robofish/rm_balance
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

电机死了

Browse Source
This commit is contained in:
Robofish 2025-09-25 10:00:38 +08:00
parent 734d2c90dc
commit 5254b6baa8
38 changed files with 7567 additions and 908 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

44
.mxproject
View File

File diff suppressed because one or more lines are too long

1
Core/Inc/stm32f4xx_it.h
View File

@ -71,6 +71,7 @@ void DMA2_Stream2_IRQHandler(void);
void DMA2_Stream3_IRQHandler(void); void DMA2_Stream3_IRQHandler(void);
void CAN2_RX0_IRQHandler(void); void CAN2_RX0_IRQHandler(void);
void CAN2_RX1_IRQHandler(void); void CAN2_RX1_IRQHandler(void);
void OTG_FS_IRQHandler(void);
void DMA2_Stream5_IRQHandler(void); void DMA2_Stream5_IRQHandler(void);
void DMA2_Stream6_IRQHandler(void); void DMA2_Stream6_IRQHandler(void);
void DMA2_Stream7_IRQHandler(void); void DMA2_Stream7_IRQHandler(void);

52
Core/Inc/usb_otg.h
View File

@ -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__ */

3
Core/Src/freertos.c
View File

@ -64,6 +64,7 @@ const osThreadAttr_t defaultTask_attributes = {
void StartDefaultTask(void *argument); void StartDefaultTask(void *argument);
extern void MX_USB_DEVICE_Init(void);
void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */ void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
/* Hook prototypes */ /* Hook prototypes */
@ -143,6 +144,8 @@ void MX_FREERTOS_Init(void) {
/* USER CODE END Header_StartDefaultTask */ /* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void *argument) void StartDefaultTask(void *argument)
{ {
/* init code for USB_DEVICE */
MX_USB_DEVICE_Init();
/* USER CODE BEGIN StartDefaultTask */ /* USER CODE BEGIN StartDefaultTask */
osThreadTerminate(osThreadGetId()); osThreadTerminate(osThreadGetId());
/* USER CODE END StartDefaultTask */ /* USER CODE END StartDefaultTask */

3
Core/Src/main.c
View File

@ -29,7 +29,7 @@
#include "spi.h" #include "spi.h"
#include "tim.h" #include "tim.h"
#include "usart.h" #include "usart.h"
#include "usb_otg.h" #include "usb_device.h"
#include "gpio.h" #include "gpio.h"
/* Private includes ----------------------------------------------------------*/ /* Private includes ----------------------------------------------------------*/
@ -120,7 +120,6 @@ int main(void)
MX_USART1_UART_Init(); MX_USART1_UART_Init();
MX_USART6_UART_Init(); MX_USART6_UART_Init();
MX_TIM7_Init(); MX_TIM7_Init();
MX_USB_OTG_FS_PCD_Init();
/* USER CODE BEGIN 2 */ /* USER CODE BEGIN 2 */
/* USER CODE END 2 */ /* USER CODE END 2 */

15
Core/Src/stm32f4xx_it.c
View File

@ -59,6 +59,7 @@
/* USER CODE END 0 */ /* USER CODE END 0 */
/* External variables --------------------------------------------------------*/ /* External variables --------------------------------------------------------*/
extern PCD_HandleTypeDef hpcd_USB_OTG_FS;
extern CAN_HandleTypeDef hcan1; extern CAN_HandleTypeDef hcan1;
extern CAN_HandleTypeDef hcan2; extern CAN_HandleTypeDef hcan2;
extern DMA_HandleTypeDef hdma_i2c2_tx; extern DMA_HandleTypeDef hdma_i2c2_tx;
@ -436,6 +437,20 @@ void CAN2_RX1_IRQHandler(void)
/* USER CODE END 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. * @brief This function handles DMA2 stream5 global interrupt.
*/ */

