From 88f306cdef86384cf5dd0641f2c0b54306193bc9 Mon Sep 17 00:00:00 2001 From: Robofish <1683502971@qq.com> Date: Wed, 7 Jan 2026 16:48:18 +0800 Subject: [PATCH] =?UTF-8?q?=E9=87=8D=E6=9E=84=E5=BA=95=E5=B1=82?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .DS_Store | Bin 12292 -> 6148 bytes .mxproject | 56 +- .settings/bundles-lock.store.json | 6 +- .settings/bundles.store.json | 2 +- CMakeLists.txt | 38 +- Core/Inc/dac.h | 52 - Core/Inc/main.h | 12 +- Core/Inc/spi.h | 3 + Core/Inc/stm32h7xx_hal_conf.h | 2 +- Core/Inc/stm32h7xx_it.h | 15 - Core/Inc/usart.h | 3 - Core/Src/adc.c | 19 + Core/Src/bdma.c | 55 -- Core/Src/dac.c | 102 -- Core/Src/dma.c | 34 - Core/Src/fdcan.c | 86 +- Core/Src/freertos.c | 256 +++-- Core/Src/gpio.c | 51 +- Core/Src/main.c | 53 +- Core/Src/octospi.c | 13 + Core/Src/spi.c | 163 ++- Core/Src/stm32h7xx_it.c | 229 +---- Core/Src/usart.c | 353 +------ Core/Src/usb_otg.c | 9 +- CtrBoard-H7_ALL.ioc | 660 +++++++++++++ .../Class/CDC/Inc/usbd_cdc_if_template.h | 95 +- .../Class/CDC/Src/usbd_cdc_if_template.c | 247 +++++ .../Core/Inc/usbd_conf_template.h | 230 +++++ .../Core/Inc/usbd_desc_template.h | 61 ++ .../Core/Src/usbd_conf_template.c | 283 ++++++ .../Core/Src/usbd_desc_template.c | 454 +++++++++ .../ST/STM32_USB_Device_Library/LICENSE.txt | 86 ++ README.md | 15 - STM32H723XG_FLASH.ld | 4 +- User/bsp/bsp.h | 28 + User/bsp/bsp_config.yaml | 123 +++ User/bsp/can.h | 79 ++ User/bsp/fdcan.c | 576 +++++++++++ User/bsp/fdcan.h | 137 +++ User/bsp/flash.c | 82 ++ User/bsp/flash.h | 46 + User/bsp/gpio.c | 126 +++ User/bsp/gpio.h | 59 ++ User/bsp/mm.c | 30 + User/bsp/mm.h | 32 + User/bsp/pwm.c | 115 +++ User/bsp/pwm.h | 53 + User/bsp/spi.c | 181 ++++ User/bsp/spi.h | 70 ++ User/bsp/time.c | 81 ++ User/bsp/time.h | 43 + User/bsp/uart.c | 155 +++ User/bsp/uart.h | 68 ++ User/component/ahrs.c | 417 ++++++++ User/component/ahrs.h | 114 +++ User/component/component_config.yaml | 28 + User/component/crc16.c | 62 ++ User/component/crc16.h | 30 + User/component/crc8.c | 52 + User/component/crc8.h | 30 + User/component/error_detect.c | 67 ++ User/component/error_detect.h | 82 ++ User/component/filter.c | 185 ++++ User/component/filter.h | 120 +++ User/component/freertos_cli.c | 352 +++++++ User/component/freertos_cli.h | 108 ++ User/component/pid.c | 158 +++ User/component/pid.h | 107 ++ User/component/user_math.c | 134 +++ User/component/user_math.h | 179 ++++ User/device/bmi088.c | 381 +++++++ User/device/bmi088.h | 81 ++ User/device/buzzer.c | 171 ++++ User/device/buzzer.h | 138 +++ User/device/device.h | 51 + User/device/device_config.yaml | 31 + User/device/dr16.c | 169 ++++ User/device/dr16.h | 117 +++ User/device/motor.c | 52 + User/device/motor.h | 68 ++ User/device/motor_dm.c | 496 ++++++++++ User/device/motor_dm.h | 98 ++ User/device/motor_lk.c | 329 +++++++ User/device/motor_lk.h | 119 +++ User/device/motor_lz.c | 440 +++++++++ User/device/motor_lz.h | 212 ++++ User/device/motor_rm.c | 321 ++++++ User/device/motor_rm.h | 132 +++ User/task/atti_esit.c | 38 + User/task/config.yaml | 13 + User/task/init.c | 43 + User/task/rc.c | 44 + User/task/user_task.c | 21 + User/task/user_task.h | 85 ++ balance_infantry.ioc | 926 ------------------ cmake/stm32cubemx/CMakeLists.txt | 4 - 96 files changed, 10486 insertions(+), 2150 deletions(-) delete mode 100644 Core/Inc/dac.h delete mode 100644 Core/Src/bdma.c delete mode 100644 Core/Src/dac.c create mode 100644 CtrBoard-H7_ALL.ioc rename Core/Inc/bdma.h => Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc/usbd_cdc_if_template.h (53%) create mode 100644 Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc_if_template.c create mode 100644 Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_conf_template.h create mode 100644 Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_desc_template.h create mode 100644 Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_conf_template.c create mode 100644 Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_desc_template.c create mode 100644 Middlewares/ST/STM32_USB_Device_Library/LICENSE.txt delete mode 100644 README.md create mode 100644 User/bsp/bsp.h create mode 100644 User/bsp/bsp_config.yaml create mode 100644 User/bsp/can.h create mode 100644 User/bsp/fdcan.c create mode 100644 User/bsp/fdcan.h create mode 100644 User/bsp/flash.c create mode 100644 User/bsp/flash.h create mode 100644 User/bsp/gpio.c create mode 100644 User/bsp/gpio.h create mode 100644 User/bsp/mm.c create mode 100644 User/bsp/mm.h create mode 100644 User/bsp/pwm.c create mode 100644 User/bsp/pwm.h create mode 100644 User/bsp/spi.c create mode 100644 User/bsp/spi.h create mode 100644 User/bsp/time.c create mode 100644 User/bsp/time.h create mode 100644 User/bsp/uart.c create mode 100644 User/bsp/uart.h create mode 100644 User/component/ahrs.c create mode 100644 User/component/ahrs.h create mode 100644 User/component/component_config.yaml create mode 100644 User/component/crc16.c create mode 100644 User/component/crc16.h create mode 100644 User/component/crc8.c create mode 100644 User/component/crc8.h create mode 100644 User/component/error_detect.c create mode 100644 User/component/error_detect.h create mode 100644 User/component/filter.c create mode 100644 User/component/filter.h create mode 100644 User/component/freertos_cli.c create mode 100644 User/component/freertos_cli.h create mode 100644 User/component/pid.c create mode 100644 User/component/pid.h create mode 100644 User/component/user_math.c create mode 100644 User/component/user_math.h create mode 100644 User/device/bmi088.c create mode 100644 User/device/bmi088.h create mode 100644 User/device/buzzer.c create mode 100644 User/device/buzzer.h create mode 100644 User/device/device.h create mode 100644 User/device/device_config.yaml create mode 100644 User/device/dr16.c create mode 100644 User/device/dr16.h create mode 100644 User/device/motor.c create mode 100644 User/device/motor.h create mode 100644 User/device/motor_dm.c create mode 100644 User/device/motor_dm.h create mode 100644 User/device/motor_lk.c create mode 100644 User/device/motor_lk.h create mode 100644 User/device/motor_lz.c create mode 100644 User/device/motor_lz.h create mode 100644 User/device/motor_rm.c create mode 100644 User/device/motor_rm.h create mode 100644 User/task/atti_esit.c create mode 100644 User/task/config.yaml create mode 100644 User/task/init.c create mode 100644 User/task/rc.c create mode 100644 User/task/user_task.c create mode 100644 User/task/user_task.h delete mode 100644 balance_infantry.ioc diff --git a/.DS_Store b/.DS_Store index 9e46c908d6deddce9304976a7fd21c0033b63aba..d83fe0491a8a354885cbdeb2c3201d9ceb4a8454 100644 GIT binary patch delta 172 zcmZokXfcprU|?W$DortDU=RQ@Ie-{MGjUEV6q~3gIoUvmMI6Xy-~?huuw05~PJVJy zPJYs6L6((_+#m^7h9rhkhRn&1!osW}K>m!$uM|utUsbG|%&Dv~d9t$JWJ5Kx$(Mw} zCKm|XY`!DS!Lpd0gF}!Rs1yhUxPgQ#$j;4z9N(EI^XvHXFhQIGavj6wc%C`T0Lh&o Awg3PC 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-LibFiles=Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_adc.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_adc_ex.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_ll_adc.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_rcc.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_rcc_ex.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_ll_bus.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_ll_rcc.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_ll_crs.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_ll_system.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_ll_utils.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_flash.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_flash_ex.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_gpio.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_gpio_ex.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_ll_gpio.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_hsem.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_ll_hsem.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_dma.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_dma_ex.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_ll_dma.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_ll_dmamux.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_mdma.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_pwr.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_pwr_ex.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_ll_pwr.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_cortex.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_ll_cortex.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_def.h;Drivers/STM32H7xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_i2c.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_i2c_ex.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_exti.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_ll_exti.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_dac.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_ll_dac.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_dac_ex.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_fdcan.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_ospi.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_spi.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_ll_spi.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_spi_ex.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_ll_tim.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_ll_usart.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_ll_lpuart.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_pcd.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_pcd_ex.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_ll_usb.h;Middlewares/Third_Party/FreeRTOS/Source/include/croutine.h;Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h;Middlewares/Third_Party/FreeRTOS/Source/include/event_groups.h;Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h;Middlewares/Third_Party/FreeRTOS/Source/include/list.h;Middlewares/Third_Party/FreeRTOS/Source/include/message_buffer.h;Middlewares/Third_Party/FreeRTOS/Source/include/mpu_prototypes.h;Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h;Middlewares/Third_Party/FreeRTOS/Source/include/portable.h;Middlewares/Third_Party/FreeRTOS/Source/include/projdefs.h;Middlewares/Third_Party/FreeRTOS/Source/include/queue.h;Middlewares/Third_Party/FreeRTOS/Source/include/semphr.h;Middlewares/Third_Party/FreeRTOS/Source/include/stack_macros.h;Middlewares/Third_Party/FreeRTOS/Source/include/StackMacros.h;Middlewares/Third_Party/FreeRTOS/Source/include/stream_buffer.h;Middlewares/Third_Party/FreeRTOS/Source/include/task.h;Middlewares/Third_Party/FreeRTOS/Source/include/timers.h;Middlewares/Third_Party/FreeRTOS/Source/include/atomic.h;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_os2.h;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_gpio.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_hsem.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_mdma.c;Drivers/STM32H7xx_HAL_Driver/Src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[PreviousUsedCMakes] 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HeaderPath=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/GCC/ARM_CM4F;Drivers/CMSIS/Device/ST/STM32H7xx/Include;Drivers/CMSIS/Include;Core/Inc; -CDefines=USE_PWR_LDO_SUPPLY;USE_PWR_LDO_SUPPLY;USE_HAL_DRIVER;STM32H723xx;USE_HAL_DRIVER;USE_HAL_DRIVER; +CDefines=USE_PWR_LDO_SUPPLY;USE_PWR_LDO_SUPPLY;USE_PWR_LDO_SUPPLY;USE_HAL_DRIVER;STM32H723xx;USE_HAL_DRIVER;USE_HAL_DRIVER; [PreviousGenFiles] AdvancedFolderStructure=true -HeaderFileListSize=15 +HeaderFileListSize=13 HeaderFiles#0=../Core/Inc/gpio.h HeaderFiles#1=../Core/Inc/FreeRTOSConfig.h HeaderFiles#2=../Core/Inc/adc.h -HeaderFiles#3=../Core/Inc/bdma.h -HeaderFiles#4=../Core/Inc/dac.h -HeaderFiles#5=../Core/Inc/dma.h -HeaderFiles#6=../Core/Inc/fdcan.h -HeaderFiles#7=../Core/Inc/octospi.h -HeaderFiles#8=../Core/Inc/spi.h -HeaderFiles#9=../Core/Inc/tim.h -HeaderFiles#10=../Core/Inc/usart.h -HeaderFiles#11=../Core/Inc/usb_otg.h -HeaderFiles#12=../Core/Inc/stm32h7xx_it.h -HeaderFiles#13=../Core/Inc/stm32h7xx_hal_conf.h -HeaderFiles#14=../Core/Inc/main.h +HeaderFiles#3=../Core/Inc/dma.h +HeaderFiles#4=../Core/Inc/fdcan.h +HeaderFiles#5=../Core/Inc/octospi.h +HeaderFiles#6=../Core/Inc/spi.h +HeaderFiles#7=../Core/Inc/tim.h +HeaderFiles#8=../Core/Inc/usart.h +HeaderFiles#9=../Core/Inc/usb_otg.h +HeaderFiles#10=../Core/Inc/stm32h7xx_it.h +HeaderFiles#11=../Core/Inc/stm32h7xx_hal_conf.h +HeaderFiles#12=../Core/Inc/main.h HeaderFolderListSize=1 HeaderPath#0=../Core/Inc HeaderFiles=; -SourceFileListSize=16 +SourceFileListSize=14 SourceFiles#0=../Core/Src/gpio.c SourceFiles#1=../Core/Src/freertos.c SourceFiles#2=../Core/Src/adc.c -SourceFiles#3=../Core/Src/bdma.c -SourceFiles#4=../Core/Src/dac.c -SourceFiles#5=../Core/Src/dma.c -SourceFiles#6=../Core/Src/fdcan.c -SourceFiles#7=../Core/Src/octospi.c -SourceFiles#8=../Core/Src/spi.c -SourceFiles#9=../Core/Src/tim.c -SourceFiles#10=../Core/Src/usart.c -SourceFiles#11=../Core/Src/usb_otg.c -SourceFiles#12=../Core/Src/stm32h7xx_it.c -SourceFiles#13=../Core/Src/stm32h7xx_hal_msp.c -SourceFiles#14=../Core/Src/stm32h7xx_hal_timebase_tim.c -SourceFiles#15=../Core/Src/main.c +SourceFiles#3=../Core/Src/dma.c +SourceFiles#4=../Core/Src/fdcan.c +SourceFiles#5=../Core/Src/octospi.c +SourceFiles#6=../Core/Src/spi.c +SourceFiles#7=../Core/Src/tim.c +SourceFiles#8=../Core/Src/usart.c +SourceFiles#9=../Core/Src/usb_otg.c +SourceFiles#10=../Core/Src/stm32h7xx_it.c +SourceFiles#11=../Core/Src/stm32h7xx_hal_msp.c +SourceFiles#12=../Core/Src/stm32h7xx_hal_timebase_tim.c +SourceFiles#13=../Core/Src/main.c SourceFolderListSize=1 SourcePath#0=../Core/Src SourceFiles=; diff --git a/.settings/bundles-lock.store.json b/.settings/bundles-lock.store.json index b8edaa2..7e6cbbe 100644 --- a/.settings/bundles-lock.store.json +++ b/.settings/bundles-lock.store.json @@ -117,7 +117,7 @@ "selected_by": [ { "name": "st-arm-clangd", - "version": "^19.1.2+st.3" + "version": "19.1.2+st.3" } ] }, @@ -128,7 +128,7 @@ "selected_by": [ { "name": "st-arm-clangd", - "version": "^19.1.2+st.3" + "version": "19.1.2+st.3" } ] }, @@ -139,7 +139,7 @@ "selected_by": [ { "name": "st-arm-clangd", - "version": "^19.1.2+st.3" + "version": "19.1.2+st.3" } ] } diff --git a/.settings/bundles.store.json b/.settings/bundles.store.json index 357e80c..d036e56 100644 --- a/.settings/bundles.store.json +++ b/.settings/bundles.store.json @@ -14,7 +14,7 @@ }, { "name": "st-arm-clangd", - "version": "^19.1.2+st.3" + "version": "19.1.2+st.3" } ] } diff --git a/CMakeLists.txt b/CMakeLists.txt index 3721242..7d1ad52 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -19,7 +19,7 @@ if(NOT CMAKE_BUILD_TYPE) endif() # Set the project name -set(CMAKE_PROJECT_NAME balance_infantry) +set(CMAKE_PROJECT_NAME CtrBoard-H7_ALL) # Enable compile command to ease indexing with e.g. clangd set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE) @@ -45,11 +45,47 @@ target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE # Add sources to executable target_sources(${CMAKE_PROJECT_NAME} PRIVATE # Add user sources here + # User/bsp sources + User/bsp/fdcan.c + User/bsp/flash.c + User/bsp/gpio.c + User/bsp/mm.c + User/bsp/pwm.c + User/bsp/spi.c + User/bsp/time.c + User/bsp/uart.c + + # User/component sources + User/component/ahrs.c + User/component/crc16.c + User/component/crc8.c + User/component/error_detect.c + User/component/filter.c + User/component/freertos_cli.c + User/component/pid.c + User/component/user_math.c + + # User/device sources + User/device/bmi088.c + User/device/buzzer.c + User/device/dr16.c + User/device/motor.c + User/device/motor_dm.c + User/device/motor_lk.c + User/device/motor_lz.c + User/device/motor_rm.c + + # User/task sources + User/task/atti_esit.c + User/task/init.c + User/task/rc.c + User/task/user_task.c ) # Add include paths target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE # Add user defined include paths + User ) # Add project symbols (macros) diff --git a/Core/Inc/dac.h b/Core/Inc/dac.h deleted file mode 100644 index 04e00b7..0000000 --- a/Core/Inc/dac.h +++ /dev/null @@ -1,52 +0,0 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * @file dac.h - * @brief This file contains all the function prototypes for - * the dac.c file - ****************************************************************************** - * @attention - * - * Copyright (c) 2026 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 __DAC_H__ -#define __DAC_H__ - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "main.h" - -/* USER CODE BEGIN Includes */ - -/* USER CODE END Includes */ - -extern DAC_HandleTypeDef hdac1; - -/* USER CODE BEGIN Private defines */ - -/* USER CODE END Private defines */ - -void MX_DAC1_Init(void); - -/* USER CODE BEGIN Prototypes */ - -/* USER CODE END Prototypes */ - -#ifdef __cplusplus -} -#endif - -#endif /* __DAC_H__ */ - diff --git a/Core/Inc/main.h b/Core/Inc/main.h index 9f776cb..14e6ef5 100644 --- a/Core/Inc/main.h +++ b/Core/Inc/main.h @@ -59,19 +59,19 @@ void Error_Handler(void); /* Private defines -----------------------------------------------------------*/ #define POWER_24V_2_Pin GPIO_PIN_13 #define POWER_24V_2_GPIO_Port GPIOC -#define POWER_24_EN__Pin GPIO_PIN_14 -#define POWER_24_EN__GPIO_Port GPIOC +#define POWER_24V_1_Pin GPIO_PIN_14 +#define POWER_24V_1_GPIO_Port GPIOC #define POWER_5V_Pin GPIO_PIN_15 #define POWER_5V_GPIO_Port GPIOC #define ACCL_CS_Pin GPIO_PIN_0 #define ACCL_CS_GPIO_Port GPIOC #define GYRO_CS_Pin GPIO_PIN_3 #define GYRO_CS_GPIO_Port GPIOC +#define DCMI_PWDN_Pin GPIO_PIN_5 +#define DCMI_PWDN_GPIO_Port GPIOC #define ACCL_INT_Pin GPIO_PIN_10 #define ACCL_INT_GPIO_Port GPIOE #define ACCL_INT_EXTI_IRQn EXTI15_10_IRQn -#define W25Q64_CS_Pin GPIO_PIN_11 -#define W25Q64_CS_GPIO_Port GPIOE #define GYRO_INT_Pin GPIO_PIN_12 #define GYRO_INT_GPIO_Port GPIOE #define GYRO_INT_EXTI_IRQn EXTI15_10_IRQn @@ -81,6 +81,10 @@ void Error_Handler(void); #define LCD_BLK_GPIO_Port GPIOB #define LCD_RES_Pin GPIO_PIN_11 #define LCD_RES_GPIO_Port GPIOB +#define DCMI_REST_Pin GPIO_PIN_12 +#define DCMI_REST_GPIO_Port GPIOB +#define LCD_DC_Pin GPIO_PIN_10 +#define LCD_DC_GPIO_Port GPIOD /* USER CODE BEGIN Private defines */ diff --git a/Core/Inc/spi.h b/Core/Inc/spi.h index e9964ba..b45c5e5 100644 --- a/Core/Inc/spi.h +++ b/Core/Inc/spi.h @@ -32,6 +32,8 @@ extern "C" { /* USER CODE END Includes */ +extern SPI_HandleTypeDef hspi1; + extern SPI_HandleTypeDef hspi2; extern SPI_HandleTypeDef hspi6; @@ -40,6 +42,7 @@ extern SPI_HandleTypeDef hspi6; /* USER CODE END Private defines */ +void MX_SPI1_Init(void); void MX_SPI2_Init(void); void MX_SPI6_Init(void); diff --git a/Core/Inc/stm32h7xx_hal_conf.h b/Core/Inc/stm32h7xx_hal_conf.h index d01ae53..085c825 100644 --- a/Core/Inc/stm32h7xx_hal_conf.h +++ b/Core/Inc/stm32h7xx_hal_conf.h @@ -42,7 +42,7 @@ /* #define HAL_CORDIC_MODULE_ENABLED */ /* #define HAL_CRC_MODULE_ENABLED */ /* #define HAL_CRYP_MODULE_ENABLED */ -#define HAL_DAC_MODULE_ENABLED +/* #define HAL_DAC_MODULE_ENABLED */ /* #define HAL_DCMI_MODULE_ENABLED */ /* #define HAL_DMA2D_MODULE_ENABLED */ /* #define HAL_ETH_MODULE_ENABLED */ diff --git a/Core/Inc/stm32h7xx_it.h b/Core/Inc/stm32h7xx_it.h index de415ab..5f13fd7 100644 --- a/Core/Inc/stm32h7xx_it.h +++ b/Core/Inc/stm32h7xx_it.h @@ -55,10 +55,6 @@ void DebugMon_Handler(void); void DMA1_Stream0_IRQHandler(void); void DMA1_Stream1_IRQHandler(void); 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); @@ -68,18 +64,7 @@ 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 DMA2_Stream0_IRQHandler(void); -void DMA2_Stream1_IRQHandler(void); -void DMA2_Stream2_IRQHandler(void); -void DMA2_Stream3_IRQHandler(void); -void DMA2_Stream4_IRQHandler(void); -void DMA2_Stream5_IRQHandler(void); -void OTG_HS_IRQHandler(void); void UART7_IRQHandler(void); -void SPI6_IRQHandler(void); -void BDMA_Channel0_IRQHandler(void); void USART10_IRQHandler(void); void FDCAN3_IT0_IRQHandler(void); void FDCAN3_IT1_IRQHandler(void); diff --git a/Core/Inc/usart.h b/Core/Inc/usart.h index e706206..12583e3 100644 --- a/Core/Inc/usart.h +++ b/Core/Inc/usart.h @@ -32,8 +32,6 @@ extern "C" { /* USER CODE END Includes */ -extern UART_HandleTypeDef huart5; - extern UART_HandleTypeDef huart7; extern UART_HandleTypeDef huart1; @@ -48,7 +46,6 @@ extern UART_HandleTypeDef huart10; /* USER CODE END Private defines */ -void MX_UART5_Init(void); void MX_UART7_Init(void); void MX_USART1_UART_Init(void); void MX_USART2_UART_Init(void); diff --git a/Core/Src/adc.c b/Core/Src/adc.c index 4f6b5c6..259f7df 100644 --- a/Core/Src/adc.c +++ b/Core/Src/adc.c @@ -105,11 +105,30 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle) { GPIO_InitTypeDef GPIO_InitStruct = {0}; + RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0}; if(adcHandle->Instance==ADC1) { /* USER CODE BEGIN ADC1_MspInit 0 */ /* USER CODE END ADC1_MspInit 0 */ + + /** Initializes the peripherals clock + */ + PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_ADC; + PeriphClkInitStruct.PLL2.PLL2M = 2; + PeriphClkInitStruct.PLL2.PLL2N = 16; + PeriphClkInitStruct.PLL2.PLL2P = 2; + PeriphClkInitStruct.PLL2.PLL2Q = 2; + PeriphClkInitStruct.PLL2.PLL2R = 2; + PeriphClkInitStruct.PLL2.PLL2RGE = RCC_PLL2VCIRANGE_3; + PeriphClkInitStruct.PLL2.PLL2VCOSEL = RCC_PLL2VCOWIDE; + PeriphClkInitStruct.PLL2.PLL2FRACN = 0; + PeriphClkInitStruct.AdcClockSelection = RCC_ADCCLKSOURCE_PLL2; + if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK) + { + Error_Handler(); + } + /* ADC1 clock enable */ __HAL_RCC_ADC12_CLK_ENABLE(); diff --git a/Core/Src/bdma.c b/Core/Src/bdma.c deleted file mode 100644 index 705587d..0000000 --- a/Core/Src/bdma.c +++ /dev/null @@ -1,55 +0,0 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * @file bdma.c - * @brief This file provides code for the configuration - * of all the requested memory to memory DMA transfers. - ****************************************************************************** - * @attention - * - * Copyright (c) 2026 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 "bdma.h" - -/* USER CODE BEGIN 0 */ - -/* USER CODE END 0 */ - -/*----------------------------------------------------------------------------*/ -/* Configure DMA */ -/*----------------------------------------------------------------------------*/ - -/* USER CODE BEGIN 1 */ - -/* USER CODE END 1 */ - -/** - * Enable DMA controller clock - */ -void MX_BDMA_Init(void) -{ - - /* DMA controller clock enable */ - __HAL_RCC_BDMA_CLK_ENABLE(); - - /* DMA interrupt init */ - /* BDMA_Channel0_IRQn interrupt configuration */ - HAL_NVIC_SetPriority(BDMA_Channel0_IRQn, 5, 0); - HAL_NVIC_EnableIRQ(BDMA_Channel0_IRQn); - -} - -/* USER CODE BEGIN 2 */ - -/* USER CODE END 2 */ - diff --git a/Core/Src/dac.c b/Core/Src/dac.c deleted file mode 100644 index 0612b51..0000000 --- a/Core/Src/dac.c +++ /dev/null @@ -1,102 +0,0 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * @file dac.c - * @brief This file provides code for the configuration - * of the DAC instances. - ****************************************************************************** - * @attention - * - * Copyright (c) 2026 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 "dac.h" - -/* USER CODE BEGIN 0 */ - -/* USER CODE END 0 */ - -DAC_HandleTypeDef hdac1; - -/* DAC1 init function */ -void MX_DAC1_Init(void) -{ - - /* USER CODE BEGIN DAC1_Init 0 */ - - /* USER CODE END DAC1_Init 0 */ - - DAC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN DAC1_Init 1 */ - - /* USER CODE END DAC1_Init 1 */ - - /** DAC Initialization - */ - hdac1.Instance = DAC1; - if (HAL_DAC_Init(&hdac1) != HAL_OK) - { - Error_Handler(); - } - - /** DAC channel OUT2 config - */ - sConfig.DAC_SampleAndHold = DAC_SAMPLEANDHOLD_DISABLE; - sConfig.DAC_Trigger = DAC_TRIGGER_NONE; - sConfig.DAC_OutputBuffer = DAC_OUTPUTBUFFER_DISABLE; - sConfig.DAC_ConnectOnChipPeripheral = DAC_CHIPCONNECT_ENABLE; - sConfig.DAC_UserTrimming = DAC_TRIMMING_FACTORY; - if (HAL_DAC_ConfigChannel(&hdac1, &sConfig, DAC_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN DAC1_Init 2 */ - - /* USER CODE END DAC1_Init 2 */ - -} - -void HAL_DAC_MspInit(DAC_HandleTypeDef* dacHandle) -{ - - if(dacHandle->Instance==DAC1) - { - /* USER CODE BEGIN DAC1_MspInit 0 */ - - /* USER CODE END DAC1_MspInit 0 */ - /* DAC1 clock enable */ - __HAL_RCC_DAC12_CLK_ENABLE(); - /* USER CODE BEGIN DAC1_MspInit 1 */ - - /* USER CODE END DAC1_MspInit 1 */ - } -} - -void HAL_DAC_MspDeInit(DAC_HandleTypeDef* dacHandle) -{ - - if(dacHandle->Instance==DAC1) - { - /* USER CODE BEGIN DAC1_MspDeInit 0 */ - - /* USER CODE END DAC1_MspDeInit 0 */ - /* Peripheral clock disable */ - __HAL_RCC_DAC12_CLK_DISABLE(); - /* USER CODE BEGIN DAC1_MspDeInit 1 */ - - /* USER CODE END DAC1_MspDeInit 1 */ - } -} - -/* USER CODE BEGIN 1 */ - -/* USER CODE END 1 */ diff --git a/Core/Src/dma.c b/Core/Src/dma.c index 6da130f..2928315 100644 --- a/Core/Src/dma.c +++ b/Core/Src/dma.c @@ -41,7 +41,6 @@ void MX_DMA_Init(void) /* DMA controller clock enable */ __HAL_RCC_DMA1_CLK_ENABLE(); - __HAL_RCC_DMA2_CLK_ENABLE(); /* DMA interrupt init */ /* DMA1_Stream0_IRQn interrupt configuration */ @@ -53,39 +52,6 @@ void MX_DMA_Init(void) /* DMA1_Stream2_IRQn interrupt configuration */ HAL_NVIC_SetPriority(DMA1_Stream2_IRQn, 5, 0); HAL_NVIC_EnableIRQ(DMA1_Stream2_IRQn); - /* DMA1_Stream3_IRQn interrupt configuration */ - HAL_NVIC_SetPriority(DMA1_Stream3_IRQn, 5, 0); - HAL_NVIC_EnableIRQ(DMA1_Stream3_IRQn); - /* DMA1_Stream4_IRQn interrupt configuration */ - HAL_NVIC_SetPriority(DMA1_Stream4_IRQn, 5, 0); - HAL_NVIC_EnableIRQ(DMA1_Stream4_IRQn); - /* 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); - /* DMA2_Stream0_IRQn interrupt configuration */ - HAL_NVIC_SetPriority(DMA2_Stream0_IRQn, 5, 0); - HAL_NVIC_EnableIRQ(DMA2_Stream0_IRQn); - /* DMA2_Stream1_IRQn interrupt configuration */ - HAL_NVIC_SetPriority(DMA2_Stream1_IRQn, 5, 0); - HAL_NVIC_EnableIRQ(DMA2_Stream1_IRQn); - /* DMA2_Stream2_IRQn interrupt configuration */ - HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 5, 0); - HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn); - /* DMA2_Stream3_IRQn interrupt configuration */ - HAL_NVIC_SetPriority(DMA2_Stream3_IRQn, 5, 0); - HAL_NVIC_EnableIRQ(DMA2_Stream3_IRQn); - /* DMA2_Stream4_IRQn interrupt configuration */ - HAL_NVIC_SetPriority(DMA2_Stream4_IRQn, 5, 0); - HAL_NVIC_EnableIRQ(DMA2_Stream4_IRQn); - /* DMA2_Stream5_IRQn interrupt configuration */ - HAL_NVIC_SetPriority(DMA2_Stream5_IRQn, 5, 0); - HAL_NVIC_EnableIRQ(DMA2_Stream5_IRQn); } diff --git a/Core/Src/fdcan.c b/Core/Src/fdcan.c index a89c6be..72e2780 100644 --- a/Core/Src/fdcan.c +++ b/Core/Src/fdcan.c @@ -40,33 +40,33 @@ void MX_FDCAN1_Init(void) /* USER CODE END FDCAN1_Init 1 */ hfdcan1.Instance = FDCAN1; - hfdcan1.Init.FrameFormat = FDCAN_FRAME_FD_BRS; + hfdcan1.Init.FrameFormat = FDCAN_FRAME_CLASSIC; hfdcan1.Init.Mode = FDCAN_MODE_NORMAL; hfdcan1.Init.AutoRetransmission = DISABLE; hfdcan1.Init.TransmitPause = DISABLE; hfdcan1.Init.ProtocolException = DISABLE; - hfdcan1.Init.NominalPrescaler = 5; - hfdcan1.Init.NominalSyncJumpWidth = 10; - hfdcan1.Init.NominalTimeSeg1 = 9; + hfdcan1.Init.NominalPrescaler = 24; + hfdcan1.Init.NominalSyncJumpWidth = 1; + hfdcan1.Init.NominalTimeSeg1 = 2; hfdcan1.Init.NominalTimeSeg2 = 1; hfdcan1.Init.DataPrescaler = 1; - hfdcan1.Init.DataSyncJumpWidth = 10; - hfdcan1.Init.DataTimeSeg1 = 9; + hfdcan1.Init.DataSyncJumpWidth = 1; + hfdcan1.Init.DataTimeSeg1 = 1; hfdcan1.Init.DataTimeSeg2 = 1; hfdcan1.Init.MessageRAMOffset = 0; hfdcan1.Init.StdFiltersNbr = 1; - hfdcan1.Init.ExtFiltersNbr = 1; - hfdcan1.Init.RxFifo0ElmtsNbr = 23; - hfdcan1.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_64; + hfdcan1.Init.ExtFiltersNbr = 0; + hfdcan1.Init.RxFifo0ElmtsNbr = 32; + hfdcan1.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8; hfdcan1.Init.RxFifo1ElmtsNbr = 0; - hfdcan1.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_64; + hfdcan1.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_8; hfdcan1.Init.RxBuffersNbr = 0; - hfdcan1.Init.RxBufferSize = FDCAN_DATA_BYTES_64; + hfdcan1.Init.RxBufferSize = FDCAN_DATA_BYTES_8; hfdcan1.Init.TxEventsNbr = 0; hfdcan1.Init.TxBuffersNbr = 0; - hfdcan1.Init.TxFifoQueueElmtsNbr = 23; + hfdcan1.Init.TxFifoQueueElmtsNbr = 32; hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION; - hfdcan1.Init.TxElmtSize = FDCAN_DATA_BYTES_64; + hfdcan1.Init.TxElmtSize = FDCAN_DATA_BYTES_8; if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK) { Error_Handler(); @@ -88,33 +88,33 @@ void MX_FDCAN2_Init(void) /* USER CODE END FDCAN2_Init 1 */ hfdcan2.Instance = FDCAN2; - hfdcan2.Init.FrameFormat = FDCAN_FRAME_FD_BRS; + hfdcan2.Init.FrameFormat = FDCAN_FRAME_CLASSIC; hfdcan2.Init.Mode = FDCAN_MODE_NORMAL; hfdcan2.Init.AutoRetransmission = DISABLE; hfdcan2.Init.TransmitPause = DISABLE; hfdcan2.Init.ProtocolException = DISABLE; - hfdcan2.Init.NominalPrescaler = 5; - hfdcan2.Init.NominalSyncJumpWidth = 10; - hfdcan2.Init.NominalTimeSeg1 = 9; + hfdcan2.Init.NominalPrescaler = 24; + hfdcan2.Init.NominalSyncJumpWidth = 1; + hfdcan2.Init.NominalTimeSeg1 = 1; hfdcan2.Init.NominalTimeSeg2 = 1; hfdcan2.Init.DataPrescaler = 1; - hfdcan2.Init.DataSyncJumpWidth = 10; - hfdcan2.Init.DataTimeSeg1 = 9; + hfdcan2.Init.DataSyncJumpWidth = 1; + hfdcan2.Init.DataTimeSeg1 = 1; hfdcan2.Init.DataTimeSeg2 = 1; - hfdcan2.Init.MessageRAMOffset = 831; + hfdcan2.Init.MessageRAMOffset = 0x406; hfdcan2.Init.StdFiltersNbr = 1; - hfdcan2.Init.ExtFiltersNbr = 1; - hfdcan2.Init.RxFifo0ElmtsNbr = 0; - hfdcan2.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_64; - hfdcan2.Init.RxFifo1ElmtsNbr = 23; - hfdcan2.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_64; + hfdcan2.Init.ExtFiltersNbr = 0; + hfdcan2.Init.RxFifo0ElmtsNbr = 32; + hfdcan2.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8; + hfdcan2.Init.RxFifo1ElmtsNbr = 0; + hfdcan2.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_8; hfdcan2.Init.RxBuffersNbr = 0; - hfdcan2.Init.RxBufferSize = FDCAN_DATA_BYTES_64; + hfdcan2.Init.RxBufferSize = FDCAN_DATA_BYTES_8; hfdcan2.Init.TxEventsNbr = 0; hfdcan2.Init.TxBuffersNbr = 0; - hfdcan2.Init.TxFifoQueueElmtsNbr = 23; + hfdcan2.Init.TxFifoQueueElmtsNbr = 32; hfdcan2.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION; - hfdcan2.Init.TxElmtSize = FDCAN_DATA_BYTES_64; + hfdcan2.Init.TxElmtSize = FDCAN_DATA_BYTES_8; if (HAL_FDCAN_Init(&hfdcan2) != HAL_OK) { Error_Handler(); @@ -136,33 +136,33 @@ void MX_FDCAN3_Init(void) /* USER CODE END FDCAN3_Init 1 */ hfdcan3.Instance = FDCAN3; - hfdcan3.Init.FrameFormat = FDCAN_FRAME_FD_BRS; + hfdcan3.Init.FrameFormat = FDCAN_FRAME_CLASSIC; hfdcan3.Init.Mode = FDCAN_MODE_NORMAL; hfdcan3.Init.AutoRetransmission = DISABLE; hfdcan3.Init.TransmitPause = DISABLE; hfdcan3.Init.ProtocolException = DISABLE; - hfdcan3.Init.NominalPrescaler = 5; - hfdcan3.Init.NominalSyncJumpWidth = 10; - hfdcan3.Init.NominalTimeSeg1 = 9; + hfdcan3.Init.NominalPrescaler = 24; + hfdcan3.Init.NominalSyncJumpWidth = 1; + hfdcan3.Init.NominalTimeSeg1 = 1; hfdcan3.Init.NominalTimeSeg2 = 1; hfdcan3.Init.DataPrescaler = 1; - hfdcan3.Init.DataSyncJumpWidth = 10; - hfdcan3.Init.DataTimeSeg1 = 9; + hfdcan3.Init.DataSyncJumpWidth = 1; + hfdcan3.Init.DataTimeSeg1 = 1; hfdcan3.Init.DataTimeSeg2 = 1; - hfdcan3.Init.MessageRAMOffset = 1662; + hfdcan3.Init.MessageRAMOffset = 0x812; hfdcan3.Init.StdFiltersNbr = 1; - hfdcan3.Init.ExtFiltersNbr = 1; - hfdcan3.Init.RxFifo0ElmtsNbr = 0; - hfdcan3.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_64; - hfdcan3.Init.RxFifo1ElmtsNbr = 23; - hfdcan3.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_64; + hfdcan3.Init.ExtFiltersNbr = 0; + hfdcan3.Init.RxFifo0ElmtsNbr = 32; + hfdcan3.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8; + hfdcan3.Init.RxFifo1ElmtsNbr = 0; + hfdcan3.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_8; hfdcan3.Init.RxBuffersNbr = 0; - hfdcan3.Init.RxBufferSize = FDCAN_DATA_BYTES_64; + hfdcan3.Init.RxBufferSize = FDCAN_DATA_BYTES_8; hfdcan3.Init.TxEventsNbr = 0; hfdcan3.Init.TxBuffersNbr = 0; - hfdcan3.Init.TxFifoQueueElmtsNbr = 23; + hfdcan3.Init.TxFifoQueueElmtsNbr = 32; hfdcan3.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION; - hfdcan3.Init.TxElmtSize = FDCAN_DATA_BYTES_64; + hfdcan3.Init.TxElmtSize = FDCAN_DATA_BYTES_8; if (HAL_FDCAN_Init(&hfdcan3) != HAL_OK) { Error_Handler(); diff --git a/Core/Src/freertos.c b/Core/Src/freertos.c index cdb9c31..8d21e2e 100644 --- a/Core/Src/freertos.c +++ b/Core/Src/freertos.c @@ -1,129 +1,127 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * File Name : freertos.c - * Description : Code for freertos applications - ****************************************************************************** - * @attention - * - * Copyright (c) 2026 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 "FreeRTOS.h" -#include "task.h" -#include "main.h" -#include "cmsis_os.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ - -/* USER CODE END Includes */ - -/* Private typedef -----------------------------------------------------------*/ -/* USER CODE BEGIN PTD */ - -/* USER CODE END PTD */ - -/* Private define ------------------------------------------------------------*/ -/* USER CODE BEGIN PD */ - -/* USER CODE END PD */ - -/* Private macro -------------------------------------------------------------*/ -/* USER CODE BEGIN PM */ - -/* USER CODE END PM */ - -/* Private variables ---------------------------------------------------------*/ -/* USER CODE BEGIN Variables */ - -/* USER CODE END Variables */ -/* Definitions for defaultTask */ -osThreadId_t defaultTaskHandle; -const osThreadAttr_t defaultTask_attributes = { - .name = "defaultTask", - .stack_size = 128 * 4, - .priority = (osPriority_t) osPriorityNormal, -}; - -/* Private function prototypes -----------------------------------------------*/ -/* USER CODE BEGIN FunctionPrototypes */ - -/* USER CODE END FunctionPrototypes */ - -void StartDefaultTask(void *argument); - -void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */ - -/** - * @brief FreeRTOS initialization - * @param None - * @retval None - */ -void MX_FREERTOS_Init(void) { - /* USER CODE BEGIN Init */ - - /* USER CODE END Init */ - - /* USER CODE BEGIN RTOS_MUTEX */ - /* add mutexes, ... */ - /* USER CODE END RTOS_MUTEX */ - - /* USER CODE BEGIN RTOS_SEMAPHORES */ - /* add semaphores, ... */ - /* USER CODE END RTOS_SEMAPHORES */ - - /* USER CODE BEGIN RTOS_TIMERS */ - /* start timers, add new ones, ... */ - /* USER CODE END RTOS_TIMERS */ - - /* USER CODE BEGIN RTOS_QUEUES */ - /* add queues, ... */ - /* USER CODE END RTOS_QUEUES */ - - /* Create the thread(s) */ - /* creation of defaultTask */ - defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes); - - /* USER CODE BEGIN RTOS_THREADS */ - /* add threads, ... */ - /* USER CODE END RTOS_THREADS */ - - /* USER CODE BEGIN RTOS_EVENTS */ - /* add events, ... */ - /* USER CODE END RTOS_EVENTS */ - -} - -/* USER CODE BEGIN Header_StartDefaultTask */ -/** - * @brief Function implementing the defaultTask thread. - * @param argument: Not used - * @retval None - */ -/* USER CODE END Header_StartDefaultTask */ -void StartDefaultTask(void *argument) -{ - /* USER CODE BEGIN StartDefaultTask */ - /* Infinite loop */ - for(;;) - { - osDelay(1); - } - /* USER CODE END StartDefaultTask */ -} - -/* Private application code --------------------------------------------------*/ -/* USER CODE BEGIN Application */ - -/* USER CODE END Application */ - +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * File Name : freertos.c + * Description : Code for freertos applications + ****************************************************************************** + * @attention + * + * Copyright (c) 2026 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 "FreeRTOS.h" +#include "task.h" +#include "main.h" +#include "cmsis_os.h" + +/* Private includes ----------------------------------------------------------*/ +/* USER CODE BEGIN Includes */ + +#include "task/user_task.h" +/* USER CODE END Includes */ + +/* Private typedef -----------------------------------------------------------*/ +/* USER CODE BEGIN PTD */ + +/* USER CODE END PTD */ + +/* Private define ------------------------------------------------------------*/ +/* USER CODE BEGIN PD */ + +/* USER CODE END PD */ + +/* Private macro -------------------------------------------------------------*/ +/* USER CODE BEGIN PM */ + +/* USER CODE END PM */ + +/* Private variables ---------------------------------------------------------*/ +/* USER CODE BEGIN Variables */ + +/* USER CODE END Variables */ +/* Definitions for defaultTask */ +osThreadId_t defaultTaskHandle; +const osThreadAttr_t defaultTask_attributes = { + .name = "defaultTask", + .stack_size = 128 * 4, + .priority = (osPriority_t) osPriorityNormal, +}; + +/* Private function prototypes -----------------------------------------------*/ +/* USER CODE BEGIN FunctionPrototypes */ + +/* USER CODE END FunctionPrototypes */ + +void StartDefaultTask(void *argument); + +void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */ + +/** + * @brief FreeRTOS initialization + * @param None + * @retval None + */ +void MX_FREERTOS_Init(void) { + /* USER CODE BEGIN Init */ + + /* USER CODE END Init */ + + /* USER CODE BEGIN RTOS_MUTEX */ + /* add mutexes, ... */ + /* USER CODE END RTOS_MUTEX */ + + /* USER CODE BEGIN RTOS_SEMAPHORES */ + /* add semaphores, ... */ + /* USER CODE END RTOS_SEMAPHORES */ + + /* USER CODE BEGIN RTOS_TIMERS */ + /* start timers, add new ones, ... */ + /* USER CODE END RTOS_TIMERS */ + + /* USER CODE BEGIN RTOS_QUEUES */ + /* add queues, ... */ + /* USER CODE END RTOS_QUEUES */ + + /* Create the thread(s) */ + /* creation of defaultTask */ + defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes); + + /* USER CODE BEGIN RTOS_THREADS */ + /* add threads, ... */ + osThreadNew(Task_Init, NULL, &attr_init); // 创建初始化任务 +/* USER CODE END RTOS_THREADS */ + + /* USER CODE BEGIN RTOS_EVENTS */ + /* add events, ... */ + /* USER CODE END RTOS_EVENTS */ + +} + +/* USER CODE BEGIN Header_StartDefaultTask */ +/** + * @brief Function implementing the defaultTask thread. + * @param argument: Not used + * @retval None + */ +/* USER CODE END Header_StartDefaultTask */ +void StartDefaultTask(void *argument) +{ + /* USER CODE BEGIN StartDefaultTask */ + osThreadTerminate(osThreadGetId()); +/* USER CODE END StartDefaultTask */ +} + +/* Private application code --------------------------------------------------*/ +/* USER CODE BEGIN Application */ + +/* USER CODE END Application */ + diff --git a/Core/Src/gpio.c b/Core/Src/gpio.c index bdc2dbd..d8c73c0 100644 --- a/Core/Src/gpio.c +++ b/Core/Src/gpio.c @@ -38,6 +38,7 @@ * Output * EVENT_OUT * EXTI + PA8 ------> RCC_MCO_1 */ void MX_GPIO_Init(void) { @@ -53,26 +54,30 @@ void MX_GPIO_Init(void) __HAL_RCC_GPIOD_CLK_ENABLE(); /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(GPIOC, POWER_24V_2_Pin|POWER_24_EN__Pin, GPIO_PIN_RESET); + HAL_GPIO_WritePin(GPIOC, POWER_24V_2_Pin|POWER_24V_1_Pin|POWER_5V_Pin|ACCL_CS_Pin + |GYRO_CS_Pin|DCMI_PWDN_Pin, GPIO_PIN_SET); /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(GPIOC, POWER_5V_Pin|ACCL_CS_Pin|GYRO_CS_Pin, GPIO_PIN_SET); - - /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(GPIOE, W25Q64_CS_Pin|LCD_CS_Pin, GPIO_PIN_RESET); + HAL_GPIO_WritePin(LCD_CS_GPIO_Port, LCD_CS_Pin, GPIO_PIN_RESET); /*Configure GPIO pin Output Level */ HAL_GPIO_WritePin(GPIOB, LCD_BLK_Pin|LCD_RES_Pin, GPIO_PIN_RESET); - /*Configure GPIO pins : POWER_24V_2_Pin POWER_24_EN__Pin POWER_5V_Pin */ - GPIO_InitStruct.Pin = POWER_24V_2_Pin|POWER_24_EN__Pin|POWER_5V_Pin; + /*Configure GPIO pin Output Level */ + HAL_GPIO_WritePin(DCMI_REST_GPIO_Port, DCMI_REST_Pin, GPIO_PIN_SET); + + /*Configure GPIO pin Output Level */ + HAL_GPIO_WritePin(LCD_DC_GPIO_Port, LCD_DC_Pin, GPIO_PIN_RESET); + + /*Configure GPIO pins : POWER_24V_2_Pin POWER_24V_1_Pin POWER_5V_Pin */ + GPIO_InitStruct.Pin = POWER_24V_2_Pin|POWER_24V_1_Pin|POWER_5V_Pin; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); - /*Configure GPIO pins : ACCL_CS_Pin GYRO_CS_Pin */ - GPIO_InitStruct.Pin = ACCL_CS_Pin|GYRO_CS_Pin; + /*Configure GPIO pins : ACCL_CS_Pin GYRO_CS_Pin DCMI_PWDN_Pin */ + GPIO_InitStruct.Pin = ACCL_CS_Pin|GYRO_CS_Pin|DCMI_PWDN_Pin; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; @@ -84,12 +89,12 @@ void MX_GPIO_Init(void) GPIO_InitStruct.Pull = GPIO_NOPULL; HAL_GPIO_Init(GPIOE, &GPIO_InitStruct); - /*Configure GPIO pins : W25Q64_CS_Pin LCD_CS_Pin */ - GPIO_InitStruct.Pin = W25Q64_CS_Pin|LCD_CS_Pin; + /*Configure GPIO pin : LCD_CS_Pin */ + GPIO_InitStruct.Pin = LCD_CS_Pin; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(GPIOE, &GPIO_InitStruct); + HAL_GPIO_Init(LCD_CS_GPIO_Port, &GPIO_InitStruct); /*Configure GPIO pins : LCD_BLK_Pin LCD_RES_Pin */ GPIO_InitStruct.Pin = LCD_BLK_Pin|LCD_RES_Pin; @@ -98,6 +103,28 @@ void MX_GPIO_Init(void) GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); + /*Configure GPIO pin : DCMI_REST_Pin */ + GPIO_InitStruct.Pin = DCMI_REST_Pin; + GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; + GPIO_InitStruct.Pull = GPIO_PULLUP; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; + HAL_GPIO_Init(DCMI_REST_GPIO_Port, &GPIO_InitStruct); + + /*Configure GPIO pin : LCD_DC_Pin */ + GPIO_InitStruct.Pin = LCD_DC_Pin; + GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; + HAL_GPIO_Init(LCD_DC_GPIO_Port, &GPIO_InitStruct); + + /*Configure GPIO pin : PA8 */ + GPIO_InitStruct.Pin = GPIO_PIN_8; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; + GPIO_InitStruct.Alternate = GPIO_AF0_MCO; + HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); + /*Configure GPIO pin : PA15 */ GPIO_InitStruct.Pin = GPIO_PIN_15; GPIO_InitStruct.Mode = GPIO_MODE_INPUT; diff --git a/Core/Src/main.c b/Core/Src/main.c index db0f46b..23571a0 100644 --- a/Core/Src/main.c +++ b/Core/Src/main.c @@ -20,8 +20,6 @@ #include "main.h" #include "cmsis_os.h" #include "adc.h" -#include "bdma.h" -#include "dac.h" #include "dma.h" #include "fdcan.h" #include "octospi.h" @@ -59,7 +57,6 @@ /* Private function prototypes -----------------------------------------------*/ void SystemClock_Config(void); -void PeriphCommonClock_Config(void); void MX_FREERTOS_Init(void); /* USER CODE BEGIN PFP */ @@ -93,9 +90,6 @@ int main(void) /* Configure the system clock */ SystemClock_Config(); - /* Configure the peripherals common clocks */ - PeriphCommonClock_Config(); - /* USER CODE BEGIN SysInit */ /* USER CODE END SysInit */ @@ -103,9 +97,9 @@ int main(void) /* Initialize all configured peripherals */ MX_GPIO_Init(); MX_DMA_Init(); - MX_BDMA_Init(); MX_ADC1_Init(); MX_TIM12_Init(); + MX_SPI1_Init(); MX_SPI6_Init(); MX_SPI2_Init(); MX_TIM3_Init(); @@ -119,10 +113,8 @@ int main(void) MX_FDCAN3_Init(); MX_TIM1_Init(); MX_TIM2_Init(); - MX_DAC1_Init(); - MX_USB_OTG_HS_PCD_Init(); - MX_UART5_Init(); MX_OCTOSPI1_Init(); + MX_USB_OTG_HS_PCD_Init(); /* USER CODE BEGIN 2 */ /* USER CODE END 2 */ @@ -169,19 +161,22 @@ void SystemClock_Config(void) /** Initializes the RCC Oscillators according to the specified parameters * in the RCC_OscInitTypeDef structure. */ - RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI48|RCC_OSCILLATORTYPE_HSE; + RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI48|RCC_OSCILLATORTYPE_HSI + |RCC_OSCILLATORTYPE_HSE; RCC_OscInitStruct.HSEState = RCC_HSE_ON; + RCC_OscInitStruct.HSIState = RCC_HSI_DIV1; + RCC_OscInitStruct.HSICalibrationValue = 64; RCC_OscInitStruct.HSI48State = RCC_HSI48_ON; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; - RCC_OscInitStruct.PLL.PLLM = 3; - RCC_OscInitStruct.PLL.PLLN = 68; + RCC_OscInitStruct.PLL.PLLM = 2; + RCC_OscInitStruct.PLL.PLLN = 40; RCC_OscInitStruct.PLL.PLLP = 1; - RCC_OscInitStruct.PLL.PLLQ = 10; + RCC_OscInitStruct.PLL.PLLQ = 4; RCC_OscInitStruct.PLL.PLLR = 2; RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3; RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE; - RCC_OscInitStruct.PLL.PLLFRACN = 6144; + RCC_OscInitStruct.PLL.PLLFRACN = 0; if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { Error_Handler(); @@ -204,33 +199,7 @@ void SystemClock_Config(void) { Error_Handler(); } -} - -/** - * @brief Peripherals Common Clock Configuration - * @retval None - */ -void PeriphCommonClock_Config(void) -{ - RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0}; - - /** Initializes the peripherals clock - */ - PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_SPI2; - PeriphClkInitStruct.PLL2.PLL2M = 2; - PeriphClkInitStruct.PLL2.PLL2N = 16; - PeriphClkInitStruct.PLL2.PLL2P = 3; - PeriphClkInitStruct.PLL2.PLL2Q = 2; - PeriphClkInitStruct.PLL2.PLL2R = 2; - PeriphClkInitStruct.PLL2.PLL2RGE = RCC_PLL2VCIRANGE_3; - PeriphClkInitStruct.PLL2.PLL2VCOSEL = RCC_PLL2VCOWIDE; - PeriphClkInitStruct.PLL2.PLL2FRACN = 0; - PeriphClkInitStruct.Spi123ClockSelection = RCC_SPI123CLKSOURCE_PLL2; - PeriphClkInitStruct.AdcClockSelection = RCC_ADCCLKSOURCE_PLL2; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK) - { - Error_Handler(); - } + HAL_RCC_MCOConfig(RCC_MCO1, RCC_MCO1SOURCE_HSI, RCC_MCODIV_1); } /* USER CODE BEGIN 4 */ diff --git a/Core/Src/octospi.c b/Core/Src/octospi.c index 481f9c9..8163936 100644 --- a/Core/Src/octospi.c +++ b/Core/Src/octospi.c @@ -60,6 +60,7 @@ void MX_OCTOSPI1_Init(void) Error_Handler(); } sOspiManagerCfg.ClkPort = 1; + sOspiManagerCfg.NCSPort = 1; sOspiManagerCfg.IOLowPort = HAL_OSPIM_IOPORT_1_LOW; if (HAL_OSPIM_Config(&hospi1, &sOspiManagerCfg, HAL_OSPI_TIMEOUT_DEFAULT_VALUE) != HAL_OK) { @@ -97,12 +98,14 @@ void HAL_OSPI_MspInit(OSPI_HandleTypeDef* ospiHandle) __HAL_RCC_GPIOA_CLK_ENABLE(); __HAL_RCC_GPIOB_CLK_ENABLE(); + __HAL_RCC_GPIOE_CLK_ENABLE(); __HAL_RCC_GPIOD_CLK_ENABLE(); /**OCTOSPI1 GPIO Configuration PA1 ------> OCTOSPIM_P1_IO3 PA3 ------> OCTOSPIM_P1_IO2 PB0 ------> OCTOSPIM_P1_IO1 PB2 ------> OCTOSPIM_P1_CLK + PE11 ------> OCTOSPIM_P1_NCS PD11 ------> OCTOSPIM_P1_IO0 */ GPIO_InitStruct.Pin = GPIO_PIN_1; @@ -133,6 +136,13 @@ void HAL_OSPI_MspInit(OSPI_HandleTypeDef* ospiHandle) GPIO_InitStruct.Alternate = GPIO_AF9_OCTOSPIM_P1; HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); + GPIO_InitStruct.Pin = 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_AF11_OCTOSPIM_P1; + HAL_GPIO_Init(GPIOE, &GPIO_InitStruct); + GPIO_InitStruct.Pin = GPIO_PIN_11; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; @@ -163,12 +173,15 @@ void HAL_OSPI_MspDeInit(OSPI_HandleTypeDef* ospiHandle) PA3 ------> OCTOSPIM_P1_IO2 PB0 ------> OCTOSPIM_P1_IO1 PB2 ------> OCTOSPIM_P1_CLK + PE11 ------> OCTOSPIM_P1_NCS PD11 ------> OCTOSPIM_P1_IO0 */ HAL_GPIO_DeInit(GPIOA, GPIO_PIN_1|GPIO_PIN_3); HAL_GPIO_DeInit(GPIOB, GPIO_PIN_0|GPIO_PIN_2); + HAL_GPIO_DeInit(GPIOE, GPIO_PIN_11); + HAL_GPIO_DeInit(GPIOD, GPIO_PIN_11); /* USER