_t bDescriptorType;
+ uint16_t wTotalLength;
+ uint8_t bNumInterfaces;
+ uint8_t bConfigurationValue;
+ uint8_t iConfiguration;
+ uint8_t bmAttributes;
+ uint8_t bMaxPower;
+} __PACKED USBD_ConfigDescTypeDef;
+
+typedef struct
+{
+ uint8_t bLength;
+ uint8_t bDescriptorType;
+ uint16_t wTotalLength;
+ uint8_t bNumDeviceCaps;
+} USBD_BosDescTypeDef;
+
+typedef struct
+{
+ uint8_t bLength;
+ uint8_t bDescriptorType;
+ uint8_t bEndpointAddress;
+ uint8_t bmAttributes;
+ uint16_t wMaxPacketSize;
+ uint8_t bInterval;
+} __PACKED USBD_EpDescTypeDef;
+
+typedef struct
+{
+ uint8_t bLength;
+ uint8_t bDescriptorType;
+ uint8_t bDescriptorSubType;
+} USBD_DescHeaderTypeDef;
+
+struct _USBD_HandleTypeDef;
+
+typedef struct _Device_cb
+{
+ uint8_t (*Init)(struct _USBD_HandleTypeDef *pdev, uint8_t cfgidx);
+ uint8_t (*DeInit)(struct _USBD_HandleTypeDef *pdev, uint8_t cfgidx);
+ /* Control Endpoints*/
+ uint8_t (*Setup)(struct _USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req);
+ uint8_t (*EP0_TxSent)(struct _USBD_HandleTypeDef *pdev);
+ uint8_t (*EP0_RxReady)(struct _USBD_HandleTypeDef *pdev);
+ /* Class Specific Endpoints*/
+ uint8_t (*DataIn)(struct _USBD_HandleTypeDef *pdev, uint8_t epnum);
+ uint8_t (*DataOut)(struct _USBD_HandleTypeDef *pdev, uint8_t epnum);
+ uint8_t (*SOF)(struct _USBD_HandleTypeDef *pdev);
+ uint8_t (*IsoINIncomplete)(struct _USBD_HandleTypeDef *pdev, uint8_t epnum);
+ uint8_t (*IsoOUTIncomplete)(struct _USBD_HandleTypeDef *pdev, uint8_t epnum);
+
+ uint8_t *(*GetHSConfigDescriptor)(uint16_t *length);
+ uint8_t *(*GetFSConfigDescriptor)(uint16_t *length);
+ uint8_t *(*GetOtherSpeedConfigDescriptor)(uint16_t *length);
+ uint8_t *(*GetDeviceQualifierDescriptor)(uint16_t *length);
+#if (USBD_SUPPORT_USER_STRING_DESC == 1U)
+ uint8_t *(*GetUsrStrDescriptor)(struct _USBD_HandleTypeDef *pdev, uint8_t index, uint16_t *length);
+#endif /* USBD_SUPPORT_USER_STRING_DESC */
+
+} USBD_ClassTypeDef;
+
+/* Following USB Device Speed */
+typedef enum
+{
+ USBD_SPEED_HIGH = 0U,
+ USBD_SPEED_FULL = 1U,
+ USBD_SPEED_LOW = 2U,
+} USBD_SpeedTypeDef;
+
+/* Following USB Device status */
+typedef enum
+{
+ USBD_OK = 0U,
+ USBD_BUSY,
+ USBD_EMEM,
+ USBD_FAIL,
+} USBD_StatusTypeDef;
+
+/* USB Device descriptors structure */
+typedef struct
+{
+ uint8_t *(*GetDeviceDescriptor)(USBD_SpeedTypeDef speed, uint16_t *length);
+ uint8_t *(*GetLangIDStrDescriptor)(USBD_SpeedTypeDef speed, uint16_t *length);
+ uint8_t *(*GetManufacturerStrDescriptor)(USBD_SpeedTypeDef speed, uint16_t *length);
+ uint8_t *(*GetProductStrDescriptor)(USBD_SpeedTypeDef speed, uint16_t *length);
+ uint8_t *(*GetSerialStrDescriptor)(USBD_SpeedTypeDef speed, uint16_t *length);
+ uint8_t *(*GetConfigurationStrDescriptor)(USBD_SpeedTypeDef speed, uint16_t *length);
+ uint8_t *(*GetInterfaceStrDescriptor)(USBD_SpeedTypeDef speed, uint16_t *length);
+#if (USBD_CLASS_USER_STRING_DESC == 1)
+ uint8_t *(*GetUserStrDescriptor)(USBD_SpeedTypeDef speed, uint8_t idx, uint16_t *length);
+#endif /* USBD_CLASS_USER_STRING_DESC */
+#if ((USBD_LPM_ENABLED == 1U) || (USBD_CLASS_BOS_ENABLED == 1))
+ uint8_t *(*GetBOSDescriptor)(USBD_SpeedTypeDef speed, uint16_t *length);
+#endif /* (USBD_LPM_ENABLED == 1U) || (USBD_CLASS_BOS_ENABLED == 1) */
+} USBD_DescriptorsTypeDef;
+
+/* USB Device handle structure */
+typedef struct
+{
+ uint32_t total_length;
+ uint32_t rem_length;
+ uint32_t bInterval;
+ uint16_t maxpacket;
+ uint8_t status;
+ uint8_t is_used;
+ uint8_t *pbuffer;
+} USBD_EndpointTypeDef;
+
+#ifdef USE_USBD_COMPOSITE
+typedef enum
+{
+ CLASS_TYPE_NONE = 0,
+ CLASS_TYPE_HID = 1,
+ CLASS_TYPE_CDC = 2,
+ CLASS_TYPE_MSC = 3,
+ CLASS_TYPE_DFU = 4,
+ CLASS_TYPE_CHID = 5,
+ CLASS_TYPE_AUDIO = 6,
+ CLASS_TYPE_ECM = 7,
+ CLASS_TYPE_RNDIS = 8,
+ CLASS_TYPE_MTP = 9,
+ CLASS_TYPE_VIDEO = 10,
+ CLASS_TYPE_PRINTER = 11,
+ CLASS_TYPE_CCID = 12,
+} USBD_CompositeClassTypeDef;
+
+
+/* USB Device handle structure */
+typedef struct
+{
+ uint8_t add;
+ uint8_t type;
+ uint8_t size;
+ uint8_t is_used;
+} USBD_EPTypeDef;
+
+/* USB Device handle structure */
+typedef struct
+{
+ USBD_CompositeClassTypeDef ClassType;
+ uint32_t ClassId;
+ uint32_t Active;
+ uint32_t NumEps;
+ USBD_EPTypeDef Eps[USBD_MAX_CLASS_ENDPOINTS];
+ uint8_t *EpAdd;
+ uint32_t NumIf;
+ uint8_t Ifs[USBD_MAX_CLASS_INTERFACES];
+ uint32_t CurrPcktSze;
+} USBD_CompositeElementTypeDef;
+#endif /* USE_USBD_COMPOSITE */
+
+/* USB Device handle structure */
+typedef struct _USBD_HandleTypeDef
+{
+ uint8_t id;
+ uint32_t dev_config;
+ uint32_t dev_default_config;
+ uint32_t dev_config_status;
+ USBD_SpeedTypeDef dev_speed;
+ USBD_EndpointTypeDef ep_in[16];
+ USBD_EndpointTypeDef ep_out[16];
+ __IO uint32_t ep0_state;
+ uint32_t ep0_data_len;
+ __IO uint8_t dev_state;
+ __IO uint8_t dev_old_state;
+ uint8_t dev_address;
+ uint8_t dev_connection_status;
+ uint8_t dev_test_mode;
+ uint32_t dev_remote_wakeup;
+ uint8_t ConfIdx;
+
+ USBD_SetupReqTypedef request;
+ USBD_DescriptorsTypeDef *pDesc;
+ USBD_ClassTypeDef *pClass[USBD_MAX_SUPPORTED_CLASS];
+ void *pClassData;
+ void *pClassDataCmsit[USBD_MAX_SUPPORTED_CLASS];
+ void *pUserData[USBD_MAX_SUPPORTED_CLASS];
+ void *pData;
+ void *pBosDesc;
+ void *pConfDesc;
+ uint32_t classId;
+ uint32_t NumClasses;
+#ifdef USE_USBD_COMPOSITE
+ USBD_CompositeElementTypeDef tclasslist[USBD_MAX_SUPPORTED_CLASS];
+#endif /* USE_USBD_COMPOSITE */
+#if (USBD_USER_REGISTER_CALLBACK == 1U)
+ void (* DevStateCallback)(uint8_t dev_state, uint8_t cfgidx); /*!< User Notification callback */
+#endif /* USBD_USER_REGISTER_CALLBACK */
+} USBD_HandleTypeDef;
+
+#if (USBD_USER_REGISTER_CALLBACK == 1U)
+typedef void (*USBD_DevStateCallbackTypeDef)(uint8_t dev_state, uint8_t cfgidx); /*!< pointer to User callback function */
+#endif /* USBD_USER_REGISTER_CALLBACK */
+
+/* USB Device endpoint direction */
+typedef enum
+{
+ OUT = 0x00,
+ IN = 0x80,
+} USBD_EPDirectionTypeDef;
+
+typedef enum
+{
+ NETWORK_CONNECTION = 0x00,
+ RESPONSE_AVAILABLE = 0x01,
+ CONNECTION_SPEED_CHANGE = 0x2A
+} USBD_CDC_NotifCodeTypeDef;
+/**
+ * @}
+ */
+
+
+
+/** @defgroup USBD_DEF_Exported_Macros
+ * @{
+ */
+__STATIC_INLINE uint16_t SWAPBYTE(uint8_t *addr)
+{
+ uint16_t _SwapVal;
+ uint16_t _Byte1;
+ uint16_t _Byte2;
+ uint8_t *_pbuff = addr;
+
+ _Byte1 = *(uint8_t *)_pbuff;
+ _pbuff++;
+ _Byte2 = *(uint8_t *)_pbuff;
+
+ _SwapVal = (_Byte2 << 8) | _Byte1;
+
+ return _SwapVal;
+}
+
+#ifndef LOBYTE
+#define LOBYTE(x) ((uint8_t)((x) & 0x00FFU))
+#endif /* LOBYTE */
+
+#ifndef HIBYTE
+#define HIBYTE(x) ((uint8_t)(((x) & 0xFF00U) >> 8U))
+#endif /* HIBYTE */
+
+#ifndef MIN
+#define MIN(a, b) (((a) < (b)) ? (a) : (b))
+#endif /* MIN */
+
+#ifndef MAX
+#define MAX(a, b) (((a) > (b)) ? (a) : (b))
+#endif /* MAX */
+
+#if defined ( __GNUC__ )
+#ifndef __weak
+#define __weak __attribute__((weak))
+#endif /* __weak */
+#ifndef __packed
+#define __packed __attribute__((__packed__))
+#endif /* __packed */
+#endif /* __GNUC__ */
+
+
+/* In HS mode and when the DMA is used, all variables and data structures dealing
+ with the DMA during the transaction process should be 4-bytes aligned */
+
+#if defined ( __GNUC__ ) && !defined (__CC_ARM) /* GNU Compiler */
+#ifndef __ALIGN_END
+#define __ALIGN_END __attribute__ ((aligned (4U)))
+#endif /* __ALIGN_END */
+#ifndef __ALIGN_BEGIN
+#define __ALIGN_BEGIN
+#endif /* __ALIGN_BEGIN */
+#else
+#ifndef __ALIGN_END
+#define __ALIGN_END
+#endif /* __ALIGN_END */
+#ifndef __ALIGN_BEGIN
+#if defined (__CC_ARM) /* ARM Compiler */
+#define __ALIGN_BEGIN __align(4U)
+#elif defined (__ICCARM__) /* IAR Compiler */
+#define __ALIGN_BEGIN
+#endif /* __CC_ARM */
+#endif /* __ALIGN_BEGIN */
+#endif /* __GNUC__ */
+
+
+/**
+ * @}
+ */
+
+/** @defgroup USBD_DEF_Exported_Variables
+ * @{
+ */
+
+/**
+ * @}
+ */
+
+/** @defgroup USBD_DEF_Exported_FunctionsPrototype
+ * @{
+ */
+
+/**
+ * @}
+ */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __USBD_DEF_H */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
diff --git a/Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_ioreq.h b/Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_ioreq.h
new file mode 100644
index 0000000..15197b9
--- /dev/null
+++ b/Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_ioreq.h
@@ -0,0 +1,113 @@
+/**
+ ******************************************************************************
+ * @file usbd_ioreq.h
+ * @author MCD Application Team
+ * @brief Header file for the usbd_ioreq.c file
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2015 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __USBD_IOREQ_H
+#define __USBD_IOREQ_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "usbd_def.h"
+#include "usbd_core.h"
+
+/** @addtogroup STM32_USB_DEVICE_LIBRARY
+ * @{
+ */
+
+/** @defgroup USBD_IOREQ
+ * @brief header file for the usbd_ioreq.c file
+ * @{
+ */
+
+/** @defgroup USBD_IOREQ_Exported_Defines
+ * @{
+ */
+/**
+ * @}
+ */
+
+
+/** @defgroup USBD_IOREQ_Exported_Types
+ * @{
+ */
+
+
+/**
+ * @}
+ */
+
+
+
+/** @defgroup USBD_IOREQ_Exported_Macros
+ * @{
+ */
+
+/**
+ * @}
+ */
+
+/** @defgroup USBD_IOREQ_Exported_Variables
+ * @{
+ */
+
+/**
+ * @}
+ */
+
+/** @defgroup USBD_IOREQ_Exported_FunctionsPrototype
+ * @{
+ */
+
+USBD_StatusTypeDef USBD_CtlSendData(USBD_HandleTypeDef *pdev,
+ uint8_t *pbuf, uint32_t len);
+
+USBD_StatusTypeDef USBD_CtlContinueSendData(USBD_HandleTypeDef *pdev,
+ uint8_t *pbuf, uint32_t len);
+
+USBD_StatusTypeDef USBD_CtlPrepareRx(USBD_HandleTypeDef *pdev,
+ uint8_t *pbuf, uint32_t len);
+
+USBD_StatusTypeDef USBD_CtlContinueRx(USBD_HandleTypeDef *pdev,
+ uint8_t *pbuf, uint32_t len);
+
+USBD_StatusTypeDef USBD_CtlSendStatus(USBD_HandleTypeDef *pdev);
+USBD_StatusTypeDef USBD_CtlReceiveStatus(USBD_HandleTypeDef *pdev);
+
+uint32_t USBD_GetRxCount(USBD_HandleTypeDef *pdev, uint8_t ep_addr);
+
+/**
+ * @}
+ */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __USBD_IOREQ_H */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
diff --git a/Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c b/Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c
new file mode 100644
index 0000000..bcf571e
--- /dev/null
+++ b/Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c
@@ -0,0 +1,1221 @@
+/**
+ ******************************************************************************
+ * @file usbd_core.c
+ * @author MCD Application Team
+ * @brief This file provides all the USBD core functions.
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2015 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#include "usbd_core.h"
+
+#ifdef USE_USBD_COMPOSITE
+#include "usbd_composite_builder.h"
+#endif /* USE_USBD_COMPOSITE */
+
+/** @addtogroup STM32_USBD_DEVICE_LIBRARY
+ * @{
+ */
+
+
+/** @defgroup USBD_CORE
+ * @brief usbd core module
+ * @{
+ */
+
+/** @defgroup USBD_CORE_Private_TypesDefinitions
+ * @{
+ */
+
+/**
+ * @}
+ */
+
+
+/** @defgroup USBD_CORE_Private_Defines
+ * @{
+ */
+
+/**
+ * @}
+ */
+
+
+/** @defgroup USBD_CORE_Private_Macros
+ * @{
+ */
+
+/**
+ * @}
+ */
+
+
+/** @defgroup USBD_CORE_Private_FunctionPrototypes
+ * @{
+ */
+
+/**
+ * @}
+ */
+
+/** @defgroup USBD_CORE_Private_Variables
+ * @{
+ */
+
+/**
+ * @}
+ */
+
+
+/** @defgroup USBD_CORE_Private_Functions
+ * @{
+ */
+
+/**
+ * @brief USBD_Init
+ * Initialize the device stack and load the class driver
+ * @param pdev: device instance
+ * @param pdesc: Descriptor structure address
+ * @param id: Low level core index
+ * @retval status: USBD Status
+ */
+USBD_StatusTypeDef USBD_Init(USBD_HandleTypeDef *pdev,
+ USBD_DescriptorsTypeDef *pdesc, uint8_t id)
+{
+ USBD_StatusTypeDef ret;
+
+ /* Check whether the USB Host handle is valid */
+ if (pdev == NULL)
+ {
+#if (USBD_DEBUG_LEVEL > 1U)
+ USBD_ErrLog("Invalid Device handle");
+#endif /* (USBD_DEBUG_LEVEL > 1U) */
+ return USBD_FAIL;
+ }
+
+#ifdef USE_USBD_COMPOSITE
+ /* Parse the table of classes in use */
+ for (uint32_t i = 0; i < USBD_MAX_SUPPORTED_CLASS; i++)
+ {
+ /* Unlink previous class*/
+ pdev->pClass[i] = NULL;
+ pdev->pUserData[i] = NULL;
+
+ /* Set class as inactive */
+ pdev->tclasslist[i].Active = 0;
+ pdev->NumClasses = 0;
+ pdev->classId = 0;
+ }
+#else
+ /* Unlink previous class*/
+ pdev->pClass[0] = NULL;
+ pdev->pUserData[0] = NULL;
+#endif /* USE_USBD_COMPOSITE */
+
+ pdev->pConfDesc = NULL;
+
+ /* Assign USBD Descriptors */
+ if (pdesc != NULL)
+ {
+ pdev->pDesc = pdesc;
+ }
+
+ /* Set Device initial State */
+ pdev->dev_state = USBD_STATE_DEFAULT;
+ pdev->id = id;
+
+ /* Initialize low level driver */
+ ret = USBD_LL_Init(pdev);
+
+ return ret;
+}
+
+/**
+ * @brief USBD_DeInit
+ * De-Initialize the device library
+ * @param pdev: device instance
+ * @retval status: USBD Status
+ */
+USBD_StatusTypeDef USBD_DeInit(USBD_HandleTypeDef *pdev)
+{
+ USBD_StatusTypeDef ret;
+
+ /* Disconnect the USB Device */
+ (void)USBD_LL_Stop(pdev);
+
+ /* Set Default State */
+ pdev->dev_state = USBD_STATE_DEFAULT;
+
+#ifdef USE_USBD_COMPOSITE
+ /* Parse the table of classes in use */
+ for (uint32_t i = 0; i < USBD_MAX_SUPPORTED_CLASS; i++)
+ {
+ /* Check if current class is in use */
+ if ((pdev->tclasslist[i].Active) == 1U)
+ {
+ if (pdev->pClass[i] != NULL)
+ {
+ pdev->classId = i;
+ /* Free Class Resources */
+ pdev->pClass[i]->DeInit(pdev, (uint8_t)pdev->dev_config);
+ }
+ }
+ }
+#else
+ /* Free Class Resources */
+ if (pdev->pClass[0] != NULL)
+ {
+ pdev->pClass[0]->DeInit(pdev, (uint8_t)pdev->dev_config);
+ }
+
+ pdev->pUserData[0] = NULL;
+
+#endif /* USE_USBD_COMPOSITE */
+
+ /* Free Device descriptors resources */
+ pdev->pDesc = NULL;
+ pdev->pConfDesc = NULL;
+
+ /* DeInitialize low level driver */
+ ret = USBD_LL_DeInit(pdev);
+
+ return ret;
+}
+
+/**
+ * @brief USBD_RegisterClass
+ * Link class driver to Device Core.
+ * @param pdev: Device Handle
+ * @param pclass: Class handle
+ * @retval USBD Status
+ */
+USBD_StatusTypeDef USBD_RegisterClass(USBD_HandleTypeDef *pdev, USBD_ClassTypeDef *pclass)
+{
+ uint16_t len = 0U;
+
+ if (pclass == NULL)
+ {
+#if (USBD_DEBUG_LEVEL > 1U)
+ USBD_ErrLog("Invalid Class handle");
+#endif /* (USBD_DEBUG_LEVEL > 1U) */
+ return USBD_FAIL;
+ }
+
+ /* link the class to the USB Device handle */
+ pdev->pClass[0] = pclass;
+
+ /* Get Device Configuration Descriptor */
+#ifdef USE_USB_HS
+ if (pdev->pClass[pdev->classId]->GetHSConfigDescriptor != NULL)
+ {
+ pdev->pConfDesc = (void *)pdev->pClass[pdev->classId]->GetHSConfigDescriptor(&len);
+ }
+#else /* Default USE_USB_FS */
+ if (pdev->pClass[pdev->classId]->GetFSConfigDescriptor != NULL)
+ {
+ pdev->pConfDesc = (void *)pdev->pClass[pdev->classId]->GetFSConfigDescriptor(&len);
+ }
+#endif /* USE_USB_FS */
+
+ /* Increment the NumClasses */
+ pdev->NumClasses++;
+
+ return USBD_OK;
+}
+
+#ifdef USE_USBD_COMPOSITE
+/**
+ * @brief USBD_RegisterClassComposite
+ * Link class driver to Device Core.
+ * @param pdev : Device Handle
+ * @param pclass: Class handle
+ * @param classtype: Class type
+ * @param EpAddr: Endpoint Address handle
+ * @retval USBD Status
+ */
+USBD_StatusTypeDef USBD_RegisterClassComposite(USBD_HandleTypeDef *pdev, USBD_ClassTypeDef *pclass,
+ USBD_CompositeClassTypeDef classtype, uint8_t *EpAddr)
+{
+ USBD_StatusTypeDef ret = USBD_OK;
+ uint16_t len = 0U;
+
+ if ((pdev->classId < USBD_MAX_SUPPORTED_CLASS) && (pdev->NumClasses < USBD_MAX_SUPPORTED_CLASS))
+ {
+ if ((uint32_t)pclass != 0U)
+ {
+ /* Link the class to the USB Device handle */
+ pdev->pClass[pdev->classId] = pclass;
+ ret = USBD_OK;
+
+ pdev->tclasslist[pdev->classId].EpAdd = EpAddr;
+
+ /* Call the composite class builder */
+ (void)USBD_CMPSIT_AddClass(pdev, pclass, classtype, 0);
+
+ /* Increment the ClassId for the next occurrence */
+ pdev->classId ++;
+ pdev->NumClasses ++;
+ }
+ else
+ {
+#if (USBD_DEBUG_LEVEL > 1U)
+ USBD_ErrLog("Invalid Class handle");
+#endif /* (USBD_DEBUG_LEVEL > 1U) */
+ ret = USBD_FAIL;
+ }
+ }
+
+ if (ret == USBD_OK)
+ {
+ /* Get Device Configuration Descriptor */
+#ifdef USE_USB_HS
+ pdev->pConfDesc = USBD_CMPSIT.GetHSConfigDescriptor(&len);
+#else /* Default USE_USB_FS */
+ pdev->pConfDesc = USBD_CMPSIT.GetFSConfigDescriptor(&len);
+#endif /* USE_USB_FS */
+ }
+
+ return ret;
+}
+
+/**
+ * @brief USBD_UnRegisterClassComposite
+ * UnLink all composite class drivers from Device Core.