116
Core/Src/usb_otg.c
View File

@ -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 */

17
DevC.ioc
View File

@ -180,7 +180,8 @@ Mcu.IP22=TIM10
Mcu.IP23=USART1 Mcu.IP23=USART1
Mcu.IP24=USART3 Mcu.IP24=USART3
Mcu.IP25=USART6 Mcu.IP25=USART6
Mcu.IP26=USB_OTG_FS Mcu.IP26=USB_DEVICE
Mcu.IP27=USB_OTG_FS
Mcu.IP3=CAN2 Mcu.IP3=CAN2
Mcu.IP4=CRC Mcu.IP4=CRC
Mcu.IP5=DMA Mcu.IP5=DMA
@ -188,7 +189,7 @@ Mcu.IP6=FREERTOS
Mcu.IP7=I2C1 Mcu.IP7=I2C1
Mcu.IP8=I2C2 Mcu.IP8=I2C2
Mcu.IP9=I2C3 Mcu.IP9=I2C3
Mcu.IPNb=27 Mcu.IPNb=28
Mcu.Name=STM32F407I(E-G)Hx Mcu.Name=STM32F407I(E-G)Hx
Mcu.Package=UFBGA176 Mcu.Package=UFBGA176
Mcu.Pin0=PB8 Mcu.Pin0=PB8
@ -253,10 +254,11 @@ Mcu.Pin61=VP_TIM5_VS_ClockSourceINT
Mcu.Pin62=VP_TIM7_VS_ClockSourceINT Mcu.Pin62=VP_TIM7_VS_ClockSourceINT
Mcu.Pin63=VP_TIM8_VS_ClockSourceINT Mcu.Pin63=VP_TIM8_VS_ClockSourceINT
Mcu.Pin64=VP_TIM10_VS_ClockSourceINT Mcu.Pin64=VP_TIM10_VS_ClockSourceINT
Mcu.Pin65=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
Mcu.Pin7=PB9 Mcu.Pin7=PB9
Mcu.Pin8=PB7 Mcu.Pin8=PB7
Mcu.Pin9=PB6 Mcu.Pin9=PB6
Mcu.PinsNb=65 Mcu.PinsNb=66
Mcu.ThirdPartyNb=0 Mcu.ThirdPartyNb=0
Mcu.UserConstants= Mcu.UserConstants=
Mcu.UserName=STM32F407IGHx Mcu.UserName=STM32F407IGHx
@ -285,6 +287,7 @@ NVIC.ForceEnableDMAVector=true
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false 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.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.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.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false\:false
NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4 NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false
@ -566,7 +569,7 @@ ProjectManager.ToolChainLocation=
ProjectManager.UAScriptAfterPath= ProjectManager.UAScriptAfterPath=
ProjectManager.UAScriptBeforePath= ProjectManager.UAScriptBeforePath=
ProjectManager.UnderRoot=false 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.48MHZClocksFreq_Value=48000000
RCC.AHBFreq_Value=168000000 RCC.AHBFreq_Value=168000000
RCC.APB1CLKDivider=RCC_HCLK_DIV4 RCC.APB1CLKDivider=RCC_HCLK_DIV4
@ -697,6 +700,10 @@ USART3.Parity=PARITY_EVEN
USART3.VirtualMode=VM_ASYNC USART3.VirtualMode=VM_ASYNC
USART6.IPParameters=VirtualMode USART6.IPParameters=VirtualMode
USART6.VirtualMode=VM_ASYNC 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.IPParameters=VirtualMode
USB_OTG_FS.VirtualMode=Device_Only USB_OTG_FS.VirtualMode=Device_Only
VP_ADC1_TempSens_Input.Mode=IN-TempSens 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_TIM7_VS_ClockSourceINT.Signal=TIM7_VS_ClockSourceINT
VP_TIM8_VS_ClockSourceINT.Mode=Internal VP_TIM8_VS_ClockSourceINT.Mode=Internal
VP_TIM8_VS_ClockSourceINT.Signal=TIM8_VS_ClockSourceINT 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 board=custom
rtos.0.ip=FREERTOS rtos.0.ip=FREERTOS