CODE BEGIN OCTOSPI1_MspDeInit 1 */ diff --git a/Core/Src/spi.c b/Core/Src/spi.c index 3bdb503..d53f842 100644 --- a/Core/Src/spi.c +++ b/Core/Src/spi.c @@ -24,12 +24,54 @@ /* USER CODE END 0 */ +SPI_HandleTypeDef hspi1; SPI_HandleTypeDef hspi2; SPI_HandleTypeDef hspi6; DMA_HandleTypeDef hdma_spi2_rx; DMA_HandleTypeDef hdma_spi2_tx; -DMA_HandleTypeDef hdma_spi6_tx; +/* SPI1 init function */ +void MX_SPI1_Init(void) +{ + + /* USER CODE BEGIN SPI1_Init 0 */ + + /* USER CODE END SPI1_Init 0 */ + + /* USER CODE BEGIN SPI1_Init 1 */ + + /* USER CODE END SPI1_Init 1 */ + hspi1.Instance = SPI1; + hspi1.Init.Mode = SPI_MODE_MASTER; + hspi1.Init.Direction = SPI_DIRECTION_2LINES_TXONLY; + hspi1.Init.DataSize = SPI_DATASIZE_8BIT; + hspi1.Init.CLKPolarity = SPI_POLARITY_HIGH; + hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; + hspi1.Init.NSS = SPI_NSS_SOFT; + hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_4; + hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; + hspi1.Init.TIMode = SPI_TIMODE_DISABLE; + hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; + hspi1.Init.CRCPolynomial = 0x0; + hspi1.Init.NSSPMode = SPI_NSS_PULSE_ENABLE; + hspi1.Init.NSSPolarity = SPI_NSS_POLARITY_LOW; + hspi1.Init.FifoThreshold = SPI_FIFO_THRESHOLD_01DATA; + hspi1.Init.TxCRCInitializationPattern = SPI_CRC_INITIALIZATION_ALL_ZERO_PATTERN; + hspi1.Init.RxCRCInitializationPattern = SPI_CRC_INITIALIZATION_ALL_ZERO_PATTERN; + hspi1.Init.MasterSSIdleness = SPI_MASTER_SS_IDLENESS_00CYCLE; + hspi1.Init.MasterInterDataIdleness = SPI_MASTER_INTERDATA_IDLENESS_00CYCLE; + hspi1.Init.MasterReceiverAutoSusp = SPI_MASTER_RX_AUTOSUSP_DISABLE; + hspi1.Init.MasterKeepIOState = SPI_MASTER_KEEP_IO_STATE_DISABLE; + hspi1.Init.IOSwap = SPI_IO_SWAP_DISABLE; + if (HAL_SPI_Init(&hspi1) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN SPI1_Init 2 */ + + /* USER CODE END SPI1_Init 2 */ + +} /* SPI2 init function */ void MX_SPI2_Init(void) { @@ -120,12 +162,63 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle) GPIO_InitTypeDef GPIO_InitStruct = {0}; RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0}; - if(spiHandle->Instance==SPI2) + if(spiHandle->Instance==SPI1) + { + /* USER CODE BEGIN SPI1_MspInit 0 */ + + /* USER CODE END SPI1_MspInit 0 */ + + /** Initializes the peripherals clock + */ + PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_SPI1; + PeriphClkInitStruct.Spi123ClockSelection = RCC_SPI123CLKSOURCE_PLL; + if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK) + { + Error_Handler(); + } + + /* SPI1 clock enable */ + __HAL_RCC_SPI1_CLK_ENABLE(); + + __HAL_RCC_GPIOD_CLK_ENABLE(); + __HAL_RCC_GPIOB_CLK_ENABLE(); + /**SPI1 GPIO Configuration + PD7 ------> SPI1_MOSI + PB3(JTDO/TRACESWO) ------> SPI1_SCK + */ + GPIO_InitStruct.Pin = GPIO_PIN_7; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; + GPIO_InitStruct.Alternate = GPIO_AF5_SPI1; + HAL_GPIO_Init(GPIOD, &GPIO_InitStruct); + + GPIO_InitStruct.Pin = GPIO_PIN_3; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; + GPIO_InitStruct.Alternate = GPIO_AF5_SPI1; + HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); + + /* USER CODE BEGIN SPI1_MspInit 1 */ + + /* USER CODE END SPI1_MspInit 1 */ + } + else if(spiHandle->Instance==SPI2) { /* USER CODE BEGIN SPI2_MspInit 0 */ /* USER CODE END SPI2_MspInit 0 */ + /** Initializes the peripherals clock + */ + PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_SPI2; + PeriphClkInitStruct.Spi123ClockSelection = RCC_SPI123CLKSOURCE_PLL; + if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK) + { + Error_Handler(); + } + /* SPI2 clock enable */ __HAL_RCC_SPI2_CLK_ENABLE(); @@ -152,7 +245,7 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle) /* SPI2 DMA Init */ /* SPI2_RX Init */ - hdma_spi2_rx.Instance = DMA1_Stream2; + hdma_spi2_rx.Instance = DMA1_Stream1; hdma_spi2_rx.Init.Request = DMA_REQUEST_SPI2_RX; hdma_spi2_rx.Init.Direction = DMA_PERIPH_TO_MEMORY; hdma_spi2_rx.Init.PeriphInc = DMA_PINC_DISABLE; @@ -170,7 +263,7 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle) __HAL_LINKDMA(spiHandle,hdmarx,hdma_spi2_rx); /* SPI2_TX Init */ - hdma_spi2_tx.Instance = DMA1_Stream3; + hdma_spi2_tx.Instance = DMA1_Stream2; hdma_spi2_tx.Init.Request = DMA_REQUEST_SPI2_TX; hdma_spi2_tx.Init.Direction = DMA_MEMORY_TO_PERIPH; hdma_spi2_tx.Init.PeriphInc = DMA_PINC_DISABLE; @@ -213,10 +306,10 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle) __HAL_RCC_SPI6_CLK_ENABLE(); __HAL_RCC_GPIOA_CLK_ENABLE(); - __HAL_RCC_GPIOB_CLK_ENABLE(); + __HAL_RCC_GPIOC_CLK_ENABLE(); /**SPI6 GPIO Configuration PA7 ------> SPI6_MOSI - PB3(JTDO/TRACESWO) ------> SPI6_SCK + PC12 ------> SPI6_SCK */ GPIO_InitStruct.Pin = GPIO_PIN_7; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; @@ -225,34 +318,13 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle) GPIO_InitStruct.Alternate = GPIO_AF8_SPI6; HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); - GPIO_InitStruct.Pin = GPIO_PIN_3; + GPIO_InitStruct.Pin = GPIO_PIN_12; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - GPIO_InitStruct.Alternate = GPIO_AF8_SPI6; - HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); + GPIO_InitStruct.Alternate = GPIO_AF5_SPI6; + HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); - /* SPI6 DMA Init */ - /* SPI6_TX Init */ - hdma_spi6_tx.Instance = BDMA_Channel0; - hdma_spi6_tx.Init.Request = BDMA_REQUEST_SPI6_TX; - hdma_spi6_tx.Init.Direction = DMA_MEMORY_TO_PERIPH; - hdma_spi6_tx.Init.PeriphInc = DMA_PINC_DISABLE; - hdma_spi6_tx.Init.MemInc = DMA_MINC_ENABLE; - hdma_spi6_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; - hdma_spi6_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; - hdma_spi6_tx.Init.Mode = DMA_NORMAL; - hdma_spi6_tx.Init.Priority = DMA_PRIORITY_LOW; - if (HAL_DMA_Init(&hdma_spi6_tx) != HAL_OK) - { - Error_Handler(); - } - - __HAL_LINKDMA(spiHandle,hdmatx,hdma_spi6_tx); - - /* SPI6 interrupt Init */ - HAL_NVIC_SetPriority(SPI6_IRQn, 5, 0); - HAL_NVIC_EnableIRQ(SPI6_IRQn); /* USER CODE BEGIN SPI6_MspInit 1 */ /* USER CODE END SPI6_MspInit 1 */ @@ -262,7 +334,27 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle) void HAL_SPI_MspDeInit(SPI_HandleTypeDef* spiHandle) { - if(spiHandle->Instance==SPI2) + if(spiHandle->Instance==SPI1) + { + /* USER CODE BEGIN SPI1_MspDeInit 0 */ + + /* USER CODE END SPI1_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_SPI1_CLK_DISABLE(); + + /**SPI1 GPIO Configuration + PD7 ------> SPI1_MOSI + PB3(JTDO/TRACESWO) ------> SPI1_SCK + */ + HAL_GPIO_DeInit(GPIOD, GPIO_PIN_7); + + HAL_GPIO_DeInit(GPIOB, GPIO_PIN_3); + + /* USER CODE BEGIN SPI1_MspDeInit 1 */ + + /* USER CODE END SPI1_MspDeInit 1 */ + } + else if(spiHandle->Instance==SPI2) { /* USER CODE BEGIN SPI2_MspDeInit 0 */ @@ -299,17 +391,12 @@ void HAL_SPI_MspDeInit(SPI_HandleTypeDef* spiHandle) /**SPI6 GPIO Configuration PA7 ------> SPI6_MOSI - PB3(JTDO/TRACESWO) ------> SPI6_SCK + PC12 ------> SPI6_SCK */ HAL_GPIO_DeInit(GPIOA, GPIO_PIN_7); - HAL_GPIO_DeInit(GPIOB, GPIO_PIN_3); + HAL_GPIO_DeInit(GPIOC, GPIO_PIN_12); - /* SPI6 DMA DeInit */ - HAL_DMA_DeInit(spiHandle->hdmatx); - - /* SPI6 interrupt Deinit */ - HAL_NVIC_DisableIRQ(SPI6_IRQn); /* USER CODE BEGIN SPI6_MspDeInit 1 */ /* USER CODE END SPI6_MspDeInit 1 */ diff --git a/Core/Src/stm32h7xx_it.c b/Core/Src/stm32h7xx_it.c index 533ebcd..8bbbfd9 100644 --- a/Core/Src/stm32h7xx_it.c +++ b/Core/Src/stm32h7xx_it.c @@ -61,27 +61,12 @@ extern FDCAN_HandleTypeDef hfdcan2; extern FDCAN_HandleTypeDef hfdcan3; extern DMA_HandleTypeDef hdma_spi2_rx; extern DMA_HandleTypeDef hdma_spi2_tx; -extern DMA_HandleTypeDef hdma_spi6_tx; extern SPI_HandleTypeDef hspi2; -extern SPI_HandleTypeDef hspi6; -extern DMA_HandleTypeDef hdma_uart5_rx; -extern DMA_HandleTypeDef hdma_uart7_rx; -extern DMA_HandleTypeDef hdma_uart7_tx; -extern DMA_HandleTypeDef hdma_usart1_rx; -extern DMA_HandleTypeDef hdma_usart1_tx; -extern DMA_HandleTypeDef hdma_usart2_rx; -extern DMA_HandleTypeDef hdma_usart2_tx; -extern DMA_HandleTypeDef hdma_usart3_rx; -extern DMA_HandleTypeDef hdma_usart3_tx; -extern DMA_HandleTypeDef hdma_usart10_rx; -extern DMA_HandleTypeDef hdma_usart10_tx; -extern UART_HandleTypeDef huart5; extern UART_HandleTypeDef huart7; extern UART_HandleTypeDef huart1; extern UART_HandleTypeDef huart2; extern UART_HandleTypeDef huart3; extern UART_HandleTypeDef huart10; -extern PCD_HandleTypeDef hpcd_USB_OTG_HS; extern TIM_HandleTypeDef htim23; /* USER CODE BEGIN EV */ @@ -208,7 +193,7 @@ void DMA1_Stream1_IRQHandler(void) /* USER CODE BEGIN DMA1_Stream1_IRQn 0 */ /* USER CODE END DMA1_Stream1_IRQn 0 */ - HAL_DMA_IRQHandler(&hdma_uart5_rx); + HAL_DMA_IRQHandler(&hdma_spi2_rx); /* USER CODE BEGIN DMA1_Stream1_IRQn 1 */ /* USER CODE END DMA1_Stream1_IRQn 1 */ @@ -222,68 +207,12 @@ void DMA1_Stream2_IRQHandler(void) /* USER CODE BEGIN DMA1_Stream2_IRQn 0 */ /* USER CODE END DMA1_Stream2_IRQn 0 */ - HAL_DMA_IRQHandler(&hdma_spi2_rx); + HAL_DMA_IRQHandler(&hdma_spi2_tx); /* USER CODE BEGIN DMA1_Stream2_IRQn 1 */ /* USER CODE END DMA1_Stream2_IRQn 1 */ } -/** - * @brief This function handles DMA1 stream3 global interrupt. - */ -void DMA1_Stream3_IRQHandler(void) -{ - /* USER CODE BEGIN DMA1_Stream3_IRQn 0 */ - - /* USER CODE END DMA1_Stream3_IRQn 0 */ - HAL_DMA_IRQHandler(&hdma_spi2_tx); - /* USER CODE BEGIN DMA1_Stream3_IRQn 1 */ - - /* USER CODE END DMA1_Stream3_IRQn 1 */ -} - -/** - * @brief This function handles DMA1 stream4 global interrupt. - */ -void DMA1_Stream4_IRQHandler(void) -{ - /* USER CODE BEGIN DMA1_Stream4_IRQn 0 */ - - /* USER CODE END DMA1_Stream4_IRQn 0 */ - HAL_DMA_IRQHandler(&hdma_uart7_rx); - /* USER CODE BEGIN DMA1_Stream4_IRQn 1 */ - - /* USER CODE END DMA1_Stream4_IRQn 1 */ -} - -/** - * @brief This function handles DMA1 stream5 global interrupt. - */ -void DMA1_Stream5_IRQHandler(void) -{ - /* USER CODE BEGIN DMA1_Stream5_IRQn 0 */ - - /* USER CODE END DMA1_Stream5_IRQn 0 */ - HAL_DMA_IRQHandler(&hdma_uart7_tx); - /* USER CODE BEGIN DMA1_Stream5_IRQn 1 */ - - /* 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_usart1_rx); - /* USER CODE BEGIN DMA1_Stream6_IRQn 1 */ - - /* USER CODE END DMA1_Stream6_IRQn 1 */ -} - /** * @brief This function handles FDCAN1 interrupt 0. */ @@ -411,132 +340,6 @@ 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_usart1_tx); - /* USER CODE BEGIN DMA1_Stream7_IRQn 1 */ - - /* USER CODE END DMA1_Stream7_IRQn 1 */ -} - -/** - * @brief This function handles UART5 global interrupt. - */ -void UART5_IRQHandler(void) -{ - /* USER CODE BEGIN UART5_IRQn 0 */ - - /* USER CODE END UART5_IRQn 0 */ - HAL_UART_IRQHandler(&huart5); - /* USER CODE BEGIN UART5_IRQn 1 */ - - /* USER CODE END UART5_IRQn 1 */ -} - -/** - * @brief This function handles DMA2 stream0 global interrupt. - */ -void DMA2_Stream0_IRQHandler(void) -{ - /* USER CODE BEGIN DMA2_Stream0_IRQn 0 */ - - /* USER CODE END DMA2_Stream0_IRQn 0 */ - HAL_DMA_IRQHandler(&hdma_usart2_rx); - /* USER CODE BEGIN DMA2_Stream0_IRQn 1 */ - - /* USER CODE END DMA2_Stream0_IRQn 1 */ -} - -/** - * @brief This function handles DMA2 stream1 global interrupt. - */ -void DMA2_Stream1_IRQHandler(void) -{ - /* USER CODE BEGIN DMA2_Stream1_IRQn 0 */ - - /* USER CODE END DMA2_Stream1_IRQn 0 */ - HAL_DMA_IRQHandler(&hdma_usart2_tx); - /* USER CODE BEGIN DMA2_Stream1_IRQn 1 */ - - /* USER CODE END DMA2_Stream1_IRQn 1 */ -} - -/** - * @brief This function handles DMA2 stream2 global interrupt. - */ -void DMA2_Stream2_IRQHandler(void) -{ - /* USER CODE BEGIN DMA2_Stream2_IRQn 0 */ - - /* USER CODE END DMA2_Stream2_IRQn 0 */ - HAL_DMA_IRQHandler(&hdma_usart3_rx); - /* USER CODE BEGIN DMA2_Stream2_IRQn 1 */ - - /* USER CODE END DMA2_Stream2_IRQn 1 */ -} - -/** - * @brief This function handles DMA2 stream3 global interrupt. - */ -void DMA2_Stream3_IRQHandler(void) -{ - /* USER CODE BEGIN DMA2_Stream3_IRQn 0 */ - - /* USER CODE END DMA2_Stream3_IRQn 0 */ - HAL_DMA_IRQHandler(&hdma_usart3_tx); - /* USER CODE BEGIN DMA2_Stream3_IRQn 1 */ - - /* USER CODE END DMA2_Stream3_IRQn 1 */ -} - -/** - * @brief This function handles DMA2 stream4 global interrupt. - */ -void DMA2_Stream4_IRQHandler(void) -{ - /* USER CODE BEGIN DMA2_Stream4_IRQn 0 */ - - /* USER CODE END DMA2_Stream4_IRQn 0 */ - HAL_DMA_IRQHandler(&hdma_usart10_rx); - /* USER CODE BEGIN DMA2_Stream4_IRQn 1 */ - - /* USER CODE END DMA2_Stream4_IRQn 1 */ -} - -/** - * @brief This function handles DMA2 stream5 global interrupt. - */ -void DMA2_Stream5_IRQHandler(void) -{ - /* USER CODE BEGIN DMA2_Stream5_IRQn 0 */ - - /* USER CODE END DMA2_Stream5_IRQn 0 */ - HAL_DMA_IRQHandler(&hdma_usart10_tx); - /* USER CODE BEGIN DMA2_Stream5_IRQn 1 */ - - /* USER CODE END DMA2_Stream5_IRQn 1 */ -} - -/** - * @brief This function handles USB On The Go HS global interrupt. - */ -void OTG_HS_IRQHandler(void) -{ - /* USER CODE BEGIN OTG_HS_IRQn 0 */ - - /* USER CODE END OTG_HS_IRQn 0 */ - HAL_PCD_IRQHandler(&hpcd_USB_OTG_HS); - /* USER CODE BEGIN OTG_HS_IRQn 1 */ - - /* USER CODE END OTG_HS_IRQn 1 */ -} - /** * @brief This function handles UART7 global interrupt. */ @@ -551,34 +354,6 @@ void UART7_IRQHandler(void) /* USER CODE END UART7_IRQn 1 */ } -/** - * @brief This function handles SPI6 global interrupt. - */ -void SPI6_IRQHandler(void) -{ - /* USER CODE BEGIN SPI6_IRQn 0 */ - - /* USER CODE END SPI6_IRQn 0 */ - HAL_SPI_IRQHandler(&hspi6); - /* USER CODE BEGIN SPI6_IRQn 1 */ - - /* USER CODE END SPI6_IRQn 1 */ -} - -/** - * @brief This function handles BDMA channel0 global interrupt. - */ -void BDMA_Channel0_IRQHandler(void) -{ - /* USER CODE BEGIN BDMA_Channel0_IRQn 0 */ - - /* USER CODE END BDMA_Channel0_IRQn 0 */ - HAL_DMA_IRQHandler(&hdma_spi6_tx); - /* USER CODE BEGIN BDMA_Channel0_IRQn 1 */ - - /* USER CODE END BDMA_Channel0_IRQn 1 */ -} - /** * @brief This function handles USART10 global interrupt. */ diff --git a/Core/Src/usart.c b/Core/Src/usart.c index 88ffdfc..f6c9d54 100644 --- a/Core/Src/usart.c +++ b/Core/Src/usart.c @@ -24,67 +24,12 @@ /* USER CODE END 0 */ -UART_HandleTypeDef huart5; UART_HandleTypeDef huart7; UART_HandleTypeDef huart1; UART_HandleTypeDef huart2; UART_HandleTypeDef huart3; UART_HandleTypeDef huart10; -DMA_HandleTypeDef hdma_uart5_rx; -DMA_HandleTypeDef hdma_uart7_rx; -DMA_HandleTypeDef hdma_uart7_tx; -DMA_HandleTypeDef hdma_usart1_rx; -DMA_HandleTypeDef hdma_usart1_tx; -DMA_HandleTypeDef hdma_usart2_rx; -DMA_HandleTypeDef hdma_usart2_tx; -DMA_HandleTypeDef hdma_usart3_rx; -DMA_HandleTypeDef hdma_usart3_tx; -DMA_HandleTypeDef hdma_usart10_rx; -DMA_HandleTypeDef hdma_usart10_tx; -/* UART5 init function */ -void MX_UART5_Init(void) -{ - - /* USER CODE BEGIN UART5_Init 0 */ - - /* USER CODE END UART5_Init 0 */ - - /* USER CODE BEGIN UART5_Init 1 */ - - /* USER CODE END UART5_Init 1 */ - huart5.Instance = UART5; - huart5.Init.BaudRate = 100000; - huart5.Init.WordLength = UART_WORDLENGTH_9B; - huart5.Init.StopBits = UART_STOPBITS_1; - huart5.Init.Parity = UART_PARITY_EVEN; - huart5.Init.Mode = UART_MODE_RX; - huart5.Init.HwFlowCtl = UART_HWCONTROL_NONE; - huart5.Init.OverSampling = UART_OVERSAMPLING_16; - huart5.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE; - huart5.Init.ClockPrescaler = UART_PRESCALER_DIV1; - huart5.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT; - if (HAL_UART_Init(&huart5) != HAL_OK) - { - Error_Handler(); - } - if (HAL_UARTEx_SetTxFifoThreshold(&huart5, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK) - { - Error_Handler(); - } - if (HAL_UARTEx_SetRxFifoThreshold(&huart5, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK) - { - Error_Handler(); - } - if (HAL_UARTEx_DisableFifoMode(&huart5) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN UART5_Init 2 */ - - /* USER CODE END UART5_Init 2 */ - -} /* UART7 init function */ void MX_UART7_Init(void) { @@ -310,71 +255,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle) GPIO_InitTypeDef GPIO_InitStruct = {0}; RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0}; - if(uartHandle->Instance==UART5) - { - /* USER CODE BEGIN UART5_MspInit 0 */ - - /* USER CODE END UART5_MspInit 0 */ - - /** Initializes the peripherals clock - */ - PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_UART5; - PeriphClkInitStruct.Usart234578ClockSelection = RCC_USART234578CLKSOURCE_D2PCLK1; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK) - { - Error_Handler(); - } - - /* UART5 clock enable */ - __HAL_RCC_UART5_CLK_ENABLE(); - - __HAL_RCC_GPIOC_CLK_ENABLE(); - __HAL_RCC_GPIOD_CLK_ENABLE(); - /**UART5 GPIO Configuration - PC12 ------> UART5_TX - PD2 ------> UART5_RX - */ - GPIO_InitStruct.Pin = GPIO_PIN_12; - GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - GPIO_InitStruct.Alternate = GPIO_AF8_UART5; - HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); - - GPIO_InitStruct.Pin = GPIO_PIN_2; - GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - GPIO_InitStruct.Alternate = GPIO_AF8_UART5; - HAL_GPIO_Init(GPIOD, &GPIO_InitStruct); - - /* UART5 DMA Init */ - /* UART5_RX Init */ - hdma_uart5_rx.Instance = DMA1_Stream1; - hdma_uart5_rx.Init.Request = DMA_REQUEST_UART5_RX; - hdma_uart5_rx.Init.Direction = DMA_PERIPH_TO_MEMORY; - hdma_uart5_rx.Init.PeriphInc = DMA_PINC_DISABLE; - hdma_uart5_rx.Init.MemInc = DMA_MINC_ENABLE; - hdma_uart5_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; - hdma_uart5_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; - hdma_uart5_rx.Init.Mode = DMA_NORMAL; - hdma_uart5_rx.Init.Priority = DMA_PRIORITY_LOW; - hdma_uart5_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; - if (HAL_DMA_Init(&hdma_uart5_rx) != HAL_OK) - { - Error_Handler(); - } - - __HAL_LINKDMA(uartHandle,hdmarx,hdma_uart5_rx); - - /* UART5 interrupt Init */ - HAL_NVIC_SetPriority(UART5_IRQn, 5, 0); - HAL_NVIC_EnableIRQ(UART5_IRQn); - /* USER CODE BEGIN UART5_MspInit 1 */ - - /* USER CODE END UART5_MspInit 1 */ - } - else if(uartHandle->Instance==UART7) + if(uartHandle->Instance==UART7) { /* USER CODE BEGIN UART7_MspInit 0 */ @@ -404,43 +285,6 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle) GPIO_InitStruct.Alternate = GPIO_AF7_UART7; HAL_GPIO_Init(GPIOE, &GPIO_InitStruct); - /* UART7 DMA Init */ - /* UART7_RX Init */ - hdma_uart7_rx.Instance = DMA1_Stream4; - hdma_uart7_rx.Init.Request = DMA_REQUEST_UART7_RX; - hdma_uart7_rx.Init.Direction = DMA_PERIPH_TO_MEMORY; - hdma_uart7_rx.Init.PeriphInc = DMA_PINC_DISABLE; - hdma_uart7_rx.Init.MemInc = DMA_MINC_ENABLE; - hdma_uart7_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; - hdma_uart7_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; - hdma_uart7_rx.Init.Mode = DMA_NORMAL; - hdma_uart7_rx.Init.Priority = DMA_PRIORITY_LOW; - hdma_uart7_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; - if (HAL_DMA_Init(&hdma_uart7_rx) != HAL_OK) - { - Error_Handler(); - } - - __HAL_LINKDMA(uartHandle,hdmarx,hdma_uart7_rx); - - /* UART7_TX Init */ - hdma_uart7_tx.Instance = DMA1_Stream5; - hdma_uart7_tx.Init.Request = DMA_REQUEST_UART7_TX; - hdma_uart7_tx.Init.Direction = DMA_MEMORY_TO_PERIPH; - hdma_uart7_tx.Init.PeriphInc = DMA_PINC_DISABLE; - hdma_uart7_tx.Init.MemInc = DMA_MINC_ENABLE; - hdma_uart7_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; - hdma_uart7_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; - hdma_uart7_tx.Init.Mode = DMA_NORMAL; - hdma_uart7_tx.Init.Priority = DMA_PRIORITY_LOW; - hdma_uart7_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; - if (HAL_DMA_Init(&hdma_uart7_tx) != HAL_OK) - { - Error_Handler(); - } - - __HAL_LINKDMA(uartHandle,hdmatx,hdma_uart7_tx); - /* UART7 interrupt Init */ HAL_NVIC_SetPriority(UART7_IRQn, 5, 0); HAL_NVIC_EnableIRQ(UART7_IRQn); @@ -478,43 +322,6 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle) GPIO_InitStruct.Alternate = GPIO_AF7_USART1; HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); - /* USART1 DMA Init */ - /* USART1_RX Init */ - hdma_usart1_rx.Instance = DMA1_Stream6; - hdma_usart1_rx.Init.Request = DMA_REQUEST_USART1_RX; - hdma_usart1_rx.Init.Direction = DMA_PERIPH_TO_MEMORY; - hdma_usart1_rx.Init.PeriphInc = DMA_PINC_DISABLE; - hdma_usart1_rx.Init.MemInc = DMA_MINC_ENABLE; - hdma_usart1_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; - hdma_usart1_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; - hdma_usart1_rx.Init.Mode = DMA_NORMAL; - hdma_usart1_rx.Init.Priority = DMA_PRIORITY_LOW; - hdma_usart1_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; - if (HAL_DMA_Init(&hdma_usart1_rx) != HAL_OK) - { - Error_Handler(); - } - - __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart1_rx); - - /* USART1_TX Init */ - hdma_usart1_tx.Instance = DMA1_Stream7; - hdma_usart1_tx.Init.Request = DMA_REQUEST_USART1_TX; - hdma_usart1_tx.Init.Direction = DMA_MEMORY_TO_PERIPH; - hdma_usart1_tx.Init.PeriphInc = DMA_PINC_DISABLE; - hdma_usart1_tx.Init.MemInc = DMA_MINC_ENABLE; - hdma_usart1_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; - hdma_usart1_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; - hdma_usart1_tx.Init.Mode = DMA_NORMAL; - hdma_usart1_tx.Init.Priority = DMA_PRIORITY_LOW; - hdma_usart1_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; - if (HAL_DMA_Init(&hdma_usart1_tx) != HAL_OK) - { - Error_Handler(); - } - - __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart1_tx); - /* USART1 interrupt Init */ HAL_NVIC_SetPriority(USART1_IRQn, 5, 0); HAL_NVIC_EnableIRQ(USART1_IRQn); @@ -553,43 +360,6 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle) GPIO_InitStruct.Alternate = GPIO_AF7_USART2; HAL_GPIO_Init(GPIOD, &GPIO_InitStruct); - /* USART2 DMA Init */ - /* USART2_RX Init */ - hdma_usart2_rx.Instance = DMA2_Stream0; - hdma_usart2_rx.Init.Request = DMA_REQUEST_USART2_RX; - hdma_usart2_rx.Init.Direction = DMA_PERIPH_TO_MEMORY; - hdma_usart2_rx.Init.PeriphInc = DMA_PINC_DISABLE; - hdma_usart2_rx.Init.MemInc = DMA_MINC_ENABLE; - hdma_usart2_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; - hdma_usart2_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; - hdma_usart2_rx.Init.Mode = DMA_NORMAL; - hdma_usart2_rx.Init.Priority = DMA_PRIORITY_LOW; - hdma_usart2_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; - if (HAL_DMA_Init(&hdma_usart2_rx) != HAL_OK) - { - Error_Handler(); - } - - __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart2_rx); - - /* USART2_TX Init */ - hdma_usart2_tx.Instance = DMA2_Stream1; - hdma_usart2_tx.Init.Request = DMA_REQUEST_USART2_TX; - hdma_usart2_tx.Init.Direction = DMA_MEMORY_TO_PERIPH; - hdma_usart2_tx.Init.PeriphInc = DMA_PINC_DISABLE; - hdma_usart2_tx.Init.MemInc = DMA_MINC_ENABLE; - hdma_usart2_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; - hdma_usart2_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; - hdma_usart2_tx.Init.Mode = DMA_NORMAL; - hdma_usart2_tx.Init.Priority = DMA_PRIORITY_LOW; - hdma_usart2_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; - if (HAL_DMA_Init(&hdma_usart2_tx) != HAL_OK) - { - Error_Handler(); - } - - __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart2_tx); - /* USART2 interrupt Init */ HAL_NVIC_SetPriority(USART2_IRQn, 5, 0); HAL_NVIC_EnableIRQ(USART2_IRQn); @@ -636,43 +406,6 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle) GPIO_InitStruct.Alternate = GPIO_AF7_USART3; HAL_GPIO_Init(GPIOD, &GPIO_InitStruct); - /* USART3 DMA Init */ - /* USART3_RX Init */ - hdma_usart3_rx.Instance = DMA2_Stream2; - hdma_usart3_rx.Init.Request = DMA_REQUEST_USART3_RX; - hdma_usart3_rx.Init.Direction = DMA_PERIPH_TO_MEMORY; - hdma_usart3_rx.Init.PeriphInc = DMA_PINC_DISABLE; - hdma_usart3_rx.Init.MemInc = DMA_MINC_ENABLE; - hdma_usart3_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; - hdma_usart3_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; - hdma_usart3_rx.Init.Mode = DMA_NORMAL; - hdma_usart3_rx.Init.Priority = DMA_PRIORITY_LOW; - hdma_usart3_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; - if (HAL_DMA_Init(&hdma_usart3_rx) != HAL_OK) - { - Error_Handler(); - } - - __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart3_rx); - - /* USART3_TX Init */ - hdma_usart3_tx.Instance = DMA2_Stream3; - hdma_usart3_tx.Init.Request = DMA_REQUEST_USART3_TX; - hdma_usart3_tx.Init.Direction = DMA_MEMORY_TO_PERIPH; - hdma_usart3_tx.Init.PeriphInc = DMA_PINC_DISABLE; - hdma_usart3_tx.Init.MemInc = DMA_MINC_ENABLE; - hdma_usart3_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; - hdma_usart3_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; - hdma_usart3_tx.Init.Mode = DMA_NORMAL; - hdma_usart3_tx.Init.Priority = DMA_PRIORITY_LOW; - hdma_usart3_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; - if (HAL_DMA_Init(&hdma_usart3_tx) != HAL_OK) - { - Error_Handler(); - } - - __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart3_tx); - /* USART3 interrupt Init */ HAL_NVIC_SetPriority(USART3_IRQn, 5, 0); HAL_NVIC_EnableIRQ(USART3_IRQn); @@ -717,43 +450,6 @@ 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 = DMA2_Stream4; - 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 = DMA2_Stream5; - 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); @@ -766,32 +462,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle) void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle) { - if(uartHandle->Instance==UART5) - { - /* USER CODE BEGIN UART5_MspDeInit 0 */ - - /* USER CODE END UART5_MspDeInit 0 */ - /* Peripheral clock disable */ - __HAL_RCC_UART5_CLK_DISABLE(); - - /**UART5 GPIO Configuration - PC12 ------> UART5_TX - PD2 ------> UART5_RX - */ - HAL_GPIO_DeInit(GPIOC, GPIO_PIN_12); - - HAL_GPIO_DeInit(GPIOD, GPIO_PIN_2); - - /* UART5 DMA DeInit */ - HAL_DMA_DeInit(uartHandle->hdmarx); - - /* UART5 interrupt Deinit */ - HAL_NVIC_DisableIRQ(UART5_IRQn); - /* USER CODE BEGIN UART5_MspDeInit 1 */ - - /* USER CODE END UART5_MspDeInit 1 */ - } - else if(uartHandle->Instance==UART7) + if(uartHandle->Instance==UART7) { /* USER CODE BEGIN UART7_MspDeInit 0 */ @@ -805,10 +476,6 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle) */ HAL_GPIO_DeInit(GPIOE, GPIO_PIN_7|GPIO_PIN_8); - /* UART7 DMA DeInit */ - HAL_DMA_DeInit(uartHandle->hdmarx); - HAL_DMA_DeInit(uartHandle->hdmatx); - /* UART7 interrupt Deinit */ HAL_NVIC_DisableIRQ(UART7_IRQn); /* USER CODE BEGIN UART7_MspDeInit 1 */ @@ -829,10 +496,6 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle) */ HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10); - /* USART1 DMA DeInit */ - HAL_DMA_DeInit(uartHandle->hdmarx); - HAL_DMA_DeInit(uartHandle->hdmatx); - /* USART1 interrupt Deinit */ HAL_NVIC_DisableIRQ(USART1_IRQn); /* USER CODE BEGIN USART1_MspDeInit 1 */ @@ -854,10 +517,6 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle) */ HAL_GPIO_DeInit(GPIOD, GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6); - /* USART2 DMA DeInit */ - HAL_DMA_DeInit(uartHandle->hdmarx); - HAL_DMA_DeInit(uartHandle->hdmatx); - /* USART2 interrupt Deinit */ HAL_NVIC_DisableIRQ(USART2_IRQn); /* USER CODE BEGIN USART2_MspDeInit 1 */ @@ -881,10 +540,6 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle) HAL_GPIO_DeInit(GPIOD, GPIO_PIN_8|GPIO_PIN_9); - /* USART3 DMA DeInit */ - HAL_DMA_DeInit(uartHandle->hdmarx); - HAL_DMA_DeInit(uartHandle->hdmatx); - /* USART3 interrupt Deinit */ HAL_NVIC_DisableIRQ(USART3_IRQn); /* USER CODE BEGIN USART3_MspDeInit 1 */ @@ -905,10 +560,6 @@ 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 */ diff --git a/Core/Src/usb_otg.c b/Core/Src/usb_otg.c index 41acb83..211fb32 100644 --- a/Core/Src/usb_otg.c +++ b/Core/Src/usb_otg.c @@ -41,7 +41,7 @@ void MX_USB_OTG_HS_PCD_Init(void) hpcd_USB_OTG_HS.Instance = USB_OTG_HS; hpcd_USB_OTG_HS.Init.dev_endpoints = 9; hpcd_USB_OTG_HS.Init.speed = PCD_SPEED_FULL; - hpcd_USB_OTG_HS.Init.dma_enable = ENABLE; + hpcd_USB_OTG_HS.Init.dma_enable = DISABLE; hpcd_USB_OTG_HS.Init.phy_itface = USB_OTG_EMBEDDED_PHY; hpcd_USB_OTG_HS.Init.Sof_enable = DISABLE; hpcd_USB_OTG_HS.Init.low_power_enable = DISABLE; @@ -84,10 +84,6 @@ void HAL_PCD_MspInit(PCD_HandleTypeDef* pcdHandle) /* USB_OTG_HS clock enable */ __HAL_RCC_USB_OTG_HS_CLK_ENABLE(); - - /* USB_OTG_HS interrupt Init */ - HAL_NVIC_SetPriority(OTG_HS_IRQn, 5, 0); - HAL_NVIC_EnableIRQ(OTG_HS_IRQn); /* USER CODE BEGIN USB_OTG_HS_MspInit 1 */ /* USER CODE END USB_OTG_HS_MspInit 1 */ @@ -104,9 +100,6 @@ void HAL_PCD_MspDeInit(PCD_HandleTypeDef* pcdHandle) /* USER CODE END USB_OTG_HS_MspDeInit 0 */ /* Peripheral clock disable */ __HAL_RCC_USB_OTG_HS_CLK_DISABLE(); - - /* USB_OTG_HS interrupt Deinit */ - HAL_NVIC_DisableIRQ(OTG_HS_IRQn); /* USER CODE BEGIN USB_OTG_HS_MspDeInit 1 */ /* USER CODE END USB_OTG_HS_MspDeInit 1 */ diff --git a/CtrBoard-H7_ALL.ioc b/CtrBoard-H7_ALL.ioc new file mode 100644 index 0000000..1e9f041 --- /dev/null +++ b/CtrBoard-H7_ALL.ioc @@ -0,0 +1,660 @@ +#MicroXplorer Configuration settings - do not modify +ADC1.Channel-0\#ChannelRegularConversion=ADC_CHANNEL_4 +ADC1.Channel-1\#ChannelRegularConversion=ADC_CHANNEL_19 +ADC1.ClockPrescaler=ADC_CLOCK_ASYNC_DIV64 +ADC1.ContinuousConvMode=ENABLE +ADC1.ConversionDataManagement=ADC_CONVERSIONDATA_DMA_CIRCULAR +ADC1.IPParameters=Rank-0\#ChannelRegularConversion,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,OffsetNumber-0\#ChannelRegularConversion,OffsetSignedSaturation-0\#ChannelRegularConversion,NbrOfConversionFlag,master,ClockPrescaler,ContinuousConvMode,ConversionDataManagement,Rank-1\#ChannelRegularConversion,Channel-1\#ChannelRegularConversion,SamplingTime-1\#ChannelRegularConversion,OffsetNumber-1\#ChannelRegularConversion,OffsetSignedSaturation-1\#ChannelRegularConversion,NbrOfConversion +ADC1.NbrOfConversion=2 +ADC1.NbrOfConversionFlag=1 +ADC1.OffsetNumber-0\#ChannelRegularConversion=ADC_OFFSET_NONE +ADC1.OffsetNumber-1\#ChannelRegularConversion=ADC_OFFSET_NONE +ADC1.OffsetSignedSaturation-0\#ChannelRegularConversion=DISABLE +ADC1.OffsetSignedSaturation-1\#ChannelRegularConversion=DISABLE +ADC1.Rank-0\#ChannelRegularConversion=1 +ADC1.Rank-1\#ChannelRegularConversion=2 +ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_32CYCLES_5 +ADC1.SamplingTime-1\#ChannelRegularConversion=ADC_SAMPLETIME_32CYCLES_5 +ADC1.master=1 +CAD.formats= +CAD.pinconfig= +CAD.provider= +CORTEX_M7.BaseAddress-Cortex_Memory_Protection_Unit_Region0_Settings=0x24000000 +CORTEX_M7.CPU_DCache=Disabled +CORTEX_M7.CPU_ICache=Disabled +CORTEX_M7.Enable-Cortex_Memory_Protection_Unit_Region0_Settings=MPU_REGION_ENABLE +CORTEX_M7.IPParameters=CPU_DCache,CPU_ICache,MPU_Control,Enable-Cortex_Memory_Protection_Unit_Region0_Settings,BaseAddress-Cortex_Memory_Protection_Unit_Region0_Settings,Size-Cortex_Memory_Protection_Unit_Region0_Settings,TypeExtField-Cortex_Memory_Protection_Unit_Region0_Settings,IsCacheable-Cortex_Memory_Protection_Unit_Region0_Settings,IsBufferable-Cortex_Memory_Protection_Unit_Region0_Settings +CORTEX_M7.IsBufferable-Cortex_Memory_Protection_Unit_Region0_Settings=MPU_ACCESS_BUFFERABLE +CORTEX_M7.IsCacheable-Cortex_Memory_Protection_Unit_Region0_Settings=MPU_ACCESS_CACHEABLE +CORTEX_M7.MPU_Control=__NULL +CORTEX_M7.Size-Cortex_Memory_Protection_Unit_Region0_Settings=MPU_REGION_SIZE_512B +CORTEX_M7.TypeExtField-Cortex_Memory_Protection_Unit_Region0_Settings=MPU_TEX_LEVEL1 +Dma.ADC1.0.Direction=DMA_PERIPH_TO_MEMORY +Dma.ADC1.0.EventEnable=DISABLE +Dma.ADC1.0.FIFOMode=DMA_FIFOMODE_DISABLE +Dma.ADC1.0.Instance=DMA1_Stream0 +Dma.ADC1.0.MemDataAlignment=DMA_MDATAALIGN_HALFWORD +Dma.ADC1.0.MemInc=DMA_MINC_ENABLE +Dma.ADC1.0.Mode=DMA_CIRCULAR +Dma.ADC1.0.PeriphDataAlignment=DMA_PDATAALIGN_HALFWORD +Dma.ADC1.0.PeriphInc=DMA_PINC_DISABLE +Dma.ADC1.0.Polarity=HAL_DMAMUX_REQ_GEN_RISING +Dma.ADC1.0.Priority=DMA_PRIORITY_LOW +Dma.ADC1.0.RequestNumber=1 +Dma.ADC1.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber +Dma.ADC1.0.SignalID=NONE +Dma.ADC1.0.SyncEnable=DISABLE +Dma.ADC1.0.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT +Dma.ADC1.0.SyncRequestNumber=1 +Dma.ADC1.0.SyncSignalID=NONE +Dma.Request0=ADC1 +Dma.Request1=SPI2_RX +Dma.Request2=SPI2_TX +Dma.RequestsNb=3 +Dma.SPI2_RX.1.Direction=DMA_PERIPH_TO_MEMORY +Dma.SPI2_RX.1.EventEnable=DISABLE +Dma.SPI2_RX.1.FIFOMode=DMA_FIFOMODE_DISABLE +Dma.SPI2_RX.1.Instance=DMA1_Stream1 +Dma.SPI2_RX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE +Dma.SPI2_RX.1.MemInc=DMA_MINC_ENABLE +Dma.SPI2_RX.1.Mode=DMA_NORMAL +Dma.SPI2_RX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE +Dma.SPI2_RX.1.PeriphInc=DMA_PINC_DISABLE +Dma.SPI2_RX.1.Polarity=HAL_DMAMUX_REQ_GEN_RISING +Dma.SPI2_RX.1.Priority=DMA_PRIORITY_LOW +Dma.SPI2_RX.1.RequestNumber=1 +Dma.SPI2_RX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber +Dma.SPI2_RX.1.SignalID=NONE +Dma.SPI2_RX.1.SyncEnable=DISABLE +Dma.SPI2_RX.1.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT +Dma.SPI2_RX.1.SyncRequestNumber=1 +Dma.SPI2_RX.1.SyncSignalID=NONE +Dma.SPI2_TX.2.Direction=DMA_MEMORY_TO_PERIPH +Dma.SPI2_TX.2.EventEnable=DISABLE +Dma.SPI2_TX.2.FIFOMode=DMA_FIFOMODE_DISABLE +Dma.SPI2_TX.2.Instance=DMA1_Stream2 +Dma.SPI2_TX.2.MemDataAlignment=DMA_MDATAALIGN_BYTE +Dma.SPI2_TX.2.MemInc=DMA_MINC_ENABLE +Dma.SPI2_TX.2.Mode=DMA_NORMAL +Dma.SPI2_TX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE +Dma.SPI2_TX.2.PeriphInc=DMA_PINC_DISABLE +Dma.SPI2_TX.2.Polarity=HAL_DMAMUX_REQ_GEN_RISING +Dma.SPI2_TX.2.Priority=DMA_PRIORITY_LOW +Dma.SPI2_TX.2.RequestNumber=1 +Dma.SPI2_TX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber +Dma.SPI2_TX.2.SignalID=NONE +Dma.SPI2_TX.2.SyncEnable=DISABLE +Dma.SPI2_TX.2.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT +Dma.SPI2_TX.2.SyncRequestNumber=1 +Dma.SPI2_TX.2.SyncSignalID=NONE +FDCAN1.CalculateBaudRateNominal=1250000 +FDCAN1.CalculateTimeBitNominal=800 +FDCAN1.CalculateTimeQuantumNominal=200.0 +FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr,NominalTimeSeg1 +FDCAN1.NominalPrescaler=24 +FDCAN1.NominalTimeSeg1=2 +FDCAN1.RxFifo0ElmtsNbr=32 +FDCAN1.StdFiltersNbr=1 +FDCAN1.TxFifoQueueElmtsNbr=32 +FDCAN2.CalculateBaudRateNominal=1666666 +FDCAN2.CalculateTimeBitNominal=600 +FDCAN2.CalculateTimeQuantumNominal=200.0 +FDCAN2.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,MessageRAMOffset,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr +FDCAN2.MessageRAMOffset=0x406 +FDCAN2.NominalPrescaler=24 +FDCAN2.RxFifo0ElmtsNbr=32 +FDCAN2.StdFiltersNbr=1 +FDCAN2.TxFifoQueueElmtsNbr=32 +FDCAN3.CalculateBaudRateNominal=1666666 +FDCAN3.CalculateTimeBitNominal=600 +FDCAN3.CalculateTimeQuantumNominal=200.0 +FDCAN3.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,MessageRAMOffset,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr +FDCAN3.MessageRAMOffset=0x812 +FDCAN3.NominalPrescaler=24 +FDCAN3.RxFifo0ElmtsNbr=32 +FDCAN3.StdFiltersNbr=1 +FDCAN3.TxFifoQueueElmtsNbr=32 +FREERTOS.IPParameters=Tasks01 +FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL +File.Version=6 +GPIO.groupedBy=Group By Peripherals +KeepUserPlacement=false +MMTAppRegionsCount=0 +MMTConfigApplied=false +Mcu.CPN=STM32H723VGT6 +Mcu.Family=STM32H7 +Mcu.IP0=ADC1 +Mcu.IP1=CORTEX_M7 +Mcu.IP10=OCTOSPI1 +Mcu.IP11=RCC +Mcu.IP12=SPI1 +Mcu.IP13=SPI2 +Mcu.IP14=SPI6 +Mcu.IP15=SYS +Mcu.IP16=TIM1 +Mcu.IP17=TIM2 +Mcu.IP18=TIM3 +Mcu.IP19=TIM12 +Mcu.IP2=DEBUG +Mcu.IP20=UART7 +Mcu.IP21=USART1 +Mcu.IP22=USART2 +Mcu.IP23=USART3 +Mcu.IP24=USART10 +Mcu.IP25=USB_OTG_HS +Mcu.IP3=DMA +Mcu.IP4=FDCAN1 +Mcu.IP5=FDCAN2 +Mcu.IP6=FDCAN3 +Mcu.IP7=FREERTOS +Mcu.IP8=MEMORYMAP +Mcu.IP9=NVIC +Mcu.IPNb=26 +Mcu.Name=STM32H723VGTx +Mcu.Package=LQFP100 +Mcu.Pin0=PE2 +Mcu.Pin1=PE3 +Mcu.Pin10=PC3_C +Mcu.Pin11=PA0 +Mcu.Pin12=PA1 +Mcu.Pin13=PA2 +Mcu.Pin14=PA3 +Mcu.Pin15=PA5 +Mcu.Pin16=PA7 +Mcu.Pin17=PC4 +Mcu.Pin18=PC5 +Mcu.Pin19=PB0 +Mcu.Pin2=PC13 +Mcu.Pin20=PB1 +Mcu.Pin21=PB2 +Mcu.Pin22=PE7 +Mcu.Pin23=PE8 +Mcu.Pin24=PE9 +Mcu.Pin25=PE10 +Mcu.Pin26=PE11 +Mcu.Pin27=PE12 +Mcu.Pin28=PE13 +Mcu.Pin29=PE15 +Mcu.Pin3=PC14-OSC32_IN +Mcu.Pin30=PB10 +Mcu.Pin31=PB11 +Mcu.Pin32=PB12 +Mcu.Pin33=PB13 +Mcu.Pin34=PB14 +Mcu.Pin35=PB15 +Mcu.Pin36=PD8 +Mcu.Pin37=PD9 +Mcu.Pin38=PD10 +Mcu.Pin39=PD11 +Mcu.Pin4=PC15-OSC32_OUT +Mcu.Pin40=PD12 +Mcu.Pin41=PD13 +Mcu.Pin42=PA8 +Mcu.Pin43=PA9 +Mcu.Pin44=PA10 +Mcu.Pin45=PA11 +Mcu.Pin46=PA12 +Mcu.Pin47=PA13(JTMS/SWDIO) +Mcu.Pin48=PA14(JTCK/SWCLK) +Mcu.Pin49=PA15(JTDI) +Mcu.Pin5=PH0-OSC_IN +Mcu.Pin50=PC12 +Mcu.Pin51=PD0 +Mcu.Pin52=PD1 +Mcu.Pin53=PD4 +Mcu.Pin54=PD5 +Mcu.Pin55=PD6 +Mcu.Pin56=PD7 +Mcu.Pin57=PB3(JTDO/TRACESWO) +Mcu.Pin58=PB5 +Mcu.Pin59=PB6 +Mcu.Pin6=PH1-OSC_OUT +Mcu.Pin60=VP_FREERTOS_VS_CMSIS_V2 +Mcu.Pin61=VP_OCTOSPI1_VS_octo +Mcu.Pin62=VP_SYS_VS_tim23 +Mcu.Pin63=VP_MEMORYMAP_VS_MEMORYMAP +Mcu.Pin7=PC0 +Mcu.Pin8=PC1 +Mcu.Pin9=PC2_C +Mcu.PinsNb=64 +Mcu.ThirdPartyNb=0 +Mcu.UserConstants= +Mcu.UserName=STM32H723VGTx +MxCube.Version=6.15.0 +MxDb.Version=DB.6.0.150 +NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false +NVIC.DMA1_Stream0_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true +NVIC.DMA1_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true +NVIC.DMA1_Stream2_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 +NVIC.FDCAN1_IT1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.FDCAN2_IT0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.FDCAN2_IT1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.FDCAN3_IT0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.FDCAN3_IT1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.ForceEnableDMAVector=true +NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false +NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false +NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false +NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false\:false +NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4 +NVIC.SPI2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true +NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false +NVIC.SavedPendsvIrqHandlerGenerated=true +NVIC.SavedSvcallIrqHandlerGenerated=true +NVIC.SavedSystickIrqHandlerGenerated=true +NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false +NVIC.TIM23_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true +NVIC.TimeBase=TIM23_IRQn +NVIC.TimeBaseIP=TIM23 +NVIC.UART7_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true +NVIC.USART10_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true +NVIC.USART1_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true +NVIC.USART2_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true +NVIC.USART3_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true +NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false +PA0.Locked=true +PA0.Signal=S_TIM2_CH1_ETR +PA1.Locked=true +PA1.Mode=OCTOSPI1_IOL_Port1L +PA1.Signal=OCTOSPIM_P1_IO3 +PA10.Locked=true +PA10.Mode=Asynchronous +PA10.Signal=USART1_RX +PA11.Mode=Device_Only_FS +PA11.Signal=USB_OTG_HS_DM +PA12.Mode=Device_Only_FS +PA12.Signal=USB_OTG_HS_DP +PA13(JTMS/SWDIO).Locked=true +PA13(JTMS/SWDIO).Mode=Serial_Wire +PA13(JTMS/SWDIO).Signal=DEBUG_JTMS-SWDIO +PA14(JTCK/SWCLK).Locked=true +PA14(JTCK/SWCLK).Mode=Serial_Wire +PA14(JTCK/SWCLK).Signal=DEBUG_JTCK-SWCLK +PA15(JTDI).Locked=true +PA15(JTDI).Signal=GPIO_Input +PA2.Locked=true +PA2.Signal=S_TIM2_CH3 +PA3.Locked=true +PA3.Mode=OCTOSPI1_IOL_Port1L +PA3.Signal=OCTOSPIM_P1_IO2 +PA5.Locked=true +PA5.Signal=ADCx_INP19 +PA7.Mode=TX_Only_Simplex_Unidirect_Master +PA7.Signal=SPI6_MOSI +PA8.Locked=true +PA8.Mode=Clock-out-1 +PA8.Signal=RCC_MCO_1 +PA9.Locked=true +PA9.Mode=Asynchronous +PA9.Signal=USART1_TX +PB0.Locked=true +PB0.Mode=OCTOSPI1_IOL_Port1L +PB0.Signal=OCTOSPIM_P1_IO1 +PB1.Locked=true +PB1.Signal=S_TIM3_CH4 +PB10.GPIOParameters=GPIO_Label +PB10.GPIO_Label=LCD_BLK +PB10.Locked=true +PB10.Signal=GPIO_Output +PB11.GPIOParameters=GPIO_Label +PB11.GPIO_Label=LCD_RES +PB11.Locked=true +PB11.Signal=GPIO_Output +PB12.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label +PB12.GPIO_Label=DCMI_REST +PB12.GPIO_PuPd=GPIO_PULLUP +PB12.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH +PB12.Locked=true +PB12.PinState=GPIO_PIN_SET +PB12.Signal=GPIO_Output +PB13.GPIOParameters=GPIO_Speed +PB13.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH +PB13.Locked=true +PB13.Mode=Full_Duplex_Master +PB13.Signal=SPI2_SCK +PB14.Mode=Hardware Flow Control (RS485) +PB14.Signal=USART3_DE +PB15.Locked=true +PB15.Signal=S_TIM12_CH2 +PB2.Locked=true +PB2.Mode=O1_P1_CLK +PB2.Signal=OCTOSPIM_P1_CLK +PB3(JTDO/TRACESWO).GPIOParameters=GPIO_Speed +PB3(JTDO/TRACESWO).GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH +PB3(JTDO/TRACESWO).Mode=TX_Only_Simplex_Unidirect_Master +PB3(JTDO/TRACESWO).Signal=SPI1_SCK +PB5.Locked=true +PB5.Mode=FDCAN_Activate +PB5.Signal=FDCAN2_RX +PB6.Locked=true +PB6.Mode=FDCAN_Activate +PB6.Signal=FDCAN2_TX +PC0.GPIOParameters=GPIO_Speed,PinState,GPIO_Label +PC0.GPIO_Label=ACCL_CS +PC0.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH +PC0.Locked=true +PC0.PinState=GPIO_PIN_SET +PC0.Signal=GPIO_Output +PC1.GPIOParameters=GPIO_Speed +PC1.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH +PC1.Mode=Full_Duplex_Master +PC1.Signal=SPI2_MOSI +PC12.Mode=TX_Only_Simplex_Unidirect_Master +PC12.Signal=SPI6_SCK +PC13.GPIOParameters=PinState,GPIO_Label +PC13.GPIO_Label=POWER_24V_2 +PC13.Locked=true +PC13.PinState=GPIO_PIN_SET +PC13.Signal=GPIO_Output +PC14-OSC32_IN.GPIOParameters=PinState,GPIO_Label +PC14-OSC32_IN.GPIO_Label=POWER_24V_1 +PC14-OSC32_IN.Locked=true +PC14-OSC32_IN.PinState=GPIO_PIN_SET +PC14-OSC32_IN.Signal=GPIO_Output +PC15-OSC32_OUT.GPIOParameters=PinState,GPIO_Label +PC15-OSC32_OUT.GPIO_Label=POWER_5V +PC15-OSC32_OUT.Locked=true +PC15-OSC32_OUT.PinState=GPIO_PIN_SET +PC15-OSC32_OUT.Signal=GPIO_Output +PC2_C.GPIOParameters=GPIO_Speed +PC2_C.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH +PC2_C.Mode=Full_Duplex_Master +PC2_C.Signal=SPI2_MISO +PC3_C.GPIOParameters=GPIO_Speed,PinState,GPIO_Label +PC3_C.GPIO_Label=GYRO_CS +PC3_C.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH +PC3_C.Locked=true +PC3_C.PinState=GPIO_PIN_SET +PC3_C.Signal=GPIO_Output +PC4.Locked=true +PC4.Signal=ADCx_INP4 +PC5.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label +PC5.GPIO_Label=DCMI_PWDN +PC5.GPIO_PuPd=GPIO_NOPULL +PC5.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH +PC5.Locked=true +PC5.PinState=GPIO_PIN_SET +PC5.Signal=GPIO_Output +PD0.Mode=FDCAN_Activate +PD0.Signal=FDCAN1_RX +PD1.Locked=true +PD1.Mode=FDCAN_Activate +PD1.Signal=FDCAN1_TX +PD10.GPIOParameters=GPIO_Label +PD10.GPIO_Label=LCD_DC +PD10.Locked=true +PD10.Signal=GPIO_Output +PD11.Locked=true +PD11.Mode=OCTOSPI1_IOL_Port1L +PD11.Signal=OCTOSPIM_P1_IO0 +PD12.Mode=FDCAN_Activate +PD12.Signal=FDCAN3_RX +PD13.Locked=true +PD13.Mode=FDCAN_Activate +PD13.Signal=FDCAN3_TX +PD4.Locked=true +PD4.Mode=Hardware Flow Control (RS485) +PD4.Signal=USART2_DE +PD5.Locked=true +PD5.Mode=Asynchronous +PD5.Signal=USART2_TX +PD6.Locked=true +PD6.Mode=Asynchronous +PD6.Signal=USART2_RX +PD7.GPIOParameters=GPIO_Speed +PD7.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH +PD7.Locked=true +PD7.Mode=TX_Only_Simplex_Unidirect_Master +PD7.Signal=SPI1_MOSI +PD8.Mode=Asynchronous +PD8.Signal=USART3_TX +PD9.Mode=Asynchronous +PD9.Signal=USART3_RX +PE10.GPIOParameters=GPIO_Label +PE10.GPIO_Label=ACCL_INT +PE10.Locked=true +PE10.Signal=GPXTI10 +PE11.Locked=true +PE11.Mode=OCTOSPI1_Port1_NCS +PE11.Signal=OCTOSPIM_P1_NCS +PE12.GPIOParameters=GPIO_Label +PE12.GPIO_Label=GYRO_INT +PE12.Locked=true +PE12.Signal=GPXTI12 +PE13.Signal=S_TIM1_CH3 +PE15.GPIOParameters=GPIO_Label +PE15.GPIO_Label=LCD_CS +PE15.Locked=true +PE15.Signal=GPIO_Output +PE2.Mode=Asynchronous +PE2.Signal=USART10_RX +PE3.Mode=Asynchronous +PE3.Signal=USART10_TX +PE7.Mode=Asynchronous +PE7.Signal=UART7_RX +PE8.Mode=Asynchronous +PE8.Signal=UART7_TX +PE9.Locked=true +PE9.Signal=S_TIM1_CH1 +PH0-OSC_IN.Mode=HSE-External-Oscillator +PH0-OSC_IN.Signal=RCC_OSC_IN +PH1-OSC_OUT.Mode=HSE-External-Oscillator +PH1-OSC_OUT.Signal=RCC_OSC_OUT +PinOutPanel.RotationAngle=0 +ProjectManager.AskForMigrate=true +ProjectManager.BackupPrevious=false +ProjectManager.CompilerLinker=GCC +ProjectManager.CompilerOptimize=6 +ProjectManager.ComputerToolchain=false +ProjectManager.CoupleFile=true +ProjectManager.CustomerFirmwarePackage= +ProjectManager.DefaultFWLocation=true +ProjectManager.DeletePrevious=true +ProjectManager.DeviceId=STM32H723VGTx +ProjectManager.FirmwarePackage=STM32Cube FW_H7 V1.12.1 +ProjectManager.FreePins=false +ProjectManager.HalAssertFull=false +ProjectManager.HeapSize=0x1000 +ProjectManager.KeepUserCode=true +ProjectManager.LastFirmware=true +ProjectManager.LibraryCopy=0 +ProjectManager.MainLocation=Core/Src +ProjectManager.NoMain=false +ProjectManager.PreviousToolchain= +ProjectManager.ProjectBuild=false +ProjectManager.ProjectFileName=CtrBoard-H7_ALL.ioc +ProjectManager.ProjectName=CtrBoard-H7_ALL +ProjectManager.ProjectStructure= +ProjectManager.RegisterCallBack= +ProjectManager.StackSize=0x2000 +ProjectManager.TargetToolchain=CMake +ProjectManager.ToolChainLocation= +ProjectManager.UAScriptAfterPath= +ProjectManager.UAScriptBeforePath= +ProjectManager.UnderRoot=false +ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false,6-MX_TIM12_Init-TIM12-false-HAL-true,7-MX_SPI1_Init-SPI1-false-HAL-true,8-MX_SPI6_Init-SPI6-false-HAL-true,9-MX_SPI2_Init-SPI2-false-HAL-true,10-MX_TIM3_Init-TIM3-false-HAL-true,11-MX_USART1_UART_Init-USART1-false-HAL-true,12-MX_USART2_UART_Init-USART2-false-HAL-true,13-MX_USART3_UART_Init-USART3-false-HAL-true,14-MX_UART7_Init-UART7-false-HAL-true,15-MX_USART10_UART_Init-USART10-false-HAL-true,16-MX_FDCAN1_Init-FDCAN1-false-HAL-true,17-MX_FDCAN2_Init-FDCAN2-false-HAL-true,18-MX_FDCAN3_Init-FDCAN3-false-HAL-true,19-MX_TIM1_Init-TIM1-false-HAL-true,20-MX_TIM2_Init-TIM2-false-HAL-true,21-MX_OCTOSPI1_Init-OCTOSPI1-false-HAL-true,0-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true +RCC.ADCFreq_Value=96000000 +RCC.AHB12Freq_Value=240000000 +RCC.AHB4Freq_Value=240000000 +RCC.APB1Freq_Value=120000000 +RCC.APB2Freq_Value=120000000 +RCC.APB3Freq_Value=120000000 +RCC.APB4Freq_Value=120000000 +RCC.AXIClockFreq_Value=240000000 +RCC.CECFreq_Value=32000 +RCC.CKPERFreq_Value=64000000 +RCC.CortexFreq_Value=480000000 +RCC.CpuClockFreq_Value=480000000 +RCC.D1CPREFreq_Value=480000000 +RCC.D1PPRE=RCC_APB3_DIV2 +RCC.D2PPRE1=RCC_APB1_DIV2 +RCC.D2PPRE2=RCC_APB2_DIV2 +RCC.D3PPRE=RCC_APB4_DIV2 +RCC.DFSDMACLkFreq_Value=120000000 +RCC.DFSDMFreq_Value=120000000 +RCC.DIVM1=2 +RCC.DIVM2=2 +RCC.DIVN1=40 +RCC.DIVN2=16 +RCC.DIVP1=1 +RCC.DIVP1Freq_Value=480000000 +RCC.DIVP2Freq_Value=96000000 +RCC.DIVP3Freq_Value=48375000 +RCC.DIVQ1=4 +RCC.DIVQ1Freq_Value=120000000 +RCC.DIVQ2Freq_Value=96000000 +RCC.DIVQ3Freq_Value=48375000 +RCC.DIVR1Freq_Value=240000000 +RCC.DIVR2Freq_Value=96000000 +RCC.DIVR3Freq_Value=48375000 +RCC.EnbaleCSS=false +RCC.FDCANFreq_Value=120000000 +RCC.FMCFreq_Value=240000000 +RCC.FamilyName=M +RCC.HCLK3ClockFreq_Value=240000000 +RCC.HCLKFreq_Value=240000000 +RCC.HPRE=RCC_HCLK_DIV2 +RCC.HSE_VALUE=24000000 +RCC.I2C123Freq_Value=120000000 +RCC.I2C4Freq_Value=120000000 +RCC.IPParameters=ADCFreq_Value,AHB12Freq_Value,AHB4Freq_Value,APB1Freq_Value,APB2Freq_Value,APB3Freq_Value,APB4Freq_Value,AXIClockFreq_Value,CECFreq_Value,CKPERFreq_Value,CortexFreq_Value,CpuClockFreq_Value,D1CPREFreq_Value,D1PPRE,D2PPRE1,D2PPRE2,D3PPRE,DFSDMACLkFreq_Value,DFSDMFreq_Value,DIVM1,DIVM2,DIVN1,DIVN2,DIVP1,DIVP1Freq_Value,DIVP2Freq_Value,DIVP3Freq_Value,DIVQ1,DIVQ1Freq_Value,DIVQ2Freq_Value,DIVQ3Freq_Value,DIVR1Freq_Value,DIVR2Freq_Value,DIVR3Freq_Value,EnbaleCSS,FDCANFreq_Value,FMCFreq_Value,FamilyName,HCLK3ClockFreq_Value,HCLKFreq_Value,HPRE,HSE_VALUE,I2C123Freq_Value,I2C4Freq_Value,LPTIM1Freq_Value,LPTIM2Freq_Value,LPTIM345Freq_Value,LPUART1Freq_Value,LTDCFreq_Value,MCO1PinFreq_Value,MCO2PinFreq_Value,PLL2FRACN,PLL2_VCI_Range-AdvancedSettings,PLL2_VCO_SEL-AdvancedSettings,PLL3FRACN,PLL3_VCO_SEL-AdvancedSettings,PLLFRACN,PLLSourceVirtual,QSPIFreq_Value,RNGFreq_Value,RTCFreq_Value,SAI1Freq_Value,SAI4AFreq_Value,SAI4BFreq_Value,SDMMCFreq_Value,SPDIFRXFreq_Value,SPI123Freq_Value,SPI45Freq_Value,SPI6CLockSelection,SPI6Freq_Value,SWPMI1Freq_Value,SYSCLKFreq_VALUE,SYSCLKSource,Tim1OutputFreq_Value,Tim2OutputFreq_Value,TraceFreq_Value,USART16Freq_Value,USART234578Freq_Value,USBCLockSelection,USBFreq_Value,VCO1OutputFreq_Value,VCO2OutputFreq_Value,VCO3OutputFreq_Value,VCOInput1Freq_Value,VCOInput2Freq_Value,VCOInput3Freq_Value +RCC.LPTIM1Freq_Value=120000000 +RCC.LPTIM2Freq_Value=120000000 +RCC.LPTIM345Freq_Value=120000000 +RCC.LPUART1Freq_Value=120000000 +RCC.LTDCFreq_Value=48375000 +RCC.MCO1PinFreq_Value=64000000 +RCC.MCO2PinFreq_Value=480000000 +RCC.PLL2FRACN=0 +RCC.PLL2_VCI_Range-AdvancedSettings=RCC_PLL2VCIRANGE_0 +RCC.PLL2_VCO_SEL-AdvancedSettings=RCC_PLL2VCOWIDE +RCC.PLL3FRACN=0 +RCC.PLL3_VCO_SEL-AdvancedSettings=RCC_PLL3VCOMEDIUM +RCC.PLLFRACN=0 +RCC.PLLSourceVirtual=RCC_PLLSOURCE_HSE +RCC.QSPIFreq_Value=240000000 +RCC.RNGFreq_Value=48000000 +RCC.RTCFreq_Value=32000 +RCC.SAI1Freq_Value=120000000 +RCC.SAI4AFreq_Value=120000000 +RCC.SAI4BFreq_Value=120000000 +RCC.SDMMCFreq_Value=120000000 +RCC.SPDIFRXFreq_Value=120000000 +RCC.SPI123Freq_Value=120000000 +RCC.SPI45Freq_Value=120000000 +RCC.SPI6CLockSelection=RCC_SPI6CLKSOURCE_HSE +RCC.SPI6Freq_Value=24000000 +RCC.SWPMI1Freq_Value=120000000 +RCC.SYSCLKFreq_VALUE=480000000 +RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK +RCC.Tim1OutputFreq_Value=240000000 +RCC.Tim2OutputFreq_Value=240000000 +RCC.TraceFreq_Value=240000000 +RCC.USART16Freq_Value=120000000 +RCC.USART234578Freq_Value=120000000 +RCC.USBCLockSelection=RCC_USBCLKSOURCE_HSI48 +RCC.USBFreq_Value=48000000 +RCC.VCO1OutputFreq_Value=480000000 +RCC.VCO2OutputFreq_Value=192000000 +RCC.VCO3OutputFreq_Value=96750000 +RCC.VCOInput1Freq_Value=12000000 +RCC.VCOInput2Freq_Value=12000000 +RCC.VCOInput3Freq_Value=750000 +SH.ADCx_INP19.0=ADC1_INP19,IN19-Single-Ended +SH.ADCx_INP19.ConfNb=1 +SH.ADCx_INP4.0=ADC1_INP4,IN4-Single-Ended +SH.ADCx_INP4.ConfNb=1 +SH.GPXTI10.0=GPIO_EXTI10 +SH.GPXTI10.ConfNb=1 +SH.GPXTI12.0=GPIO_EXTI12 +SH.GPXTI12.ConfNb=1 +SH.S_TIM12_CH2.0=TIM12_CH2,PWM Generation2 CH2 +SH.S_TIM12_CH2.ConfNb=1 +SH.S_TIM1_CH1.0=TIM1_CH1,PWM Generation1 CH1 +SH.S_TIM1_CH1.ConfNb=1 +SH.S_TIM1_CH3.0=TIM1_CH3,PWM Generation3 CH3 +SH.S_TIM1_CH3.ConfNb=1 +SH.S_TIM2_CH1_ETR.0=TIM2_CH1,PWM Generation1 CH1 +SH.S_TIM2_CH1_ETR.ConfNb=1 +SH.S_TIM2_CH3.0=TIM2_CH3,PWM Generation3 CH3 +SH.S_TIM2_CH3.ConfNb=1 +SH.S_TIM3_CH4.0=TIM3_CH4,PWM Generation4 CH4 +SH.S_TIM3_CH4.ConfNb=1 +SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_4 +SPI1.CLKPolarity=SPI_POLARITY_HIGH +SPI1.CalculateBaudRate=30.0 MBits/s +SPI1.DataSize=SPI_DATASIZE_8BIT +SPI1.Direction=SPI_DIRECTION_2LINES_TXONLY +SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,DataSize,BaudRatePrescaler,CLKPolarity +SPI1.Mode=SPI_MODE_MASTER +SPI1.VirtualType=VM_MASTER +SPI2.