+ * @param pdev: Device Handle
+ * @retval USBD Status
+ */
+USBD_StatusTypeDef USBD_UnRegisterClassComposite(USBD_HandleTypeDef *pdev)
+{
+ USBD_StatusTypeDef ret = USBD_OK;
+ uint8_t idx1;
+ uint8_t idx2;
+
+ /* Unroll all activated classes */
+ for (idx1 = 0; idx1 < pdev->NumClasses; idx1++)
+ {
+ /* Check if the class correspond to the requested type and if it is active */
+ if (pdev->tclasslist[idx1].Active == 1U)
+ {
+ /* Set the new class ID */
+ pdev->classId = idx1;
+
+ /* Free resources used by the selected class */
+ if (pdev->pClass[pdev->classId] != NULL)
+ {
+ /* Free Class Resources */
+ if (pdev->pClass[pdev->classId]->DeInit(pdev, (uint8_t)pdev->dev_config) != 0U)
+ {
+#if (USBD_DEBUG_LEVEL > 1U)
+ USBD_ErrLog("Class DeInit didn't succeed!, can't unregister selected class");
+#endif /* (USBD_DEBUG_LEVEL > 1U) */
+
+ ret = USBD_FAIL;
+ }
+ }
+
+ /* Free the class pointer */
+ pdev->pClass[pdev->classId] = NULL;
+
+ /* Free the class location in classes table and reset its parameters to zero */
+ pdev->tclasslist[pdev->classId].ClassType = CLASS_TYPE_NONE;
+ pdev->tclasslist[pdev->classId].ClassId = 0U;
+ pdev->tclasslist[pdev->classId].Active = 0U;
+ pdev->tclasslist[pdev->classId].NumEps = 0U;
+ pdev->tclasslist[pdev->classId].NumIf = 0U;
+ pdev->tclasslist[pdev->classId].CurrPcktSze = 0U;
+
+ for (idx2 = 0U; idx2 < USBD_MAX_CLASS_ENDPOINTS; idx2++)
+ {
+ pdev->tclasslist[pdev->classId].Eps[idx2].add = 0U;
+ pdev->tclasslist[pdev->classId].Eps[idx2].type = 0U;
+ pdev->tclasslist[pdev->classId].Eps[idx2].size = 0U;
+ pdev->tclasslist[pdev->classId].Eps[idx2].is_used = 0U;
+ }
+
+ for (idx2 = 0U; idx2 < USBD_MAX_CLASS_INTERFACES; idx2++)
+ {
+ pdev->tclasslist[pdev->classId].Ifs[idx2] = 0U;
+ }
+ }
+ }
+
+ /* Reset the configuration descriptor */
+ (void)USBD_CMPST_ClearConfDesc(pdev);
+
+ /* Reset the class ID and number of classes */
+ pdev->classId = 0U;
+ pdev->NumClasses = 0U;
+
+ return ret;
+}
+#endif /* USE_USBD_COMPOSITE */
+
+#if (USBD_USER_REGISTER_CALLBACK == 1U)
+/**
+ * @brief USBD_RegisterDevStateCallback
+ * @param pdev : Device Handle
+ * @param pUserCallback: User Callback
+ * @retval USBD Status
+ */
+USBD_StatusTypeDef USBD_RegisterDevStateCallback(USBD_HandleTypeDef *pdev, USBD_DevStateCallbackTypeDef pUserCallback)
+{
+ pdev->DevStateCallback = pUserCallback;
+
+ return USBD_OK;
+}
+#endif /* USBD_USER_REGISTER_CALLBACK */
+
+/**
+ * @brief USBD_Start
+ * Start the USB Device Core.
+ * @param pdev: Device Handle
+ * @retval USBD Status
+ */
+USBD_StatusTypeDef USBD_Start(USBD_HandleTypeDef *pdev)
+{
+#ifdef USE_USBD_COMPOSITE
+ pdev->classId = 0U;
+#endif /* USE_USBD_COMPOSITE */
+
+ /* Start the low level driver */
+ return USBD_LL_Start(pdev);
+}
+
+/**
+ * @brief USBD_Stop
+ * Stop the USB Device Core.
+ * @param pdev: Device Handle
+ * @retval USBD Status
+ */
+USBD_StatusTypeDef USBD_Stop(USBD_HandleTypeDef *pdev)
+{
+ /* Disconnect USB Device */
+ (void)USBD_LL_Stop(pdev);
+
+ /* Free Class Resources */
+#ifdef USE_USBD_COMPOSITE
+ /* Parse the table of classes in use */
+ for (uint32_t i = 0U; i < USBD_MAX_SUPPORTED_CLASS; i++)
+ {
+ /* Check if current class is in use */
+ if ((pdev->tclasslist[i].Active) == 1U)
+ {
+ if (pdev->pClass[i] != NULL)
+ {
+ pdev->classId = i;
+ /* Free Class Resources */
+ (void)pdev->pClass[i]->DeInit(pdev, (uint8_t)pdev->dev_config);
+ }
+ }
+ }
+
+ /* Reset the class ID */
+ pdev->classId = 0U;
+#else
+ if (pdev->pClass[0] != NULL)
+ {
+ (void)pdev->pClass[0]->DeInit(pdev, (uint8_t)pdev->dev_config);
+ }
+#endif /* USE_USBD_COMPOSITE */
+
+ return USBD_OK;
+}
+
+/**
+ * @brief USBD_RunTestMode
+ * Launch test mode process
+ * @param pdev: device instance
+ * @retval status
+ */
+USBD_StatusTypeDef USBD_RunTestMode(USBD_HandleTypeDef *pdev)
+{
+#ifdef USBD_HS_TESTMODE_ENABLE
+ USBD_StatusTypeDef ret;
+
+ /* Run USB HS test mode */
+ ret = USBD_LL_SetTestMode(pdev, pdev->dev_test_mode);
+
+ return ret;
+#else
+ /* Prevent unused argument compilation warning */
+ UNUSED(pdev);
+
+ return USBD_OK;
+#endif /* USBD_HS_TESTMODE_ENABLE */
+}
+
+/**
+ * @brief USBD_SetClassConfig
+ * Configure device and start the interface
+ * @param pdev: device instance
+ * @param cfgidx: configuration index
+ * @retval status
+ */
+
+USBD_StatusTypeDef USBD_SetClassConfig(USBD_HandleTypeDef *pdev, uint8_t cfgidx)
+{
+ USBD_StatusTypeDef ret = USBD_OK;
+
+#ifdef USE_USBD_COMPOSITE
+ /* Parse the table of classes in use */
+ for (uint32_t i = 0U; i < USBD_MAX_SUPPORTED_CLASS; i++)
+ {
+ /* Check if current class is in use */
+ if ((pdev->tclasslist[i].Active) == 1U)
+ {
+ if (pdev->pClass[i] != NULL)
+ {
+ pdev->classId = i;
+ /* Set configuration and Start the Class*/
+ if (pdev->pClass[i]->Init(pdev, cfgidx) != 0U)
+ {
+ ret = USBD_FAIL;
+ }
+ }
+ }
+ }
+#else
+ if (pdev->pClass[0] != NULL)
+ {
+ /* Set configuration and Start the Class */
+ ret = (USBD_StatusTypeDef)pdev->pClass[0]->Init(pdev, cfgidx);
+ }
+#endif /* USE_USBD_COMPOSITE */
+
+ return ret;
+}
+
+/**
+ * @brief USBD_ClrClassConfig
+ * Clear current configuration
+ * @param pdev: device instance
+ * @param cfgidx: configuration index
+ * @retval status
+ */
+USBD_StatusTypeDef USBD_ClrClassConfig(USBD_HandleTypeDef *pdev, uint8_t cfgidx)
+{
+ USBD_StatusTypeDef ret = USBD_OK;
+
+#ifdef USE_USBD_COMPOSITE
+ /* Parse the table of classes in use */
+ for (uint32_t i = 0U; i < USBD_MAX_SUPPORTED_CLASS; i++)
+ {
+ /* Check if current class is in use */
+ if ((pdev->tclasslist[i].Active) == 1U)
+ {
+ if (pdev->pClass[i] != NULL)
+ {
+ pdev->classId = i;
+ /* Clear configuration and De-initialize the Class process */
+ if (pdev->pClass[i]->DeInit(pdev, cfgidx) != 0U)
+ {
+ ret = USBD_FAIL;
+ }
+ }
+ }
+ }
+#else
+ /* Clear configuration and De-initialize the Class process */
+ if (pdev->pClass[0]->DeInit(pdev, cfgidx) != 0U)
+ {
+ ret = USBD_FAIL;
+ }
+#endif /* USE_USBD_COMPOSITE */
+
+ return ret;
+}
+
+
+/**
+ * @brief USBD_LL_SetupStage
+ * Handle the setup stage
+ * @param pdev: device instance
+ * @param psetup: setup packet buffer pointer
+ * @retval status
+ */
+USBD_StatusTypeDef USBD_LL_SetupStage(USBD_HandleTypeDef *pdev, uint8_t *psetup)
+{
+ USBD_StatusTypeDef ret;
+
+ USBD_ParseSetupRequest(&pdev->request, psetup);
+
+ pdev->ep0_state = USBD_EP0_SETUP;
+
+ pdev->ep0_data_len = pdev->request.wLength;
+
+ switch (pdev->request.bmRequest & 0x1FU)
+ {
+ case USB_REQ_RECIPIENT_DEVICE:
+ ret = USBD_StdDevReq(pdev, &pdev->request);
+ break;
+
+ case USB_REQ_RECIPIENT_INTERFACE:
+ ret = USBD_StdItfReq(pdev, &pdev->request);
+ break;
+
+ case USB_REQ_RECIPIENT_ENDPOINT:
+ ret = USBD_StdEPReq(pdev, &pdev->request);
+ break;
+
+ default:
+ ret = USBD_LL_StallEP(pdev, (pdev->request.bmRequest & 0x80U));
+ break;
+ }
+
+ return ret;
+}
+
+/**
+ * @brief USBD_LL_DataOutStage
+ * Handle data OUT stage
+ * @param pdev: device instance
+ * @param epnum: endpoint index
+ * @param pdata: data pointer
+ * @retval status
+ */
+USBD_StatusTypeDef USBD_LL_DataOutStage(USBD_HandleTypeDef *pdev,
+ uint8_t epnum, uint8_t *pdata)
+{
+ USBD_EndpointTypeDef *pep;
+ USBD_StatusTypeDef ret = USBD_OK;
+ uint8_t idx;
+
+ UNUSED(pdata);
+
+ if (epnum == 0U)
+ {
+ pep = &pdev->ep_out[0];
+
+ if (pdev->ep0_state == USBD_EP0_DATA_OUT)
+ {
+ if (pep->rem_length > pep->maxpacket)
+ {
+ pep->rem_length -= pep->maxpacket;
+ pep->pbuffer += pep->maxpacket;
+
+ (void)USBD_CtlContinueRx(pdev, pep->pbuffer, MAX(pep->rem_length, pep->maxpacket));
+ }
+ else
+ {
+ /* Find the class ID relative to the current request */
+ switch (pdev->request.bmRequest & 0x1FU)
+ {
+ case USB_REQ_RECIPIENT_DEVICE:
+ /* Device requests must be managed by the first instantiated class
+ (or duplicated by all classes for simplicity) */
+ idx = 0U;
+ break;
+
+ case USB_REQ_RECIPIENT_INTERFACE:
+ idx = USBD_CoreFindIF(pdev, LOBYTE(pdev->request.wIndex));
+ break;
+
+ case USB_REQ_RECIPIENT_ENDPOINT:
+ idx = USBD_CoreFindEP(pdev, LOBYTE(pdev->request.wIndex));
+ break;
+
+ default:
+ /* Back to the first class in case of doubt */
+ idx = 0U;
+ break;
+ }
+
+ if (idx < USBD_MAX_SUPPORTED_CLASS)
+ {
+ /* Setup the class ID and route the request to the relative class function */
+ if (pdev->dev_state == USBD_STATE_CONFIGURED)
+ {
+ if (pdev->pClass[idx]->EP0_RxReady != NULL)
+ {
+ pdev->classId = idx;
+ pdev->pClass[idx]->EP0_RxReady(pdev);
+ }
+ }
+ }
+
+ (void)USBD_CtlSendStatus(pdev);
+ }
+ }
+ }
+ else
+ {
+ /* Get the class index relative to this interface */
+ idx = USBD_CoreFindEP(pdev, (epnum & 0x7FU));
+
+ if (((uint16_t)idx != 0xFFU) && (idx < USBD_MAX_SUPPORTED_CLASS))
+ {
+ /* Call the class data out function to manage the request */
+ if (pdev->dev_state == USBD_STATE_CONFIGURED)
+ {
+ if (pdev->pClass[idx]->DataOut != NULL)
+ {
+ pdev->classId = idx;
+ ret = (USBD_StatusTypeDef)pdev->pClass[idx]->DataOut(pdev, epnum);
+ }
+ }
+ if (ret != USBD_OK)
+ {
+ return ret;
+ }
+ }
+ }
+
+ return USBD_OK;
+}
+
+/**
+ * @brief USBD_LL_DataInStage
+ * Handle data in stage
+ * @param pdev: device instance
+ * @param epnum: endpoint index
+ * @param pdata: data pointer
+ * @retval status
+ */
+USBD_StatusTypeDef USBD_LL_DataInStage(USBD_HandleTypeDef *pdev,
+ uint8_t epnum, uint8_t *pdata)
+{
+ USBD_EndpointTypeDef *pep;
+ USBD_StatusTypeDef ret;
+ uint8_t idx;
+
+ UNUSED(pdata);
+
+ if (epnum == 0U)
+ {
+ pep = &pdev->ep_in[0];
+
+ if (pdev->ep0_state == USBD_EP0_DATA_IN)
+ {
+ if (pep->rem_length > pep->maxpacket)
+ {
+ pep->rem_length -= pep->maxpacket;
+ pep->pbuffer += pep->maxpacket;
+
+ (void)USBD_CtlContinueSendData(pdev, pep->pbuffer, pep->rem_length);
+
+ /* Prepare endpoint for premature end of transfer */
+ (void)USBD_LL_PrepareReceive(pdev, 0U, NULL, 0U);
+ }
+ else
+ {
+ /* last packet is MPS multiple, so send ZLP packet */
+ if ((pep->maxpacket == pep->rem_length) &&
+ (pep->total_length >= pep->maxpacket) &&
+ (pep->total_length < pdev->ep0_data_len))
+ {
+ (void)USBD_CtlContinueSendData(pdev, NULL, 0U);
+ pdev->ep0_data_len = 0U;
+
+ /* Prepare endpoint for premature end of transfer */
+ (void)USBD_LL_PrepareReceive(pdev, 0U, NULL, 0U);
+ }
+ else
+ {
+ if (pdev->dev_state == USBD_STATE_CONFIGURED)
+ {
+ if (pdev->pClass[0]->EP0_TxSent != NULL)
+ {
+ pdev->classId = 0U;
+ pdev->pClass[0]->EP0_TxSent(pdev);
+ }
+ }
+ (void)USBD_LL_StallEP(pdev, 0x80U);
+ (void)USBD_CtlReceiveStatus(pdev);
+ }
+ }
+ }
+
+ if (pdev->dev_test_mode != 0U)
+ {
+ (void)USBD_RunTestMode(pdev);
+ pdev->dev_test_mode = 0U;
+ }
+ }
+ else
+ {
+ /* Get the class index relative to this interface */
+ idx = USBD_CoreFindEP(pdev, ((uint8_t)epnum | 0x80U));
+
+ if (((uint16_t)idx != 0xFFU) && (idx < USBD_MAX_SUPPORTED_CLASS))
+ {
+ /* Call the class data out function to manage the request */
+ if (pdev->dev_state == USBD_STATE_CONFIGURED)
+ {
+ if (pdev->pClass[idx]->DataIn != NULL)
+ {
+ pdev->classId = idx;
+ ret = (USBD_StatusTypeDef)pdev->pClass[idx]->DataIn(pdev, epnum);
+
+ if (ret != USBD_OK)
+ {
+ return ret;
+ }
+ }
+ }
+ }
+ }
+
+ return USBD_OK;
+}
+
+/**
+ * @brief USBD_LL_Reset
+ * Handle Reset event
+ * @param pdev: device instance
+ * @retval status
+ */
+USBD_StatusTypeDef USBD_LL_Reset(USBD_HandleTypeDef *pdev)
+{
+ USBD_StatusTypeDef ret = USBD_OK;
+
+ /* Upon Reset call user call back */
+ pdev->dev_state = USBD_STATE_DEFAULT;
+ pdev->ep0_state = USBD_EP0_IDLE;
+ pdev->dev_config = 0U;
+ pdev->dev_remote_wakeup = 0U;
+ pdev->dev_test_mode = 0U;
+
+#ifdef USE_USBD_COMPOSITE
+ /* Parse the table of classes in use */
+ for (uint32_t i = 0U; i < USBD_MAX_SUPPORTED_CLASS; i++)
+ {
+ /* Check if current class is in use */
+ if ((pdev->tclasslist[i].Active) == 1U)
+ {
+ if (pdev->pClass[i] != NULL)
+ {
+ pdev->classId = i;
+ /* Clear configuration and De-initialize the Class process*/
+
+ if (pdev->pClass[i]->DeInit != NULL)
+ {
+ if (pdev->pClass[i]->DeInit(pdev, (uint8_t)pdev->dev_config) != USBD_OK)
+ {
+ ret = USBD_FAIL;
+ }
+ }
+ }
+ }
+ }
+#else
+
+ if (pdev->pClass[0] != NULL)
+ {
+ if (pdev->pClass[0]->DeInit != NULL)
+ {
+ if (pdev->pClass[0]->DeInit(pdev, (uint8_t)pdev->dev_config) != USBD_OK)
+ {
+ ret = USBD_FAIL;
+ }
+ }
+ }
+#endif /* USE_USBD_COMPOSITE */
+
+ /* Open EP0 OUT */
+ (void)USBD_LL_OpenEP(pdev, 0x00U, USBD_EP_TYPE_CTRL, USB_MAX_EP0_SIZE);
+ pdev->ep_out[0x00U & 0xFU].is_used = 1U;
+
+ pdev->ep_out[0].maxpacket = USB_MAX_EP0_SIZE;
+
+ /* Open EP0 IN */
+ (void)USBD_LL_OpenEP(pdev, 0x80U, USBD_EP_TYPE_CTRL, USB_MAX_EP0_SIZE);
+ pdev->ep_in[0x80U & 0xFU].is_used = 1U;
+
+ pdev->ep_in[0].maxpacket = USB_MAX_EP0_SIZE;
+
+ return ret;
+}
+
+/**
+ * @brief USBD_LL_SetSpeed
+ * Handle Reset event
+ * @param pdev: device instance
+ * @retval status
+ */
+USBD_StatusTypeDef USBD_LL_SetSpeed(USBD_HandleTypeDef *pdev,
+ USBD_SpeedTypeDef speed)
+{
+ pdev->dev_speed = speed;
+
+ return USBD_OK;
+}
+
+/**
+ * @brief USBD_LL_Suspend
+ * Handle Suspend event
+ * @param pdev: device instance
+ * @retval status
+ */
+USBD_StatusTypeDef USBD_LL_Suspend(USBD_HandleTypeDef *pdev)
+{
+ if (pdev->dev_state != USBD_STATE_SUSPENDED)
+ {
+ pdev->dev_old_state = pdev->dev_state;
+ }
+
+ pdev->dev_state = USBD_STATE_SUSPENDED;
+
+ return USBD_OK;
+}
+
+/**
+ * @brief USBD_LL_Resume
+ * Handle Resume event
+ * @param pdev: device instance
+ * @retval status
+ */
+USBD_StatusTypeDef USBD_LL_Resume(USBD_HandleTypeDef *pdev)
+{
+ if (pdev->dev_state == USBD_STATE_SUSPENDED)
+ {
+ pdev->dev_state = pdev->dev_old_state;
+ }
+
+ return USBD_OK;
+}
+
+/**
+ * @brief USBD_LL_SOF
+ * Handle SOF event
+ * @param pdev: device instance
+ * @retval status
+ */
+USBD_StatusTypeDef USBD_LL_SOF(USBD_HandleTypeDef *pdev)
+{
+ /* The SOF event can be distributed for all classes that support it */
+ if (pdev->dev_state == USBD_STATE_CONFIGURED)
+ {
+#ifdef USE_USBD_COMPOSITE
+ /* Parse the table of classes in use */
+ for (uint32_t i = 0; i < USBD_MAX_SUPPORTED_CLASS; i++)
+ {
+ /* Check if current class is in use */
+ if ((pdev->tclasslist[i].Active) == 1U)
+ {
+ if (pdev->pClass[i] != NULL)
+ {
+ if (pdev->pClass[i]->SOF != NULL)
+ {
+ pdev->classId = i;
+ (void)pdev->pClass[i]->SOF(pdev);
+ }
+ }
+ }
+ }
+#else
+ if (pdev->pClass[0] != NULL)
+ {
+ if (pdev->pClass[0]->SOF != NULL)
+ {
+ (void)pdev->pClass[0]->SOF(pdev);
+ }
+ }
+#endif /* USE_USBD_COMPOSITE */
+ }
+
+ return USBD_OK;
+}
+
+/**
+ * @brief USBD_LL_IsoINIncomplete
+ * Handle iso in incomplete event
+ * @param pdev: device instance
+ * @param epnum: Endpoint number
+ * @retval status
+ */
+USBD_StatusTypeDef USBD_LL_IsoINIncomplete(USBD_HandleTypeDef *pdev,
+ uint8_t epnum)
+{
+ if (pdev->pClass[pdev->classId] == NULL)
+ {
+ return USBD_FAIL;
+ }
+
+ if (pdev->dev_state == USBD_STATE_CONFIGURED)
+ {
+ if (pdev->pClass[pdev->classId]->IsoINIncomplete != NULL)
+ {
+ (void)pdev->pClass[pdev->classId]->IsoINIncomplete(pdev, epnum);
+ }
+ }
+
+ return USBD_OK;
+}
+
+/**
+ * @brief USBD_LL_IsoOUTIncomplete
+ * Handle iso out incomplete event
+ * @param pdev: device instance
+ * @param epnum: Endpoint number
+ * @retval status
+ */
+USBD_StatusTypeDef USBD_LL_IsoOUTIncomplete(USBD_HandleTypeDef *pdev,
+ uint8_t epnum)
+{
+ if (pdev->pClass[pdev->classId] == NULL)
+ {
+ return USBD_FAIL;
+ }
+
+ if (pdev->dev_state == USBD_STATE_CONFIGURED)
+ {
+ if (pdev->pClass[pdev->classId]->IsoOUTIncomplete != NULL)
+ {
+ (void)pdev->pClass[pdev->classId]->IsoOUTIncomplete(pdev, epnum);
+ }
+ }
+
+ return USBD_OK;
+}
+
+/**
+ * @brief USBD_LL_DevConnected
+ * Handle device connection event
+ * @param pdev: device instance
+ * @retval status
+ */
+USBD_StatusTypeDef USBD_LL_DevConnected(USBD_HandleTypeDef *pdev)
+{
+ /* Prevent unused argument compilation warning */
+ UNUSED(pdev);
+
+ return USBD_OK;
+}
+
+/**
+ * @brief USBD_LL_DevDisconnected
+ * Handle device disconnection event
+ * @param pdev: device instance
+ * @retval status
+ */
+USBD_StatusTypeDef USBD_LL_DevDisconnected(USBD_HandleTypeDef *pdev)
+{
+ USBD_StatusTypeDef ret = USBD_OK;
+
+ /* Free Class Resources */
+ pdev->dev_state = USBD_STATE_DEFAULT;
+
+#ifdef USE_USBD_COMPOSITE
+ /* Parse the table of classes in use */
+ for (uint32_t i = 0; i < USBD_MAX_SUPPORTED_CLASS; i++)
+ {
+ /* Check if current class is in use */
+ if ((pdev->tclasslist[i].Active) == 1U)
+ {
+ if (pdev->pClass[i] != NULL)
+ {
+ pdev->classId = i;
+ /* Clear configuration and De-initialize the Class process*/
+ if (pdev->pClass[i]->DeInit(pdev, (uint8_t)pdev->dev_config) != 0U)
+ {
+ ret = USBD_FAIL;
+ }
+ }
+ }
+ }
+#else
+ if (pdev->pClass[0] != NULL)
+ {
+ if (pdev->pClass[0]->DeInit(pdev, (uint8_t)pdev->dev_config) != 0U)
+ {
+ ret = USBD_FAIL;
+ }
+ }
+#endif /* USE_USBD_COMPOSITE */
+
+ return ret;
+}
+
+/**
+ * @brief USBD_CoreFindIF
+ * return the class index relative to the selected interface
+ * @param pdev: device instance
+ * @param index : selected interface number
+ * @retval index of the class using the selected interface number. OxFF if no class found.