160
MDK-ARM/DevC.uvprojx
View File

@ -340,7 +340,7 @@
<MiscControls></MiscControls> <MiscControls></MiscControls>
<Define>USE_HAL_DRIVER,STM32F407xx</Define> <Define>USE_HAL_DRIVER,STM32F407xx</Define>
<Undefine></Undefine> <Undefine></Undefine>
<IncludePath>../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</IncludePath> <IncludePath>../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</IncludePath>
</VariousControls> </VariousControls>
</Cads> </Cads>
<Aads> <Aads>
@ -454,62 +454,6 @@
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>../Core/Src/usart.c</FilePath> <FilePath>../Core/Src/usart.c</FilePath>
</File> </File>
<File>
<FileName>usb_otg.c</FileName>
<FileType>1</FileType>
<FilePath>../Core/Src/usb_otg.c</FilePath>
<FileOption>
<CommonProperty>
<UseCPPCompiler>2</UseCPPCompiler>
<RVCTCodeConst>0</RVCTCodeConst>
<RVCTZI>0</RVCTZI>
<RVCTOtherData>0</RVCTOtherData>
<ModuleSelection>0</ModuleSelection>
<IncludeInBuild>1</IncludeInBuild>
<AlwaysBuild>2</AlwaysBuild>
<GenerateAssemblyFile>2</GenerateAssemblyFile>
<AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty>
<FileArmAds>
<Cads>
<interw>2</interw>
<Optim>0</Optim>
<oTime>2</oTime>
<SplitLS>2</SplitLS>
<OneElfS>2</OneElfS>
<Strict>2</Strict>
<EnumInt>2</EnumInt>
<PlainCh>2</PlainCh>
<Ropi>2</Ropi>
<Rwpi>2</Rwpi>
<wLevel>0</wLevel>
<uThumb>2</uThumb>
<uSurpInc>2</uSurpInc>
<uC99>2</uC99>
<uGnu>2</uGnu>
<useXO>2</useXO>
<v6Lang>0</v6Lang>
<v6LangP>0</v6LangP>
<vShortEn>2</vShortEn>
<vShortWch>2</vShortWch>
<v6Lto>2</v6Lto>
<v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads>
</FileArmAds>
</FileOption>
</File>
<File> <File>
<FileName>stm32f4xx_it.c</FileName> <FileName>stm32f4xx_it.c</FileName>
<FileType>1</FileType> <FileType>1</FileType>
@ -522,23 +466,53 @@
</File> </File>
</Files> </Files>
</Group> </Group>
<Group>
<GroupName>Application/User/USB_DEVICE/App</GroupName>
<Files>
<File>
<FileName>usb_device.c</FileName>
<FileType>1</FileType>
<FilePath>../USB_DEVICE/App/usb_device.c</FilePath>
</File>
<File>
<FileName>usbd_desc.c</FileName>
<FileType>1</FileType>
<FilePath>../USB_DEVICE/App/usbd_desc.c</FilePath>
</File>
<File>
<FileName>usbd_cdc_if.c</FileName>
<FileType>1</FileType>
<FilePath>../USB_DEVICE/App/usbd_cdc_if.c</FilePath>
</File>
</Files>
</Group>
<Group>
<GroupName>Application/User/USB_DEVICE/Target</GroupName>
<Files>
<File>
<FileName>usbd_conf.c</FileName>
<FileType>1</FileType>
<FilePath>../USB_DEVICE/Target/usbd_conf.c</FilePath>
</File>
</Files>
</Group>
<Group> <Group>
<GroupName>Drivers/STM32F4xx_HAL_Driver</GroupName> <GroupName>Drivers/STM32F4xx_HAL_Driver</GroupName>
<Files> <Files>
<File> <File>
<FileName>stm32f4xx_hal_adc.c</FileName> <FileName>stm32f4xx_hal_pcd.c</FileName>
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c</FilePath> <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd.c</FilePath>
</File> </File>
<File> <File>
<FileName>stm32f4xx_hal_adc_ex.c</FileName> <FileName>stm32f4xx_hal_pcd_ex.c</FileName>
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c</FilePath> <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd_ex.c</FilePath>
</File> </File>
<File> <File>
<FileName>stm32f4xx_ll_adc.c</FileName> <FileName>stm32f4xx_ll_usb.c</FileName>
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_adc.c</FilePath> <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c</FilePath>
</File> </File>
<File> <File>
<FileName>stm32f4xx_hal_rcc.c</FileName> <FileName>stm32f4xx_hal_rcc.c</FileName>
@ -605,6 +579,21 @@
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c</FilePath> <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c</FilePath>
</File> </File>
<File>
<FileName>stm32f4xx_hal_adc.c</FileName>
<FileType>1</FileType>
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c</FilePath>
</File>
<File>
<FileName>stm32f4xx_hal_adc_ex.c</FileName>
<FileType>1</FileType>
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c</FilePath>
</File>
<File>
<FileName>stm32f4xx_ll_adc.c</FileName>
<FileType>1</FileType>
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_adc.c</FilePath>
</File>
<File> <File>
<FileName>stm32f4xx_hal_can.c</FileName> <FileName>stm32f4xx_hal_can.c</FileName>
<FileType>1</FileType> <FileType>1</FileType>
@ -650,21 +639,6 @@
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c</FilePath> <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c</FilePath>
</File> </File>
<File>
<FileName>stm32f4xx_hal_pcd.c</FileName>
<FileType>1</FileType>
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd.c</FilePath>
</File>
<File>
<FileName>stm32f4xx_hal_pcd_ex.c</FileName>
<FileType>1</FileType>
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd_ex.c</FilePath>
</File>
<File>
<FileName>stm32f4xx_ll_usb.c</FileName>
<FileType>1</FileType>
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c</FilePath>
</File>
</Files> </Files>
</Group> </Group>
<Group> <Group>
@ -732,6 +706,31 @@
</File> </File>
</Files> </Files>
</Group> </Group>
<Group>
<GroupName>Middlewares/USB_Device_Library</GroupName>
<Files>
<File>
<FileName>usbd_core.c</FileName>
<FileType>1</FileType>
<FilePath>../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c</FilePath>
</File>
<File>
<FileName>usbd_ctlreq.c</FileName>
<FileType>1</FileType>
<FilePath>../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c</FilePath>
</File>
<File>
<FileName>usbd_ioreq.c</FileName>
<FileType>1</FileType>
<FilePath>../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c</FilePath>
</File>
<File>
<FileName>usbd_cdc.c</FileName>
<FileType>1</FileType>
<FilePath>../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c</FilePath>
</File>
</Files>
</Group>
<Group> <Group>
<GroupName>User/bsp</GroupName> <GroupName>User/bsp</GroupName>
<Files> <Files>
@ -915,6 +914,11 @@
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>..\User\task\ctrl_chassis.c</FilePath> <FilePath>..\User\task\ctrl_chassis.c</FilePath>
</File> </File>
<File>
<FileName>ctrl_gimbal.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\task\ctrl_gimbal.c</FilePath>
</File>
</Files> </Files>
</Group> </Group>
<Group> <Group>

