diff --git a/.gitignore b/.gitignore index 185b49a..a7a9995 100644 --- a/.gitignore +++ b/.gitignore @@ -1,3 +1,36 @@ -build -mx.scratch -!.settings \ No newline at end of file +*.rar +*.o +*.d +*.crf +*.htm +*.dep +*.map +*.bak +*.lnp +*.lst +*.ini +*.iex +*.pyc +*.sct +*.scvd +*.uvguix +*.dbg* +*.uvguix.* +.mxproject + +RTE/ +Templates/ +Examples/ + +!*.uvprojx +!*.h +!*.c +!*.ioc +!*.axf +!*.bin +!*.hex + +build/ +dist/ +*.spec +*.exe \ No newline at end of file diff --git a/MDK-ARM/CtrBoard-H7_ALL.uvoptx b/MDK-ARM/CtrBoard-H7_ALL.uvoptx index 88165e0..4fb91cb 100644 --- a/MDK-ARM/CtrBoard-H7_ALL.uvoptx +++ b/MDK-ARM/CtrBoard-H7_ALL.uvoptx @@ -1,171 +1,1400 @@ - - - 1.0 -
### uVision Project, (C) Keil Software
- - *.c - *.s*; *.src; *.a* - *.obj; *.o - *.lib - *.txt; *.h; *.inc - *.plm - *.cpp - 0 - - - 0 - 0 - - - CtrBoard-H7_ALL - 0x4 - ARM-ADS - - 24000000 - - 1 - 1 - 0 - 1 - 0 - - - 1 - 65535 - 0 - 0 - 0 - - - 79 - 66 - 8 - - - - 1 - 1 - 1 - 0 - 1 - 1 - 0 - 1 - 0 - 0 - 0 - 0 - - - 1 - 1 - 1 - 1 - 1 - 1 - 1 - 0 - 0 - - - 1 - 0 - 1 - - 18 - - 0 - 1 - 1 - 1 - 1 - 1 - 1 - 1 - 1 - 1 - 1 - 1 - 1 - 1 - 1 - 1 - 1 - 1 - 1 - 0 - 0 - 1 - 0 - 0 - 6 - - - - - - - - - - - STLink\ST-LINKIII-KEIL_SWO.dll - - - - 0 - ST-LINKIII-KEIL_SWO - -U-O142 -O2254 -S0 -C0 -N00("ARM CoreSight SW-DP") -D00(5BA02477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32H72x-73x_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32H723VG$Flash\STM32H72x-73x_1024.FLM) - - - 0 - - - - - - - 0 - - - 0 - 1 - 1 - 0 - 0 - 0 - 0 - 1 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 1 - 0 - 0 - 0 - - - - 0 - 0 - 0 - - - - - - - - - - - + + + + 1.0 + +
### uVision Project, (C) Keil Software
+ + + *.c + *.s*; *.src; *.a* + *.obj; *.o + *.lib + *.txt; *.h; *.inc; *.md + *.plm + *.cpp + 0 + + + + 0 + 0 + + + + CtrBoard-H7_ALL + 0x4 + ARM-ADS + + 24000000 + + 1 + 1 + 0 + 1 + 0 + + + 1 + 65535 + 0 + 0 + 0 + + + 79 + 66 + 8 + + + + 1 + 1 + 1 + 0 + 1 + 1 + 0 + 1 + 0 + 0 + 0 + 0 + + + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 0 + 0 + + + 1 + 0 + 1 + + 18 + + 0 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 0 + 0 + 1 + 0 + 0 + 6 + + + + + + + + + + + STLink\ST-LINKIII-KEIL_SWO.dll + + + + 0 + UL2CM3 + UL2CM3(-S0 -C0 -P0 -FD20000000 -FC8000 -FN1 -FF0STM32H72x-73x_1024 -FS08000000 -FL0100000 -FP0($$Device:STM32H723VGTx$CMSIS\Flash\STM32H72x-73x_1024.FLM)) + + + 0 + ST-LINKIII-KEIL_SWO + -U-O142 -O2254 -S0 -C0 -N00("ARM CoreSight SW-DP") -D00(5BA02477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32H72x-73x_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32H723VGTx$CMSIS\Flash\STM32H72x-73x_1024.FLM) + + + 