+ */
+uint8_t USBD_CoreFindIF(USBD_HandleTypeDef *pdev, uint8_t index)
+{
+#ifdef USE_USBD_COMPOSITE
+ /* Parse the table of classes in use */
+ for (uint32_t i = 0U; i < USBD_MAX_SUPPORTED_CLASS; i++)
+ {
+ /* Check if current class is in use */
+ if ((pdev->tclasslist[i].Active) == 1U)
+ {
+ /* Parse all interfaces listed in the current class */
+ for (uint32_t j = 0U; j < pdev->tclasslist[i].NumIf; j++)
+ {
+ /* Check if requested Interface matches the current class interface */
+ if (pdev->tclasslist[i].Ifs[j] == index)
+ {
+ if (pdev->pClass[i]->Setup != NULL)
+ {
+ return (uint8_t)i;
+ }
+ }
+ }
+ }
+ }
+
+ return 0xFFU;
+#else
+ UNUSED(pdev);
+ UNUSED(index);
+
+ return 0x00U;
+#endif /* USE_USBD_COMPOSITE */
+}
+
+/**
+ * @brief USBD_CoreFindEP
+ * return the class index relative to the selected endpoint
+ * @param pdev: device instance
+ * @param index : selected endpoint number
+ * @retval index of the class using the selected endpoint number. 0xFF if no class found.
+ */
+uint8_t USBD_CoreFindEP(USBD_HandleTypeDef *pdev, uint8_t index)
+{
+#ifdef USE_USBD_COMPOSITE
+ /* Parse the table of classes in use */
+ for (uint32_t i = 0U; i < USBD_MAX_SUPPORTED_CLASS; i++)
+ {
+ /* Check if current class is in use */
+ if ((pdev->tclasslist[i].Active) == 1U)
+ {
+ /* Parse all endpoints listed in the current class */
+ for (uint32_t j = 0U; j < pdev->tclasslist[i].NumEps; j++)
+ {
+ /* Check if requested endpoint matches the current class endpoint */
+ if (pdev->tclasslist[i].Eps[j].add == index)
+ {
+ if (pdev->pClass[i]->Setup != NULL)
+ {
+ return (uint8_t)i;
+ }
+ }
+ }
+ }
+ }
+
+ return 0xFFU;
+#else
+ UNUSED(pdev);
+ UNUSED(index);
+
+ return 0x00U;
+#endif /* USE_USBD_COMPOSITE */
+}
+
+#ifdef USE_USBD_COMPOSITE
+/**
+ * @brief USBD_CoreGetEPAdd
+ * Get the endpoint address relative to a selected class
+ * @param pdev: device instance
+ * @param ep_dir: USBD_EP_IN or USBD_EP_OUT
+ * @param ep_type: USBD_EP_TYPE_CTRL, USBD_EP_TYPE_ISOC, USBD_EP_TYPE_BULK or USBD_EP_TYPE_INTR
+ * @param ClassId: The Class ID
+ * @retval Address of the selected endpoint or 0xFFU if no endpoint found.
+ */
+uint8_t USBD_CoreGetEPAdd(USBD_HandleTypeDef *pdev, uint8_t ep_dir, uint8_t ep_type, uint8_t ClassId)
+{
+ uint8_t idx;
+
+ /* Find the EP address in the selected class table */
+ for (idx = 0; idx < pdev->tclasslist[ClassId].NumEps; idx++)
+ {
+ if (((pdev->tclasslist[ClassId].Eps[idx].add & USBD_EP_IN) == ep_dir) && \
+ (pdev->tclasslist[ClassId].Eps[idx].type == ep_type) && \
+ (pdev->tclasslist[ClassId].Eps[idx].is_used != 0U))
+ {
+ return (pdev->tclasslist[ClassId].Eps[idx].add);
+ }
+ }
+
+ /* If reaching this point, then no endpoint was found */
+ return 0xFFU;
+}
+#endif /* USE_USBD_COMPOSITE */
+
+/**
+ * @brief USBD_GetEpDesc
+ * This function return the Endpoint descriptor
+ * @param pdev: device instance
+ * @param pConfDesc: pointer to Bos descriptor
+ * @param EpAddr: endpoint address
+ * @retval pointer to video endpoint descriptor
+ */
+void *USBD_GetEpDesc(uint8_t *pConfDesc, uint8_t EpAddr)
+{
+ USBD_DescHeaderTypeDef *pdesc = (USBD_DescHeaderTypeDef *)(void *)pConfDesc;
+ USBD_ConfigDescTypeDef *desc = (USBD_ConfigDescTypeDef *)(void *)pConfDesc;
+ USBD_EpDescTypeDef *pEpDesc = NULL;
+ uint16_t ptr;
+
+ if (desc->wTotalLength > desc->bLength)
+ {
+ ptr = desc->bLength;
+
+ while (ptr < desc->wTotalLength)
+ {
+ pdesc = USBD_GetNextDesc((uint8_t *)pdesc, &ptr);
+
+ if (pdesc->bDescriptorType == USB_DESC_TYPE_ENDPOINT)
+ {
+ pEpDesc = (USBD_EpDescTypeDef *)(void *)pdesc;
+
+ if (pEpDesc->bEndpointAddress == EpAddr)
+ {
+ break;
+ }
+ else
+ {
+ pEpDesc = NULL;
+ }
+ }
+ }
+ }
+
+ return (void *)pEpDesc;
+}
+
+/**
+ * @brief USBD_GetNextDesc
+ * This function return the next descriptor header
+ * @param buf: Buffer where the descriptor is available
+ * @param ptr: data pointer inside the descriptor
+ * @retval next header
+ */
+USBD_DescHeaderTypeDef *USBD_GetNextDesc(uint8_t *pbuf, uint16_t *ptr)
+{
+ USBD_DescHeaderTypeDef *pnext = (USBD_DescHeaderTypeDef *)(void *)pbuf;
+
+ *ptr += pnext->bLength;
+ pnext = (USBD_DescHeaderTypeDef *)(void *)(pbuf + pnext->bLength);
+
+ return (pnext);
+}
+
+/**
+ * @}
+ */
+
+
+/**
+ * @}
+ */
+
+
+/**
+ * @}
+ */
+
diff --git a/Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c b/Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c
new file mode 100644
index 0000000..814b810
--- /dev/null
+++ b/Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c
@@ -0,0 +1,1058 @@
+/**
+ ******************************************************************************
+ * @file usbd_req.c
+ * @author MCD Application Team
+ * @brief This file provides the standard USB requests following chapter 9.
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2015 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#include "usbd_ctlreq.h"
+#include "usbd_ioreq.h"
+
+#ifdef USE_USBD_COMPOSITE
+#include "usbd_composite_builder.h"
+#endif /* USE_USBD_COMPOSITE */
+
+/** @addtogroup STM32_USBD_STATE_DEVICE_LIBRARY
+ * @{
+ */
+
+
+/** @defgroup USBD_REQ
+ * @brief USB standard requests module
+ * @{
+ */
+
+/** @defgroup USBD_REQ_Private_TypesDefinitions
+ * @{
+ */
+
+/**
+ * @}
+ */
+
+
+/** @defgroup USBD_REQ_Private_Defines
+ * @{
+ */
+#ifndef USBD_MAX_STR_DESC_SIZ
+#define USBD_MAX_STR_DESC_SIZ 64U
+#endif /* USBD_MAX_STR_DESC_SIZ */
+/**
+ * @}
+ */
+
+
+/** @defgroup USBD_REQ_Private_Macros
+ * @{
+ */
+
+/**
+ * @}
+ */
+
+
+/** @defgroup USBD_REQ_Private_Variables
+ * @{
+ */
+
+/**
+ * @}
+ */
+
+
+/** @defgroup USBD_REQ_Private_FunctionPrototypes
+ * @{
+ */
+static void USBD_GetDescriptor(USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req);
+static void USBD_SetAddress(USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req);
+static USBD_StatusTypeDef USBD_SetConfig(USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req);
+static void USBD_GetConfig(USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req);
+static void USBD_GetStatus(USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req);
+static void USBD_SetFeature(USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req);
+static void USBD_ClrFeature(USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req);
+static uint8_t USBD_GetLen(uint8_t *buf);
+
+/**
+ * @}
+ */
+
+
+/** @defgroup USBD_REQ_Private_Functions
+ * @{
+ */
+
+
+/**
+ * @brief USBD_StdDevReq
+ * Handle standard usb device requests
+ * @param pdev: device instance
+ * @param req: usb request
+ * @retval status
+ */
+USBD_StatusTypeDef USBD_StdDevReq(USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req)
+{
+ USBD_StatusTypeDef ret = USBD_OK;
+
+ switch (req->bmRequest & USB_REQ_TYPE_MASK)
+ {
+ case USB_REQ_TYPE_CLASS:
+ case USB_REQ_TYPE_VENDOR:
+ ret = (USBD_StatusTypeDef)pdev->pClass[pdev->classId]->Setup(pdev, req);
+ break;
+
+ case USB_REQ_TYPE_STANDARD:
+ switch (req->bRequest)
+ {
+ case USB_REQ_GET_DESCRIPTOR:
+ USBD_GetDescriptor(pdev, req);
+ break;
+
+ case USB_REQ_SET_ADDRESS:
+ USBD_SetAddress(pdev, req);
+ break;
+
+ case USB_REQ_SET_CONFIGURATION:
+ ret = USBD_SetConfig(pdev, req);
+ break;
+
+ case USB_REQ_GET_CONFIGURATION:
+ USBD_GetConfig(pdev, req);
+ break;
+
+ case USB_REQ_GET_STATUS:
+ USBD_GetStatus(pdev, req);
+ break;
+
+ case USB_REQ_SET_FEATURE:
+ USBD_SetFeature(pdev, req);
+ break;
+
+ case USB_REQ_CLEAR_FEATURE:
+ USBD_ClrFeature(pdev, req);
+ break;
+
+ default:
+ USBD_CtlError(pdev, req);
+ break;
+ }
+ break;
+
+ default:
+ USBD_CtlError(pdev, req);
+ break;
+ }
+
+ return ret;
+}
+
+/**
+ * @brief USBD_StdItfReq
+ * Handle standard usb interface requests
+ * @param pdev: device instance
+ * @param req: usb request
+ * @retval status
+ */
+USBD_StatusTypeDef USBD_StdItfReq(USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req)
+{
+ USBD_StatusTypeDef ret = USBD_OK;
+ uint8_t idx;
+
+ switch (req->bmRequest & USB_REQ_TYPE_MASK)
+ {
+ case USB_REQ_TYPE_CLASS:
+ case USB_REQ_TYPE_VENDOR:
+ case USB_REQ_TYPE_STANDARD:
+ switch (pdev->dev_state)
+ {
+ case USBD_STATE_DEFAULT:
+ case USBD_STATE_ADDRESSED:
+ case USBD_STATE_CONFIGURED:
+
+ if (LOBYTE(req->wIndex) <= USBD_MAX_NUM_INTERFACES)
+ {
+ /* Get the class index relative to this interface */
+ idx = USBD_CoreFindIF(pdev, LOBYTE(req->wIndex));
+ if (((uint8_t)idx != 0xFFU) && (idx < USBD_MAX_SUPPORTED_CLASS))
+ {
+ /* Call the class data out function to manage the request */
+ if (pdev->pClass[idx]->Setup != NULL)
+ {
+ pdev->classId = idx;
+ ret = (USBD_StatusTypeDef)(pdev->pClass[idx]->Setup(pdev, req));
+ }
+ else
+ {
+ /* should never reach this condition */
+ ret = USBD_FAIL;
+ }
+ }
+ else
+ {
+ /* No relative interface found */
+ ret = USBD_FAIL;
+ }
+
+ if ((req->wLength == 0U) && (ret == USBD_OK))
+ {
+ (void)USBD_CtlSendStatus(pdev);
+ }
+ }
+ else
+ {
+ USBD_CtlError(pdev, req);
+ }
+ break;
+
+ default:
+ USBD_CtlError(pdev, req);
+ break;
+ }
+ break;
+
+ default:
+ USBD_CtlError(pdev, req);
+ break;
+ }
+
+ return ret;
+}
+
+/**
+ * @brief USBD_StdEPReq
+ * Handle standard usb endpoint requests
+ * @param pdev: device instance
+ * @param req: usb request
+ * @retval status
+ */
+USBD_StatusTypeDef USBD_StdEPReq(USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req)
+{
+ USBD_EndpointTypeDef *pep;
+ uint8_t ep_addr;
+ uint8_t idx;
+ USBD_StatusTypeDef ret = USBD_OK;
+
+ ep_addr = LOBYTE(req->wIndex);
+
+ switch (req->bmRequest & USB_REQ_TYPE_MASK)
+ {
+ case USB_REQ_TYPE_CLASS:
+ case USB_REQ_TYPE_VENDOR:
+ /* Get the class index relative to this endpoint */
+ idx = USBD_CoreFindEP(pdev, ep_addr);
+ if (((uint8_t)idx != 0xFFU) && (idx < USBD_MAX_SUPPORTED_CLASS))
+ {
+ pdev->classId = idx;
+ /* Call the class data out function to manage the request */
+ if (pdev->pClass[idx]->Setup != NULL)
+ {
+ ret = (USBD_StatusTypeDef)pdev->pClass[idx]->Setup(pdev, req);
+ }
+ }
+ break;
+
+ case USB_REQ_TYPE_STANDARD:
+ switch (req->bRequest)
+ {
+ case USB_REQ_SET_FEATURE:
+ switch (pdev->dev_state)
+ {
+ case USBD_STATE_ADDRESSED:
+ if ((ep_addr != 0x00U) && (ep_addr != 0x80U))
+ {
+ (void)USBD_LL_StallEP(pdev, ep_addr);
+ (void)USBD_LL_StallEP(pdev, 0x80U);
+ }
+ else
+ {
+ USBD_CtlError(pdev, req);
+ }
+ break;
+
+ case USBD_STATE_CONFIGURED:
+ if (req->wValue == USB_FEATURE_EP_HALT)
+ {
+ if ((ep_addr != 0x00U) && (ep_addr != 0x80U) && (req->wLength == 0x00U))
+ {
+ (void)USBD_LL_StallEP(pdev, ep_addr);
+ }
+ }
+ (void)USBD_CtlSendStatus(pdev);
+
+ break;
+
+ default:
+ USBD_CtlError(pdev, req);
+ break;
+ }
+ break;
+
+ case USB_REQ_CLEAR_FEATURE:
+
+ switch (pdev->dev_state)
+ {
+ case USBD_STATE_ADDRESSED:
+ if ((ep_addr != 0x00U) && (ep_addr != 0x80U))
+ {
+ (void)USBD_LL_StallEP(pdev, ep_addr);
+ (void)USBD_LL_StallEP(pdev, 0x80U);
+ }
+ else
+ {
+ USBD_CtlError(pdev, req);
+ }
+ break;
+
+ case USBD_STATE_CONFIGURED:
+ if (req->wValue == USB_FEATURE_EP_HALT)
+ {
+ if ((ep_addr & 0x7FU) != 0x00U)
+ {
+ (void)USBD_LL_ClearStallEP(pdev, ep_addr);
+ }
+ (void)USBD_CtlSendStatus(pdev);
+
+ /* Get the class index relative to this interface */
+ idx = USBD_CoreFindEP(pdev, ep_addr);
+ if (((uint8_t)idx != 0xFFU) && (idx < USBD_MAX_SUPPORTED_CLASS))
+ {
+ pdev->classId = idx;
+ /* Call the class data out function to manage the request */
+ if (pdev->pClass[idx]->Setup != NULL)
+ {
+ ret = (USBD_StatusTypeDef)(pdev->pClass[idx]->Setup(pdev, req));
+ }
+ }
+ }
+ break;
+
+ default:
+ USBD_CtlError(pdev, req);
+ break;
+ }
+ break;
+
+ case USB_REQ_GET_STATUS:
+ switch (pdev->dev_state)
+ {
+ case USBD_STATE_ADDRESSED:
+ if ((ep_addr != 0x00U) && (ep_addr != 0x80U))
+ {
+ USBD_CtlError(pdev, req);
+ break;
+ }
+ pep = ((ep_addr & 0x80U) == 0x80U) ? &pdev->ep_in[ep_addr & 0x7FU] : \
+ &pdev->ep_out[ep_addr & 0x7FU];
+
+ pep->status = 0x0000U;
+
+ (void)USBD_CtlSendData(pdev, (uint8_t *)&pep->status, 2U);
+ break;
+
+ case USBD_STATE_CONFIGURED:
+ if ((ep_addr & 0x80U) == 0x80U)
+ {
+ if (pdev->ep_in[ep_addr & 0xFU].is_used == 0U)
+ {
+ USBD_CtlError(pdev, req);
+ break;
+ }
+ }
+ else
+ {
+ if (pdev->ep_out[ep_addr & 0xFU].is_used == 0U)
+ {
+ USBD_CtlError(pdev, req);
+ break;
+ }
+ }
+
+ pep = ((ep_addr & 0x80U) == 0x80U) ? &pdev->ep_in[ep_addr & 0x7FU] : \
+ &pdev->ep_out[ep_addr & 0x7FU];
+
+ if ((ep_addr == 0x00U) || (ep_addr == 0x80U))
+ {
+ pep->status = 0x0000U;
+ }
+ else if (USBD_LL_IsStallEP(pdev, ep_addr) != 0U)
+ {
+ pep->status = 0x0001U;
+ }
+ else
+ {
+ pep->status = 0x0000U;
+ }
+
+ (void)USBD_CtlSendData(pdev, (uint8_t *)&pep->status, 2U);
+ break;
+
+ default:
+ USBD_CtlError(pdev, req);
+ break;
+ }
+ break;
+
+ default:
+ USBD_CtlError(pdev, req);
+ break;
+ }
+ break;
+
+ default:
+ USBD_CtlError(pdev, req);
+ break;
+ }
+
+ return ret;
+}
+
+
+/**
+ * @brief USBD_GetDescriptor
+ * Handle Get Descriptor requests
+ * @param pdev: device instance
+ * @param req: usb request
+ * @retval None
+ */
+static void USBD_GetDescriptor(USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req)
+{
+ uint16_t len = 0U;
+ uint8_t *pbuf = NULL;
+ uint8_t err = 0U;
+
+ switch (req->wValue >> 8)
+ {
+#if ((USBD_LPM_ENABLED == 1U) || (USBD_CLASS_BOS_ENABLED == 1U))
+ case USB_DESC_TYPE_BOS:
+ if (pdev->pDesc->GetBOSDescriptor != NULL)
+ {
+ pbuf = pdev->pDesc->GetBOSDescriptor(pdev->dev_speed, &len);
+ }
+ else
+ {
+ USBD_CtlError(pdev, req);
+ err++;
+ }
+ break;
+#endif /* (USBD_LPM_ENABLED == 1U) || (USBD_CLASS_BOS_ENABLED == 1U) */
+ case USB_DESC_TYPE_DEVICE:
+ pbuf = pdev->pDesc->GetDeviceDescriptor(pdev->dev_speed, &len);
+ break;
+
+ case USB_DESC_TYPE_CONFIGURATION:
+ if (pdev->dev_speed == USBD_SPEED_HIGH)
+ {
+#ifdef USE_USBD_COMPOSITE
+ if ((uint8_t)(pdev->NumClasses) > 0U)
+ {
+ pbuf = (uint8_t *)USBD_CMPSIT.GetHSConfigDescriptor(&len);
+ }
+ else
+#endif /* USE_USBD_COMPOSITE */
+ {
+ pbuf = (uint8_t *)pdev->pClass[0]->GetHSConfigDescriptor(&len);
+ }
+ pbuf[1] = USB_DESC_TYPE_CONFIGURATION;
+ }
+ else
+ {
+#ifdef USE_USBD_COMPOSITE
+ if ((uint8_t)(pdev->NumClasses) > 0U)
+ {
+ pbuf = (uint8_t *)USBD_CMPSIT.GetFSConfigDescriptor(&len);
+ }
+ else
+#endif /* USE_USBD_COMPOSITE */
+ {
+ pbuf = (uint8_t *)pdev->pClass[0]->GetFSConfigDescriptor(&len);
+ }
+ pbuf[1] = USB_DESC_TYPE_CONFIGURATION;
+ }
+ break;
+
+ case USB_DESC_TYPE_STRING:
+ switch ((uint8_t)(req->wValue))
+ {
+ case USBD_IDX_LANGID_STR:
+ if (pdev->pDesc->GetLangIDStrDescriptor != NULL)
+ {
+ pbuf = pdev->pDesc->GetLangIDStrDescriptor(pdev->dev_speed, &len);
+ }
+ else
+ {
+ USBD_CtlError(pdev, req);
+ err++;
+ }
+ break;
+
+ case USBD_IDX_MFC_STR:
+ if (pdev->pDesc->GetManufacturerStrDescriptor != NULL)
+ {
+ pbuf = pdev->pDesc->GetManufacturerStrDescriptor(pdev->dev_speed, &len);
+ }
+ else
+ {
+ USBD_CtlError(pdev, req);
+ err++;
+ }
+ break;
+
+ case USBD_IDX_PRODUCT_STR:
+ if (pdev->pDesc->GetProductStrDescriptor != NULL)
+ {
+ pbuf = pdev->pDesc->GetProductStrDescriptor(pdev->dev_speed, &len);
+ }
+ else
+ {
+ USBD_CtlError(pdev, req);
+ err++;
+ }
+ break;
+
+ case USBD_IDX_SERIAL_STR:
+ if (pdev->pDesc->GetSerialStrDescriptor != NULL)
+ {
+ pbuf = pdev->pDesc->GetSerialStrDescriptor(pdev->dev_speed, &len);
+ }
+ else
+ {
+ USBD_CtlError(pdev, req);
+ err++;
+ }
+ break;
+
+ case USBD_IDX_CONFIG_STR:
+ if (pdev->pDesc->GetConfigurationStrDescriptor != NULL)
+ {
+ pbuf = pdev->pDesc->GetConfigurationStrDescriptor(pdev->dev_speed, &len);
+ }
+ else
+ {
+ USBD_CtlError(pdev, req);
+ err++;
+ }
+ break;
+
+ case USBD_IDX_INTERFACE_STR:
+ if (pdev->pDesc->GetInterfaceStrDescriptor != NULL)
+ {
+ pbuf = pdev->pDesc->GetInterfaceStrDescriptor(pdev->dev_speed, &len);
+ }
+ else
+ {
+ USBD_CtlError(pdev, req);
+ err++;
+ }
+ break;
+
+ default:
+#if (USBD_SUPPORT_USER_STRING_DESC == 1U)
+ pbuf = NULL;
+
+ for (uint32_t idx = 0U; (idx < pdev->NumClasses); idx++)
+ {
+ if (pdev->pClass[idx]->GetUsrStrDescriptor != NULL)
+ {
+ pdev->classId = idx;
+ pbuf = pdev->pClass[idx]->GetUsrStrDescriptor(pdev, LOBYTE(req->wValue), &len);
+
+ if (pbuf == NULL) /* This means that no class recognized the string index */
+ {
+ continue;
+ }
+ else
+ {
+ break;
+ }
+ }
+ }
+#endif /* USBD_SUPPORT_USER_STRING_DESC */
+
+#if (USBD_CLASS_USER_STRING_DESC == 1U)
+ if (pdev->pDesc->GetUserStrDescriptor != NULL)
+ {
+ pbuf = pdev->pDesc->GetUserStrDescriptor(pdev->dev_speed, LOBYTE(req->wValue), &len);
+ }
+ else
+ {
+ USBD_CtlError(pdev, req);
+ err++;
+ }
+#endif /* USBD_SUPPORT_USER_STRING_DESC */
+
+#if ((USBD_CLASS_USER_STRING_DESC == 0U) && (USBD_SUPPORT_USER_STRING_DESC == 0U))
+ USBD_CtlError(pdev, req);
+ err++;
+#endif /* (USBD_CLASS_USER_STRING_DESC == 0U) && (USBD_SUPPORT_USER_STRING_DESC == 0U) */
+ break;
+ }
+ break;
+
+ case USB_DESC_TYPE_DEVICE_QUALIFIER:
+ if (pdev->dev_speed == USBD_SPEED_HIGH)
+ {
+#ifdef USE_USBD_COMPOSITE
+ if ((uint8_t)(pdev->NumClasses) > 0U)
+ {
+ pbuf = (uint8_t *)USBD_CMPSIT.GetDeviceQualifierDescriptor(&len);
+ }
+ else
+#endif /* USE_USBD_COMPOSITE */
+ {
+ pbuf = (uint8_t *)pdev->pClass[0]->GetDeviceQualifierDescriptor(&len);
+ }
+ }
+ else
+ {
+ USBD_CtlError(pdev, req);
+ err++;
+ }
+ break;
+
+ case USB_DESC_TYPE_OTHER_SPEED_CONFIGURATION:
+ if (pdev->dev_speed == USBD_SPEED_HIGH)