22
MDK-ARM/DevC/DevC.lnp
View File

@ -12,12 +12,15 @@
"devc\spi.o" "devc\spi.o"
"devc\tim.o" "devc\tim.o"
"devc\usart.o" "devc\usart.o"
"devc\usb_otg.o"
"devc\stm32f4xx_it.o" "devc\stm32f4xx_it.o"
"devc\stm32f4xx_hal_msp.o" "devc\stm32f4xx_hal_msp.o"
"devc\stm32f4xx_hal_adc.o" "devc\usb_device.o"
"devc\stm32f4xx_hal_adc_ex.o" "devc\usbd_desc.o"
"devc\stm32f4xx_ll_adc.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.o"
"devc\stm32f4xx_hal_rcc_ex.o" "devc\stm32f4xx_hal_rcc_ex.o"
"devc\stm32f4xx_hal_flash.o" "devc\stm32f4xx_hal_flash.o"
@ -31,6 +34,9 @@
"devc\stm32f4xx_hal_cortex.o" "devc\stm32f4xx_hal_cortex.o"
"devc\stm32f4xx_hal.o" "devc\stm32f4xx_hal.o"
"devc\stm32f4xx_hal_exti.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_can.o"
"devc\stm32f4xx_hal_crc.o" "devc\stm32f4xx_hal_crc.o"
"devc\stm32f4xx_hal_i2c.o" "devc\stm32f4xx_hal_i2c.o"
@ -40,9 +46,6 @@
"devc\stm32f4xx_hal_tim.o" "devc\stm32f4xx_hal_tim.o"
"devc\stm32f4xx_hal_tim_ex.o" "devc\stm32f4xx_hal_tim_ex.o"
"devc\stm32f4xx_hal_uart.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\system_stm32f4xx.o"
"devc\croutine.o" "devc\croutine.o"
"devc\event_groups.o" "devc\event_groups.o"
@ -54,6 +57,10 @@
"devc\cmsis_os2.o" "devc\cmsis_os2.o"
"devc\heap_4.o" "devc\heap_4.o"
"devc\port.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\can_1.o"
"devc\dwt.o" "devc\dwt.o"
"devc\gpio_1.o" "devc\gpio_1.o"
@ -85,6 +92,7 @@
"devc\user_task.o" "devc\user_task.o"
"devc\atti_esti.o" "devc\atti_esti.o"
"devc\ctrl_chassis.o" "devc\ctrl_chassis.o"
"devc\ctrl_gimbal.o"
--strict --scatter "DevC\DevC.sct" --strict --scatter "DevC\DevC.sct"
--summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols --summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols
--info sizes --info totals --info unused --info veneers --info sizes --info totals --info unused --info veneers

187
Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc/usbd_cdc.h Normal file
View File

@ -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 */
/**
* @}
*/
/**
* @}
*/

893
Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c Normal file
View File

@ -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;
}
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/

175
Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_core.h Normal file
View File

@ -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 */
/**
* @}
*/
/**
* @}
*/

101
Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_ctlreq.h Normal file
View File

@ -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 */
/**
* @}
*/
/**
* @}
*/

524
Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_def.h Normal file
View File

@ -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 */
/**
* @}
*/
/**
* @}
*/

113
Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_ioreq.h Normal file
View File

@ -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 */
/**
* @}
*/
/**
* @}
*/

1221
Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c Normal file
View File

File diff suppressed because it is too large Load Diff

1058
Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c Normal file
View File

File diff suppressed because it is too large Load Diff

226
Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c Normal file
View File

@ -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);
}
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/

100
USB_DEVICE/App/usb_device.c Normal file
View File

@ -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 */
}
/**
* @}
*/
/**
* @}
*/

102
USB_DEVICE/App/usb_device.h Normal file
View File

@ -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__ */

328
USB_DEVICE/App/usbd_cdc_if.c Normal file
View File

@ -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 */
/**
* @}
*/
/**
* @}
*/

132
USB_DEVICE/App/usbd_cdc_if.h Normal file
View File

@ -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__ */

445
USB_DEVICE/App/usbd_desc.c Normal file
View File

@ -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;
}
}
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/