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../Core/Src/system_stm32h7xx.c + system_stm32h7xx.c + 0 + 0 + + + + + Middlewares/FreeRTOS + 0 + 0 + 0 + 0 + + 5 + 46 + 1 + 0 + 0 + 0 + ../Middlewares/Third_Party/FreeRTOS/Source/croutine.c + croutine.c + 0 + 0 + + + 5 + 47 + 1 + 0 + 0 + 0 + ../Middlewares/Third_Party/FreeRTOS/Source/event_groups.c + event_groups.c + 0 + 0 + + + 5 + 48 + 1 + 0 + 0 + 0 + ../Middlewares/Third_Party/FreeRTOS/Source/list.c + list.c + 0 + 0 + + + 5 + 49 + 1 + 0 + 0 + 0 + ../Middlewares/Third_Party/FreeRTOS/Source/queue.c + queue.c + 0 + 0 + + + 5 + 50 + 1 + 0 + 0 + 0 + ../Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c + stream_buffer.c + 0 + 0 + + + 5 + 51 + 1 + 0 + 0 + 0 + ../Middlewares/Third_Party/FreeRTOS/Source/tasks.c + tasks.c + 0 + 0 + + + 5 + 52 + 1 + 0 + 0 + 0 + ../Middlewares/Third_Party/FreeRTOS/Source/timers.c + timers.c + 0 + 0 + + + 5 + 53 + 1 + 0 + 0 + 0 + ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c + cmsis_os2.c + 0 + 0 + + + 5 + 54 + 1 + 0 + 0 + 0 + ../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c + heap_4.c + 0 + 0 + + + 5 + 55 + 1 + 0 + 0 + 0 + ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c + port.c + 0 + 0 + + + + + User/bsp + 0 + 0 + 0 + 0 + + 6 + 56 + 1 + 0 + 0 + 0 + ..\User\bsp\fdcan.c + fdcan.c + 0 + 0 + + + 6 + 57 + 1 + 0 + 0 + 0 + ..\User\bsp\flash.c + flash.c + 0 + 0 + + + 6 + 58 + 1 + 0 + 0 + 0 + ..\User\bsp\gpio.c + gpio.c + 0 + 0 + + + 6 + 59 + 1 + 0 + 0 + 0 + ..\User\bsp\mm.c + mm.c + 0 + 0 + + + 6 + 60 + 1 + 0 + 0 + 0 + ..\User\bsp\pwm.c + pwm.c + 0 + 0 + + + 6 + 61 + 1 + 0 + 0 + 0 + ..\User\bsp\spi.c + spi.c + 0 + 0 + + + 6 + 62 + 1 + 0 + 0 + 0 + ..\User\bsp\time.c + time.c + 0 + 0 + + + 6 + 63 + 1 + 0 + 0 + 0 + ..\User\bsp\uart.c + uart.c + 0 + 0 + + + + + User/component + 0 + 0 + 0 + 0 + + 7 + 64 + 1 + 0 + 0 + 0 + ..\User\component\ahrs.c + ahrs.c + 0 + 0 + + + 7 + 65 + 1 + 0 + 0 + 0 + ..\User\component\crc8.c + crc8.c + 0 + 0 + + + 7 + 66 + 1 + 0 + 0 + 0 + ..\User\component\crc16.c + crc16.c + 0 + 0 + + + 7 + 67 + 1 + 0 + 0 + 0 + ..\User\component\error_detect.c + error_detect.c + 0 + 0 + + + 7 + 68 + 1 + 0 + 0 + 0 + ..\User\component\filter.c + filter.c + 0 + 0 + + + 7 + 69 + 1 + 0 + 0 + 0 + ..\User\component\freertos_cli.c + freertos_cli.c + 0 + 0 + + + 7 + 70 + 1 + 0 + 0 + 0 + ..\User\component\lqr.c + lqr.c + 0 + 0 + + + 7 + 71 + 1 + 0 + 0 + 0 + ..\User\component\pid.c + pid.c + 0 + 0 + + + 7 + 72 + 1 + 0 + 0 + 0 + ..\User\component\user_math.c + user_math.c + 0 + 0 + + + 7 + 73 + 1 + 0 + 0 + 0 + ..\User\component\vmc.c + vmc.c + 0 + 0 + + + + + User/device + 0 + 0 + 0 + 0 + + 8 + 74 + 1 + 0 + 0 + 0 + ..\User\device\bmi088.c + bmi088.c + 0 + 0 + + + 8 + 75 + 1 + 0 + 0 + 0 + ..