+ {
+#ifdef USE_USBD_COMPOSITE
+ if ((uint8_t)(pdev->NumClasses) > 0U)
+ {
+ pbuf = (uint8_t *)USBD_CMPSIT.GetOtherSpeedConfigDescriptor(&len);
+ }
+ else
+#endif /* USE_USBD_COMPOSITE */
+ {
+ pbuf = (uint8_t *)pdev->pClass[0]->GetOtherSpeedConfigDescriptor(&len);
+ }
+ pbuf[1] = USB_DESC_TYPE_OTHER_SPEED_CONFIGURATION;
+ }
+ else
+ {
+ USBD_CtlError(pdev, req);
+ err++;
+ }
+ break;
+
+ default:
+ USBD_CtlError(pdev, req);
+ err++;
+ break;
+ }
+
+ if (err != 0U)
+ {
+ return;
+ }
+
+ if (req->wLength != 0U)
+ {
+ if (len != 0U)
+ {
+ len = MIN(len, req->wLength);
+ (void)USBD_CtlSendData(pdev, pbuf, len);
+ }
+ else
+ {
+ USBD_CtlError(pdev, req);
+ }
+ }
+ else
+ {
+ (void)USBD_CtlSendStatus(pdev);
+ }
+}
+
+
+/**
+ * @brief USBD_SetAddress
+ * Set device address
+ * @param pdev: device instance
+ * @param req: usb request
+ * @retval None
+ */
+static void USBD_SetAddress(USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req)
+{
+ uint8_t dev_addr;
+
+ if ((req->wIndex == 0U) && (req->wLength == 0U) && (req->wValue < 128U))
+ {
+ dev_addr = (uint8_t)(req->wValue) & 0x7FU;
+
+ if (pdev->dev_state == USBD_STATE_CONFIGURED)
+ {
+ USBD_CtlError(pdev, req);
+ }
+ else
+ {
+ pdev->dev_address = dev_addr;
+ (void)USBD_LL_SetUSBAddress(pdev, dev_addr);
+ (void)USBD_CtlSendStatus(pdev);
+
+ if (dev_addr != 0U)
+ {
+ pdev->dev_state = USBD_STATE_ADDRESSED;
+ }
+ else
+ {
+ pdev->dev_state = USBD_STATE_DEFAULT;
+ }
+ }
+ }
+ else
+ {
+ USBD_CtlError(pdev, req);
+ }
+}
+
+/**
+ * @brief USBD_SetConfig
+ * Handle Set device configuration request
+ * @param pdev: device instance
+ * @param req: usb request
+ * @retval status
+ */
+static USBD_StatusTypeDef USBD_SetConfig(USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req)
+{
+ USBD_StatusTypeDef ret = USBD_OK;
+ static uint8_t cfgidx;
+
+ cfgidx = (uint8_t)(req->wValue);
+
+ if (cfgidx > USBD_MAX_NUM_CONFIGURATION)
+ {
+ USBD_CtlError(pdev, req);
+ return USBD_FAIL;
+ }
+
+ switch (pdev->dev_state)
+ {
+ case USBD_STATE_ADDRESSED:
+ if (cfgidx != 0U)
+ {
+ pdev->dev_config = cfgidx;
+
+ ret = USBD_SetClassConfig(pdev, cfgidx);
+
+ if (ret != USBD_OK)
+ {
+ USBD_CtlError(pdev, req);
+ pdev->dev_state = USBD_STATE_ADDRESSED;
+ }
+ else
+ {
+ (void)USBD_CtlSendStatus(pdev);
+ pdev->dev_state = USBD_STATE_CONFIGURED;
+
+#if (USBD_USER_REGISTER_CALLBACK == 1U)
+ if (pdev->DevStateCallback != NULL)
+ {
+ pdev->DevStateCallback(USBD_STATE_CONFIGURED, cfgidx);
+ }
+#endif /* USBD_USER_REGISTER_CALLBACK */
+ }
+ }
+ else
+ {
+ (void)USBD_CtlSendStatus(pdev);
+ }
+ break;
+
+ case USBD_STATE_CONFIGURED:
+ if (cfgidx == 0U)
+ {
+ pdev->dev_state = USBD_STATE_ADDRESSED;
+ pdev->dev_config = cfgidx;
+ (void)USBD_ClrClassConfig(pdev, cfgidx);
+ (void)USBD_CtlSendStatus(pdev);
+ }
+ else if (cfgidx != pdev->dev_config)
+ {
+ /* Clear old configuration */
+ (void)USBD_ClrClassConfig(pdev, (uint8_t)pdev->dev_config);
+
+ /* set new configuration */
+ pdev->dev_config = cfgidx;
+
+ ret = USBD_SetClassConfig(pdev, cfgidx);
+
+ if (ret != USBD_OK)
+ {
+ USBD_CtlError(pdev, req);
+ (void)USBD_ClrClassConfig(pdev, (uint8_t)pdev->dev_config);
+ pdev->dev_state = USBD_STATE_ADDRESSED;
+ }
+ else
+ {
+ (void)USBD_CtlSendStatus(pdev);
+ }
+ }
+ else
+ {
+ (void)USBD_CtlSendStatus(pdev);
+ }
+ break;
+
+ default:
+ USBD_CtlError(pdev, req);
+ (void)USBD_ClrClassConfig(pdev, cfgidx);
+ ret = USBD_FAIL;
+ break;
+ }
+
+ return ret;
+}
+
+/**
+ * @brief USBD_GetConfig
+ * Handle Get device configuration request
+ * @param pdev: device instance
+ * @param req: usb request
+ * @retval None
+ */
+static void USBD_GetConfig(USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req)
+{
+ if (req->wLength != 1U)
+ {
+ USBD_CtlError(pdev, req);
+ }
+ else
+ {
+ switch (pdev->dev_state)
+ {
+ case USBD_STATE_DEFAULT:
+ case USBD_STATE_ADDRESSED:
+ pdev->dev_default_config = 0U;
+ (void)USBD_CtlSendData(pdev, (uint8_t *)&pdev->dev_default_config, 1U);
+ break;
+
+ case USBD_STATE_CONFIGURED:
+ (void)USBD_CtlSendData(pdev, (uint8_t *)&pdev->dev_config, 1U);
+ break;
+
+ default:
+ USBD_CtlError(pdev, req);
+ break;
+ }
+ }
+}
+
+/**
+ * @brief USBD_GetStatus
+ * Handle Get Status request
+ * @param pdev: device instance
+ * @param req: usb request
+ * @retval None
+ */
+static void USBD_GetStatus(USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req)
+{
+ switch (pdev->dev_state)
+ {
+ case USBD_STATE_DEFAULT:
+ case USBD_STATE_ADDRESSED:
+ case USBD_STATE_CONFIGURED:
+ if (req->wLength != 0x2U)
+ {
+ USBD_CtlError(pdev, req);
+ break;
+ }
+
+#if (USBD_SELF_POWERED == 1U)
+ pdev->dev_config_status = USB_CONFIG_SELF_POWERED;
+#else
+ pdev->dev_config_status = 0U;
+#endif /* USBD_SELF_POWERED */
+
+ if (pdev->dev_remote_wakeup != 0U)
+ {
+ pdev->dev_config_status |= USB_CONFIG_REMOTE_WAKEUP;
+ }
+
+ (void)USBD_CtlSendData(pdev, (uint8_t *)&pdev->dev_config_status, 2U);
+ break;
+
+ default:
+ USBD_CtlError(pdev, req);
+ break;
+ }
+}
+
+
+/**
+ * @brief USBD_SetFeature
+ * Handle Set device feature request
+ * @param pdev: device instance
+ * @param req: usb request
+ * @retval None
+ */
+static void USBD_SetFeature(USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req)
+{
+ if (req->wValue == USB_FEATURE_REMOTE_WAKEUP)
+ {
+ pdev->dev_remote_wakeup = 1U;
+ (void)USBD_CtlSendStatus(pdev);
+ }
+ else if (req->wValue == USB_FEATURE_TEST_MODE)
+ {
+ pdev->dev_test_mode = (uint8_t)(req->wIndex >> 8);
+ (void)USBD_CtlSendStatus(pdev);
+ }
+ else
+ {
+ USBD_CtlError(pdev, req);
+ }
+}
+
+
+/**
+ * @brief USBD_ClrFeature
+ * Handle clear device feature request
+ * @param pdev: device instance
+ * @param req: usb request
+ * @retval None
+ */
+static void USBD_ClrFeature(USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req)
+{
+ switch (pdev->dev_state)
+ {
+ case USBD_STATE_DEFAULT:
+ case USBD_STATE_ADDRESSED:
+ case USBD_STATE_CONFIGURED:
+ if (req->wValue == USB_FEATURE_REMOTE_WAKEUP)
+ {
+ pdev->dev_remote_wakeup = 0U;
+ (void)USBD_CtlSendStatus(pdev);
+ }
+ break;
+
+ default:
+ USBD_CtlError(pdev, req);
+ break;
+ }
+}
+
+
+/**
+ * @brief USBD_ParseSetupRequest
+ * Copy buffer into setup structure
+ * @param req: usb request
+ * @param pdata: setup data pointer
+ * @retval None
+ */
+void USBD_ParseSetupRequest(USBD_SetupReqTypedef *req, uint8_t *pdata)
+{
+ uint8_t *pbuff = pdata;
+
+ req->bmRequest = *(uint8_t *)(pbuff);
+
+ pbuff++;
+ req->bRequest = *(uint8_t *)(pbuff);
+
+ pbuff++;
+ req->wValue = SWAPBYTE(pbuff);
+
+ pbuff++;
+ pbuff++;
+ req->wIndex = SWAPBYTE(pbuff);
+
+ pbuff++;
+ pbuff++;
+ req->wLength = SWAPBYTE(pbuff);
+}
+
+
+/**
+ * @brief USBD_CtlError
+ * Handle USB low level Error
+ * @param pdev: device instance
+ * @param req: usb request
+ * @retval None
+ */
+void USBD_CtlError(USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req)
+{
+ UNUSED(req);
+
+ (void)USBD_LL_StallEP(pdev, 0x80U);
+ (void)USBD_LL_StallEP(pdev, 0U);
+}
+
+
+/**
+ * @brief USBD_GetString
+ * Convert Ascii string into unicode one
+ * @param desc : descriptor buffer
+ * @param unicode : Formatted string buffer (unicode)
+ * @param len : descriptor length
+ * @retval None
+ */
+void USBD_GetString(uint8_t *desc, uint8_t *unicode, uint16_t *len)
+{
+ uint8_t idx = 0U;
+ uint8_t *pdesc;
+
+ if (desc == NULL)
+ {
+ return;
+ }
+
+ pdesc = desc;
+ *len = MIN(USBD_MAX_STR_DESC_SIZ, ((uint16_t)USBD_GetLen(pdesc) * 2U) + 2U);
+
+ unicode[idx] = *(uint8_t *)len;
+ idx++;
+ unicode[idx] = USB_DESC_TYPE_STRING;
+ idx++;
+
+ while (*pdesc != (uint8_t)'\0')
+ {
+ unicode[idx] = *pdesc;
+ pdesc++;
+ idx++;
+
+ unicode[idx] = 0U;
+ idx++;
+ }
+}
+
+
+/**
+ * @brief USBD_GetLen
+ * return the string length
+ * @param buf : pointer to the ascii string buffer
+ * @retval string length
+ */
+static uint8_t USBD_GetLen(uint8_t *buf)
+{
+ uint8_t len = 0U;
+ uint8_t *pbuff = buf;
+
+ while (*pbuff != (uint8_t)'\0')
+ {
+ len++;
+ pbuff++;
+ }
+
+ return len;
+}
+/**
+ * @}
+ */
+
+
+/**
+ * @}
+ */
+
+
+/**
+ * @}
+ */
+
diff --git a/Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c b/Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c
new file mode 100644
index 0000000..2171398
--- /dev/null
+++ b/Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c
@@ -0,0 +1,226 @@
+/**
+ ******************************************************************************
+ * @file usbd_ioreq.c
+ * @author MCD Application Team
+ * @brief This file provides the IO requests APIs for control endpoints.
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2015 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#include "usbd_ioreq.h"
+
+/** @addtogroup STM32_USB_DEVICE_LIBRARY
+ * @{
+ */
+
+
+/** @defgroup USBD_IOREQ
+ * @brief control I/O requests module
+ * @{
+ */
+
+/** @defgroup USBD_IOREQ_Private_TypesDefinitions
+ * @{
+ */
+/**
+ * @}
+ */
+
+
+/** @defgroup USBD_IOREQ_Private_Defines
+ * @{
+ */
+
+/**
+ * @}
+ */
+
+
+/** @defgroup USBD_IOREQ_Private_Macros
+ * @{
+ */
+/**
+ * @}
+ */
+
+
+/** @defgroup USBD_IOREQ_Private_Variables
+ * @{
+ */
+
+/**
+ * @}
+ */
+
+
+/** @defgroup USBD_IOREQ_Private_FunctionPrototypes
+ * @{
+ */
+/**
+ * @}
+ */
+
+
+/** @defgroup USBD_IOREQ_Private_Functions
+ * @{
+ */
+
+/**
+ * @brief USBD_CtlSendData
+ * send data on the ctl pipe
+ * @param pdev: device instance
+ * @param buff: pointer to data buffer
+ * @param len: length of data to be sent
+ * @retval status
+ */
+USBD_StatusTypeDef USBD_CtlSendData(USBD_HandleTypeDef *pdev,
+ uint8_t *pbuf, uint32_t len)
+{
+ /* Set EP0 State */
+ pdev->ep0_state = USBD_EP0_DATA_IN;
+ pdev->ep_in[0].total_length = len;
+ pdev->ep_in[0].pbuffer = pbuf;
+
+#ifdef USBD_AVOID_PACKET_SPLIT_MPS
+ pdev->ep_in[0].rem_length = 0U;
+#else
+ pdev->ep_in[0].rem_length = len;
+#endif /* USBD_AVOID_PACKET_SPLIT_MPS */
+
+ /* Start the transfer */
+ (void)USBD_LL_Transmit(pdev, 0x00U, pbuf, len);
+
+ return USBD_OK;
+}
+
+/**
+ * @brief USBD_CtlContinueSendData
+ * continue sending data on the ctl pipe
+ * @param pdev: device instance
+ * @param buff: pointer to data buffer
+ * @param len: length of data to be sent
+ * @retval status
+ */
+USBD_StatusTypeDef USBD_CtlContinueSendData(USBD_HandleTypeDef *pdev,
+ uint8_t *pbuf, uint32_t len)
+{
+ /* Start the next transfer */
+ (void)USBD_LL_Transmit(pdev, 0x00U, pbuf, len);
+
+ return USBD_OK;
+}
+
+/**
+ * @brief USBD_CtlPrepareRx
+ * receive data on the ctl pipe
+ * @param pdev: device instance
+ * @param buff: pointer to data buffer
+ * @param len: length of data to be received
+ * @retval status
+ */
+USBD_StatusTypeDef USBD_CtlPrepareRx(USBD_HandleTypeDef *pdev,
+ uint8_t *pbuf, uint32_t len)
+{
+ /* Set EP0 State */
+ pdev->ep0_state = USBD_EP0_DATA_OUT;
+ pdev->ep_out[0].total_length = len;
+ pdev->ep_out[0].pbuffer = pbuf;
+
+#ifdef USBD_AVOID_PACKET_SPLIT_MPS
+ pdev->ep_out[0].rem_length = 0U;
+#else
+ pdev->ep_out[0].rem_length = len;
+#endif /* USBD_AVOID_PACKET_SPLIT_MPS */
+
+ /* Start the transfer */
+ (void)USBD_LL_PrepareReceive(pdev, 0U, pbuf, len);
+
+ return USBD_OK;
+}
+
+/**
+ * @brief USBD_CtlContinueRx
+ * continue receive data on the ctl pipe
+ * @param pdev: device instance
+ * @param buff: pointer to data buffer
+ * @param len: length of data to be received
+ * @retval status
+ */
+USBD_StatusTypeDef USBD_CtlContinueRx(USBD_HandleTypeDef *pdev,
+ uint8_t *pbuf, uint32_t len)
+{
+ (void)USBD_LL_PrepareReceive(pdev, 0U, pbuf, len);
+
+ return USBD_OK;
+}
+
+/**
+ * @brief USBD_CtlSendStatus
+ * send zero lzngth packet on the ctl pipe
+ * @param pdev: device instance
+ * @retval status
+ */
+USBD_StatusTypeDef USBD_CtlSendStatus(USBD_HandleTypeDef *pdev)
+{
+ /* Set EP0 State */
+ pdev->ep0_state = USBD_EP0_STATUS_IN;
+
+ /* Start the transfer */
+ (void)USBD_LL_Transmit(pdev, 0x00U, NULL, 0U);
+
+ return USBD_OK;
+}
+
+/**
+ * @brief USBD_CtlReceiveStatus
+ * receive zero lzngth packet on the ctl pipe
+ * @param pdev: device instance
+ * @retval status
+ */
+USBD_StatusTypeDef USBD_CtlReceiveStatus(USBD_HandleTypeDef *pdev)
+{
+ /* Set EP0 State */
+ pdev->ep0_state = USBD_EP0_STATUS_OUT;
+
+ /* Start the transfer */
+ (void)USBD_LL_PrepareReceive(pdev, 0U, NULL, 0U);
+
+ return USBD_OK;
+}
+
+/**
+ * @brief USBD_GetRxCount
+ * returns the received data length
+ * @param pdev: device instance
+ * @param ep_addr: endpoint address
+ * @retval Rx Data blength
+ */
+uint32_t USBD_GetRxCount(USBD_HandleTypeDef *pdev, uint8_t ep_addr)
+{
+ return USBD_LL_GetRxDataSize(pdev, ep_addr);
+}
+
+/**
+ * @}
+ */
+
+
+/**
+ * @}
+ */
+
+
+/**
+ * @}
+ */
+
diff --git a/USB_DEVICE/App/usb_device.c b/USB_DEVICE/App/usb_device.c
new file mode 100644
index 0000000..6ba1dcb
--- /dev/null
+++ b/USB_DEVICE/App/usb_device.c
@@ -0,0 +1,100 @@
+/* USER CODE BEGIN Header */
+/**
+ ******************************************************************************
+ * @file : usb_device.c
+ * @version : v1.0_Cube
+ * @brief : This file implements the USB Device
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2025 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+/* USER CODE END Header */
+
+/* Includes ------------------------------------------------------------------*/
+
+#include "usb_device.h"
+#include "usbd_core.h"
+#include "usbd_desc.h"
+#include "usbd_cdc.h"
+#include "usbd_cdc_if.h"
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+/* USER CODE BEGIN PV */
+/* Private variables ---------------------------------------------------------*/
+
+/* USER CODE END PV */
+
+/* USER CODE BEGIN PFP */
+/* Private function prototypes -----------------------------------------------*/
+
+/* USER CODE END PFP */
+
+/* USB Device Core handle declaration. */
+USBD_HandleTypeDef hUsbDeviceFS;
+
+/*
+ * -- Insert your variables declaration here --
+ */
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+
+/*
+ * -- Insert your external function declaration here --
+ */
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */
+
+/**
+ * Init USB device Library, add supported class and start the library
+ * @retval None
+ */
+void MX_USB_DEVICE_Init(void)
+{
+ /* USER CODE BEGIN USB_DEVICE_Init_PreTreatment */
+
+ /* USER CODE END USB_DEVICE_Init_PreTreatment */
+
+ /* Init Device Library, add supported class and start the library. */
+ if (USBD_Init(&hUsbDeviceFS, &FS_Desc, DEVICE_FS) != USBD_OK)
+ {
+ Error_Handler();
+ }
+ if (USBD_RegisterClass(&hUsbDeviceFS, &USBD_CDC) != USBD_OK)
+ {
+ Error_Handler();
+ }
+ if (USBD_CDC_RegisterInterface(&hUsbDeviceFS, &USBD_Interface_fops_FS) != USBD_OK)
+ {
+ Error_Handler();
+ }
+ if (USBD_Start(&hUsbDeviceFS) != USBD_OK)
+ {
+ Error_Handler();
+ }
+
+ /* USER CODE BEGIN USB_DEVICE_Init_PostTreatment */
+
+ /* USER CODE END USB_DEVICE_Init_PostTreatment */
+}
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
diff --git a/USB_DEVICE/App/usb_device.h b/USB_DEVICE/App/usb_device.h
new file mode 100644
index 0000000..5d3020f
--- /dev/null
+++ b/USB_DEVICE/App/usb_device.h
@@ -0,0 +1,102 @@
+/* USER CODE BEGIN Header */
+/**
+ ******************************************************************************
+ * @file : usb_device.h
+ * @version : v1.0_Cube
+ * @brief : Header for usb_device.c file.
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2025 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+/* USER CODE END Header */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __USB_DEVICE__H__
+#define __USB_DEVICE__H__
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx.h"
+#include "stm32f4xx_hal.h"
+#include "usbd_def.h"
+
+/* USER CODE BEGIN INCLUDE */
+
+/* USER CODE END INCLUDE */
+
+/** @addtogroup USBD_OTG_DRIVER
+ * @{
+ */
+
+/** @defgroup USBD_DEVICE USBD_DEVICE
+ * @brief Device file for Usb otg low level driver.
+ * @{
+ */
+
+/** @defgroup USBD_DEVICE_Exported_Variables USBD_DEVICE_Exported_Variables
+ * @brief Public variables.
+ * @{
+ */
+
+/* Private variables ---------------------------------------------------------*/
+/* USER CODE BEGIN PV */
+
+/* USER CODE END PV */
+
+/* Private function prototypes -----------------------------------------------*/
+/* USER CODE BEGIN PFP */
+
+/* USER CODE END PFP */
+
+/*
+ * -- Insert your variables declaration here --
+ */
+/* USER CODE BEGIN VARIABLES */
+
+/* USER CODE END VARIABLES */
+/**
+ * @}
+ */
+
+/** @defgroup USBD_DEVICE_Exported_FunctionsPrototype USBD_DEVICE_Exported_FunctionsPrototype
+ * @brief Declaration of public functions for Usb device.
+ * @{
+ */
+
+/** USB Device initialization function. */
+void MX_USB_DEVICE_Init(void);
+
+/*
+ * -- Insert functions declaration here --
+ */
+/* USER CODE BEGIN FD */
+
+/* USER CODE END FD */
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __USB_DEVICE__H__ */
diff --git a/USB_DEVICE/App/usbd_cdc_if.c b/USB_DEVICE/App/usbd_cdc_if.c
new file mode 100644
index 0000000..dfb73d2
--- /dev/null
+++ b/USB_DEVICE/App/usbd_cdc_if.c
@@ -0,0 +1,328 @@
+/* USER CODE BEGIN Header */
+/**
+ ******************************************************************************
+ * @file : usbd_cdc_if.c
+ * @version : v1.0_Cube
+ * @brief : Usb device for Virtual Com Port.
