添加ref

CMakeLists.txt

@@ -69,6 +69,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/component/pid.c
     User/component/user_math.c
     User/component/vmc.c
+    User/component/ui.c
 
     # User/device sources
     User/device/bmi088.c
@@ -83,6 +84,8 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/device/vision_bridge.c
     User/device/vofa.c
     User/device/mrobot.c
+    User/device/referee.c
+    User/device/supercap.c
 
     # User/module sources
     User/module/balance_chassis.c

Core/Inc/stm32h7xx_it.h

@@ -58,6 +58,7 @@ void DMA1_Stream2_IRQHandler(void);
 void DMA1_Stream3_IRQHandler(void);
 void DMA1_Stream4_IRQHandler(void);
 void DMA1_Stream5_IRQHandler(void);
+void DMA1_Stream6_IRQHandler(void);
 void FDCAN1_IT0_IRQHandler(void);
 void FDCAN2_IT0_IRQHandler(void);
 void FDCAN1_IT1_IRQHandler(void);
@@ -67,6 +68,7 @@ void USART1_IRQHandler(void);
 void USART2_IRQHandler(void);
 void USART3_IRQHandler(void);
 void EXTI15_10_IRQHandler(void);
+void DMA1_Stream7_IRQHandler(void);
 void UART5_IRQHandler(void);
 void UART7_IRQHandler(void);
 void ADC3_IRQHandler(void);

Core/Src/dma.c

@@ -61,6 +61,12 @@ void MX_DMA_Init(void)
   /* DMA1_Stream5_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(DMA1_Stream5_IRQn, 5, 0);
   HAL_NVIC_EnableIRQ(DMA1_Stream5_IRQn);
+  /* DMA1_Stream6_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA1_Stream6_IRQn, 5, 0);
+  HAL_NVIC_EnableIRQ(DMA1_Stream6_IRQn);
+  /* DMA1_Stream7_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA1_Stream7_IRQn, 5, 0);
+  HAL_NVIC_EnableIRQ(DMA1_Stream7_IRQn);
 
 }
 

Core/Src/stm32h7xx_it.c

@@ -68,6 +68,8 @@ extern SPI_HandleTypeDef hspi2;
 extern DMA_HandleTypeDef hdma_uart5_rx;
 extern DMA_HandleTypeDef hdma_usart1_tx;
 extern DMA_HandleTypeDef hdma_usart1_rx;
+extern DMA_HandleTypeDef hdma_usart10_rx;
+extern DMA_HandleTypeDef hdma_usart10_tx;
 extern UART_HandleTypeDef huart5;
 extern UART_HandleTypeDef huart7;
 extern UART_HandleTypeDef huart1;
@@ -262,6 +264,20 @@ void DMA1_Stream5_IRQHandler(void)
   /* USER CODE END DMA1_Stream5_IRQn 1 */
 }
 
+/**
+  * @brief This function handles DMA1 stream6 global interrupt.
+  */
+void DMA1_Stream6_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Stream6_IRQn 0 */
+
+  /* USER CODE END DMA1_Stream6_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_usart10_rx);
+  /* USER CODE BEGIN DMA1_Stream6_IRQn 1 */
+
+  /* USER CODE END DMA1_Stream6_IRQn 1 */
+}
+
 /**
   * @brief This function handles FDCAN1 interrupt 0.
   */
@@ -390,6 +406,20 @@ void EXTI15_10_IRQHandler(void)
   /* USER CODE END EXTI15_10_IRQn 1 */
 }
 
+/**
+  * @brief This function handles DMA1 stream7 global interrupt.
+  */
+void DMA1_Stream7_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Stream7_IRQn 0 */
+
+  /* USER CODE END DMA1_Stream7_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_usart10_tx);
+  /* USER CODE BEGIN DMA1_Stream7_IRQn 1 */
+
+  /* USER CODE END DMA1_Stream7_IRQn 1 */
+}
+
 /**
   * @brief This function handles UART5 global interrupt.
   */