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_32 +SPI2.CLKPhase=SPI_PHASE_2EDGE +SPI2.CLKPolarity=SPI_POLARITY_HIGH +SPI2.CalculateBaudRate=3.75 MBits/s +SPI2.DataSize=SPI_DATASIZE_8BIT +SPI2.Direction=SPI_DIRECTION_2LINES +SPI2.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,DataSize,BaudRatePrescaler,CLKPolarity,CLKPhase +SPI2.Mode=SPI_MODE_MASTER +SPI2.VirtualType=VM_MASTER +SPI6.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_4 +SPI6.CLKPhase=SPI_PHASE_2EDGE +SPI6.CalculateBaudRate=6.0 MBits/s +SPI6.DataSize=SPI_DATASIZE_8BIT +SPI6.Direction=SPI_DIRECTION_2LINES_TXONLY +SPI6.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,DataSize,BaudRatePrescaler,CLKPhase +SPI6.Mode=SPI_MODE_MASTER +SPI6.VirtualType=VM_MASTER +TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1 +TIM1.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3 +TIM1.IPParameters=Channel-PWM Generation3 CH3,Channel-PWM Generation1 CH1,Period,Pulse-PWM Generation1 CH1,Pulse-PWM Generation3 CH3,Prescaler +TIM1.Period=10000 +TIM1.Prescaler=24 +TIM1.Pulse-PWM\ Generation1\ CH1=5000 +TIM1.Pulse-PWM\ Generation3\ CH3=5000 +TIM12.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2 +TIM12.IPParameters=Channel-PWM Generation2 CH2,Prescaler,Period +TIM12.Period=2000-1 +TIM12.Prescaler=24-1 +TIM2.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1 +TIM2.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3 +TIM2.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation3 CH3,Period,Pulse-PWM Generation1 CH1,Pulse-PWM Generation3 CH3,Prescaler +TIM2.Period=10000 +TIM2.Prescaler=24 +TIM2.Pulse-PWM\ Generation1\ CH1=5000 +TIM2.Pulse-PWM\ Generation3\ CH3=5000 +TIM3.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE +TIM3.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4 +TIM3.IPParameters=Channel-PWM Generation4 CH4,Prescaler,Period,AutoReloadPreload +TIM3.Period=10000-1 +TIM3.Prescaler=24-1 +UART7.BaudRate=921600 +UART7.IPParameters=BaudRate +USART1.BaudRate=921600 +USART1.IPParameters=VirtualMode-Asynchronous,BaudRate +USART1.VirtualMode-Asynchronous=VM_ASYNC +USART10.BaudRate=921600 +USART10.IPParameters=VirtualMode,BaudRate +USART10.VirtualMode=VM_ASYNC +USART2.BaudRate=921600 +USART2.IPParameters=VirtualMode-Asynchronous,VirtualMode-Hardware Flow Control (RS485),BaudRate +USART2.VirtualMode-Asynchronous=VM_ASYNC +USART2.VirtualMode-Hardware\ Flow\ Control\ (RS485)=VM_ASYNC +USART3.BaudRate=921600 +USART3.IPParameters=VirtualMode-Asynchronous,VirtualMode-Hardware Flow Control (RS485),BaudRate +USART3.VirtualMode-Asynchronous=VM_ASYNC +USART3.VirtualMode-Hardware\ Flow\ Control\ (RS485)=VM_ASYNC +USB_OTG_HS.IPParameters=VirtualMode-Device_Only_FS +USB_OTG_HS.VirtualMode-Device_Only_FS=Device_Only_FS +VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2 +VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2 +VP_MEMORYMAP_VS_MEMORYMAP.Mode=CurAppReg +VP_MEMORYMAP_VS_MEMORYMAP.Signal=MEMORYMAP_VS_MEMORYMAP +VP_OCTOSPI1_VS_octo.Mode=octo_mode +VP_OCTOSPI1_VS_octo.Signal=OCTOSPI1_VS_octo +VP_SYS_VS_tim23.Mode=TIM23 +VP_SYS_VS_tim23.Signal=SYS_VS_tim23 +board=custom diff --git a/Core/Inc/bdma.h b/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc/usbd_cdc_if_template.h similarity index 53% rename from Core/Inc/bdma.h rename to Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc/usbd_cdc_if_template.h index adb2fc9..6a1c0ab 100644 --- a/Core/Inc/bdma.h +++ b/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc/usbd_cdc_if_template.h @@ -1,52 +1,43 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * @file bdma.h - * @brief This file contains all the function prototypes for - * the bdma.c file - ****************************************************************************** - * @attention - * - * Copyright (c) 2026 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 __BDMA_H__ -#define __BDMA_H__ - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "main.h" - -/* DMA memory to memory transfer handles -------------------------------------*/ - -/* USER CODE BEGIN Includes */ - -/* USER CODE END Includes */ - -/* USER CODE BEGIN Private defines */ - -/* USER CODE END Private defines */ - -void MX_BDMA_Init(void); - -/* USER CODE BEGIN Prototypes */ - -/* USER CODE END Prototypes */ - -#ifdef __cplusplus -} -#endif - -#endif /* __BDMA_H__ */ - +/** + ****************************************************************************** + * @file usbd_cdc_if_template.h + * @author MCD Application Team + * @brief Header for usbd_cdc_if_template.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_CDC_IF_TEMPLATE_H +#define __USBD_CDC_IF_TEMPLATE_H + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "usbd_cdc.h" + +/* Exported types ------------------------------------------------------------*/ +/* Exported constants --------------------------------------------------------*/ + +extern USBD_CDC_ItfTypeDef USBD_CDC_Template_fops; + +/* Exported macro ------------------------------------------------------------*/ +/* Exported functions ------------------------------------------------------- */ + +#ifdef __cplusplus +} +#endif + +#endif /* __USBD_CDC_IF_TEMPLATE_H */ + diff --git a/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc_if_template.c b/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc_if_template.c new file mode 100644 index 0000000..df16834 --- /dev/null +++ b/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc_if_template.c @@ -0,0 +1,247 @@ +/** + ****************************************************************************** + * @file usbd_cdc_if_template.c + * @author MCD Application Team + * @brief Generic media access Layer. + ****************************************************************************** + * @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. + * + ****************************************************************************** + */ + +/* BSPDependencies +- "stm32xxxxx_{eval}{discovery}{nucleo_144}.c" +- "stm32xxxxx_{eval}{discovery}_io.c" +EndBSPDependencies */ + +/* Includes ------------------------------------------------------------------*/ +#include "usbd_cdc_if_template.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 int8_t TEMPLATE_Init(void); +static int8_t TEMPLATE_DeInit(void); +static int8_t TEMPLATE_Control(uint8_t cmd, uint8_t *pbuf, uint16_t length); +static int8_t TEMPLATE_Receive(uint8_t *pbuf, uint32_t *Len); +static int8_t TEMPLATE_TransmitCplt(uint8_t *pbuf, uint32_t *Len, uint8_t epnum); + +USBD_CDC_ItfTypeDef USBD_CDC_Template_fops = +{ + TEMPLATE_Init, + TEMPLATE_DeInit, + TEMPLATE_Control, + TEMPLATE_Receive, + TEMPLATE_TransmitCplt +}; + +USBD_CDC_LineCodingTypeDef linecoding = +{ + 115200, /* baud rate*/ + 0x00, /* stop bits-1*/ + 0x00, /* parity - none*/ + 0x08 /* nb. of bits 8*/ +}; + +/* Private functions ---------------------------------------------------------*/ + +/** + * @brief TEMPLATE_Init + * Initializes the CDC media low layer + * @param None + * @retval Result of the operation: USBD_OK if all operations are OK else USBD_FAIL + */ +static int8_t TEMPLATE_Init(void) +{ + /* + Add your initialization code here + */ + return (0); +} + +/** + * @brief TEMPLATE_DeInit + * DeInitializes the CDC media low layer + * @param None + * @retval Result of the operation: USBD_OK if all operations are OK else USBD_FAIL + */ +static int8_t TEMPLATE_DeInit(void) +{ + /* + Add your deinitialization code here + */ + return (0); +} + + +/** + * @brief TEMPLATE_Control + * Manage the CDC class requests + * @param Cmd: Command code + * @param Buf: Buffer containing command data (request parameters) + * @param Len: 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 TEMPLATE_Control(uint8_t cmd, uint8_t *pbuf, uint16_t length) +{ + UNUSED(length); + + switch (cmd) + { + case CDC_SEND_ENCAPSULATED_COMMAND: + /* Add your code here */ + break; + + case CDC_GET_ENCAPSULATED_RESPONSE: + /* Add your code here */ + break; + + case CDC_SET_COMM_FEATURE: + /* Add your code here */ + break; + + case CDC_GET_COMM_FEATURE: + /* Add your code here */ + break; + + case CDC_CLEAR_COMM_FEATURE: + /* Add your code here */ + break; + + case CDC_SET_LINE_CODING: + linecoding.bitrate = (uint32_t)(pbuf[0] | (pbuf[1] << 8) | \ + (pbuf[2] << 16) | (pbuf[3] << 24)); + linecoding.format = pbuf[4]; + linecoding.paritytype = pbuf[5]; + linecoding.datatype = pbuf[6]; + + /* Add your code here */ + break; + + case CDC_GET_LINE_CODING: + pbuf[0] = (uint8_t)(linecoding.bitrate); + pbuf[1] = (uint8_t)(linecoding.bitrate >> 8); + pbuf[2] = (uint8_t)(linecoding.bitrate >> 16); + pbuf[3] = (uint8_t)(linecoding.bitrate >> 24); + pbuf[4] = linecoding.format; + pbuf[5] = linecoding.paritytype; + pbuf[6] = linecoding.datatype; + + /* Add your code here */ + break; + + case CDC_SET_CONTROL_LINE_STATE: + /* Add your code here */ + break; + + case CDC_SEND_BREAK: + /* Add your code here */ + break; + + default: + break; + } + + return (0); +} + +/** + * @brief TEMPLATE_Receive + * 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 TEMPLATE_Receive(uint8_t *Buf, uint32_t *Len) +{ + UNUSED(Buf); + UNUSED(Len); + + return (0); +} + +/** + * @brief TEMPLATE_TransmitCplt + * 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 TEMPLATE_TransmitCplt(uint8_t *Buf, uint32_t *Len, uint8_t epnum) +{ + UNUSED(Buf); + UNUSED(Len); + UNUSED(epnum); + + return (0); +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + diff --git a/Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_conf_template.h b/Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_conf_template.h new file mode 100644 index 0000000..8d61e7a --- /dev/null +++ b/Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_conf_template.h @@ -0,0 +1,230 @@ +/** + ****************************************************************************** + * @file usbd_conf_template.h + * @author MCD Application Team + * @brief Header file for the usbd_conf_template.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_CONF_TEMPLATE_H +#define __USBD_CONF_TEMPLATE_H + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32fxxx.h" /* replace 'stm32xxx' with your HAL driver header filename, ex: stm32f4xx.h */ +#include +#include +#include + +/** @addtogroup STM32_USB_DEVICE_LIBRARY + * @{ + */ + +/** @defgroup USBD_CONF + * @brief USB device low level driver configuration file + * @{ + */ + +/** @defgroup USBD_CONF_Exported_Defines + * @{ + */ + +#define USBD_MAX_NUM_INTERFACES 1U +#define USBD_MAX_NUM_CONFIGURATION 1U +#define USBD_MAX_STR_DESC_SIZ 0x100U +#define USBD_SELF_POWERED 1U +#define USBD_DEBUG_LEVEL 2U +/* #define USBD_USER_REGISTER_CALLBACK 1U */ + +/* ECM, RNDIS, DFU Class Config */ +#define USBD_SUPPORT_USER_STRING_DESC 1U + +/* BillBoard Class Config */ +#define USBD_CLASS_USER_STRING_DESC 1U +#define USBD_CLASS_BOS_ENABLED 1U +#define USB_BB_MAX_NUM_ALT_MODE 0x2U + +/* MSC Class Config */ +#define MSC_MEDIA_PACKET 8192U + +/* CDC Class Config */ +#define USBD_CDC_INTERVAL 2000U + +/* DFU Class Config */ +/* #define USBD_DFU_VENDOR_CMD_ENABLED 1U */ +/* #define USBD_DFU_VENDOR_EXIT_ENABLED 1U */ +#define USBD_DFU_MAX_ITF_NUM 1U +#define USBD_DFU_XFERS_IZE 1024U + +/* AUDIO Class Config */ +#define USBD_AUDIO_FREQ 22100U + +/* CustomHID Class Config */ +#define CUSTOM_HID_HS_BINTERVAL 0x05U +#define CUSTOM_HID_FS_BINTERVAL 0x05U +#define USBD_CUSTOMHID_OUTREPORT_BUF_SIZE 0x02U +#define USBD_CUSTOM_HID_REPORT_DESC_SIZE 163U + +/* #define USBD_CUSTOMHID_CTRL_REQ_GET_REPORT_ENABLED */ +/* #define USBD_CUSTOMHID_OUT_PREPARE_RECEIVE_DISABLED */ +/* #define USBD_CUSTOMHID_EP0_OUT_PREPARE_RECEIVE_DISABLED */ +/* #define USBD_CUSTOMHID_CTRL_REQ_COMPLETE_CALLBACK_ENABLED */ + +/* VIDEO Class Config */ +#define UVC_1_1 /* #define UVC_1_0 */ + +/* To be used only with YUY2 and NV12 Video format, shouldn't be defined for MJPEG format */ +#define USBD_UVC_FORMAT_UNCOMPRESSED + +#ifdef USBD_UVC_FORMAT_UNCOMPRESSED +#define UVC_BITS_PER_PIXEL 12U +#define UVC_UNCOMPRESSED_GUID UVC_GUID_NV12 /* UVC_GUID_YUY2 */ + +/* refer to Table 3-18 Color Matching Descriptor video class v1.1 */ +#define UVC_COLOR_PRIMARIE 0x01U +#define UVC_TFR_CHARACTERISTICS 0x01U +#define UVC_MATRIX_COEFFICIENTS 0x04U +#endif /* USBD_UVC_FORMAT_UNCOMPRESSED */ + +/* Video Stream frame width and height */ +#define UVC_WIDTH 176U +#define UVC_HEIGHT 144U + +/* bEndpointAddress in Endpoint Descriptor */ +#define UVC_IN_EP 0x81U + +#define UVC_CAM_FPS_FS 10U +#define UVC_CAM_FPS_HS 5U + +#define UVC_ISO_FS_MPS 512U +#define UVC_ISO_HS_MPS 512U + +#define UVC_PACKET_SIZE UVC_ISO_FS_MPS +/* To be used with Device Only IP supporting double buffer mode */ +/* #define UVC_HEADER_PACKET_CNT 0x02U */ +/* #define UVC_PACKET_SIZE (UVC_ISO_FS_MPS * UVC_HEADER_PACKET_CNT) */ + +#define UVC_MAX_FRAME_SIZE (UVC_WIDTH * UVC_HEIGHT * 16U / 8U) + +/** @defgroup USBD_Exported_Macros + * @{ + */ + +/* 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 > 0U) +#define USBD_UsrLog(...) do { \ + printf(__VA_ARGS__); \ + printf("\n"); \ + } while (0) +#else +#define USBD_UsrLog(...) do {} while (0) +#endif /* (USBD_DEBUG_LEVEL > 0U) */ + +#if (USBD_DEBUG_LEVEL > 1U) + +#define USBD_ErrLog(...) do { \ + printf("ERROR: ") ; \ + printf(__VA_ARGS__); \ + printf("\n"); \ + } while (0) +#else +#define USBD_ErrLog(...) do {} while (0) +#endif /* (USBD_DEBUG_LEVEL > 1U) */ + +#if (USBD_DEBUG_LEVEL > 2U) +#define USBD_DbgLog(...) do { \ + printf("DEBUG : ") ; \ + printf(__VA_ARGS__); \ + printf("\n"); \ + } while (0) +#else +#define USBD_DbgLog(...) do {} while (0) +#endif /* (USBD_DEBUG_LEVEL > 2U) */ + +/** + * @} + */ + + + +/** + * @} + */ + + +/** @defgroup USBD_CONF_Exported_Types + * @{ + */ +/** + * @} + */ + + +/** @defgroup USBD_CONF_Exported_Macros + * @{ + */ +/** + * @} + */ + +/** @defgroup USBD_CONF_Exported_Variables + * @{ + */ +/** + * @} + */ + +/** @defgroup USBD_CONF_Exported_FunctionsPrototype + * @{ + */ +/* Exported functions -------------------------------------------------------*/ +void *USBD_static_malloc(uint32_t size); +void USBD_static_free(void *p); +/** + * @} + */ + +#ifdef __cplusplus +} +#endif + +#endif /* __USBD_CONF_TEMPLATE_H */ + + +/** + * @} + */ + +/** + * @} + */ diff --git a/Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_desc_template.h b/Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_desc_template.h new file mode 100644 index 0000000..e392305 --- /dev/null +++ b/Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_desc_template.h @@ -0,0 +1,61 @@ +/** + ****************************************************************************** + * @file usbd_desc_template.h + * @author MCD Application Team + * @brief Header for usbd_desc_template.c module + ****************************************************************************** + * @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_DESC_TEMPLATE_H +#define __USBD_DESC_TEMPLATE_H + +/* Includes ------------------------------------------------------------------*/ +#include "usbd_def.h" + +/* Exported types ------------------------------------------------------------*/ +/* Exported constants --------------------------------------------------------*/ +#define DEVICE_ID1 (UID_BASE) +#define DEVICE_ID2 (UID_BASE + 0x4U) +#define DEVICE_ID3 (UID_BASE + 0x8U) + +/* + * USB Billboard Class USER string desc Defines Template + * index should start form 0x10 to avoid using the reserved device string desc indexes + */ +#if (USBD_CLASS_USER_STRING_DESC == 1) +#define USBD_BB_IF_STRING_INDEX 0x10U +#define USBD_BB_URL_STRING_INDEX 0x11U +#define USBD_BB_ALTMODE0_STRING_INDEX 0x12U +#define USBD_BB_ALTMODE1_STRING_INDEX 0x13U +/* Add Specific USER string Desc */ +#define USBD_BB_IF_STR_DESC (uint8_t *)"STM32 BillBoard Interface" +#define USBD_BB_URL_STR_DESC (uint8_t *)"www.st.com" +#define USBD_BB_ALTMODE0_STR_DESC (uint8_t *)"STM32 Alternate0 Mode" +#define USBD_BB_ALTMODE1_STR_DESC (uint8_t *)"STM32 Alternate1 Mode" +#endif /* USBD_CLASS_USER_STRING_DESC */ + +#define USB_SIZ_STRING_SERIAL 0x1AU + +#if (USBD_LPM_ENABLED == 1) +#define USB_SIZ_BOS_DESC 0x0CU +#elif (USBD_CLASS_BOS_ENABLED == 1) +#define USB_SIZ_BOS_DESC 0x5DU +#endif /* USBD_LPM_ENABLED */ + +/* Exported macro ------------------------------------------------------------*/ +/* Exported functions ------------------------------------------------------- */ +extern USBD_DescriptorsTypeDef XXX_Desc; /* Replace 'XXX_Desc' with your active USB device class, ex: HID_Desc */ + +#endif /* __USBD_DESC_TEMPLATE_H*/ + diff --git a/Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_conf_template.c b/Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_conf_template.c new file mode 100644 index 0000000..74ff430 --- /dev/null +++ b/Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_conf_template.c @@ -0,0 +1,283 @@ +/** + ****************************************************************************** + * @file usbd_conf_template.c + * @author MCD Application Team + * @brief USB Device configuration and interface file + * This template should be copied to the user folder, + * renamed and customized following user needs. + ****************************************************************************** + * @attention + * + * Copyright (c) 2015 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "usbd_core.h" +#include "usbd_hid.h" /* Include class header file */ +/* Private typedef -----------------------------------------------------------*/ +/* Private define ------------------------------------------------------------*/ +/* Private macro -------------------------------------------------------------*/ +/* Private variables ---------------------------------------------------------*/ +/* Private function prototypes -----------------------------------------------*/ +/* Private functions ---------------------------------------------------------*/ +/** + * @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) +{ + UNUSED(pdev); + + 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) +{ + UNUSED(pdev); + + return USBD_OK; +} + +/** + * @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) +{ + UNUSED(pdev); + + return USBD_OK; +} + +/** + * @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) +{ + UNUSED(pdev); + + return USBD_OK; +} + +/** + * @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) +{ + UNUSED(pdev); + UNUSED(ep_addr); + UNUSED(ep_type); + UNUSED(ep_mps); + + return USBD_OK; +} + +/** + * @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) +{ + UNUSED(pdev); + UNUSED(ep_addr); + + return USBD_OK; +} + +/** + * @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) +{ + UNUSED(pdev); + UNUSED(ep_addr); + + return USBD_OK; +} + +/** + * @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) +{ + UNUSED(pdev); + UNUSED(ep_addr); + + return USBD_OK; +} + +/** + * @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) +{ + UNUSED(pdev); + UNUSED(ep_addr); + + return USBD_OK; +} + +/** + * @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) +{ + UNUSED(pdev); + UNUSED(ep_addr); + + return 0U; +} + +/** + * @brief Assigns a USB address to the device. + * @param pdev: Device handle + * @param dev_addr: Endpoint Number + * @retval USBD Status + */ +USBD_StatusTypeDef USBD_LL_SetUSBAddress(USBD_HandleTypeDef *pdev, + uint8_t dev_addr) +{ + UNUSED(pdev); + UNUSED(dev_addr); + + return USBD_OK; +} + +/** + * @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) +{ + UNUSED(pdev); + UNUSED(ep_addr); + UNUSED(pbuf); + UNUSED(size); + + return USBD_OK; +} + +/** + * @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) +{ + UNUSED(pdev); + UNUSED(ep_addr); + UNUSED(pbuf); + UNUSED(size); + + return USBD_OK; +} + +/** + * @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) +{ + UNUSED(pdev); + UNUSED(ep_addr); + + return 0U; +} + +#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) +{ + UNUSED(size); + static uint32_t mem[(sizeof(USBD_HID_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) +{ + UNUSED(p); +} + +/** + * @brief Delays routine for the USB Device Library. + * @param Delay: Delay in ms + * @retval None + */ +void USBD_LL_Delay(uint32_t Delay) +{ + UNUSED(Delay); +} + diff --git a/Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_desc_template.c b/Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_desc_template.c new file mode 100644 index 0000000..a9f995f --- /dev/null +++ b/Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_desc_template.c @@ -0,0 +1,454 @@ +/** + ****************************************************************************** + * @file usbd_desc_template.c + * @author MCD Application Team + * @brief This file provides the USBD descriptors and string formatting method. + * This template should be copied to the user folder, + * renamed and customized following user needs. + ****************************************************************************** + * @attention + * + * Copyright (c) 2015 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "usbd_core.h" +#include "usbd_desc.h" +#include "usbd_conf.h" + +/* Private typedef -----------------------------------------------------------*/ +/* Private define ------------------------------------------------------------*/ +#define USBD_VID 0x0483 +#define USBD_PID 0xaaaa /* Replace '0xaaaa' with your device product ID */ +#define USBD_LANGID_STRING 0xbbb /* Replace '0xbbb' with your device language ID */ +#define USBD_MANUFACTURER_STRING "xxxxx" /* Add your manufacturer string */ +#define USBD_PRODUCT_HS_STRING "xxxxx" /* Add your product High Speed string */ +#define USBD_PRODUCT_FS_STRING "xxxxx" /* Add your product Full Speed string */ +#define USBD_CONFIGURATION_HS_STRING "xxxxx" /* Add your configuration High Speed string */ +#define USBD_INTERFACE_HS_STRING "xxxxx" /* Add your Interface High Speed string */ +#define USBD_CONFIGURATION_FS_STRING "xxxxx" /* Add your configuration Full Speed string */ +#define USBD_INTERFACE_FS_STRING "xxxxx" /* Add your Interface Full Speed string */ + +/* Private macro -------------------------------------------------------------*/ +/* Private function prototypes -----------------------------------------------*/ +uint8_t *USBD_Class_DeviceDescriptor(USBD_SpeedTypeDef speed, uint16_t *length); +uint8_t *USBD_Class_LangIDStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length); +uint8_t *USBD_Class_ManufacturerStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length); +uint8_t *USBD_Class_ProductStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length); +uint8_t *USBD_Class_SerialStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length); +uint8_t *USBD_Class_ConfigStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length); +uint8_t *USBD_Class_InterfaceStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length); + +#if (USBD_CLASS_USER_STRING_DESC == 1) +uint8_t *USBD_Class_UserStrDescriptor(USBD_SpeedTypeDef speed, uint8_t idx, uint16_t *length); +#endif /* USB_CLASS_USER_STRING_DESC */ + +#if ((USBD_LPM_ENABLED == 1) || (USBD_CLASS_BOS_ENABLED == 1)) +uint8_t *USBD_USR_BOSDescriptor(USBD_SpeedTypeDef speed, uint16_t *length); +#endif /* (USBD_LPM_ENABLED == 1) || (USBD_CLASS_BOS_ENABLED == 1) */ + +/* Private variables ---------------------------------------------------------*/ +USBD_DescriptorsTypeDef Class_Desc = +{ + USBD_Class_DeviceDescriptor, + USBD_Class_LangIDStrDescriptor, + USBD_Class_ManufacturerStrDescriptor, + USBD_Class_ProductStrDescriptor, + USBD_Class_SerialStrDescriptor, + USBD_Class_ConfigStrDescriptor, + USBD_Class_InterfaceStrDescriptor, +#if (USBD_CLASS_USER_STRING_DESC == 1) + USBD_CLASS_UserStrDescriptor, +#endif /* USB_CLASS_USER_STRING_DESC */ + +#if ((USBD_LPM_ENABLED == 1) || (USBD_CLASS_BOS_ENABLED == 1)) + USBD_USR_BOSDescriptor, +#endif /* (USBD_LPM_ENABLED == 1) || (USBD_CLASS_BOS_ENABLED == 1) */ +}; + +/* USB Standard Device Descriptor */ +#if defined ( __ICCARM__ ) /*!< IAR Compiler */ +#pragma data_alignment=4 +#endif /* __ICCARM__ */ +__ALIGN_BEGIN uint8_t USBD_DeviceDesc[USB_LEN_DEV_DESC] __ALIGN_END = +{ + 0x12, /* bLength */ + USB_DESC_TYPE_DEVICE, /* bDescriptorType */ +#if ((USBD_LPM_ENABLED == 1) || (USBD_CLASS_BOS_ENABLED == 1)) + 0x01, /*bcdUSB */ /* changed to USB version 2.01 + in order to support BOS Desc */ +#else + 0x00, /* bcdUSB */ +#endif /* (USBD_LPM_ENABLED == 1) || (USBD_CLASS_BOS_ENABLED == 1) */ + 0x02, + 0x00, /* bDeviceClass */ + 0x00, /* bDeviceSubClass */ + 0x00, /* bDeviceProtocol */ + USB_MAX_EP0_SIZE, /* bMaxPacketSize */ + LOBYTE(USBD_VID), /* idVendor */ + HIBYTE(USBD_VID), /* idVendor */ + LOBYTE(USBD_PID), /* idVendor */ + HIBYTE(USBD_PID), /* idVendor */ + 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 */ + + +/* USB Device LPM BOS descriptor */ +#if (USBD_LPM_ENABLED == 1) +#if defined ( __ICCARM__ ) /*!< IAR Compiler */ +#pragma data_alignment=4 +#endif /* __ICCARM__ */ +__ALIGN_BEGIN uint8_t USBD_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, + 0x6, /*LPM capability bit set */ + 0x0, + 0x0, + 0x0 +}; +#endif /* USBD_LPM_ENABLED */ + +/* USB Device Billboard BOS descriptor Template */ +#if (USBD_CLASS_BOS_ENABLED == 1) +#if defined ( __ICCARM__ ) /*!< IAR Compiler */ +#pragma data_alignment=4 +#endif /* __ICCARM__ */ +__ALIGN_BEGIN uint8_t USBD_BOSDesc[USB_SIZ_BOS_DESC] __ALIGN_END = +{ + 0x05, /* bLength */ + USB_DESC_TYPE_BOS, /* Device Descriptor Type */ + USB_SIZ_BOS_DESC, /* Total length of BOS descriptor and all of its sub descs */ + 0x00, + 0x04, /* The number of separate device capability descriptors in the BOS */ + + /* ----------- Device Capability Descriptor: CONTAINER_ID ---------- */ + 0x14, /* bLength */ + 0x10, /* bDescriptorType: DEVICE CAPABILITY Type */ + 0x04, /* bDevCapabilityType: CONTAINER_ID */ + 0x00, /* bReserved */ + 0xa7, 0xd6, 0x1b, 0xfa, /* ContainerID: This is a Unique 128-bit number GUID */ + 0x91, 0xa6, 0xa8, 0x4e, + 0xa8, 0x21, 0x9f, 0x2b, + 0xaf, 0xf7, 0x94, 0xd4, + + /* ----------- Device Capability Descriptor: BillBoard ---------- */ + 0x34, /* bLength */ + 0x10, /* bDescriptorType: DEVICE CAPABILITY Type */ + 0x0D, /* bDevCapabilityType: BILLBOARD_CAPABILITY */ + USBD_BB_URL_STRING_INDEX, /* iAddtionalInfoURL: Index of string descriptor providing a URL where the user + can go to get more detailed information about the product and the various + Alternate Modes it supports */ + + 0x02, /* bNumberOfAlternateModes: Number of Alternate modes supported. The + maximum value that this field can be set to is MAX_NUM_ALT_MODE. */ + + 0x00, /* bPreferredAlternateMode: Index of the preferred Alternate Mode. System + software may use this information to provide the user with a better + user experience. */ + + 0x00, 0x00, /* VCONN Power needed by the adapter for full functionality 000b = 1W */ + + 0x01, 0x00, 0x00, 0x00, /* bmConfigured. 01b: Alternate Mode configuration not attempted or exited */ + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, + 0x21, 0x01, /* bcdVersion = 0x0121 */ + 0x00, /* bAdditionalFailureInfo */ + 0x00, /* bReserved */ + LOBYTE(USBD_VID), + HIBYTE(USBD_VID), /* wSVID[0]: Standard or Vendor ID. This shall match one of the SVIDs + returned in response to a USB PD Discover SVIDs command */ + + 0x00, /* bAlternateMode[0] Index of the Alternate Mode within the SVID as + returned in response to a Discover Modes command. Example: + 0 first Mode entry + 1 second mode entry */ + + USBD_BB_ALTMODE0_STRING_INDEX, /* iAlternateModeString[0]: Index of string descriptor describing protocol. + It is optional to support this string. */ + LOBYTE(USBD_VID), + HIBYTE(USBD_VID), /* wSVID[1]: Standard or Vendor ID. This shall match one of the SVIDs + returned in response to a USB PD Discover SVIDs command */ + + 0x01, /* bAlternateMode[1] Index of the Alternate Mode within the SVID as + returned in response to a Discover Modes command. Example: + 0 first Mode entry + 1 second Mode entry */ + + USBD_BB_ALTMODE1_STRING_INDEX, /* iAlternateModeString[1]: Index of string descriptor describing protocol. + It is optional to support this string. */ + /* Alternate Mode Desc */ + /* ----------- Device Capability Descriptor: BillBoard Alternate Mode Desc ---------- */ + 0x08, /* bLength */ + 0x10, /* bDescriptorType: Device Descriptor Type */ + 0x0F, /* bDevCapabilityType: BILLBOARD ALTERNATE MODE CAPABILITY */ + 0x00, /* bIndex: Index of Alternate Mode described in the Billboard Capability Desc */ + 0x10, 0x00, 0x00, 0x00, /* dwAlternateModeVdo: contents of the Mode VDO for the alternate mode + identified by bIndex */ + + 0x08, /* bLength */ + 0x10, /* bDescriptorType: Device Descriptor Type */ + 0x0F, /* bDevCapabilityType: BILLBOARD ALTERNATE MODE CAPABILITY */ + 0x01, /* bIndex: Index of Alternate Mode described in the Billboard Capability Desc */ + 0x20, 0x00, 0x00, 0x00, /* dwAlternateModeVdo: contents of the Mode VDO for the alternate mode + identified by bIndex */ +}; +#endif /* USBD_CLASS_BOS_ENABLED */ + + +/* USB Standard Device Descriptor */ +#if defined ( __ICCARM__ ) /*!< IAR Compiler */ +#pragma data_alignment=4 +#endif /* __ICCARM__ */ +__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 /* __ICCARM__ */ +__ALIGN_BEGIN uint8_t USBD_StringSerial[USB_SIZ_STRING_SERIAL] = +{ + USB_SIZ_STRING_SERIAL, + USB_DESC_TYPE_STRING, +}; + +#if defined ( __ICCARM__ ) /*!< IAR Compiler */ +#pragma data_alignment=4 +#endif /* __ICCARM__ */ +__ALIGN_BEGIN uint8_t USBD_StrDesc[USBD_MAX_STR_DESC_SIZ] __ALIGN_END; + +/* Private functions ---------------------------------------------------------*/ +static void IntToUnicode(uint32_t value, uint8_t *pbuf, uint8_t len); +static void Get_SerialNum(void); + +/** + * @brief Returns the device descriptor. + * @param speed: Current device speed + * @param length: Pointer to data length variable + * @retval Pointer to descriptor buffer + */ +uint8_t *USBD_Class_DeviceDescriptor(USBD_SpeedTypeDef speed, uint16_t *length) +{ + UNUSED(speed); + + *length = sizeof(USBD_DeviceDesc); + return (uint8_t *)USBD_DeviceDesc; +} + +/** + * @brief Returns the LangID string descriptor. + * @param speed: Current device speed + * @param length: Pointer to data length variable + * @retval Pointer to descriptor buffer + */ +uint8_t *USBD_Class_LangIDStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length) +{ + UNUSED(speed); + + *length = sizeof(USBD_LangIDDesc); + return (uint8_t *)USBD_LangIDDesc; +} + +/** + * @brief Returns the product string descriptor. + * @param speed: Current device speed + * @param length: Pointer to data length variable + * @retval Pointer to descriptor buffer + */ +uint8_t *USBD_Class_ProductStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length) +{ + if (speed == USBD_SPEED_HIGH) + { + USBD_GetString((uint8_t *)USBD_PRODUCT_HS_STRING, USBD_StrDesc, length); + } + else + { + USBD_GetString((uint8_t *)USBD_PRODUCT_FS_STRING, USBD_StrDesc, length); + } + return USBD_StrDesc; +} + +/** + * @brief Returns the manufacturer string descriptor. + * @param speed: Current device speed + * @param length: Pointer to data length variable + * @retval Pointer to descriptor buffer + */ +uint8_t *USBD_Class_ManufacturerStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length) +{ + UNUSED(speed); + + USBD_GetString((uint8_t *)USBD_MANUFACTURER_STRING, USBD_StrDesc, length); + return USBD_StrDesc; +} + +/** + * @brief Returns 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_Class_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(); + + return (uint8_t *)USBD_StringSerial; +} + +/** + * @brief Returns the configuration string descriptor. + * @param speed: Current device speed + * @param length: Pointer to data length variable + * @retval Pointer to descriptor buffer + */ +uint8_t *USBD_Class_ConfigStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length) +{ + if (speed == USBD_SPEED_HIGH) + { + USBD_GetString((uint8_t *)USBD_CONFIGURATION_HS_STRING, USBD_StrDesc, length); + } + else + { + USBD_GetString((uint8_t *)USBD_CONFIGURATION_FS_STRING, USBD_StrDesc, length); + } + return USBD_StrDesc; +} + +/** + * @brief Returns the interface string descriptor. + * @param speed: Current device speed + * @param length: Pointer to data length variable + * @retval Pointer to descriptor buffer + */ +uint8_t *USBD_Class_InterfaceStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length) +{ + if (speed == USBD_SPEED_HIGH) + { + USBD_GetString((uint8_t *)USBD_INTERFACE_HS_STRING, USBD_StrDesc, length); + } + else + { + USBD_GetString((uint8_t *)USBD_INTERFACE_FS_STRING, USBD_StrDesc, length); + } + return USBD_StrDesc; +} + +/** + * @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 != 0U) + { + IntToUnicode(deviceserial0, &USBD_StringSerial[2], 8U); + IntToUnicode(deviceserial1, &USBD_StringSerial[18], 4U); + } +} + + +#if ((USBD_LPM_ENABLED == 1) || (USBD_CLASS_BOS_ENABLED == 1)) +/** + * @brief USBD_USR_BOSDescriptor + * return the BOS descriptor + * @param speed : current device speed + * @param length : pointer to data length variable + * @retval pointer to descriptor buffer + */ +uint8_t *USBD_USR_BOSDescriptor(USBD_SpeedTypeDef speed, uint16_t *length) +{ + *length = sizeof(USBD_BOSDesc); + return (uint8_t *)USBD_BOSDesc; +} +#endif /* (USBD_LPM_ENABLED == 1) || (USBD_CLASS_BOS_ENABLED == 1) */ + + +#if (USBD_CLASS_USER_STRING_DESC == 1) +/** + * @brief Returns the Class User string descriptor. + * @param speed: Current device speed + * @param idx: index of string descriptor + * @param length: Pointer to data length variable + * @retval Pointer to descriptor buffer + */ +uint8_t *USBD_Class_UserStrDescriptor(USBD_SpeedTypeDef speed, uint8_t idx, uint16_t *length) +{ + static uint8_t USBD_StrDesc[255]; + + return USBD_StrDesc; +} +#endif /* USBD_CLASS_USER_STRING_DESC */ + + +/** + * @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 = 0U; + + for (idx = 0U ; idx < len ; idx ++) + { + if (((value >> 28)) < 0xAU) + { + pbuf[ 2U * idx] = (value >> 28) + '0'; + } + else + { + pbuf[2U * idx] = (value >> 28) + 'A' - 10U; + } + + value = value << 4; + + pbuf[2U * idx + 1] = 0U; + } +} diff --git a/Middlewares/ST/STM32_USB_Device_Library/LICENSE.txt b/Middlewares/ST/STM32_USB_Device_Library/LICENSE.txt new file mode 100644 index 0000000..e66295c --- /dev/null +++ b/Middlewares/ST/STM32_USB_Device_Library/LICENSE.txt @@ -0,0 +1,86 @@ +This software component is provided to you as part of a software package and +applicable license terms are in the Package_license file. 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STMicroelectronics has no obligation to provide any maintenance, support or +updates for the software. + +7. The software is and will remain the exclusive property of STMicroelectronics +and its licensors. The recipient will not take any action that jeopardizes +STMicroelectronics and its licensors' proprietary rights or acquire any rights +in the software, except the limited rights specified hereunder. + +8. The recipient shall comply with all applicable laws and regulations affecting +the use of the software or any part thereof including any applicable export +control law or regulation. + +9. Redistribution and use of this software or any part thereof other than as +permitted under this license is void and will automatically terminate your +rights under this license. + +10. THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND +NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY RIGHTS, WHICH ARE +DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT SHALL +STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR +PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF +LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE +OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF +ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + +11. EXCEPT AS EXPRESSLY PERMITTED HEREUNDER, NO LICENSE OR OTHER RIGHTS, WHETHER +EXPRESS OR IMPLIED, ARE GRANTED UNDER ANY PATENT OR OTHER INTELLECTUAL PROPERTY +RIGHTS OF STMICROELECTRONICS OR ANY THIRD PARTY. + diff --git a/README.md b/README.md deleted file mode 100644 index f0ba573..0000000 --- a/README.md +++ /dev/null @@ -1,15 +0,0 @@ -# Balance Infantry - -这是一个平衡步兵机器人项目。 - -## 项目描述 - -待补充... - -## 使用方法 - -待补充... - -## 贡献 - -待补充... diff --git a/STM32H723XG_FLASH.ld b/STM32H723XG_FLASH.ld index dacf7cb..a1d75c7 100644 --- a/STM32H723XG_FLASH.ld +++ b/STM32H723XG_FLASH.ld @@ -66,8 +66,8 @@ FLASH (rx) : ORIGIN = 0x8000000, LENGTH = 1024K /* Highest address of the user mode stack */ _estack = ORIGIN(DTCMRAM) + LENGTH(DTCMRAM); /* end of RAM */ /* Generate a link error if heap and stack don't fit into RAM */ -_Min_Heap_Size = 0x200; /* required amount of heap */ -_Min_Stack_Size = 0x800; /* required amount of stack */ +_Min_Heap_Size = 0x1000; /* required amount of heap */ +_Min_Stack_Size = 0x2000; /* required amount of stack */ /* Define output sections */ SECTIONS diff --git a/User/bsp/bsp.h b/User/bsp/bsp.h new file mode 100644 index 0000000..1f8cbfd --- /dev/null +++ b/User/bsp/bsp.h @@ -0,0 +1,28 @@ +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ + +/* USER DEFINE BEGIN */ + +/* USER DEFINE END */ + +#define BSP_OK (0) +#define BSP_ERR (-1) +#define BSP_ERR_NULL (-2) +#define BSP_ERR_INITED (-3) +#define BSP_ERR_NO_DEV (-4) +#define BSP_ERR_TIMEOUT (-5) + +/* USER FUNCTION BEGIN */ + +/* USER FUNCTION END */ + +#ifdef __cplusplus +} +#endif diff --git a/User/bsp/bsp_config.yaml b/User/bsp/bsp_config.yaml new file mode 100644 index 0000000..0e7378d --- /dev/null +++ b/User/bsp/bsp_config.yaml @@ -0,0 +1,123 @@ +fdcan: + devices: + - instance: FDCAN1 + name: '1' + - instance: FDCAN2 + name: '2' + - instance: FDCAN3 + name: '3' + enabled: true +flash: + dual_bank: false + enabled: true + mcu_name: STM32H723VGTx + sectors: 8 +gpio: + configs: + - custom_name: LCD_BLK + has_exti: false + ioc_label: LCD_BLK + pin: PB10 + type: OUTPUT + - custom_name: LCD_RES + has_exti: false + ioc_label: LCD_RES + pin: PB11 + type: OUTPUT + - custom_name: DCMI_REST + has_exti: false + ioc_label: DCMI_REST + pin: PB12 + type: OUTPUT + - custom_name: ACCL_CS + has_exti: false + ioc_label: ACCL_CS + pin: PC0 + type: OUTPUT + - custom_name: POWER_24V_2 + has_exti: false + ioc_label: POWER_24V_2 + pin: PC13 + type: OUTPUT + - custom_name: POWER_24V_1 + has_exti: false + ioc_label: POWER_24V_1 + pin: PC14-OSC32_IN + type: OUTPUT + - custom_name: POWER_5V + has_exti: false + ioc_label: POWER_5V + pin: PC15-OSC32_OUT + type: OUTPUT + - custom_name: GYRO_CS + has_exti: false + ioc_label: GYRO_CS + pin: PC3_C + type: OUTPUT + - custom_name: DCMI_PWDN + has_exti: false + ioc_label: DCMI_PWDN + pin: PC5 + type: OUTPUT + - custom_name: LCD_DC + has_exti: false + ioc_label: LCD_DC + pin: PD10 + type: OUTPUT + - custom_name: ACCL_INT + has_exti: true + ioc_label: ACCL_INT + pin: PE10 + type: EXTI + - custom_name: GYRO_INT + has_exti: true + ioc_label: GYRO_INT + pin: PE12 + type: EXTI + - custom_name: LCD_CS + has_exti: false + ioc_label: LCD_CS + pin: PE15 + type: OUTPUT + enabled: true +mm: + enabled: true +pwm: + configs: + - channel: TIM_CHANNEL_1 + custom_name: TIM2_CH1 + label: TIM2_CH1 + timer: TIM2 + - channel: TIM_CHANNEL_3 + custom_name: TIM2_CH3 + label: TIM2_CH3 + timer: TIM2 + - channel: TIM_CHANNEL_4 + custom_name: TIM3_CH4 + label: TIM3_CH4 + timer: TIM3 + - channel: TIM_CHANNEL_2 + custom_name: TIM12_CH2 + label: TIM12_CH2 + timer: TIM12 + - channel: TIM_CHANNEL_3 + custom_name: TIM1_CH3 + label: TIM1_CH3 + timer: TIM1 + - channel: TIM_CHANNEL_1 + custom_name: TIM1_CH1 + label: TIM1_CH1 + timer: TIM1 + enabled: true +spi: + devices: + - instance: SPI2 + name: BMI088 + enabled: true +time: + enabled: true +uart: + devices: + - instance: USART1 + name: DR16 + enabled: true diff --git a/User/bsp/can.h b/User/bsp/can.h new file mode 100644 index 0000000..531f824 --- /dev/null +++ b/User/bsp/can.h @@ -0,0 +1,79 @@ +/** + * @file can.h + * @brief CAN兼容层 - 将CAN接口映射到FDCAN + * @note 本文件用于FDCAN兼容CAN接口，设备层代码可以继续使用BSP_CAN_xxx接口 + */ + +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ----------------------------------------------------------------- */ +#include "bsp/fdcan.h" + +/* 类型映射 */ +typedef BSP_FDCAN_t BSP_CAN_t; +typedef BSP_FDCAN_Callback_t BSP_CAN_Callback_t; +typedef BSP_FDCAN_Format_t BSP_CAN_Format_t; +typedef BSP_FDCAN_FrameType_t BSP_CAN_FrameType_t; +typedef BSP_FDCAN_Message_t BSP_CAN_Message_t; +typedef BSP_FDCAN_StdDataFrame_t BSP_CAN_StdDataFrame_t; +typedef BSP_FDCAN_ExtDataFrame_t BSP_CAN_ExtDataFrame_t; +typedef BSP_FDCAN_RemoteFrame_t BSP_CAN_RemoteFrame_t; +typedef BSP_FDCAN_IdParser_t BSP_CAN_IdParser_t; + +/* 常量映射 */ +#define BSP_CAN_MAX_DLC BSP_FDCAN_MAX_DLC +#define BSP_CAN_DEFAULT_QUEUE_SIZE BSP_FDCAN_DEFAULT_QUEUE_SIZE +#define BSP_CAN_TIMEOUT_IMMEDIATE BSP_FDCAN_TIMEOUT_IMMEDIATE +#define BSP_CAN_TIMEOUT_FOREVER BSP_FDCAN_TIMEOUT_FOREVER +#define BSP_CAN_TX_QUEUE_SIZE BSP_FDCAN_TX_QUEUE_SIZE + +/* 枚举值映射 */ +#define BSP_CAN_1 BSP_FDCAN_1 +#define BSP_CAN_2 BSP_FDCAN_2 +#define BSP_CAN_3 BSP_FDCAN_3 +#define BSP_CAN_NUM BSP_FDCAN_NUM +#define BSP_CAN_ERR BSP_FDCAN_ERR + +#define BSP_CAN_FORMAT_STD_DATA BSP_FDCAN_FORMAT_STD_DATA +#define BSP_CAN_FORMAT_EXT_DATA BSP_FDCAN_FORMAT_EXT_DATA +#define BSP_CAN_FORMAT_STD_REMOTE BSP_FDCAN_FORMAT_STD_REMOTE +#define BSP_CAN_FORMAT_EXT_REMOTE BSP_FDCAN_FORMAT_EXT_REMOTE + +#define BSP_CAN_FRAME_STD_DATA BSP_FDCAN_FRAME_STD_DATA +#define BSP_CAN_FRAME_EXT_DATA BSP_FDCAN_FRAME_EXT_DATA +#define BSP_CAN_FRAME_STD_REMOTE BSP_FDCAN_FRAME_STD_REMOTE +#define BSP_CAN_FRAME_EXT_REMOTE BSP_FDCAN_FRAME_EXT_REMOTE + +/* 函数映射 */ +#define BSP_CAN_Init() BSP_FDCAN_Init() +#define BSP_CAN_GetHandle(can) BSP_FDCAN_GetHandle(can) +#define BSP_CAN_RegisterCallback(can, type, callback) \ + BSP_FDCAN_RegisterCallback(can, type, callback) +#define BSP_CAN_Transmit(can, format, id, data, dlc) \ + BSP_FDCAN_Transmit(can, format, id, data, dlc) +#define BSP_CAN_TransmitStdDataFrame(can, frame) \ + BSP_FDCAN_TransmitStdDataFrame(can, frame) +#define BSP_CAN_TransmitExtDataFrame(can, frame) \ + BSP_FDCAN_TransmitExtDataFrame(can, frame) +#define BSP_CAN_TransmitRemoteFrame(can, frame) \ + BSP_FDCAN_TransmitRemoteFrame(can, frame) +#define BSP_CAN_RegisterId(can, can_id, queue_size) \ + BSP_FDCAN_RegisterId(can, can_id, queue_size) +#define BSP_CAN_GetMessage(can, can_id, msg, timeout) \ + BSP_FDCAN_GetMessage(can, can_id, msg, timeout) +#define BSP_CAN_GetQueueCount(can, can_id) \ + BSP_FDCAN_GetQueueCount(can, can_id) +#define BSP_CAN_FlushQueue(can, can_id) \ + BSP_FDCAN_FlushQueue(can, can_id) +#define BSP_CAN_RegisterIdParser(parser) \ + BSP_FDCAN_RegisterIdParser(parser) +#define BSP_CAN_ParseId(original_id, frame_type) \ + BSP_FDCAN_ParseId(original_id, frame_type) + +#ifdef __cplusplus +} +#endif diff --git a/User/bsp/fdcan.c b/User/bsp/fdcan.c new file mode 100644 index 0000000..6c6221f --- /dev/null +++ b/User/bsp/fdcan.c @@ -0,0 +1,576 @@ +/* Includes ----------------------------------------------------------------- */ +#include "fdcan.h" +#include "bsp/fdcan.h" +#include "bsp/bsp.h" +#include +#include +#include + +/* Private define ----------------------------------------------------------- */ +#define FDCAN_QUEUE_MUTEX_TIMEOUT 100 + +/* Private macro ------------------------------------------------------------ */ + +/* ===== FDCAN_FilterTypeDef 配置表 ===== + * 定义每个FDCAN实例的过滤器参数表。 + * 过滤器表参数说明： + * idx idtype ftype id1 id2 rxidx + * 过滤器编号 标识符类型 过滤器类型 过滤器ID1 过滤器ID2 接收缓冲区索引 + */ +#ifdef FDCAN1_EN + #define FDCAN1_FILTER_CONFIG_TABLE(X) \ + X(0, FDCAN_STANDARD_ID, FDCAN_FILTER_MASK, 0x000 , 0x000 , 0) \ + X(1, FDCAN_EXTENDED_ID, FDCAN_FILTER_MASK, 0x00000000, 0x00000000, 0) + #define FDCAN1_GLOBAL_FILTER FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE/* 全局过滤器参数（用于 HAL_FDCAN_ConfigGlobalFilter） */ +#endif +#ifdef FDCAN2_EN + #define FDCAN2_FILTER_CONFIG_TABLE(X) \ + X(0, FDCAN_STANDARD_ID, FDCAN_FILTER_MASK, 0x000 , 0x000 , 0) \ + X(1, FDCAN_EXTENDED_ID, FDCAN_FILTER_MASK, 0x00000000, 0x00000000, 0) + #define FDCAN2_GLOBAL_FILTER FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE/* 全局过滤器参数（用于 HAL_FDCAN_ConfigGlobalFilter） */ +#endif +#ifdef FDCAN3_EN + #define FDCAN3_FILTER_CONFIG_TABLE(X) \ + X(0, FDCAN_STANDARD_ID, FDCAN_FILTER_MASK, 0x000 , 0x000 , 0) \ + X(1, FDCAN_EXTENDED_ID, FDCAN_FILTER_MASK, 0x00000000, 0x00000000, 0) + #define FDCAN3_GLOBAL_FILTER FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE/* 全局过滤器参数（用于 HAL_FDCAN_ConfigGlobalFilter） */ +#endif + +/* ====宏展开实现==== */ +#define FDCAN_FILTER_TO_RXFIFO_ENUM_INNER(FIFOIndex) FDCAN_FILTER_TO_RXFIFO##FIFOIndex +#define FDCAN_FILTER_TO_RXFIFO_ENUM(FIFOIndex) FDCAN_FILTER_TO_RXFIFO_ENUM_INNER(FIFOIndex) +#define FDCAN_CONFIG_FILTER(idx, idtype, ftype, id1, id2, rxidx) \ + sFilterConfig.FilterIndex = (idx); \ + sFilterConfig.IdType = (idtype); \ + sFilterConfig.FilterType = (ftype); \ + sFilterConfig.FilterConfig = (FDCAN_FILTER_TO_RXFIFO_ENUM(FDCANX_RX_FIFO)); \ + sFilterConfig.FilterID1 = (id1); \ + sFilterConfig.FilterID2 = (id2); \ + sFilterConfig.RxBufferIndex = (rxidx); \ + HAL_FDCAN_ConfigFilter(&hfdcan, &sFilterConfig); + +#define FDCAN_NOTIFY_FLAG_RXFIFO_INNER(FIFO_IDX) FDCAN_IT_RX_FIFO##FIFO_IDX##_NEW_MESSAGE +#define FDCAN_NOTIFY_FLAG_RXFIFO(FIFO_IDX) FDCAN_NOTIFY_FLAG_RXFIFO_INNER(FIFO_IDX) +#define FDCANx_NOTIFY_FLAGS(FIFO_MACRO) (FDCAN_NOTIFY_FLAG_RXFIFO(FIFO_MACRO) | FDCAN_IT_TX_EVT_FIFO_NEW_DATA | FDCAN_IT_RAM_ACCESS_FAILURE) + +#define FDCANX_MSG_PENDING_CB_INNER(FIFO_IDX) HAL_FDCAN_RX_FIFO##FIFO_IDX##_MSG_PENDING_CB +#define FDCANX_MSG_PENDING_CB(FIFO_IDX) FDCANX_MSG_PENDING_CB_INNER(FIFO_IDX) +/* Private typedef ---------------------------------------------------------- */ +typedef struct BSP_FDCAN_QueueNode { + BSP_FDCAN_t fdcan; + uint32_t can_id; + osMessageQueueId_t queue; + uint8_t queue_size; + struct BSP_FDCAN_QueueNode *next; +} BSP_FDCAN_QueueNode_t; + +/* Private variables -------------------------------------------------------- */ +static BSP_FDCAN_QueueNode_t *queue_list = NULL; +static osMutexId_t queue_mutex = NULL; +static void (*FDCAN_Callback[BSP_FDCAN_NUM][HAL_FDCAN_CB_NUM])(void); +static bool inited = false; +static BSP_FDCAN_IdParser_t id_parser = NULL; +static BSP_FDCAN_TxQueue_t tx_queues[BSP_FDCAN_NUM]; +static const uint8_t fdcan_dlc2len[16] = {0,1,2,3,4,5,6,7,8,12,16,20,24,32,48,64}; + +/* Private function prototypes ---------------------------------------------- */ +static BSP_FDCAN_t FDCAN_Get(FDCAN_HandleTypeDef *hfdcan); +static osMessageQueueId_t BSP_FDCAN_FindQueue(BSP_FDCAN_t fdcan, uint32_t can_id); +static int8_t BSP_FDCAN_CreateIdQueue(BSP_FDCAN_t fdcan, uint32_t can_id, uint8_t queue_size); +static void BSP_FDCAN_RxFifo0Callback(void); +static void BSP_FDCAN_RxFifo1Callback(void); +static void BSP_FDCAN_TxCompleteCallback(void); +static BSP_FDCAN_FrameType_t BSP_FDCAN_GetFrameType(FDCAN_RxHeaderTypeDef *header); +static uint32_t BSP_FDCAN_DefaultIdParser(uint32_t original_id, BSP_FDCAN_FrameType_t frame_type); +static void BSP_FDCAN_TxQueueInit(BSP_FDCAN_t fdcan); +static bool BSP_FDCAN_TxQueuePush(BSP_FDCAN_t fdcan, BSP_FDCAN_TxMessage_t *msg); +static bool BSP_FDCAN_TxQueuePop(BSP_FDCAN_t fdcan, BSP_FDCAN_TxMessage_t *msg); +static bool BSP_FDCAN_TxQueueIsEmpty(BSP_FDCAN_t fdcan); + +/* Private functions -------------------------------------------------------- */ +static BSP_FDCAN_t FDCAN_Get(FDCAN_HandleTypeDef *hfdcan) { + if (hfdcan == NULL) return BSP_FDCAN_ERR; + if (hfdcan->Instance == FDCAN1) return BSP_FDCAN_1; + else if (hfdcan->Instance == FDCAN2) return BSP_FDCAN_2; + else if (hfdcan->Instance == FDCAN3) return BSP_FDCAN_3; + else return BSP_FDCAN_ERR; +} + +static osMessageQueueId_t BSP_FDCAN_FindQueue(BSP_FDCAN_t fdcan, uint32_t can_id) { + BSP_FDCAN_QueueNode_t *node = queue_list; + while (node != NULL) { + if (node->fdcan == fdcan && node->can_id == can_id) return node->queue; + node = node->next; + } + return NULL; +} + +static int8_t BSP_FDCAN_CreateIdQueue(BSP_FDCAN_t fdcan, uint32_t can_id, uint8_t queue_size) { + if (queue_size == 0) queue_size = BSP_FDCAN_DEFAULT_QUEUE_SIZE; + if (osMutexAcquire(queue_mutex, FDCAN_QUEUE_MUTEX_TIMEOUT) != osOK) return BSP_ERR_TIMEOUT; + BSP_FDCAN_QueueNode_t *node = queue_list; + while (node != NULL) { + if (node->fdcan == fdcan && node->can_id == can_id) { + osMutexRelease(queue_mutex); + return BSP_ERR; + } + node = node->next; + } + + BSP_FDCAN_QueueNode_t *new_node = (BSP_FDCAN_QueueNode_t *)BSP_Malloc(sizeof(BSP_FDCAN_QueueNode_t)); + if (new_node == NULL) { osMutexRelease(queue_mutex); return BSP_ERR_NULL; } + new_node->queue = osMessageQueueNew(queue_size, sizeof(BSP_FDCAN_Message_t), NULL); + if (new_node->queue == NULL) { BSP_Free(new_node); osMutexRelease(queue_mutex); return BSP_ERR; } + new_node->fdcan = fdcan; + new_node->can_id = can_id; + new_node->queue_size = queue_size; + new_node->next = queue_list; + queue_list = new_node; + osMutexRelease(queue_mutex); + return BSP_OK; +} + +static BSP_FDCAN_FrameType_t BSP_FDCAN_GetFrameType(FDCAN_RxHeaderTypeDef *header) { + if (header->RxFrameType == FDCAN_REMOTE_FRAME) { + return (header->IdType == FDCAN_EXTENDED_ID) ? BSP_FDCAN_FRAME_EXT_REMOTE : BSP_FDCAN_FRAME_STD_REMOTE; + } else { + return (header->IdType == FDCAN_EXTENDED_ID) ? BSP_FDCAN_FRAME_EXT_DATA : BSP_FDCAN_FRAME_STD_DATA; + } +} + +static uint32_t BSP_FDCAN_DefaultIdParser(uint32_t original_id, BSP_FDCAN_FrameType_t frame_type) { + (void)frame_type; + return original_id; +} + +static uint32_t BSP_FDCAN_EncodeDLC(uint8_t dlc) { + if (dlc <= 8) return dlc; + if (dlc <= 12) return FDCAN_DLC_BYTES_12; + if (dlc <= 16) return FDCAN_DLC_BYTES_16; + if (dlc <= 20) return FDCAN_DLC_BYTES_20; + if (dlc <= 24) return FDCAN_DLC_BYTES_24; + if (dlc <= 32) return FDCAN_DLC_BYTES_32; + if (dlc <= 48) return FDCAN_DLC_BYTES_48; + return FDCAN_DLC_BYTES_64; +} + +static void BSP_FDCAN_TxQueueInit(BSP_FDCAN_t fdcan) { + if (fdcan >= BSP_FDCAN_NUM) return; + tx_queues[fdcan].head = 0; + tx_queues[fdcan].tail = 0; +} + +static bool BSP_FDCAN_TxQueuePush(BSP_FDCAN_t fdcan, BSP_FDCAN_TxMessage_t *msg) { + if (fdcan >= BSP_FDCAN_NUM || msg == NULL) return false; + BSP_FDCAN_TxQueue_t *queue = &tx_queues[fdcan]; + uint32_t next_head = (queue->head + 1) % BSP_FDCAN_TX_QUEUE_SIZE; + if (next_head == queue->tail) return false; + queue->buffer[queue->head] = *msg; + queue->head = next_head; + return true; +} + +static bool BSP_FDCAN_TxQueuePop(BSP_FDCAN_t fdcan, BSP_FDCAN_TxMessage_t *msg) { + if (fdcan >= BSP_FDCAN_NUM || msg == NULL) return false; + BSP_FDCAN_TxQueue_t *queue = &tx_queues[fdcan]; + if (queue->head == queue->tail) return false; + *msg = queue->buffer[queue->tail]; + queue->tail = (queue->tail + 1) % BSP_FDCAN_TX_QUEUE_SIZE; + return true; +} + +static bool BSP_FDCAN_TxQueueIsEmpty(BSP_FDCAN_t fdcan) { + if (fdcan >= BSP_FDCAN_NUM) return true; + return tx_queues[fdcan].head == tx_queues[fdcan].tail; +} + +static void BSP_FDCAN_TxCompleteCallback(void) { + for (int i = 0; i < BSP_FDCAN_NUM; i++) { + BSP_FDCAN_t fdcan = (BSP_FDCAN_t)i; + FDCAN_HandleTypeDef *hfdcan = BSP_FDCAN_GetHandle(fdcan); + if (hfdcan == NULL) continue; + // 消费所有 TX EVENT FIFO 事件，防止堵塞 + FDCAN_TxEventFifoTypeDef tx_event; + while (HAL_FDCAN_GetTxEvent(hfdcan, &tx_event) == HAL_OK) { + // 可在此统计 MessageMarker、ID、时间戳等 + } + // 续写软件队列到硬件 FIFO + BSP_FDCAN_TxMessage_t msg; + while (!BSP_FDCAN_TxQueueIsEmpty(fdcan)) { + if (HAL_FDCAN_GetTxFifoFreeLevel(hfdcan) == 0) break; + if (!BSP_FDCAN_TxQueuePop(fdcan, &msg)) break; + HAL_StatusTypeDef res = HAL_FDCAN_AddMessageToTxFifoQ(hfdcan, &msg.header, msg.data); + if (res != HAL_OK) { + break; + } + } + } +} + +static void BSP_FDCAN_RxFifo0Callback(void) { + FDCAN_RxHeaderTypeDef rx_header; + uint8_t rx_data[BSP_FDCAN_MAX_DLC]; + for (int fdcan_idx = 0; fdcan_idx < BSP_FDCAN_NUM; fdcan_idx++) { + FDCAN_HandleTypeDef *hfdcan = BSP_FDCAN_GetHandle((BSP_FDCAN_t)fdcan_idx); + if (hfdcan == NULL) continue; + while (HAL_FDCAN_GetRxFifoFillLevel(hfdcan, FDCAN_RX_FIFO0) > 0) { + if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &rx_header, rx_data) == HAL_OK) { + uint32_t original_id = (rx_header.IdType == FDCAN_STANDARD_ID) ? rx_header.Identifier&0x7ff : rx_header.Identifier&0x1fffffff; + BSP_FDCAN_FrameType_t frame_type = BSP_FDCAN_GetFrameType(&rx_header); + uint32_t parsed_id = BSP_FDCAN_ParseId(original_id, frame_type); + osMessageQueueId_t queue = BSP_FDCAN_FindQueue((BSP_FDCAN_t)fdcan_idx, parsed_id); + if (queue != NULL) { + BSP_FDCAN_Message_t msg; + msg.frame_type = frame_type; + msg.original_id = original_id; + msg.parsed_id = parsed_id; + uint8_t real_len = fdcan_dlc2len[rx_header.DataLength & 0xF]; + msg.dlc = real_len; + if (msg.dlc > BSP_FDCAN_MAX_DLC) msg.dlc = BSP_FDCAN_MAX_DLC; + memset(msg.data, 0, BSP_FDCAN_MAX_DLC);//现在是最大缓冲区写法所以全清零 + memcpy(msg.data, rx_data, msg.dlc); + osMessageQueuePut(queue, &msg, 0, 0); + } + } else { + break; + } + } + } +} + +static void BSP_FDCAN_RxFifo1Callback(void) { + FDCAN_RxHeaderTypeDef rx_header; + uint8_t rx_data[BSP_FDCAN_MAX_DLC]; + for (int fdcan_idx = 0; fdcan_idx < BSP_FDCAN_NUM; fdcan_idx++) { + FDCAN_HandleTypeDef *hfdcan = BSP_FDCAN_GetHandle((BSP_FDCAN_t)fdcan_idx); + if (hfdcan == NULL) continue; + while (HAL_FDCAN_GetRxFifoFillLevel(hfdcan, FDCAN_RX_FIFO1) > 0) { + if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO1, &rx_header, rx_data) == HAL_OK) { + uint32_t original_id = (rx_header.IdType == FDCAN_STANDARD_ID) ? rx_header.Identifier&0x7ff : rx_header.Identifier&0x1fffffff; + BSP_FDCAN_FrameType_t frame_type = BSP_FDCAN_GetFrameType(&rx_header); + uint32_t parsed_id = BSP_FDCAN_ParseId(original_id, frame_type); + osMessageQueueId_t queue = BSP_FDCAN_FindQueue((BSP_FDCAN_t)fdcan_idx, parsed_id); + if (queue != NULL) { + BSP_FDCAN_Message_t msg; + msg.frame_type = frame_type; + msg.original_id = original_id; + msg.parsed_id = parsed_id; + uint8_t real_len = fdcan_dlc2len[rx_header.DataLength & 0xF]; + msg.dlc = real_len; + if (msg.dlc > BSP_FDCAN_MAX_DLC) msg.dlc = BSP_FDCAN_MAX_DLC; + memset(msg.data, 0, BSP_FDCAN_MAX_DLC);//现在是最大缓冲区写法所以全清零 + memcpy(msg.data, rx_data, msg.dlc); + osMessageQueuePut(queue, &msg, 0, 0); + } + } else { + break; + } + } + } +} + +/* HAL Callback Stubs (map HAL FDCAN callbacks to user callbacks) */ +void HAL_FDCAN_TxEventFifoCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t TxEventFifoITs) { + BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan); + if (bsp_fdcan != BSP_FDCAN_ERR) { + if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_EVENT_FIFO_CB]) + FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_EVENT_FIFO_CB](); + } +} + +void HAL_FDCAN_TxBufferCompleteCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t BufferIndex) { + BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan); + if (bsp_fdcan != BSP_FDCAN_ERR) { + if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_BUFFER_COMPLETE_CB]) + FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_BUFFER_COMPLETE_CB](); + } +} + +void HAL_FDCAN_TxBufferAbortCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t BufferIndex) { + BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan); + if (bsp_fdcan != BSP_FDCAN_ERR) { + if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_BUFFER_ABORT_CB]) + FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_BUFFER_ABORT_CB](); + } +} + +void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs) { + BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan); + if (bsp_fdcan != BSP_FDCAN_ERR) { + if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_RX_FIFO0_MSG_PENDING_CB]) + FDCAN_Callback[bsp_fdcan][HAL_FDCAN_RX_FIFO0_MSG_PENDING_CB](); + } +} + +void HAL_FDCAN_RxFifo1Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo1ITs) { + BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan); + if (bsp_fdcan != BSP_FDCAN_ERR) { + if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_RX_FIFO1_MSG_PENDING_CB]) + FDCAN_Callback[bsp_fdcan][HAL_FDCAN_RX_FIFO1_MSG_PENDING_CB](); + } +} + +void HAL_FDCAN_ErrorCallback(FDCAN_HandleTypeDef *hfdcan) { + BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan); + if (bsp_fdcan != BSP_FDCAN_ERR) { + if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_ERROR_CB]) + FDCAN_Callback[bsp_fdcan][HAL_FDCAN_ERROR_CB](); + } +} + +/* Exported functions ------------------------------------------------------- */ +int8_t BSP_FDCAN_Init(void) { + if (inited) return BSP_ERR_INITED; + + memset(FDCAN_Callback, 0, sizeof(FDCAN_Callback)); + for (int i = 0; i < BSP_FDCAN_NUM; i++) BSP_FDCAN_TxQueueInit((BSP_FDCAN_t)i); + id_parser = BSP_FDCAN_DefaultIdParser; + queue_mutex = osMutexNew(NULL); + if (queue_mutex == NULL) return BSP_ERR; + + inited = true; + + /* 配置并启动 FDCAN 实例，绑定中断/回调 */ + + //========== 过滤器配置说明：========================== + // 过滤器编号：相对于每个（相当于经典can过滤器的bank） + // sFilterConfig.FilterIndex = 0 to 127(标准ID) or 0 to 63(扩展ID); + // 关于过滤器索引的说明： + // 由stm32h7xx_hal_fdcan.c的第1874行代码可知滤波器地址计算方式如下： + // StandardFilterSA（字节） = SRAMCAN_BASE + (MessageRAMOffset * 4U) + // 标准滤波器物理地址（字节） = StandardFilterSA + (FilterIndex * 4U)（每个标准滤波器占 4 字节 = 1 word,扩展的则是8个字节） + // + // + // 标识符类型: + // sFilterConfig.IdType = FDCAN_STANDARD_ID or FDCAN_EXTENDED_ID; + // 过滤器类型: （仅介绍掩码模式） + // sFilterConfig.FilterType = FDCAN_FILTER_MASK;(掩码模式） + // 过滤器配置: + // sFilterConfig.FilterConfig = FDCAN_FILTER_DISABLE; (禁用该过滤器条目) + // FDCAN_FILTER_TO_RXFIFO0; (将匹配的消息放入 FIFO 0（普通优先级）) + // FDCAN_FILTER_TO_RXFIFO1; (将匹配的消息放入 FIFO 1（高优先级）) + // FDCAN_FILTER_TO_RXBUFFER; (将匹配的消息放入 指定的接收缓冲区) + // FDCAN_FILTER_REJECT; (拒绝接收该标识符对应的报文) + // FDCAN_FILTER_ACCEPT; (接受所有消息) + // FDCAN_FILTER_HP (过滤器匹配时，将报文标记为高优先级) + // FDCAN_FILTER_TO_RXFIFO0_HP (过滤器匹配时，将报文标记为高优先级并存储至接收FIFO 0) + // FDCAN_FILTER_TO_RXFIFO1_HP (过滤器匹配时，将报文标记为高优先级并存储至接收FIFO 1) + // FDCAN_FILTER_TO_RXBUFFER (将报文存储至接收缓冲区，过滤器类型（FilterType）配置项失效 ) + // 过滤器ID与掩码(FilterType掩码模式下) + // 比较值（要匹配的 ID 的参考位） + // sFilterConfig.FilterID1 = 0 to 0x7FF; 标准ID + // 0 to 0x1FFFFFFF 扩展ID + // 掩码（1=比较该位，0=忽略该位） + // sFilterConfig.FilterID2 = 0 to 0x7FF; 标准ID + // 0 to 0x1FFFFFFF 扩展ID + // 接收缓冲区索引 + // FilterConfig == FDCAN_FILTER_TO_RXBUFFER 时有效;必须小于RxBuffersNbr配置的实际Rx buffer数量 + // sFilterConfig.RxBufferIndex = 0 to (RxBuffersNbr - 1); + // 标记校准信息（用于 FDCAN 校准/时钟相关单元作特殊处理或统计） + // 仅在FilterConfig 设为 FDCAN_FILTER_TO_RXBUFFER 时才有意义，通常设置为0 + // IsCalibrationMsg = 0 or 1; + // fdcan_filter_table.h + //================================================================================= + /* 依据上述说明，配置过滤器并启动FDCAN */ + FDCAN_FilterTypeDef sFilterConfig; + +#ifdef FDCAN1_EN + #define hfdcan hfdcan1 + #define FDCANX_RX_FIFO FDCAN1_RX_FIFO + FDCAN1_FILTER_CONFIG_TABLE(FDCAN_CONFIG_FILTER) + #undef hfdcan + #undef FDCANX_RX_FIFO + HAL_FDCAN_ConfigGlobalFilter(&hfdcan1, FDCAN1_GLOBAL_FILTER); + HAL_FDCAN_ActivateNotification(&hfdcan1, FDCANx_NOTIFY_FLAGS(FDCAN1_RX_FIFO), 0); + BSP_FDCAN_RegisterCallback(BSP_FDCAN_1, FDCANX_MSG_PENDING_CB(FDCAN1_RX_FIFO), BSP_FDCAN_RxFifo0Callback); + BSP_FDCAN_RegisterCallback(BSP_FDCAN_1, HAL_FDCAN_TX_EVENT_FIFO_CB, BSP_FDCAN_TxCompleteCallback); + HAL_FDCAN_Start(&hfdcan1); +#endif + +#ifdef FDCAN2_EN + #define hfdcan hfdcan2 + #define FDCANX_RX_FIFO FDCAN2_RX_FIFO + FDCAN2_FILTER_CONFIG_TABLE(FDCAN_CONFIG_FILTER) + #undef hfdcan + #undef FDCANX_RX_FIFO + HAL_FDCAN_ConfigGlobalFilter(&hfdcan2, FDCAN2_GLOBAL_FILTER); + HAL_FDCAN_ActivateNotification(&hfdcan2, FDCANx_NOTIFY_FLAGS(FDCAN2_RX_FIFO), 0); + BSP_FDCAN_RegisterCallback(BSP_FDCAN_2, FDCANX_MSG_PENDING_CB(FDCAN2_RX_FIFO), BSP_FDCAN_RxFifo1Callback); + BSP_FDCAN_RegisterCallback(BSP_FDCAN_2, HAL_FDCAN_TX_EVENT_FIFO_CB, BSP_FDCAN_TxCompleteCallback); + HAL_FDCAN_Start(&hfdcan2); +#endif + +#ifdef FDCAN3_EN + #define hfdcan hfdcan3 + #define FDCANX_RX_FIFO FDCAN3_RX_FIFO + FDCAN3_FILTER_CONFIG_TABLE(FDCAN_CONFIG_FILTER) + #undef hfdcan + #undef FDCANX_RX_FIFO + HAL_FDCAN_ConfigGlobalFilter(&hfdcan3, FDCAN3_GLOBAL_FILTER); + HAL_FDCAN_ActivateNotification(&hfdcan3, FDCANx_NOTIFY_FLAGS(FDCAN3_RX_FIFO), 0); + BSP_FDCAN_RegisterCallback(BSP_FDCAN_3, FDCANX_MSG_PENDING_CB(FDCAN3_RX_FIFO), BSP_FDCAN_RxFifo1Callback); + BSP_FDCAN_RegisterCallback(BSP_FDCAN_3, HAL_FDCAN_TX_EVENT_FIFO_CB, BSP_FDCAN_TxCompleteCallback); + HAL_FDCAN_Start(&hfdcan3); +#endif + +#undef FDCAN_FILTER_TO_RXFIFO_ENUM_INNER +#undef FDCAN_FILTER_TO_RXFIFO_ENUM +#undef FDCAN_CONFIG_FILTER +#undef FDCAN_NOTIFY_FLAG_RXFIFO_INNER +#undef FDCAN_NOTIFY_FLAG_RXFIFO +#undef FDCANx_NOTIFY_FLAGS +#undef FDCANX_MSG_PENDING_CB_INNER +#undef FDCANX_MSG_PENDING_CB + + return BSP_OK; +} + +FDCAN_HandleTypeDef *BSP_FDCAN_GetHandle(BSP_FDCAN_t fdcan) { + if (fdcan >= BSP_FDCAN_NUM) return NULL; + switch (fdcan) { + /* AUTO GENERATED BSP_FDCAN_GET_HANDLE BEGIN */ + case BSP_FDCAN_1: return &hfdcan1; + case BSP_FDCAN_2: return &hfdcan2; + case BSP_FDCAN_3: return &hfdcan3; + /* AUTO GENERATED BSP_FDCAN_GET_HANDLE END */ + default: return NULL; + } +} + +int8_t BSP_FDCAN_RegisterCallback(BSP_FDCAN_t fdcan, BSP_FDCAN_Callback_t type, void (*callback)(void)) { + if (!inited) return BSP_ERR_INITED; + if (callback == NULL) return BSP_ERR_NULL; + if (fdcan >= BSP_FDCAN_NUM) return BSP_ERR; + if (type >= HAL_FDCAN_CB_NUM) return BSP_ERR; + FDCAN_Callback[fdcan][type] = callback; + return BSP_OK; +} + +int8_t BSP_FDCAN_Transmit(BSP_FDCAN_t fdcan, BSP_FDCAN_Format_t format, uint32_t id, uint8_t *data, uint8_t dlc) { + if (!inited) return BSP_ERR_INITED; + if (fdcan >= BSP_FDCAN_NUM) return BSP_ERR; + if (data == NULL && format != BSP_FDCAN_FORMAT_STD_REMOTE && format != BSP_FDCAN_FORMAT_EXT_REMOTE) return BSP_ERR_NULL; + if (dlc > BSP_FDCAN_MAX_DLC) return BSP_ERR; + FDCAN_HandleTypeDef *hfdcan = BSP_FDCAN_GetHandle(fdcan); + if (hfdcan == NULL) return BSP_ERR_NULL; + + BSP_FDCAN_TxMessage_t tx_msg = {0}; + switch (format) { + case BSP_FDCAN_FORMAT_STD_DATA: + tx_msg.header.Identifier = id; + tx_msg.header.IdType = FDCAN_STANDARD_ID; + tx_msg.header.TxFrameType = FDCAN_DATA_FRAME; + break; + case BSP_FDCAN_FORMAT_EXT_DATA: + tx_msg.header.Identifier = id; + tx_msg.header.IdType = FDCAN_EXTENDED_ID; + tx_msg.header.TxFrameType = FDCAN_DATA_FRAME; + break; + case BSP_FDCAN_FORMAT_STD_REMOTE: + tx_msg.header.Identifier = id; + tx_msg.header.IdType = FDCAN_STANDARD_ID; + tx_msg.header.TxFrameType = FDCAN_REMOTE_FRAME; + break; + case BSP_FDCAN_FORMAT_EXT_REMOTE: + tx_msg.header.Identifier = id; + tx_msg.header.IdType = FDCAN_EXTENDED_ID; + tx_msg.header.TxFrameType = FDCAN_REMOTE_FRAME; + break; + default: + return BSP_ERR; + } + switch (hfdcan->Init.FrameFormat) { + case FDCAN_FRAME_FD_BRS: + tx_msg.header.BitRateSwitch = FDCAN_BRS_ON; + tx_msg.header.FDFormat = FDCAN_FD_CAN; + break; + case FDCAN_FRAME_FD_NO_BRS: + tx_msg.header.BitRateSwitch = FDCAN_BRS_OFF; + tx_msg.header.FDFormat = FDCAN_FD_CAN; + break; + case FDCAN_FRAME_CLASSIC: + default: + tx_msg.header.BitRateSwitch = FDCAN_BRS_OFF; + tx_msg.header.FDFormat = FDCAN_CLASSIC_CAN; + break; + } + tx_msg.header.ErrorStateIndicator = FDCAN_ESI_ACTIVE; + tx_msg.header.TxEventFifoControl = FDCAN_STORE_TX_EVENTS; + tx_msg.header.MessageMarker = 0x01; + tx_msg.header.DataLength = BSP_FDCAN_EncodeDLC(dlc); + + memset(tx_msg.data, 0, dlc); + if (data != NULL && dlc > 0) {memcpy(tx_msg.data, data, dlc);} + + if (HAL_FDCAN_GetTxFifoFreeLevel(hfdcan) > 0) { + if (HAL_FDCAN_AddMessageToTxFifoQ(hfdcan, &tx_msg.header, tx_msg.data) == HAL_OK) return BSP_OK; + } + if (BSP_FDCAN_TxQueuePush(fdcan, &tx_msg)) return BSP_OK; + return BSP_ERR; +} + +int8_t BSP_FDCAN_TransmitStdDataFrame(BSP_FDCAN_t fdcan, BSP_FDCAN_StdDataFrame_t *frame) { + if (frame == NULL) return BSP_ERR_NULL; + return BSP_FDCAN_Transmit(fdcan, BSP_FDCAN_FORMAT_STD_DATA, frame->id, frame->data, frame->dlc); +} + +int8_t BSP_FDCAN_TransmitExtDataFrame(BSP_FDCAN_t fdcan, BSP_FDCAN_ExtDataFrame_t *frame) { + if (frame == NULL) return BSP_ERR_NULL; + return BSP_FDCAN_Transmit(fdcan, BSP_FDCAN_FORMAT_EXT_DATA, frame->id, frame->data, frame->dlc); +} + +int8_t BSP_FDCAN_TransmitRemoteFrame(BSP_FDCAN_t fdcan, BSP_FDCAN_RemoteFrame_t *frame) { + if (frame == NULL) return BSP_ERR_NULL; + BSP_FDCAN_Format_t format = frame->is_extended ? BSP_FDCAN_FORMAT_EXT_REMOTE : BSP_FDCAN_FORMAT_STD_REMOTE; + return BSP_FDCAN_Transmit(fdcan, format, frame->id, NULL, frame->dlc); +} + +int8_t BSP_FDCAN_RegisterId(BSP_FDCAN_t fdcan, uint32_t can_id, uint8_t queue_size) { + if (!inited) return BSP_ERR_INITED; + return BSP_FDCAN_CreateIdQueue(fdcan, can_id, queue_size); +} + +int8_t BSP_FDCAN_GetMessage(BSP_FDCAN_t fdcan, uint32_t can_id, BSP_FDCAN_Message_t *msg, uint32_t timeout) { + if (!inited) return BSP_ERR_INITED; + if (msg == NULL) return BSP_ERR_NULL; + if (osMutexAcquire(queue_mutex, FDCAN_QUEUE_MUTEX_TIMEOUT) != osOK) return BSP_ERR_TIMEOUT; + osMessageQueueId_t queue = BSP_FDCAN_FindQueue(fdcan, can_id); + osMutexRelease(queue_mutex); + if (queue == NULL) return BSP_ERR_NO_DEV; + osStatus_t res = osMessageQueueGet(queue, msg, NULL, timeout); + return (res == osOK) ? BSP_OK : BSP_ERR; +} + +int32_t BSP_FDCAN_GetQueueCount(BSP_FDCAN_t fdcan, uint32_t can_id) { + if (!inited) return -1; + if (osMutexAcquire(queue_mutex, FDCAN_QUEUE_MUTEX_TIMEOUT) != osOK) return -1; + osMessageQueueId_t queue = BSP_FDCAN_FindQueue(fdcan, can_id); + osMutexRelease(queue_mutex); + if (queue == NULL) return -1; + return (int32_t)osMessageQueueGetCount(queue); +} + +int8_t BSP_FDCAN_FlushQueue(BSP_FDCAN_t fdcan, uint32_t can_id) { + if (!inited) return BSP_ERR_INITED; + if (osMutexAcquire(queue_mutex, FDCAN_QUEUE_MUTEX_TIMEOUT) != osOK) return BSP_ERR_TIMEOUT; + osMessageQueueId_t queue = BSP_FDCAN_FindQueue(fdcan, can_id); + osMutexRelease(queue_mutex); + if (queue == NULL) return BSP_ERR_NO_DEV; + BSP_FDCAN_Message_t tmp; + while (osMessageQueueGet(queue, &tmp, NULL, BSP_FDCAN_TIMEOUT_IMMEDIATE) == osOK) { } + return BSP_OK; +} + +int8_t BSP_FDCAN_RegisterIdParser(BSP_FDCAN_IdParser_t parser) { + if (!inited) return BSP_ERR_INITED; + if (parser == NULL) return BSP_ERR_NULL; + id_parser = parser; + return BSP_OK; +} + +uint32_t BSP_FDCAN_ParseId(uint32_t original_id, BSP_FDCAN_FrameType_t frame_type) { + if (id_parser != NULL) return id_parser(original_id, frame_type); + return BSP_FDCAN_DefaultIdParser(original_id, frame_type); +} +/* */ + diff --git a/User/bsp/fdcan.h b/User/bsp/fdcan.h new file mode 100644 index 0000000..99ecd80 --- /dev/null +++ b/User/bsp/fdcan.h @@ -0,0 +1,137 @@ +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ----------------------------------------------------------------- */ +#include +#include +#include "bsp/bsp.h" +#include "bsp/mm.h" +#include + +/* USER INCLUDE BEGIN */ +#include +/* USER INCLUDE END */ + +/* Exported constants ------------------------------------------------------- */ +#define BSP_FDCAN_MAX_DLC 64 +#define BSP_FDCAN_DEFAULT_QUEUE_SIZE 10 +#define BSP_FDCAN_TIMEOUT_IMMEDIATE 0 +#define BSP_FDCAN_TIMEOUT_FOREVER osWaitForever +#define BSP_FDCAN_TX_QUEUE_SIZE 32 +/* Exported macro ----------------------------------------------------------- */ +//FDCANX实例使能 +/* AUTO GENERATED FDCAN_EN BEGIN */ +#define FDCAN1_EN +#define FDCAN2_EN +#define FDCAN3_EN +/* AUTO GENERATED FDCAN_EN END */ + +// FDCANX接收FIFO选择（0=FIFO0, 1=FIFO1） +/* AUTO GENERATED FDCAN_RX_FIFO BEGIN */ +#ifdef FDCAN1_EN + #define FDCAN1_RX_FIFO 0 +#endif +#ifdef FDCAN2_EN + #define FDCAN2_RX_FIFO 1 +#endif +#ifdef FDCAN3_EN + #define FDCAN3_RX_FIFO 1 +#endif +/* AUTO GENERATED FDCAN_RX_FIFO END */ +/* Exported types ----------------------------------------------------------- */ +typedef enum { + /* AUTO GENERATED BSP_FDCAN_NAME BEGIN */ + BSP_FDCAN_1, + BSP_FDCAN_2, + BSP_FDCAN_3, + /* AUTO GENERATED BSP_FDCAN_NAME END */ + BSP_FDCAN_NUM, + BSP_FDCAN_ERR, +} BSP_FDCAN_t; + +typedef enum { + HAL_FDCAN_TX_EVENT_FIFO_CB, + HAL_FDCAN_TX_BUFFER_COMPLETE_CB, + HAL_FDCAN_TX_BUFFER_ABORT_CB, + HAL_FDCAN_RX_FIFO0_MSG_PENDING_CB, + HAL_FDCAN_RX_FIFO0_FULL_CB, + HAL_FDCAN_RX_FIFO1_MSG_PENDING_CB, + HAL_FDCAN_RX_FIFO1_FULL_CB, + HAL_FDCAN_ERROR_CB, + HAL_FDCAN_CB_NUM, +} BSP_FDCAN_Callback_t; + +typedef enum { + BSP_FDCAN_FORMAT_STD_DATA, + BSP_FDCAN_FORMAT_EXT_DATA, + BSP_FDCAN_FORMAT_STD_REMOTE, + BSP_FDCAN_FORMAT_EXT_REMOTE, +} BSP_FDCAN_Format_t; + +typedef enum { + BSP_FDCAN_FRAME_STD_DATA, + BSP_FDCAN_FRAME_EXT_DATA, + BSP_FDCAN_FRAME_STD_REMOTE, + BSP_FDCAN_FRAME_EXT_REMOTE, +} BSP_FDCAN_FrameType_t; + +typedef struct { + BSP_FDCAN_FrameType_t frame_type; + uint32_t original_id; + uint32_t parsed_id; + uint8_t dlc; + uint8_t data[BSP_FDCAN_MAX_DLC]; + uint32_t timestamp; +} BSP_FDCAN_Message_t; + +typedef struct { + uint32_t id; + uint8_t dlc; + uint8_t data[BSP_FDCAN_MAX_DLC]; +} BSP_FDCAN_StdDataFrame_t; + +typedef struct { + uint32_t id; + uint8_t dlc; + uint8_t data[BSP_FDCAN_MAX_DLC]; +} BSP_FDCAN_ExtDataFrame_t; + +typedef struct { + uint32_t id; + uint8_t dlc; + bool is_extended; +} BSP_FDCAN_RemoteFrame_t; + +typedef uint32_t (*BSP_FDCAN_IdParser_t)(uint32_t original_id, BSP_FDCAN_FrameType_t frame_type); + +typedef struct { + FDCAN_TxHeaderTypeDef header; /* HAL FDCAN header type */ + uint8_t data[BSP_FDCAN_MAX_DLC]; +} BSP_FDCAN_TxMessage_t; + +typedef struct { + BSP_FDCAN_TxMessage_t buffer[BSP_FDCAN_TX_QUEUE_SIZE]; + volatile uint32_t head; + volatile uint32_t tail; +} BSP_FDCAN_TxQueue_t; + +/* Exported functions prototypes -------------------------------------------- */ +int8_t BSP_FDCAN_Init(void); +FDCAN_HandleTypeDef *BSP_FDCAN_GetHandle(BSP_FDCAN_t can); +int8_t BSP_FDCAN_RegisterCallback(BSP_FDCAN_t can, BSP_FDCAN_Callback_t type, void (*callback)(void)); +int8_t BSP_FDCAN_Transmit(BSP_FDCAN_t can, BSP_FDCAN_Format_t format, uint32_t id, uint8_t *data, uint8_t dlc); +int8_t BSP_FDCAN_TransmitStdDataFrame(BSP_FDCAN_t can, BSP_FDCAN_StdDataFrame_t *frame); +int8_t BSP_FDCAN_TransmitExtDataFrame(BSP_FDCAN_t can, BSP_FDCAN_ExtDataFrame_t *frame); +int8_t BSP_FDCAN_TransmitRemoteFrame(BSP_FDCAN_t can, BSP_FDCAN_RemoteFrame_t *frame); +int8_t BSP_FDCAN_RegisterId(BSP_FDCAN_t can, uint32_t can_id, uint8_t queue_size); +int8_t BSP_FDCAN_GetMessage(BSP_FDCAN_t can, uint32_t can_id, BSP_FDCAN_Message_t *msg, uint32_t timeout); +int32_t BSP_FDCAN_GetQueueCount(BSP_FDCAN_t can, uint32_t can_id); +int8_t BSP_FDCAN_FlushQueue(BSP_FDCAN_t can, uint32_t can_id); +int8_t BSP_FDCAN_RegisterIdParser(BSP_FDCAN_IdParser_t parser); +uint32_t BSP_FDCAN_ParseId(uint32_t original_id, BSP_FDCAN_FrameType_t frame_type); +#ifdef __cplusplus +} +#endif diff --git a/User/bsp/flash.c b/User/bsp/flash.c new file mode 100644 index 0000000..0771a1f --- /dev/null +++ b/User/bsp/flash.c @@ -0,0 +1,82 @@ +/* Includes ----------------------------------------------------------------- */ +#include "bsp/flash.h" + +#include +#include + +/* Private define ----------------------------------------------------------- */ +/* USER CODE BEGIN FLASH_MAX_SECTOR */ +#define BSP_FLASH_MAX_SECTOR 7 +/* USER CODE END FLASH_MAX_SECTOR */ + +/* Private macro ------------------------------------------------------------ */ +/* Private typedef ---------------------------------------------------------- */ +/* Private variables -------------------------------------------------------- */ +/* Private function -------------------------------------------------------- */ +/* Exported functions ------------------------------------------------------- */ + +void BSP_Flash_EraseSector(uint32_t sector) { + FLASH_EraseInitTypeDef flash_erase; + uint32_t sector_error; + + /* USER CODE BEGIN FLASH_ERASE_CHECK */ + if (sector > 0 && sector <= 7) { + /* USER CODE END FLASH_ERASE_CHECK */ + flash_erase.Sector = sector; + flash_erase.TypeErase = FLASH_TYPEERASE_SECTORS; + flash_erase.VoltageRange = FLASH_VOLTAGE_RANGE_3; + flash_erase.NbSectors = 1; +#if defined(STM32H7) + flash_erase.Banks = FLASH_BANK_1; // H7 requires Bank parameter +#endif + + HAL_FLASH_Unlock(); +#if defined(STM32H7) + while (FLASH_WaitForLastOperation(50, FLASH_BANK_1) != HAL_OK) + ; +#else + while (FLASH_WaitForLastOperation(50) != HAL_OK) + ; +#endif + HAL_FLASHEx_Erase(&flash_erase, §or_error); + HAL_FLASH_Lock(); + } + /* USER CODE BEGIN FLASH_ERASE_END */ + /* USER CODE END FLASH_ERASE_END */ +} + +void BSP_Flash_WriteBytes(uint32_t address, const uint8_t *buf, size_t len) { + HAL_FLASH_Unlock(); +#if defined(STM32H7) + // H7 uses FLASHWORD (32 bytes) programming + uint8_t flash_word[32] __attribute__((aligned(32))); + while (len > 0) { + size_t chunk = (len < 32) ? len : 32; + memset(flash_word, 0xFF, 32); + memcpy(flash_word, buf, chunk); + + while (FLASH_WaitForLastOperation(50, FLASH_BANK_1) != HAL_OK) + ; + HAL_FLASH_Program(FLASH_TYPEPROGRAM_FLASHWORD, address, (uint32_t)flash_word); + + address += 32; + buf += chunk; + len -= chunk; + } +#else + // F4/F7 use byte programming + while (len > 0) { + while (FLASH_WaitForLastOperation(50) != HAL_OK) + ; + HAL_FLASH_Program(FLASH_TYPEPROGRAM_BYTE, address, *buf); + address++; + buf++; + len--; + } +#endif + HAL_FLASH_Lock(); +} + +void BSP_Flash_ReadBytes(uint32_t address, void *buf, size_t len) { + memcpy(buf, (void *)address, len); +} diff --git a/User/bsp/flash.h b/User/bsp/flash.h new file mode 100644 index 0000000..e95f18f --- /dev/null +++ b/User/bsp/flash.h @@ -0,0 +1,46 @@ +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ------------------------------------------------------------------ */ +#include + +#include "bsp/bsp.h" + +/* Exported constants -------------------------------------------------------- */ +/* Base address of the Flash sectors */ +/* USER CODE BEGIN FLASH_SECTOR_DEFINES */ +#define ADDR_FLASH_SECTOR_0 ((uint32_t)0x08000000) +/* Base address of Sector 0, 128 Kbytes */ +#define ADDR_FLASH_SECTOR_1 ((uint32_t)0x08020000) +/* Base address of Sector 1, 128 Kbytes */ +#define ADDR_FLASH_SECTOR_2 ((uint32_t)0x08040000) +/* Base address of Sector 2, 128 Kbytes */ +#define ADDR_FLASH_SECTOR_3 ((uint32_t)0x08060000) +/* Base address of Sector 3, 128 Kbytes */ +#define ADDR_FLASH_SECTOR_4 ((uint32_t)0x08080000) +/* Base address of Sector 4, 128 Kbytes */ +#define ADDR_FLASH_SECTOR_5 ((uint32_t)0x080A0000) +/* Base address of Sector 5, 128 Kbytes */ +#define ADDR_FLASH_SECTOR_6 ((uint32_t)0x080C0000) +/* Base address of Sector 6, 128 Kbytes */ +#define ADDR_FLASH_SECTOR_7 ((uint32_t)0x080E0000) +/* Base address of Sector 7, 128 Kbytes */ +/* USER CODE END FLASH_SECTOR_DEFINES */ + +/* USER CODE BEGIN FLASH_END_ADDRESS */ +#define ADDR_FLASH_END ((uint32_t)0x08100000) /* End address for flash */ +/* USER CODE END FLASH_END_ADDRESS */ + +/* Exported macro ------------------------------------------------------------ */ +/* Exported types ------------------------------------------------------------ */ +/* Exported functions prototypes --------------------------------------------- */ +void BSP_Flash_EraseSector(uint32_t sector); +void BSP_Flash_WriteBytes(uint32_t address, const uint8_t *buf, size_t len); +void BSP_Flash_ReadBytes(uint32_t address, void *buf, size_t len); + +#ifdef __cplusplus +} +#endif diff --git a/User/bsp/gpio.c b/User/bsp/gpio.c new file mode 100644 index 0000000..8ec7c27 --- /dev/null +++ b/User/bsp/gpio.c @@ -0,0 +1,126 @@ +/* Includes ----------------------------------------------------------------- */ +#include "bsp/gpio.h" + +#include +#include + +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ + +/* Private define ----------------------------------------------------------- */ +/* USER DEFINE BEGIN */ + +/* USER DEFINE END */ + +/* Private macro ------------------------------------------------------------ */ +/* Private typedef ---------------------------------------------------------- */ +typedef struct { + uint16_t pin; + GPIO_TypeDef *gpio; +} BSP_GPIO_MAP_t; + +/* USER STRUCT BEGIN */ + +/* USER STRUCT END */ + +/* Private variables -------------------------------------------------------- */ +static const BSP_GPIO_MAP_t GPIO_Map[BSP_GPIO_NUM] = { + {LCD_BLK_Pin, LCD_BLK_GPIO_Port}, + {LCD_RES_Pin, LCD_RES_GPIO_Port}, + {DCMI_REST_Pin, DCMI_REST_GPIO_Port}, + {ACCL_CS_Pin, ACCL_CS_GPIO_Port}, + {POWER_24V_2_Pin, POWER_24V_2_GPIO_Port}, + {POWER_24V_1_Pin, POWER_24V_1_GPIO_Port}, + {POWER_5V_Pin, POWER_5V_GPIO_Port}, + {GYRO_CS_Pin, GYRO_CS_GPIO_Port}, + {DCMI_PWDN_Pin, DCMI_PWDN_GPIO_Port}, + {LCD_DC_Pin, LCD_DC_GPIO_Port}, + {ACCL_INT_Pin, ACCL_INT_GPIO_Port}, + {GYRO_INT_Pin, GYRO_INT_GPIO_Port}, + {LCD_CS_Pin, LCD_CS_GPIO_Port}, +}; + +static void (*GPIO_Callback[16])(void); + +/* Private function -------------------------------------------------------- */ +/* USER FUNCTION BEGIN */ + +/* USER FUNCTION END */ + +void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) { + for (uint8_t i = 0; i < 16; i++) { + if (GPIO_Pin & (1 << i)) { + if (GPIO_Callback[i]) { + GPIO_Callback[i](); + } + } + } +} + +/* Exported functions ------------------------------------------------------- */ +int8_t BSP_GPIO_RegisterCallback(BSP_GPIO_t gpio, void (*callback)(void)) { + if (callback == NULL) return BSP_ERR_NULL; + if (gpio >= BSP_GPIO_NUM) return BSP_ERR; + + // 从GPIO映射中获取对应的pin值 + uint16_t pin = GPIO_Map[gpio].pin; + + for (uint8_t i = 0; i < 16; i++) { + if (pin & (1 << i)) { + GPIO_Callback[i] = callback; + break; + } + } + return BSP_OK; +} + +int8_t BSP_GPIO_EnableIRQ(BSP_GPIO_t gpio) { + switch (gpio) { + case BSP_GPIO_ACCL_INT: +#if defined(ACCL_INT_EXTI_IRQn) + HAL_NVIC_EnableIRQ(ACCL_INT_EXTI_IRQn); +#endif + return BSP_OK; + case BSP_GPIO_GYRO_INT: +#if defined(GYRO_INT_EXTI_IRQn) + HAL_NVIC_EnableIRQ(GYRO_INT_EXTI_IRQn); +#endif + return BSP_OK; + default: + return BSP_ERR; + } +} + +int8_t BSP_GPIO_DisableIRQ(BSP_GPIO_t gpio) { + switch (gpio) { + case BSP_GPIO_ACCL_INT: +#if defined(ACCL_INT_EXTI_IRQn) + HAL_NVIC_DisableIRQ(ACCL_INT_EXTI_IRQn); +#endif + return BSP_OK; + case BSP_GPIO_GYRO_INT: +#if defined(GYRO_INT_EXTI_IRQn) + HAL_NVIC_DisableIRQ(GYRO_INT_EXTI_IRQn); +#endif + return BSP_OK; + default: + return BSP_ERR; + } +} +int8_t BSP_GPIO_WritePin(BSP_GPIO_t gpio, bool value){ + if (gpio >= BSP_GPIO_NUM) return BSP_ERR; + HAL_GPIO_WritePin(GPIO_Map[gpio].gpio, GPIO_Map[gpio].pin, value); + return BSP_OK; +} + +int8_t BSP_GPIO_TogglePin(BSP_GPIO_t gpio){ + if (gpio >= BSP_GPIO_NUM) return BSP_ERR; + HAL_GPIO_TogglePin(GPIO_Map[gpio].gpio, GPIO_Map[gpio].pin); + return BSP_OK; +} + +bool BSP_GPIO_ReadPin(BSP_GPIO_t gpio){ + if (gpio >= BSP_GPIO_NUM) return false; + return HAL_GPIO_ReadPin(GPIO_Map[gpio].gpio, GPIO_Map[gpio].pin) == GPIO_PIN_SET; +} \ No newline at end of file diff --git a/User/bsp/gpio.h b/User/bsp/gpio.h new file mode 100644 index 0000000..9b9e1fd --- /dev/null +++ b/User/bsp/gpio.h @@ -0,0 +1,59 @@ +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ----------------------------------------------------------------- */ +#include +#include + +#include "bsp/bsp.h" + +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ + +/* Exported constants ------------------------------------------------------- */ +/* Exported macro ----------------------------------------------------------- */ +/* USER DEFINE BEGIN */ + +/* USER DEFINE END */ + +/* Exported types ----------------------------------------------------------- */ +typedef enum { + BSP_GPIO_LCD_BLK, + BSP_GPIO_LCD_RES, + BSP_GPIO_DCMI_REST, + BSP_GPIO_ACCL_CS, + BSP_GPIO_POWER_24V_2, + BSP_GPIO_POWER_24V_1, + BSP_GPIO_POWER_5V, + BSP_GPIO_GYRO_CS, + BSP_GPIO_DCMI_PWDN, + BSP_GPIO_LCD_DC, + BSP_GPIO_ACCL_INT, + BSP_GPIO_GYRO_INT, + BSP_GPIO_LCD_CS, + BSP_GPIO_NUM, + BSP_GPIO_ERR, +} BSP_GPIO_t; + +/* Exported functions prototypes -------------------------------------------- */ +int8_t BSP_GPIO_RegisterCallback(BSP_GPIO_t gpio, void (*callback)(void)); + +int8_t BSP_GPIO_EnableIRQ(BSP_GPIO_t gpio); +int8_t BSP_GPIO_DisableIRQ(BSP_GPIO_t gpio); + +int8_t BSP_GPIO_WritePin(BSP_GPIO_t gpio, bool value); +int8_t BSP_GPIO_TogglePin(BSP_GPIO_t gpio); + +bool BSP_GPIO_ReadPin(BSP_GPIO_t gpio); + +/* USER FUNCTION BEGIN */ + +/* USER FUNCTION END */ + +#ifdef __cplusplus +} +#endif \ No newline at end of file diff --git a/User/bsp/mm.c b/User/bsp/mm.c new file mode 100644 index 0000000..13d20c0 --- /dev/null +++ b/User/bsp/mm.c @@ -0,0 +1,30 @@ +/* Includes ----------------------------------------------------------------- */ +#include "bsp/mm.h" + +#include "FreeRTOS.h" + +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ + +/* Private define ----------------------------------------------------------- */ +/* Private macro ------------------------------------------------------------ */ +/* Private typedef ---------------------------------------------------------- */ +/* USER DEFINE BEGIN */ + +/* USER DEFINE END */ + +/* Private variables -------------------------------------------------------- */ +/* USER STRUCT BEGIN */ + +/* USER STRUCT END */ + +/* Private function -------------------------------------------------------- */ +/* Exported functions ------------------------------------------------------- */ +inline void *BSP_Malloc(size_t size) { return pvPortMalloc(size); } + +inline void BSP_Free(void *pv) { vPortFree(pv); } + +/* USER FUNCTION BEGIN */ + +/* USER FUNCTION END */ diff --git a/User/bsp/mm.h b/User/bsp/mm.h new file mode 100644 index 0000000..d24634e --- /dev/null +++ b/User/bsp/mm.h @@ -0,0 +1,32 @@ +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ----------------------------------------------------------------- */ +#include +#include + +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ + +/* Exported constants ------------------------------------------------------- */ +/* Exported macro ----------------------------------------------------------- */ +/* USER DEFINE BEGIN */ + +/* USER DEFINE END */ + +/* Exported types ----------------------------------------------------------- */ +/* Exported functions prototypes -------------------------------------------- */ +void *BSP_Malloc(size_t size); +void BSP_Free(void *pv); + +/* USER FUNCTION BEGIN */ + +/* USER FUNCTION END */ + +#ifdef __cplusplus +} +#endif diff --git a/User/bsp/pwm.c b/User/bsp/pwm.c new file mode 100644 index 0000000..9d3c275 --- /dev/null +++ b/User/bsp/pwm.c @@ -0,0 +1,115 @@ +/* Includes ----------------------------------------------------------------- */ +#include "tim.h" +#include "bsp/pwm.h" +#include "bsp.h" + +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ + +/* Private define ----------------------------------------------------------- */ +/* USER DEFINE BEGIN */ + +/* USER DEFINE END */ + +/* Private macro ------------------------------------------------------------ */ +/* Private typedef ---------------------------------------------------------- */ +typedef struct { + TIM_HandleTypeDef *tim; + uint16_t channel; +} BSP_PWM_Config_t; + +/* USER STRUCT BEGIN */ + +/* USER STRUCT END */ + +/* Private variables -------------------------------------------------------- */ +static const BSP_PWM_Config_t PWM_Map[BSP_PWM_NUM] = { + {&htim2, TIM_CHANNEL_1}, + {&htim2, TIM_CHANNEL_3}, + {&htim3, TIM_CHANNEL_4}, + {&htim12, TIM_CHANNEL_2}, + {&htim1, TIM_CHANNEL_3}, + {&htim1, TIM_CHANNEL_1}, +}; + +/* Private function -------------------------------------------------------- */ +/* Exported functions ------------------------------------------------------- */ + +int8_t BSP_PWM_Start(BSP_PWM_Channel_t ch) { + if (ch >= BSP_PWM_NUM) return BSP_ERR; + + HAL_TIM_PWM_Start(PWM_Map[ch].tim, PWM_Map[ch].channel); + return BSP_OK; +} + +int8_t BSP_PWM_SetComp(BSP_PWM_Channel_t ch, float duty_cycle) { + if (ch >= BSP_PWM_NUM) return BSP_ERR; + + if (duty_cycle > 1.0f) { + duty_cycle = 1.0f; + } + if (duty_cycle < 0.0f) { + duty_cycle = 0.0f; + } + // 获取ARR值（周期值） + uint32_t arr = __HAL_TIM_GET_AUTORELOAD(PWM_Map[ch].tim); + + // 计算比较值：CCR = duty_cycle * (ARR + 1) + uint32_t ccr = (uint32_t)(duty_cycle * (arr + 1)); + + __HAL_TIM_SET_COMPARE(PWM_Map[ch].tim, PWM_Map[ch].channel, ccr); + + return BSP_OK; +} + +int8_t BSP_PWM_SetFreq(BSP_PWM_Channel_t ch, float freq) { + if (ch >= BSP_PWM_NUM) return BSP_ERR; + + uint32_t timer_clock = HAL_RCC_GetPCLK1Freq(); // Get the timer clock frequency + uint32_t prescaler = PWM_Map[ch].tim->Init.Prescaler; + uint32_t period = (timer_clock / (prescaler + 1)) / freq - 1; + + if (period > UINT16_MAX) { + return BSP_ERR; // Frequency too low + } + __HAL_TIM_SET_AUTORELOAD(PWM_Map[ch].tim, period); + + return BSP_OK; +} + +int8_t BSP_PWM_Stop(BSP_PWM_Channel_t ch) { + if (ch >= BSP_PWM_NUM) return BSP_ERR; + + HAL_TIM_PWM_Stop(PWM_Map[ch].tim, PWM_Map[ch].channel); + return BSP_OK; +} + +uint32_t BSP_PWM_GetAutoReloadPreload(BSP_PWM_Channel_t ch) { + if (ch >= BSP_PWM_NUM) return BSP_ERR; + return PWM_Map[ch].tim->Init.AutoReloadPreload; +} + +TIM_HandleTypeDef* BSP_PWM_GetHandle(BSP_PWM_Channel_t ch) { + return PWM_Map[ch].tim; +} + + +uint16_t BSP_PWM_GetChannel(BSP_PWM_Channel_t ch) { + if (ch >= BSP_PWM_NUM) return BSP_ERR; + return PWM_Map[ch].channel; +} + +int8_t BSP_PWM_Start_DMA(BSP_PWM_Channel_t ch, uint32_t *pData, uint16_t Length) { + if (ch >= BSP_PWM_NUM) return BSP_ERR; + + HAL_TIM_PWM_Start_DMA(PWM_Map[ch].tim, PWM_Map[ch].channel, pData, Length); + return BSP_OK; +} + +int8_t BSP_PWM_Stop_DMA(BSP_PWM_Channel_t ch) { + if (ch >= BSP_PWM_NUM) return BSP_ERR; + + HAL_TIM_PWM_Stop_DMA(PWM_Map[ch].tim, PWM_Map[ch].channel); + return BSP_OK; +} \ No newline at end of file diff --git a/User/bsp/pwm.h b/User/bsp/pwm.h new file mode 100644 index 0000000..f0e75f2 --- /dev/null +++ b/User/bsp/pwm.h @@ -0,0 +1,53 @@ +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ----------------------------------------------------------------- */ +#include +#include "tim.h" +#include "bsp.h" + +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ + + +/* Exported constants ------------------------------------------------------- */ +/* Exported macro ----------------------------------------------------------- */ +/* USER DEFINE BEGIN */ + +/* USER DEFINE END */ + +/* Exported types ----------------------------------------------------------- */ +/* PWM通道 */ +typedef enum { + BSP_PWM_TIM2_CH1, + BSP_PWM_TIM2_CH3, + BSP_PWM_TIM3_CH4, + BSP_PWM_TIM12_CH2, + BSP_PWM_TIM1_CH3, + BSP_PWM_TIM1_CH1, + BSP_PWM_NUM, + BSP_PWM_ERR, +} BSP_PWM_Channel_t; + +/* Exported functions prototypes -------------------------------------------- */ +int8_t BSP_PWM_Start(BSP_PWM_Channel_t ch); +int8_t BSP_PWM_SetComp(BSP_PWM_Channel_t ch, float duty_cycle); +int8_t BSP_PWM_SetFreq(BSP_PWM_Channel_t ch, float freq); +int8_t BSP_PWM_Stop(BSP_PWM_Channel_t ch); +uint32_t BSP_PWM_GetAutoReloadPreload(BSP_PWM_Channel_t ch); +uint16_t BSP_PWM_GetChannel(BSP_PWM_Channel_t ch); +TIM_HandleTypeDef* BSP_PWM_GetHandle(BSP_PWM_Channel_t ch); +int8_t BSP_PWM_Start_DMA(BSP_PWM_Channel_t ch, uint32_t *pData, uint16_t Length); +int8_t BSP_PWM_Stop_DMA(BSP_PWM_Channel_t ch); + +/* USER FUNCTION BEGIN */ + +/* USER FUNCTION END */ + +#ifdef __cplusplus +} +#endif \ No newline at end of file diff --git a/User/bsp/spi.c b/User/bsp/spi.c new file mode 100644 index 0000000..0727529 --- /dev/null +++ b/User/bsp/spi.c @@ -0,0 +1,181 @@ +/* Includes ----------------------------------------------------------------- */ +#include +#include "bsp/spi.h" + +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ + +/* Private define ----------------------------------------------------------- */ +/* USER DEFINE BEGIN */ + +/* USER DEFINE END */ + +/* Private macro ------------------------------------------------------------ */ +/* Private typedef ---------------------------------------------------------- */ +/* USER STRUCT BEGIN */ + +/* USER STRUCT END */ + +/* Private variables -------------------------------------------------------- */ +static void (*SPI_Callback[BSP_SPI_NUM][BSP_SPI_CB_NUM])(void); + +/* Private function -------------------------------------------------------- */ +static BSP_SPI_t SPI_Get(SPI_HandleTypeDef *hspi) { + if (hspi->Instance == SPI2) + return BSP_SPI_BMI088; + else + return BSP_SPI_ERR; +} + +void HAL_SPI_TxCpltCallback(SPI_HandleTypeDef *hspi) { + BSP_SPI_t bsp_spi = SPI_Get(hspi); + if (bsp_spi != BSP_SPI_ERR) { + if (SPI_Callback[bsp_spi][BSP_SPI_TX_CPLT_CB]) { + SPI_Callback[bsp_spi][BSP_SPI_TX_CPLT_CB](); + } + } +} + +void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef *hspi) { + BSP_SPI_t bsp_spi = SPI_Get(hspi); + if (bsp_spi != BSP_SPI_ERR) { + if (SPI_Callback[SPI_Get(hspi)][BSP_SPI_RX_CPLT_CB]) + SPI_Callback[SPI_Get(hspi)][BSP_SPI_RX_CPLT_CB](); + } +} + +void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi) { + BSP_SPI_t bsp_spi = SPI_Get(hspi); + if (bsp_spi != BSP_SPI_ERR) { + if (SPI_Callback[SPI_Get(hspi)][BSP_SPI_TX_RX_CPLT_CB]) + SPI_Callback[SPI_Get(hspi)][BSP_SPI_TX_RX_CPLT_CB](); + } +} + +void HAL_SPI_TxHalfCpltCallback(SPI_HandleTypeDef *hspi) { + BSP_SPI_t bsp_spi = SPI_Get(hspi); + if (bsp_spi != BSP_SPI_ERR) { + if (SPI_Callback[SPI_Get(hspi)][BSP_SPI_TX_HALF_CPLT_CB]) + SPI_Callback[SPI_Get(hspi)][BSP_SPI_TX_HALF_CPLT_CB](); + } +} + +void HAL_SPI_RxHalfCpltCallback(SPI_HandleTypeDef *hspi) { + BSP_SPI_t bsp_spi = SPI_Get(hspi); + if (bsp_spi != BSP_SPI_ERR) { + if (SPI_Callback[SPI_Get(hspi)][BSP_SPI_RX_HALF_CPLT_CB]) + SPI_Callback[SPI_Get(hspi)][BSP_SPI_RX_HALF_CPLT_CB](); + } +} + +void HAL_SPI_TxRxHalfCpltCallback(SPI_HandleTypeDef *hspi) { + BSP_SPI_t bsp_spi = SPI_Get(hspi); + if (bsp_spi != BSP_SPI_ERR) { + if (SPI_Callback[SPI_Get(hspi)][BSP_SPI_TX_RX_HALF_CPLT_CB]) + SPI_Callback[SPI_Get(hspi)][BSP_SPI_TX_RX_HALF_CPLT_CB](); + } +} + +void HAL_SPI_ErrorCallback(SPI_HandleTypeDef *hspi) { + BSP_SPI_t bsp_spi = SPI_Get(hspi); + if (bsp_spi != BSP_SPI_ERR) { + if (SPI_Callback[SPI_Get(hspi)][BSP_SPI_ERROR_CB]) + SPI_Callback[SPI_Get(hspi)][BSP_SPI_ERROR_CB](); + } +} + +void HAL_SPI_AbortCpltCallback(SPI_HandleTypeDef *hspi) { + BSP_SPI_t bsp_spi = SPI_Get(hspi); + if (bsp_spi != BSP_SPI_ERR) { + if (SPI_Callback[SPI_Get(hspi)][BSP_SPI_ABORT_CPLT_CB]) + SPI_Callback[SPI_Get(hspi)][BSP_SPI_ABORT_CPLT_CB](); + } +} + +/* Exported functions ------------------------------------------------------- */ +SPI_HandleTypeDef *BSP_SPI_GetHandle(BSP_SPI_t spi) { + switch (spi) { + case BSP_SPI_BMI088: + return &hspi2; + default: + return NULL; + } +} + +int8_t BSP_SPI_RegisterCallback(BSP_SPI_t spi, BSP_SPI_Callback_t type, + void (*callback)(void)) { + if (callback == NULL) return BSP_ERR_NULL; + SPI_Callback[spi][type] = callback; + return BSP_OK; +} + +int8_t BSP_SPI_Transmit(BSP_SPI_t spi, uint8_t *data, uint16_t size, bool dma) { + if (spi >= BSP_SPI_NUM) return BSP_ERR; + SPI_HandleTypeDef *hspi = BSP_SPI_GetHandle(spi); + if (hspi == NULL) return BSP_ERR; + + if (dma) { + return HAL_SPI_Transmit_DMA(hspi, data, size)!