\User\device\buzzer.c + buzzer.c + 0 + 0 + + + 8 + 76 + 1 + 0 + 0 + 0 + ..\User\device\dr16.c + dr16.c + 0 + 0 + + + 8 + 77 + 1 + 0 + 0 + 0 + ..\User\device\motor.c + motor.c + 0 + 0 + + + 8 + 78 + 1 + 0 + 0 + 0 + ..\User\device\motor_dm.c + motor_dm.c + 0 + 0 + + + 8 + 79 + 1 + 0 + 0 + 0 + ..\User\device\motor_lk.c + motor_lk.c + 0 + 0 + + + 8 + 80 + 1 + 0 + 0 + 0 + ..\User\device\motor_lz.c + motor_lz.c + 0 + 0 + + + 8 + 81 + 1 + 0 + 0 + 0 + ..\User\device\motor_rm.c + motor_rm.c + 0 + 0 + + + + + User/module + 0 + 0 + 0 + 0 + + 9 + 82 + 1 + 0 + 0 + 0 + ..\User\module\balance_chassis.c + balance_chassis.c + 0 + 0 + + + 9 + 83 + 1 + 0 + 0 + 0 + ..\User\module\config.c + config.c + 0 + 0 + + + 9 + 84 + 1 + 0 + 0 + 0 + ..\User\module\shoot.c + shoot.c + 0 + 0 + + + + + User/task + 1 + 0 + 0 + 0 + + 10 + 85 + 1 + 0 + 0 + 0 + ..\User\task\atti_esit.c + atti_esit.c + 0 + 0 + + + 10 + 86 + 1 + 0 + 0 + 0 + ..\User\task\blink.c + blink.c + 0 + 0 + + + 10 + 87 + 1 + 0 + 0 + 0 + ..\User\task\ctrl_chassis.c + ctrl_chassis.c + 0 + 0 + + + 10 + 88 + 1 + 0 + 0 + 0 + ..\User\task\ctrl_gimbal.c + ctrl_gimbal.c + 0 + 0 + + + 10 + 89 + 1 + 0 + 0 + 0 + ..\User\task\ctrl_shoot.c + ctrl_shoot.c + 0 + 0 + + + 10 + 90 + 1 + 0 + 0 + 0 + ..\User\task\init.c + init.c + 0 + 0 + + + 10 + 91 + 1 + 0 + 0 + 0 + ..\User\task\monitor.c + monitor.c + 0 + 0 + + + 10 + 92 + 1 + 0 + 0 + 0 + ..\User\task\rc.c + rc.c + 0 + 0 + + + 10 + 93 + 1 + 0 + 0 + 0 + ..\User\task\user_task.c + user_task.c + 0 + 0 + + + 10 + 94 + 5 + 0 + 0 + 0 + ..\User\task\user_task.h + user_task.h + 0 + 0 + + + + + ::CMSIS + 0 + 0 + 0 + 1 + + + diff --git a/MDK-ARM/CtrBoard-H7_ALL.uvprojx b/MDK-ARM/CtrBoard-H7_ALL.uvprojx index 44c9960..06e4bed 100644 --- a/MDK-ARM/CtrBoard-H7_ALL.uvprojx +++ b/MDK-ARM/CtrBoard-H7_ALL.uvprojx @@ -1,39 +1,47 @@ - - + + + 2.1 +
### uVision Project, (C) Keil Software
+ CtrBoard-H7_ALL 0x4 ARM-ADS + 6160000::V6.16::ARMCLANG + 6160000::V6.16::ARMCLANG + 1 STM32H723VGTx STMicroelectronics + Keil.STM32H7xx_DFP.4.1.3 + https://www.keil.com/pack/ IRAM(0x20000000-0x2001FFFF) IRAM2(0x24000000-0x2404FFFF) IROM(0x8000000-0x80FFFFF) CLOCK(12000000) FPU3(DFPU) CPUTYPE("Cortex-M7") ELITTLE TZ - - - + + + 0 - - - - - - - - - - - + + + + + + + + + + + $$Device:STM32H723VGTx$CMSIS\SVD\STM32H723.svd 0 0 - - - - - + + + + + 0 0 @@ -48,15 +56,15 @@ 1 1 1 - ./CtrBoard-H7_ALL/ + 1 0 0 0 0 - - + + 0 0 0 @@ -65,8 +73,8 @@ 0 0 - - + + 0 0 0 @@ -75,15 +83,15 @@ 0 1 - - + + 0 0 0 0 1 - + 0 @@ -97,8 +105,8 @@ 0 0 3 - - + + 0 @@ -131,11 +139,11 @@ 1 BIN\UL2V8M.DLL - - - - - + + + + + 0 @@ -168,7 +176,7 @@ 0 0 "Cortex-M7" - + 0 0 0 @@ -179,8 +187,8 @@ 3 0 0 - 0 - 1 + 1 + 0 8 