Core/Src/usart.c

@@ -33,6 +33,8 @@ UART_HandleTypeDef huart10;
 DMA_HandleTypeDef hdma_uart5_rx;
 DMA_HandleTypeDef hdma_usart1_tx;
 DMA_HandleTypeDef hdma_usart1_rx;
+DMA_HandleTypeDef hdma_usart10_rx;
+DMA_HandleTypeDef hdma_usart10_tx;
 
 /* UART5 init function */
 void MX_UART5_Init(void)
@@ -265,7 +267,7 @@ void MX_USART10_UART_Init(void)
 
   /* USER CODE END USART10_Init 1 */
   huart10.Instance = USART10;
-  huart10.Init.BaudRate = 921600;
+  huart10.Init.BaudRate = 115200;
   huart10.Init.WordLength = UART_WORDLENGTH_8B;
   huart10.Init.StopBits = UART_STOPBITS_1;
   huart10.Init.Parity = UART_PARITY_NONE;
@@ -598,6 +600,43 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
     GPIO_InitStruct.Alternate = GPIO_AF11_USART10;
     HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
 
+    /* USART10 DMA Init */
+    /* USART10_RX Init */
+    hdma_usart10_rx.Instance = DMA1_Stream6;
+    hdma_usart10_rx.Init.Request = DMA_REQUEST_USART10_RX;
+    hdma_usart10_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
+    hdma_usart10_rx.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_usart10_rx.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_usart10_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+    hdma_usart10_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+    hdma_usart10_rx.Init.Mode = DMA_NORMAL;
+    hdma_usart10_rx.Init.Priority = DMA_PRIORITY_LOW;
+    hdma_usart10_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+    if (HAL_DMA_Init(&hdma_usart10_rx) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart10_rx);
+
+    /* USART10_TX Init */
+    hdma_usart10_tx.Instance = DMA1_Stream7;
+    hdma_usart10_tx.Init.Request = DMA_REQUEST_USART10_TX;
+    hdma_usart10_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
+    hdma_usart10_tx.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_usart10_tx.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_usart10_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+    hdma_usart10_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+    hdma_usart10_tx.Init.Mode = DMA_NORMAL;
+    hdma_usart10_tx.Init.Priority = DMA_PRIORITY_LOW;
+    hdma_usart10_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+    if (HAL_DMA_Init(&hdma_usart10_tx) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart10_tx);
+
     /* USART10 interrupt Init */
     HAL_NVIC_SetPriority(USART10_IRQn, 5, 0);
     HAL_NVIC_EnableIRQ(USART10_IRQn);
@@ -737,6 +776,10 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
     */
     HAL_GPIO_DeInit(GPIOE, GPIO_PIN_2|GPIO_PIN_3);
 
+    /* USART10 DMA DeInit */
+    HAL_DMA_DeInit(uartHandle->hdmarx);
+    HAL_DMA_DeInit(uartHandle->hdmatx);
+
     /* USART10 interrupt Deinit */
     HAL_NVIC_DisableIRQ(USART10_IRQn);
   /* USER CODE BEGIN USART10_MspDeInit 1 */