143
USB_DEVICE/App/usbd_desc.h Normal file
View File

@ -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__ */

679
USB_DEVICE/Target/usbd_conf.c Normal file
View File

@ -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;
}

173
USB_DEVICE/Target/usbd_conf.h Normal file
View File

@ -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 <stdio.h>
#include <stdlib.h>
#include <string.h>
#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__ */

1
User/component/lqr.c
View File

@ -197,6 +197,7 @@ int8_t LQR_Reset(LQR_Controller_t *lqr) {
memset(&lqr->current_state, 0, sizeof(LQR_State_t)); memset(&lqr->current_state, 0, sizeof(LQR_State_t));
memset(&lqr->error_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->control_output, 0, sizeof(LQR_Input_t));
memset(&lqr->param.target_state, 0, sizeof(LQR_State_t));
/* 重置限幅标志 */ /* 重置限幅标志 */
lqr->wheel_torque_limited = false; lqr->wheel_torque_limited = false;

112
User/device/dr16.c
View File

@ -1,14 +1,27 @@
/* /*
DR16接收机 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 ----------------------------------------------------------------- */ /* Includes ----------------------------------------------------------------- */
#include "dr16.h" #include "dr16.h"
#include <string.h>
#include "bsp/uart.h" #include "bsp/uart.h"
#include "bsp/time.h" #include "bsp/time.h"
#include "device.h"
#include <string.h>
#include <stdbool.h>
/* USER INCLUDE BEGIN */ /* USER INCLUDE BEGIN */
@ -37,27 +50,27 @@ static void DR16_RxCpltCallback(void) {
static bool DR16_DataCorrupted(const DR16_t *dr16) { static bool DR16_DataCorrupted(const DR16_t *dr16) {
if (dr16 == NULL) return DEVICE_ERR_NULL; if (dr16 == NULL) return DEVICE_ERR_NULL;
if ((dr16->data.ch_r_x < DR16_CH_VALUE_MIN) || if ((dr16->raw_data.ch_r_x < DR16_CH_VALUE_MIN) ||
(dr16->data.ch_r_x > DR16_CH_VALUE_MAX)) (dr16->raw_data.ch_r_x > DR16_CH_VALUE_MAX))
return true; return DEVICE_ERR;
if ((dr16->data.ch_r_y < DR16_CH_VALUE_MIN) || if ((dr16->raw_data.ch_r_y < DR16_CH_VALUE_MIN) ||
(dr16->data.ch_r_y > DR16_CH_VALUE_MAX)) (dr16->raw_data.ch_r_y > DR16_CH_VALUE_MAX))
return true; return DEVICE_ERR;
if ((dr16->data.ch_l_x < DR16_CH_VALUE_MIN) || if ((dr16->raw_data.ch_l_x < DR16_CH_VALUE_MIN) ||
(dr16->data.ch_l_x > DR16_CH_VALUE_MAX)) (dr16->raw_data.ch_l_x > DR16_CH_VALUE_MAX))
return true; return DEVICE_ERR;
if ((dr16->data.ch_l_y < DR16_CH_VALUE_MIN) || if ((dr16->raw_data.ch_l_y < DR16_CH_VALUE_MIN) ||
(dr16->data.ch_l_y > DR16_CH_VALUE_MAX)) (dr16->raw_data.ch_l_y > DR16_CH_VALUE_MAX))
return true; 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 ------------------------------------------------------- */ /* Exported functions ------------------------------------------------------- */
@ -81,8 +94,8 @@ int8_t DR16_Restart(void) {
int8_t DR16_StartDmaRecv(DR16_t *dr16) { int8_t DR16_StartDmaRecv(DR16_t *dr16) {
if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_DR16), if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_DR16),
(uint8_t *)&(dr16->data), (uint8_t *)&(dr16->raw_data),
sizeof(dr16->data)) == HAL_OK) sizeof(dr16->raw_data)) == HAL_OK)
return DEVICE_OK; return DEVICE_OK;
return DEVICE_ERR; return DEVICE_ERR;
} }
@ -92,6 +105,65 @@ bool DR16_WaitDmaCplt(uint32_t timeout) {
SIGNAL_DR16_RAW_REDY); 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 BEGIN */
/* USER FUNCTION END */ /* USER FUNCTION END */