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2025 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+/* USER CODE END Header */
+
+/* Includes ------------------------------------------------------------------*/
+#include "usbd_cdc_if.h"
+
+/* USER CODE BEGIN INCLUDE */
+
+/* USER CODE END INCLUDE */
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+/* Private macro -------------------------------------------------------------*/
+
+/* USER CODE BEGIN PV */
+/* Private variables ---------------------------------------------------------*/
+
+/* USER CODE END PV */
+
+/** @addtogroup STM32_USB_OTG_DEVICE_LIBRARY
+ * @brief Usb device library.
+ * @{
+ */
+
+/** @addtogroup USBD_CDC_IF
+ * @{
+ */
+
+/** @defgroup USBD_CDC_IF_Private_TypesDefinitions USBD_CDC_IF_Private_TypesDefinitions
+ * @brief Private types.
+ * @{
+ */
+
+/* USER CODE BEGIN PRIVATE_TYPES */
+
+/* USER CODE END PRIVATE_TYPES */
+
+/**
+ * @}
+ */
+
+/** @defgroup USBD_CDC_IF_Private_Defines USBD_CDC_IF_Private_Defines
+ * @brief Private defines.
+ * @{
+ */
+
+/* USER CODE BEGIN PRIVATE_DEFINES */
+/* USER CODE END PRIVATE_DEFINES */
+
+/**
+ * @}
+ */
+
+/** @defgroup USBD_CDC_IF_Private_Macros USBD_CDC_IF_Private_Macros
+ * @brief Private macros.
+ * @{
+ */
+
+/* USER CODE BEGIN PRIVATE_MACRO */
+
+/* USER CODE END PRIVATE_MACRO */
+
+/**
+ * @}
+ */
+
+/** @defgroup USBD_CDC_IF_Private_Variables USBD_CDC_IF_Private_Variables
+ * @brief Private variables.
+ * @{
+ */
+/* Create buffer for reception and transmission */
+/* It's up to user to redefine and/or remove those define */
+/** Received data over USB are stored in this buffer */
+uint8_t UserRxBufferFS[APP_RX_DATA_SIZE];
+
+/** Data to send over USB CDC are stored in this buffer */
+uint8_t UserTxBufferFS[APP_TX_DATA_SIZE];
+
+/* USER CODE BEGIN PRIVATE_VARIABLES */
+
+/* USER CODE END PRIVATE_VARIABLES */
+
+/**
+ * @}
+ */
+
+/** @defgroup USBD_CDC_IF_Exported_Variables USBD_CDC_IF_Exported_Variables
+ * @brief Public variables.
+ * @{
+ */
+
+extern USBD_HandleTypeDef hUsbDeviceFS;
+
+/* USER CODE BEGIN EXPORTED_VARIABLES */
+
+/* USER CODE END EXPORTED_VARIABLES */
+
+/**
+ * @}
+ */
+
+/** @defgroup USBD_CDC_IF_Private_FunctionPrototypes USBD_CDC_IF_Private_FunctionPrototypes
+ * @brief Private functions declaration.
+ * @{
+ */
+
+static int8_t CDC_Init_FS(void);
+static int8_t CDC_DeInit_FS(void);
+static int8_t CDC_Control_FS(uint8_t cmd, uint8_t* pbuf, uint16_t length);
+static int8_t CDC_Receive_FS(uint8_t* pbuf, uint32_t *Len);
+static int8_t CDC_TransmitCplt_FS(uint8_t *pbuf, uint32_t *Len, uint8_t epnum);
+
+/* USER CODE BEGIN PRIVATE_FUNCTIONS_DECLARATION */
+
+/* USER CODE END PRIVATE_FUNCTIONS_DECLARATION */
+
+/**
+ * @}
+ */
+
+USBD_CDC_ItfTypeDef USBD_Interface_fops_FS =
+{
+ CDC_Init_FS,
+ CDC_DeInit_FS,
+ CDC_Control_FS,
+ CDC_Receive_FS,
+ CDC_TransmitCplt_FS
+};
+
+/* Private functions ---------------------------------------------------------*/
+/**
+ * @brief Initializes the CDC media low layer over the FS USB IP
+ * @retval USBD_OK if all operations are OK else USBD_FAIL
+ */
+static int8_t CDC_Init_FS(void)
+{
+ /* USER CODE BEGIN 3 */
+ /* Set Application Buffers */
+ USBD_CDC_SetTxBuffer(&hUsbDeviceFS, UserTxBufferFS, 0);
+ USBD_CDC_SetRxBuffer(&hUsbDeviceFS, UserRxBufferFS);
+ return (USBD_OK);
+ /* USER CODE END 3 */
+}
+
+/**
+ * @brief DeInitializes the CDC media low layer
+ * @retval USBD_OK if all operations are OK else USBD_FAIL
+ */
+static int8_t CDC_DeInit_FS(void)
+{
+ /* USER CODE BEGIN 4 */
+ return (USBD_OK);
+ /* USER CODE END 4 */
+}
+
+/**
+ * @brief Manage the CDC class requests
+ * @param cmd: Command code
+ * @param pbuf: Buffer containing command data (request parameters)
+ * @param length: Number of data to be sent (in bytes)
+ * @retval Result of the operation: USBD_OK if all operations are OK else USBD_FAIL
+ */
+static int8_t CDC_Control_FS(uint8_t cmd, uint8_t* pbuf, uint16_t length)
+{
+ /* USER CODE BEGIN 5 */
+ switch(cmd)
+ {
+ case CDC_SEND_ENCAPSULATED_COMMAND:
+
+ break;
+
+ case CDC_GET_ENCAPSULATED_RESPONSE:
+
+ break;
+
+ case CDC_SET_COMM_FEATURE:
+
+ break;
+
+ case CDC_GET_COMM_FEATURE:
+
+ break;
+
+ case CDC_CLEAR_COMM_FEATURE:
+
+ break;
+
+ /*******************************************************************************/
+ /* Line Coding Structure */
+ /*-----------------------------------------------------------------------------*/
+ /* Offset | Field | Size | Value | Description */
+ /* 0 | dwDTERate | 4 | Number |Data terminal rate, in bits per second*/
+ /* 4 | bCharFormat | 1 | Number | Stop bits */
+ /* 0 - 1 Stop bit */
+ /* 1 - 1.5 Stop bits */
+ /* 2 - 2 Stop bits */
+ /* 5 | bParityType | 1 | Number | Parity */
+ /* 0 - None */
+ /* 1 - Odd */
+ /* 2 - Even */
+ /* 3 - Mark */
+ /* 4 - Space */
+ /* 6 | bDataBits | 1 | Number Data bits (5, 6, 7, 8 or 16). */
+ /*******************************************************************************/
+ case CDC_SET_LINE_CODING:
+
+ break;
+
+ case CDC_GET_LINE_CODING:
+
+ break;
+
+ case CDC_SET_CONTROL_LINE_STATE:
+
+ break;
+
+ case CDC_SEND_BREAK:
+
+ break;
+
+ default:
+ break;
+ }
+
+ return (USBD_OK);
+ /* USER CODE END 5 */
+}
+
+/**
+ * @brief Data received over USB OUT endpoint are sent over CDC interface
+ * through this function.
+ *
+ * @note
+ * This function will issue a NAK packet on any OUT packet received on
+ * USB endpoint until exiting this function. If you exit this function
+ * before transfer is complete on CDC interface (ie. using DMA controller)
+ * it will result in receiving more data while previous ones are still
+ * not sent.
+ *
+ * @param Buf: Buffer of data to be received
+ * @param Len: Number of data received (in bytes)
+ * @retval Result of the operation: USBD_OK if all operations are OK else USBD_FAIL
+ */
+static int8_t CDC_Receive_FS(uint8_t* Buf, uint32_t *Len)
+{
+ /* USER CODE BEGIN 6 */
+ USBD_CDC_SetRxBuffer(&hUsbDeviceFS, &Buf[0]);
+ USBD_CDC_ReceivePacket(&hUsbDeviceFS);
+ return (USBD_OK);
+ /* USER CODE END 6 */
+}
+
+/**
+ * @brief CDC_Transmit_FS
+ * Data to send over USB IN endpoint are sent over CDC interface
+ * through this function.
+ * @note
+ *
+ *
+ * @param Buf: Buffer of data to be sent
+ * @param Len: Number of data to be sent (in bytes)
+ * @retval USBD_OK if all operations are OK else USBD_FAIL or USBD_BUSY
+ */
+uint8_t CDC_Transmit_FS(uint8_t* Buf, uint16_t Len)
+{
+ uint8_t result = USBD_OK;
+ /* USER CODE BEGIN 7 */
+ USBD_CDC_HandleTypeDef *hcdc = (USBD_CDC_HandleTypeDef*)hUsbDeviceFS.pClassData;
+ if (hcdc->TxState != 0){
+ return USBD_BUSY;
+ }
+ USBD_CDC_SetTxBuffer(&hUsbDeviceFS, Buf, Len);
+ result = USBD_CDC_TransmitPacket(&hUsbDeviceFS);
+ /* USER CODE END 7 */
+ return result;
+}
+
+/**
+ * @brief CDC_TransmitCplt_FS
+ * Data transmitted callback
+ *
+ * @note
+ * This function is IN transfer complete callback used to inform user that
+ * the submitted Data is successfully sent over USB.
+ *
+ * @param Buf: Buffer of data to be received
+ * @param Len: Number of data received (in bytes)
+ * @retval Result of the operation: USBD_OK if all operations are OK else USBD_FAIL
+ */
+static int8_t CDC_TransmitCplt_FS(uint8_t *Buf, uint32_t *Len, uint8_t epnum)
+{
+ uint8_t result = USBD_OK;
+ /* USER CODE BEGIN 13 */
+ UNUSED(Buf);
+ UNUSED(Len);
+ UNUSED(epnum);
+ /* USER CODE END 13 */
+ return result;
+}
+
+/* USER CODE BEGIN PRIVATE_FUNCTIONS_IMPLEMENTATION */
+
+/* USER CODE END PRIVATE_FUNCTIONS_IMPLEMENTATION */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
diff --git a/USB_DEVICE/App/usbd_cdc_if.h b/USB_DEVICE/App/usbd_cdc_if.h
new file mode 100644
index 0000000..bad6a3b
--- /dev/null
+++ b/USB_DEVICE/App/usbd_cdc_if.h
@@ -0,0 +1,132 @@
+/* USER CODE BEGIN Header */
+/**
+ ******************************************************************************
+ * @file : usbd_cdc_if.h
+ * @version : v1.0_Cube
+ * @brief : Header for usbd_cdc_if.c file.
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2025 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+/* USER CODE END Header */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+
+#ifndef __USBD_CDC_IF_H__
+#define __USBD_CDC_IF_H__
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "usbd_cdc.h"
+
+/* USER CODE BEGIN INCLUDE */
+
+/* USER CODE END INCLUDE */
+
+/** @addtogroup STM32_USB_OTG_DEVICE_LIBRARY
+ * @brief For Usb device.
+ * @{
+ */
+
+/** @defgroup USBD_CDC_IF USBD_CDC_IF
+ * @brief Usb VCP device module
+ * @{
+ */
+
+/** @defgroup USBD_CDC_IF_Exported_Defines USBD_CDC_IF_Exported_Defines
+ * @brief Defines.
+ * @{
+ */
+/* Define size for the receive and transmit buffer over CDC */
+#define APP_RX_DATA_SIZE 2048
+#define APP_TX_DATA_SIZE 2048
+/* USER CODE BEGIN EXPORTED_DEFINES */
+
+/* USER CODE END EXPORTED_DEFINES */
+
+/**
+ * @}
+ */
+
+/** @defgroup USBD_CDC_IF_Exported_Types USBD_CDC_IF_Exported_Types
+ * @brief Types.
+ * @{
+ */
+
+/* USER CODE BEGIN EXPORTED_TYPES */
+
+/* USER CODE END EXPORTED_TYPES */
+
+/**
+ * @}
+ */
+
+/** @defgroup USBD_CDC_IF_Exported_Macros USBD_CDC_IF_Exported_Macros
+ * @brief Aliases.
+ * @{
+ */
+
+/* USER CODE BEGIN EXPORTED_MACRO */
+
+/* USER CODE END EXPORTED_MACRO */
+
+/**
+ * @}
+ */
+
+/** @defgroup USBD_CDC_IF_Exported_Variables USBD_CDC_IF_Exported_Variables
+ * @brief Public variables.
+ * @{
+ */
+
+/** CDC Interface callback. */
+extern USBD_CDC_ItfTypeDef USBD_Interface_fops_FS;
+
+/* USER CODE BEGIN EXPORTED_VARIABLES */
+
+/* USER CODE END EXPORTED_VARIABLES */
+
+/**
+ * @}
+ */
+
+/** @defgroup USBD_CDC_IF_Exported_FunctionsPrototype USBD_CDC_IF_Exported_FunctionsPrototype
+ * @brief Public functions declaration.
+ * @{
+ */
+
+uint8_t CDC_Transmit_FS(uint8_t* Buf, uint16_t Len);
+
+/* USER CODE BEGIN EXPORTED_FUNCTIONS */
+
+/* USER CODE END EXPORTED_FUNCTIONS */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __USBD_CDC_IF_H__ */
+
diff --git a/USB_DEVICE/App/usbd_desc.c b/USB_DEVICE/App/usbd_desc.c
new file mode 100644
index 0000000..974c41f
--- /dev/null
+++ b/USB_DEVICE/App/usbd_desc.c
@@ -0,0 +1,445 @@
+/* USER CODE BEGIN Header */
+/**
+ ******************************************************************************
+ * @file : App/usbd_desc.c
+ * @version : v1.0_Cube
+ * @brief : This file implements the USB device descriptors.
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2025 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+/* USER CODE END Header */
+
+/* Includes ------------------------------------------------------------------*/
+#include "usbd_core.h"
+#include "usbd_desc.h"
+#include "usbd_conf.h"
+
+/* USER CODE BEGIN INCLUDE */
+
+/* USER CODE END INCLUDE */
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+/* Private macro -------------------------------------------------------------*/
+
+/* USER CODE BEGIN PV */
+/* Private variables ---------------------------------------------------------*/
+
+/* USER CODE END PV */
+
+/** @addtogroup STM32_USB_OTG_DEVICE_LIBRARY
+ * @{
+ */
+
+/** @addtogroup USBD_DESC
+ * @{
+ */
+
+/** @defgroup USBD_DESC_Private_TypesDefinitions USBD_DESC_Private_TypesDefinitions
+ * @brief Private types.
+ * @{
+ */
+
+/* USER CODE BEGIN PRIVATE_TYPES */
+
+/* USER CODE END PRIVATE_TYPES */
+
+/**
+ * @}
+ */
+
+/** @defgroup USBD_DESC_Private_Defines USBD_DESC_Private_Defines
+ * @brief Private defines.
+ * @{
+ */
+
+#define USBD_VID 1155
+#define USBD_LANGID_STRING 1033
+#define USBD_MANUFACTURER_STRING "STMicroelectronics"
+#define USBD_PID_FS 22336
+#define USBD_PRODUCT_STRING_FS "STM32 Virtual ComPort"
+#define USBD_CONFIGURATION_STRING_FS "CDC Config"
+#define USBD_INTERFACE_STRING_FS "CDC Interface"
+
+#define USB_SIZ_BOS_DESC 0x0C
+
+/* USER CODE BEGIN PRIVATE_DEFINES */
+
+/* USER CODE END PRIVATE_DEFINES */
+
+/**
+ * @}
+ */
+
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+
+/** @defgroup USBD_DESC_Private_Macros USBD_DESC_Private_Macros
+ * @brief Private macros.
+ * @{
+ */
+
+/* USER CODE BEGIN PRIVATE_MACRO */
+
+/* USER CODE END PRIVATE_MACRO */
+
+/**
+ * @}
+ */
+
+/** @defgroup USBD_DESC_Private_FunctionPrototypes USBD_DESC_Private_FunctionPrototypes
+ * @brief Private functions declaration.
+ * @{
+ */
+
+static void Get_SerialNum(void);
+static void IntToUnicode(uint32_t value, uint8_t * pbuf, uint8_t len);
+
+/**
+ * @}
+ */
+
+/** @defgroup USBD_DESC_Private_FunctionPrototypes USBD_DESC_Private_FunctionPrototypes
+ * @brief Private functions declaration for FS.
+ * @{
+ */
+
+uint8_t * USBD_FS_DeviceDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
+uint8_t * USBD_FS_LangIDStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
+uint8_t * USBD_FS_ManufacturerStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
+uint8_t * USBD_FS_ProductStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
+uint8_t * USBD_FS_SerialStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
+uint8_t * USBD_FS_ConfigStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
+uint8_t * USBD_FS_InterfaceStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
+#if (USBD_LPM_ENABLED == 1)
+uint8_t * USBD_FS_USR_BOSDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
+#endif /* (USBD_LPM_ENABLED == 1) */
+
+/**
+ * @}
+ */
+
+/** @defgroup USBD_DESC_Private_Variables USBD_DESC_Private_Variables
+ * @brief Private variables.
+ * @{
+ */
+
+USBD_DescriptorsTypeDef FS_Desc =
+{
+ USBD_FS_DeviceDescriptor
+, USBD_FS_LangIDStrDescriptor
+, USBD_FS_ManufacturerStrDescriptor
+, USBD_FS_ProductStrDescriptor
+, USBD_FS_SerialStrDescriptor
+, USBD_FS_ConfigStrDescriptor
+, USBD_FS_InterfaceStrDescriptor
+#if (USBD_LPM_ENABLED == 1)
+, USBD_FS_USR_BOSDescriptor
+#endif /* (USBD_LPM_ENABLED == 1) */
+};
+
+#if defined ( __ICCARM__ ) /* IAR Compiler */
+ #pragma data_alignment=4
+#endif /* defined ( __ICCARM__ ) */
+/** USB standard device descriptor. */
+__ALIGN_BEGIN uint8_t USBD_FS_DeviceDesc[USB_LEN_DEV_DESC] __ALIGN_END =
+{
+ 0x12, /*bLength */
+ USB_DESC_TYPE_DEVICE, /*bDescriptorType*/
+#if (USBD_LPM_ENABLED == 1)
+ 0x01, /*bcdUSB */ /* changed to USB version 2.01
+ in order to support LPM L1 suspend
+ resume test of USBCV3.0*/
+#else
+ 0x00, /*bcdUSB */
+#endif /* (USBD_LPM_ENABLED == 1) */
+ 0x02,
+ 0x02, /*bDeviceClass*/
+ 0x02, /*bDeviceSubClass*/
+ 0x00, /*bDeviceProtocol*/
+ USB_MAX_EP0_SIZE, /*bMaxPacketSize*/
+ LOBYTE(USBD_VID), /*idVendor*/
+ HIBYTE(USBD_VID), /*idVendor*/
+ LOBYTE(USBD_PID_FS), /*idProduct*/
+ HIBYTE(USBD_PID_FS), /*idProduct*/
+ 0x00, /*bcdDevice rel. 2.00*/
+ 0x02,
+ USBD_IDX_MFC_STR, /*Index of manufacturer string*/
+ USBD_IDX_PRODUCT_STR, /*Index of product string*/
+ USBD_IDX_SERIAL_STR, /*Index of serial number string*/
+ USBD_MAX_NUM_CONFIGURATION /*bNumConfigurations*/
+};
+
+/* USB_DeviceDescriptor */
+/** BOS descriptor. */
+#if (USBD_LPM_ENABLED == 1)
+#if defined ( __ICCARM__ ) /* IAR Compiler */
+ #pragma data_alignment=4
+#endif /* defined ( __ICCARM__ ) */
+__ALIGN_BEGIN uint8_t USBD_FS_BOSDesc[USB_SIZ_BOS_DESC] __ALIGN_END =
+{
+ 0x5,
+ USB_DESC_TYPE_BOS,
+ 0xC,
+ 0x0,
+ 0x1, /* 1 device capability*/
+ /* device capability*/
+ 0x7,
+ USB_DEVICE_CAPABITY_TYPE,
+ 0x2,
+ 0x2, /* LPM capability bit set*/
+ 0x0,
+ 0x0,
+ 0x0
+};
+#endif /* (USBD_LPM_ENABLED == 1) */
+
+/**
+ * @}
+ */
+
+/** @defgroup USBD_DESC_Private_Variables USBD_DESC_Private_Variables
+ * @brief Private variables.
+ * @{
+ */
+
+#if defined ( __ICCARM__ ) /* IAR Compiler */
+ #pragma data_alignment=4
+#endif /* defined ( __ICCARM__ ) */
+
+/** USB lang identifier descriptor. */
+__ALIGN_BEGIN uint8_t USBD_LangIDDesc[USB_LEN_LANGID_STR_DESC] __ALIGN_END =
+{
+ USB_LEN_LANGID_STR_DESC,
+ USB_DESC_TYPE_STRING,
+ LOBYTE(USBD_LANGID_STRING),
+ HIBYTE(USBD_LANGID_STRING)
+};
+
+#if defined ( __ICCARM__ ) /* IAR Compiler */
+ #pragma data_alignment=4
+#endif /* defined ( __ICCARM__ ) */
+/* Internal string descriptor. */
+__ALIGN_BEGIN uint8_t USBD_StrDesc[USBD_MAX_STR_DESC_SIZ] __ALIGN_END;
+
+#if defined ( __ICCARM__ ) /*!< IAR Compiler */
+ #pragma data_alignment=4
+#endif
+__ALIGN_BEGIN uint8_t USBD_StringSerial[USB_SIZ_STRING_SERIAL] __ALIGN_END = {
+ USB_SIZ_STRING_SERIAL,
+ USB_DESC_TYPE_STRING,
+};
+
+/**
+ * @}
+ */
+
+/** @defgroup USBD_DESC_Private_Functions USBD_DESC_Private_Functions
+ * @brief Private functions.