CtrBoard-H7_ALL.ioc

@@ -80,7 +80,9 @@ Dma.Request2=SPI2_TX
 Dma.Request3=UART5_RX
 Dma.Request4=USART1_TX
 Dma.Request5=USART1_RX
-Dma.RequestsNb=6
+Dma.Request6=USART10_RX
+Dma.Request7=USART10_TX
+Dma.RequestsNb=8
 Dma.SPI2_RX.1.Direction=DMA_PERIPH_TO_MEMORY
 Dma.SPI2_RX.1.EventEnable=DISABLE
 Dma.SPI2_RX.1.FIFOMode=DMA_FIFOMODE_DISABLE
@@ -135,6 +137,42 @@ Dma.UART5_RX.3.SyncEnable=DISABLE
 Dma.UART5_RX.3.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
 Dma.UART5_RX.3.SyncRequestNumber=1
 Dma.UART5_RX.3.SyncSignalID=NONE
+Dma.USART10_RX.6.Direction=DMA_PERIPH_TO_MEMORY
+Dma.USART10_RX.6.EventEnable=DISABLE
+Dma.USART10_RX.6.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.USART10_RX.6.Instance=DMA1_Stream6
+Dma.USART10_RX.6.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART10_RX.6.MemInc=DMA_MINC_ENABLE
+Dma.USART10_RX.6.Mode=DMA_NORMAL
+Dma.USART10_RX.6.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART10_RX.6.PeriphInc=DMA_PINC_DISABLE
+Dma.USART10_RX.6.Polarity=HAL_DMAMUX_REQ_GEN_RISING
+Dma.USART10_RX.6.Priority=DMA_PRIORITY_LOW
+Dma.USART10_RX.6.RequestNumber=1
+Dma.USART10_RX.6.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
+Dma.USART10_RX.6.SignalID=NONE
+Dma.USART10_RX.6.SyncEnable=DISABLE
+Dma.USART10_RX.6.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
+Dma.USART10_RX.6.SyncRequestNumber=1
+Dma.USART10_RX.6.SyncSignalID=NONE
+Dma.USART10_TX.7.Direction=DMA_MEMORY_TO_PERIPH
+Dma.USART10_TX.7.EventEnable=DISABLE
+Dma.USART10_TX.7.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.USART10_TX.7.Instance=DMA1_Stream7
+Dma.USART10_TX.7.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART10_TX.7.MemInc=DMA_MINC_ENABLE
+Dma.USART10_TX.7.Mode=DMA_NORMAL
+Dma.USART10_TX.7.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART10_TX.7.PeriphInc=DMA_PINC_DISABLE
+Dma.USART10_TX.7.Polarity=HAL_DMAMUX_REQ_GEN_RISING
+Dma.USART10_TX.7.Priority=DMA_PRIORITY_LOW
+Dma.USART10_TX.7.RequestNumber=1
+Dma.USART10_TX.7.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
+Dma.USART10_TX.7.SignalID=NONE
+Dma.USART10_TX.7.SyncEnable=DISABLE
+Dma.USART10_TX.7.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
+Dma.USART10_TX.7.SyncRequestNumber=1
+Dma.USART10_TX.7.SyncSignalID=NONE
 Dma.USART1_RX.5.Direction=DMA_PERIPH_TO_MEMORY
 Dma.USART1_RX.5.EventEnable=DISABLE
 Dma.USART1_RX.5.FIFOMode=DMA_FIFOMODE_DISABLE
@@ -334,6 +372,8 @@ NVIC.DMA1_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA1_Stream3_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA1_Stream4_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA1_Stream5_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
+NVIC.DMA1_Stream6_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
+NVIC.DMA1_Stream7_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.EXTI15_10_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.FDCAN1_IT0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
@@ -758,7 +798,7 @@ UART7.IPParameters=BaudRate
 USART1.BaudRate=921600
 USART1.IPParameters=VirtualMode-Asynchronous,BaudRate
 USART1.VirtualMode-Asynchronous=VM_ASYNC
-USART10.BaudRate=921600
+USART10.BaudRate=115200
 USART10.IPParameters=VirtualMode,BaudRate
 USART10.VirtualMode=VM_ASYNC
 USART2.BaudRate=921600

User/bsp/uart.c

@@ -27,6 +27,8 @@ static BSP_UART_t UART_Get(UART_HandleTypeDef *huart) {
     return BSP_UART_DR16;
   else if (huart->Instance == USART1)
     return BSP_UART_VOFA;
+  else if (huart->Instance == USART10)
+    return BSP_UART_REF;
   else
     return BSP_UART_ERR;
 }
@@ -119,6 +121,8 @@ UART_HandleTypeDef *BSP_UART_GetHandle(BSP_UART_t uart) {
       return &huart5;
     case BSP_UART_VOFA:
       return &huart1;
+    case BSP_UART_REF:
+      return &huart10;
     default:
       return NULL;
   }

User/bsp/uart.h

@@ -29,6 +29,7 @@ extern "C" {
 typedef enum {
   BSP_UART_DR16,
   BSP_UART_VOFA,
+  BSP_UART_REF,
   BSP_UART_NUM,
   BSP_UART_ERR,
 } BSP_UART_t;