64
User/device/dr16.h
View File

@ -8,7 +8,7 @@ extern "C" {
#include <cmsis_os2.h> #include <cmsis_os2.h>
#include "component/user_math.h" #include "component/user_math.h"
#include "device/device.h" #include "device.h"
/* USER INCLUDE BEGIN */ /* USER INCLUDE BEGIN */
@ -35,19 +35,79 @@ typedef struct __packed {
uint8_t press_r; uint8_t press_r;
uint16_t key; uint16_t key;
uint16_t res; 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; } DR16_Data_t;
typedef struct { typedef struct {
DEVICE_Header_t header; DEVICE_Header_t header;
DR16_RawData_t raw_data;
DR16_Data_t data; DR16_Data_t data;
} DR16_t; } DR16_t;
/* Exported functions prototypes -------------------------------------------- */ /* Exported functions prototypes -------------------------------------------- */
int8_t DR16_Init(DR16_t *dr16); int8_t DR16_Init(DR16_t *dr16);
int8_t DR16_Restart(void); int8_t DR16_Restart(void);
int8_t DR16_StartDmaRecv(DR16_t *dr16); int8_t DR16_StartDmaRecv(DR16_t *dr16);
bool DR16_WaitDmaCplt(uint32_t timeout); bool DR16_WaitDmaCplt(uint32_t timeout);
int8_t DR16_ParseData(DR16_t *dr16);
int8_t DR16_Offline(DR16_t *dr16);
/* USER FUNCTION BEGIN */ /* USER FUNCTION BEGIN */

63
User/module/balance_chassis.c
View File

@ -14,14 +14,14 @@
*/ */
static int8_t Chassis_MotorEnable(Chassis_t *c) { static int8_t Chassis_MotorEnable(Chassis_t *c) {
if (c == NULL) return CHASSIS_ERR_NULL; if (c == NULL) return CHASSIS_ERR_NULL;
BSP_TIME_Delay_us(400);
for (int i = 0; i < 2; i++) {
MOTOR_LK_MotorOn(&c->param->wheel_motors[i]);
}
BSP_TIME_Delay_us(200);
for (int i = 0; i < 4; i++) { for (int i = 0; i < 4; i++) {
MOTOR_LZ_Enable(&c->param->joint_motors[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; 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.position_x = 0.0f;
c->chassis_state.velocity_x = 0.0f; c->chassis_state.velocity_x = 0.0f;
c->chassis_state.last_velocity_x = 0.0f; c->chassis_state.last_velocity_x = 0.0f;
c->chassis_state.target_x = 0.0f;
LQR_Reset(&c->lqr[0]); 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.position_x = 0.0f;
c->chassis_state.velocity_x = 0.0f; c->chassis_state.velocity_x = 0.0f;
c->chassis_state.last_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*/ /*初始化yaw控制状态*/
c->yaw_control.target_yaw = 0.0f; 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++) { for (int i = 0; i < 4; i++) {
MOTOR_LZ_t *joint_motor = MOTOR_LZ_GetMotor(&c->param->joint_motors[i]); MOTOR_LZ_t *joint_motor = MOTOR_LZ_GetMotor(&c->param->joint_motors[i]);
if (joint_motor != NULL) { if (joint_motor != NULL) {
c->feedback.joint[i] = joint_motor->motor.feedback; // 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 // // 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 ){ // 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 -= 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;
} }
c->feedback.joint[i].rotor_abs_angle = - c->feedback.joint[i].rotor_abs_angle; // 机械零点调整 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;
} }
} }
@ -322,16 +330,21 @@ int8_t Chassis_Control(Chassis_t *c, const Chassis_CMD_t *c_cmd){
void Chassis_Output(Chassis_t *c) { void Chassis_Output(Chassis_t *c) {
if (c == NULL) return; if (c == NULL) return;
for (int i = 0; i < 4; i++) { for (int i = 0; i < 4; i++) {
MOTOR_LZ_MotionParam_t param = {0}; MOTOR_LZ_MotionParam_t param = {0};
param.torque = c->output.joint[i].torque; param.torque = c->output.joint[i].torque;
MOTOR_LZ_MotionControl(&c->param->joint_motors[i], &param); MOTOR_LZ_MotionControl(&c->param->joint_motors[i], &param);
} }
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++) { 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], c->output.wheel[i]);
// MOTOR_LK_SetOutput(&c->param->wheel_motors[i], 0.0f); 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 // 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 // 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 // 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） */ /* 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 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） // 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; 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 // 目标设定
target_dot_x = c_cmd->move_vec.vx; 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_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 */ /* 分别计算左右腿的LQR控制 */
float Tw[2] = {0.0f, 0.0f}; // 轮毂力矩 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.d_theta = 0.0f; // 目标摆杆角速度
// target_state.x = 0; // 目标位置 // target_state.x = 0; // 目标位置
// target_state.d_x = 0.0f; // 目标速度 // 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.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.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.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.d_x = target_dot_x; // 目标速度
// target_state.phi = 0.16f; // 目标俯仰角 // target_state.phi = 0.16f; // 目标俯仰角
// target_state.d_phi = 0.0f; // 目标俯仰角速度 // target_state.d_phi = 0.0f; // 目标俯仰角速度
@ -437,7 +450,14 @@ 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.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); 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]; float Delta_Tp[2];
// 使用tp_pid进行左右腿摆角同步控制 // 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 // 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） // 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); 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); 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 // 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_output + 20.0f;
// + // PID腿长控制输出 // + // PID腿长控制输出
// 45.0f; // 基础支撑力 // 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 // 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 // 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 // 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) { if (leg == 0) {
VMC_GetJointTorques(&c->vmc_[0], &c->output.joint[0].torque, &c->output.joint[1].torque); VMC_GetJointTorques(&c->vmc_[0], &c->output.joint[0].torque, &c->output.joint[1].torque);
} else { } else {