0 0 @@ -199,11 +207,11 @@ 0 0 1 - 1 + 0 0 0 0 - 1 + 0 1 @@ -238,13 +246,13 @@ 0 - 0x0 - 0x0 + 0x20000000 + 0x20000 1 - 0x0 - 0x0 + 0x8000000 + 0x100000 0 @@ -268,8 +276,8 @@ 1 - - + 0x8000000 + 0x100000 1 @@ -293,16 +301,16 @@ 0 - - + 0x20000000 + 0x20000 0 - 0x0 - 0x0 + 0x24000000 + 0x50000 - + 1 @@ -315,13 +323,13 @@ 0 0 0 - 2 + 3 0 0 1 1 0 - 5 + 3 3 1 1 @@ -329,10 +337,10 @@ 0 0 - + USE_PWR_LDO_SUPPLY,USE_HAL_DRIVER,STM32H723xx - - ../Core/Inc;../Drivers/STM32H7xx_HAL_Driver/Inc;../Drivers/STM32H7xx_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/STM32H7xx/Include;../Drivers/CMSIS/Include + + ../Core/Inc;../Drivers/STM32H7xx_HAL_Driver/Inc;../Drivers/STM32H7xx_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/STM32H7xx/Include;../Drivers/CMSIS/Include;..\User @@ -347,9 +355,9 @@ 0 1 - - - + + + ../Core/Inc;../Drivers/STM32H7xx_HAL_Driver/Inc;../Drivers/STM32H7xx_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/STM32H7xx/Include;../Drivers/CMSIS/Include @@ -360,15 +368,15 @@ 0 1 0 - - - - - - - - - + + + + + + + + + @@ -673,20 +681,253 @@ + + User/bsp + + + fdcan.c + 1 + ..\User\bsp\fdcan.c + + + flash.c + 1 + ..\User\bsp\flash.c + + + gpio.c + 1 + ..\User\bsp\gpio.c + + + mm.c + 1 + ..\User\bsp\mm.c + + + pwm.c + 1 + ..\User\bsp\pwm.c + + + spi.c + 1 + ..\User\bsp\spi.c + + + time.c + 1 + ..\User\bsp\time.c + + + uart.c + 1 + ..\User\bsp\uart.c + + + + + User/component + + + ahrs.c + 1 + ..\User\component\ahrs.c + + + crc8.c + 1 + ..\User\component\crc8.c + + + crc16.c + 1 + ..\User\component\crc16.c + + + error_detect.c + 1 + ..\User\component\error_detect.c + + + filter.c + 1 + ..\User\component\filter.c + + + freertos_cli.c + 1 + ..\User\component\freertos_cli.c + + + lqr.c + 1 + ..\User\component\lqr.c + + + pid.c + 1 + ..\User\component\pid.c + + + user_math.c + 1 + ..\User\component\user_math.c + + + vmc.c + 1 + ..\User\component\vmc.c + + + + + User/device + + + bmi088.c + 1 + ..\User\device\bmi088.c + + + buzzer.c + 1 + ..\User\device\buzzer.c + + + dr16.c + 1 + ..\User\device\dr16.c + + + motor.c + 1 + ..\User\device\motor.c + + + motor_dm.c + 1 + ..\User\device\motor_dm.c + + + motor_lk.c + 1 + ..\User\device\motor_lk.c + + + motor_lz.c + 1 + ..\User\device\motor_lz.c + + + motor_rm.c + 1 + ..\User\device\motor_rm.c + + + + + User/module + + + balance_chassis.c + 1 + ..\User\module\balance_chassis.c + + + config.c + 1 + ..\User\module\config.c + + + shoot.c + 1 + ..\User\module\shoot.c + + + + + User/task + + + atti_esit.c + 1 + ..\User\task\atti_esit.c + + + blink.c + 1 + ..\User\task\blink.c + + + ctrl_chassis.c + 1 + ..\User\task\ctrl_chassis.c + + 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