+ * @{
+ */
+
+/**
+ * @brief Return the device descriptor
+ * @param speed : Current device speed
+ * @param length : Pointer to data length variable
+ * @retval Pointer to descriptor buffer
+ */
+uint8_t * USBD_FS_DeviceDescriptor(USBD_SpeedTypeDef speed, uint16_t *length)
+{
+ UNUSED(speed);
+ *length = sizeof(USBD_FS_DeviceDesc);
+ return USBD_FS_DeviceDesc;
+}
+
+/**
+ * @brief Return the LangID string descriptor
+ * @param speed : Current device speed
+ * @param length : Pointer to data length variable
+ * @retval Pointer to descriptor buffer
+ */
+uint8_t * USBD_FS_LangIDStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length)
+{
+ UNUSED(speed);
+ *length = sizeof(USBD_LangIDDesc);
+ return USBD_LangIDDesc;
+}
+
+/**
+ * @brief Return the product string descriptor
+ * @param speed : Current device speed
+ * @param length : Pointer to data length variable
+ * @retval Pointer to descriptor buffer
+ */
+uint8_t * USBD_FS_ProductStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length)
+{
+ if(speed == 0)
+ {
+ USBD_GetString((uint8_t *)USBD_PRODUCT_STRING_FS, USBD_StrDesc, length);
+ }
+ else
+ {
+ USBD_GetString((uint8_t *)USBD_PRODUCT_STRING_FS, USBD_StrDesc, length);
+ }
+ return USBD_StrDesc;
+}
+
+/**
+ * @brief Return the manufacturer string descriptor
+ * @param speed : Current device speed
+ * @param length : Pointer to data length variable
+ * @retval Pointer to descriptor buffer
+ */
+uint8_t * USBD_FS_ManufacturerStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length)
+{
+ UNUSED(speed);
+ USBD_GetString((uint8_t *)USBD_MANUFACTURER_STRING, USBD_StrDesc, length);
+ return USBD_StrDesc;
+}
+
+/**
+ * @brief Return the serial number string descriptor
+ * @param speed : Current device speed
+ * @param length : Pointer to data length variable
+ * @retval Pointer to descriptor buffer
+ */
+uint8_t * USBD_FS_SerialStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length)
+{
+ UNUSED(speed);
+ *length = USB_SIZ_STRING_SERIAL;
+
+ /* Update the serial number string descriptor with the data from the unique
+ * ID */
+ Get_SerialNum();
+ /* USER CODE BEGIN USBD_FS_SerialStrDescriptor */
+
+ /* USER CODE END USBD_FS_SerialStrDescriptor */
+ return (uint8_t *) USBD_StringSerial;
+}
+
+/**
+ * @brief Return the configuration string descriptor
+ * @param speed : Current device speed
+ * @param length : Pointer to data length variable
+ * @retval Pointer to descriptor buffer
+ */
+uint8_t * USBD_FS_ConfigStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length)
+{
+ if(speed == USBD_SPEED_HIGH)
+ {
+ USBD_GetString((uint8_t *)USBD_CONFIGURATION_STRING_FS, USBD_StrDesc, length);
+ }
+ else
+ {
+ USBD_GetString((uint8_t *)USBD_CONFIGURATION_STRING_FS, USBD_StrDesc, length);
+ }
+ return USBD_StrDesc;
+}
+
+/**
+ * @brief Return the interface string descriptor
+ * @param speed : Current device speed
+ * @param length : Pointer to data length variable
+ * @retval Pointer to descriptor buffer
+ */
+uint8_t * USBD_FS_InterfaceStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length)
+{
+ if(speed == 0)
+ {
+ USBD_GetString((uint8_t *)USBD_INTERFACE_STRING_FS, USBD_StrDesc, length);
+ }
+ else
+ {
+ USBD_GetString((uint8_t *)USBD_INTERFACE_STRING_FS, USBD_StrDesc, length);
+ }
+ return USBD_StrDesc;
+}
+
+#if (USBD_LPM_ENABLED == 1)
+/**
+ * @brief Return the BOS descriptor
+ * @param speed : Current device speed
+ * @param length : Pointer to data length variable
+ * @retval Pointer to descriptor buffer
+ */
+uint8_t * USBD_FS_USR_BOSDescriptor(USBD_SpeedTypeDef speed, uint16_t *length)
+{
+ UNUSED(speed);
+ *length = sizeof(USBD_FS_BOSDesc);
+ return (uint8_t*)USBD_FS_BOSDesc;
+}
+#endif /* (USBD_LPM_ENABLED == 1) */
+
+/**
+ * @brief Create the serial number string descriptor
+ * @param None
+ * @retval None
+ */
+static void Get_SerialNum(void)
+{
+ uint32_t deviceserial0;
+ uint32_t deviceserial1;
+ uint32_t deviceserial2;
+
+ deviceserial0 = *(uint32_t *) DEVICE_ID1;
+ deviceserial1 = *(uint32_t *) DEVICE_ID2;
+ deviceserial2 = *(uint32_t *) DEVICE_ID3;
+
+ deviceserial0 += deviceserial2;
+
+ if (deviceserial0 != 0)
+ {
+ IntToUnicode(deviceserial0, &USBD_StringSerial[2], 8);
+ IntToUnicode(deviceserial1, &USBD_StringSerial[18], 4);
+ }
+}
+
+/**
+ * @brief Convert Hex 32Bits value into char
+ * @param value: value to convert
+ * @param pbuf: pointer to the buffer
+ * @param len: buffer length
+ * @retval None
+ */
+static void IntToUnicode(uint32_t value, uint8_t * pbuf, uint8_t len)
+{
+ uint8_t idx = 0;
+
+ for (idx = 0; idx < len; idx++)
+ {
+ if (((value >> 28)) < 0xA)
+ {
+ pbuf[2 * idx] = (value >> 28) + '0';
+ }
+ else
+ {
+ pbuf[2 * idx] = (value >> 28) + 'A' - 10;
+ }
+
+ value = value << 4;
+
+ pbuf[2 * idx + 1] = 0;
+ }
+}
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
diff --git a/USB_DEVICE/App/usbd_desc.h b/USB_DEVICE/App/usbd_desc.h
new file mode 100644
index 0000000..a42cff0
--- /dev/null
+++ b/USB_DEVICE/App/usbd_desc.h
@@ -0,0 +1,143 @@
+/* USER CODE BEGIN Header */
+/**
+ ******************************************************************************
+ * @file : usbd_desc.c
+ * @version : v1.0_Cube
+ * @brief : Header for usbd_conf.c file.
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2025 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+/* USER CODE END Header */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __USBD_DESC__C__
+#define __USBD_DESC__C__
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "usbd_def.h"
+
+/* USER CODE BEGIN INCLUDE */
+
+/* USER CODE END INCLUDE */
+
+/** @addtogroup STM32_USB_OTG_DEVICE_LIBRARY
+ * @{
+ */
+
+/** @defgroup USBD_DESC USBD_DESC
+ * @brief Usb device descriptors module.
+ * @{
+ */
+
+/*
+ * User to provide a unique ID to define the USB device serial number
+ * The use of UID_BASE register can be considered as an example
+ */
+#define DEVICE_ID1 (UID_BASE)
+#define DEVICE_ID2 (UID_BASE + 0x4)
+#define DEVICE_ID3 (UID_BASE + 0x8)
+
+#define USB_SIZ_STRING_SERIAL 0x1A
+
+/* USER CODE BEGIN EXPORTED_CONSTANTS */
+
+/* USER CODE END EXPORTED_CONSTANTS */
+
+/**
+ * @}
+ */
+
+/** @defgroup USBD_DESC_Exported_Defines USBD_DESC_Exported_Defines
+ * @brief Defines.
+ * @{
+ */
+
+/* USER CODE BEGIN EXPORTED_DEFINES */
+
+/* USER CODE END EXPORTED_DEFINES */
+
+/**
+ * @}
+ */
+
+/** @defgroup USBD_DESC_Exported_TypesDefinitions USBD_DESC_Exported_TypesDefinitions
+ * @brief Types.
+ * @{
+ */
+
+/* USER CODE BEGIN EXPORTED_TYPES */
+
+/* USER CODE END EXPORTED_TYPES */
+
+/**
+ * @}
+ */
+
+/** @defgroup USBD_DESC_Exported_Macros USBD_DESC_Exported_Macros
+ * @brief Aliases.
+ * @{
+ */
+
+/* USER CODE BEGIN EXPORTED_MACRO */
+
+/* USER CODE END EXPORTED_MACRO */
+
+/**
+ * @}
+ */
+
+/** @defgroup USBD_DESC_Exported_Variables USBD_DESC_Exported_Variables
+ * @brief Public variables.
+ * @{
+ */
+
+/** Descriptor for the Usb device. */
+extern USBD_DescriptorsTypeDef FS_Desc;
+
+/* USER CODE BEGIN EXPORTED_VARIABLES */
+
+/* USER CODE END EXPORTED_VARIABLES */
+
+/**
+ * @}
+ */
+
+/** @defgroup USBD_DESC_Exported_FunctionsPrototype USBD_DESC_Exported_FunctionsPrototype
+ * @brief Public functions declaration.
+ * @{
+ */
+
+/* USER CODE BEGIN EXPORTED_FUNCTIONS */
+
+/* USER CODE END EXPORTED_FUNCTIONS */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __USBD_DESC__C__ */
+
diff --git a/USB_DEVICE/Target/usbd_conf.c b/USB_DEVICE/Target/usbd_conf.c
new file mode 100644
index 0000000..6b1d1a0
--- /dev/null
+++ b/USB_DEVICE/Target/usbd_conf.c
@@ -0,0 +1,679 @@
+/* USER CODE BEGIN Header */
+/**
+ ******************************************************************************
+ * @file : Target/usbd_conf.c
+ * @version : v1.0_Cube
+ * @brief : This file implements the board support package for the USB device library
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2025 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+/* USER CODE END Header */
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx.h"
+#include "stm32f4xx_hal.h"
+#include "usbd_def.h"
+#include "usbd_core.h"
+
+#include "usbd_cdc.h"
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+/* Private macro -------------------------------------------------------------*/
+
+/* USER CODE BEGIN PV */
+/* Private variables ---------------------------------------------------------*/
+
+/* USER CODE END PV */
+
+PCD_HandleTypeDef hpcd_USB_OTG_FS;
+void Error_Handler(void);
+
+/* External functions --------------------------------------------------------*/
+void SystemClock_Config(void);
+
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+
+/* USER CODE BEGIN PFP */
+/* Private function prototypes -----------------------------------------------*/
+USBD_StatusTypeDef USBD_Get_USB_Status(HAL_StatusTypeDef hal_status);
+
+/* USER CODE END PFP */
+
+/* Private functions ---------------------------------------------------------*/
+
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */
+
+/*******************************************************************************
+ LL Driver Callbacks (PCD -> USB Device Library)
+*******************************************************************************/
+/* MSP Init */
+
+void HAL_PCD_MspInit(PCD_HandleTypeDef* pcdHandle)
+{
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
+ if(pcdHandle->Instance==USB_OTG_FS)
+ {
+ /* USER CODE BEGIN USB_OTG_FS_MspInit 0 */
+
+ /* USER CODE END USB_OTG_FS_MspInit 0 */
+
+ __HAL_RCC_GPIOA_CLK_ENABLE();
+ /**USB_OTG_FS GPIO Configuration
+ PA12 ------> USB_OTG_FS_DP
+ PA11 ------> USB_OTG_FS_DM
+ */
+ GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_11;
+ GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+ GPIO_InitStruct.Alternate = GPIO_AF10_OTG_FS;
+ HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+ /* Peripheral clock enable */
+ __HAL_RCC_USB_OTG_FS_CLK_ENABLE();
+
+ /* Peripheral interrupt init */
+ HAL_NVIC_SetPriority(OTG_FS_IRQn, 5, 0);
+ HAL_NVIC_EnableIRQ(OTG_FS_IRQn);
+ /* USER CODE BEGIN USB_OTG_FS_MspInit 1 */
+
+ /* USER CODE END USB_OTG_FS_MspInit 1 */
+ }
+}
+
+void HAL_PCD_MspDeInit(PCD_HandleTypeDef* pcdHandle)
+{
+ if(pcdHandle->Instance==USB_OTG_FS)
+ {
+ /* USER CODE BEGIN USB_OTG_FS_MspDeInit 0 */
+
+ /* USER CODE END USB_OTG_FS_MspDeInit 0 */
+ /* Peripheral clock disable */
+ __HAL_RCC_USB_OTG_FS_CLK_DISABLE();
+
+ /**USB_OTG_FS GPIO Configuration
+ PA12 ------> USB_OTG_FS_DP
+ PA11 ------> USB_OTG_FS_DM
+ */
+ HAL_GPIO_DeInit(GPIOA, GPIO_PIN_12|GPIO_PIN_11);
+
+ /* Peripheral interrupt Deinit*/
+ HAL_NVIC_DisableIRQ(OTG_FS_IRQn);
+
+ /* USER CODE BEGIN USB_OTG_FS_MspDeInit 1 */
+
+ /* USER CODE END USB_OTG_FS_MspDeInit 1 */
+ }
+}
+
+/**
+ * @brief Setup stage callback
+ * @param hpcd: PCD handle
+ * @retval None
+ */
+#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U)
+static void PCD_SetupStageCallback(PCD_HandleTypeDef *hpcd)
+#else
+void HAL_PCD_SetupStageCallback(PCD_HandleTypeDef *hpcd)
+#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */
+{
+ USBD_LL_SetupStage((USBD_HandleTypeDef*)hpcd->pData, (uint8_t *)hpcd->Setup);
+}
+
+/**
+ * @brief Data Out stage callback.
+ * @param hpcd: PCD handle
+ * @param epnum: Endpoint number
+ * @retval None
+ */
+#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U)
+static void PCD_DataOutStageCallback(PCD_HandleTypeDef *hpcd, uint8_t epnum)
+#else
+void HAL_PCD_DataOutStageCallback(PCD_HandleTypeDef *hpcd, uint8_t epnum)
+#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */
+{
+ USBD_LL_DataOutStage((USBD_HandleTypeDef*)hpcd->pData, epnum, hpcd->OUT_ep[epnum].xfer_buff);
+}
+
+/**
+ * @brief Data In stage callback.
+ * @param hpcd: PCD handle
+ * @param epnum: Endpoint number
+ * @retval None
+ */
+#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U)
+static void PCD_DataInStageCallback(PCD_HandleTypeDef *hpcd, uint8_t epnum)
+#else
+void HAL_PCD_DataInStageCallback(PCD_HandleTypeDef *hpcd, uint8_t epnum)
+#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */
+{
+ USBD_LL_DataInStage((USBD_HandleTypeDef*)hpcd->pData, epnum, hpcd->IN_ep[epnum].xfer_buff);
+}
+
+/**
+ * @brief SOF callback.
+ * @param hpcd: PCD handle
+ * @retval None
+ */
+#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U)
+static void PCD_SOFCallback(PCD_HandleTypeDef *hpcd)
+#else
+void HAL_PCD_SOFCallback(PCD_HandleTypeDef *hpcd)
+#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */
+{
+ USBD_LL_SOF((USBD_HandleTypeDef*)hpcd->pData);
+}
+
+/**
+ * @brief Reset callback.
+ * @param hpcd: PCD handle
+ * @retval None
+ */
+#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U)
+static void PCD_ResetCallback(PCD_HandleTypeDef *hpcd)
+#else
+void HAL_PCD_ResetCallback(PCD_HandleTypeDef *hpcd)
+#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */
+{
+ USBD_SpeedTypeDef speed = USBD_SPEED_FULL;
+
+ if ( hpcd->Init.speed == PCD_SPEED_HIGH)
+ {
+ speed = USBD_SPEED_HIGH;
+ }
+ else if ( hpcd->Init.speed == PCD_SPEED_FULL)
+ {
+ speed = USBD_SPEED_FULL;
+ }
+ else
+ {
+ Error_Handler();
+ }
+ /* Set Speed. */
+ USBD_LL_SetSpeed((USBD_HandleTypeDef*)hpcd->pData, speed);
+
+ /* Reset Device. */
+ USBD_LL_Reset((USBD_HandleTypeDef*)hpcd->pData);
+}
+
+/**
+ * @brief Suspend callback.
+ * When Low power mode is enabled the debug cannot be used (IAR, Keil doesn't support it)
+ * @param hpcd: PCD handle
+ * @retval None
+ */
+#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U)
+static void PCD_SuspendCallback(PCD_HandleTypeDef *hpcd)
+#else
+void HAL_PCD_SuspendCallback(PCD_HandleTypeDef *hpcd)
+#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */
+{
+ /* Inform USB library that core enters in suspend Mode. */
+ USBD_LL_Suspend((USBD_HandleTypeDef*)hpcd->pData);
+ __HAL_PCD_GATE_PHYCLOCK(hpcd);
+ /* Enter in STOP mode. */
+ /* USER CODE BEGIN 2 */
+ if (hpcd->Init.low_power_enable)
+ {
+ /* Set SLEEPDEEP bit and SleepOnExit of Cortex System Control Register. */
+ SCB->SCR |= (uint32_t)((uint32_t)(SCB_SCR_SLEEPDEEP_Msk | SCB_SCR_SLEEPONEXIT_Msk));
+ }
+ /* USER CODE END 2 */
+}
+
+/**
+ * @brief Resume callback.
+ * When Low power mode is enabled the debug cannot be used (IAR, Keil doesn't support it)
+ * @param hpcd: PCD handle
+ * @retval None
+ */
+#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U)
+static void PCD_ResumeCallback(PCD_HandleTypeDef *hpcd)
+#else
+void HAL_PCD_ResumeCallback(PCD_HandleTypeDef *hpcd)
+#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */
+{
+ /* USER CODE BEGIN 3 */
+
+ /* USER CODE END 3 */
+ USBD_LL_Resume((USBD_HandleTypeDef*)hpcd->pData);
+}
+
+/**
+ * @brief ISOOUTIncomplete callback.
+ * @param hpcd: PCD handle
+ * @param epnum: Endpoint number
+ * @retval None
+ */
+#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U)
+static void PCD_ISOOUTIncompleteCallback(PCD_HandleTypeDef *hpcd, uint8_t epnum)
+#else
+void HAL_PCD_ISOOUTIncompleteCallback(PCD_HandleTypeDef *hpcd, uint8_t epnum)
+#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */
+{
+ USBD_LL_IsoOUTIncomplete((USBD_HandleTypeDef*)hpcd->pData, epnum);
+}
+
+/**
+ * @brief ISOINIncomplete callback.
+ * @param hpcd: PCD handle
+ * @param epnum: Endpoint number
+ * @retval None
+ */
+#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U)
+static void PCD_ISOINIncompleteCallback(PCD_HandleTypeDef *hpcd, uint8_t epnum)
+#else
+void HAL_PCD_ISOINIncompleteCallback(PCD_HandleTypeDef *hpcd, uint8_t epnum)
+#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */
+{
+ USBD_LL_IsoINIncomplete((USBD_HandleTypeDef*)hpcd->pData, epnum);
+}
+
+/**
+ * @brief Connect callback.
+ * @param hpcd: PCD handle
+ * @retval None
+ */
+#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U)
+static void PCD_ConnectCallback(PCD_HandleTypeDef *hpcd)
+#else
+void HAL_PCD_ConnectCallback(PCD_HandleTypeDef *hpcd)
+#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */
+{
+ USBD_LL_DevConnected((USBD_HandleTypeDef*)hpcd->pData);
+}
+
+/**
+ * @brief Disconnect callback.
+ * @param hpcd: PCD handle
+ * @retval None
+ */
+#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U)
+static void PCD_DisconnectCallback(PCD_HandleTypeDef *hpcd)
+#else
+void HAL_PCD_DisconnectCallback(PCD_HandleTypeDef *hpcd)
+#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */
+{
+ USBD_LL_DevDisconnected((USBD_HandleTypeDef*)hpcd->pData);
+}
+
+/*******************************************************************************
+ LL Driver Interface (USB Device Library --> PCD)
+*******************************************************************************/
+
+/**
+ * @brief Initializes the low level portion of the device driver.
+ * @param pdev: Device handle
+ * @retval USBD status
+ */
+USBD_StatusTypeDef USBD_LL_Init(USBD_HandleTypeDef *pdev)
+{
+ /* Init USB Ip. */
+ if (pdev->id == DEVICE_FS) {
+ /* Link the driver to the stack. */
+ hpcd_USB_OTG_FS.pData = pdev;
+ pdev->pData = &hpcd_USB_OTG_FS;
+
+ hpcd_USB_OTG_FS.Instance = USB_OTG_FS;
+ hpcd_USB_OTG_FS.Init.dev_endpoints = 4;
+ hpcd_USB_OTG_FS.Init.speed = PCD_SPEED_FULL;
+ hpcd_USB_OTG_FS.Init.dma_enable = DISABLE;
+ hpcd_USB_OTG_FS.Init.phy_itface = PCD_PHY_EMBEDDED;
+ hpcd_USB_OTG_FS.Init.Sof_enable = DISABLE;
+ hpcd_USB_OTG_FS.Init.low_power_enable = DISABLE;
+ hpcd_USB_OTG_FS.Init.lpm_enable = DISABLE;
+ hpcd_USB_OTG_FS.Init.vbus_sensing_enable = DISABLE;
+ hpcd_USB_OTG_FS.Init.use_dedicated_ep1 = DISABLE;
+ if (HAL_PCD_Init(&hpcd_USB_OTG_FS) != HAL_OK)
+ {
+ Error_Handler( );
+ }
+
+#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U)
+ /* Register USB PCD CallBacks */
+ HAL_PCD_RegisterCallback(&hpcd_USB_OTG_FS, HAL_PCD_SOF_CB_ID, PCD_SOFCallback);
+ HAL_PCD_RegisterCallback(&hpcd_USB_OTG_FS, HAL_PCD_SETUPSTAGE_CB_ID, PCD_SetupStageCallback);
+ HAL_PCD_RegisterCallback(&hpcd_USB_OTG_FS, HAL_PCD_RESET_CB_ID, PCD_ResetCallback);
+ HAL_PCD_RegisterCallback(&hpcd_USB_OTG_FS, HAL_PCD_SUSPEND_CB_ID, PCD_SuspendCallback);
+ HAL_PCD_RegisterCallback(&hpcd_USB_OTG_FS, HAL_PCD_RESUME_CB_ID, PCD_ResumeCallback);
+ HAL_PCD_RegisterCallback(&hpcd_USB_OTG_FS, HAL_PCD_CONNECT_CB_ID, PCD_ConnectCallback);
+ HAL_PCD_RegisterCallback(&hpcd_USB_OTG_FS, HAL_PCD_DISCONNECT_CB_ID, PCD_DisconnectCallback);
+
+ HAL_PCD_RegisterDataOutStageCallback(&hpcd_USB_OTG_FS, PCD_DataOutStageCallback);
+ HAL_PCD_RegisterDataInStageCallback(&hpcd_USB_OTG_FS, PCD_DataInStageCallback);
+ HAL_PCD_RegisterIsoOutIncpltCallback(&hpcd_USB_OTG_FS, PCD_ISOOUTIncompleteCallback);
+ HAL_PCD_RegisterIsoInIncpltCallback(&hpcd_USB_OTG_FS, PCD_ISOINIncompleteCallback);
+#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */
+ HAL_PCDEx_SetRxFiFo(&hpcd_USB_OTG_FS, 0x80);
+ HAL_PCDEx_SetTxFiFo(&hpcd_USB_OTG_FS, 0, 0x40);
+ HAL_PCDEx_SetTxFiFo(&hpcd_USB_OTG_FS, 1, 0x80);
+ }
+ return USBD_OK;
+}
+
+/**
+ * @brief De-Initializes the low level portion of the device driver.
+ * @param pdev: Device handle
+ * @retval USBD status
+ */
+USBD_StatusTypeDef USBD_LL_DeInit(USBD_HandleTypeDef *pdev)
+{
+ HAL_StatusTypeDef hal_status = HAL_OK;
+ USBD_StatusTypeDef usb_status = USBD_OK;
+
+ hal_status = HAL_PCD_DeInit(pdev->pData);
+
+ usb_status = USBD_Get_USB_Status(hal_status);
+
+ return usb_status;
+}
+
+/**
+ * @brief Starts the low level portion of the device driver.
+ * @param pdev: Device handle
+ * @retval USBD status
+ */
+USBD_StatusTypeDef USBD_LL_Start(USBD_HandleTypeDef *pdev)
+{
+ HAL_StatusTypeDef hal_status = HAL_OK;
+ USBD_StatusTypeDef usb_status = USBD_OK;
+
+ hal_status = HAL_PCD_Start(pdev->pData);
+
+ usb_status = USBD_Get_USB_Status(hal_status);
+
+ return usb_status;
+}
+
+/**
+ * @brief Stops the low level portion of the device driver.
+ * @param pdev: Device handle
+ * @retval USBD status
+ */
+USBD_StatusTypeDef USBD_LL_Stop(USBD_HandleTypeDef *pdev)
+{
+ HAL_StatusTypeDef hal_status = HAL_OK;
+ USBD_StatusTypeDef usb_status = USBD_OK;
+
+ hal_status = HAL_PCD_Stop(pdev->pData);
+
+ usb_status = USBD_Get_USB_Status(hal_status);
+
+ return usb_status;
+}
+
+/**
+ * @brief Opens an endpoint of the low level driver.
+ * @param pdev: Device handle
+ * @param ep_addr: Endpoint number
+ * @param ep_type: Endpoint type
+ * @param ep_mps: Endpoint max packet size
+ * @retval USBD status
+ */
+USBD_StatusTypeDef USBD_LL_OpenEP(USBD_HandleTypeDef *pdev, uint8_t ep_addr, uint8_t ep_type, uint16_t ep_mps)
+{
+ HAL_StatusTypeDef hal_status = HAL_OK;
+ USBD_StatusTypeDef usb_status = USBD_OK;
+
+ hal_status = HAL_PCD_EP_Open(pdev->pData, ep_addr, ep_mps, ep_type);
+
+ usb_status = USBD_Get_USB_Status(hal_status);
+
+ return usb_status;
+}
+
+/**
+ * @brief Closes an endpoint of the low level driver.