1
User/module/balance_chassis.h
View File

@ -128,6 +128,7 @@ typedef struct {
float position_x; /* 机体x位置 */ float position_x; /* 机体x位置 */
float velocity_x; /* 机体x速度 */ float velocity_x; /* 机体x速度 */
float last_velocity_x; /* 上一次速度用于数值微分 */ 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; } chassis_state;
/* yaw控制相关 */ /* yaw控制相关 */

4
User/module/config.c
View File

@ -113,11 +113,11 @@ Config_RobotParam_t robot_config = {
.tp={ .tp={
.k=1.0f, .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 */ .i=0.0f, /* 俯仰角积分系数 */
.d=0.0f, /* 俯仰角微分系数 */ .d=0.0f, /* 俯仰角微分系数 */
.i_limit=0.0f, /* 积分限幅 */ .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 */ .d_cutoff_freq=30.0f, /* 微分截止频率 */
.range=-1.0f, /* 不使用循环误差处理 */ .range=-1.0f, /* 不使用循环误差处理 */
}, },

16
User/task/ctrl_chassis.c
View File

@ -57,15 +57,15 @@ void Task_ctrl_chassis(void *argument) {
while (1) { while (1) {
tick += delay_tick; /* 计算下一个唤醒时刻 */ tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */ /* USER CODE BEGIN */
// if (osMessageQueueGet(task_runtime.msgq.chassis_imu, &chassis_imu, NULL, 0) == osOK) { if (osMessageQueueGet(task_runtime.msgq.chassis_imu, &chassis_imu, NULL, 0) == osOK) {
// chassis.feedback.imu = chassis_imu; chassis.feedback.imu = chassis_imu;
// } }
// if (osMessageQueueGet(task_runtime.msgq.Chassis_cmd, &chassis_cmd, NULL, 0) == osOK) { 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 // 成功接收到命令，更新底盘命令
// } }
// Chassis_UpdateFeedback(&chassis); Chassis_UpdateFeedback(&chassis);
// Chassis_Control(&chassis, &chassis_cmd); Chassis_Control(&chassis, &chassis_cmd);
/* USER CODE END */ /* USER CODE END */

38
User/task/ctrl_gimbal.c
View File

@ -29,13 +29,13 @@ MOTOR_DM_Param_t dm_4310_param = {
.reverse = false, .reverse = false,
}; };
MOTOR_RM_Param_t m2006 = { // MOTOR_RM_Param_t m2006 = {
.can = BSP_CAN_1, // .can = BSP_CAN_1,
.id = 0x201, // .id = 0x201,
.module = MOTOR_M2006, // .module = MOTOR_M2006,
.reverse = false, // .reverse = false,
.gear = true, // .gear = true,
}; // };
MOTOR_MIT_Output_t gimbal_output = { MOTOR_MIT_Output_t gimbal_output = {
.angle = 0.0f, .angle = 0.0f,
@ -46,7 +46,7 @@ MOTOR_MIT_Output_t gimbal_output = {
}; };
MOTOR_DM_t *dm_4310_motor = NULL; MOTOR_DM_t *dm_4310_motor = NULL;
MOTOR_Feedback_t m2006_fb; // MOTOR_Feedback_t m2006_fb;
MOTOR_Feedback_t dm_4310_fb; MOTOR_Feedback_t dm_4310_fb;
// KPID_Params_t gimbal_angle_pid = { // 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 */ uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
/* USER CODE INIT BEGIN */ /* USER CODE INIT BEGIN */
// BSP_CAN_Init(); BSP_CAN_Init();
// MOTOR_DM_Register(&dm_4310_param); // MOTOR_DM_Register(&dm_4310_param);
// MOTOR_RM_Register(&m2006);
// MOTOR_DM_Enable(&dm_4310_param); // 使能电机
/* USER CODE INIT END */
while (1) { while (1) {
tick += delay_tick; /* 计算下一个唤醒时刻 */ tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */ /* 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_Update(&dm_4310_param);
// MOTOR_DM_t *dm_4310_motor = MOTOR_DM_GetMotor(&dm_4310_param); // MOTOR_DM_t *dm_4310_motor = MOTOR_DM_GetMotor(&dm_4310_param);
// if (dm_4310_motor) { // if (dm_4310_motor) {
// dm_4310_fb = dm_4310_motor->motor.feedback; // 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) { // if (dm_4310_motor->motor.header.online == false) {
// MOTOR_DM_Enable(&dm_4310_param); // 使能电机 // MOTOR_DM_Enable(&dm_4310_param); // 使能电机
// } else { // } else {
@ -111,8 +93,6 @@ void Task_ctrl_gimbal(void *argument) {
// } // }
// 发送云台控制命令
/* USER CODE END */ /* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
} }

81
User/task/rc.c
View File

@ -40,48 +40,73 @@ void Task_rc(void *argument) {
/* USER CODE BEGIN */ /* USER CODE BEGIN */
DR16_StartDmaRecv(&dr16); DR16_StartDmaRecv(&dr16);
if (DR16_WaitDmaCplt(20)) { if (DR16_WaitDmaCplt(20)) {
// 根据左拨杆设置底盘模式 DR16_ParseData(&dr16);
switch (dr16.data.sw_l) { switch (dr16.data.sw_l) {
case 1: // 上位 case CMD_SW_UP: // 上位
cmd_to_chassis.mode = CHASSIS_MODE_RELAX; cmd_to_chassis.mode = CHASSIS_MODE_RELAX;
break; break;
case 3: // 中位 case CMD_SW_MID: // 中位
cmd_to_chassis.mode = CHASSIS_MODE_RECOVER; cmd_to_chassis.mode = CHASSIS_MODE_RECOVER;
break; break;
case 2: // 下位 case CMD_SW_DOWN: // 下位
cmd_to_chassis.mode = CHASSIS_MODE_WHELL_BALANCE; cmd_to_chassis.mode = CHASSIS_MODE_WHELL_BALANCE;
break; break;
default: default:
cmd_to_chassis.mode = CHASSIS_MODE_RELAX; cmd_to_chassis.mode = CHASSIS_MODE_RELAX;
break; break;
} }
cmd_to_chassis.move_vec.vx = dr16.data.ch_l_y;
// 解析遥控器摇杆数据为运动向量 cmd_to_chassis.move_vec.vy = dr16.data.ch_l_x;
// 将遥控器通道值从[364, 1684]映射到[-1.0, 1.0] cmd_to_chassis.move_vec.wz = dr16.data.ch_r_x;
float ch_l_y_norm = (float)(dr16.data.ch_l_y - 1024) / 660.0f; // 前后 cmd_to_chassis.height = dr16.data.ch_res;
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 { } else {
// 超时处理，发送安全命令 DR16_Offline(&dr16);
cmd_to_chassis.mode = CHASSIS_MODE_RELAX; 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 */ /* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */

34
cmake/stm32cubemx/CMakeLists.txt
View File

@ -11,17 +11,25 @@ set(MX_Defines_Syms
# STM32CubeMX generated include paths # STM32CubeMX generated include paths
set(MX_Include_Dirs set(MX_Include_Dirs
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Inc ${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
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy ${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/include
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 ${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/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/Device/ST/STM32F4xx/Include
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/CMSIS/Include ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/CMSIS/Include
) )
# STM32CubeMX generated application sources # STM32CubeMX generated application sources
set(MX_Application_Src 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/main.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/gpio.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/gpio.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/freertos.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/spi.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/tim.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/tim.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/usart.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_it.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/stm32f4xx_hal_msp.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/stm32f4xx_hal_msp.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/sysmem.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/sysmem.c
@ -45,9 +52,9 @@ set(MX_Application_Src
# STM32 HAL/LL Drivers # STM32 HAL/LL Drivers
set(STM32_Drivers_Src set(STM32_Drivers_Src
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/system_stm32f4xx.c ${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_pcd.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_hal_pcd_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_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.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_rcc_ex.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.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_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.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_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_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_crc.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c
@ -70,14 +80,17 @@ set(STM32_Drivers_Src
${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.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_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_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
) )
# Drivers Midllewares # 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 set(FreeRTOS_Src
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/croutine.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/croutine.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/event_groups.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 set(MX_LINK_LIBS
STM32_Drivers STM32_Drivers
${TOOLCHAIN_LINK_LIBRARIES} ${TOOLCHAIN_LINK_LIBRARIES}
FreeRTOS USB_Device_Library FreeRTOS
) )
# Interface library for includes and symbols # Interface library for includes and symbols
add_library(stm32cubemx INTERFACE) add_library(stm32cubemx INTERFACE)
@ -112,6 +125,11 @@ target_sources(STM32_Drivers PRIVATE ${STM32_Drivers_Src})
target_link_libraries(STM32_Drivers PUBLIC stm32cubemx) 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 # Create FreeRTOS static library
add_library(FreeRTOS OBJECT) add_library(FreeRTOS OBJECT)
target_sources(FreeRTOS PRIVATE ${FreeRTOS_Src}) target_sources(FreeRTOS PRIVATE ${FreeRTOS_Src})

2
utils/Simulation-master/balance/series_legs/get_k_length.m
View File

@ -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=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); 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 R=[240 0;0 25]; %T Tp
K=lqr(A,B,Q,R); K=lqr(A,B,Q,R);