+ * @param pdev: Device handle
+ * @param ep_addr: Endpoint number
+ * @retval USBD status
+ */
+USBD_StatusTypeDef USBD_LL_CloseEP(USBD_HandleTypeDef *pdev, uint8_t ep_addr)
+{
+ HAL_StatusTypeDef hal_status = HAL_OK;
+ USBD_StatusTypeDef usb_status = USBD_OK;
+
+ hal_status = HAL_PCD_EP_Close(pdev->pData, ep_addr);
+
+ usb_status = USBD_Get_USB_Status(hal_status);
+
+ return usb_status;
+}
+
+/**
+ * @brief Flushes an endpoint of the Low Level Driver.
+ * @param pdev: Device handle
+ * @param ep_addr: Endpoint number
+ * @retval USBD status
+ */
+USBD_StatusTypeDef USBD_LL_FlushEP(USBD_HandleTypeDef *pdev, uint8_t ep_addr)
+{
+ HAL_StatusTypeDef hal_status = HAL_OK;
+ USBD_StatusTypeDef usb_status = USBD_OK;
+
+ hal_status = HAL_PCD_EP_Flush(pdev->pData, ep_addr);
+
+ usb_status = USBD_Get_USB_Status(hal_status);
+
+ return usb_status;
+}
+
+/**
+ * @brief Sets a Stall condition on an endpoint of the Low Level Driver.
+ * @param pdev: Device handle
+ * @param ep_addr: Endpoint number
+ * @retval USBD status
+ */
+USBD_StatusTypeDef USBD_LL_StallEP(USBD_HandleTypeDef *pdev, uint8_t ep_addr)
+{
+ HAL_StatusTypeDef hal_status = HAL_OK;
+ USBD_StatusTypeDef usb_status = USBD_OK;
+
+ hal_status = HAL_PCD_EP_SetStall(pdev->pData, ep_addr);
+
+ usb_status = USBD_Get_USB_Status(hal_status);
+
+ return usb_status;
+}
+
+/**
+ * @brief Clears a Stall condition on an endpoint of the Low Level Driver.
+ * @param pdev: Device handle
+ * @param ep_addr: Endpoint number
+ * @retval USBD status
+ */
+USBD_StatusTypeDef USBD_LL_ClearStallEP(USBD_HandleTypeDef *pdev, uint8_t ep_addr)
+{
+ HAL_StatusTypeDef hal_status = HAL_OK;
+ USBD_StatusTypeDef usb_status = USBD_OK;
+
+ hal_status = HAL_PCD_EP_ClrStall(pdev->pData, ep_addr);
+
+ usb_status = USBD_Get_USB_Status(hal_status);
+
+ return usb_status;
+}
+
+/**
+ * @brief Returns Stall condition.
+ * @param pdev: Device handle
+ * @param ep_addr: Endpoint number
+ * @retval Stall (1: Yes, 0: No)
+ */
+uint8_t USBD_LL_IsStallEP(USBD_HandleTypeDef *pdev, uint8_t ep_addr)
+{
+ PCD_HandleTypeDef *hpcd = (PCD_HandleTypeDef*) pdev->pData;
+
+ if((ep_addr & 0x80) == 0x80)
+ {
+ return hpcd->IN_ep[ep_addr & 0x7F].is_stall;
+ }
+ else
+ {
+ return hpcd->OUT_ep[ep_addr & 0x7F].is_stall;
+ }
+}
+
+/**
+ * @brief Assigns a USB address to the device.
+ * @param pdev: Device handle
+ * @param dev_addr: Device address
+ * @retval USBD status
+ */
+USBD_StatusTypeDef USBD_LL_SetUSBAddress(USBD_HandleTypeDef *pdev, uint8_t dev_addr)
+{
+ HAL_StatusTypeDef hal_status = HAL_OK;
+ USBD_StatusTypeDef usb_status = USBD_OK;
+
+ hal_status = HAL_PCD_SetAddress(pdev->pData, dev_addr);
+
+ usb_status = USBD_Get_USB_Status(hal_status);
+
+ return usb_status;
+}
+
+/**
+ * @brief Transmits data over an endpoint.
+ * @param pdev: Device handle
+ * @param ep_addr: Endpoint number
+ * @param pbuf: Pointer to data to be sent
+ * @param size: Data size
+ * @retval USBD status
+ */
+USBD_StatusTypeDef USBD_LL_Transmit(USBD_HandleTypeDef *pdev, uint8_t ep_addr, uint8_t *pbuf, uint32_t size)
+{
+ HAL_StatusTypeDef hal_status = HAL_OK;
+ USBD_StatusTypeDef usb_status = USBD_OK;
+
+ hal_status = HAL_PCD_EP_Transmit(pdev->pData, ep_addr, pbuf, size);
+
+ usb_status = USBD_Get_USB_Status(hal_status);
+
+ return usb_status;
+}
+
+/**
+ * @brief Prepares an endpoint for reception.
+ * @param pdev: Device handle
+ * @param ep_addr: Endpoint number
+ * @param pbuf: Pointer to data to be received
+ * @param size: Data size
+ * @retval USBD status
+ */
+USBD_StatusTypeDef USBD_LL_PrepareReceive(USBD_HandleTypeDef *pdev, uint8_t ep_addr, uint8_t *pbuf, uint32_t size)
+{
+ HAL_StatusTypeDef hal_status = HAL_OK;
+ USBD_StatusTypeDef usb_status = USBD_OK;
+
+ hal_status = HAL_PCD_EP_Receive(pdev->pData, ep_addr, pbuf, size);
+
+ usb_status = USBD_Get_USB_Status(hal_status);
+
+ return usb_status;
+}
+
+/**
+ * @brief Returns the last transferred packet size.
+ * @param pdev: Device handle
+ * @param ep_addr: Endpoint number
+ * @retval Received Data Size
+ */
+uint32_t USBD_LL_GetRxDataSize(USBD_HandleTypeDef *pdev, uint8_t ep_addr)
+{
+ return HAL_PCD_EP_GetRxCount((PCD_HandleTypeDef*) pdev->pData, ep_addr);
+}
+
+#ifdef USBD_HS_TESTMODE_ENABLE
+/**
+ * @brief Set High speed Test mode.
+ * @param pdev: Device handle
+ * @param testmode: test mode
+ * @retval USBD Status
+ */
+USBD_StatusTypeDef USBD_LL_SetTestMode(USBD_HandleTypeDef *pdev, uint8_t testmode)
+{
+ UNUSED(pdev);
+ UNUSED(testmode);
+
+ return USBD_OK;
+}
+#endif /* USBD_HS_TESTMODE_ENABLE */
+
+/**
+ * @brief Static single allocation.
+ * @param size: Size of allocated memory
+ * @retval None
+ */
+void *USBD_static_malloc(uint32_t size)
+{
+ static uint32_t mem[(sizeof(USBD_CDC_HandleTypeDef)/4)+1];/* On 32-bit boundary */
+ return mem;
+}
+
+/**
+ * @brief Dummy memory free
+ * @param p: Pointer to allocated memory address
+ * @retval None
+ */
+void USBD_static_free(void *p)
+{
+
+}
+
+/**
+ * @brief Delays routine for the USB Device Library.
+ * @param Delay: Delay in ms
+ * @retval None
+ */
+void USBD_LL_Delay(uint32_t Delay)
+{
+ HAL_Delay(Delay);
+}
+
+/**
+ * @brief Returns the USB status depending on the HAL status:
+ * @param hal_status: HAL status
+ * @retval USB status
+ */
+USBD_StatusTypeDef USBD_Get_USB_Status(HAL_StatusTypeDef hal_status)
+{
+ USBD_StatusTypeDef usb_status = USBD_OK;
+
+ switch (hal_status)
+ {
+ case HAL_OK :
+ usb_status = USBD_OK;
+ break;
+ case HAL_ERROR :
+ usb_status = USBD_FAIL;
+ break;
+ case HAL_BUSY :
+ usb_status = USBD_BUSY;
+ break;
+ case HAL_TIMEOUT :
+ usb_status = USBD_FAIL;
+ break;
+ default :
+ usb_status = USBD_FAIL;
+ break;
+ }
+ return usb_status;
+}
diff --git a/USB_DEVICE/Target/usbd_conf.h b/USB_DEVICE/Target/usbd_conf.h
new file mode 100644
index 0000000..bca6235
--- /dev/null
+++ b/USB_DEVICE/Target/usbd_conf.h
@@ -0,0 +1,173 @@
+/* USER CODE BEGIN Header */
+/**
+ ******************************************************************************
+ * @file : usbd_conf.h
+ * @version : v1.0_Cube
+ * @brief : Header for usbd_conf.c file.
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2025 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+/* USER CODE END Header */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __USBD_CONF__H__
+#define __USBD_CONF__H__
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include
+#include
+#include
+#include "main.h"
+#include "stm32f4xx.h"
+#include "stm32f4xx_hal.h"
+
+/* USER CODE BEGIN INCLUDE */
+
+/* USER CODE END INCLUDE */
+
+/** @addtogroup USBD_OTG_DRIVER
+ * @brief Driver for Usb device.
+ * @{
+ */
+
+/** @defgroup USBD_CONF USBD_CONF
+ * @brief Configuration file for Usb otg low level driver.
+ * @{
+ */
+
+/** @defgroup USBD_CONF_Exported_Variables USBD_CONF_Exported_Variables
+ * @brief Public variables.
+ * @{
+ */
+
+/**
+ * @}
+ */
+
+/** @defgroup USBD_CONF_Exported_Defines USBD_CONF_Exported_Defines
+ * @brief Defines for configuration of the Usb device.
+ * @{
+ */
+
+/*---------- -----------*/
+#define USBD_MAX_NUM_INTERFACES 1U
+/*---------- -----------*/
+#define USBD_MAX_NUM_CONFIGURATION 1U
+/*---------- -----------*/
+#define USBD_MAX_STR_DESC_SIZ 512U
+/*---------- -----------*/
+#define USBD_DEBUG_LEVEL 0U
+/*---------- -----------*/
+#define USBD_LPM_ENABLED 0U
+/*---------- -----------*/
+#define USBD_SELF_POWERED 1U
+
+/****************************************/
+/* #define for FS and HS identification */
+#define DEVICE_FS 0
+#define DEVICE_HS 1
+
+/**
+ * @}
+ */
+
+/** @defgroup USBD_CONF_Exported_Macros USBD_CONF_Exported_Macros
+ * @brief Aliases.
+ * @{
+ */
+/* Memory management macros make sure to use static memory allocation */
+/** Alias for memory allocation. */
+
+#define USBD_malloc (void *)USBD_static_malloc
+
+/** Alias for memory release. */
+#define USBD_free USBD_static_free
+
+/** Alias for memory set. */
+#define USBD_memset memset
+
+/** Alias for memory copy. */
+#define USBD_memcpy memcpy
+
+/** Alias for delay. */
+#define USBD_Delay HAL_Delay
+
+/* DEBUG macros */
+
+#if (USBD_DEBUG_LEVEL > 0)
+#define USBD_UsrLog(...) printf(__VA_ARGS__);\
+ printf("\n");
+#else
+#define USBD_UsrLog(...)
+#endif /* (USBD_DEBUG_LEVEL > 0U) */
+
+#if (USBD_DEBUG_LEVEL > 1)
+
+#define USBD_ErrLog(...) printf("ERROR: ");\
+ printf(__VA_ARGS__);\
+ printf("\n");
+#else
+#define USBD_ErrLog(...)
+#endif /* (USBD_DEBUG_LEVEL > 1U) */
+
+#if (USBD_DEBUG_LEVEL > 2)
+#define USBD_DbgLog(...) printf("DEBUG : ");\
+ printf(__VA_ARGS__);\
+ printf("\n");
+#else
+#define USBD_DbgLog(...)
+#endif /* (USBD_DEBUG_LEVEL > 2U) */
+
+/**
+ * @}
+ */
+
+/** @defgroup USBD_CONF_Exported_Types USBD_CONF_Exported_Types
+ * @brief Types.
+ * @{
+ */
+
+/**
+ * @}
+ */
+
+/** @defgroup USBD_CONF_Exported_FunctionsPrototype USBD_CONF_Exported_FunctionsPrototype
+ * @brief Declaration of public functions for Usb device.
+ * @{
+ */
+
+/* Exported functions -------------------------------------------------------*/
+void *USBD_static_malloc(uint32_t size);
+void USBD_static_free(void *p);
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __USBD_CONF__H__ */
+
diff --git a/User/component/lqr.c b/User/component/lqr.c
index fbaad2c..827f262 100644
--- a/User/component/lqr.c
+++ b/User/component/lqr.c
@@ -197,6 +197,7 @@ int8_t LQR_Reset(LQR_Controller_t *lqr) {
memset(&lqr->current_state, 0, sizeof(LQR_State_t));
memset(&lqr->error_state, 0, sizeof(LQR_State_t));
memset(&lqr->control_output, 0, sizeof(LQR_Input_t));
+ memset(&lqr->param.target_state, 0, sizeof(LQR_State_t));
/* 重置限幅标志 */
lqr->wheel_torque_limited = false;
diff --git a/User/device/dr16.c b/User/device/dr16.c
index d2a1c8d..929e4b5 100644
--- a/User/device/dr16.c
+++ b/User/device/dr16.c
@@ -1,14 +1,27 @@
/*
DR16接收机
+ Example：
+
+ DR16_Init(&dr16);
+
+ while (1) {
+ DR16_StartDmaRecv(&dr16);
+ if (DR16_WaitDmaCplt(20)) {
+ DR16_ParseData(&dr16);
+ } else {
+ DR16_Offline(&dr16);
+ }
+}
*/
/* Includes ----------------------------------------------------------------- */
#include "dr16.h"
-
-#include
-
#include "bsp/uart.h"
#include "bsp/time.h"
+#include "device.h"
+
+#include
+#include
/* USER INCLUDE BEGIN */
@@ -37,27 +50,27 @@ static void DR16_RxCpltCallback(void) {
static bool DR16_DataCorrupted(const DR16_t *dr16) {
if (dr16 == NULL) return DEVICE_ERR_NULL;
- if ((dr16->data.ch_r_x < DR16_CH_VALUE_MIN) ||
- (dr16->data.ch_r_x > DR16_CH_VALUE_MAX))
- return true;
+ if ((dr16->raw_data.ch_r_x < DR16_CH_VALUE_MIN) ||
+ (dr16->raw_data.ch_r_x > DR16_CH_VALUE_MAX))
+ return DEVICE_ERR;
- if ((dr16->data.ch_r_y < DR16_CH_VALUE_MIN) ||
- (dr16->data.ch_r_y > DR16_CH_VALUE_MAX))
- return true;
+ if ((dr16->raw_data.ch_r_y < DR16_CH_VALUE_MIN) ||
+ (dr16->raw_data.ch_r_y > DR16_CH_VALUE_MAX))
+ return DEVICE_ERR;
- if ((dr16->data.ch_l_x < DR16_CH_VALUE_MIN) ||
- (dr16->data.ch_l_x > DR16_CH_VALUE_MAX))
- return true;
+ if ((dr16->raw_data.ch_l_x < DR16_CH_VALUE_MIN) ||
+ (dr16->raw_data.ch_l_x > DR16_CH_VALUE_MAX))
+ return DEVICE_ERR;
- if ((dr16->data.ch_l_y < DR16_CH_VALUE_MIN) ||
- (dr16->data.ch_l_y > DR16_CH_VALUE_MAX))
- return true;
+ if ((dr16->raw_data.ch_l_y < DR16_CH_VALUE_MIN) ||
+ (dr16->raw_data.ch_l_y > DR16_CH_VALUE_MAX))
+ return DEVICE_ERR;
- if (dr16->data.sw_l == 0) return true;
+ if (dr16->raw_data.sw_l == 0) return DEVICE_ERR;
- if (dr16->data.sw_r == 0) return true;
+ if (dr16->raw_data.sw_r == 0) return DEVICE_ERR;
- return false;
+ return DEVICE_OK;
}
/* Exported functions ------------------------------------------------------- */
@@ -81,8 +94,8 @@ int8_t DR16_Restart(void) {
int8_t DR16_StartDmaRecv(DR16_t *dr16) {
if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_DR16),
- (uint8_t *)&(dr16->data),
- sizeof(dr16->data)) == HAL_OK)
+ (uint8_t *)&(dr16->raw_data),
+ sizeof(dr16->raw_data)) == HAL_OK)
return DEVICE_OK;
return DEVICE_ERR;
}
@@ -92,6 +105,65 @@ bool DR16_WaitDmaCplt(uint32_t timeout) {
SIGNAL_DR16_RAW_REDY);
}
+int8_t DR16_ParseData(DR16_t *dr16){
+ if (dr16 == NULL) return DEVICE_ERR_NULL;
+
+ if (DR16_DataCorrupted(dr16)) {
+ return DEVICE_ERR;
+ }
+
+ dr16->header.online = true;
+ dr16->header.last_online_time = BSP_TIME_Get_us();
+
+ memset(&(dr16->data), 0, sizeof(dr16->data));
+
+ float full_range = (float)(DR16_CH_VALUE_MAX - DR16_CH_VALUE_MIN);
+
+ // 解析摇杆数据
+ dr16->data.ch_r_x = 2.0f * ((float)dr16->raw_data.ch_r_x - DR16_CH_VALUE_MID) / full_range;
+ dr16->data.ch_r_y = 2.0f * ((float)dr16->raw_data.ch_r_y - DR16_CH_VALUE_MID) / full_range;
+ dr16->data.ch_l_x = 2.0f * ((float)dr16->raw_data.ch_l_x - DR16_CH_VALUE_MID) / full_range;
+ dr16->data.ch_l_y = 2.0f * ((float)dr16->raw_data.ch_l_y - DR16_CH_VALUE_MID) / full_range;
+
+ // 解析拨杆位置
+ dr16->data.sw_l = (DR16_SwitchPos_t)dr16->raw_data.sw_l;
+ dr16->data.sw_r = (DR16_SwitchPos_t)dr16->raw_data.sw_r;
+
+ // 解析鼠标数据
+ dr16->data.mouse.x = dr16->raw_data.x;
+ dr16->data.mouse.y = dr16->raw_data.y;
+ dr16->data.mouse.z = dr16->raw_data.z;
+
+ dr16->data.mouse.l_click = dr16->raw_data.press_l;
+ dr16->data.mouse.r_click = dr16->raw_data.press_r;
+
+ // 解析键盘按键 - 使用union简化代码
+ uint16_t key_value = dr16->raw_data.key;
+
+ // 解析键盘位映射（W-B键，位0-15）
+ for (int i = CMD_KEY_W; i <= CMD_KEY_B; i++) {
+ dr16->data.keyboard.key[i] = (key_value & (1 << i)) != 0;
+ }
+
+ // 解析鼠标点击
+ dr16->data.keyboard.key[CMD_L_CLICK] = dr16->data.mouse.l_click;
+ dr16->data.keyboard.key[CMD_R_CLICK] = dr16->data.mouse.r_click;
+
+ // 解析第五通道
+ dr16->data.ch_res = 2.0f * ((float)dr16->raw_data.res - DR16_CH_VALUE_MID) / full_range;
+
+ return DEVICE_OK;
+}
+
+int8_t DR16_Offline(DR16_t *dr16){
+ if (dr16 == NULL) return DEVICE_ERR_NULL;
+
+ dr16->header.online = false;
+ memset(&(dr16->data), 0, sizeof(dr16->data));
+
+ return DEVICE_OK;
+}
+
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
diff --git a/User/device/dr16.h b/User/device/dr16.h
index da21ebf..73ebbf2 100644
--- a/User/device/dr16.h
+++ b/User/device/dr16.h
@@ -8,7 +8,7 @@ extern "C" {
#include
#include "component/user_math.h"
-#include "device/device.h"
+#include "device.h"
/* USER INCLUDE BEGIN */
@@ -35,19 +35,79 @@ typedef struct __packed {
uint8_t press_r;
uint16_t key;
uint16_t res;
+} DR16_RawData_t;
+
+typedef enum {
+ CMD_SW_ERR = 0,
+ CMD_SW_UP = 1,
+ CMD_SW_MID = 3,
+ CMD_SW_DOWN = 2,
+} DR16_SwitchPos_t;
+
+/* 键盘按键值 */
+typedef enum {
+ CMD_KEY_W = 0,
+ CMD_KEY_S,
+ CMD_KEY_A,
+ CMD_KEY_D,
+ CMD_KEY_SHIFT,
+ CMD_KEY_CTRL,
+ CMD_KEY_Q,
+ CMD_KEY_E,
+ CMD_KEY_R,
+ CMD_KEY_F,
+ CMD_KEY_G,
+ CMD_KEY_Z,
+ CMD_KEY_X,
+ CMD_KEY_C,
+ CMD_KEY_V,
+ CMD_KEY_B,
+ CMD_L_CLICK,
+ CMD_R_CLICK,
+ CMD_KEY_NUM,
+} DR16_Key_t;
+
+typedef struct {
+ float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */
+ float ch_l_y; /* 遥控器左侧摇杆纵轴值，右为正 */
+ float ch_r_x; /* 遥控器右侧摇杆横轴值，上为正 */
+ float ch_r_y; /* 遥控器右侧摇杆纵轴值，右为正 */
+
+ float ch_res; /* 第五通道值 */
+
+ DR16_SwitchPos_t sw_r; /* 右侧拨杆位置 */
+ DR16_SwitchPos_t sw_l; /* 左侧拨杆位置 */
+
+ struct {
+ int16_t x;
+ int16_t y;
+ int16_t z;
+ bool l_click; /* 左键 */
+ bool r_click; /* 右键 */
+ } mouse; /* 鼠标值 */
+
+ union {
+ bool key[CMD_KEY_NUM]; /* 键盘按键值 */
+ uint16_t value; /* 键盘按键值的位映射 */
+ } keyboard;
+
+ uint16_t res; /* 保留，未启用 */
} DR16_Data_t;
+
typedef struct {
DEVICE_Header_t header;
+ DR16_RawData_t raw_data;
DR16_Data_t data;
} DR16_t;
/* Exported functions prototypes -------------------------------------------- */
int8_t DR16_Init(DR16_t *dr16);
int8_t DR16_Restart(void);
-
int8_t DR16_StartDmaRecv(DR16_t *dr16);
bool DR16_WaitDmaCplt(uint32_t timeout);
+int8_t DR16_ParseData(DR16_t *dr16);
+int8_t DR16_Offline(DR16_t *dr16);
/* USER FUNCTION BEGIN */
diff --git a/User/module/balance_chassis.c b/User/module/balance_chassis.c
index 0d0c803..adda0b1 100644
--- a/User/module/balance_chassis.c
+++ b/User/module/balance_chassis.c
@@ -14,14 +14,14 @@
*/
static int8_t Chassis_MotorEnable(Chassis_t *c) {
if (c == NULL) return CHASSIS_ERR_NULL;
-
- for (int i = 0; i < 2; i++) {
- MOTOR_LK_MotorOn(&c->param->wheel_motors[i]);
- }
- BSP_TIME_Delay_us(200);
+ BSP_TIME_Delay_us(400);
for (int i = 0; i < 4; i++) {
MOTOR_LZ_Enable(&c->param->joint_motors[i]);
}
+ BSP_TIME_Delay_us(200);
+ for (int i = 0; i < 2; i++) {
+ MOTOR_LK_MotorOn(&c->param->wheel_motors[i]);
+ }
return CHASSIS_OK;
}
@@ -65,6 +65,7 @@ static int8_t Chassis_SetMode(Chassis_t *c, Chassis_Mode_t mode) {
c->chassis_state.position_x = 0.0f;
c->chassis_state.velocity_x = 0.0f;
c->chassis_state.last_velocity_x = 0.0f;
+ c->chassis_state.target_x = 0.0f;
LQR_Reset(&c->lqr[0]);
@@ -144,6 +145,7 @@ int8_t Chassis_Init(Chassis_t *c, Chassis_Params_t *param, float target_freq){
c->chassis_state.position_x = 0.0f;
c->chassis_state.velocity_x = 0.0f;
c->chassis_state.last_velocity_x = 0.0f;
+ c->chassis_state.target_x = 0.0f;
/*初始化yaw控制状态*/
c->yaw_control.target_yaw = 0.0f;
@@ -169,12 +171,18 @@ int8_t Chassis_UpdateFeedback(Chassis_t *c){
for (int i = 0; i < 4; i++) {
MOTOR_LZ_t *joint_motor = MOTOR_LZ_GetMotor(&c->param->joint_motors[i]);
if (joint_motor != NULL) {
+ // c->feedback.joint[i] = joint_motor->motor.feedback;
+ // // c->feedback.joint[i].rotor_abs_angle = joint_motor->motor.feedback.rotor_abs_angle - M_PI; // 机械零点调整
+ // if (c->feedback.joint[i].rotor_abs_angle > M_PI ){
+ // c->feedback.joint[i].rotor_abs_angle -= M_2PI;
+ // }
+ // c->feedback.joint[i].rotor_abs_angle = - c->feedback.joint[i].rotor_abs_angle; // 机械零点调整
+ if (joint_motor->motor.feedback.rotor_abs_angle > M_PI ){
+ joint_motor->motor.feedback.rotor_abs_angle -= M_2PI;
+ }
+ joint_motor->motor.feedback.rotor_abs_angle = - joint_motor->motor.feedback.rotor_abs_angle; // 机械零点调整
+
c->feedback.joint[i] = joint_motor->motor.feedback;
- // c->feedback.joint[i].rotor_abs_angle = joint_motor->motor.feedback.rotor_abs_angle - M_PI; // 机械零点调整
- if (c->feedback.joint[i].rotor_abs_angle > M_PI ){
- c->feedback.joint[i].rotor_abs_angle -= M_2PI;
- }
- c->feedback.joint[i].rotor_abs_angle = - c->feedback.joint[i].rotor_abs_angle; // 机械零点调整
}
}
@@ -322,16 +330,21 @@ int8_t Chassis_Control(Chassis_t *c, const Chassis_CMD_t *c_cmd){
void Chassis_Output(Chassis_t *c) {
if (c == NULL) return;
+
+
for (int i = 0; i < 4; i++) {
MOTOR_LZ_MotionParam_t param = {0};
param.torque = c->output.joint[i].torque;
-
MOTOR_LZ_MotionControl(&c->param->joint_motors[i], ¶m);
}
+ BSP_TIME_Delay_us(200); // 等待CAN总线空闲，确保前面的命令发送完成
+
for (int i = 0; i < 2; i++) {
- MOTOR_LK_SetOutput(&c->param->wheel_motors[i], c->output.wheel[i]);
- // MOTOR_LK_SetOutput(&c->param->wheel_motors[i], 0.0f);
+ // MOTOR_LK_SetOutput(&c->param->wheel_motors[i], c->output.wheel[i]);
+ MOTOR_LK_SetOutput(&c->param->wheel_motors[i], 0.0f);
}
+
+
// 这个函数已经在各个模式中直接调用了电机输出函数
// 如果需要统一输出，可以在这里实现
// 现在的设计是在控制逻辑中直接输出，所以这里留空
@@ -361,7 +374,7 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
/* 运动参数（参考C++版本的状态估计） */
static float xhat = 0.0f, x_dot_hat = 0.0f;
- static float target_x = 0.0f, target_dot_x = 0.0f;
+ float target_dot_x = 0.0f;
// 简化的速度估计（后续可以改进为C++版本的复杂滤波）
x_dot_hat = c->chassis_state.velocity_x;
@@ -370,7 +383,7 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
// 目标设定
target_dot_x = c_cmd->move_vec.vx;
// target_dot_x = SpeedLimit_TargetSpeed(300.0f, c->chassis_state.velocity_x, target_dot_x, c->dt); // 速度限制器，假设最大加速度为1 m/s²
- target_x += target_dot_x * c->dt;
+ c->chassis_state.target_x += target_dot_x * c->dt;
/* 分别计算左右腿的LQR控制 */
float Tw[2] = {0.0f, 0.0f}; // 轮毂力矩
@@ -392,11 +405,11 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
target_state.d_theta = 0.0f; // 目标摆杆角速度
// target_state.x = 0; // 目标位置
// target_state.d_x = 0.0f; // 目标速度
- target_state.phi = 0.0f; // 目标俯仰角
+ target_state.phi = -0.2f; // 目标俯仰角
target_state.d_phi = 0.0f; // 目标俯仰角速度
// target_state.theta = -0.8845f * leg_L0[leg] + 0.40663f; // 目标摆杆角度
// target_state.d_theta = 0.0f; // 目标摆杆角速度
- target_state.x = target_x; // 目标位置
+ target_state.x = c->chassis_state.target_x; // 目标位置
target_state.d_x = target_dot_x; // 目标速度
// target_state.phi = 0.16f; // 目标俯仰角
// target_state.d_phi = 0.0f; // 目标俯仰角速度
@@ -437,8 +450,15 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
c->yaw_control.current_yaw = c->feedback.imu.euler.yaw;
- c->yaw_control.target_yaw -= c_cmd->move_vec.vy * 0.002f; // 目标偏航角，假设遥控器输入范围为[-10, 10]，映射到[-0.02, 0.02] rad/s
-
+ c->yaw_control.target_yaw -= c_cmd->move_vec.vy * 0.005f; // 目标偏航角，假设遥控器输入范围为[-10, 10]，映射到[-0.02, 0.02] rad/s
+
+ // 修正目标yaw角度到[-pi, pi]
+ if (c->yaw_control.target_yaw > M_PI) {
+ c->yaw_control.target_yaw -= M_2PI;
+ } else if (c->yaw_control.target_yaw < -M_PI) {
+ c->yaw_control.target_yaw += M_2PI;
+ }
+
c->yaw_control.yaw_force = PID_Calc(&c->pid.yaw, c->yaw_control.target_yaw, c->feedback.imu.euler.yaw, c->feedback.imu.gyro.z, c->dt);
@@ -465,7 +485,7 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
float Delta_Tp[2];
// 使用tp_pid进行左右腿摆角同步控制
// 左腿补偿力矩：使左腿theta向右腿theta靠拢
- Delta_Tp[0] = -leg_L0[0] * 10.0f * PID_Calc(&c->pid.tp[0], leg_theta[1], leg_theta[0], leg_d_theta[0], c->dt);
+ Delta_Tp[0] = leg_L0[0] * 10.0f * PID_Calc(&c->pid.tp[0], leg_theta[1], leg_theta[0], leg_d_theta[0], c->dt);
// 右腿补偿力矩：使右腿theta向左腿theta靠拢（符号相反）
Delta_Tp[1] = leg_L0[1] * 10.0f * PID_Calc(&c->pid.tp[1], leg_theta[0], leg_theta[1], leg_d_theta[1], c->dt);
@@ -474,7 +494,7 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
float pid_output = PID_Calc(&c->pid.leg_length[leg], target_L0[leg], leg_L0[leg], leg_d_length[leg], c->dt);
// 腿长控制力 = LQR摆杆力矩的径向分量 + PID腿长控制输出 + 基础支撑力
- virtual_force[leg] = (Tp[leg] + Delta_Tp[leg]) * sinf(leg_theta[leg]) +
+ virtual_force[leg] = (Tp[leg]) * sinf(leg_theta[leg]) +
pid_output + 20.0f;
// + // PID腿长控制输出
// 45.0f; // 基础支撑力
@@ -483,7 +503,8 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
// virtual_force[leg] = 0.0f; // 暂时屏蔽虚拟力输出，避免VMC逆解算失败
// Tp[leg] = 0.0f; // 暂时屏蔽腿部力矩输出，避免VMC逆解算失败
// Delta_Tp[leg] = 0.0f; // 暂时屏蔽腿部力矩输出，避免VMC逆解算失败
- if (VMC_InverseSolve(&c->vmc_[leg], virtual_force[leg], Tp[leg] + Delta_Tp[leg]) == 0) {
+ // if (VMC_InverseSolve(&c->vmc_[leg], virtual_force[leg], Tp[leg] + Delta_Tp[leg]) == 0) {
+ if (VMC_InverseSolve(&c->vmc_[leg], 0.0, Tp[leg] + Delta_Tp[leg]) == 0) {
if (leg == 0) {
VMC_GetJointTorques(&c->vmc_[0], &c->output.joint[0].torque, &c->output.joint[1].torque);
} else {
diff --git a/User/module/balance_chassis.h b/User/module/balance_chassis.h
index 3775fd9..b87e2a0 100644
--- a/User/module/balance_chassis.h
+++ b/User/module/balance_chassis.h
@@ -128,6 +128,7 @@ typedef struct {
float position_x; /* 机体x位置 */
float velocity_x; /* 机体x速度 */
float last_velocity_x; /* 上一次速度用于数值微分 */
+ float target_x; /* 目标x位置 */
} chassis_state;
/* yaw控制相关 */
diff --git a/User/module/config.c b/User/module/config.c
index 1427a1c..a255515 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -113,11 +113,11 @@ Config_RobotParam_t robot_config = {
.tp={
.k=1.0f,
- .p=1.0f, /* 俯仰角比例系数 */
+ .p=2.0f, /* 俯仰角比例系数 */
.i=0.0f, /* 俯仰角积分系数 */
.d=0.0f, /* 俯仰角微分系数 */
.i_limit=0.0f, /* 积分限幅 */
- .out_limit=1.0f, /* 输出限幅，腿长差值限制 */
+ .out_limit=2.0f, /* 输出限幅，腿长差值限制 */
.d_cutoff_freq=30.0f, /* 微分截止频率 */
.range=-1.0f, /* 不使用循环误差处理 */
},
diff --git a/User/task/ctrl_chassis.c b/User/task/ctrl_chassis.c
index 627e4d6..fcb2aed 100644
--- a/User/task/ctrl_chassis.c
+++ b/User/task/ctrl_chassis.c
@@ -57,15 +57,15 @@ void Task_ctrl_chassis(void *argument) {
while (1) {
tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */
- // if (osMessageQueueGet(task_runtime.msgq.chassis_imu, &chassis_imu, NULL, 0) == osOK) {
- // chassis.feedback.imu = chassis_imu;
- // }
- // if (osMessageQueueGet(task_runtime.msgq.Chassis_cmd, &chassis_cmd, NULL, 0) == osOK) {
- // // 成功接收到命令，更新底盘命令
- // }
+ if (osMessageQueueGet(task_runtime.msgq.chassis_imu, &chassis_imu, NULL, 0) == osOK) {
+ chassis.feedback.imu = chassis_imu;
+ }
+ if (osMessageQueueGet(task_runtime.msgq.Chassis_cmd, &chassis_cmd, NULL, 0) == osOK) {
+ // 成功接收到命令，更新底盘命令
+ }
- // Chassis_UpdateFeedback(&chassis);
- // Chassis_Control(&chassis, &chassis_cmd);
+ Chassis_UpdateFeedback(&chassis);
+ Chassis_Control(&chassis, &chassis_cmd);
/* USER CODE END */
diff --git a/User/task/ctrl_gimbal.c b/User/task/ctrl_gimbal.c
index 3c4a04b..8054f87 100644
--- a/User/task/ctrl_gimbal.c
+++ b/User/task/ctrl_gimbal.c
@@ -29,13 +29,13 @@ MOTOR_DM_Param_t dm_4310_param = {
.reverse = false,
};
-MOTOR_RM_Param_t m2006 = {
- .can = BSP_CAN_1,
- .id = 0x201,
- .module = MOTOR_M2006,
- .reverse = false,
- .gear = true,
-};
+// MOTOR_RM_Param_t m2006 = {
+// .can = BSP_CAN_1,
+// .id = 0x201,
+// .module = MOTOR_M2006,
+// .reverse = false,
+// .gear = true,
+// };
MOTOR_MIT_Output_t gimbal_output = {
.angle = 0.0f,
@@ -46,7 +46,7 @@ MOTOR_MIT_Output_t gimbal_output = {
};
MOTOR_DM_t *dm_4310_motor = NULL;
-MOTOR_Feedback_t m2006_fb;
+// MOTOR_Feedback_t m2006_fb;
MOTOR_Feedback_t dm_4310_fb;
// KPID_Params_t gimbal_angle_pid = {
@@ -75,35 +75,17 @@ void Task_ctrl_gimbal(void *argument) {
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
/* USER CODE INIT BEGIN */
-// BSP_CAN_Init();
-// MOTOR_DM_Register(&dm_4310_param);
-// MOTOR_RM_Register(&m2006);
-// MOTOR_DM_Enable(&dm_4310_param); // 使能电机
- /* USER CODE INIT END */
-
+ BSP_CAN_Init();
+ // MOTOR_DM_Register(&dm_4310_param);
+
while (1) {
tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */
- // MOTOR_RM_Update(&m2006);
- // MOTOR_DM_Enable(&dm_4310_param); // 使能电机
- // MOTOR_DM_MITCtrl(&dm_4310_param, &gimbal_output);
// MOTOR_DM_Update(&dm_4310_param);
// MOTOR_DM_t *dm_4310_motor = MOTOR_DM_GetMotor(&dm_4310_param);
// if (dm_4310_motor) {
// dm_4310_fb = dm_4310_motor->motor.feedback;
// }
- // MOTOR_RM_t *m2006_motor = MOTOR_RM_GetMotor(&m2006);
- // m2006_fb = m2006_motor->motor.feedback;
-
- // MOTOR_DM_Update(&dm_4310_param);
- // if (dm_4310_motor == NULL) {
- // dm_4310_motor = MOTOR_DM_GetMotor(&dm_4310_param);
- // if (dm_4310_motor == NULL) {
- // // 获取电机实例失败，跳过本次循环
- // osDelayUntil(tick);
- // continue;
- // }
- // }
// if (dm_4310_motor->motor.header.online == false) {
// MOTOR_DM_Enable(&dm_4310_param); // 使能电机
// } else {
@@ -111,8 +93,6 @@ void Task_ctrl_gimbal(void *argument) {
// }
- // 发送云台控制命令
-
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
}
diff --git a/User/task/rc.c b/User/task/rc.c
index bcbc569..31c7682 100644
--- a/User/task/rc.c
+++ b/User/task/rc.c
@@ -40,48 +40,73 @@ void Task_rc(void *argument) {
/* USER CODE BEGIN */
DR16_StartDmaRecv(&dr16);
if (DR16_WaitDmaCplt(20)) {
- // 根据左拨杆设置底盘模式
- switch (dr16.data.sw_l) {
- case 1: // 上位
- cmd_to_chassis.mode = CHASSIS_MODE_RELAX;
- break;
- case 3: // 中位
- cmd_to_chassis.mode = CHASSIS_MODE_RECOVER;
- break;
- case 2: // 下位
- cmd_to_chassis.mode = CHASSIS_MODE_WHELL_BALANCE;
- break;
- default:
- cmd_to_chassis.mode = CHASSIS_MODE_RELAX;
- break;
- }
-
- // 解析遥控器摇杆数据为运动向量
- // 将遥控器通道值从[364, 1684]映射到[-1.0, 1.0]
- float ch_l_y_norm = (float)(dr16.data.ch_l_y - 1024) / 660.0f; // 前后
- float ch_l_x_norm = (float)(dr16.data.ch_l_x - 1024) / 660.0f; // 左右
- float ch_r_x_norm = (float)(dr16.data.ch_r_y - 1024) / 660.0f; // 旋转
-
- // 设置运动向量（根据需要调整增益）
- cmd_to_chassis.move_vec.vx = ch_l_y_norm * 2.0f; // 前后运动，增益可调
- cmd_to_chassis.move_vec.vy = ch_l_x_norm * 2.0f; // 左右运动，增益可调
- cmd_to_chassis.move_vec.wz = ch_r_x_norm * 3.0f; // 旋转运动，增益可调
-
- // 设置目标高度（可根据右拨杆或其他输入调整）
- cmd_to_chassis.height = dr16.data.res-1024; // 目标高度，范围[-1024, 1024]，可根据需要调整比例
-
- // 发送命令到底盘控制任务
- osMessageQueuePut(task_runtime.msgq.Chassis_cmd, &cmd_to_chassis, 0, 0);
-
+ DR16_ParseData(&dr16);
+ switch (dr16.data.sw_l) {
+ case CMD_SW_UP: // 上位
+ cmd_to_chassis.mode = CHASSIS_MODE_RELAX;
+ break;
+ case CMD_SW_MID: // 中位
+ cmd_to_chassis.mode = CHASSIS_MODE_RECOVER;
+ break;
+ case CMD_SW_DOWN: // 下位
+ cmd_to_chassis.mode = CHASSIS_MODE_WHELL_BALANCE;
+ break;
+ default:
+ cmd_to_chassis.mode = CHASSIS_MODE_RELAX;
+ break;
+ }
+ cmd_to_chassis.move_vec.vx = dr16.data.ch_l_y;
+ cmd_to_chassis.move_vec.vy = dr16.data.ch_l_x;
+ cmd_to_chassis.move_vec.wz = dr16.data.ch_r_x;
+ cmd_to_chassis.height = dr16.data.ch_res;
} else {
- // 超时处理，发送安全命令
+ DR16_Offline(&dr16);
cmd_to_chassis.mode = CHASSIS_MODE_RELAX;
- cmd_to_chassis.move_vec.vx = 0.0f;
- cmd_to_chassis.move_vec.vy = 0.0f;
- cmd_to_chassis.move_vec.wz = 0.0f;
- cmd_to_chassis.height = 0.0f;
- osMessageQueuePut(task_runtime.msgq.Chassis_cmd, &cmd_to_chassis, 0, 0);
}
+ osMessageQueuePut(task_runtime.msgq.Chassis_cmd, &cmd_to_chassis, 0, 0);
+ // if (DR16_WaitDmaCplt(20)) {
+ // // 根据左拨杆设置底盘模式
+ // switch (dr16.data.sw_l) {
+ // case 1: // 上位
+ // cmd_to_chassis.mode = CHASSIS_MODE_RELAX;
+ // break;
+ // case 3: // 中位
+ // cmd_to_chassis.mode = CHASSIS_MODE_RECOVER;
+ // break;
+ // case 2: // 下位
+ // cmd_to_chassis.mode = CHASSIS_MODE_WHELL_BALANCE;
+ // break;
+ // default:
+ // cmd_to_chassis.mode = CHASSIS_MODE_RELAX;
+ // break;
+ // }
+
+ // // 解析遥控器摇杆数据为运动向量
+ // // 将遥控器通道值从[364, 1684]映射到[-1.0, 1.0]
+ // float ch_l_y_norm = (float)(dr16.data.ch_l_y - 1024) / 660.0f; // 前后
+ // float ch_l_x_norm = (float)(dr16.data.ch_l_x - 1024) / 660.0f; // 左右
+ // float ch_r_x_norm = (float)(dr16.data.ch_r_y - 1024) / 660.0f; // 旋转
+
+ // // 设置运动向量（根据需要调整增益）
+ // cmd_to_chassis.move_vec.vx = ch_l_y_norm * 2.0f; // 前后运动，增益可调
+ // cmd_to_chassis.move_vec.vy = ch_l_x_norm * 2.0f; // 左右运动，增益可调
+ // cmd_to_chassis.move_vec.wz = ch_r_x_norm * 3.0f; // 旋转运动，增益可调
+
+ // // 设置目标高度（可根据右拨杆或其他输入调整）
+ // cmd_to_chassis.height = dr16.data.res-1024; // 目标高度，范围[-1024, 1024]，可根据需要调整比例
+
+ // // 发送命令到底盘控制任务
+ // osMessageQueuePut(task_runtime.msgq.Chassis_cmd, &cmd_to_chassis, 0, 0);
+
+ // } else {
+ // // 超时处理，发送安全命令
+ // cmd_to_chassis.mode = CHASSIS_MODE_RELAX;
+ // cmd_to_chassis.move_vec.vx = 0.0f;
+ // cmd_to_chassis.move_vec.vy = 0.0f;
+ // cmd_to_chassis.move_vec.wz = 0.0f;
+ // cmd_to_chassis.height = 0.0f;
+ // osMessageQueuePut(task_runtime.msgq.Chassis_cmd, &cmd_to_chassis, 0, 0);
+ // }
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
diff --git a/cmake/stm32cubemx/CMakeLists.txt b/cmake/stm32cubemx/CMakeLists.txt
index 9fafabc..1c1f3c6 100644
--- a/cmake/stm32cubemx/CMakeLists.txt
+++ b/cmake/stm32cubemx/CMakeLists.txt
@@ -11,17 +11,25 @@ set(MX_Defines_Syms
# STM32CubeMX generated include paths
set(MX_Include_Dirs
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Inc
+ ${CMAKE_CURRENT_SOURCE_DIR}/../../USB_DEVICE/App
+ ${CMAKE_CURRENT_SOURCE_DIR}/../../USB_DEVICE/Target
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Inc
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/include
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F
+ ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc
+ ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/CMSIS/Include
)
# STM32CubeMX generated application sources
set(MX_Application_Src
+ ${CMAKE_CURRENT_SOURCE_DIR}/../../USB_DEVICE/Target/usbd_conf.c
+ ${CMAKE_CURRENT_SOURCE_DIR}/../../USB_DEVICE/App/usb_device.c
+ ${CMAKE_CURRENT_SOURCE_DIR}/../../USB_DEVICE/App/usbd_desc.c
+ ${CMAKE_CURRENT_SOURCE_DIR}/../../USB_DEVICE/App/usbd_cdc_if.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/main.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/gpio.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/freertos.c
@@ -34,7 +42,6 @@ set(MX_Application_Src
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/spi.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/tim.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/usart.c
- ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/usb_otg.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/stm32f4xx_it.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/stm32f4xx_hal_msp.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/sysmem.c
@@ -45,9 +52,9 @@ set(MX_Application_Src
# STM32 HAL/LL Drivers
set(STM32_Drivers_Src
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/system_stm32f4xx.c
- ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c
- ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c
- ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_adc.c
+ ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd.c
+ ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd_ex.c
+ ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c
@@ -61,6 +68,9 @@ set(STM32_Drivers_Src
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c
+ ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c
+ ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c
+ ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_adc.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_crc.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c
@@ -69,15 +79,18 @@ set(STM32_Drivers_Src
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c
- ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c
- ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd.c
- ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd_ex.c
- ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c
+ ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c
)
# Drivers Midllewares
+set(USB_Device_Library_Src
+ ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c
+ ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c
+ ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c
+ ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c
+)
set(FreeRTOS_Src
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/croutine.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/event_groups.c
@@ -99,7 +112,7 @@ set(MX_LINK_DIRS
set(MX_LINK_LIBS
STM32_Drivers
${TOOLCHAIN_LINK_LIBRARIES}
- FreeRTOS
+ USB_Device_Library
FreeRTOS
)
# Interface library for includes and symbols
add_library(stm32cubemx INTERFACE)
@@ -112,6 +125,11 @@ target_sources(STM32_Drivers PRIVATE ${STM32_Drivers_Src})
target_link_libraries(STM32_Drivers PUBLIC stm32cubemx)
+# Create USB_Device_Library static library
+add_library(USB_Device_Library OBJECT)
+target_sources(USB_Device_Library PRIVATE ${USB_Device_Library_Src})
+target_link_libraries(USB_Device_Library PUBLIC stm32cubemx)
+
# Create FreeRTOS static library
add_library(FreeRTOS OBJECT)
target_sources(FreeRTOS PRIVATE ${FreeRTOS_Src})
diff --git a/utils/Simulation-master/balance/series_legs/get_k_length.m b/utils/Simulation-master/balance/series_legs/get_k_length.m
index bce2ebb..0c8ea1a 100644
--- a/utils/Simulation-master/balance/series_legs/get_k_length.m
+++ b/utils/Simulation-master/balance/series_legs/get_k_length.m
@@ -48,7 +48,7 @@ function K = get_k_length(leg_length)
B=subs(B,[R,L,LM,l,mw,mp,M,Iw,Ip,IM,g],[R1,L1,LM1,l1,mw1,mp1,M1,Iw1,Ip1,IM1,9.8]);
B=double(B);
- Q=diag([500 1 1000 100 5000 1]);%theta d_theta x d_x phi d_phi%700 1 600 200 1000 1
+ Q=diag([700 1 5000 100 3000 1]);%theta d_theta x d_x phi d_phi%700 1 600 200 1000 1
R=[240 0;0 25]; %T Tp
K=lqr(A,B,Q,R);