= HAL_OK;; + } else { + return HAL_SPI_Transmit(hspi, data, size, 20)!= HAL_OK;; + } +} + +int8_t BSP_SPI_Receive(BSP_SPI_t spi, uint8_t *data, uint16_t size, bool dma) { + if (spi >= BSP_SPI_NUM) return BSP_ERR; + SPI_HandleTypeDef *hspi = BSP_SPI_GetHandle(spi); + if (hspi == NULL) return BSP_ERR; + + if (dma) { + return HAL_SPI_Receive_DMA(hspi, data, size)!= HAL_OK;; + } else { + return HAL_SPI_Receive(hspi, data, size, 20)!= HAL_OK;; + } +} + +int8_t BSP_SPI_TransmitReceive(BSP_SPI_t spi, uint8_t *txData, uint8_t *rxData, + uint16_t size, bool dma) { + if (spi >= BSP_SPI_NUM) return BSP_ERR; + SPI_HandleTypeDef *hspi = BSP_SPI_GetHandle(spi); + if (hspi == NULL) return BSP_ERR; + + if (dma) { + return HAL_SPI_TransmitReceive_DMA(hspi, txData, rxData, size)!= HAL_OK;; + } else { + return HAL_SPI_TransmitReceive(hspi, txData, rxData, size, 20)!= HAL_OK;; + } +} + +uint8_t BSP_SPI_MemReadByte(BSP_SPI_t spi, uint8_t reg) { + if (spi >= BSP_SPI_NUM) return 0xFF; + uint8_t tmp[2] = {reg | 0x80, 0x00}; + BSP_SPI_TransmitReceive(spi, tmp, tmp, 2u, true); + return tmp[1]; +} + +int8_t BSP_SPI_MemWriteByte(BSP_SPI_t spi, uint8_t reg, uint8_t data) { + if (spi >= BSP_SPI_NUM) return BSP_ERR; + uint8_t tmp[2] = {reg & 0x7f, data}; + return BSP_SPI_Transmit(spi, tmp, 2u, true); +} + +int8_t BSP_SPI_MemRead(BSP_SPI_t spi, uint8_t reg, uint8_t *data, uint16_t size) { + if (spi >= BSP_SPI_NUM) return BSP_ERR; + if (data == NULL || size == 0) return BSP_ERR_NULL; + reg = reg | 0x80; + BSP_SPI_Transmit(spi, ®, 1u, true); + return BSP_SPI_Receive(spi, data, size, true); +} + +int8_t BSP_SPI_MemWrite(BSP_SPI_t spi, uint8_t reg, uint8_t *data, uint16_t size) { + if (spi >= BSP_SPI_NUM) return BSP_ERR; + if (data == NULL || size == 0) return BSP_ERR_NULL; + reg = reg & 0x7f; + BSP_SPI_Transmit(spi, ®, 1u, true); + return BSP_SPI_Transmit(spi, data, size, true); +} + +/* USER FUNCTION BEGIN */ + +/* USER FUNCTION END */ diff --git a/User/bsp/spi.h b/User/bsp/spi.h new file mode 100644 index 0000000..2abb0c6 --- /dev/null +++ b/User/bsp/spi.h @@ -0,0 +1,70 @@ +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ----------------------------------------------------------------- */ +#include +#include +#include + +#include "bsp/bsp.h" + +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ + +/* Exported constants ------------------------------------------------------- */ +/* Exported macro ----------------------------------------------------------- */ +/* USER DEFINE BEGIN */ + +/* USER DEFINE END */ + +/* Exported types ----------------------------------------------------------- */ + +/* 要添加使用SPI的新设备，需要先在此添加对应的枚举值 */ + +/* SPI实体枚举，与设备对应 */ +typedef enum { + BSP_SPI_BMI088, + BSP_SPI_NUM, + BSP_SPI_ERR, +} BSP_SPI_t; + +/* SPI支持的中断回调函数类型，具体参考HAL中定义 */ +typedef enum { + BSP_SPI_TX_CPLT_CB, + BSP_SPI_RX_CPLT_CB, + BSP_SPI_TX_RX_CPLT_CB, + BSP_SPI_TX_HALF_CPLT_CB, + BSP_SPI_RX_HALF_CPLT_CB, + BSP_SPI_TX_RX_HALF_CPLT_CB, + BSP_SPI_ERROR_CB, + BSP_SPI_ABORT_CPLT_CB, + BSP_SPI_CB_NUM, +} BSP_SPI_Callback_t; + +/* Exported functions prototypes -------------------------------------------- */ +SPI_HandleTypeDef *BSP_SPI_GetHandle(BSP_SPI_t spi); +int8_t BSP_SPI_RegisterCallback(BSP_SPI_t spi, BSP_SPI_Callback_t type, + void (*callback)(void)); + + +int8_t BSP_SPI_Transmit(BSP_SPI_t spi, uint8_t *data, uint16_t size, bool dma); +int8_t BSP_SPI_Receive(BSP_SPI_t spi, uint8_t *data, uint16_t size, bool dma); +int8_t BSP_SPI_TransmitReceive(BSP_SPI_t spi, uint8_t *txData, uint8_t *rxData, + uint16_t size, bool dma); + +uint8_t BSP_SPI_MemReadByte(BSP_SPI_t spi, uint8_t reg); +int8_t BSP_SPI_MemWriteByte(BSP_SPI_t spi, uint8_t reg, uint8_t data); +int8_t BSP_SPI_MemRead(BSP_SPI_t spi, uint8_t reg, uint8_t *data, uint16_t size); +int8_t BSP_SPI_MemWrite(BSP_SPI_t spi, uint8_t reg, uint8_t *data, uint16_t size); + +/* USER FUNCTION BEGIN */ + +/* USER FUNCTION END */ + +#ifdef __cplusplus +} +#endif diff --git a/User/bsp/time.c b/User/bsp/time.c new file mode 100644 index 0000000..21918ed --- /dev/null +++ b/User/bsp/time.c @@ -0,0 +1,81 @@ +/* Includes ----------------------------------------------------------------- */ +#include "bsp/time.h" +#include "bsp.h" + +#include +#include "FreeRTOS.h" +#include "main.h" +#include "task.h" + +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ +/* Private define ----------------------------------------------------------- */ +/* USER DEFINE BEGIN */ + +/* USER DEFINE END */ + +/* Private macro ------------------------------------------------------------ */ +/* Private typedef ---------------------------------------------------------- */ +/* USER STRUCT BEGIN */ + +/* USER STRUCT END */ + +/* Private variables -------------------------------------------------------- */ +/* Private function -------------------------------------------------------- */ +/* Exported functions ------------------------------------------------------- */ + +uint32_t BSP_TIME_Get_ms() { return xTaskGetTickCount(); } + +uint64_t BSP_TIME_Get_us() { + uint32_t tick_freq = osKernelGetTickFreq(); + uint32_t ticks_old = xTaskGetTickCount()*(1000/tick_freq); + uint32_t tick_value_old = SysTick->VAL; + uint32_t ticks_new = xTaskGetTickCount()*(1000/tick_freq); + uint32_t tick_value_new = SysTick->VAL; + if (ticks_old == ticks_new) { + return ticks_new * 1000 + 1000 - tick_value_old * 1000 / (SysTick->LOAD + 1); + } else { + return ticks_new * 1000 + 1000 - tick_value_new * 1000 / (SysTick->LOAD + 1); + } +} + +uint64_t BSP_TIME_Get() __attribute__((alias("BSP_TIME_Get_us"))); + +int8_t BSP_TIME_Delay_ms(uint32_t ms) { + uint32_t tick_period = 1000u / osKernelGetTickFreq(); + uint32_t ticks = ms / tick_period; + + switch (osKernelGetState()) { + case osKernelError: + case osKernelReserved: + case osKernelLocked: + case osKernelSuspended: + return BSP_ERR; + + case osKernelRunning: + osDelay(ticks ? ticks : 1); + break; + + case osKernelInactive: + case osKernelReady: + HAL_Delay(ms); + break; + } + return BSP_OK; +} + +/*阻塞us延迟*/ +int8_t BSP_TIME_Delay_us(uint32_t us) { + uint64_t start = BSP_TIME_Get_us(); + while (BSP_TIME_Get_us() - start < us) { + // 等待us时间 + } + return BSP_OK; +} + +int8_t BSP_TIME_Delay(uint32_t ms) __attribute__((alias("BSP_TIME_Delay_ms"))); + +/* USER FUNCTION BEGIN */ + +/* USER FUNCTION END */ \ No newline at end of file diff --git a/User/bsp/time.h b/User/bsp/time.h new file mode 100644 index 0000000..c69085b --- /dev/null +++ b/User/bsp/time.h @@ -0,0 +1,43 @@ +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ----------------------------------------------------------------- */ +#include + +#include "bsp/bsp.h" + +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ + +/* Exported constants ------------------------------------------------------- */ +/* Exported macro ----------------------------------------------------------- */ +/* USER DEFINE BEGIN */ + +/* USER DEFINE END */ + +/* Exported types ----------------------------------------------------------- */ +/* Exported functions prototypes -------------------------------------------- */ +uint32_t BSP_TIME_Get_ms(); + +uint64_t BSP_TIME_Get_us(); + +uint64_t BSP_TIME_Get(); + +int8_t BSP_TIME_Delay_ms(uint32_t ms); + +/*微秒阻塞延时，一般别用*/ +int8_t BSP_TIME_Delay_us(uint32_t us); + +int8_t BSP_TIME_Delay(uint32_t ms); + +/* USER FUNCTION BEGIN */ + +/* USER FUNCTION END */ + +#ifdef __cplusplus +} +#endif diff --git a/User/bsp/uart.c b/User/bsp/uart.c new file mode 100644 index 0000000..97eb8d3 --- /dev/null +++ b/User/bsp/uart.c @@ -0,0 +1,155 @@ +/* Includes ----------------------------------------------------------------- */ +#include + +#include "bsp/uart.h" + +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ + +/* Private define ----------------------------------------------------------- */ +/* USER DEFINE BEGIN */ + +/* USER DEFINE END */ + +/* Private macro ------------------------------------------------------------ */ +/* Private typedef ---------------------------------------------------------- */ +/* USER STRUCT BEGIN */ + +/* USER STRUCT END */ + +/* Private variables -------------------------------------------------------- */ +static void (*UART_Callback[BSP_UART_NUM][BSP_UART_CB_NUM])(void); + +/* Private function -------------------------------------------------------- */ +static BSP_UART_t UART_Get(UART_HandleTypeDef *huart) { + if (huart->Instance == USART1) + return BSP_UART_DR16; + else + return BSP_UART_ERR; +} + +void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart) { + BSP_UART_t bsp_uart = UART_Get(huart); + if (bsp_uart != BSP_UART_ERR) { + if (UART_Callback[bsp_uart][BSP_UART_TX_CPLT_CB]) { + UART_Callback[bsp_uart][BSP_UART_TX_CPLT_CB](); + } + } +} + +void HAL_UART_TxHalfCpltCallback(UART_HandleTypeDef *huart) { + BSP_UART_t bsp_uart = UART_Get(huart); + if (bsp_uart != BSP_UART_ERR) { + if (UART_Callback[bsp_uart][BSP_UART_TX_HALF_CPLT_CB]) { + UART_Callback[bsp_uart][BSP_UART_TX_HALF_CPLT_CB](); + } + } +} + +void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) { + BSP_UART_t bsp_uart = UART_Get(huart); + if (bsp_uart != BSP_UART_ERR) { + if (UART_Callback[bsp_uart][BSP_UART_RX_CPLT_CB]) { + UART_Callback[bsp_uart][BSP_UART_RX_CPLT_CB](); + } + } +} + +void HAL_UART_RxHalfCpltCallback(UART_HandleTypeDef *huart) { + BSP_UART_t bsp_uart = UART_Get(huart); + if (bsp_uart != BSP_UART_ERR) { + if (UART_Callback[bsp_uart][BSP_UART_RX_HALF_CPLT_CB]) { + UART_Callback[bsp_uart][BSP_UART_RX_HALF_CPLT_CB](); + } + } +} + +void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart) { + BSP_UART_t bsp_uart = UART_Get(huart); + if (bsp_uart != BSP_UART_ERR) { + if (UART_Callback[bsp_uart][BSP_UART_ERROR_CB]) { + UART_Callback[bsp_uart][BSP_UART_ERROR_CB](); + } + } +} + +void HAL_UART_AbortCpltCallback(UART_HandleTypeDef *huart) { + BSP_UART_t bsp_uart = UART_Get(huart); + if (bsp_uart != BSP_UART_ERR) { + if (UART_Callback[bsp_uart][BSP_UART_ABORT_CPLT_CB]) { + UART_Callback[bsp_uart][BSP_UART_ABORT_CPLT_CB](); + } + } +} + +void HAL_UART_AbortTransmitCpltCallback(UART_HandleTypeDef *huart) { + BSP_UART_t bsp_uart = UART_Get(huart); + if (bsp_uart != BSP_UART_ERR) { + if (UART_Callback[bsp_uart][BSP_UART_ABORT_TX_CPLT_CB]) { + UART_Callback[bsp_uart][BSP_UART_ABORT_TX_CPLT_CB](); + } + } +} + +void HAL_UART_AbortReceiveCpltCallback(UART_HandleTypeDef *huart) { + BSP_UART_t bsp_uart = UART_Get(huart); + if (bsp_uart != BSP_UART_ERR) { + if (UART_Callback[bsp_uart][BSP_UART_ABORT_RX_CPLT_CB]) { + UART_Callback[bsp_uart][BSP_UART_ABORT_RX_CPLT_CB](); + } + } +} + +/* Exported functions ------------------------------------------------------- */ +void BSP_UART_IRQHandler(UART_HandleTypeDef *huart) { + if (__HAL_UART_GET_FLAG(huart, UART_FLAG_IDLE)) { + __HAL_UART_CLEAR_IDLEFLAG(huart); + if (UART_Callback[UART_Get(huart)][BSP_UART_IDLE_LINE_CB]) { + UART_Callback[UART_Get(huart)][BSP_UART_IDLE_LINE_CB](); + } + } +} + +UART_HandleTypeDef *BSP_UART_GetHandle(BSP_UART_t uart) { + switch (uart) { + case BSP_UART_DR16: + return &huart1; + default: + return NULL; + } +} + +int8_t BSP_UART_RegisterCallback(BSP_UART_t uart, BSP_UART_Callback_t type, + void (*callback)(void)) { + if (callback == NULL) return BSP_ERR_NULL; + if (uart >= BSP_UART_NUM || type >= BSP_UART_CB_NUM) return BSP_ERR; + UART_Callback[uart][type] = callback; + return BSP_OK; +} + +int8_t BSP_UART_Transmit(BSP_UART_t uart, uint8_t *data, uint16_t size, bool dma) { + if (uart >= BSP_UART_NUM) return BSP_ERR; + if (data == NULL || size == 0) return BSP_ERR_NULL; + + if (dma) { + return HAL_UART_Transmit_DMA(BSP_UART_GetHandle(uart), data, size); + } else { + return HAL_UART_Transmit_IT(BSP_UART_GetHandle(uart), data, size); + } +} + +int8_t BSP_UART_Receive(BSP_UART_t uart, uint8_t *data, uint16_t size, bool dma) { + if (uart >= BSP_UART_NUM) return BSP_ERR; + if (data == NULL || size == 0) return BSP_ERR_NULL; + + if (dma) { + return HAL_UART_Receive_DMA(BSP_UART_GetHandle(uart), data, size); + } else { + return HAL_UART_Receive_IT(BSP_UART_GetHandle(uart), data, size); + } +} + +/* USER FUNCTION BEGIN */ + +/* USER FUNCTION END */ \ No newline at end of file diff --git a/User/bsp/uart.h b/User/bsp/uart.h new file mode 100644 index 0000000..c3842af --- /dev/null +++ b/User/bsp/uart.h @@ -0,0 +1,68 @@ +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ----------------------------------------------------------------- */ +#include +#include +#include + +#include "bsp/bsp.h" + +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ + +/* Exported constants ------------------------------------------------------- */ +/* Exported macro ----------------------------------------------------------- */ +/* USER DEFINE BEGIN */ + +/* USER DEFINE END */ + +/* Exported types ----------------------------------------------------------- */ + +/* 要添加使用UART的新设备，需要先在此添加对应的枚举值 */ + +/* UART实体枚举，与设备对应 */ +typedef enum { + BSP_UART_DR16, + BSP_UART_NUM, + BSP_UART_ERR, +} BSP_UART_t; + +/* UART支持的中断回调函数类型，具体参考HAL中定义 */ +typedef enum { + BSP_UART_TX_HALF_CPLT_CB, + BSP_UART_TX_CPLT_CB, + BSP_UART_RX_HALF_CPLT_CB, + BSP_UART_RX_CPLT_CB, + BSP_UART_ERROR_CB, + BSP_UART_ABORT_CPLT_CB, + BSP_UART_ABORT_TX_CPLT_CB, + BSP_UART_ABORT_RX_CPLT_CB, + + BSP_UART_IDLE_LINE_CB, + BSP_UART_CB_NUM, +} BSP_UART_Callback_t; + +/* Exported functions prototypes -------------------------------------------- */ + +UART_HandleTypeDef *BSP_UART_GetHandle(BSP_UART_t uart); + +void BSP_UART_IRQHandler(UART_HandleTypeDef *huart); + +int8_t BSP_UART_RegisterCallback(BSP_UART_t uart, BSP_UART_Callback_t type, + void (*callback)(void)); + +int8_t BSP_UART_Transmit(BSP_UART_t uart, uint8_t *data, uint16_t size, bool dma); +int8_t BSP_UART_Receive(BSP_UART_t uart, uint8_t *data, uint16_t size, bool dma); + +/* USER FUNCTION BEGIN */ + +/* USER FUNCTION END */ + +#ifdef __cplusplus +} +#endif diff --git a/User/component/ahrs.c b/User/component/ahrs.c new file mode 100644 index 0000000..ffdb870 --- /dev/null +++ b/User/component/ahrs.c @@ -0,0 +1,417 @@ +/* + 开源的AHRS算法。 + MadgwickAHRS +*/ + +#include "ahrs.h" + +#include + +#include "user_math.h" + +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ + +#define BETA_IMU (0.033f) +#define BETA_AHRS (0.041f) + +/* USER DEFINE BEGIN */ + +/* USER DEFINE END */ + +/* 2 * proportional gain (Kp) */ +static float beta = BETA_IMU; + +/** + * @brief 不使用磁力计计算姿态 + * + * @param ahrs 姿态解算主结构体 + * @param accl 加速度计数据 + * @param gyro 陀螺仪数据 + * @return int8_t 0对应没有错误 + */ +static int8_t AHRS_UpdateIMU(AHRS_t *ahrs, const AHRS_Accl_t *accl, + const AHRS_Gyro_t *gyro) { + if (ahrs == NULL) return -1; + if (accl == NULL) return -1; + if (gyro == NULL) return -1; + + beta = BETA_IMU; + + float ax = accl->x; + float ay = accl->y; + float az = accl->z; + + float gx = gyro->x; + float gy = gyro->y; + float gz = gyro->z; + + float recip_norm; + float s0, s1, s2, s3; + float q_dot1, q_dot2, q_dot3, q_dot4; + float _2q0, _2q1, _2q2, _2q3, _4q0, _4q1, _4q2, _8q1, _8q2, q0q0, q1q1, q2q2, + q3q3; + + /* Rate of change of quaternion from gyroscope */ + q_dot1 = 0.5f * (-ahrs->quat.q1 * gx - ahrs->quat.q2 * gy - + ahrs->quat.q3 * gz); + q_dot2 = 0.5f * (ahrs->quat.q0 * gx + ahrs->quat.q2 * gz - + ahrs->quat.q3 * gy); + q_dot3 = 0.5f * (ahrs->quat.q0 * gy - ahrs->quat.q1 * gz + + ahrs->quat.q3 * gx); + q_dot4 = 0.5f * (ahrs->quat.q0 * gz + ahrs->quat.q1 * gy - + ahrs->quat.q2 * gx); + + /* Compute feedback only if accelerometer measurement valid (avoids NaN in + * accelerometer normalisation) */ + if (!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) { + /* Normalise accelerometer measurement */ + recip_norm = InvSqrt(ax * ax + ay * ay + az * az); + ax *= recip_norm; + ay *= recip_norm; + az *= recip_norm; + + /* Auxiliary variables to avoid repeated arithmetic */ + _2q0 = 2.0f * ahrs->quat.q0; + _2q1 = 2.0f * ahrs->quat.q1; + _2q2 = 2.0f * ahrs->quat.q2; + _2q3 = 2.0f * ahrs->quat.q3; + _4q0 = 4.0f * ahrs->quat.q0; + _4q1 = 4.0f * ahrs->quat.q1; + _4q2 = 4.0f * ahrs->quat.q2; + _8q1 = 8.0f * ahrs->quat.q1; + _8q2 = 8.0f * ahrs->quat.q2; + q0q0 = ahrs->quat.q0 * ahrs->quat.q0; + q1q1 = ahrs->quat.q1 * ahrs->quat.q1; + q2q2 = ahrs->quat.q2 * ahrs->quat.q2; + q3q3 = ahrs->quat.q3 * ahrs->quat.q3; + + /* Gradient decent algorithm corrective step */ + s0 = _4q0 * q2q2 + _2q2 * ax + _4q0 * q1q1 - _2q1 * ay; + s1 = _4q1 * q3q3 - _2q3 * ax + 4.0f * q0q0 * ahrs->quat.q1 - + _2q0 * ay - _4q1 + _8q1 * q1q1 + _8q1 * q2q2 + _4q1 * az; + s2 = 4.0f * q0q0 * ahrs->quat.q2 + _2q0 * ax + _4q2 * q3q3 - + _2q3 * ay - _4q2 + _8q2 * q1q1 + _8q2 * q2q2 + _4q2 * az; + s3 = 4.0f * q1q1 * ahrs->quat.q3 - _2q1 * ax + + 4.0f * q2q2 * ahrs->quat.q3 - _2q2 * ay; + + /* normalise step magnitude */ + recip_norm = InvSqrt(s0 * s0 + s1 * s1 + s2 * s2 + s3 * s3); + + s0 *= recip_norm; + s1 *= recip_norm; + s2 *= recip_norm; + s3 *= recip_norm; + + /* Apply feedback step */ + q_dot1 -= beta * s0; + q_dot2 -= beta * s1; + q_dot3 -= beta * s2; + q_dot4 -= beta * s3; + } + + /* Integrate rate of change of quaternion to yield quaternion */ + ahrs->quat.q0 += q_dot1 * ahrs->inv_sample_freq; + ahrs->quat.q1 += q_dot2 * ahrs->inv_sample_freq; + ahrs->quat.q2 += q_dot3 * ahrs->inv_sample_freq; + ahrs->quat.q3 += q_dot4 * ahrs->inv_sample_freq; + + /* Normalise quaternion */ + recip_norm = InvSqrt(ahrs->quat.q0 * ahrs->quat.q0 + + ahrs->quat.q1 * ahrs->quat.q1 + + ahrs->quat.q2 * ahrs->quat.q2 + + ahrs->quat.q3 * ahrs->quat.q3); + ahrs->quat.q0 *= recip_norm; + ahrs->quat.q1 *= recip_norm; + ahrs->quat.q2 *= recip_norm; + ahrs->quat.q3 *= recip_norm; + + return 0; +} + +/** + * @brief 初始化姿态解算 + * + * @param ahrs 姿态解算主结构体 + * @param magn 磁力计数据 + * @param sample_freq 采样频率 + * @return int8_t 0对应没有错误 + */ +int8_t AHRS_Init(AHRS_t *ahrs, const AHRS_Magn_t *magn, float sample_freq) { + if (ahrs == NULL) return -1; + + ahrs->inv_sample_freq = 1.0f / sample_freq; + + ahrs->quat.q0 = 1.0f; + ahrs->quat.q1 = 0.0f; + ahrs->quat.q2 = 0.0f; + ahrs->quat.q3 = 0.0f; + + if (magn) { + float yaw = -atan2(magn->y, magn->x); + + if ((magn->x == 0.0f) && (magn->y == 0.0f) && (magn->z == 0.0f)) { + ahrs->quat.q0 = 0.800884545f; + ahrs->quat.q1 = 0.00862364192f; + ahrs->quat.q2 = -0.00283267116f; + ahrs->quat.q3 = 0.598749936f; + + } else if ((yaw < (M_PI / 2.0f)) || (yaw > 0.0f)) { + ahrs->quat.q0 = 0.997458339f; + ahrs->quat.q1 = 0.000336312107f; + ahrs->quat.q2 = -0.0057230792f; + ahrs->quat.q3 = 0.0740156546; + + } else if ((yaw < M_PI) || (yaw > (M_PI / 2.0f))) { + ahrs->quat.q0 = 0.800884545f; + ahrs->quat.q1 = 0.00862364192f; + ahrs->quat.q2 = -0.00283267116f; + ahrs->quat.q3 = 0.598749936f; + + } else if ((yaw < 90.0f) || (yaw > M_PI)) { + ahrs->quat.q0 = 0.800884545f; + ahrs->quat.q1 = 0.00862364192f; + ahrs->quat.q2 = -0.00283267116f; + ahrs->quat.q3 = 0.598749936f; + + } else if ((yaw < 90.0f) || (yaw > 0.0f)) { + ahrs->quat.q0 = 0.800884545f; + ahrs->quat.q1 = 0.00862364192f; + ahrs->quat.q2 = -0.00283267116f; + ahrs->quat.q3 = 0.598749936f; + } + } + return 0; +} + +/** + * @brief 姿态运算更新一次 + * @note 输入数据必须是NED(North East Down) 参考坐标系 + * + * @param ahrs 姿态解算主结构体 + * @param accl 加速度计数据 + * @param gyro 陀螺仪数据 + * @param magn 磁力计数据 + * @return int8_t 0对应没有错误 + */ +int8_t AHRS_Update(AHRS_t *ahrs, const AHRS_Accl_t *accl, + const AHRS_Gyro_t *gyro, const AHRS_Magn_t *magn) { + if (ahrs == NULL) return -1; + if (accl == NULL) return -1; + if (gyro == NULL) return -1; + + beta = BETA_AHRS; + + float recip_norm; + float s0, s1, s2, s3; + float q_dot1, q_dot2, q_dot3, q_dot4; + float hx, hy; + float _2q0mx, _2q0my, _2q0mz, _2q1mx, _2bx, _2bz, _4bx, _4bz, _2q0, _2q1, + _2q2, _2q3, _2q0q2, _2q2q3, q0q0, q0q1, q0q2, q0q3, q1q1, q1q2, q1q3, + q2q2, q2q3, q3q3; + + if (magn == NULL) return AHRS_UpdateIMU(ahrs, accl, gyro); + + float mx = magn->x; + float my = magn->y; + float mz = magn->z; + + /* Use IMU algorithm if magnetometer measurement invalid (avoids NaN in */ + /* magnetometer normalisation) */ + if ((mx == 0.0f) && (my == 0.0f) && (mz == 0.0f)) { + return AHRS_UpdateIMU(ahrs, accl, gyro); + } + + float ax = accl->x; + float ay = accl->y; + float az = accl->z; + + float gx = gyro->x; + float gy = gyro->y; + float gz = gyro->z; + + /* Rate of change of quaternion from gyroscope */ + q_dot1 = 0.5f * (-ahrs->quat.q1 * gx - ahrs->quat.q2 * gy - + ahrs->quat.q3 * gz); + q_dot2 = 0.5f * (ahrs->quat.q0 * gx + ahrs->quat.q2 * gz - + ahrs->quat.q3 * gy); + q_dot3 = 0.5f * (ahrs->quat.q0 * gy - ahrs->quat.q1 * gz + + ahrs->quat.q3 * gx); + q_dot4 = 0.5f * (ahrs->quat.q0 * gz + ahrs->quat.q1 * gy - + ahrs->quat.q2 * gx); + + /* Compute feedback only if accelerometer measurement valid (avoids NaN in + * accelerometer normalisation) */ + if (!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) { + /* Normalise accelerometer measurement */ + recip_norm = InvSqrt(ax * ax + ay * ay + az * az); + ax *= recip_norm; + ay *= recip_norm; + az *= recip_norm; + + /* Normalise magnetometer measurement */ + recip_norm = InvSqrt(mx * mx + my * my + mz * mz); + mx *= recip_norm; + my *= recip_norm; + mz *= recip_norm; + + /* Auxiliary variables to avoid repeated arithmetic */ + _2q0mx = 2.0f * ahrs->quat.q0 * mx; + _2q0my = 2.0f * ahrs->quat.q0 * my; + _2q0mz = 2.0f * ahrs->quat.q0 * mz; + _2q1mx = 2.0f * ahrs->quat.q1 * mx; + _2q0 = 2.0f * ahrs->quat.q0; + _2q1 = 2.0f * ahrs->quat.q1; + _2q2 = 2.0f * ahrs->quat.q2; + _2q3 = 2.0f * ahrs->quat.q3; + _2q0q2 = 2.0f * ahrs->quat.q0 * ahrs->quat.q2; + _2q2q3 = 2.0f * ahrs->quat.q2 * ahrs->quat.q3; + q0q0 = ahrs->quat.q0 * ahrs->quat.q0; + q0q1 = ahrs->quat.q0 * ahrs->quat.q1; + q0q2 = ahrs->quat.q0 * ahrs->quat.q2; + q0q3 = ahrs->quat.q0 * ahrs->quat.q3; + q1q1 = ahrs->quat.q1 * ahrs->quat.q1; + q1q2 = ahrs->quat.q1 * ahrs->quat.q2; + q1q3 = ahrs->quat.q1 * ahrs->quat.q3; + q2q2 = ahrs->quat.q2 * ahrs->quat.q2; + q2q3 = ahrs->quat.q2 * ahrs->quat.q3; + q3q3 = ahrs->quat.q3 * ahrs->quat.q3; + + /* Reference direction of Earth's magnetic field */ + hx = mx * q0q0 - _2q0my * ahrs->quat.q3 + + _2q0mz * ahrs->quat.q2 + mx * q1q1 + + _2q1 * my * ahrs->quat.q2 + _2q1 * mz * ahrs->quat.q3 - + mx * q2q2 - mx * q3q3; + hy = _2q0mx * ahrs->quat.q3 + my * q0q0 - + _2q0mz * ahrs->quat.q1 + _2q1mx * ahrs->quat.q2 - + my * q1q1 + my * q2q2 + _2q2 * mz * ahrs->quat.q3 - my * q3q3; + // _2bx = sqrtf(hx * hx + hy * hy); + // 改为invsqrt + _2bx = 1.f / InvSqrt(hx * hx + hy * hy); + _2bz = -_2q0mx * ahrs->quat.q2 + _2q0my * ahrs->quat.q1 + + mz * q0q0 + _2q1mx * ahrs->quat.q3 - mz * q1q1 + + _2q2 * my * ahrs->quat.q3 - mz * q2q2 + mz * q3q3; + _4bx = 2.0f * _2bx; + _4bz = 2.0f * _2bz; + + /* Gradient decent algorithm corrective step */ + s0 = -_2q2 * (2.0f * q1q3 - _2q0q2 - ax) + + _2q1 * (2.0f * q0q1 + _2q2q3 - ay) - + _2bz * ahrs->quat.q2 * + (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + + (-_2bx * ahrs->quat.q3 + _2bz * ahrs->quat.q1) * + (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + + _2bx * ahrs->quat.q2 * + (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz); + s1 = _2q3 * (2.0f * q1q3 - _2q0q2 - ax) + + _2q0 * (2.0f * q0q1 + _2q2q3 - ay) - + 4.0f * ahrs->quat.q1 * (1 - 2.0f * q1q1 - 2.0f * q2q2 - az) + + _2bz * ahrs->quat.q3 * + (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + + (_2bx * ahrs->quat.q2 + _2bz * ahrs->quat.q0) * + (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + + (_2bx * ahrs->quat.q3 - _4bz * ahrs->quat.q1) * + (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz); + s2 = -_2q0 * (2.0f * q1q3 - _2q0q2 - ax) + + _2q3 * (2.0f * q0q1 + _2q2q3 - ay) - + 4.0f * ahrs->quat.q2 * (1 - 2.0f * q1q1 - 2.0f * q2q2 - az) + + (-_4bx * ahrs->quat.q2 - _2bz * ahrs->quat.q0) * + (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + + (_2bx * ahrs->quat.q1 + _2bz * ahrs->quat.q3) * + (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + + (_2bx * ahrs->quat.q0 - _4bz * ahrs->quat.q2) * + (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz); + s3 = _2q1 * (2.0f * q1q3 - _2q0q2 - ax) + + _2q2 * (2.0f * q0q1 + _2q2q3 - ay) + + (-_4bx * ahrs->quat.q3 + _2bz * ahrs->quat.q1) * + (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + + (-_2bx * ahrs->quat.q0 + _2bz * ahrs->quat.q2) * + (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + + _2bx * ahrs->quat.q1 * + (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz); + /* normalise step magnitude */ + recip_norm = InvSqrt(s0 * s0 + s1 * s1 + s2 * s2 + s3 * s3); + s0 *= recip_norm; + s1 *= recip_norm; + s2 *= recip_norm; + s3 *= recip_norm; + + /* Apply feedback step */ + q_dot1 -= beta * s0; + q_dot2 -= beta * s1; + q_dot3 -= beta * s2; + q_dot4 -= beta * s3; + } + + /* Integrate rate of change of quaternion to yield quaternion */ + ahrs->quat.q0 += q_dot1 * ahrs->inv_sample_freq; + ahrs->quat.q1 += q_dot2 * ahrs->inv_sample_freq; + ahrs->quat.q2 += q_dot3 * ahrs->inv_sample_freq; + ahrs->quat.q3 += q_dot4 * ahrs->inv_sample_freq; + + /* Normalise quaternion */ + recip_norm = InvSqrt(ahrs->quat.q0 * ahrs->quat.q0 + + ahrs->quat.q1 * ahrs->quat.q1 + + ahrs->quat.q2 * ahrs->quat.q2 + + ahrs->quat.q3 * ahrs->quat.q3); + ahrs->quat.q0 *= recip_norm; + ahrs->quat.q1 *= recip_norm; + ahrs->quat.q2 *= recip_norm; + ahrs->quat.q3 *= recip_norm; + + return 0; +} + +/** + * @brief 通过姿态解算主结构体中的四元数计算欧拉角 + * + * @param eulr 欧拉角 + * @param ahrs 姿态解算主结构体 + * @return int8_t 0对应没有错误 + */ +int8_t AHRS_GetEulr(AHRS_Eulr_t *eulr, const AHRS_t *ahrs) { + if (eulr == NULL) return -1; + if (ahrs == NULL) return -1; + + const float sinr_cosp = 2.0f * (ahrs->quat.q0 * ahrs->quat.q1 + + ahrs->quat.q2 * ahrs->quat.q3); + const float cosr_cosp = + 1.0f - 2.0f * (ahrs->quat.q1 * ahrs->quat.q1 + + ahrs->quat.q2 * ahrs->quat.q2); + eulr->pit = atan2f(sinr_cosp, cosr_cosp); + + const float sinp = 2.0f * (ahrs->quat.q0 * ahrs->quat.q2 - + ahrs->quat.q3 * ahrs->quat.q1); + + if (fabsf(sinp) >= 1.0f) + eulr->rol = copysignf(M_PI / 2.0f, sinp); + else + eulr->rol = asinf(sinp); + + const float siny_cosp = 2.0f * (ahrs->quat.q0 * ahrs->quat.q3 + + ahrs->quat.q1 * ahrs->quat.q2); + const float cosy_cosp = + 1.0f - 2.0f * (ahrs->quat.q2 * ahrs->quat.q2 + + ahrs->quat.q3 * ahrs->quat.q3); + eulr->yaw = atan2f(siny_cosp, cosy_cosp); + +#if 0 + eulr->yaw *= M_RAD2DEG_MULT; + eulr->rol *= M_RAD2DEG_MULT; + eulr->pit *= M_RAD2DEG_MULT; +#endif + + return 0; +} + +/** + * \brief 将对应数据置零 + * + * \param eulr 被操作的数据 + */ +void AHRS_ResetEulr(AHRS_Eulr_t *eulr) { memset(eulr, 0, sizeof(*eulr)); } + +/* USER FUNCTION BEGIN */ + +/* USER FUNCTION END */ diff --git a/User/component/ahrs.h b/User/component/ahrs.h new file mode 100644 index 0000000..2245b1f --- /dev/null +++ b/User/component/ahrs.h @@ -0,0 +1,114 @@ +/* + 开源的AHRS算法。 + MadgwickAHRS +*/ + +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +#include "user_math.h" + +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ + +/* USER DEFINE BEGIN */ + +/* USER DEFINE END */ + +/* 欧拉角（Euler angle） */ +typedef struct { + float yaw; /* 偏航角（Yaw angle） */ + float pit; /* 俯仰角（Pitch angle） */ + float rol; /* 翻滚角（Roll angle） */ +} AHRS_Eulr_t; + +/* 加速度计 Accelerometer */ +typedef struct { + float x; + float y; + float z; +} AHRS_Accl_t; + +/* 陀螺仪 Gyroscope */ +typedef struct { + float x; + float y; + float z; +} AHRS_Gyro_t; + +/* 磁力计 Magnetometer */ +typedef struct { + float x; + float y; + float z; +} AHRS_Magn_t; + +/* 四元数 */ +typedef struct { + float q0; + float q1; + float q2; + float q3; +} AHRS_Quaternion_t; + +/* 姿态解算算法主结构体 */ +typedef struct { + /* 四元数 */ + AHRS_Quaternion_t quat; + + float inv_sample_freq; /* 采样频率的的倒数 */ +} AHRS_t; + +/* USER STRUCT BEGIN */ + +/* USER STRUCT END */ + +/** + * @brief 初始化姿态解算 + * + * @param ahrs 姿态解算主结构体 + * @param magn 磁力计数据 + * @param sample_freq 采样频率 + * @return int8_t 0对应没有错误 + */ +int8_t AHRS_Init(AHRS_t *ahrs, const AHRS_Magn_t *magn, float sample_freq); + +/** + * @brief 姿态运算更新一次 + * + * @param ahrs 姿态解算主结构体 + * @param accl 加速度计数据 + * @param gyro 陀螺仪数据 + * @param magn 磁力计数据 + * @return int8_t 0对应没有错误 + */ +int8_t AHRS_Update(AHRS_t *ahrs, const AHRS_Accl_t *accl, + const AHRS_Gyro_t *gyro, const AHRS_Magn_t *magn); + +/** + * @brief 通过姿态解算主结构体中的四元数计算欧拉角 + * + * @param eulr 欧拉角 + * @param ahrs 姿态解算主结构体 + * @return int8_t 0对应没有错误 + */ +int8_t AHRS_GetEulr(AHRS_Eulr_t *eulr, const AHRS_t *ahrs); + +/** + * \brief 将对应数据置零 + * + * \param eulr 被操作的数据 + */ +void AHRS_ResetEulr(AHRS_Eulr_t *eulr); + +/* USER FUNCTION BEGIN */ + +/* USER FUNCTION END */ + +#ifdef __cplusplus +} +#endif diff --git a/User/component/component_config.yaml b/User/component/component_config.yaml new file mode 100644 index 0000000..0ee3384 --- /dev/null +++ b/User/component/component_config.yaml @@ -0,0 +1,28 @@ +ahrs: + dependencies: + - component/user_math.h + enabled: true +crc16: + dependencies: [] + enabled: true +crc8: + dependencies: [] + enabled: true +error_detect: + dependencies: + - bsp/mm + enabled: true +filter: + dependencies: + - component/ahrs + enabled: true +freertos_cli: + dependencies: [] + enabled: true +pid: + dependencies: + - component/filter + enabled: true +user_math: + dependencies: [] + enabled: true diff --git a/User/component/crc16.c b/User/component/crc16.c new file mode 100644 index 0000000..0d17eb0 --- /dev/null +++ b/User/component/crc16.c @@ -0,0 +1,62 @@ +#include "crc16.h" + +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ + +/* USER DEFINE BEGIN */ + +/* USER DEFINE END */ + +static const uint16_t crc16_tab[256] = { + 0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf, 0x8c48, + 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7, 0x1081, 0x0108, + 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e, 0x9cc9, 0x8d40, 0xbfdb, + 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876, 0x2102, 0x308b, 0x0210, 0x1399, + 0x6726, 0x76af, 0x4434, 0x55bd, 0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, + 0xfae7, 0xc87c, 0xd9f5, 0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, + 0x54b5, 0x453c, 0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, + 0xc974, 0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb, + 0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3, 0x5285, + 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a, 0xdecd, 0xcf44, + 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72, 0x6306, 0x728f, 0x4014, + 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9, 0xef4e, 0xfec7, 0xcc5c, 0xddd5, + 0xa96a, 0xb8e3, 0x8a78, 0x9bf1, 0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, + 0x242a, 0x16b1, 0x0738, 0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, + 0x9af9, 0x8b70, 0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, + 0xf0b7, 0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff, + 0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036, 0x18c1, + 0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e, 0xa50a, 0xb483, + 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5, 0x2942, 0x38cb, 0x0a50, + 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd, 0xb58b, 0xa402, 0x9699, 0x8710, + 0xf3af, 0xe226, 0xd0bd, 0xc134, 0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, + 0x6e6e, 0x5cf5, 0x4d7c, 0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, + 0xa33a, 0xb2b3, 0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, + 0x3efb, 0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232, + 0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a, 0xe70e, + 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1, 0x6b46, 0x7acf, + 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9, 0xf78f, 0xe606, 0xd49d, + 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330, 0x7bc7, 0x6a4e, 0x58d5, 0x495c, + 0x3de3, 0x2c6a, 0x1ef1, 0x0f78}; + +static inline uint16_t CRC16_Byte(uint16_t crc, const uint8_t data) { + return (crc >> 8) ^ crc16_tab[(crc ^ data) & 0xff]; +} + +uint16_t CRC16_Calc(const uint8_t *buf, size_t len, uint16_t crc) { + while (len--) crc = CRC16_Byte(crc, *buf++); + return crc; +} + +bool CRC16_Verify(const uint8_t *buf, size_t len) { + if (len < 2) return false; + + uint16_t expected = CRC16_Calc(buf, len - sizeof(uint16_t), CRC16_INIT); + return expected == + ((const uint16_t *)((const uint8_t *)buf + + (len % 2)))[len / sizeof(uint16_t) - 1]; +} + +/* USER FUNCTION BEGIN */ + +/* USER FUNCTION END */ diff --git a/User/component/crc16.h b/User/component/crc16.h new file mode 100644 index 0000000..68b0a87 --- /dev/null +++ b/User/component/crc16.h @@ -0,0 +1,30 @@ +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +#include "user_math.h" + +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ + +/* USER DEFINE BEGIN */ + +/* USER DEFINE END */ + +#define CRC16_INIT 0XFFFF + +uint16_t CRC16_Calc(const uint8_t *buf, size_t len, uint16_t crc); +bool CRC16_Verify(const uint8_t *buf, size_t len); + +/* USER FUNCTION BEGIN */ + +/* USER FUNCTION END */ + +#ifdef __cplusplus +} +#endif diff --git a/User/component/crc8.c b/User/component/crc8.c new file mode 100644 index 0000000..66f4ad2 --- /dev/null +++ b/User/component/crc8.c @@ -0,0 +1,52 @@ +#include "crc8.h" + +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ + +/* USER DEFINE BEGIN */ + +/* USER DEFINE END */ + +static const uint8_t crc8_tab[256] = { + 0x00, 0x5e, 0xbc, 0xe2, 0x61, 0x3f, 0xdd, 0x83, 0xc2, 0x9c, 0x7e, 0x20, + 0xa3, 0xfd, 0x1f, 0x41, 0x9d, 0xc3, 0x21, 0x7f, 0xfc, 0xa2, 0x40, 0x1e, + 0x5f, 0x01, 0xe3, 0xbd, 0x3e, 0x60, 0x82, 0xdc, 0x23, 0x7d, 0x9f, 0xc1, + 0x42, 0x1c, 0xfe, 0xa0, 0xe1, 0xbf, 0x5d, 0x03, 0x80, 0xde, 0x3c, 0x62, + 0xbe, 0xe0, 0x02, 0x5c, 0xdf, 0x81, 0x63, 0x3d, 0x7c, 0x22, 0xc0, 0x9e, + 0x1d, 0x43, 0xa1, 0xff, 0x46, 0x18, 0xfa, 0xa4, 0x27, 0x79, 0x9b, 0xc5, + 0x84, 0xda, 0x38, 0x66, 0xe5, 0xbb, 0x59, 0x07, 0xdb, 0x85, 0x67, 0x39, + 0xba, 0xe4, 0x06, 0x58, 0x19, 0x47, 0xa5, 0xfb, 0x78, 0x26, 0xc4, 0x9a, + 0x65, 0x3b, 0xd9, 0x87, 0x04, 0x5a, 0xb8, 0xe6, 0xa7, 0xf9, 0x1b, 0x45, + 0xc6, 0x98, 0x7a, 0x24, 0xf8, 0xa6, 0x44, 0x1a, 0x99, 0xc7, 0x25, 0x7b, + 0x3a, 0x64, 0x86, 0xd8, 0x5b, 0x05, 0xe7, 0xb9, 0x8c, 0xd2, 0x30, 0x6e, + 0xed, 0xb3, 0x51, 0x0f, 0x4e, 0x10, 0xf2, 0xac, 0x2f, 0x71, 0x93, 0xcd, + 0x11, 0x4f, 0xad, 0xf3, 0x70, 0x2e, 0xcc, 0x92, 0xd3, 0x8d, 0x6f, 0x31, + 0xb2, 0xec, 0x0e, 0x50, 0xaf, 0xf1, 0x13, 0x4d, 0xce, 0x90, 0x72, 0x2c, + 0x6d, 0x33, 0xd1, 0x8f, 0x0c, 0x52, 0xb0, 0xee, 0x32, 0x6c, 0x8e, 0xd0, + 0x53, 0x0d, 0xef, 0xb1, 0xf0, 0xae, 0x4c, 0x12, 0x91, 0xcf, 0x2d, 0x73, + 0xca, 0x94, 0x76, 0x28, 0xab, 0xf5, 0x17, 0x49, 0x08, 0x56, 0xb4, 0xea, + 0x69, 0x37, 0xd5, 0x8b, 0x57, 0x09, 0xeb, 0xb5, 0x36, 0x68, 0x8a, 0xd4, + 0x95, 0xcb, 0x29, 0x77, 0xf4, 0xaa, 0x48, 0x16, 0xe9, 0xb7, 0x55, 0x0b, + 0x88, 0xd6, 0x34, 0x6a, 0x2b, 0x75, 0x97, 0xc9, 0x4a, 0x14, 0xf6, 0xa8, + 0x74, 0x2a, 0xc8, 0x96, 0x15, 0x4b, 0xa9, 0xf7, 0xb6, 0xe8, 0x0a, 0x54, + 0xd7, 0x89, 0x6b, 0x35, +}; + +uint8_t CRC8_Calc(const uint8_t *buf, size_t len, uint8_t crc) { + /* loop over the buffer data */ + while (len-- > 0) crc = crc8_tab[(crc ^ *buf++) & 0xff]; + + return crc; +} + +bool CRC8_Verify(const uint8_t *buf, size_t len) { + if (len < 2) return false; + + uint8_t expected = CRC8_Calc(buf, len - sizeof(uint8_t), CRC8_INIT); + return expected == buf[len - sizeof(uint8_t)]; +} + +/* USER FUNCTION BEGIN */ + +/* USER FUNCTION END */ diff --git a/User/component/crc8.h b/User/component/crc8.h new file mode 100644 index 0000000..a376c71 --- /dev/null +++ b/User/component/crc8.h @@ -0,0 +1,30 @@ +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +#include +#include +#include + +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ + +/* USER DEFINE BEGIN */ + +/* USER DEFINE END */ + +#define CRC8_INIT 0xFF + +uint8_t CRC8_Calc(const uint8_t *buf, size_t len, uint8_t crc); +bool CRC8_Verify(const uint8_t *buf, size_t len); + +/* USER FUNCTION BEGIN */ + +/* USER FUNCTION END */ + +#ifdef __cplusplus +} +#endif diff --git a/User/component/error_detect.c b/User/component/error_detect.c new file mode 100644 index 0000000..b29e591 --- /dev/null +++ b/User/component/error_detect.c @@ -0,0 +1,67 @@ +/* + 错误检测。 +*/ + +#include "error_detect.h" + +#include +#include + +#include "bsp/mm.h" + +static ErrorDetect_t ged; +static bool inited = false; + +int8_t ErrorDetect_Init(void) { + if (inited) return -1; + + memset(&ged, 0x00, sizeof(ged)); + + for (uint8_t i = 0; i < ERROR_DETECT_UNIT_NUM; i++) { + ged.error[i].enable = true; + ged.error[i].priority = i; + ged.error[i].patient_lost = 500; + ged.error[i].patient_work = 500; + } + return 0; +} + +void ErrorDetect_Processing(uint32_t sys_time) { + for (uint8_t i = 0; i < ERROR_DETECT_UNIT_NUM; i++) { + if (!ged.error[i].enable) continue; + + if (sys_time - ged.error[i].showup > ged.error[i].patient_lost) { + ged.error[i].is_lost = true; + ged.error[i].found_lost = sys_time; + } else if (sys_time - ged.error[i].showup > ged.error[i].patient_lost) { + } else { + ged.error[i].cycle_time = ged.error[i].showup - ged.error[i].showup_last; + } + } +} + +bool ErrorDetect_ErrorExist(ErrorDetect_Unit_t unit) { + if (unit == ERROR_DETECT_UNIT_NO_DEV) { + for (uint8_t i = ERROR_DETECT_UNIT_NUM; i > 0; i--) { + if (ged.error[i].error_exist) return true; + } + return false; + } else { + return ged.error[unit].error_exist; + } +} + +ErrorDetect_Unit_t ErrorDetect_GetErrorUnit(void) { + for (uint8_t i = ERROR_DETECT_UNIT_NUM; i > 0; i--) { + if (ged.error[i].error_exist) return i; + } + return ERROR_DETECT_UNIT_NO_DEV; +} + +const ErrorDetect_Error_t *ErrorDetect_GetDetail(ErrorDetect_Unit_t unit) { + return &ged.error[unit]; +} + +void ErrorDetect_Update(ErrorDetect_Unit_t unit, uint32_t time_current) { + ged.error[unit].showup = time_current; +} diff --git a/User/component/error_detect.h b/User/component/error_detect.h new file mode 100644 index 0000000..3dba7a2 --- /dev/null +++ b/User/component/error_detect.h @@ -0,0 +1,82 @@ +/* + 错误检测。 +*/ + +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +#include +#include + +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ + +/* USER DEFINE BEGIN */ + +/* USER DEFINE END */ + +typedef enum { + /* Low priority */ + ERROR_DETECT_UNIT_NO_DEV = 0, + ERROR_DETECT_UNIT_REFEREE, + ERROR_DETECT_UNIT_CHASSIS_M1, + ERROR_DETECT_UNIT_CHASSIS_M2, + ERROR_DETECT_UNIT_CHASSIS_M3, + ERROR_DETECT_UNIT_CHASSIS_M4, + ERROR_DETECT_UNIT_TRIGGER, + ERROR_DETECT_UNIT_FEED, + ERROR_DETECT_UNIT_GIMBAL_YAW, + ERROR_DETECT_UNIT_GIMBAL_PIT, + ERROR_DETECT_UNIT_GYRO, + ERROR_DETECT_UNIT_ACCL, + ERROR_DETECT_UNIT_MAGN, + ERROR_DETECT_UNIT_DBUS, + ERROR_DETECT_UNIT_NUM, + /* High priority */ +} ErrorDetect_Unit_t; + +typedef struct { + bool enable; + uint8_t priority; + uint32_t patient_lost; + uint32_t patient_work; + + uint32_t showup; + uint32_t showup_last; + uint32_t cycle_time; + uint32_t duration_lost; + uint32_t duration_work; + uint32_t found_lost; + bool error_exist; + bool is_lost; + uint8_t data_is_error; + +} ErrorDetect_Error_t; + +typedef struct { + ErrorDetect_Error_t error[ERROR_DETECT_UNIT_NUM]; +} ErrorDetect_t; + +/* USER STRUCT BEGIN */ + +/* USER STRUCT END */ + +int8_t ErrorDetect_Init(void); +void ErrorDetect_Processing(uint32_t sys_time); +bool ErrorDetect_ErrorExist(ErrorDetect_Unit_t unit); +ErrorDetect_Unit_t ErrorDetect_GetErrorUnit(void); +const ErrorDetect_Error_t *ErrorDetect_GetDetail(ErrorDetect_Unit_t unit); + +void ErrorDetect_Update(ErrorDetect_Unit_t unit, uint32_t time_current); + +/* USER FUNCTION BEGIN */ + +/* USER FUNCTION END */ + +#ifdef __cplusplus +} +#endif diff --git a/User/component/filter.c b/User/component/filter.c new file mode 100644 index 0000000..5375b8e --- /dev/null +++ b/User/component/filter.c @@ -0,0 +1,185 @@ +/* + 各类滤波器。 +*/ + +#include "filter.h" + +#include "user_math.h" + +/** + * @brief 初始化滤波器 + * + * @param f 滤波器 + * @param sample_freq 采样频率 + * @param cutoff_freq 截止频率 + */ +void LowPassFilter2p_Init(LowPassFilter2p_t *f, float sample_freq, + float cutoff_freq) { + if (f == NULL) return; + + f->cutoff_freq = cutoff_freq; + + f->delay_element_1 = 0.0f; + f->delay_element_2 = 0.0f; + + if (f->cutoff_freq <= 0.0f) { + /* no filtering */ + f->b0 = 1.0f; + f->b1 = 0.0f; + f->b2 = 0.0f; + + f->a1 = 0.0f; + f->a2 = 0.0f; + + return; + } + const float fr = sample_freq / f->cutoff_freq; + const float ohm = tanf(M_PI / fr); + const float c = 1.0f + 2.0f * cosf(M_PI / 4.0f) * ohm + ohm * ohm; + + f->b0 = ohm * ohm / c; + f->b1 = 2.0f * f->b0; + f->b2 = f->b0; + + f->a1 = 2.0f * (ohm * ohm - 1.0f) / c; + f->a2 = (1.0f - 2.0f * cosf(M_PI / 4.0f) * ohm + ohm * ohm) / c; +} + +/** + * @brief 施加一次滤波计算 + * + * @param f 滤波器 + * @param sample 采样的值 + * @return float 滤波后的值 + */ +float LowPassFilter2p_Apply(LowPassFilter2p_t *f, float sample) { + if (f == NULL) return 0.0f; + + /* do the filtering */ + float delay_element_0 = + sample - f->delay_element_1 * f->a1 - f->delay_element_2 * f->a2; + + if (isinf(delay_element_0)) { + /* don't allow bad values to propagate via the filter */ + delay_element_0 = sample; + } + + const float output = delay_element_0 * f->b0 + f->delay_element_1 * f->b1 + + f->delay_element_2 * f->b2; + + f->delay_element_2 = f->delay_element_1; + f->delay_element_1 = delay_element_0; + + /* return the value. Should be no need to check limits */ + return output; +} + +/** + * @brief 重置滤波器 + * + * @param f 滤波器 + * @param sample 采样的值 + * @return float 滤波后的值 + */ +float LowPassFilter2p_Reset(LowPassFilter2p_t *f, float sample) { + if (f == NULL) return 0.0f; + + const float dval = sample / (f->b0 + f->b1 + f->b2); + + if (isfinite(dval)) { + f->delay_element_1 = dval; + f->delay_element_2 = dval; + + } else { + f->delay_element_1 = sample; + f->delay_element_2 = sample; + } + + return LowPassFilter2p_Apply(f, sample); +} + +/** + * @brief 初始化滤波器 + * + * @param f 滤波器 + * @param sample_freq 采样频率 + * @param notch_freq 中心频率 + * @param bandwidth 带宽 + */ +void NotchFilter_Init(NotchFilter_t *f, float sample_freq, float notch_freq, + float bandwidth) { + if (f == NULL) return; + + f->notch_freq = notch_freq; + f->bandwidth = bandwidth; + + f->delay_element_1 = 0.0f; + f->delay_element_2 = 0.0f; + + if (notch_freq <= 0.0f) { + /* no filtering */ + f->b0 = 1.0f; + f->b1 = 0.0f; + f->b2 = 0.0f; + + f->a1 = 0.0f; + f->a2 = 0.0f; + + return; + } + + const float alpha = tanf(M_PI * bandwidth / sample_freq); + const float beta = -cosf(M_2PI * notch_freq / sample_freq); + const float a0_inv = 1.0f / (alpha + 1.0f); + + f->b0 = a0_inv; + f->b1 = 2.0f * beta * a0_inv; + f->b2 = a0_inv; + + f->a1 = f->b1; + f->a2 = (1.0f - alpha) * a0_inv; +} + +/** + * @brief 施加一次滤波计算 + * + * @param f 滤波器 + * @param sample 采样的值 + * @return float 滤波后的值 + */ +inline float NotchFilter_Apply(NotchFilter_t *f, float sample) { + if (f == NULL) return 0.0f; + + /* Direct Form II implementation */ + const float delay_element_0 = + sample - f->delay_element_1 * f->a1 - f->delay_element_2 * f->a2; + const float output = delay_element_0 * f->b0 + f->delay_element_1 * f->b1 + + f->delay_element_2 * f->b2; + + f->delay_element_2 = f->delay_element_1; + f->delay_element_1 = delay_element_0; + + return output; +} + +/** + * @brief 重置滤波器 + * + * @param f 滤波器 + * @param sample 采样的值 + * @return float 滤波后的值 + */ +float NotchFilter_Reset(NotchFilter_t *f, float sample) { + if (f == NULL) return 0.0f; + + float dval = sample; + + if (fabsf(f->b0 + f->b1 + f->b2) > FLT_EPSILON) { + dval = dval / (f->b0 + f->b1 + f->b2); + } + + f->delay_element_1 = dval; + f->delay_element_2 = dval; + + return NotchFilter_Apply(f, sample); +} diff --git a/User/component/filter.h b/User/component/filter.h new file mode 100644 index 0000000..ae2b072 --- /dev/null +++ b/User/component/filter.h @@ -0,0 +1,120 @@ +/* + 各类滤波器。 +*/ + +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +#include "user_math.h" + +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ + +/* USER DEFINE BEGIN */ + +/* USER DEFINE END */ + +/* 二阶低通滤波器 */ +typedef struct { + float cutoff_freq; /* 截止频率 */ + + float a1; + float a2; + + float b0; + float b1; + float b2; + + float delay_element_1; + float delay_element_2; + +} LowPassFilter2p_t; + +/* 带阻滤波器 */ +typedef struct { + float notch_freq; /* 阻止频率 */ + float bandwidth; /* 带宽 */ + + float a1; + float a2; + + float b0; + float b1; + float b2; + float delay_element_1; + float delay_element_2; + +} NotchFilter_t; + +/* USER STRUCT BEGIN */ + +/* USER STRUCT END */ + +/** + * @brief 初始化滤波器 + * + * @param f 滤波器 + * @param sample_freq 采样频率 + * @param cutoff_freq 截止频率 + */ +void LowPassFilter2p_Init(LowPassFilter2p_t *f, float sample_freq, + float cutoff_freq); + +/** + * @brief 施加一次滤波计算 + * + * @param f 滤波器 + * @param sample 采样的值 + * @return float 滤波后的值 + */ +float LowPassFilter2p_Apply(LowPassFilter2p_t *f, float sample); + +/** + * @brief 重置滤波器 + * + * @param f 滤波器 + * @param sample 采样的值 + * @return float 滤波后的值 + */ +float LowPassFilter2p_Reset(LowPassFilter2p_t *f, float sample); + +/** + * @brief 初始化滤波器 + * + * @param f 滤波器 + * @param sample_freq 采样频率 + * @param notch_freq 中心频率 + * @param bandwidth 带宽 + */ +void NotchFilter_Init(NotchFilter_t *f, float sample_freq, float notch_freq, + float bandwidth); + +/** + * @brief 施加一次滤波计算 + * + * @param f 滤波器 + * @param sample 采样的值 + * @return float 滤波后的值 + */ +float NotchFilter_Apply(NotchFilter_t *f, float sample); + +/** + * @brief 重置滤波器 + * + * @param f 滤波器 + * @param sample 采样的值 + * @return float 滤波后的值 + */ +float NotchFilter_Reset(NotchFilter_t *f, float sample); + +/* USER FUNCTION BEGIN */ + +/* USER FUNCTION END */ + +#ifdef __cplusplus +} +#endif diff --git a/User/component/freertos_cli.c b/User/component/freertos_cli.c new file mode 100644 index 0000000..32421de --- /dev/null +++ b/User/component/freertos_cli.c @@ -0,0 +1,352 @@ +/* + * FreeRTOS+CLI V1.0.4 + * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * http://www.FreeRTOS.org + * http://aws.amazon.com/freertos + * + * 1 tab == 4 spaces! + */ + +/* Standard includes. */ +#include +#include + +/* FreeRTOS includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Utils includes. */ +#include "FreeRTOS_CLI.h" + +/* If the application writer needs to place the buffer used by the CLI at a +fixed address then set configAPPLICATION_PROVIDES_cOutputBuffer to 1 in +FreeRTOSConfig.h, then declare an array with the following name and size in +one of the application files: + char cOutputBuffer[ configCOMMAND_INT_MAX_OUTPUT_SIZE ]; +*/ +#ifndef configAPPLICATION_PROVIDES_cOutputBuffer + #define configAPPLICATION_PROVIDES_cOutputBuffer 0 +#endif + +typedef struct xCOMMAND_INPUT_LIST +{ + const CLI_Command_Definition_t *pxCommandLineDefinition; + struct xCOMMAND_INPUT_LIST *pxNext; +} CLI_Definition_List_Item_t; + +/* + * The callback function that is executed when "help" is entered. This is the + * only default command that is always present. + */ +static BaseType_t prvHelpCommand( char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString ); + +/* + * Return the number of parameters that follow the command name. + */ +static int8_t prvGetNumberOfParameters( const char *pcCommandString ); + +/* The definition of the "help" command. This command is always at the front +of the list of registered commands. */ +static const CLI_Command_Definition_t xHelpCommand = +{ + "help", + "\r\nhelp:\r\n Lists all the registered commands\r\n\r\n", + prvHelpCommand, + 0 +}; + +/* The definition of the list of commands. Commands that are registered are +added to this list. */ +static CLI_Definition_List_Item_t xRegisteredCommands = +{ + &xHelpCommand, /* The first command in the list is always the help command, defined in this file. */ + NULL /* The next pointer is initialised to NULL, as there are no other registered commands yet. */ +}; + +/* A buffer into which command outputs can be written is declared here, rather +than in the command console implementation, to allow multiple command consoles +to share the same buffer. For example, an application may allow access to the +command interpreter by UART and by Ethernet. Sharing a buffer is done purely +to save RAM. Note, however, that the command console itself is not re-entrant, +so only one command interpreter interface can be used at any one time. For that +reason, no attempt at providing mutual exclusion to the cOutputBuffer array is +attempted. + +configAPPLICATION_PROVIDES_cOutputBuffer is provided to allow the application +writer to provide their own cOutputBuffer declaration in cases where the +buffer needs to be placed at a fixed address (rather than by the linker). */ + +#if( configAPPLICATION_PROVIDES_cOutputBuffer == 0 ) + static char cOutputBuffer[ configCOMMAND_INT_MAX_OUTPUT_SIZE ]; +#else + extern char cOutputBuffer[ configCOMMAND_INT_MAX_OUTPUT_SIZE ]; +#endif + + +/*---------------------------------------------------------- */ + +BaseType_t FreeRTOS_CLIRegisterCommand( const CLI_Command_Definition_t * const pxCommandToRegister ) +{ +static CLI_Definition_List_Item_t *pxLastCommandInList = &xRegisteredCommands; +CLI_Definition_List_Item_t *pxNewListItem; +BaseType_t xReturn = pdFAIL; + + /* Check the parameter is not NULL. */ + configASSERT( pxCommandToRegister ); + + /* Create a new list item that will reference the command being registered. */ + pxNewListItem = ( CLI_Definition_List_Item_t * ) pvPortMalloc( sizeof( CLI_Definition_List_Item_t ) ); + configASSERT( pxNewListItem ); + + if( pxNewListItem != NULL ) + { + taskENTER_CRITICAL(); + { + /* Reference the command being registered from the newly created + list item. */ + pxNewListItem->pxCommandLineDefinition = pxCommandToRegister; + + /* The new list item will get added to the end of the list, so + pxNext has nowhere to point. */ + pxNewListItem->pxNext = NULL; + + /* Add the newly created list item to the end of the already existing + list. */ + pxLastCommandInList->pxNext = pxNewListItem; + + /* Set the end of list marker to the new list item. */ + pxLastCommandInList = pxNewListItem; + } + taskEXIT_CRITICAL(); + + xReturn = pdPASS; + } + + return xReturn; +} +/*---------------------------------------------------------- */ + +BaseType_t FreeRTOS_CLIProcessCommand( const char * const pcCommandInput, char * pcWriteBuffer, size_t xWriteBufferLen ) +{ +static const CLI_Definition_List_Item_t *pxCommand = NULL; +BaseType_t xReturn = pdTRUE; +const char *pcRegisteredCommandString; +size_t xCommandStringLength; + + /* Note: This function is not re-entrant. It must not be called from more + thank one task. */ + + if( pxCommand == NULL ) + { + /* Search for the command string in the list of registered commands. */ + for( pxCommand = &xRegisteredCommands; pxCommand != NULL; pxCommand = pxCommand->pxNext ) + { + pcRegisteredCommandString = pxCommand->pxCommandLineDefinition->pcCommand; + xCommandStringLength = strlen( pcRegisteredCommandString ); + + /* To ensure the string lengths match exactly, so as not to pick up + a sub-string of a longer command, check the byte after the expected + end of the string is either the end of the string or a space before + a parameter. */ + if( ( pcCommandInput[ xCommandStringLength ] == ' ' ) || ( pcCommandInput[ xCommandStringLength ] == 0x00 ) ) + { + if( strncmp( pcCommandInput, pcRegisteredCommandString, xCommandStringLength ) == 0 ) + { + /* The command has been found. Check it has the expected + number of parameters. If cExpectedNumberOfParameters is -1, + then there could be a variable number of parameters and no + check is made. */ + if( pxCommand->pxCommandLineDefinition->cExpectedNumberOfParameters >= 0 ) + { + if( prvGetNumberOfParameters( pcCommandInput ) != pxCommand->pxCommandLineDefinition->cExpectedNumberOfParameters ) + { + xReturn = pdFALSE; + } + } + + break; + } + } + } + } + + if( ( pxCommand != NULL ) && ( xReturn == pdFALSE ) ) + { + /* The command was found, but the number of parameters with the command + was incorrect. */ + strncpy( pcWriteBuffer, "Incorrect command parameter(s). Enter \"help\" to view a list of available commands.\r\n\r\n", xWriteBufferLen ); + pxCommand = NULL; + } + else if( pxCommand != NULL ) + { + /* Call the callback function that is registered to this command. */ + xReturn = pxCommand->pxCommandLineDefinition->pxCommandInterpreter( pcWriteBuffer, xWriteBufferLen, pcCommandInput ); + + /* If xReturn is pdFALSE, then no further strings will be returned + after this one, and pxCommand can be reset to NULL ready to search + for the next entered command. */ + if( xReturn == pdFALSE ) + { + pxCommand = NULL; + } + } + else + { + /* pxCommand was NULL, the command was not found. */ + strncpy( pcWriteBuffer, "Command not recognised. Enter 'help' to view a list of available commands.\r\n\r\n", xWriteBufferLen ); + xReturn = pdFALSE; + } + + return xReturn; +} +/*---------------------------------------------------------- */ + +char *FreeRTOS_CLIGetOutputBuffer( void ) +{ + return cOutputBuffer; +} +/*---------------------------------------------------------- */ + +const char *FreeRTOS_CLIGetParameter( const char *pcCommandString, UBaseType_t uxWantedParameter, BaseType_t *pxParameterStringLength ) +{ +UBaseType_t uxParametersFound = 0; +const char *pcReturn = NULL; + + *pxParameterStringLength = 0; + + while( uxParametersFound < uxWantedParameter ) + { + /* Index the character pointer past the current word. If this is the start + of the command string then the first word is the command itself. */ + while( ( ( *pcCommandString ) != 0x00 ) && ( ( *pcCommandString ) != ' ' ) ) + { + pcCommandString++; + } + + /* Find the start of the next string. */ + while( ( ( *pcCommandString ) != 0x00 ) && ( ( *pcCommandString ) == ' ' ) ) + { + pcCommandString++; + } + + /* Was a string found? */ + if( *pcCommandString != 0x00 ) + { + /* Is this the start of the required parameter? */ + uxParametersFound++; + + if( uxParametersFound == uxWantedParameter ) + { + /* How long is the parameter? */ + pcReturn = pcCommandString; + while( ( ( *pcCommandString ) != 0x00 ) && ( ( *pcCommandString ) != ' ' ) ) + { + ( *pxParameterStringLength )++; + pcCommandString++; + } + + if( *pxParameterStringLength == 0 ) + { + pcReturn = NULL; + } + + break; + } + } + else + { + break; + } + } + + return pcReturn; +} +/*---------------------------------------------------------- */ + +static BaseType_t prvHelpCommand( char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString ) +{ +static const CLI_Definition_List_Item_t * pxCommand = NULL; +BaseType_t xReturn; + + ( void ) pcCommandString; + + if( pxCommand == NULL ) + { + /* Reset the pxCommand pointer back to the start of the list. */ + pxCommand = &xRegisteredCommands; + } + + /* Return the next command help string, before moving the pointer on to + the next command in the list. */ + strncpy( pcWriteBuffer, pxCommand->pxCommandLineDefinition->pcHelpString, xWriteBufferLen ); + pxCommand = pxCommand->pxNext; + + if( pxCommand == NULL ) + { + /* There are no more commands in the list, so there will be no more + strings to return after this one and pdFALSE should be returned. */ + xReturn = pdFALSE; + } + else + { + xReturn = pdTRUE; + } + + return xReturn; +} +/*---------------------------------------------------------- */ + +static int8_t prvGetNumberOfParameters( const char *pcCommandString ) +{ +int8_t cParameters = 0; +BaseType_t xLastCharacterWasSpace = pdFALSE; + + /* Count the number of space delimited words in pcCommandString. */ + while( *pcCommandString != 0x00 ) + { + if( ( *pcCommandString ) == ' ' ) + { + if( xLastCharacterWasSpace != pdTRUE ) + { + cParameters++; + xLastCharacterWasSpace = pdTRUE; + } + } + else + { + xLastCharacterWasSpace = pdFALSE; + } + + pcCommandString++; + } + + /* If the command string ended with spaces, then there will have been too + many parameters counted. */ + if( xLastCharacterWasSpace == pdTRUE ) + { + cParameters--; + } + + /* The value returned is one less than the number of space delimited words, + as the first word should be the command itself. */ + return cParameters; +} + diff --git a/User/component/freertos_cli.h b/User/component/freertos_cli.h new file mode 100644 index 0000000..e6d8266 --- /dev/null +++ b/User/component/freertos_cli.h @@ -0,0 +1,108 @@ +/* + * FreeRTOS+CLI V1.0.4 + * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * http://www.FreeRTOS.org + * http://aws.amazon.com/freertos + * + * 1 tab == 4 spaces! + */ + +#ifndef COMMAND_INTERPRETER_H +#define COMMAND_INTERPRETER_H + +/* This config should be defined in FreeRTOSConfig.h. But due to the limition of CubeMX I put it here. */ +#define configCOMMAND_INT_MAX_OUTPUT_SIZE 512 + +/* The prototype to which callback functions used to process command line +commands must comply. pcWriteBuffer is a buffer into which the output from +executing the command can be written, xWriteBufferLen is the length, in bytes of +the pcWriteBuffer buffer, and pcCommandString is the entire string as input by +the user (from which parameters can be extracted).*/ +typedef BaseType_t (*pdCOMMAND_LINE_CALLBACK)( char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString ); + +/* The structure that defines command line commands. A command line command +should be defined by declaring a const structure of this type. */ +typedef struct xCOMMAND_LINE_INPUT +{ + const char * const pcCommand; /* The command that causes pxCommandInterpreter to be executed. For example "help". Must be all lower case. */ + const char * const pcHelpString; /* String that describes how to use the command. Should start with the command itself, and end with "\r\n". For example "help: Returns a list of all the commands\r\n". */ + const pdCOMMAND_LINE_CALLBACK pxCommandInterpreter; /* A pointer to the callback function that will return the output generated by the command. */ + int8_t cExpectedNumberOfParameters; /* Commands expect a fixed number of parameters, which may be zero. */ +} CLI_Command_Definition_t; + +/* For backward compatibility. */ +#define xCommandLineInput CLI_Command_Definition_t + +/* + * Register the command passed in using the pxCommandToRegister parameter. + * Registering a command adds the command to the list of commands that are + * handled by the command interpreter. Once a command has been registered it + * can be executed from the command line. + */ +BaseType_t FreeRTOS_CLIRegisterCommand( const CLI_Command_Definition_t * const pxCommandToRegister ); + +/* + * Runs the command interpreter for the command string "pcCommandInput". Any + * output generated by running the command will be placed into pcWriteBuffer. + * xWriteBufferLen must indicate the size, in bytes, of the buffer pointed to + * by pcWriteBuffer. + * + * FreeRTOS_CLIProcessCommand should be called repeatedly until it returns pdFALSE. + * + * pcCmdIntProcessCommand is not reentrant. It must not be called from more + * than one task - or at least - by more than one task at a time. + */ +BaseType_t FreeRTOS_CLIProcessCommand( const char * const pcCommandInput, char * pcWriteBuffer, size_t xWriteBufferLen ); + +/*---------------------------------------------------------- */ + +/* + * A buffer into which command outputs can be written is declared in the + * main command interpreter, rather than in the command console implementation, + * to allow application that provide access to the command console via multiple + * interfaces to share a buffer, and therefore save RAM. Note, however, that + * the command interpreter itself is not re-entrant, so only one command + * console interface can be used at any one time. For that reason, no attempt + * is made to provide any mutual exclusion mechanism on the output buffer. + * + * FreeRTOS_CLIGetOutputBuffer() returns the address of the output buffer. + */ +char *FreeRTOS_CLIGetOutputBuffer( void ); + +/* + * Return a pointer to the xParameterNumber'th word in pcCommandString. + */ +const char *FreeRTOS_CLIGetParameter( const char *pcCommandString, UBaseType_t uxWantedParameter, BaseType_t *pxParameterStringLength ); + +#endif /* COMMAND_INTERPRETER_H */ + + + + + + + + + + + + + diff --git a/User/component/pid.c b/User/component/pid.c new file mode 100644 index 0000000..0a3c7d4 --- /dev/null +++ b/User/component/pid.c @@ -0,0 +1,158 @@ +/* + Modified from + https://github.com/PX4/Firmware/blob/master/src/lib/pid/pid.cpp + + 参考资料： + https://github.com/PX4/Firmware/issues/12362 + https://dev.px4.io/master/en/flight_stack/controller_diagrams.html + https://docs.px4.io/master/en/config_mc/pid_tuning_guide_multicopter.html#standard_form + https://www.controleng.com/articles/not-all-pid-controllers-are-the-same/ + https://en.wikipedia.org/wiki/PID_controller + http://brettbeauregard.com/blog/2011/04/improving-the-beginner%E2%80%99s-pid-derivative-kick/ +*/ + +#include "pid.h" + +#define SIGMA 0.000001f + +/** + * @brief 初始化PID + * + * @param pid PID结构体 + * @param mode PID模式 + * @param sample_freq 采样频率 + * @param param PID参数 + * @return int8_t 0对应没有错误 + */ +int8_t PID_Init(KPID_t *pid, KPID_Mode_t mode, float sample_freq, + const KPID_Params_t *param) { + if (pid == NULL) return -1; + + if (!isfinite(param->p)) return -1; + if (!isfinite(param->i)) return -1; + if (!isfinite(param->d)) return -1; + if (!isfinite(param->i_limit)) return -1; + if (!isfinite(param->out_limit)) return -1; + pid->param = param; + + float dt_min = 1.0f / sample_freq; + if (isfinite(dt_min)) + pid->dt_min = dt_min; + else + return -1; + + LowPassFilter2p_Init(&(pid->dfilter), sample_freq, pid->param->d_cutoff_freq); + + pid->mode = mode; + PID_Reset(pid); + return 0; +} + +/** + * @brief PID计算 + * + * @param pid PID结构体 + * @param sp 设定值 + * @param fb 反馈值 + * @param fb_dot 反馈值微分 + * @param dt 间隔时间 + * @return float 计算的输出 + */ +float PID_Calc(KPID_t *pid, float sp, float fb, float fb_dot, float dt) { + if (!isfinite(sp) || !isfinite(fb) || !isfinite(fb_dot) || !isfinite(dt)) { + return pid->last.out; + } + + /* 计算误差值 */ + const float err = CircleError(sp, fb, pid->param->range); + + /* 计算P项 */ + const float k_err = err * pid->param->k; + + /* 计算D项 */ + const float k_fb = pid->param->k * fb; + const float filtered_k_fb = LowPassFilter2p_Apply(&(pid->dfilter), k_fb); + + float d; + switch (pid->mode) { + case KPID_MODE_CALC_D: + /* 通过fb计算D，避免了由于sp变化导致err突变的问题 */ + /* 当sp不变时，err的微分等于负的fb的微分 */ + d = (filtered_k_fb - pid->last.k_fb) / fmaxf(dt, pid->dt_min); + break; + + case KPID_MODE_SET_D: + d = fb_dot; + break; + + case KPID_MODE_NO_D: + d = 0.0f; + break; + } + pid->last.err = err; + pid->last.k_fb = filtered_k_fb; + + if (!isfinite(d)) d = 0.0f; + + /* 计算PD输出 */ + float output = (k_err * pid->param->p) - (d * pid->param->d); + + /* 计算I项 */ + const float i = pid->i + (k_err * dt); + const float i_out = i * pid->param->i; + + if (pid->param->i > SIGMA) { + /* 检查是否饱和 */ + if (isfinite(i)) { + if ((fabsf(output + i_out) <= pid->param->out_limit) && + (fabsf(i) <= pid->param->i_limit)) { + /* 未饱和，使用新积分 */ + pid->i = i; + } + } + } + + /* 计算PID输出 */ + output += i_out; + + /* 限制输出 */ + if (isfinite(output)) { + if (pid->param->out_limit > SIGMA) { + output = AbsClip(output, pid->param->out_limit); + } + pid->last.out = output; + } + return pid->last.out; +} + +/** + * @brief 重置微分项 + * + * @param pid PID结构体 + * @return int8_t 0对应没有错误 + */ +int8_t PID_ResetIntegral(KPID_t *pid) { + if (pid == NULL) return -1; + + pid->i = 0.0f; + + return 0; +} + +/** + * @brief 重置PID + * + * @param pid PID结构体 + * @return int8_t 0对应没有错误 + */ +int8_t PID_Reset(KPID_t *pid) { + if (pid == NULL) return -1; + + pid->i = 0.0f; + pid->last.err = 0.0f; + pid->last.k_fb = 0.0f; + pid->last.out = 0.0f; + LowPassFilter2p_Reset(&(pid->dfilter), 0.0f); + + return 0; +} diff --git a/User/component/pid.h b/User/component/pid.h new file mode 100644 index 0000000..4b451eb --- /dev/null +++ b/User/component/pid.h @@ -0,0 +1,107 @@ +/* + Modified from + https://github.com/PX4/Firmware/blob/master/src/lib/pid/pid.h +*/ + +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +#include "filter.h" +#include "user_math.h" + +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ + +/* USER DEFINE BEGIN */ + +/* USER DEFINE END */ + +/* PID模式 */ +typedef enum { + KPID_MODE_NO_D = 0, /* 不使用微分项，PI控制器 */ + KPID_MODE_CALC_D, /* 根据反馈的值计算离散微分，忽略PID_Calc中的fb_dot */ + KPID_MODE_SET_D /* 直接提供微分值，PID_Calc中的fb_dot将被使用，(Gyros) */ +} KPID_Mode_t; + +/* PID参数 */ +typedef struct { + float k; /* 控制器增益，设置为1用于并行模式 */ + float p; /* 比例项增益，设置为1用于标准形式 */ + float i; /* 积分项增益 */ + float d; /* 微分项增益 */ + float i_limit; /* 积分项上限 */ + float out_limit; /* 输出绝对值限制 */ + float d_cutoff_freq; /* D项低通截止频率 */ + float range; /* 计算循环误差时使用，大于0时启用 */ +} KPID_Params_t; + +/* PID主结构体 */ +typedef struct { + KPID_Mode_t mode; + const KPID_Params_t *param; + + float dt_min; /* 最小PID_Calc调用间隔 */ + float i; /* 积分 */ + + struct { + float err; /* 上次误差 */ + float k_fb; /* 上次反馈值 */ + float out; /* 上次输出 */ + } last; + + LowPassFilter2p_t dfilter; /* D项低通滤波器 */ +} KPID_t; + +/** + * @brief 初始化PID + * + * @param pid PID结构体 + * @param mode PID模式 + * @param sample_freq 采样频率 + * @param param PID参数 + * @return int8_t 0对应没有错误 + */ +int8_t PID_Init(KPID_t *pid, KPID_Mode_t mode, float sample_freq, + const KPID_Params_t *param); + +/** + * @brief PID计算 + * + * @param pid PID结构体 + * @param sp 设定值 + * @param fb 反馈值 + * @param fb_dot 反馈值微分 + * @param dt 间隔时间 + * @return float 计算的输出 + */ +float PID_Calc(KPID_t *pid, float sp, float fb, float fb_dot, float dt); + +/** + * @brief 重置微分项 + * + * @param pid PID结构体 + * @return int8_t 0对应没有错误 + */ +int8_t PID_ResetIntegral(KPID_t *pid); + +/** + * @brief 重置PID + * + * @param pid PID结构体 + * @return int8_t 0对应没有错误 + */ +int8_t PID_Reset(KPID_t *pid); + +/* USER FUNCTION BEGIN */ + +/* USER FUNCTION END */ + +#ifdef __cplusplus +} +#endif diff --git a/User/component/user_math.c b/User/component/user_math.c new file mode 100644 index 0000000..5e0b0c4 --- /dev/null +++ b/User/component/user_math.c @@ -0,0 +1,134 @@ +/* + 自定义的数学运算。 +*/ + +#include "user_math.h" +#include +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ + +inline float InvSqrt(float x) { +//#if 0 + /* Fast inverse square-root */ + /* See: http://en.wikipedia.org/wiki/Fast_inverse_square_root */ + float halfx = 0.5f * x; + float y = x; + long i = *(long*)&y; + i = 0x5f3759df - (i>>1); + y = *(float*)&i; + y = y * (1.5f - (halfx * y * y)); + y = y * (1.5f - (halfx * y * y)); + return y; +//#else +// return 1.0f / sqrtf(x); +//#endif +} + +inline float AbsClip(float in, float limit) { + return (in < -limit) ? -limit : ((in > limit) ? limit : in); +} + +float fAbs(float in){ + return (in > 0) ? in : -in; +} + +inline void Clip(float *origin, float min, float max) { + if (*origin > max) *origin = max; + if (*origin < min) *origin = min; +} + +inline float Sign(float in) { return (in > 0) ? 1.0f : 0.0f; } + +/** + * \brief 将运动向量置零 + * + * \param mv 被操作的值 + */ +inline void ResetMoveVector(MoveVector_t *mv) { memset(mv, 0, sizeof(*mv)); } + +/** + * \brief 计算循环值的误差，适用于设定值与反馈值均在（x,y）范围内循环的情况，range应设定为y-x + * 例如：（-M_PI,M_PI）range=M_2PI;(0,M_2PI)range=M_2PI;（a,a+b）range=b; + * \param sp 设定值 + * \param fb 反馈值 + * \param range 被操作的值变化范围，正数时起效 + * \return 函数运行结果 + */ +inline float CircleError(float sp, float fb, float range) { + float error = sp - fb; + if (range > 0.0f) { + float half_range = range / 2.0f; + + if (error > half_range) + error -= range; + else if (error < -half_range) + error += range; + } + return error; +} + +/** + * \brief 循环加法，适用于被操作的值在（0,range）范围内循环的情况 + * \param origin 被操作的值 + * \param delta 变化量 + * \param range 被操作的值变化范围，正数时起效 + */ +inline void CircleAdd(float *origin, float delta, float range) { + float out = *origin + delta; + if (range > 0.0f) { + if (out >= range) + out -= range; + else if (out < 0.0f) + out += range; + } + *origin = out; +} + +/** + * @brief 循环值取反 + * + * @param origin 被操作的值 + */ +inline void CircleReverse(float *origin) { *origin = -(*origin) + M_2PI; } + +/** + * @brief 根据目标弹丸速度计算摩擦轮转速 + * + * @param bullet_speed 弹丸速度 + * @param fric_radius 摩擦轮半径 + * @param is17mm 是否为17mm + * @return 摩擦轮转速 + */ +inline float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm) { + if (bullet_speed == 0.0f) return 0.f; + if (is17mm) { + if (bullet_speed == 15.0f) return 4670.f; + if (bullet_speed == 18.0f) return 5200.f; + if (bullet_speed == 30.0f) return 7350.f; + } else { + if (bullet_speed == 10.0f) return 4450.f; + if (bullet_speed == 16.0f) return 5800.f; + } + + /* 不为裁判系统设定值时,计算转速 */ + return 60.0f * (float)bullet_speed / (M_2PI * fric_radius); +} + +// /** +// * @brief 断言失败处理 +// * +// * @param file 文件名 +// * @param line 行号 +// */ +// void VerifyFailed(const char *file, uint32_t line) { +// UNUSED(file); +// UNUSED(line); +// while (1) { +// __NOP(); +// } +// } + +/* USER FUNCTION BEGIN */ + +/* USER FUNCTION END */ \ No newline at end of file diff --git a/User/component/user_math.h b/User/component/user_math.h new file mode 100644 index 0000000..6e61ca2 --- /dev/null +++ b/User/component/user_math.h @@ -0,0 +1,179 @@ +/* + 自定义的数学运算。 +*/ + +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +#include +#include +#include +#include +#include + +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ + +#define M_DEG2RAD_MULT (0.01745329251f) +#define M_RAD2DEG_MULT (57.2957795131f) + +#ifndef M_PI_2 +#define M_PI_2 1.57079632679f +#endif + +#ifndef M_PI +#define M_PI 3.14159265358979323846f +#endif + +#ifndef M_2PI +#define M_2PI 6.28318530717958647692f +#endif + +#ifndef __packed + #define __packed __attribute__((__packed__)) +#endif /* __packed */ + +#define max(a, b) \ + ({ \ + __typeof__(a) _a = (a); \ + __typeof__(b) _b = (b); \ + _a > _b ? _a : _b; \ + }) + +#define min(a, b) \ + ({ \ + __typeof__(a) _a = (a); \ + __typeof__(b) _b = (b); \ + _a < _b ? _a : _b; \ + }) + +/* USER DEFINE BEGIN */ + +/* USER DEFINE END */ + + + +/* 移动向量 */ +typedef struct { + float vx; /* 前后平移 */ + float vy; /* 左右平移 */ + float wz; /* 转动 */ +} MoveVector_t; + +/* USER STRUCT BEGIN */ + +/* USER STRUCT END */ + +float InvSqrt(float x); + +float AbsClip(float in, float limit); + +float fAbs(float in); + +void Clip(float *origin, float min, float max); + +float Sign(float in); + +/** + * \brief 将运动向量置零 + * + * \param mv 被操作的值 + */ +void ResetMoveVector(MoveVector_t *mv); + +/** + * \brief 计算循环值的误差，适用于设定值与反馈值均在（x,y）范围内循环的情况，range应设定为y-x + * 例如：（-M_PI,M_PI）range=M_2PI;(0,M_2PI)range=M_2PI;（a,a+b）range=b; + * \param sp 设定值 + * \param fb 反馈值 + * \param range 被操作的值变化范围，正数时起效 + * \return 函数运行结果 + */ +float CircleError(float sp, float fb, float range); + +/** + * \brief 循环加法，适用于被操作的值在（0,range）范围内循环的情况 + * \param origin 被操作的值 + * \param delta 变化量 + * \param range 被操作的值变化范围，正数时起效 + */ +void CircleAdd(float *origin, float delta, float range); + +/** + * @brief 循环值取反 + * + * @param origin 被操作的值 + */ +void CircleReverse(float *origin); + +/** + * @brief 根据目标弹丸速度计算摩擦轮转速 + * + * @param bullet_speed 弹丸速度 + * @param fric_radius 摩擦轮半径 + * @param is17mm 是否为17mm + * @return 摩擦轮转速 + */ +float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm); + +#ifdef __cplusplus +} +#endif + +#ifdef DEBUG + +/** + * @brief 如果表达式的值为假则运行处理函数 + * + */ +#define ASSERT(expr) \ + do { \ + if (!(expr)) { \ + VerifyFailed(__FILE__, __LINE__); \ + } \ + } while (0) +#else + +/** + * @brief 未定DEBUG，表达式不会运行，断言被忽略 + * + */ +#define ASSERT(expr) ((void)(0)) +#endif + +#ifdef DEBUG + +/** + * @brief 如果表达式的值为假则运行处理函数 + * + */ +#define VERIFY(expr) \ + do { \ + if (!(expr)) { \ + VerifyFailed(__FILE__, __LINE__); \ + } \ + } while (0) +#else + +/** + * @brief 表达式会运行，忽略表达式结果 + * + */ +#define VERIFY(expr) ((void)(expr)) +#endif + +// /** +// * @brief 断言失败处理 +// * +// * @param file 文件名 +// * @param line 行号 +// */ +// void VerifyFailed(const char *file, uint32_t line); + +/* USER FUNCTION BEGIN */ + +/* USER FUNCTION END */ \ No newline at end of file diff --git a/User/device/bmi088.c b/User/device/bmi088.c new file mode 100644 index 0000000..0f4c154 --- /dev/null +++ b/User/device/bmi088.c @@ -0,0 +1,381 @@ +/* + BMI088 陀螺仪+加速度计传感器。 +*/ + +/* Includes ----------------------------------------------------------------- */ +#include "bmi088.h" + +#include +#include +#include +#include + +#include "bsp/time.h" +#include "bsp/gpio.h" +#include "bsp/spi.h" +#include "component/user_math.h" + +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ + +/* Private define ----------------------------------------------------------- */ +/* Private define ----------------------------------------------------------- */ +#define BMI088_REG_ACCL_CHIP_ID (0x00) +#define BMI088_REG_ACCL_ERR (0x02) +#define BMI088_REG_ACCL_STATUS (0x03) +#define BMI088_REG_ACCL_X_LSB (0x12) +#define BMI088_REG_ACCL_X_MSB (0x13) +#define BMI088_REG_ACCL_Y_LSB (0x14) +#define BMI088_REG_ACCL_Y_MSB (0x15) +#define BMI088_REG_ACCL_Z_LSB (0x16) +#define BMI088_REG_ACCL_Z_MSB (0x17) +#define BMI088_REG_ACCL_SENSORTIME_0 (0x18) +#define BMI088_REG_ACCL_SENSORTIME_1 (0x19) +#define BMI088_REG_ACCL_SENSORTIME_2 (0x1A) +#define BMI088_REG_ACCL_INT_STAT_1 (0x1D) +#define BMI088_REG_ACCL_TEMP_MSB (0x22) +#define BMI088_REG_ACCL_TEMP_LSB (0x23) +#define BMI088_REG_ACCL_CONF (0x40) +#define BMI088_REG_ACCL_RANGE (0x41) +#define BMI088_REG_ACCL_INT1_IO_CONF (0x53) +#define BMI088_REG_ACCL_INT2_IO_CONF (0x54) +#define BMI088_REG_ACCL_INT1_INT2_MAP_DATA (0x58) +#define BMI088_REG_ACCL_SELF_TEST (0x6D) +#define BMI088_REG_ACCL_PWR_CONF (0x7C) +#define BMI088_REG_ACCL_PWR_CTRL (0x7D) +#define BMI088_REG_ACCL_SOFTRESET (0x7E) + +#define BMI088_REG_GYRO_CHIP_ID (0x00) +#define BMI088_REG_GYRO_X_LSB (0x02) +#define BMI088_REG_GYRO_X_MSB (0x03) +#define BMI088_REG_GYRO_Y_LSB (0x04) +#define BMI088_REG_GYRO_Y_MSB (0x05) +#define BMI088_REG_GYRO_Z_LSB (0x06) +#define BMI088_REG_GYRO_Z_MSB (0x07) +#define BMI088_REG_GYRO_INT_STAT_1 (0x0A) +#define BMI088_REG_GYRO_RANGE (0x0F) +#define BMI088_REG_GYRO_BANDWIDTH (0x10) +#define BMI088_REG_GYRO_LPM1 (0x11) +#define BMI088_REG_GYRO_SOFTRESET (0x14) +#define BMI088_REG_GYRO_INT_CTRL (0x15) +#define BMI088_REG_GYRO_INT3_INT4_IO_CONF (0x16) +#define BMI088_REG_GYRO_INT3_INT4_IO_MAP (0x18) +#define BMI088_REG_GYRO_SELF_TEST (0x3C) + +#define BMI088_CHIP_ID_ACCL (0x1E) +#define BMI088_CHIP_ID_GYRO (0x0F) + +#define BMI088_LEN_RX_BUFF (19) +/* Private macro ------------------------------------------------------------ */ +#define BMI088_ACCL_NSS_SET() \ + BSP_GPIO_WritePin(BSP_GPIO_ACCL_CS, GPIO_PIN_SET) +#define BMI088_ACCL_NSS_RESET() \ + BSP_GPIO_WritePin(BSP_GPIO_ACCL_CS, GPIO_PIN_RESET) + +#define BMI088_GYRO_NSS_SET() \ + BSP_GPIO_WritePin(BSP_GPIO_GYRO_CS, GPIO_PIN_SET) +#define BMI088_GYRO_NSS_RESET() \ + BSP_GPIO_WritePin(BSP_GPIO_GYRO_CS, GPIO_PIN_RESET) + +/* Private typedef ---------------------------------------------------------- */ +typedef enum { + BMI_ACCL, + BMI_GYRO, +} BMI_Device_t; + +/* USER STRUCT BEGIN */ + +/* USER STRUCT END */ + +/* Private variables -------------------------------------------------------- */ +static uint8_t buffer[2]; +static uint8_t bmi088_rxbuf[BMI088_LEN_RX_BUFF]; + +static osThreadId_t thread_alert; +static bool inited = false; + +/* Private function -------------------------------------------------------- */ +/* USER FUNCTION BEGIN */ + +/* USER FUNCTION END */ + +static void BMI_WriteSingle(BMI_Device_t dv, uint8_t reg, uint8_t data) { + buffer[0] = (reg & 0x7f); + buffer[1] = data; + + BSP_TIME_Delay(1); + switch (dv) { + case BMI_ACCL: + BMI088_ACCL_NSS_RESET(); + break; + + case BMI_GYRO: + BMI088_GYRO_NSS_RESET(); + break; + } + + BSP_SPI_Transmit(BSP_SPI_BMI088, buffer, 2u, false); + + switch (dv) { + case BMI_ACCL: + BMI088_ACCL_NSS_SET(); + break; + + case BMI_GYRO: + BMI088_GYRO_NSS_SET(); + break; + } +} + +static uint8_t BMI_ReadSingle(BMI_Device_t dv, uint8_t reg) { + BSP_TIME_Delay(1); + switch (dv) { + case BMI_ACCL: + BMI088_ACCL_NSS_RESET(); + break; + + case BMI_GYRO: + BMI088_GYRO_NSS_RESET(); + break; + } + buffer[0] = (uint8_t)(reg | 0x80); + BSP_SPI_Transmit(BSP_SPI_BMI088, buffer, 1u, false); + BSP_SPI_Receive(BSP_SPI_BMI088, buffer, 2u, false); + + switch (dv) { + case BMI_ACCL: + BMI088_ACCL_NSS_SET(); + return buffer[1]; + + case BMI_GYRO: + BMI088_GYRO_NSS_SET(); + return buffer[0]; + } +} + +static void BMI_Read(BMI_Device_t dv, uint8_t reg, uint8_t *data, uint8_t len) { + if (data == NULL) return; + + switch (dv) { + case BMI_ACCL: + BMI088_ACCL_NSS_RESET(); + break; + + case BMI_GYRO: + BMI088_GYRO_NSS_RESET(); + break; + } + buffer[0] = (uint8_t)(reg | 0x80); + BSP_SPI_Transmit(BSP_SPI_BMI088, buffer, 1u, false); + BSP_SPI_Receive(BSP_SPI_BMI088, data, len, true); +} + +static void BMI088_RxCpltCallback(void) { + if (BSP_GPIO_ReadPin(BSP_GPIO_ACCL_CS) == GPIO_PIN_RESET) { + BMI088_ACCL_NSS_SET(); + osThreadFlagsSet(thread_alert, SIGNAL_BMI088_ACCL_RAW_REDY); + } + if (BSP_GPIO_ReadPin(BSP_GPIO_GYRO_CS) == GPIO_PIN_RESET) { + BMI088_GYRO_NSS_SET(); + osThreadFlagsSet(thread_alert, SIGNAL_BMI088_GYRO_RAW_REDY); + } +} + +static void BMI088_AcclIntCallback(void) { + osThreadFlagsSet(thread_alert, SIGNAL_BMI088_ACCL_NEW_DATA); +} + +static void BMI088_GyroIntCallback(void) { + osThreadFlagsSet(thread_alert, SIGNAL_BMI088_GYRO_NEW_DATA); +} + +/* Exported functions ------------------------------------------------------- */ +int8_t BMI088_Init(BMI088_t *bmi088, const BMI088_Cali_t *cali) { + if (bmi088 == NULL) return DEVICE_ERR_NULL; + if (cali == NULL) return DEVICE_ERR_NULL; + if (inited) return DEVICE_ERR_INITED; + if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL; + + bmi088->cali = cali; + + BMI_WriteSingle(BMI_ACCL, BMI088_REG_ACCL_SOFTRESET, 0xB6); + BMI_WriteSingle(BMI_GYRO, BMI088_REG_GYRO_SOFTRESET, 0xB6); + BSP_TIME_Delay(30); + + /* Switch accl to SPI mode. */ + BMI_ReadSingle(BMI_ACCL, BMI088_CHIP_ID_ACCL); + + if (BMI_ReadSingle(BMI_ACCL, BMI088_REG_ACCL_CHIP_ID) != BMI088_CHIP_ID_ACCL) + return DEVICE_ERR_NO_DEV; + + if (BMI_ReadSingle(BMI_GYRO, BMI088_REG_GYRO_CHIP_ID) != BMI088_CHIP_ID_GYRO) + return DEVICE_ERR_NO_DEV; + + BSP_GPIO_DisableIRQ(BSP_GPIO_ACCL_INT); + BSP_GPIO_DisableIRQ(BSP_GPIO_GYRO_INT); + + BSP_SPI_RegisterCallback(BSP_SPI_BMI088, BSP_SPI_RX_CPLT_CB, + BMI088_RxCpltCallback); + BSP_GPIO_RegisterCallback(BSP_GPIO_ACCL_INT, BMI088_AcclIntCallback); + BSP_GPIO_RegisterCallback(BSP_GPIO_GYRO_INT, BMI088_GyroIntCallback); + + /* Accl init. */ + /* Filter setting: Normal. */ + /* ODR: 0xAB: 800Hz. 0xAA: 400Hz. 0xA9: 200Hz. 0xA8: 100Hz. 0xA6: 25Hz. */ + BMI_WriteSingle(BMI_ACCL, BMI088_REG_ACCL_CONF, 0xAA); + + /* 0x00: +-3G. 0x01: +-6G. 0x02: +-12G. 0x03: +-24G. */ + BMI_WriteSingle(BMI_ACCL, BMI088_REG_ACCL_RANGE, 0x01); + + /* INT1 as output. Push-pull. Active low. Output. */ + BMI_WriteSingle(BMI_ACCL, BMI088_REG_ACCL_INT1_IO_CONF, 0x08); + + /* Map data ready interrupt to INT1. */ + BMI_WriteSingle(BMI_ACCL, BMI088_REG_ACCL_INT1_INT2_MAP_DATA, 0x04); + + /* Turn on accl. Now we can read data. */ + BMI_WriteSingle(BMI_ACCL, BMI088_REG_ACCL_PWR_CTRL, 0x04); + BSP_TIME_Delay(50); + + /* Gyro init. */ + /* 0x00: +-2000. 0x01: +-1000. 0x02: +-500. 0x03: +-250. 0x04: +-125. */ + BMI_WriteSingle(BMI_GYRO, BMI088_REG_GYRO_RANGE, 0x01); + + /* Filter bw: 47Hz. */ + /* ODR: 0x02: 1000Hz. 0x03: 400Hz. 0x06: 200Hz. 0x07: 100Hz. */ + BMI_WriteSingle(BMI_GYRO, BMI088_REG_GYRO_BANDWIDTH, 0x03); + + /* INT3 and INT4 as output. Push-pull. Active low. */ + BMI_WriteSingle(BMI_GYRO, BMI088_REG_GYRO_INT3_INT4_IO_CONF, 0x00); + + /* Map data ready interrupt to INT3. */ + BMI_WriteSingle(BMI_GYRO, BMI088_REG_GYRO_INT3_INT4_IO_MAP, 0x01); + + /* Enable new data interrupt. */ + BMI_WriteSingle(BMI_GYRO, BMI088_REG_GYRO_INT_CTRL, 0x80); + + BSP_TIME_Delay(10); + + inited = true; + + BSP_GPIO_EnableIRQ(BSP_GPIO_ACCL_INT); + BSP_GPIO_EnableIRQ(BSP_GPIO_GYRO_INT); + return DEVICE_OK; +} + +bool BMI088_GyroStable(AHRS_Gyro_t *gyro) { + return ((gyro->x < 0.03f) && (gyro->y < 0.03f) && (gyro->z < 0.03f)); +} + +uint32_t BMI088_WaitNew() { + return osThreadFlagsWait( + SIGNAL_BMI088_ACCL_NEW_DATA | SIGNAL_BMI088_GYRO_NEW_DATA, osFlagsWaitAll, + osWaitForever); +} + +int8_t BMI088_AcclStartDmaRecv() { + BMI_Read(BMI_ACCL, BMI088_REG_ACCL_X_LSB, bmi088_rxbuf, BMI088_LEN_RX_BUFF); + return DEVICE_OK; +} + +uint32_t BMI088_AcclWaitDmaCplt() { + return osThreadFlagsWait(SIGNAL_BMI088_ACCL_RAW_REDY, osFlagsWaitAll, + osWaitForever); +} + +int8_t BMI088_GyroStartDmaRecv() { + BMI_Read(BMI_GYRO, BMI088_REG_GYRO_X_LSB, bmi088_rxbuf + 7, 6u); + return DEVICE_OK; +} + +uint32_t BMI088_GyroWaitDmaCplt() { + return osThreadFlagsWait(SIGNAL_BMI088_GYRO_RAW_REDY, osFlagsWaitAll, + osWaitForever); +} + +int8_t BMI088_ParseAccl(BMI088_t *bmi088) { + if (bmi088 == NULL) return DEVICE_ERR_NULL; + +#if 1 + int16_t raw_x, raw_y, raw_z; + memcpy(&raw_x, bmi088_rxbuf + 1, sizeof(raw_x)); + memcpy(&raw_y, bmi088_rxbuf + 3, sizeof(raw_y)); + memcpy(&raw_z, bmi088_rxbuf + 5, sizeof(raw_z)); + + bmi088->accl.x = (float)raw_x; + bmi088->accl.y = (float)raw_y; + bmi088->accl.z = (float)raw_z; + +#else + const int16_t *praw_x = (int16_t *)(bmi088_rxbuf + 1); + const int16_t *praw_y = (int16_t *)(bmi088_rxbuf + 3); + const int16_t *praw_z = (int16_t *)(bmi088_rxbuf + 5); + + bmi088->accl.x = (float)*praw_x; + bmi088->accl.y = (float)*praw_y; + bmi088->accl.z = (float)*praw_z; + +#endif + + /* 3G: 10920. 6G: 5460. 12G: 2730. 24G: 1365. */ + bmi088->accl.x /= 5460.0f; + bmi088->accl.y /= 5460.0f; + bmi088->accl.z /= 5460.0f; + + int16_t raw_temp = + (uint16_t)((bmi088_rxbuf[17] << 3) | (bmi088_rxbuf[18] >> 5)); + + if (raw_temp > 1023) raw_temp -= 2048; + + bmi088->temp = (float)raw_temp * 0.125f + 23.0f; + + return DEVICE_OK; +} + +int8_t BMI088_ParseGyro(BMI088_t *bmi088) { + if (bmi088 == NULL) return DEVICE_ERR_NULL; + +#if 1 + /* Gyroscope imu_raw -> degrees/sec -> radians/sec */ + int16_t raw_x, raw_y, raw_z; + memcpy(&raw_x, bmi088_rxbuf + 7, sizeof(raw_x)); + memcpy(&raw_y, bmi088_rxbuf + 9, sizeof(raw_y)); + memcpy(&raw_z, bmi088_rxbuf + 11, sizeof(raw_z)); + + bmi088->gyro.x = (float)raw_x; + bmi088->gyro.y = (float)raw_y; + bmi088->gyro.z = (float)raw_z; + +#else + /* Gyroscope imu_raw -> degrees/sec -> radians/sec */ + const int16_t *raw_x = (int16_t *)(bmi088_rxbuf + 7); + const int16_t *raw_y = (int16_t *)(bmi088_rxbuf + 9); + const int16_t *raw_z = (int16_t *)(bmi088_rxbuf + 11); + + bmi088->gyro.x = (float)*raw_x; + bmi088->gyro.y = (float)*raw_y; + bmi088->gyro.z = (float)*raw_z; +#endif + + /* FS125: 262.144. FS250: 131.072. FS500: 65.536. FS1000: 32.768. + * FS2000: 16.384.*/ + bmi088->gyro.x /= 32.768f; + bmi088->gyro.y /= 32.768f; + bmi088->gyro.z /= 32.768f; + + bmi088->gyro.x *= M_DEG2RAD_MULT; + bmi088->gyro.y *= M_DEG2RAD_MULT; + bmi088->gyro.z *= M_DEG2RAD_MULT; + + bmi088->gyro.x -= bmi088->cali->gyro_offset.x; + bmi088->gyro.y -= bmi088->cali->gyro_offset.y; + bmi088->gyro.z -= bmi088->cali->gyro_offset.z; + + return DEVICE_ERR_NULL; +} + +float BMI088_GetUpdateFreq(BMI088_t *bmi088) { + (void)bmi088; + return 400.0f; +} diff --git a/User/device/bmi088.h b/User/device/bmi088.h new file mode 100644 index 0000000..eb44e0c --- /dev/null +++ b/User/device/bmi088.h @@ -0,0 +1,81 @@ +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ----------------------------------------------------------------- */ +#include +#include + +#include "component/ahrs.h" +#include "device/device.h" + +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ + +/* USER DEFINE BEGIN */ + +/* USER DEFINE END */ + +/* Exported constants ------------------------------------------------------- */ +/* Exported macro ----------------------------------------------------------- */ +/* Exported types ----------------------------------------------------------- */ +typedef struct { + struct { + float x; + float y; + float z; + } gyro_offset; /* 陀螺仪偏置 */ +} BMI088_Cali_t; /* BMI088校准数据 */ + +typedef struct { + DEVICE_Header_t header; + AHRS_Accl_t accl; + AHRS_Gyro_t gyro; + + float temp; /* 温度 */ + + const BMI088_Cali_t *cali; +} BMI088_t; + +/* USER STRUCT BEGIN */ + +/* USER STRUCT END */ + +/* Exported functions prototypes -------------------------------------------- */ +int8_t BMI088_Init(BMI088_t *bmi088, const BMI088_Cali_t *cali); +int8_t BMI088_Restart(void); + +bool BMI088_GyroStable(AHRS_Gyro_t *gyro); + +/* Sensor use right-handed coordinate system. */ +/* + x < R(logo) + y + UP is z + All implementation should follow this rule. + */ +uint32_t BMI088_WaitNew(); + +/* + BMI088的Accl和Gyro共用同一个DMA通道，所以一次只能读一个传感器。 + 即BMI088_AcclStartDmaRecv() 和 BMI088_AcclWaitDmaCplt() 中间不能 + 出现 BMI088_GyroStartDmaRecv()。 +*/ +int8_t BMI088_AcclStartDmaRecv(); +uint32_t BMI088_AcclWaitDmaCplt(); +int8_t BMI088_GyroStartDmaRecv(); +uint32_t BMI088_GyroWaitDmaCplt(); +int8_t BMI088_ParseAccl(BMI088_t *bmi088); +int8_t BMI088_ParseGyro(BMI088_t *bmi088); +float BMI088_GetUpdateFreq(BMI088_t *bmi088); + +/* USER FUNCTION BEGIN */ + +/* USER FUNCTION END */ + +#ifdef __cplusplus +} +#endif diff --git a/User/device/buzzer.c b/User/device/buzzer.c new file mode 100644 index 0000000..f5cc820 --- /dev/null +++ b/User/device/buzzer.c @@ -0,0 +1,171 @@ +#include "device/buzzer.h" +#include "bsp/time.h" +#include + +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ + +/* USER DEFINE BEGIN */ + +/* USER DEFINE END */ + +#define MUSIC_DEFAULT_VOLUME 0.5f +#define MUSIC_A4_FREQ 440.0f // A4音符频率 + +/* USER MUSIC MENU BEGIN */ +// RM音乐 +const Tone_t RM[] = { + {NOTE_B, 5, 200}, + {NOTE_G, 4, 200}, + {NOTE_B, 5, 400}, + {NOTE_G, 4, 200}, + {NOTE_B, 5, 400}, + {NOTE_G, 4, 200}, + {NOTE_D, 5, 400}, + {NOTE_G, 4, 200}, + {NOTE_C, 5, 200}, + {NOTE_C, 5, 200}, + {NOTE_G, 4, 200}, + {NOTE_B, 5, 200}, + {NOTE_C, 5, 200} +}; + +// Nokia 经典铃声音符 +const Tone_t NOKIA[] = { + {NOTE_E, 5, 125}, {NOTE_D, 5, 125}, {NOTE_FS, 4, 250}, {NOTE_GS, 4, 250}, + {NOTE_CS, 5, 125}, {NOTE_B, 4, 125}, {NOTE_D, 4, 250}, {NOTE_E, 4, 250}, + {NOTE_B, 4, 125}, {NOTE_A, 4, 125}, {NOTE_CS, 4, 250}, {NOTE_E, 4, 250}, + {NOTE_A, 4, 500} +}; +/* USER MUSIC MENU END */ + +static void BUZZER_Update(BUZZER_t *buzzer){ + buzzer->header.online = true; + buzzer->header.last_online_time = BSP_TIME_Get_ms(); +} + +// 根据音符和八度计算频率的辅助函数 +static float BUZZER_CalcFreq(NOTE_t note, uint8_t octave) { + if (note == NOTE_REST) { + return 0.0f; // 休止符返回0频率 + } + + // 将音符和八度转换为MIDI音符编号 + int midi_num = (int)note + (int)((octave + 1) * 12); + + // 使用A4 (440Hz) 作为参考，计算频率 + // 公式: freq = 440 * 2^((midi_num - 69)/12) + float freq = 440.0f * powf(2.0f, ((float)midi_num - 69.0f) / 12.0f); + + return freq; +} + +// 播放单个音符 +static int8_t BUZZER_PlayTone(BUZZER_t *buzzer, NOTE_t note, uint8_t octave, uint16_t duration_ms) { + if (buzzer == NULL || !buzzer->header.online) + return DEVICE_ERR; + + float freq = BUZZER_CalcFreq(note, octave); + + if (freq > 0.0f) { + // 播放音符 + if (BUZZER_Set(buzzer, freq, MUSIC_DEFAULT_VOLUME) != DEVICE_OK) + return DEVICE_ERR; + + if (BUZZER_Start(buzzer) != DEVICE_OK) + return DEVICE_ERR; + } else { + // 休止符，停止播放 + BUZZER_Stop(buzzer); + } + + // 等待指定时间 + BSP_TIME_Delay_ms(duration_ms); + + // 停止当前音符，为下一个音符做准备 + BUZZER_Stop(buzzer); + BSP_TIME_Delay_ms(20); // 短暂间隔 + + return DEVICE_OK; +} + +int8_t BUZZER_Init(BUZZER_t *buzzer, BSP_PWM_Channel_t channel) { + if (buzzer == NULL) return DEVICE_ERR; + + buzzer->channel = channel; + buzzer->header.online = true; + + BUZZER_Stop(buzzer); + + return DEVICE_OK ; +} + +int8_t BUZZER_Start(BUZZER_t *buzzer) { + if (buzzer == NULL || !buzzer->header.online) + return DEVICE_ERR; + BUZZER_Update(buzzer); + return (BSP_PWM_Start(buzzer->channel) == BSP_OK) ? + DEVICE_OK : DEVICE_ERR; +} + +int8_t BUZZER_Stop(BUZZER_t *buzzer) { + if (buzzer == NULL || !buzzer->header.online) + return DEVICE_ERR; + BUZZER_Update(buzzer); + return (BSP_PWM_Stop(buzzer->channel) == BSP_OK) ? + DEVICE_OK : DEVICE_ERR; +} + +int8_t BUZZER_Set(BUZZER_t *buzzer, float freq, float duty_cycle) { + if (buzzer == NULL || !buzzer->header.online) + return DEVICE_ERR; + + int result = DEVICE_OK ; + BUZZER_Update(buzzer); + if (BSP_PWM_SetFreq(buzzer->channel, freq) != BSP_OK) + result = DEVICE_ERR; + + if (BSP_PWM_SetComp(buzzer->channel, duty_cycle) != BSP_OK) + result = DEVICE_ERR; + + return result; +} + +int8_t BUZZER_PlayMusic(BUZZER_t *buzzer, MUSIC_t music) { + if (buzzer == NULL || !buzzer->header.online) + return DEVICE_ERR; + + const Tone_t *melody = NULL; + size_t melody_length = 0; + + // 根据音乐类型选择对应的音符数组 + switch (music) { + case MUSIC_RM: + melody = RM; + melody_length = sizeof(RM) / sizeof(Tone_t); + break; + case MUSIC_NOKIA: + melody = NOKIA; + melody_length = sizeof(NOKIA) / sizeof(Tone_t); + break; + default: + return DEVICE_ERR; + } + + // 播放整首音乐 + for (size_t i = 0; i < melody_length; i++) { + if (BUZZER_PlayTone(buzzer, melody[i].note, melody[i].octave, melody[i].duration_ms) != DEVICE_OK) { + BUZZER_Stop(buzzer); // 出错时停止播放 + return DEVICE_ERR; + } + } + + // 音乐播放完成后停止 + BUZZER_Stop(buzzer); + return DEVICE_OK; +} + +/* USER FUNCTION BEGIN */ + +/* USER FUNCTION END */ diff --git a/User/device/buzzer.h b/User/device/buzzer.h new file mode 100644 index 0000000..4ef7e43 --- /dev/null +++ b/User/device/buzzer.h @@ -0,0 +1,138 @@ +/** + * @file buzzer.h + * @brief 蜂鸣器设备驱动头文件 + * @details 提供蜂鸣器音频播放功能，支持单音符播放和预设音乐播放 + * @author Generated by STM32CubeMX + * @date 2025年10月23日 + */ + +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ----------------------------------------------------------------- */ +#include "bsp/pwm.h" // PWM底层硬件抽象层 +#include "device.h" // 设备通用头文件 +#include // 标准定义 +#include // 标准整型定义 + +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ + +/* Exported constants ------------------------------------------------------- */ + +/* USER DEFINE BEGIN */ + +/* USER DEFINE END */ + +/* Exported types ----------------------------------------------------------- */ + +/** + * @brief 音符枚举类型 + * @details 定义标准十二平均律音符，用于音乐播放 + */ +typedef enum { + NOTE_C = 0, ///< Do音符 + NOTE_CS = 1, ///< Do#音符 (升Do) + NOTE_D = 2, ///< Re音符 + NOTE_DS = 3, ///< Re#音符 (升Re) + NOTE_E = 4, ///< Mi音符 + NOTE_F = 5, ///< Fa音符 + NOTE_FS = 6, ///< Fa#音符 (升Fa) + NOTE_G = 7, ///< Sol音符 + NOTE_GS = 8, ///< Sol#音符 (升Sol) + NOTE_A = 9, ///< La音符 + NOTE_AS = 10, ///< La#音符 (升La) + NOTE_B = 11, ///< Si音符 + NOTE_REST = 255 ///< 休止符 (无声音) +} NOTE_t; + +/** + * @brief 音调结构体 + * @details 定义一个完整的音调信息，包括音符、八度和持续时间 + */ +typedef struct { + NOTE_t note; ///< 音符名称 (使用NOTE_t枚举) + uint8_t octave; ///< 八度 (0-8，通常使用3-7) + uint16_t duration_ms; ///< 持续时间，单位毫秒 +} Tone_t; + +/** + * @brief 预设音乐枚举类型 + * @details 定义可播放的预设音乐类型 + */ +typedef enum { + /* USER MUSIC MENU BEGIN */ + MUSIC_RM, ///< RM战队音乐 + MUSIC_NOKIA, ///< 诺基亚经典铃声 + /* USER MUSIC MENU END */ +} MUSIC_t; + +/** + * @brief 蜂鸣器设备结构体 + * @details 蜂鸣器设备的完整描述，包含设备头信息和PWM通道 + */ +typedef struct { + DEVICE_Header_t header; ///< 设备通用头信息 (在线状态、时间戳等) + BSP_PWM_Channel_t channel; ///< PWM输出通道 +} BUZZER_t; + +/* USER STRUCT BEGIN */ + +/* USER STRUCT END */ + +/* Exported functions prototypes -------------------------------------------- */ + +/** + * @brief 初始化蜂鸣器设备 + * @param buzzer 蜂鸣器设备结构体指针 + * @param channel PWM输出通道 + * @return int8_t 返回值：DEVICE_OK(0) 成功，DEVICE_ERR(-1) 失败 + * @note 初始化后蜂鸣器处于停止状态 + */ +int8_t BUZZER_Init(BUZZER_t *buzzer, BSP_PWM_Channel_t channel); + +/** + * @brief 启动蜂鸣器播放 + * @param buzzer 蜂鸣器设备结构体指针 + * @return int8_t 返回值：DEVICE_OK(0) 成功，DEVICE_ERR(-1) 失败 + * @note 需要先调用BUZZER_Set设置频率和占空比 + */ +int8_t BUZZER_Start(BUZZER_t *buzzer); + +/** + * @brief 停止蜂鸣器播放 + * @param buzzer 蜂鸣器设备结构体指针 + * @return int8_t 返回值：DEVICE_OK(0) 成功，DEVICE_ERR(-1) 失败 + */ +int8_t BUZZER_Stop(BUZZER_t *buzzer); + +/** + * @brief 设置蜂鸣器频率和占空比 + * @param buzzer 蜂鸣器设备结构体指针 + * @param freq 频率 (Hz)，通常范围20Hz-20kHz + * @param duty_cycle 占空比 (0.0-1.0)，影响音量大小 + * @return int8_t 返回值：DEVICE_OK(0) 成功，DEVICE_ERR(-1) 失败 + * @note 设置后需要调用BUZZER_Start才能听到声音 + */ +int8_t BUZZER_Set(BUZZER_t *buzzer, float freq, float duty_cycle); + +/** + * @brief 播放预设音乐 + * @param buzzer 蜂鸣器设备结构体指针 + * @param music 音乐类型 (使用MUSIC_t枚举) + * @return int8_t 返回值：DEVICE_OK(0) 成功，DEVICE_ERR(-1) 失败 + * @note 这是一个阻塞函数，会播放完整首音乐后返回 + */ +int8_t BUZZER_PlayMusic(BUZZER_t *buzzer, MUSIC_t music); + +/* USER FUNCTION BEGIN */ + +/* USER FUNCTION END */ + +#ifdef __cplusplus +} +#endif diff --git a/User/device/device.h b/User/device/device.h new file mode 100644 index 0000000..18ffc73 --- /dev/null +++ b/User/device/device.h @@ -0,0 +1,51 @@ +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +#include +#include + +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ + +/* USER DEFINE BEGIN */ + +/* USER DEFINE END */ + +#define DEVICE_OK (0) +#define DEVICE_ERR (-1) +#define DEVICE_ERR_NULL (-2) +#define DEVICE_ERR_INITED (-3) +#define DEVICE_ERR_NO_DEV (-4) + +/* AUTO GENERATED SIGNALS BEGIN */ +#define SIGNAL_DR16_RAW_REDY (1u << 0) +#define SIGNAL_BMI088_ACCL_RAW_REDY (1u << 1) +#define SIGNAL_BMI088_GYRO_RAW_REDY (1u << 2) +#define SIGNAL_BMI088_ACCL_NEW_DATA (1u << 3) +#define SIGNAL_BMI088_GYRO_NEW_DATA (1u << 4) +/* AUTO GENERATED SIGNALS END */ + +/* USER SIGNALS BEGIN */ + +/* USER SIGNALS END */ +/*设备层通用Header*/ +typedef struct { + bool online; + uint64_t last_online_time; +} DEVICE_Header_t; + +/* USER STRUCT BEGIN */ + +/* USER STRUCT END */ + +/* USER FUNCTION BEGIN */ + +/* USER FUNCTION END */ + +#ifdef __cplusplus +} +#endif diff --git a/User/device/device_config.yaml b/User/device/device_config.yaml new file mode 100644 index 0000000..46f042e --- /dev/null +++ b/User/device/device_config.yaml @@ -0,0 +1,31 @@ +bmi088: + bsp_config: + BSP_GPIO_ACCL_CS: BSP_GPIO_ACCL_CS + BSP_GPIO_ACCL_INT: BSP_GPIO_ACCL_INT + BSP_GPIO_GYRO_CS: BSP_GPIO_GYRO_CS + BSP_GPIO_GYRO_INT: BSP_GPIO_GYRO_INT + BSP_SPI_BMI088: BSP_SPI_BMI088 + enabled: true +buzzer: + bsp_config: + BSP_PWM_BUZZER: BSP_PWM_TIM12_CH2 + enabled: true +dr16: + bsp_config: + BSP_UART_DR16: BSP_UART_DR16 + enabled: true +motor: + bsp_config: {} + enabled: true +motor_dm: + bsp_config: {} + enabled: true +motor_lk: + bsp_config: {} + enabled: true +motor_lz: + bsp_config: {} + enabled: true +motor_rm: + bsp_config: {} + enabled: true diff --git a/User/device/dr16.c b/User/device/dr16.c new file mode 100644 index 0000000..120997b --- /dev/null +++ b/User/device/dr16.c @@ -0,0 +1,169 @@ +/* + DR16接收机 + Example： + + DR16_Init(&dr16); + + while (1) { + DR16_StartDmaRecv(&dr16); + if (DR16_WaitDmaCplt(20)) { + DR16_ParseData(&dr16); + } else { + DR16_Offline(&dr16); + } +} +*/ + +/* Includes ----------------------------------------------------------------- */ +#include "dr16.h" +#include "bsp/uart.h" +#include "bsp/time.h" +#include "device.h" + +#include +#include + +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ +/* Private define ----------------------------------------------------------- */ +#define DR16_CH_VALUE_MIN (364u) +#define DR16_CH_VALUE_MID (1024u) +#define DR16_CH_VALUE_MAX (1684u) + +/* USER DEFINE BEGIN */ + +/* USER DEFINE END */ + +/* Private macro ------------------------------------------------------------ */ +/* Private typedef ---------------------------------------------------------- */ +/* Private variables -------------------------------------------------------- */ + +static osThreadId_t thread_alert; +static bool inited = false; + +/* Private function -------------------------------------------------------- */ +static void DR16_RxCpltCallback(void) { + osThreadFlagsSet(thread_alert, SIGNAL_DR16_RAW_REDY); +} + +static bool DR16_DataCorrupted(const DR16_t *dr16) { + if (dr16 == NULL) return DEVICE_ERR_NULL; + + if ((dr16->raw_data.ch_r_x < DR16_CH_VALUE_MIN) || + (dr16->raw_data.ch_r_x > DR16_CH_VALUE_MAX)) + return DEVICE_ERR; + + if ((dr16->raw_data.ch_r_y < DR16_CH_VALUE_MIN) || + (dr16->raw_data.ch_r_y > DR16_CH_VALUE_MAX)) + return DEVICE_ERR; + + if ((dr16->raw_data.ch_l_x < DR16_CH_VALUE_MIN) || + (dr16->raw_data.ch_l_x > DR16_CH_VALUE_MAX)) + return DEVICE_ERR; + + if ((dr16->raw_data.ch_l_y < DR16_CH_VALUE_MIN) || + (dr16->raw_data.ch_l_y > DR16_CH_VALUE_MAX)) + return DEVICE_ERR; + + if (dr16->raw_data.sw_l == 0) return DEVICE_ERR; + + if (dr16->raw_data.sw_r == 0) return DEVICE_ERR; + + return DEVICE_OK; +} + +/* Exported functions ------------------------------------------------------- */ +int8_t DR16_Init(DR16_t *dr16) { + if (dr16 == NULL) return DEVICE_ERR_NULL; + if (inited) return DEVICE_ERR_INITED; + if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL; + + BSP_UART_RegisterCallback(BSP_UART_DR16, BSP_UART_RX_CPLT_CB, + DR16_RxCpltCallback); + + inited = true; + return DEVICE_OK; +} + +int8_t DR16_Restart(void) { + __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_DR16)); + __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_DR16)); + return DEVICE_OK; +} + +int8_t DR16_StartDmaRecv(DR16_t *dr16) { + if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_DR16), + (uint8_t *)&(dr16->raw_data), + sizeof(dr16->raw_data)) == HAL_OK) + return DEVICE_OK; + return DEVICE_ERR; +} + +bool DR16_WaitDmaCplt(uint32_t timeout) { + return (osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, timeout) == + SIGNAL_DR16_RAW_REDY); +} + +int8_t DR16_ParseData(DR16_t *dr16){ + if (dr16 == NULL) return DEVICE_ERR_NULL; + + if (DR16_DataCorrupted(dr16)) { + return DEVICE_ERR; + } + + dr16->header.online = true; + dr16->header.last_online_time = BSP_TIME_Get_us(); + + memset(&(dr16->data), 0, sizeof(dr16->data)); + + float full_range = (float)(DR16_CH_VALUE_MAX - DR16_CH_VALUE_MIN); + + // 解析摇杆数据 + dr16->data.ch_r_x = 2.0f * ((float)dr16->raw_data.ch_r_x - DR16_CH_VALUE_MID) / full_range; + dr16->data.ch_r_y = 2.0f * ((float)dr16->raw_data.ch_r_y - DR16_CH_VALUE_MID) / full_range; + dr16->data.ch_l_x = 2.0f * ((float)dr16->raw_data.ch_l_x - DR16_CH_VALUE_MID) / full_range; + dr16->data.ch_l_y = 2.0f * ((float)dr16->raw_data.ch_l_y - DR16_CH_VALUE_MID) / full_range; + + // 解析拨杆位置 + dr16->data.sw_l = (DR16_SwitchPos_t)dr16->raw_data.sw_l; + dr16->data.sw_r = (DR16_SwitchPos_t)dr16->raw_data.sw_r; + + // 解析鼠标数据 + dr16->data.mouse.x = dr16->raw_data.x; + dr16->data.mouse.y = dr16->raw_data.y; + dr16->data.mouse.z = dr16->raw_data.z; + + dr16->data.mouse.l_click = dr16->raw_data.press_l; + dr16->data.mouse.r_click = dr16->raw_data.press_r; + + // 解析键盘按键 - 使用union简化代码 + uint16_t key_value = dr16->raw_data.key; + + // 解析键盘位映射（W-B键，位0-15） + for (int i = DR16_KEY_W; i <= DR16_KEY_B; i++) { + dr16->data.keyboard.key[i] = (key_value & (1 << i)) != 0; + } + + // 解析鼠标点击 + dr16->data.keyboard.key[DR16_L_CLICK] = dr16->data.mouse.l_click; + dr16->data.keyboard.key[DR16_R_CLICK] = dr16->data.mouse.r_click; + + // 解析第五通道 + dr16->data.ch_res = 2.0f * ((float)dr16->raw_data.res - DR16_CH_VALUE_MID) / full_range; + + return DEVICE_OK; +} + +int8_t DR16_Offline(DR16_t *dr16){ + if (dr16 == NULL) return DEVICE_ERR_NULL; + + dr16->header.online = false; + memset(&(dr16->data), 0, sizeof(dr16->data)); + + return DEVICE_OK; +} + +/* USER FUNCTION BEGIN */ + +/* USER FUNCTION END */ diff --git a/User/device/dr16.h b/User/device/dr16.h new file mode 100644 index 0000000..03fa526 --- /dev/null +++ b/User/device/dr16.h @@ -0,0 +1,117 @@ +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ----------------------------------------------------------------- */ +#include + +#include "component/user_math.h" +#include "device.h" + +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ + +/* USER DEFINE BEGIN */ + +/* USER DEFINE END */ + +/* Exported constants ------------------------------------------------------- */ +/* Exported macro ----------------------------------------------------------- */ +/* Exported types ----------------------------------------------------------- */ +typedef struct __packed { + uint16_t ch_r_x : 11; + uint16_t ch_r_y : 11; + uint16_t ch_l_x : 11; + uint16_t ch_l_y : 11; + uint8_t sw_r : 2; + uint8_t sw_l : 2; + int16_t x; + int16_t y; + int16_t z; + uint8_t press_l; + uint8_t press_r; + uint16_t key; + uint16_t res; +} DR16_RawData_t; + +typedef enum { + DR16_SW_ERR = 0, + DR16_SW_UP = 1, + DR16_SW_MID = 3, + DR16_SW_DOWN = 2, +} DR16_SwitchPos_t; + +/* 键盘按键值 */ +typedef enum { + DR16_KEY_W = 0, + DR16_KEY_S, + DR16_KEY_A, + DR16_KEY_D, + DR16_KEY_SHIFT, + DR16_KEY_CTRL, + DR16_KEY_Q, + DR16_KEY_E, + DR16_KEY_R, + DR16_KEY_F, + DR16_KEY_G, + DR16_KEY_Z, + DR16_KEY_X, + DR16_KEY_C, + DR16_KEY_V, + DR16_KEY_B, + DR16_L_CLICK, + DR16_R_CLICK, + DR16_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[DR16_KEY_NUM]; /* 键盘按键值 */ + uint16_t value; /* 键盘按键值的位映射 */ + } keyboard; + + uint16_t res; /* 保留，未启用 */ +} DR16_Data_t; + +typedef struct { + DEVICE_Header_t header; + DR16_RawData_t raw_data; + DR16_Data_t data; +} DR16_t; + +/* Exported functions prototypes -------------------------------------------- */ +int8_t DR16_Init(DR16_t *dr16); +int8_t DR16_Restart(void); +int8_t DR16_StartDmaRecv(DR16_t *dr16); +bool DR16_WaitDmaCplt(uint32_t timeout); +int8_t DR16_ParseData(DR16_t *dr16); +int8_t DR16_Offline(DR16_t *dr16); + +/* USER FUNCTION BEGIN */ + +/* USER FUNCTION END */ + +#ifdef __cplusplus +} +#endif diff --git a/User/device/motor.c b/User/device/motor.c new file mode 100644 index 0000000..1fb059d --- /dev/null +++ b/User/device/motor.c @@ -0,0 +1,52 @@ +/* + 电机通用函数 +*/ + +/* Includes ----------------------------------------------------------------- */ +#include "motor.h" + +#include + +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ + + +/* Private define ----------------------------------------------------------- */ +/* USER DEFINE BEGIN */ + +/* USER DEFINE END */ + +/* Private macro ------------------------------------------------------------ */ +/* Private typedef ---------------------------------------------------------- */ +/* USER STRUCT BEGIN */ + +/* USER STRUCT END */ + +/* Private variables -------------------------------------------------------- */ + +/* Private function -------------------------------------------------------- */ +/* USER FUNCTION BEGIN */ + +/* USER FUNCTION END */ + +/* Exported functions ------------------------------------------------------- */ +float MOTOR_GetRotorAbsAngle(const MOTOR_t *motor) { + if (motor == NULL) return DEVICE_ERR_NULL; + return motor->feedback.rotor_abs_angle; +} + +float MOTOR_GetRotorSpeed(const MOTOR_t *motor) { + if (motor == NULL) return DEVICE_ERR_NULL; + return motor->feedback.rotor_speed; +} + +float MOTOR_GetTorqueCurrent(const MOTOR_t *motor) { + if (motor == NULL) return DEVICE_ERR_NULL; + return motor->feedback.torque_current; +} + +float MOTOR_GetTemp(const MOTOR_t *motor) { + if (motor == NULL) return DEVICE_ERR_NULL; + return motor->feedback.temp; +} diff --git a/User/device/motor.h b/User/device/motor.h new file mode 100644 index 0000000..e1f945b --- /dev/null +++ b/User/device/motor.h @@ -0,0 +1,68 @@ +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ----------------------------------------------------------------- */ +#include "device/device.h" + +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ + +/* USER DEFINE BEGIN */ + +/* USER DEFINE END */ + +/* Exported constants ------------------------------------------------------- */ +/* Exported macro ----------------------------------------------------------- */ +/* Exported types ----------------------------------------------------------- */ +typedef struct { + float rotor_abs_angle; /* 转子绝对角度 */ + float rotor_speed; /* 实际转子转速 */ + float torque_current; /* 转矩电流 */ + float temp; /* 温度 */ +} MOTOR_Feedback_t; + +/** + * @brief mit电机输出参数结构体 + */ +typedef struct { + float torque; /* 目标力矩 */ + float velocity; /* 目标速度 */ + float angle; /* 目标位置 */ + float kp; /* 位置环增益 */ + float kd; /* 速度环增益 */ +} MOTOR_MIT_Output_t; + +/** + * @brief 转矩电流控制模式参数结构体 + */ +typedef struct { + float current; /* 目标电流 */ +} MOTOR_Current_Output_t; + +typedef struct { + DEVICE_Header_t header; + bool reverse; /* 是否反装 true表示反装 */ + MOTOR_Feedback_t feedback; +} MOTOR_t; + +/* USER STRUCT BEGIN */ + +/* USER STRUCT END */ + +/* Exported functions prototypes -------------------------------------------- */ +float MOTOR_GetRotorAbsAngle(const MOTOR_t *motor); +float MOTOR_GetRotorSpeed(const MOTOR_t *motor); +float MOTOR_GetTorqueCurrent(const MOTOR_t *motor); +float MOTOR_GetTemp(const MOTOR_t *motor); + +/* USER FUNCTION BEGIN */ + +/* USER FUNCTION END */ + +#ifdef __cplusplus +} +#endif diff --git a/User/device/motor_dm.c b/User/device/motor_dm.c new file mode 100644 index 0000000..a77656f --- /dev/null +++ b/User/device/motor_dm.c @@ -0,0 +1,496 @@ +#define MOTOR_DM_FLOAT_TO_INT_SIGNED(x, x_min, x_max, bits) \ + ((int32_t)roundf(((x) / ((x_max) - (x_min))) * (1 << (bits)) + (1 << ((bits) - 1)))) + +#define MOTOR_DM_INT_TO_FLOAT_SIGNED(x_int, x_min, x_max, bits) \ + (((float)((int32_t)(x_int) - (1 << ((bits) - 1))) * ((x_max) - (x_min)) / (float)(1 << (bits)))) +/* Includes ----------------------------------------------------------------- */ +#include "device/motor_dm.h" +#include "bsp/mm.h" +#include "bsp/time.h" +#include "component/user_math.h" +#include "string.h" +#include "math.h" + +/* Private constants -------------------------------------------------------- */ +/* DM电机数据映射范围 */ +#define DM_P_MIN (-12.56637f) +#define DM_P_MAX (12.56637f) +#define DM_V_MIN (-30.0f) +#define DM_V_MAX (30.0f) +#define DM_T_MIN (-12.0f) +#define DM_T_MAX (12.0f) +#define DM_KP_MIN (0.0f) +#define DM_KP_MAX (500.0f) +#define DM_KD_MIN (0.0f) +#define DM_KD_MAX (5.0f) + +/* CAN ID偏移量 */ +#define DM_CAN_ID_OFFSET_POS_VEL 0x100 +#define DM_CAN_ID_OFFSET_VEL 0x200 + +/* Private macro ------------------------------------------------------------ */ +#define FLOAT_TO_UINT(x, x_min, x_max, bits) \ + (uint32_t)((x - x_min) * ((1 << bits) - 1) / (x_max - x_min)) + +#define UINT_TO_FLOAT(x_int, x_min, x_max, bits) \ + ((float)(x_int) * (x_max - x_min) / ((1 << bits) - 1) + x_min) + + +/* Private variables -------------------------------------------------------- */ +static MOTOR_DM_CANManager_t *can_managers[BSP_CAN_NUM] = {NULL}; + +static int float_to_uint(float x_float, float x_min, float x_max, int bits) +{ + /* Converts a float to an unsigned int, given range and number of bits */ + float span = x_max - x_min; + float offset = x_min; + return (int) ((x_float-offset)*((float)((1<motor.feedback.rotor_abs_angle = uint_to_float(p_int, DM_P_MIN, DM_P_MAX, 16); // (-12.5,12.5) + uint16_t v_int=(data[3]<<4)|(data[4]>>4); + motor->motor.feedback.rotor_speed = uint_to_float(v_int, DM_V_MIN, DM_V_MAX, 12); // (-30.0,30.0) + uint16_t t_int=((data[4]&0xF)<<8)|data[5]; + motor->motor.feedback.torque_current = uint_to_float(t_int, DM_T_MIN, DM_T_MAX, 12); // (-12.0,12.0) + motor->motor.feedback.temp = (float)(data[6]); + + while (motor->motor.feedback.rotor_abs_angle < 0) { + motor->motor.feedback.rotor_abs_angle += M_2PI; + } + while (motor->motor.feedback.rotor_abs_angle >= M_2PI) { + motor->motor.feedback.rotor_abs_angle -= M_2PI; + } + + if (motor->param.reverse) { + motor->motor.feedback.rotor_abs_angle = M_2PI - motor->motor.feedback.rotor_abs_angle; + motor->motor.feedback.rotor_speed = -motor->motor.feedback.rotor_speed; + motor->motor.feedback.torque_current = -motor->motor.feedback.torque_current; + } + return DEVICE_OK; +} + +/** + * @brief 发送MIT模式控制命令 + * @param motor 电机实例 + * @param output MIT控制参数 + * @return 发送结果 + */ +static int8_t MOTOR_DM_SendMITCmd(MOTOR_DM_t *motor, MOTOR_MIT_Output_t *output) { + if (motor == NULL || output == NULL) { + return DEVICE_ERR_NULL; + } + + uint8_t data[8]; + uint16_t pos_tmp,vel_tmp,kp_tmp,kd_tmp,tor_tmp; + uint16_t id = motor->param.can_id; + + pos_tmp = float_to_uint(output->angle, DM_P_MIN , DM_P_MAX, 16); + vel_tmp = float_to_uint(output->velocity, DM_V_MIN , DM_V_MAX, 12); + kp_tmp = float_to_uint(output->kp, DM_KP_MIN, DM_KP_MAX, 12); + kd_tmp = float_to_uint(output->kd, DM_KD_MIN, DM_KD_MAX, 12); + tor_tmp = float_to_uint(output->torque, DM_T_MIN , DM_T_MAX, 12); + + /* 打包数据 */ + data[0] = (pos_tmp >> 8); + data[1] = pos_tmp; + data[2] = (vel_tmp >> 4); + data[3] = ((vel_tmp&0xF)<<4)|(kp_tmp>>8); + data[4] = kp_tmp; + data[5] = (kd_tmp >> 4); + data[6] = ((kd_tmp&0xF)<<4)|(tor_tmp>>8); + data[7] = tor_tmp; + + /* 发送CAN消息 */ + BSP_CAN_StdDataFrame_t frame; + frame.id = motor->param.can_id; + frame.dlc = 8; + memcpy(frame.data, data, 8); + + + return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; +} + +/** + * @brief 发送位置速度模式控制命令 + * @param motor 电机实例 + * @param pos 目标位置 + * @param vel 目标速度 + * @return 发送结果 + */ +static int8_t MOTOR_DM_SendPosVelCmd(MOTOR_DM_t *motor, float pos, float vel) { + if (motor == NULL) { + return DEVICE_ERR_NULL; + } + + uint8_t data[8] = {0}; + + + /* 直接发送浮点数数据 */ + memcpy(&data[0], &pos, 4); // 位置，低位在前 + memcpy(&data[4], &vel, 4); // 速度，低位在前 + + /* 发送CAN消息，ID为原ID+0x100 */ + uint32_t can_id = DM_CAN_ID_OFFSET_POS_VEL + motor->param.can_id; + BSP_CAN_StdDataFrame_t frame; + frame.id = can_id; + frame.dlc = 8; + memcpy(frame.data, data, 8); + + return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; +} + +/** + * @brief 发送速度模式控制命令 + * @param motor 电机实例 + * @param vel 目标速度 + * @return 发送结果 + */ +static int8_t MOTOR_DM_SendVelCmd(MOTOR_DM_t *motor, float vel) { + if (motor == NULL) { + return DEVICE_ERR_NULL; + } + + uint8_t data[4] = {0}; + + /* 直接发送浮点数数据 */ + memcpy(&data[0], &vel, 4); // 速度，低位在前 + + /* 发送CAN消息，ID为原ID+0x200 */ + uint32_t can_id = DM_CAN_ID_OFFSET_VEL + motor->param.can_id; + BSP_CAN_StdDataFrame_t frame; + frame.id = can_id; + frame.dlc = 4; + memcpy(frame.data, data, 4); + + return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; +} + +/** + * @brief 获取指定CAN总线的管理器 + * @param can CAN总线 + * @return CAN管理器指针 + */ +static MOTOR_DM_CANManager_t* MOTOR_DM_GetCANManager(BSP_CAN_t can) { + if (can >= BSP_CAN_NUM) { + return NULL; + } + + return can_managers[can]; +} + +/** + * @brief 创建CAN管理器 + * @param can CAN总线 + * @return 创建结果 + */ +static int8_t MOTOR_DM_CreateCANManager(BSP_CAN_t can) { + if (can >= BSP_CAN_NUM) return DEVICE_ERR; + if (can_managers[can] != NULL) return DEVICE_OK; + + can_managers[can] = (MOTOR_DM_CANManager_t*)BSP_Malloc(sizeof(MOTOR_DM_CANManager_t)); + if (can_managers[can] == NULL) return DEVICE_ERR; + + memset(can_managers[can], 0, sizeof(MOTOR_DM_CANManager_t)); + can_managers[can]->can = can; + return DEVICE_OK; +} + +/* Exported functions ------------------------------------------------------- */ + +/** + * @brief 注册一个DM电机 + * @param param 电机参数 + * @return 注册结果 + */ +int8_t MOTOR_DM_Register(MOTOR_DM_Param_t *param) { + if (param == NULL) { + return DEVICE_ERR_NULL; + } + + /* 创建CAN管理器 */ + if (MOTOR_DM_CreateCANManager(param->can) != DEVICE_OK) { + return DEVICE_ERR; + } + + /* 获取CAN管理器 */ + MOTOR_DM_CANManager_t *manager = MOTOR_DM_GetCANManager(param->can); + if (manager == NULL) { + return DEVICE_ERR; + } + + /* 检查是否已注册 */ + for (int i = 0; i < manager->motor_count; i++) { + if (manager->motors[i] && manager->motors[i]->param.master_id == param->master_id) { + return DEVICE_ERR_INITED; + } + } + + /* 检查是否已达到最大数量 */ + if (manager->motor_count >= MOTOR_DM_MAX_MOTORS) { + return DEVICE_ERR; + } + + /* 分配内存 */ + MOTOR_DM_t *motor = (MOTOR_DM_t *)BSP_Malloc(sizeof(MOTOR_DM_t)); + if (motor == NULL) { + return DEVICE_ERR; + } + + /* 初始化电机 */ + memset(motor, 0, sizeof(MOTOR_DM_t)); + memcpy(&motor->param, param, sizeof(MOTOR_DM_Param_t)); + motor->motor.header.online = false; + motor->motor.reverse = param->reverse; + + /* 注册CAN接收ID - DM电机使用Master ID接收反馈 */ + uint16_t feedback_id = param->master_id; + if (BSP_CAN_RegisterId(param->can, feedback_id, 3) != BSP_OK) { + BSP_Free(motor); + return DEVICE_ERR; + } + + /* 添加到管理器 */ + manager->motors[manager->motor_count] = motor; + manager->motor_count++; + + return DEVICE_OK; +} + +/** + * @brief 更新指定电机数据 + * @param param 电机参数 + * @return 更新结果 + */ +int8_t MOTOR_DM_Update(MOTOR_DM_Param_t *param) { + if (param == NULL) { + return DEVICE_ERR_NULL; + } + + MOTOR_DM_CANManager_t *manager = MOTOR_DM_GetCANManager(param->can); + if (manager == NULL) { + return DEVICE_ERR_NO_DEV; + } + + /* 查找电机 */ + MOTOR_DM_t *motor = NULL; + for (int i = 0; i < manager->motor_count; i++) { + if (manager->motors[i] && manager->motors[i]->param.master_id == param->master_id) { + motor = manager->motors[i]; + break; + } + } + + if (motor == NULL) { + return DEVICE_ERR_NO_DEV; + } + + /* 主动接收CAN消息 */ + uint16_t feedback_id = param->master_id; + BSP_CAN_Message_t rx_msg; + if (BSP_CAN_GetMessage(param->can, feedback_id, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) { + uint64_t now_time = BSP_TIME_Get(); + if (now_time - motor->motor.header.last_online_time > 100000) { // 100ms超时，单位微秒 + motor->motor.header.online = false; + } + return DEVICE_ERR; + } + + motor->motor.header.online = true; + motor->motor.header.last_online_time = BSP_TIME_Get(); + MOTOR_DM_ParseFeedbackFrame(motor, rx_msg.data); + + return DEVICE_OK; +} + +/** + * @brief 更新所有电机数据 + * @return 更新结果 + */ +int8_t MOTOR_DM_UpdateAll(void) { + int8_t ret = DEVICE_OK; + for (int can = 0; can < BSP_CAN_NUM; can++) { + MOTOR_DM_CANManager_t *manager = MOTOR_DM_GetCANManager((BSP_CAN_t)can); + if (manager == NULL) continue; + + for (int i = 0; i < manager->motor_count; i++) { + MOTOR_DM_t *motor = manager->motors[i]; + if (motor != NULL) { + if (MOTOR_DM_Update(&motor->param) != DEVICE_OK) { + ret = DEVICE_ERR; + } + } + } + } + return ret; +} + +/** + * @brief MIT模式控制 + * @param param 电机参数 + * @param output MIT控制参数 + * @return 控制结果 + */ +int8_t MOTOR_DM_MITCtrl(MOTOR_DM_Param_t *param, MOTOR_MIT_Output_t *output) { + if (param == NULL || output == NULL) { + return DEVICE_ERR_NULL; + } + + MOTOR_DM_t *motor = MOTOR_DM_GetMotor(param); + if (motor == NULL) { + return DEVICE_ERR_NO_DEV; + } + + return MOTOR_DM_SendMITCmd(motor, output); +} + +/** + * @brief 位置速度模式控制 + * @param param 电机参数 + * @param target_pos 目标位置 + * @param target_vel 目标速度 + * @return 控制结果 + */ +int8_t MOTOR_DM_PosVelCtrl(MOTOR_DM_Param_t *param, float target_pos, float target_vel) { + if (param == NULL) { + return DEVICE_ERR_NULL; + } + + MOTOR_DM_t *motor = MOTOR_DM_GetMotor(param); + if (motor == NULL) { + return DEVICE_ERR_NO_DEV; + } + + return MOTOR_DM_SendPosVelCmd(motor, target_pos, target_vel); +} + +/** + * @brief 速度模式控制 + * @param param 电机参数 + * @param target_vel 目标速度 + * @return 控制结果 + */ +int8_t MOTOR_DM_VelCtrl(MOTOR_DM_Param_t *param, float target_vel) { + if (param == NULL) { + return DEVICE_ERR_NULL; + } + + MOTOR_DM_t *motor = MOTOR_DM_GetMotor(param); + if (motor == NULL) { + return DEVICE_ERR_NO_DEV; + } + + return MOTOR_DM_SendVelCmd(motor, target_vel); +} + +/** + * @brief 获取指定电机的实例指针 + * @param param 电机参数 + * @return 电机实例指针 + */ +MOTOR_DM_t* MOTOR_DM_GetMotor(MOTOR_DM_Param_t *param) { + if (param == NULL) { + return NULL; + } + + MOTOR_DM_CANManager_t *manager = MOTOR_DM_GetCANManager(param->can); + if (manager == NULL) { + return NULL; + } + + /* 查找对应的电机 */ + for (int i = 0; i < manager->motor_count; i++) { + MOTOR_DM_t *motor = manager->motors[i]; + if (motor && motor->param.can == param->can && + motor->param.master_id == param->master_id) { + return motor; + } + } + + return NULL; +} + + +int8_t MOTOR_DM_Enable(MOTOR_DM_Param_t *param){ + if (param == NULL) { + return DEVICE_ERR_NULL; + } + + MOTOR_DM_t *motor = MOTOR_DM_GetMotor(param); + if (motor == NULL) { + return DEVICE_ERR_NO_DEV; + } + + BSP_CAN_StdDataFrame_t frame; + frame.id = motor->param.can_id; + frame.dlc = 8; + frame.data[0] = 0XFF; + frame.data[1] = 0xFF; + frame.data[2] = 0xFF; + frame.data[3] = 0xFF; + frame.data[4] = 0xFF; + frame.data[5] = 0xFF; + frame.data[6] = 0xFF; + frame.data[7] = 0xFC; + + return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; +} + +/** + * @brief 使电机松弛（设置输出为0） + * @param param 电机参数 + * @return 操作结果 + */ +int8_t MOTOR_DM_Relax(MOTOR_DM_Param_t *param) { + if (param == NULL) { + return DEVICE_ERR_NULL; + } + + MOTOR_MIT_Output_t output = {0}; + return MOTOR_DM_MITCtrl(param, &output); +} + +/** + * @brief 使电机离线（设置在线状态为false） + * @param param 电机参数 + * @return 操作结果 + */ +int8_t MOTOR_DM_Offine(MOTOR_DM_Param_t *param) { + if (param == NULL) { + return DEVICE_ERR_NULL; + } + + MOTOR_DM_t *motor = MOTOR_DM_GetMotor(param); + if (motor == NULL) { + return DEVICE_ERR_NO_DEV; + } + + motor->motor.header.online = false; + return DEVICE_OK; +} diff --git a/User/device/motor_dm.h b/User/device/motor_dm.h new file mode 100644 index 0000000..20e91d4 --- /dev/null +++ b/User/device/motor_dm.h @@ -0,0 +1,98 @@ +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ----------------------------------------------------------------- */ +#include "device/device.h" +#include "device/motor.h" +#include "bsp/can.h" + +/* Exported constants ------------------------------------------------------- */ +#define MOTOR_DM_MAX_MOTORS 32 + +/* Exported macro ----------------------------------------------------------- */ +/* Exported types ----------------------------------------------------------- */ +typedef enum { + MOTOR_DM_J4310, +} MOTOR_DM_Module_t; + +/*每个电机需要的参数*/ +typedef struct { + BSP_CAN_t can; + uint16_t master_id; /* 主站ID，用于发送控制命令 */ + uint16_t can_id; /* 反馈ID，用于接收电机反馈 */ + MOTOR_DM_Module_t module; + bool reverse; +} MOTOR_DM_Param_t; + +/*电机实例*/ +typedef struct{ + MOTOR_DM_Param_t param; + MOTOR_t motor; +} MOTOR_DM_t; + +/*CAN管理器，管理一个CAN总线上所有的电机*/ +typedef struct { + BSP_CAN_t can; + MOTOR_DM_t *motors[MOTOR_DM_MAX_MOTORS]; + uint8_t motor_count; +} MOTOR_DM_CANManager_t; + +/* Exported functions prototypes -------------------------------------------- */ + +/** + * @brief 注册一个LK电机 + * @param param 电机参数 + * @return + */ +int8_t MOTOR_DM_Register(MOTOR_DM_Param_t *param); + +/** + * @brief 更新指定电机数据 + * @param param 电机参数 + * @return + */ +int8_t MOTOR_DM_Update(MOTOR_DM_Param_t *param); + +/** + * @brief 更新所有电机数据 + * @return + */ +int8_t MOTOR_DM_UpdateAll(void); + +int8_t MOTOR_DM_MITCtrl(MOTOR_DM_Param_t *param, MOTOR_MIT_Output_t *output); + +int8_t MOTOR_DM_PosVelCtrl(MOTOR_DM_Param_t *param, float target_pos, float target_vel); + +int8_t MOTOR_DM_VelCtrl(MOTOR_DM_Param_t *param, float target_vel); + +/** + * @brief 获取指定电机的实例指针 + * @param param 电机参数 + * @return + */ +MOTOR_DM_t* MOTOR_DM_GetMotor(MOTOR_DM_Param_t *param); + +int8_t MOTOR_DM_Enable(MOTOR_DM_Param_t *param); + +/** + * @brief 使电机松弛（设置输出为0） + * @param param + * @return + */ +int8_t MOTOR_DM_Relax(MOTOR_DM_Param_t *param); + +/** + * @brief 使电机离线（设置在线状态为false） + * @param param + * @return + */ +int8_t MOTOR_DM_Offine(MOTOR_DM_Param_t *param); + + + +#ifdef __cplusplus +} +#endif \ No newline at end of file diff --git a/User/device/motor_lk.c b/User/device/motor_lk.c new file mode 100644 index 0000000..c26878e --- /dev/null +++ b/User/device/motor_lk.c @@ -0,0 +1,329 @@ +/* + LK电机驱动 +*/ +/* Includes ----------------------------------------------------------------- */ +#include "motor_lk.h" +#include +#include +#include "bsp/can.h" +#include "bsp/mm.h" +#include "bsp/time.h" +#include "component/user_math.h" + +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ + +/* Private define ----------------------------------------------------------- */ +#define LK_CTRL_ID_BASE (0x140) +#define LK_FB_ID_BASE (0x240) + +// LK电机命令字节定义 +#define LK_CMD_FEEDBACK (0x9C) // 反馈命令字节 +#define LK_CMD_MOTOR_OFF (0x80) // 电机关闭命令 +#define LK_CMD_MOTOR_ON (0x88) // 电机运行命令 +#define LK_CMD_TORQUE_CTRL (0xA1) // 转矩闭环控制命令 + +// LK电机参数定义 +#define LK_CURR_LSB_MF (33.0f / 4096.0f) // MF电机转矩电流分辨率 A/LSB +#define LK_CURR_LSB_MG (66.0f / 4096.0f) // MG电机转矩电流分辨率 A/LSB +#define LK_POWER_RANGE_MS (1000) // MS电机功率范围 ±1000 +#define LK_TORQUE_RANGE (2048) // 转矩控制值范围 ±2048 +#define LK_TORQUE_CURRENT_MF (16.5f) // MF电机最大转矩电流 A +#define LK_TORQUE_CURRENT_MG (33.0f) // MG电机最大转矩电流 A + +#define MOTOR_TX_BUF_SIZE (8) +#define MOTOR_RX_BUF_SIZE (8) + +// 编码器分辨率定义 +#define LK_ENC_14BIT_MAX (16383) // 14位编码器最大值 +#define LK_ENC_15BIT_MAX (32767) // 15位编码器最大值 +#define LK_ENC_16BIT_MAX (65535) // 16位编码器最大值 + +/* USER DEFINE BEGIN */ + +/* USER DEFINE END */ + +/* Private macro ------------------------------------------------------------ */ +/* Private typedef ---------------------------------------------------------- */ +/* USER STRUCT BEGIN */ + +/* USER STRUCT END */ + +/* Private variables -------------------------------------------------------- */ +static MOTOR_LK_CANManager_t *can_managers[BSP_CAN_NUM] = {NULL}; + +/* Private functions -------------------------------------------------------- */ +/* USER FUNCTION BEGIN */ + +/* USER FUNCTION END */ + +static float MOTOR_LK_GetCurrentLSB(MOTOR_LK_Module_t module) { + switch (module) { + case MOTOR_LK_MF9025: + case MOTOR_LK_MF9035: + return LK_CURR_LSB_MF; + default: + return LK_CURR_LSB_MG; // 默认使用MG的分辨率 + } +} + +static uint16_t MOTOR_LK_GetEncoderMax(MOTOR_LK_Module_t module) { + // 根据电机型号返回编码器最大值，这里假设都使用16位编码器 + // 实际使用时需要根据具体电机型号配置 + return LK_ENC_16BIT_MAX; +} + +static MOTOR_LK_CANManager_t* MOTOR_LK_GetCANManager(BSP_CAN_t can) { + if (can >= BSP_CAN_NUM) return NULL; + return can_managers[can]; +} + +static int8_t MOTOR_LK_CreateCANManager(BSP_CAN_t can) { + if (can >= BSP_CAN_NUM) return DEVICE_ERR; + if (can_managers[can] != NULL) return DEVICE_OK; + + can_managers[can] = (MOTOR_LK_CANManager_t*)BSP_Malloc(sizeof(MOTOR_LK_CANManager_t)); + if (can_managers[can] == NULL) return DEVICE_ERR; + + memset(can_managers[can], 0, sizeof(MOTOR_LK_CANManager_t)); + can_managers[can]->can = can; + return DEVICE_OK; +} + +static void MOTOR_LK_Decode(MOTOR_LK_t *motor, BSP_CAN_Message_t *msg) { + + // 检查命令字节是否为反馈命令 + if (msg->data[0] != LK_CMD_FEEDBACK) { + // 如果不是标准反馈命令，可能是其他格式的数据 + // 临时跳过命令字节检查，直接解析数据 + // return; + } + + // 解析温度 (DATA[1]) + motor->motor.feedback.temp = (int8_t)msg->data[1]; + + // 解析转矩电流值或功率值 (DATA[2], DATA[3]) + int16_t raw_current_or_power = (int16_t)((msg->data[3] << 8) | msg->data[2]); + + // 根据电机类型解析电流或功率 + switch (motor->param.module) { + case MOTOR_LK_MF9025: + case MOTOR_LK_MF9035: + motor->motor.feedback.torque_current = raw_current_or_power * MOTOR_LK_GetCurrentLSB(motor->param.module); + break; + default: + motor->motor.feedback.torque_current = (float)raw_current_or_power; + break; + } + + // 解析转速 (DATA[4], DATA[5]) - 单位：1dps/LSB + int16_t raw_speed = (int16_t)((msg->data[5] << 8) | msg->data[4]); + motor->motor.feedback.rotor_speed = motor->param.reverse ? -raw_speed : raw_speed; + + // 解析编码器值 (DATA[6], DATA[7]) + uint16_t raw_encoder = (uint16_t)((msg->data[7] << 8) | msg->data[6]); + uint16_t encoder_max = MOTOR_LK_GetEncoderMax(motor->param.module); + + // 将编码器值转换为弧度 (0 ~ 2π) + float angle = (float)raw_encoder / (float)encoder_max * M_2PI; + motor->motor.feedback.rotor_abs_angle = motor->param.reverse ? (M_2PI - angle) : angle; +} + +/* Exported functions ------------------------------------------------------- */ + +int8_t MOTOR_LK_Register(MOTOR_LK_Param_t *param) { + if (param == NULL) return DEVICE_ERR_NULL; + + if (MOTOR_LK_CreateCANManager(param->can) != DEVICE_OK) return DEVICE_ERR; + MOTOR_LK_CANManager_t *manager = MOTOR_LK_GetCANManager(param->can); + if (manager == NULL) return DEVICE_ERR; + + // 检查是否已注册 + for (int i = 0; i < manager->motor_count; i++) { + if (manager->motors[i] && manager->motors[i]->param.id == param->id) { + return DEVICE_ERR_INITED; + } + } + + // 检查数量 + if (manager->motor_count >= MOTOR_LK_MAX_MOTORS) return DEVICE_ERR; + + // 创建新电机实例 + MOTOR_LK_t *new_motor = (MOTOR_LK_t*)BSP_Malloc(sizeof(MOTOR_LK_t)); + if (new_motor == NULL) return DEVICE_ERR; + + memcpy(&new_motor->param, param, sizeof(MOTOR_LK_Param_t)); + memset(&new_motor->motor, 0, sizeof(MOTOR_t)); + new_motor->motor.reverse = param->reverse; + + // 对于某些LK电机，反馈数据可能通过命令ID发送 + // 根据实际测试，使用命令ID接收反馈数据 + uint16_t feedback_id = param->id; // 使用命令ID作为反馈ID + + // 注册CAN接收ID + if (BSP_CAN_RegisterId(param->can, feedback_id, 3) != BSP_OK) { + BSP_Free(new_motor); + return DEVICE_ERR; + } + + manager->motors[manager->motor_count] = new_motor; + manager->motor_count++; + return DEVICE_OK; +} + +int8_t MOTOR_LK_Update(MOTOR_LK_Param_t *param) { + if (param == NULL) return DEVICE_ERR_NULL; + + MOTOR_LK_CANManager_t *manager = MOTOR_LK_GetCANManager(param->can); + if (manager == NULL) return DEVICE_ERR_NO_DEV; + + for (int i = 0; i < manager->motor_count; i++) { + MOTOR_LK_t *motor = manager->motors[i]; + if (motor && motor->param.id == param->id) { + // 对于某些LK电机，反馈数据通过命令ID发送 + uint16_t feedback_id = param->id; + + BSP_CAN_Message_t rx_msg; + if (BSP_CAN_GetMessage(param->can, feedback_id, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) { + uint64_t now_time = BSP_TIME_Get(); + if (now_time - motor->motor.header.last_online_time > 1000) { + motor->motor.header.online = false; + return DEVICE_ERR_NO_DEV; + } + return DEVICE_ERR; + } + + motor->motor.header.online = true; + motor->motor.header.last_online_time = BSP_TIME_Get(); + MOTOR_LK_Decode(motor, &rx_msg); + return DEVICE_OK; + } + } + return DEVICE_ERR_NO_DEV; +} + +int8_t MOTOR_LK_UpdateAll(void) { + int8_t ret = DEVICE_OK; + for (int can = 0; can < BSP_CAN_NUM; can++) { + MOTOR_LK_CANManager_t *manager = MOTOR_LK_GetCANManager((BSP_CAN_t)can); + if (manager == NULL) continue; + + for (int i = 0; i < manager->motor_count; i++) { + MOTOR_LK_t *motor = manager->motors[i]; + if (motor != NULL) { + if (MOTOR_LK_Update(&motor->param) != DEVICE_OK) { + ret = DEVICE_ERR; + } + } + } + } + return ret; +} + +int8_t MOTOR_LK_SetOutput(MOTOR_LK_Param_t *param, float value) { + if (param == NULL) return DEVICE_ERR_NULL; + + MOTOR_LK_CANManager_t *manager = MOTOR_LK_GetCANManager(param->can); + if (manager == NULL) return DEVICE_ERR_NO_DEV; + + // 限制输出值范围 + if (value > 1.0f) value = 1.0f; + if (value < -1.0f) value = -1.0f; + + MOTOR_LK_t *motor = MOTOR_LK_GetMotor(param); + if (motor == NULL) return DEVICE_ERR_NO_DEV; + + // 根据反转参数调整输出 + float output = param->reverse ? -value : value; + + // 转矩闭环控制命令 - 将输出值转换为转矩控制值 + int16_t torque_control = (int16_t)(output * (float)LK_TORQUE_RANGE); + + // 构建CAN帧 + BSP_CAN_StdDataFrame_t tx_frame; + tx_frame.id = param->id; + tx_frame.dlc = MOTOR_TX_BUF_SIZE; + + tx_frame.data[0] = LK_CMD_TORQUE_CTRL; + tx_frame.data[1] = 0x00; + tx_frame.data[2] = 0x00; + tx_frame.data[3] = 0x00; + tx_frame.data[4] = (uint8_t)(torque_control & 0xFF); + tx_frame.data[5] = (uint8_t)((torque_control >> 8) & 0xFF); + tx_frame.data[6] = 0x00; + tx_frame.data[7] = 0x00; + return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; +} + +int8_t MOTOR_LK_Ctrl(MOTOR_LK_Param_t *param) { + // 对于LK电机，每次设置输出时就直接发送控制命令 + // 这个函数可以用于发送其他控制命令，如电机开启/关闭 + return DEVICE_OK; +} + +int8_t MOTOR_LK_MotorOn(MOTOR_LK_Param_t *param) { + if (param == NULL) return DEVICE_ERR_NULL; + + BSP_CAN_StdDataFrame_t tx_frame; + tx_frame.id = param->id; + tx_frame.dlc = MOTOR_TX_BUF_SIZE; + + // 电机运行命令 + tx_frame.data[0] = LK_CMD_MOTOR_ON; // 命令字节 + tx_frame.data[1] = 0x00; + tx_frame.data[2] = 0x00; + tx_frame.data[3] = 0x00; + tx_frame.data[4] = 0x00; + tx_frame.data[5] = 0x00; + tx_frame.data[6] = 0x00; + tx_frame.data[7] = 0x00; + return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; +} + +int8_t MOTOR_LK_MotorOff(MOTOR_LK_Param_t *param) { + if (param == NULL) return DEVICE_ERR_NULL; + + BSP_CAN_StdDataFrame_t tx_frame; + tx_frame.id = param->id; + tx_frame.dlc = MOTOR_TX_BUF_SIZE; + + // 电机关闭命令 + tx_frame.data[0] = LK_CMD_MOTOR_OFF; // 命令字节 + tx_frame.data[1] = 0x00; + tx_frame.data[2] = 0x00; + tx_frame.data[3] = 0x00; + tx_frame.data[4] = 0x00; + tx_frame.data[5] = 0x00; + tx_frame.data[6] = 0x00; + tx_frame.data[7] = 0x00; + return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; +} + +MOTOR_LK_t* MOTOR_LK_GetMotor(MOTOR_LK_Param_t *param) { + if (param == NULL) return NULL; + + MOTOR_LK_CANManager_t *manager = MOTOR_LK_GetCANManager(param->can); + if (manager == NULL) return NULL; + + for (int i = 0; i < manager->motor_count; i++) { + MOTOR_LK_t *motor = manager->motors[i]; + if (motor && motor->param.id == param->id) { + return motor; + } + } + return NULL; +} + +int8_t MOTOR_LK_Relax(MOTOR_LK_Param_t *param) { + return MOTOR_LK_SetOutput(param, 0.0f); +} + +int8_t MOTOR_LK_Offine(MOTOR_LK_Param_t *param) { + MOTOR_LK_t *motor = MOTOR_LK_GetMotor(param); + if (motor) { + motor->motor.header.online = false; + return DEVICE_OK; + } + return DEVICE_ERR_NO_DEV; +} \ No newline at end of file diff --git a/User/device/motor_lk.h b/User/device/motor_lk.h new file mode 100644 index 0000000..f17dde0 --- /dev/null +++ b/User/device/motor_lk.h @@ -0,0 +1,119 @@ +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ----------------------------------------------------------------- */ +#include "device/device.h" +#include "device/motor.h" +#include "bsp/can.h" + +/* Exported constants ------------------------------------------------------- */ +#define MOTOR_LK_MAX_MOTORS 32 + +/* Exported macro ----------------------------------------------------------- */ +/* Exported types ----------------------------------------------------------- */ +typedef enum { + MOTOR_LK_MF9025, + MOTOR_LK_MF9035, +} MOTOR_LK_Module_t; + + +/*每个电机需要的参数*/ +typedef struct { + BSP_CAN_t can; + uint16_t id; + MOTOR_LK_Module_t module; + bool reverse; +} MOTOR_LK_Param_t; + +/*电机实例*/ +typedef struct{ + MOTOR_LK_Param_t param; + MOTOR_t motor; +} MOTOR_LK_t; + +/*CAN管理器，管理一个CAN总线上所有的电机*/ +typedef struct { + BSP_CAN_t can; + MOTOR_LK_t *motors[MOTOR_LK_MAX_MOTORS]; + uint8_t motor_count; +} MOTOR_LK_CANManager_t; + +/* Exported functions prototypes -------------------------------------------- */ + +/** + * @brief 注册一个LK电机 + * @param param 电机参数 + * @return + */ +int8_t MOTOR_LK_Register(MOTOR_LK_Param_t *param); + +/** + * @brief 更新指定电机数据 + * @param param 电机参数 + * @return + */ +int8_t MOTOR_LK_Update(MOTOR_LK_Param_t *param); + +/** + * @brief 设置一个电机的输出 + * @param param 电机参数 + * @param value 输出值，范围[-1.0, 1.0] + * @return + */ +int8_t MOTOR_LK_SetOutput(MOTOR_LK_Param_t *param, float value); + +/** + * @brief 发送控制命令到电机，注意一个CAN可以控制多个电机，所以只需要发送一次即可 + * @param param 电机参数 + * @return + */ +int8_t MOTOR_LK_Ctrl(MOTOR_LK_Param_t *param); + +/** + * @brief 发送电机开启命令 + * @param param 电机参数 + * @return + */ +int8_t MOTOR_LK_MotorOn(MOTOR_LK_Param_t *param); + +/** + * @brief 发送电机关闭命令 + * @param param 电机参数 + * @return + */ +int8_t MOTOR_LK_MotorOff(MOTOR_LK_Param_t *param); + +/** + * @brief 获取指定电机的实例指针 + * @param param 电机参数 + * @return + */ +MOTOR_LK_t* MOTOR_LK_GetMotor(MOTOR_LK_Param_t *param); + +/** + * @brief 使电机松弛（设置输出为0） + * @param param + * @return + */ +int8_t MOTOR_LK_Relax(MOTOR_LK_Param_t *param); + +/** + * @brief 使电机离线（设置在线状态为false） + * @param param + * @return + */ +int8_t MOTOR_LK_Offine(MOTOR_LK_Param_t *param); + +/** + * @brief + * @param + * @return + */ +int8_t MOTOR_LK_UpdateAll(void); + +#ifdef __cplusplus +} +#endif \ No newline at end of file diff --git a/User/device/motor_lz.c b/User/device/motor_lz.c new file mode 100644 index 0000000..7ed7344 --- /dev/null +++ b/User/device/motor_lz.c @@ -0,0 +1,440 @@ +/* + 灵足电机驱动 + + 灵足电机通信协议： + - CAN 2.0通信接口，波特率1Mbps + - 采用扩展帧格式(29位ID) + - ID格式：Bit28~24(通信类型) + Bit23~8(数据区2) + Bit7~0(目标地址) +*/ +/* Includes ----------------------------------------------------------------- */ +#include "motor_lz.h" +#include +#include +#include +#include "bsp/can.h" +#include "bsp/mm.h" +#include "bsp/time.h" +#include "component/user_math.h" + +/* Private define ----------------------------------------------------------- */ +// 灵足电机协议参数 +#define LZ_ANGLE_RANGE_RAD (12.57f) /* 角度范围 ±12.57 rad */ +#define LZ_VELOCITY_RANGE_RAD_S (20.0f) /* 角速度范围 ±20 rad/s */ +#define LZ_TORQUE_RANGE_NM (60.0f) /* 力矩范围 ±60 Nm */ +#define LZ_KP_MAX (5000.0f) /* Kp最大值 */ +#define LZ_KD_MAX (100.0f) /* Kd最大值 */ + +#define LZ_RAW_VALUE_MAX (65535) /* 16位原始值最大值 */ +#define LZ_TEMP_SCALE (10.0f) /* 温度缩放因子 */ + +#define LZ_MAX_RECOVER_DIFF_RAD (0.28f) +#define MOTOR_TX_BUF_SIZE (8) +#define MOTOR_RX_BUF_SIZE (8) + +/* Private macro ------------------------------------------------------------ */ + +MOTOR_LZ_MotionParam_t lz_relax_param = { + .target_angle = 0.0f, + .target_velocity = 0.0f, + .kp = 0.0f, + .kd = 0.0f, + .torque = 0.0f, +}; +/* Private typedef ---------------------------------------------------------- */ +/* Private variables -------------------------------------------------------- */ +static MOTOR_LZ_CANManager_t *can_managers[BSP_CAN_NUM] = {NULL}; + +/* Private function prototypes ---------------------------------------------- */ +static MOTOR_LZ_CANManager_t* MOTOR_LZ_GetCANManager(BSP_CAN_t can); +static int8_t MOTOR_LZ_CreateCANManager(BSP_CAN_t can); +static void MOTOR_LZ_Decode(MOTOR_LZ_t *motor, BSP_CAN_Message_t *msg); +static uint32_t MOTOR_LZ_BuildExtID(MOTOR_LZ_CmdType_t cmd_type, uint16_t data2, uint8_t target_id); +static uint16_t MOTOR_LZ_FloatToRaw(float value, float max_value); +static float MOTOR_LZ_RawToFloat(uint16_t raw_value, float max_value); +static int8_t MOTOR_LZ_SendExtFrame(BSP_CAN_t can, uint32_t ext_id, uint8_t *data, uint8_t dlc); +static uint32_t MOTOR_LZ_IdParser(uint32_t original_id, BSP_CAN_FrameType_t frame_type); + +/* Private functions -------------------------------------------------------- */ + +/** + * @brief 获取CAN管理器 + */ +static MOTOR_LZ_CANManager_t* MOTOR_LZ_GetCANManager(BSP_CAN_t can) { + if (can >= BSP_CAN_NUM) return NULL; + return can_managers[can]; +} + +/** + * @brief 创建CAN管理器 + */ +static int8_t MOTOR_LZ_CreateCANManager(BSP_CAN_t can) { + if (can >= BSP_CAN_NUM) return DEVICE_ERR; + if (can_managers[can] != NULL) return DEVICE_OK; + + can_managers[can] = (MOTOR_LZ_CANManager_t*)BSP_Malloc(sizeof(MOTOR_LZ_CANManager_t)); + if (can_managers[can] == NULL) return DEVICE_ERR; + + memset(can_managers[can], 0, sizeof(MOTOR_LZ_CANManager_t)); + can_managers[can]->can = can; + return DEVICE_OK; +} + +/** + * @brief 构建扩展ID + */ +static uint32_t MOTOR_LZ_BuildExtID(MOTOR_LZ_CmdType_t cmd_type, uint16_t data2, uint8_t target_id) { + uint32_t ext_id = 0; + ext_id |= ((uint32_t)cmd_type & 0x1F) << 24; // Bit28~24: 通信类型 + ext_id |= ((uint32_t)data2 & 0xFFFF) << 8; // Bit23~8: 数据区2 + ext_id |= ((uint32_t)target_id & 0xFF); // Bit7~0: 目标地址 + return ext_id; +} + +/** + * @brief 浮点值转换为原始值（对称范围：-max_value ~ +max_value） + */ +static uint16_t MOTOR_LZ_FloatToRaw(float value, float max_value) { + // 限制范围 + if (value > max_value) value = max_value; + if (value < -max_value) value = -max_value; + + // 转换为0~65535范围，对应-max_value~max_value + return (uint16_t)((value + max_value) / (2.0f * max_value) * (float)LZ_RAW_VALUE_MAX); +} + +/** + * @brief 浮点值转换为原始值（单向范围：0 ~ +max_value） + */ +static uint16_t MOTOR_LZ_FloatToRawPositive(float value, float max_value) { + // 限制范围 + if (value > max_value) value = max_value; + if (value < 0.0f) value = 0.0f; + + // 转换为0~65535范围，对应0~max_value + return (uint16_t)(value / max_value * (float)LZ_RAW_VALUE_MAX); +} + +/** + * @brief 原始值转换为浮点值 + */ +static float MOTOR_LZ_RawToFloat(uint16_t raw_value, float max_value) { + // 将0~65535范围转换为-max_value~max_value + return ((float)raw_value / (float)LZ_RAW_VALUE_MAX) * (2.0f * max_value) - max_value; +} + +/** + * @brief 发送扩展帧 + */ +static int8_t MOTOR_LZ_SendExtFrame(BSP_CAN_t can, uint32_t ext_id, uint8_t *data, uint8_t dlc) { + BSP_CAN_ExtDataFrame_t tx_frame; + tx_frame.id = ext_id; + tx_frame.dlc = dlc; + if (data != NULL) { + memcpy(tx_frame.data, data, dlc); + } else { + memset(tx_frame.data, 0, dlc); + } + return BSP_CAN_TransmitExtDataFrame(can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; +} + +/** + * @brief 灵足电机ID解析器 + * @param original_id 原始CAN ID（29位扩展帧） + * @param frame_type 帧类型 + * @return 解析后的ID（用于队列匹配） + * + * 灵足电机扩展ID格式： + * Bit28~24: 通信类型 (0x1=运控控制, 0x2=反馈数据, 0x3=使能, 0x4=停止, 0x6=设零位) + * Bit23~8: 数据区2 (根据通信类型而定) + * Bit7~0: 目标地址 (目标电机CAN ID) + */ +static uint32_t MOTOR_LZ_IdParser(uint32_t original_id, BSP_CAN_FrameType_t frame_type) { + // 只处理扩展数据帧 + if (frame_type != BSP_CAN_FRAME_EXT_DATA) { + return original_id; // 非扩展帧直接返回原始ID + } + + // 解析扩展ID各个字段 + uint8_t cmd_type = (original_id >> 24) & 0x1F; // Bit28~24: 通信类型 + uint16_t data2 = (original_id >> 8) & 0xFFFF; // Bit23~8: 数据区2 + uint8_t host_id = (uint8_t)(original_id & 0xFF); // Bit7~0: 主机CAN ID + + // 对于反馈数据帧，我们使用特殊的解析规则 + if (cmd_type == MOTOR_LZ_CMD_FEEDBACK) { + // 反馈数据的data2字段包含： + // Bit8~15: 当前电机CAN ID + // Bit16~21: 故障信息 + // Bit22~23: 模式状态 + uint8_t motor_can_id = data2 & 0xFF; // bit8~15: 当前电机CAN ID + + // 返回格式化的ID，便于匹配 + // 格式：0x02HHMMTT (02=反馈命令, HH=主机ID, MM=电机ID, TT=主机ID) + return (0x02000000) | (host_id << 16) | (motor_can_id << 8) | host_id; + } + + // 对于其他命令类型，直接返回原始ID + return original_id; +} + +/** + * @brief 解码灵足电机反馈数据 + */ +static void MOTOR_LZ_Decode(MOTOR_LZ_t *motor, BSP_CAN_Message_t *msg) { + if (motor == NULL || msg == NULL) return; + uint8_t cmd_type = (msg->original_id >> 24) & 0x1F; + if (cmd_type != MOTOR_LZ_CMD_FEEDBACK) return; + uint16_t id_data2 = (msg->original_id >> 8) & 0xFFFF; + uint8_t motor_can_id = id_data2 & 0xFF; + uint8_t fault_info = (id_data2 >> 8) & 0x3F; + uint8_t mode_state = (id_data2 >> 14) & 0x03; + motor->lz_feedback.motor_can_id = motor_can_id; + motor->lz_feedback.fault.under_voltage = (fault_info & 0x01) != 0; + motor->lz_feedback.fault.driver_fault = (fault_info & 0x02) != 0; + motor->lz_feedback.fault.over_temp = (fault_info & 0x04) != 0; + motor->lz_feedback.fault.encoder_fault = (fault_info & 0x08) != 0; + motor->lz_feedback.fault.stall_overload = (fault_info & 0x10) != 0; + motor->lz_feedback.fault.uncalibrated = (fault_info & 0x20) != 0; + motor->lz_feedback.state = (MOTOR_LZ_State_t)mode_state; + + // 反馈解码并自动反向 + uint16_t raw_angle = (uint16_t)((msg->data[0] << 8) | msg->data[1]); + float angle = MOTOR_LZ_RawToFloat(raw_angle, LZ_ANGLE_RANGE_RAD); + uint16_t raw_velocity = (uint16_t)((msg->data[2] << 8) | msg->data[3]); + float velocity = MOTOR_LZ_RawToFloat(raw_velocity, LZ_VELOCITY_RANGE_RAD_S); + uint16_t raw_torque = (uint16_t)((msg->data[4] << 8) | msg->data[5]); + float torque = MOTOR_LZ_RawToFloat(raw_torque, LZ_TORQUE_RANGE_NM); + + while (angle <0){ + angle += M_2PI; + } + while (angle > M_2PI){ + angle -= M_2PI; + } + // 自动反向 + if (motor->param.reverse) { + angle = M_2PI - angle; + velocity = -velocity; + torque = -torque; + } + + motor->lz_feedback.current_angle = angle; + motor->lz_feedback.current_velocity = velocity; + motor->lz_feedback.current_torque = torque; + + uint16_t raw_temp = (uint16_t)((msg->data[6] << 8) | msg->data[7]); + motor->lz_feedback.temperature = (float)raw_temp / LZ_TEMP_SCALE; + + motor->motor.feedback.rotor_abs_angle = angle; + motor->motor.feedback.rotor_speed = velocity; + motor->motor.feedback.torque_current = torque; + motor->motor.feedback.temp = (int8_t)motor->lz_feedback.temperature; + motor->motor.header.online = true; + motor->motor.header.last_online_time = BSP_TIME_Get(); +} + +/* Exported functions ------------------------------------------------------- */ + +/** + * @brief 初始化灵足电机驱动系统 + * @return 设备状态码 + */ +int8_t MOTOR_LZ_Init(void) { + // 注册灵足电机专用的ID解析器 + return BSP_CAN_RegisterIdParser(MOTOR_LZ_IdParser) == BSP_OK ? DEVICE_OK : DEVICE_ERR; +} + + +int8_t MOTOR_LZ_Register(MOTOR_LZ_Param_t *param) { + if (param == NULL) return DEVICE_ERR_NULL; + + if (MOTOR_LZ_CreateCANManager(param->can) != DEVICE_OK) return DEVICE_ERR; + MOTOR_LZ_CANManager_t *manager = MOTOR_LZ_GetCANManager(param->can); + if (manager == NULL) return DEVICE_ERR; + + // 检查是否已注册 + for (int i = 0; i < manager->motor_count; i++) { + if (manager->motors[i] && manager->motors[i]->param.motor_id == param->motor_id) { + return DEVICE_ERR; // 已注册 + } + } + + // 检查数量 + if (manager->motor_count >= MOTOR_LZ_MAX_MOTORS) return DEVICE_ERR; + + // 创建新电机实例 + MOTOR_LZ_t *new_motor = (MOTOR_LZ_t*)BSP_Malloc(sizeof(MOTOR_LZ_t)); + if (new_motor == NULL) return DEVICE_ERR; + + memcpy(&new_motor->param, param, sizeof(MOTOR_LZ_Param_t)); + memset(&new_motor->motor, 0, sizeof(MOTOR_t)); + memset(&new_motor->lz_feedback, 0, sizeof(MOTOR_LZ_Feedback_t)); + memset(&new_motor->motion_param, 0, sizeof(MOTOR_LZ_MotionParam_t)); + + new_motor->motor.reverse = param->reverse; + + // 注册CAN接收ID - 使用解析后的反馈数据ID + // 构建反馈数据的原始扩展ID + // 反馈数据：data2包含电机ID(bit8~15)，target_id是主机ID + uint32_t original_feedback_id = MOTOR_LZ_BuildExtID(MOTOR_LZ_CMD_FEEDBACK, param->motor_id, param->host_id); + // 通过ID解析器得到解析后的ID + uint32_t parsed_feedback_id = MOTOR_LZ_IdParser(original_feedback_id, BSP_CAN_FRAME_EXT_DATA); + + if (BSP_CAN_RegisterId(param->can, parsed_feedback_id, 3) != BSP_OK) { + BSP_Free(new_motor); + return DEVICE_ERR; + } + + manager->motors[manager->motor_count] = new_motor; + manager->motor_count++; + return DEVICE_OK; +} + +int8_t MOTOR_LZ_Update(MOTOR_LZ_Param_t *param) { + if (param == NULL) return DEVICE_ERR_NULL; + + MOTOR_LZ_CANManager_t *manager = MOTOR_LZ_GetCANManager(param->can); + if (manager == NULL) return DEVICE_ERR_NO_DEV; + + for (int i = 0; i < manager->motor_count; i++) { + MOTOR_LZ_t *motor = manager->motors[i]; + if (motor && motor->param.motor_id == param->motor_id) { + // 获取反馈数据 - 使用解析后的ID + uint32_t original_feedback_id = MOTOR_LZ_BuildExtID(MOTOR_LZ_CMD_FEEDBACK, param->motor_id, param->host_id); + uint32_t parsed_feedback_id = MOTOR_LZ_IdParser(original_feedback_id, BSP_CAN_FRAME_EXT_DATA); + BSP_CAN_Message_t msg; + + while (BSP_CAN_GetMessage(param->can, parsed_feedback_id, &msg, 0) == BSP_OK) { + MOTOR_LZ_Decode(motor, &msg); + } + return DEVICE_OK; + } + } + return DEVICE_ERR_NO_DEV; +} + +int8_t MOTOR_LZ_UpdateAll(void) { + int8_t ret = DEVICE_OK; + for (int can = 0; can < BSP_CAN_NUM; can++) { + MOTOR_LZ_CANManager_t *manager = MOTOR_LZ_GetCANManager((BSP_CAN_t)can); + if (manager == NULL) continue; + + for (int i = 0; i < manager->motor_count; i++) { + MOTOR_LZ_t *motor = manager->motors[i]; + if (motor) { + if (MOTOR_LZ_Update(&motor->param) != DEVICE_OK) { + ret = DEVICE_ERR; + } + } + } + } + return ret; +} + +int8_t MOTOR_LZ_MotionControl(MOTOR_LZ_Param_t *param, MOTOR_LZ_MotionParam_t *motion_param) { + if (param == NULL || motion_param == NULL) return DEVICE_ERR_NULL; + MOTOR_LZ_t *motor = MOTOR_LZ_GetMotor(param); + if (motor == NULL) return DEVICE_ERR_NO_DEV; + + // 自动反向控制 + MOTOR_LZ_MotionParam_t send_param = *motion_param; + if (param->reverse) { + send_param.target_angle = -send_param.target_angle; + send_param.target_velocity = -send_param.target_velocity; + send_param.torque = -send_param.torque; + } + + memcpy(&motor->motion_param, motion_param, sizeof(MOTOR_LZ_MotionParam_t)); + + uint16_t raw_torque = MOTOR_LZ_FloatToRaw(send_param.torque, LZ_TORQUE_RANGE_NM); + uint32_t ext_id = MOTOR_LZ_BuildExtID(MOTOR_LZ_CMD_MOTION, raw_torque, param->motor_id); + uint8_t data[8]; + uint16_t raw_angle = MOTOR_LZ_FloatToRaw(send_param.target_angle, LZ_ANGLE_RANGE_RAD); + data[0] = (raw_angle >> 8) & 0xFF; + data[1] = raw_angle & 0xFF; + uint16_t raw_velocity = MOTOR_LZ_FloatToRaw(send_param.target_velocity, LZ_VELOCITY_RANGE_RAD_S); + data[2] = (raw_velocity >> 8) & 0xFF; + data[3] = raw_velocity & 0xFF; + uint16_t raw_kp = MOTOR_LZ_FloatToRawPositive(send_param.kp, LZ_KP_MAX); + data[4] = (raw_kp >> 8) & 0xFF; + data[5] = raw_kp & 0xFF; + uint16_t raw_kd = MOTOR_LZ_FloatToRawPositive(send_param.kd, LZ_KD_MAX); + data[6] = (raw_kd >> 8) & 0xFF; + data[7] = raw_kd & 0xFF; + return MOTOR_LZ_SendExtFrame(param->can, ext_id, data, 8); +} + + +int8_t MOTOR_LZ_Enable(MOTOR_LZ_Param_t *param) { + if (param == NULL) return DEVICE_ERR_NULL; + + // 构建扩展ID - 使能命令 + uint32_t ext_id = MOTOR_LZ_BuildExtID(MOTOR_LZ_CMD_ENABLE, param->host_id, param->motor_id); + + // 数据区清零 + uint8_t data[8] = {0}; + + return MOTOR_LZ_SendExtFrame(param->can, ext_id, data, 8); +} + +int8_t MOTOR_LZ_Disable(MOTOR_LZ_Param_t *param, bool clear_fault) { + if (param == NULL) return DEVICE_ERR_NULL; + + // 构建扩展ID - 停止命令 + uint32_t ext_id = MOTOR_LZ_BuildExtID(MOTOR_LZ_CMD_DISABLE, param->host_id, param->motor_id); + + // 数据区 + uint8_t data[8] = {0}; + if (clear_fault) { + data[0] = 1; // Byte[0]=1时清故障 + } + + return MOTOR_LZ_SendExtFrame(param->can, ext_id, data, 8); +} + +int8_t MOTOR_LZ_SetZero(MOTOR_LZ_Param_t *param) { + if (param == NULL) return DEVICE_ERR_NULL; + + // 构建扩展ID - 设置零位命令 + uint32_t ext_id = MOTOR_LZ_BuildExtID(MOTOR_LZ_CMD_SET_ZERO, param->host_id, param->motor_id); + + // 数据区 - Byte[0]=1 + uint8_t data[8] = {1, 0, 0, 0, 0, 0, 0, 0}; + + return MOTOR_LZ_SendExtFrame(param->can, ext_id, data, 8); +} + +MOTOR_LZ_t* MOTOR_LZ_GetMotor(MOTOR_LZ_Param_t *param) { + if (param == NULL) return NULL; + + MOTOR_LZ_CANManager_t *manager = MOTOR_LZ_GetCANManager(param->can); + if (manager == NULL) return NULL; + + for (int i = 0; i < manager->motor_count; i++) { + MOTOR_LZ_t *motor = manager->motors[i]; + if (motor && motor->param.motor_id == param->motor_id) { + return motor; + } + } + return NULL; +} + +int8_t MOTOR_LZ_Relax(MOTOR_LZ_Param_t *param) { + return MOTOR_LZ_MotionControl(param, &lz_relax_param); +} + +int8_t MOTOR_LZ_Offline(MOTOR_LZ_Param_t *param) { + MOTOR_LZ_t *motor = MOTOR_LZ_GetMotor(param); + if (motor) { + motor->motor.header.online = false; + return DEVICE_OK; + } + return DEVICE_ERR_NO_DEV; +} + +static MOTOR_LZ_Feedback_t* MOTOR_LZ_GetFeedback(MOTOR_LZ_Param_t *param) { + MOTOR_LZ_t *motor = MOTOR_LZ_GetMotor(param); + if (motor && motor->motor.header.online) { + return &motor->lz_feedback; + } + return NULL; +} diff --git a/User/device/motor_lz.h b/User/device/motor_lz.h new file mode 100644 index 0000000..d2a8002 --- /dev/null +++ b/User/device/motor_lz.h @@ -0,0 +1,212 @@ +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ----------------------------------------------------------------- */ +#include "device/device.h" +#include "device/motor.h" +#include "bsp/can.h" + +/* Exported constants ------------------------------------------------------- */ +#define MOTOR_LZ_MAX_MOTORS 32 + +/* Exported macro ----------------------------------------------------------- */ +/* Exported types ----------------------------------------------------------- */ +typedef enum { + MOTOR_LZ_RSO0, + MOTOR_LZ_RSO1, + MOTOR_LZ_RSO2, + MOTOR_LZ_RSO3, + MOTOR_LZ_RSO4, + MOTOR_LZ_RSO5, + MOTOR_LZ_RSO6, +} MOTOR_LZ_Module_t; + +/* 灵足电机控制模式 */ +typedef enum { + MOTOR_LZ_MODE_MOTION = 0x1, /* 运控模式 */ + MOTOR_LZ_MODE_CURRENT = 0x2, /* 电流模式 */ + MOTOR_LZ_MODE_VELOCITY = 0x3, /* 速度模式 */ + MOTOR_LZ_MODE_POSITION = 0x4, /* 位置模式 */ +} MOTOR_LZ_ControlMode_t; + +/* 灵足电机通信类型 */ +typedef enum { + MOTOR_LZ_CMD_MOTION = 0x1, /* 运控模式控制 */ + MOTOR_LZ_CMD_FEEDBACK = 0x2, /* 电机反馈数据 */ + MOTOR_LZ_CMD_ENABLE = 0x3, /* 电机使能运行 */ + MOTOR_LZ_CMD_DISABLE = 0x4, /* 电机停止运行 */ + MOTOR_LZ_CMD_SET_ZERO = 0x6, /* 设置电机机械零位 */ +} MOTOR_LZ_CmdType_t; + +/* 灵足电机运行状态 */ +typedef enum { + MOTOR_LZ_STATE_RESET = 0, /* Reset模式[复位] */ + MOTOR_LZ_STATE_CALI = 1, /* Cali模式[标定] */ + MOTOR_LZ_STATE_MOTOR = 2, /* Motor模式[运行] */ +} MOTOR_LZ_State_t; + +/* 灵足电机故障信息 */ +typedef struct { + bool uncalibrated; /* bit21: 未标定 */ + bool stall_overload; /* bit20: 堵转过载故障 */ + bool encoder_fault; /* bit19: 磁编码故障 */ + bool over_temp; /* bit18: 过温 */ + bool driver_fault; /* bit17: 驱动故障 */ + bool under_voltage; /* bit16: 欠压故障 */ +} MOTOR_LZ_Fault_t; + +/* 灵足电机运控参数 */ +typedef struct { + float target_angle; /* 目标角度 (-12.57f~12.57f rad) */ + float target_velocity; /* 目标角速度 (-20~20 rad/s) */ + float kp; /* 位置增益 (0.0~5000.0) */ + float kd; /* 微分增益 (0.0~100.0) */ + float torque; /* 力矩 (-60~60 Nm) */ +} MOTOR_LZ_MotionParam_t; + +/*每个电机需要的参数*/ +typedef struct { + BSP_CAN_t can; /* CAN总线 */ + uint8_t motor_id; /* 电机CAN ID */ + uint8_t host_id; /* 主机CAN ID */ + MOTOR_LZ_Module_t module; /* 电机型号 */ + bool reverse; /* 是否反向 */ + MOTOR_LZ_ControlMode_t mode; /* 控制模式 */ +} MOTOR_LZ_Param_t; + +/*电机反馈信息扩展*/ +typedef struct { + float current_angle; /* 当前角度 (-12.57f~12.57f rad) */ + float current_velocity; /* 当前角速度 (-20~20 rad/s) */ + float current_torque; /* 当前力矩 (-60~60 Nm) */ + float temperature; /* 当前温度 (摄氏度) */ + MOTOR_LZ_State_t state; /* 运行状态 */ + MOTOR_LZ_Fault_t fault; /* 故障信息 */ + uint8_t motor_can_id; /* 当前电机CAN ID */ +} MOTOR_LZ_Feedback_t; + +/*电机实例*/ +typedef struct { + MOTOR_LZ_Param_t param; + MOTOR_t motor; + MOTOR_LZ_Feedback_t lz_feedback; /* 灵足电机特有反馈信息 */ + MOTOR_LZ_MotionParam_t motion_param; /* 运控模式参数 */ +} MOTOR_LZ_t; + +/*CAN管理器，管理一个CAN总线上所有的电机*/ +typedef struct { + BSP_CAN_t can; + MOTOR_LZ_t *motors[MOTOR_LZ_MAX_MOTORS]; + uint8_t motor_count; +} MOTOR_LZ_CANManager_t; + +/* Exported functions prototypes -------------------------------------------- */ + +/** + * @brief 初始化灵足电机驱动系统 + * @return 设备状态码 + */ +int8_t MOTOR_LZ_Init(void); + +/** + * @brief 注册一个灵足电机 + * @param param 电机参数 + * @return 设备状态码 + */ +int8_t MOTOR_LZ_Register(MOTOR_LZ_Param_t *param); + +/** + * @brief 更新指定电机数据 + * @param param 电机参数 + * @return 设备状态码 + */ +int8_t MOTOR_LZ_Update(MOTOR_LZ_Param_t *param); + +/** + * @brief 更新所有电机数据 + * @return 设备状态码 + */ +int8_t MOTOR_LZ_UpdateAll(void); + +/** + * @brief 运控模式控制电机 + * @param param 电机参数 + * @param motion_param 运控参数 + * @return 设备状态码 + */ +int8_t MOTOR_LZ_MotionControl(MOTOR_LZ_Param_t *param, MOTOR_LZ_MotionParam_t *motion_param); + +/** + * @brief 电流(力矩)模式控制电机 + * @param param 电机参数 + * @param torque 目标力矩 (-60~60 Nm) + * @return 设备状态码 + */ +int8_t MOTOR_LZ_TorqueControl(MOTOR_LZ_Param_t *param, float torque); + +/** + * @brief 位置模式控制电机 + * @param param 电机参数 + * @param target_angle 目标角度 (-12.57~12.57 rad) + * @param max_velocity 最大速度 (0~20 rad/s) + * @return 设备状态码 + */ +int8_t MOTOR_LZ_PositionControl(MOTOR_LZ_Param_t *param, float target_angle, float max_velocity); + +/** + * @brief 速度模式控制电机 + * @param param 电机参数 + * @param target_velocity 目标速度 (-20~20 rad/s) + * @return 设备状态码 + */ +int8_t MOTOR_LZ_VelocityControl(MOTOR_LZ_Param_t *param, float target_velocity); + +/** + * @brief 电机使能运行 + * @param param 电机参数 + * @return 设备状态码 + */ +int8_t MOTOR_LZ_Enable(MOTOR_LZ_Param_t *param); + +/** + * @brief 电机停止运行 + * @param param 电机参数 + * @param clear_fault 是否清除故障 + * @return 设备状态码 + */ +int8_t MOTOR_LZ_Disable(MOTOR_LZ_Param_t *param, bool clear_fault); + +/** + * @brief 设置电机机械零位 + * @param param 电机参数 + * @return 设备状态码 + */ +int8_t MOTOR_LZ_SetZero(MOTOR_LZ_Param_t *param); + +/** + * @brief 获取指定电机的实例指针 + * @param param 电机参数 + * @return 电机实例指针，失败返回NULL + */ +MOTOR_LZ_t* MOTOR_LZ_GetMotor(MOTOR_LZ_Param_t *param); + +/** + * @brief 使电机松弛（发送停止命令） + * @param param 电机参数 + * @return 设备状态码 + */ +int8_t MOTOR_LZ_Relax(MOTOR_LZ_Param_t *param); + +/** + * @brief 使电机离线（设置在线状态为false） + * @param param 电机参数 + * @return 设备状态码 + */ +int8_t MOTOR_LZ_Offline(MOTOR_LZ_Param_t *param); + +#ifdef __cplusplus +} +#endif \ No newline at end of file diff --git a/User/device/motor_rm.c b/User/device/motor_rm.c new file mode 100644 index 0000000..88c1ef4 --- /dev/null +++ b/User/device/motor_rm.c @@ -0,0 +1,321 @@ +/* + RM电机驱动 +*/ +/* Includes ----------------------------------------------------------------- */ +#include "motor_rm.h" +#include +#include +#include "bsp/can.h" +#include "bsp/mm.h" +#include "bsp/time.h" +#include "component/user_math.h" + +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ + +/* Private define ----------------------------------------------------------- */ +#define GM6020_FB_ID_BASE (0x205) +#define GM6020_CTRL_ID_BASE (0x1ff) +#define GM6020_CTRL_ID_EXTAND (0x2ff) + +#define M3508_M2006_FB_ID_BASE (0x201) +#define M3508_M2006_CTRL_ID_BASE (0x200) +#define M3508_M2006_CTRL_ID_EXTAND (0x1ff) +#define M3508_M2006_ID_SETTING_ID (0x700) + +#define GM6020_MAX_ABS_LSB (30000) +#define M3508_MAX_ABS_LSB (16384) +#define M2006_MAX_ABS_LSB (10000) + +#define MOTOR_TX_BUF_SIZE (8) +#define MOTOR_RX_BUF_SIZE (8) + +#define MOTOR_ENC_RES (8192) /* 电机编码器分辨率 */ +#define MOTOR_CUR_RES (16384) /* 电机转矩电流分辨率 */ + +/* USER DEFINE BEGIN */ + +/* USER DEFINE END */ + +/* Private macro ------------------------------------------------------------ */ +/* Private typedef ---------------------------------------------------------- */ +/* USER STRUCT BEGIN */ + +/* USER STRUCT END */ + +/* Private variables -------------------------------------------------------- */ +static MOTOR_RM_CANManager_t *can_managers[BSP_CAN_NUM] = {NULL}; + +/* Private function -------------------------------------------------------- */ +/* USER FUNCTION BEGIN */ + +/* USER FUNCTION END */ + +static int8_t MOTOR_RM_GetLogicalIndex(uint16_t can_id, MOTOR_RM_Module_t module) { + switch (module) { + case MOTOR_M2006: + case MOTOR_M3508: + if (can_id >= M3508_M2006_FB_ID_BASE && can_id <= M3508_M2006_FB_ID_BASE + 7) { + return can_id - M3508_M2006_FB_ID_BASE; + } + break; + case MOTOR_GM6020: + if (can_id >= GM6020_FB_ID_BASE && can_id <= GM6020_FB_ID_BASE + 6) { + return can_id - GM6020_FB_ID_BASE + 4; + } + break; + default: + break; + } + return DEVICE_ERR; +} + +static float MOTOR_RM_GetRatio(MOTOR_RM_Module_t module) { + switch (module) { + case MOTOR_M2006: return 36.0f; + case MOTOR_M3508: return 3591.0f / 187.0f; + case MOTOR_GM6020: return 1.0f; + default: return 1.0f; + } +} + +static int16_t MOTOR_RM_GetLSB(MOTOR_RM_Module_t module) { + switch (module) { + case MOTOR_M2006: return M2006_MAX_ABS_LSB; + case MOTOR_M3508: return M3508_MAX_ABS_LSB; + case MOTOR_GM6020: return GM6020_MAX_ABS_LSB; + default: return DEVICE_ERR; + } +} + +static MOTOR_RM_CANManager_t* MOTOR_RM_GetCANManager(BSP_CAN_t can) { + if (can >= BSP_CAN_NUM) return NULL; + return can_managers[can]; +} + +static int8_t MOTOR_RM_CreateCANManager(BSP_CAN_t can) { + if (can >= BSP_CAN_NUM) return DEVICE_ERR; + if (can_managers[can] != NULL) return DEVICE_OK; + can_managers[can] = (MOTOR_RM_CANManager_t*)BSP_Malloc(sizeof(MOTOR_RM_CANManager_t)); + if (can_managers[can] == NULL) return DEVICE_ERR; + memset(can_managers[can], 0, sizeof(MOTOR_RM_CANManager_t)); + can_managers[can]->can = can; + return DEVICE_OK; +} + +static void Motor_RM_Decode(MOTOR_RM_t *motor, BSP_CAN_Message_t *msg) { + uint16_t raw_angle = (uint16_t)((msg->data[0] << 8) | msg->data[1]); + int16_t raw_speed = (int16_t)((msg->data[2] << 8) | msg->data[3]); + int16_t raw_current = (int16_t)((msg->data[4] << 8) | msg->data[5]); + int16_t lsb = MOTOR_RM_GetLSB(motor->param.module); + float ratio = MOTOR_RM_GetRatio(motor->param.module); + + float rotor_angle = raw_angle / (float)MOTOR_ENC_RES * M_2PI; + float rotor_speed = raw_speed; + float torque_current = raw_current * lsb / (float)MOTOR_CUR_RES; + + if (motor->param.gear) { + // 多圈累加 + int32_t delta = (int32_t)raw_angle - (int32_t)motor->last_raw_angle; + if (delta > (MOTOR_ENC_RES / 2)) { + motor->gearbox_round_count--; + } else if (delta < -(MOTOR_ENC_RES / 2)) { + motor->gearbox_round_count++; + } + motor->last_raw_angle = raw_angle; + float single_turn = rotor_angle; + motor->gearbox_total_angle = (motor->gearbox_round_count * M_2PI + single_turn) / ratio; + // 输出轴多圈绝对值 + motor->feedback.rotor_abs_angle = motor->gearbox_total_angle; + motor->feedback.rotor_speed = rotor_speed / ratio; + motor->feedback.torque_current = torque_current * ratio; + } else { + // 非gear模式，直接用转子单圈 + motor->gearbox_round_count = 0; + motor->last_raw_angle = raw_angle; + motor->gearbox_total_angle = 0.0f; + motor->feedback.rotor_abs_angle = rotor_angle; + motor->feedback.rotor_speed = rotor_speed; + motor->feedback.torque_current = torque_current; + } + while (motor->feedback.rotor_abs_angle < 0) { + motor->feedback.rotor_abs_angle += M_2PI; + } + while (motor->feedback.rotor_abs_angle >= M_2PI) { + motor->feedback.rotor_abs_angle -= M_2PI; + } + if (motor->motor.reverse) { + motor->feedback.rotor_abs_angle = M_2PI - motor->feedback.rotor_abs_angle; + motor->feedback.rotor_speed = -motor->feedback.rotor_speed; + motor->feedback.torque_current = -motor->feedback.torque_current; + } + motor->feedback.temp = msg->data[6]; +} + +/* Exported functions ------------------------------------------------------- */ + +int8_t MOTOR_RM_Register(MOTOR_RM_Param_t *param) { + if (param == NULL) return DEVICE_ERR_NULL; + if (MOTOR_RM_CreateCANManager(param->can) != DEVICE_OK) return DEVICE_ERR; + MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager(param->can); + if (manager == NULL) return DEVICE_ERR; + // 检查是否已注册 + for (int i = 0; i < manager->motor_count; i++) { + if (manager->motors[i] && manager->motors[i]->param.id == param->id) { + return DEVICE_ERR_INITED; + } + } + // 检查数量 + if (manager->motor_count >= MOTOR_RM_MAX_MOTORS) return DEVICE_ERR; + // 创建新电机实例 + MOTOR_RM_t *new_motor = (MOTOR_RM_t*)BSP_Malloc(sizeof(MOTOR_RM_t)); + if (new_motor == NULL) return DEVICE_ERR; + memcpy(&new_motor->param, param, sizeof(MOTOR_RM_Param_t)); + memset(&new_motor->motor, 0, sizeof(MOTOR_t)); + new_motor->motor.reverse = param->reverse; + // 注册CAN接收ID + if (BSP_CAN_RegisterId(param->can, param->id, 3) != BSP_OK) { + BSP_Free(new_motor); + return DEVICE_ERR; + } + manager->motors[manager->motor_count] = new_motor; + manager->motor_count++; + return DEVICE_OK; +} + +int8_t MOTOR_RM_Update(MOTOR_RM_Param_t *param) { + if (param == NULL) return DEVICE_ERR_NULL; + MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager(param->can); + if (manager == NULL) return DEVICE_ERR_NO_DEV; + for (int i = 0; i < manager->motor_count; i++) { + MOTOR_RM_t *motor = manager->motors[i]; + if (motor && motor->param.id == param->id) { + BSP_CAN_Message_t rx_msg; + if (BSP_CAN_GetMessage(param->can, param->id, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) { + uint64_t now_time = BSP_TIME_Get(); + if (now_time - motor->motor.header.last_online_time > 1000) { + motor->motor.header.online = false; + return DEVICE_ERR_NO_DEV; + } + return DEVICE_ERR; + } + motor->motor.header.online = true; + motor->motor.header.last_online_time = BSP_TIME_Get(); + Motor_RM_Decode(motor, &rx_msg); + motor->motor.feedback = motor->feedback; + return DEVICE_OK; + } + } + return DEVICE_ERR_NO_DEV; +} + +int8_t MOTOR_RM_UpdateAll(void) { + int8_t ret = DEVICE_OK; + for (int can = 0; can < BSP_CAN_NUM; can++) { + MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager((BSP_CAN_t)can); + if (manager == NULL) continue; + for (int i = 0; i < manager->motor_count; i++) { + MOTOR_RM_t *motor = manager->motors[i]; + if (motor != NULL) { + if (MOTOR_RM_Update(&motor->param) != DEVICE_OK) { + ret = DEVICE_ERR; + } + } + } + } + return ret; +} + +int8_t MOTOR_RM_SetOutput(MOTOR_RM_Param_t *param, float value) { + if (param == NULL) return DEVICE_ERR_NULL; + MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager(param->can); + if (manager == NULL) return DEVICE_ERR_NO_DEV; + if (value > 1.0f) value = 1.0f; + if (value < -1.0f) value = -1.0f; + if (param->reverse){ + value = -value; + } + MOTOR_RM_t *motor = MOTOR_RM_GetMotor(param); + if (motor == NULL) return DEVICE_ERR_NO_DEV; + int8_t logical_index = MOTOR_RM_GetLogicalIndex(param->id, param->module); + if (logical_index < 0) return DEVICE_ERR; + MOTOR_RM_MsgOutput_t *output_msg = &manager->output_msg; + int16_t output_value = (int16_t)(value * (float)MOTOR_RM_GetLSB(param->module)); + output_msg->output[logical_index] = output_value; + return DEVICE_OK; +} + +int8_t MOTOR_RM_Ctrl(MOTOR_RM_Param_t *param) { + if (param == NULL) return DEVICE_ERR_NULL; + MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager(param->can); + if (manager == NULL) return DEVICE_ERR_NO_DEV; + MOTOR_RM_MsgOutput_t *output_msg = &manager->output_msg; + BSP_CAN_StdDataFrame_t tx_frame; + uint16_t id = param->id; + switch (id) { + case M3508_M2006_FB_ID_BASE: + case M3508_M2006_FB_ID_BASE+1: + case M3508_M2006_FB_ID_BASE+2: + case M3508_M2006_FB_ID_BASE+3: + tx_frame.id = M3508_M2006_CTRL_ID_BASE; + tx_frame.dlc = MOTOR_TX_BUF_SIZE; + for (int i = 0; i < 4; i++) { + tx_frame.data[i*2] = (uint8_t)((output_msg->output[i] >> 8) & 0xFF); + tx_frame.data[i*2+1] = (uint8_t)(output_msg->output[i] & 0xFF); + } + break; + case M3508_M2006_FB_ID_BASE+4: + case M3508_M2006_FB_ID_BASE+5: + case M3508_M2006_FB_ID_BASE+6: + case M3508_M2006_FB_ID_BASE+7: + tx_frame.id = M3508_M2006_CTRL_ID_EXTAND; + tx_frame.dlc = MOTOR_TX_BUF_SIZE; + for (int i = 4; i < 8; i++) { + tx_frame.data[(i-4)*2] = (uint8_t)((output_msg->output[i] >> 8) & 0xFF); + tx_frame.data[(i-4)*2+1] = (uint8_t)(output_msg->output[i] & 0xFF); + } + break; + case GM6020_FB_ID_BASE+4: + case GM6020_FB_ID_BASE+5: + case GM6020_FB_ID_BASE+6: + tx_frame.id = GM6020_CTRL_ID_EXTAND; + tx_frame.dlc = MOTOR_TX_BUF_SIZE; + for (int i = 8; i < 11; i++) { + tx_frame.data[(i-8)*2] = (uint8_t)((output_msg->output[i] >> 8) & 0xFF); + tx_frame.data[(i-8)*2+1] = (uint8_t)(output_msg->output[i] & 0xFF); + } + tx_frame.data[6] = 0; + tx_frame.data[7] = 0; + break; + default: + return DEVICE_ERR; + } + return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; +} + +MOTOR_RM_t* MOTOR_RM_GetMotor(MOTOR_RM_Param_t *param) { + if (param == NULL) return NULL; + MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager(param->can); + if (manager == NULL) return NULL; + for (int i = 0; i < manager->motor_count; i++) { + MOTOR_RM_t *motor = manager->motors[i]; + if (motor && motor->param.id == param->id) { + return motor; + } + } + return NULL; +} + +int8_t MOTOR_RM_Relax(MOTOR_RM_Param_t *param) { + return MOTOR_RM_SetOutput(param, 0.0f); +} + +int8_t MOTOR_RM_Offine(MOTOR_RM_Param_t *param) { + MOTOR_RM_t *motor = MOTOR_RM_GetMotor(param); + if (motor) { + motor->motor.header.online = false; + return DEVICE_OK; + } + return DEVICE_ERR_NO_DEV; +} \ No newline at end of file diff --git a/User/device/motor_rm.h b/User/device/motor_rm.h new file mode 100644 index 0000000..670b427 --- /dev/null +++ b/User/device/motor_rm.h @@ -0,0 +1,132 @@ +#pragma once + +#include "motor.h" +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ----------------------------------------------------------------- */ +#include "device/device.h" +#include "device/motor.h" +#include "bsp/can.h" + +/* Exported constants ------------------------------------------------------- */ +#define MOTOR_RM_MAX_MOTORS 11 + +/* Exported macro ----------------------------------------------------------- */ +/* Exported types ----------------------------------------------------------- */ +typedef enum { + MOTOR_M2006, + MOTOR_M3508, + MOTOR_GM6020, +} MOTOR_RM_Module_t; + +/*一个can最多控制11个电机*/ +typedef union { + int16_t output[MOTOR_RM_MAX_MOTORS]; + struct { + int16_t m3508_m2006_id201; + int16_t m3508_m2006_id202; + int16_t m3508_m2006_id203; + int16_t m3508_m2006_id204; + int16_t m3508_m2006_gm6020_id205; + int16_t m3508_m2006_gm6020_id206; + int16_t m3508_m2006_gm6020_id207; + int16_t m3508_m2006_gm6020_id208; + int16_t gm6020_id209; + int16_t gm6020_id20A; + int16_t gm6020_id20B; + } named; +} MOTOR_RM_MsgOutput_t; + +/*每个电机需要的参数*/ +typedef struct { + BSP_CAN_t can; + uint16_t id; + MOTOR_RM_Module_t module; + bool reverse; + bool gear; +} MOTOR_RM_Param_t; + +typedef MOTOR_Feedback_t MOTOR_RM_Feedback_t; + +typedef struct { + MOTOR_RM_Param_t param; + MOTOR_RM_Feedback_t feedback; + MOTOR_t motor; + // 多圈相关变量，仅gear模式下有效 + uint16_t last_raw_angle; + int32_t gearbox_round_count; + float gearbox_total_angle; +} MOTOR_RM_t; + +/*CAN管理器，管理一个CAN总线上所有的电机*/ +typedef struct { + BSP_CAN_t can; + MOTOR_RM_MsgOutput_t output_msg; + MOTOR_RM_t *motors[MOTOR_RM_MAX_MOTORS]; + uint8_t motor_count; +} MOTOR_RM_CANManager_t; + +/* Exported functions prototypes -------------------------------------------- */ + +/** + * @brief 注册一个RM电机 + * @param param 电机参数 + * @return + */ +int8_t MOTOR_RM_Register(MOTOR_RM_Param_t *param); + +/** + * @brief 更新指定电机数据 + * @param param 电机参数 + * @return + */ +int8_t MOTOR_RM_Update(MOTOR_RM_Param_t *param); + +/** + * @brief 设置一个电机的输出 + * @param param 电机参数 + * @param value 输出值，范围[-1.0, 1.0] + * @return + */ +int8_t MOTOR_RM_SetOutput(MOTOR_RM_Param_t *param, float value); + +/** + * @brief 发送控制命令到电机，注意一个CAN可以控制多个电机，所以只需要发送一次即可 + * @param param 电机参数 + * @return + */ +int8_t MOTOR_RM_Ctrl(MOTOR_RM_Param_t *param); + +/** + * @brief 获取指定电机的实例指针 + * @param param 电机参数 + * @return + */ +MOTOR_RM_t* MOTOR_RM_GetMotor(MOTOR_RM_Param_t *param); + +/** + * @brief 使电机松弛（设置输出为0） + * @param param + * @return + */ +int8_t MOTOR_RM_Relax(MOTOR_RM_Param_t *param); + +/** + * @brief 使电机离线（设置在线状态为false） + * @param param + * @return + */ +int8_t MOTOR_RM_Offine(MOTOR_RM_Param_t *param); + +/** + * @brief + * @param + * @return + */ +int8_t MOTOR_RM_UpdateAll(void); + +#ifdef __cplusplus +} +#endif \ No newline at end of file diff --git a/User/task/atti_esit.c b/User/task/atti_esit.c new file mode 100644 index 0000000..19fd599 --- /dev/null +++ b/User/task/atti_esit.c @@ -0,0 +1,38 @@ +/* + atti_esit Task + +*/ + +/* Includes ----------------------------------------------------------------- */ +#include "task/user_task.h" +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ + +/* Private typedef ---------------------------------------------------------- */ +/* Private define ----------------------------------------------------------- */ +/* Private macro ------------------------------------------------------------ */ +/* Private variables -------------------------------------------------------- */ +/* USER STRUCT BEGIN */ + +/* USER STRUCT END */ + +/* Private function --------------------------------------------------------- */ +/* Exported functions ------------------------------------------------------- */ +void Task_atti_esit(void *argument) { + (void)argument; /* 未使用argument，消除警告 */ + + + osDelay(ATTI_ESIT_INIT_DELAY); /* 延时一段时间再开启任务 */ + + /* USER CODE INIT BEGIN */ + + /* USER CODE INIT END */ + + while (1) { + /* USER CODE BEGIN */ + + /* USER CODE END */ + } + +} \ No newline at end of file diff --git a/User/task/config.yaml b/User/task/config.yaml new file mode 100644 index 0000000..f1fa23a --- /dev/null +++ b/User/task/config.yaml @@ -0,0 +1,13 @@ +- delay: 0 + description: '' + freq_control: true + frequency: 500.0 + function: Task_rc + name: rc + stack: 256 +- delay: 0 + description: '' + freq_control: false + function: Task_atti_esit + name: atti_esit + stack: 256 diff --git a/User/task/init.c b/User/task/init.c new file mode 100644 index 0000000..7a2a4da --- /dev/null +++ b/User/task/init.c @@ -0,0 +1,43 @@ +/* + Init Task + 任务初始化，创建各个线程任务和消息队列 +*/ + +/* Includes ----------------------------------------------------------------- */ +#include "task/user_task.h" + +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ + +/* Private typedef ---------------------------------------------------------- */ +/* Private define ----------------------------------------------------------- */ +/* Private macro ------------------------------------------------------------ */ +/* Private variables -------------------------------------------------------- */ +/* Private function --------------------------------------------------------- */ +/* Exported functions ------------------------------------------------------- */ + +/** + * \brief 初始化 + * + * \param argument 未使用 + */ +void Task_Init(void *argument) { + (void)argument; /* 未使用argument，消除警告 */ + /* USER CODE INIT BEGIN */ + + /* USER CODE INIT END */ + osKernelLock(); /* 锁定内核，防止任务切换 */ + + /* 创建任务线程 */ + task_runtime.thread.rc = osThreadNew(Task_rc, NULL, &attr_rc); + task_runtime.thread.atti_esit = osThreadNew(Task_atti_esit, NULL, &attr_atti_esit); + + // 创建消息队列 + /* USER MESSAGE BEGIN */ + task_runtime.msgq.user_msg= osMessageQueueNew(2u, 10, NULL); + /* USER MESSAGE END */ + + osKernelUnlock(); // 解锁内核 + osThreadTerminate(osThreadGetId()); // 任务完成后结束自身 +} \ No newline at end of file diff --git a/User/task/rc.c b/User/task/rc.c new file mode 100644 index 0000000..e1897c1 --- /dev/null +++ b/User/task/rc.c @@ -0,0 +1,44 @@ +/* + rc Task + +*/ + +/* Includes ----------------------------------------------------------------- */ +#include "task/user_task.h" +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ + +/* Private typedef ---------------------------------------------------------- */ +/* Private define ----------------------------------------------------------- */ +/* Private macro ------------------------------------------------------------ */ +/* Private variables -------------------------------------------------------- */ +/* USER STRUCT BEGIN */ + +/* USER STRUCT END */ + +/* Private function --------------------------------------------------------- */ +/* Exported functions ------------------------------------------------------- */ +void Task_rc(void *argument) { + (void)argument; /* 未使用argument，消除警告 */ + + + /* 计算任务运行到指定频率需要等待的tick数 */ + const uint32_t delay_tick = osKernelGetTickFreq() / RC_FREQ; + + osDelay(RC_INIT_DELAY); /* 延时一段时间再开启任务 */ + + uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */ + /* USER CODE INIT BEGIN */ + + /* USER CODE INIT END */ + + while (1) { + tick += delay_tick; /* 计算下一个唤醒时刻 */ + /* USER CODE BEGIN */ + + /* USER CODE END */ + osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ + } + +} \ No newline at end of file diff --git a/User/task/user_task.c b/User/task/user_task.c new file mode 100644 index 0000000..e61d1b3 --- /dev/null +++ b/User/task/user_task.c @@ -0,0 +1,21 @@ +#include "task/user_task.h" + +Task_Runtime_t task_runtime; + +const osThreadAttr_t attr_init = { + .name = "Task_Init", + .priority = osPriorityRealtime, + .stack_size = 256 * 4, +}; + +/* User_task */ +const osThreadAttr_t attr_rc = { + .name = "rc", + .priority = osPriorityNormal, + .stack_size = 256 * 4, +}; +const osThreadAttr_t attr_atti_esit = { + .name = "atti_esit", + .priority = osPriorityNormal, + .stack_size = 256 * 4, +}; \ No newline at end of file diff --git a/User/task/user_task.h b/User/task/user_task.h new file mode 100644 index 0000000..9a9e599 --- /dev/null +++ b/User/task/user_task.h @@ -0,0 +1,85 @@ +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif +/* Includes ----------------------------------------------------------------- */ +#include +#include "FreeRTOS.h" +#include "task.h" + +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ +/* Exported constants ------------------------------------------------------- */ +/* 任务运行频率 */ +#define RC_FREQ (500.0) + +/* 任务初始化延时ms */ +#define TASK_INIT_DELAY (100u) +#define RC_INIT_DELAY (0) +#define ATTI_ESIT_INIT_DELAY (0) + +/* Exported defines --------------------------------------------------------- */ +/* Exported macro ----------------------------------------------------------- */ +/* Exported types ----------------------------------------------------------- */ + +/* 任务运行时结构体 */ +typedef struct { + /* 各任务，也可以叫做线程 */ + struct { + osThreadId_t rc; + osThreadId_t atti_esit; + } thread; + + /* USER MESSAGE BEGIN */ + struct { + osMessageQueueId_t user_msg; /* 用户自定义任务消息队列 */ + } msgq; + /* USER MESSAGE END */ + + /* 机器人状态 */ + struct { + float battery; /* 电池电量百分比 */ + float vbat; /* 电池电压 */ + float cpu_temp; /* CPU温度 */ + } status; + + /* USER CONFIG BEGIN */ + + /* USER CONFIG END */ + + /* 各任务的stack使用 */ + struct { + UBaseType_t rc; + UBaseType_t atti_esit; + } stack_water_mark; + + /* 各任务运行频率 */ + struct { + float rc; + } freq; + + /* 任务最近运行时间 */ + struct { + float rc; + } last_up_time; + +} Task_Runtime_t; + +/* 任务运行时结构体 */ +extern Task_Runtime_t task_runtime; + +/* 初始化任务句柄 */ +extern const osThreadAttr_t attr_init; +extern const osThreadAttr_t attr_rc; +extern const osThreadAttr_t attr_atti_esit; + +/* 任务函数声明 */ +void Task_Init(void *argument); +void Task_rc(void *argument); +void Task_atti_esit(void *argument); + +#ifdef __cplusplus +} +#endif \ No newline at end of file diff --git a/balance_infantry.ioc b/balance_infantry.ioc deleted file mode 100644 index 815e9d9..0000000 --- a/balance_infantry.ioc +++ /dev/null @@ -1,926 +0,0 @@ -#MicroXplorer Configuration settings - do not modify -ADC1.Channel-0\#ChannelRegularConversion=ADC_CHANNEL_4 -ADC1.Channel-1\#ChannelRegularConversion=ADC_CHANNEL_19 -ADC1.ClockPrescaler=ADC_CLOCK_ASYNC_DIV64 -ADC1.ContinuousConvMode=ENABLE -ADC1.ConversionDataManagement=ADC_CONVERSIONDATA_DMA_CIRCULAR -ADC1.IPParameters=Rank-0\#ChannelRegularConversion,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,OffsetNumber-0\#ChannelRegularConversion,OffsetSignedSaturation-0\#ChannelRegularConversion,NbrOfConversionFlag,master,ClockPrescaler,ContinuousConvMode,ConversionDataManagement,Rank-1\#ChannelRegularConversion,Channel-1\#ChannelRegularConversion,SamplingTime-1\#ChannelRegularConversion,OffsetNumber-1\#ChannelRegularConversion,OffsetSignedSaturation-1\#ChannelRegularConversion,NbrOfConversion -ADC1.NbrOfConversion=2 -ADC1.NbrOfConversionFlag=1 -ADC1.OffsetNumber-0\#ChannelRegularConversion=ADC_OFFSET_NONE -ADC1.OffsetNumber-1\#ChannelRegularConversion=ADC_OFFSET_NONE -ADC1.OffsetSignedSaturation-0\#ChannelRegularConversion=DISABLE -ADC1.OffsetSignedSaturation-1\#ChannelRegularConversion=DISABLE -ADC1.Rank-0\#ChannelRegularConversion=1 -ADC1.Rank-1\#ChannelRegularConversion=2 -ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_32CYCLES_5 -ADC1.SamplingTime-1\#ChannelRegularConversion=ADC_SAMPLETIME_32CYCLES_5 -ADC1.master=1 -Bdma.Request0=SPI6_TX -Bdma.RequestsNb=1 -Bdma.SPI6_TX.0.Direction=DMA_MEMORY_TO_PERIPH -Bdma.SPI6_TX.0.EventEnable=DISABLE -Bdma.SPI6_TX.0.Instance=BDMA_Channel0 -Bdma.SPI6_TX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE -Bdma.SPI6_TX.0.MemInc=DMA_MINC_ENABLE -Bdma.SPI6_TX.0.Mode=DMA_NORMAL -Bdma.SPI6_TX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE -Bdma.SPI6_TX.0.PeriphInc=DMA_PINC_DISABLE -Bdma.SPI6_TX.0.Polarity=HAL_DMAMUX_REQ_GEN_RISING -Bdma.SPI6_TX.0.Priority=DMA_PRIORITY_LOW -Bdma.SPI6_TX.0.RequestNumber=1 -Bdma.SPI6_TX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber -Bdma.SPI6_TX.0.SignalID=NONE -Bdma.SPI6_TX.0.SyncEnable=DISABLE -Bdma.SPI6_TX.0.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT -Bdma.SPI6_TX.0.SyncRequestNumber=1 -Bdma.SPI6_TX.0.SyncSignalID=NONE -CAD.formats= -CAD.pinconfig= -CAD.provider= -CORTEX_M7.CPU_DCache=Disabled -CORTEX_M7.CPU_ICache=Disabled -CORTEX_M7.Enable-Cortex_Memory_Protection_Unit_Region0_Settings=MPU_REGION_ENABLE -CORTEX_M7.IPParameters=CPU_DCache,CPU_ICache,MPU_Control,Enable-Cortex_Memory_Protection_Unit_Region0_Settings,default_mode_Activation -CORTEX_M7.MPU_Control=__NULL -CORTEX_M7.default_mode_Activation=1 -DAC1.DAC_Channel-DAC_OUT2_Int=DAC_CHANNEL_2 -DAC1.IPParameters=DAC_Channel-DAC_OUT2_Int -Dma.ADC1.0.Direction=DMA_PERIPH_TO_MEMORY -Dma.ADC1.0.EventEnable=DISABLE -Dma.ADC1.0.FIFOMode=DMA_FIFOMODE_DISABLE -Dma.ADC1.0.Instance=DMA1_Stream0 -Dma.ADC1.0.MemDataAlignment=DMA_MDATAALIGN_HALFWORD -Dma.ADC1.0.MemInc=DMA_MINC_ENABLE -Dma.ADC1.0.Mode=DMA_CIRCULAR -Dma.ADC1.0.PeriphDataAlignment=DMA_PDATAALIGN_HALFWORD -Dma.ADC1.0.PeriphInc=DMA_PINC_DISABLE -Dma.ADC1.0.Polarity=HAL_DMAMUX_REQ_GEN_RISING -Dma.ADC1.0.Priority=DMA_PRIORITY_LOW -Dma.ADC1.0.RequestNumber=1 -Dma.ADC1.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber -Dma.ADC1.0.SignalID=NONE -Dma.ADC1.0.SyncEnable=DISABLE -Dma.ADC1.0.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT -Dma.ADC1.0.SyncRequestNumber=1 -Dma.ADC1.0.SyncSignalID=NONE -Dma.Request0=ADC1 -Dma.Request1=SPI2_RX -Dma.Request10=USART3_TX -Dma.Request11=USART10_RX -Dma.Request12=USART10_TX -Dma.Request13=UART5_RX -Dma.Request2=SPI2_TX -Dma.Request3=UART7_RX -Dma.Request4=UART7_TX -Dma.Request5=USART1_RX -Dma.Request6=USART1_TX -Dma.Request7=USART2_RX -Dma.Request8=USART2_TX -Dma.Request9=USART3_RX -Dma.RequestsNb=14 -Dma.SPI2_RX.1.Direction=DMA_PERIPH_TO_MEMORY -Dma.SPI2_RX.1.EventEnable=DISABLE -Dma.SPI2_RX.1.FIFOMode=DMA_FIFOMODE_DISABLE -Dma.SPI2_RX.1.Instance=DMA1_Stream2 -Dma.SPI2_RX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE -Dma.SPI2_RX.1.MemInc=DMA_MINC_ENABLE -Dma.SPI2_RX.1.Mode=DMA_NORMAL -Dma.SPI2_RX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE -Dma.SPI2_RX.1.PeriphInc=DMA_PINC_DISABLE -Dma.SPI2_RX.1.Polarity=HAL_DMAMUX_REQ_GEN_RISING -Dma.SPI2_RX.1.Priority=DMA_PRIORITY_LOW -Dma.SPI2_RX.1.RequestNumber=1 -Dma.SPI2_RX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber -Dma.SPI2_RX.1.SignalID=NONE -Dma.SPI2_RX.1.SyncEnable=DISABLE -Dma.SPI2_RX.1.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT -Dma.SPI2_RX.1.SyncRequestNumber=1 -Dma.SPI2_RX.1.SyncSignalID=NONE -Dma.SPI2_TX.2.Direction=DMA_MEMORY_TO_PERIPH -Dma.SPI2_TX.2.EventEnable=DISABLE -Dma.SPI2_TX.2.FIFOMode=DMA_FIFOMODE_DISABLE -Dma.SPI2_TX.2.Instance=DMA1_Stream3 -Dma.SPI2_TX.2.MemDataAlignment=DMA_MDATAALIGN_BYTE -Dma.SPI2_TX.2.MemInc=DMA_MINC_ENABLE -Dma.SPI2_TX.2.Mode=DMA_NORMAL -Dma.SPI2_TX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE -Dma.SPI2_TX.2.PeriphInc=DMA_PINC_DISABLE -Dma.SPI2_TX.2.Polarity=HAL_DMAMUX_REQ_GEN_RISING -Dma.SPI2_TX.2.Priority=DMA_PRIORITY_LOW -Dma.SPI2_TX.2.RequestNumber=1 -Dma.SPI2_TX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber -Dma.SPI2_TX.2.SignalID=NONE -Dma.SPI2_TX.2.SyncEnable=DISABLE -Dma.SPI2_TX.2.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT -Dma.SPI2_TX.2.SyncRequestNumber=1 -Dma.SPI2_TX.2.SyncSignalID=NONE -Dma.UART5_RX.13.Direction=DMA_PERIPH_TO_MEMORY -Dma.UART5_RX.13.EventEnable=DISABLE -Dma.UART5_RX.13.FIFOMode=DMA_FIFOMODE_DISABLE -Dma.UART5_RX.13.Instance=DMA1_Stream1 -Dma.UART5_RX.13.MemDataAlignment=DMA_MDATAALIGN_BYTE -Dma.UART5_RX.13.MemInc=DMA_MINC_ENABLE -Dma.UART5_RX.13.Mode=DMA_NORMAL -Dma.UART5_RX.13.PeriphDataAlignment=DMA_PDATAALIGN_BYTE -Dma.UART5_RX.13.PeriphInc=DMA_PINC_DISABLE -Dma.UART5_RX.13.Polarity=HAL_DMAMUX_REQ_GEN_RISING -Dma.UART5_RX.13.Priority=DMA_PRIORITY_LOW -Dma.UART5_RX.13.RequestNumber=1 -Dma.UART5_RX.13.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber -Dma.UART5_RX.13.SignalID=NONE -Dma.UART5_RX.13.SyncEnable=DISABLE -Dma.UART5_RX.13.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT -Dma.UART5_RX.13.SyncRequestNumber=1 -Dma.UART5_RX.13.SyncSignalID=NONE -Dma.UART7_RX.3.Direction=DMA_PERIPH_TO_MEMORY -Dma.UART7_RX.3.EventEnable=DISABLE -Dma.UART7_RX.3.FIFOMode=DMA_FIFOMODE_DISABLE -Dma.UART7_RX.3.Instance=DMA1_Stream4 -Dma.UART7_RX.3.MemDataAlignment=DMA_MDATAALIGN_BYTE -Dma.UART7_RX.3.MemInc=DMA_MINC_ENABLE -Dma.UART7_RX.3.Mode=DMA_NORMAL -Dma.UART7_RX.3.PeriphDataAlignment=DMA_PDATAALIGN_BYTE -Dma.UART7_RX.3.PeriphInc=DMA_PINC_DISABLE -Dma.UART7_RX.3.Polarity=HAL_DMAMUX_REQ_GEN_RISING -Dma.UART7_RX.3.Priority=DMA_PRIORITY_LOW -Dma.UART7_RX.3.RequestNumber=1 -Dma.UART7_RX.3.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber -Dma.UART7_RX.3.SignalID=NONE -Dma.UART7_RX.3.SyncEnable=DISABLE -Dma.UART7_RX.3.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT -Dma.UART7_RX.3.SyncRequestNumber=1 -Dma.UART7_RX.3.SyncSignalID=NONE -Dma.UART7_TX.4.Direction=DMA_MEMORY_TO_PERIPH -Dma.UART7_TX.4.EventEnable=DISABLE -Dma.UART7_TX.4.FIFOMode=DMA_FIFOMODE_DISABLE -Dma.UART7_TX.4.Instance=DMA1_Stream5 -Dma.UART7_TX.4.MemDataAlignment=DMA_MDATAALIGN_BYTE -Dma.UART7_TX.4.MemInc=DMA_MINC_ENABLE -Dma.UART7_TX.4.Mode=DMA_NORMAL -Dma.UART7_TX.4.PeriphDataAlignment=DMA_PDATAALIGN_BYTE -Dma.UART7_TX.4.PeriphInc=DMA_PINC_DISABLE -Dma.UART7_TX.4.Polarity=HAL_DMAMUX_REQ_GEN_RISING -Dma.UART7_TX.4.Priority=DMA_PRIORITY_LOW -Dma.UART7_TX.4.RequestNumber=1 -Dma.UART7_TX.4.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber -Dma.UART7_TX.4.SignalID=NONE -Dma.UART7_TX.4.SyncEnable=DISABLE -Dma.UART7_TX.4.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT -Dma.UART7_TX.4.SyncRequestNumber=1 -Dma.UART7_TX.4.SyncSignalID=NONE -Dma.USART10_RX.11.Direction=DMA_PERIPH_TO_MEMORY -Dma.USART10_RX.11.EventEnable=DISABLE -Dma.USART10_RX.11.FIFOMode=DMA_FIFOMODE_DISABLE -Dma.USART10_RX.11.Instance=DMA2_Stream4 -Dma.USART10_RX.11.MemDataAlignment=DMA_MDATAALIGN_BYTE -Dma.USART10_RX.11.MemInc=DMA_MINC_ENABLE -Dma.USART10_RX.11.Mode=DMA_NORMAL -Dma.USART10_RX.11.PeriphDataAlignment=DMA_PDATAALIGN_BYTE -Dma.USART10_RX.11.PeriphInc=DMA_PINC_DISABLE -Dma.USART10_RX.11.Polarity=HAL_DMAMUX_REQ_GEN_RISING -Dma.USART10_RX.11.Priority=DMA_PRIORITY_LOW -Dma.USART10_RX.11.RequestNumber=1 -Dma.USART10_RX.11.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber -Dma.USART10_RX.11.SignalID=NONE -Dma.USART10_RX.11.SyncEnable=DISABLE -Dma.USART10_RX.11.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT -Dma.USART10_RX.11.SyncRequestNumber=1 -Dma.USART10_RX.11.SyncSignalID=NONE -Dma.USART10_TX.12.Direction=DMA_MEMORY_TO_PERIPH -Dma.USART10_TX.12.EventEnable=DISABLE -Dma.USART10_TX.12.FIFOMode=DMA_FIFOMODE_DISABLE -Dma.USART10_TX.12.Instance=DMA2_Stream5 -Dma.USART10_TX.12.MemDataAlignment=DMA_MDATAALIGN_BYTE -Dma.USART10_TX.12.MemInc=DMA_MINC_ENABLE -Dma.USART10_TX.12.Mode=DMA_NORMAL -Dma.USART10_TX.12.PeriphDataAlignment=DMA_PDATAALIGN_BYTE -Dma.USART10_TX.12.PeriphInc=DMA_PINC_DISABLE -Dma.USART10_TX.12.Polarity=HAL_DMAMUX_REQ_GEN_RISING -Dma.USART10_TX.12.Priority=DMA_PRIORITY_LOW -Dma.USART10_TX.12.RequestNumber=1 -Dma.USART10_TX.12.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber -Dma.USART10_TX.12.SignalID=NONE -Dma.USART10_TX.12.SyncEnable=DISABLE -Dma.USART10_TX.12.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT -Dma.USART10_TX.12.SyncRequestNumber=1 -Dma.USART10_TX.12.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 -Dma.USART1_RX.5.Instance=DMA1_Stream6 -Dma.USART1_RX.5.MemDataAlignment=DMA_MDATAALIGN_BYTE -Dma.USART1_RX.5.MemInc=DMA_MINC_ENABLE -Dma.USART1_RX.5.Mode=DMA_NORMAL -Dma.USART1_RX.5.PeriphDataAlignment=DMA_PDATAALIGN_BYTE -Dma.USART1_RX.5.PeriphInc=DMA_PINC_DISABLE -Dma.USART1_RX.5.Polarity=HAL_DMAMUX_REQ_GEN_RISING -Dma.USART1_RX.5.Priority=DMA_PRIORITY_LOW -Dma.USART1_RX.5.RequestNumber=1 -Dma.USART1_RX.5.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber -Dma.USART1_RX.5.SignalID=NONE -Dma.USART1_RX.5.SyncEnable=DISABLE -Dma.USART1_RX.5.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT -Dma.USART1_RX.5.SyncRequestNumber=1 -Dma.USART1_RX.5.SyncSignalID=NONE -Dma.USART1_TX.6.Direction=DMA_MEMORY_TO_PERIPH -Dma.USART1_TX.6.EventEnable=DISABLE -Dma.USART1_TX.6.FIFOMode=DMA_FIFOMODE_DISABLE -Dma.USART1_TX.6.Instance=DMA1_Stream7 -Dma.USART1_TX.6.MemDataAlignment=DMA_MDATAALIGN_BYTE -Dma.USART1_TX.6.MemInc=DMA_MINC_ENABLE -Dma.USART1_TX.6.Mode=DMA_NORMAL -Dma.USART1_TX.6.PeriphDataAlignment=DMA_PDATAALIGN_BYTE -Dma.USART1_TX.6.PeriphInc=DMA_PINC_DISABLE -Dma.USART1_TX.6.Polarity=HAL_DMAMUX_REQ_GEN_RISING -Dma.USART1_TX.6.Priority=DMA_PRIORITY_LOW -Dma.USART1_TX.6.RequestNumber=1 -Dma.USART1_TX.6.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber -Dma.USART1_TX.6.SignalID=NONE -Dma.USART1_TX.6.SyncEnable=DISABLE -Dma.USART1_TX.6.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT -Dma.USART1_TX.6.SyncRequestNumber=1 -Dma.USART1_TX.6.SyncSignalID=NONE -Dma.USART2_RX.7.Direction=DMA_PERIPH_TO_MEMORY -Dma.USART2_RX.7.EventEnable=DISABLE -Dma.USART2_RX.7.FIFOMode=DMA_FIFOMODE_DISABLE -Dma.USART2_RX.7.Instance=DMA2_Stream0 -Dma.USART2_RX.7.MemDataAlignment=DMA_MDATAALIGN_BYTE -Dma.USART2_RX.7.MemInc=DMA_MINC_ENABLE -Dma.USART2_RX.7.Mode=DMA_NORMAL -Dma.USART2_RX.7.PeriphDataAlignment=DMA_PDATAALIGN_BYTE -Dma.USART2_RX.7.PeriphInc=DMA_PINC_DISABLE -Dma.USART2_RX.7.Polarity=HAL_DMAMUX_REQ_GEN_RISING -Dma.USART2_RX.7.Priority=DMA_PRIORITY_LOW -Dma.USART2_RX.7.RequestNumber=1 -Dma.USART2_RX.7.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber -Dma.USART2_RX.7.SignalID=NONE -Dma.USART2_RX.7.SyncEnable=DISABLE -Dma.USART2_RX.7.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT -Dma.USART2_RX.7.SyncRequestNumber=1 -Dma.USART2_RX.7.SyncSignalID=NONE -Dma.USART2_TX.8.Direction=DMA_MEMORY_TO_PERIPH -Dma.USART2_TX.8.EventEnable=DISABLE -Dma.USART2_TX.8.FIFOMode=DMA_FIFOMODE_DISABLE -Dma.USART2_TX.8.Instance=DMA2_Stream1 -Dma.USART2_TX.8.MemDataAlignment=DMA_MDATAALIGN_BYTE -Dma.USART2_TX.8.MemInc=DMA_MINC_ENABLE -Dma.USART2_TX.8.Mode=DMA_NORMAL -Dma.USART2_TX.8.PeriphDataAlignment=DMA_PDATAALIGN_BYTE -Dma.USART2_TX.8.PeriphInc=DMA_PINC_DISABLE -Dma.USART2_TX.8.Polarity=HAL_DMAMUX_REQ_GEN_RISING -Dma.USART2_TX.8.Priority=DMA_PRIORITY_LOW -Dma.USART2_TX.8.RequestNumber=1 -Dma.USART2_TX.8.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber -Dma.USART2_TX.8.SignalID=NONE -Dma.USART2_TX.8.SyncEnable=DISABLE -Dma.USART2_TX.8.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT -Dma.USART2_TX.8.SyncRequestNumber=1 -Dma.USART2_TX.8.SyncSignalID=NONE -Dma.USART3_RX.9.Direction=DMA_PERIPH_TO_MEMORY -Dma.USART3_RX.9.EventEnable=DISABLE -Dma.USART3_RX.9.FIFOMode=DMA_FIFOMODE_DISABLE -Dma.USART3_RX.9.Instance=DMA2_Stream2 -Dma.USART3_RX.9.MemDataAlignment=DMA_MDATAALIGN_BYTE -Dma.USART3_RX.9.MemInc=DMA_MINC_ENABLE -Dma.USART3_RX.9.Mode=DMA_NORMAL -Dma.USART3_RX.9.PeriphDataAlignment=DMA_PDATAALIGN_BYTE -Dma.USART3_RX.9.PeriphInc=DMA_PINC_DISABLE -Dma.USART3_RX.9.Polarity=HAL_DMAMUX_REQ_GEN_RISING -Dma.USART3_RX.9.Priority=DMA_PRIORITY_LOW -Dma.USART3_RX.9.RequestNumber=1 -Dma.USART3_RX.9.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber -Dma.USART3_RX.9.SignalID=NONE -Dma.USART3_RX.9.SyncEnable=DISABLE -Dma.USART3_RX.9.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT -Dma.USART3_RX.9.SyncRequestNumber=1 -Dma.USART3_RX.9.SyncSignalID=NONE -Dma.USART3_TX.10.Direction=DMA_MEMORY_TO_PERIPH -Dma.USART3_TX.10.EventEnable=DISABLE -Dma.USART3_TX.10.FIFOMode=DMA_FIFOMODE_DISABLE -Dma.USART3_TX.10.Instance=DMA2_Stream3 -Dma.USART3_TX.10.MemDataAlignment=DMA_MDATAALIGN_BYTE -Dma.USART3_TX.10.MemInc=DMA_MINC_ENABLE -Dma.USART3_TX.10.Mode=DMA_NORMAL -Dma.USART3_TX.10.PeriphDataAlignment=DMA_PDATAALIGN_BYTE -Dma.USART3_TX.10.PeriphInc=DMA_PINC_DISABLE -Dma.USART3_TX.10.Polarity=HAL_DMAMUX_REQ_GEN_RISING -Dma.USART3_TX.10.Priority=DMA_PRIORITY_LOW -Dma.USART3_TX.10.RequestNumber=1 -Dma.USART3_TX.10.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber -Dma.USART3_TX.10.SignalID=NONE -Dma.USART3_TX.10.SyncEnable=DISABLE -Dma.USART3_TX.10.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT -Dma.USART3_TX.10.SyncRequestNumber=1 -Dma.USART3_TX.10.SyncSignalID=NONE -FDCAN1.CalculateBaudRateNominal=999999 -FDCAN1.CalculateTimeBitNominal=1000 -FDCAN1.CalculateTimeQuantumNominal=90.90909090909092 -FDCAN1.DataPrescaler=1 -FDCAN1.DataSyncJumpWidth=10 -FDCAN1.DataTimeSeg1=9 -FDCAN1.DataTimeSeg2=1 -FDCAN1.ExtFiltersNbr=1 -FDCAN1.FrameFormat=FDCAN_FRAME_FD_BRS -FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr,NominalTimeSeg1,FrameFormat,NominalSyncJumpWidth,DataSyncJumpWidth,DataTimeSeg1,DataTimeSeg2,MessageRAMOffset,ExtFiltersNbr,RxFifo0ElmtSize,RxFifo1ElmtsNbr,RxFifo1ElmtSize,RxBuffersNbr,RxBufferSize,TxElmtSize,NominalTimeSeg2,DataPrescaler -FDCAN1.MessageRAMOffset=0 -FDCAN1.NominalPrescaler=5 -FDCAN1.NominalSyncJumpWidth=10 -FDCAN1.NominalTimeSeg1=9 -FDCAN1.NominalTimeSeg2=1 -FDCAN1.RxBufferSize=FDCAN_DATA_BYTES_64 -FDCAN1.RxBuffersNbr=0 -FDCAN1.RxFifo0ElmtSize=FDCAN_DATA_BYTES_64 -FDCAN1.RxFifo0ElmtsNbr=23 -FDCAN1.RxFifo1ElmtSize=FDCAN_DATA_BYTES_64 -FDCAN1.RxFifo1ElmtsNbr=0 -FDCAN1.StdFiltersNbr=1 -FDCAN1.TxElmtSize=FDCAN_DATA_BYTES_64 -FDCAN1.TxFifoQueueElmtsNbr=23 -FDCAN2.CalculateBaudRateNominal=999999 -FDCAN2.CalculateTimeBitNominal=1000 -FDCAN2.CalculateTimeQuantumNominal=90.90909090909092 -FDCAN2.DataPrescaler=1 -FDCAN2.DataSyncJumpWidth=10 -FDCAN2.DataTimeSeg1=9 -FDCAN2.DataTimeSeg2=1 -FDCAN2.ExtFiltersNbr=1 -FDCAN2.FrameFormat=FDCAN_FRAME_FD_BRS -FDCAN2.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,MessageRAMOffset,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr,FrameFormat,NominalSyncJumpWidth,DataSyncJumpWidth,DataTimeSeg1,DataTimeSeg2,ExtFiltersNbr,RxFifo0ElmtSize,RxFifo1ElmtsNbr,RxFifo1ElmtSize,RxBuffersNbr,RxBufferSize,TxBuffersNbr,TxElmtSize,NominalTimeSeg1,NominalTimeSeg2,DataPrescaler -FDCAN2.MessageRAMOffset=831 -FDCAN2.NominalPrescaler=5 -FDCAN2.NominalSyncJumpWidth=10 -FDCAN2.NominalTimeSeg1=9 -FDCAN2.NominalTimeSeg2=1 -FDCAN2.RxBufferSize=FDCAN_DATA_BYTES_64 -FDCAN2.RxBuffersNbr=0 -FDCAN2.RxFifo0ElmtSize=FDCAN_DATA_BYTES_64 -FDCAN2.RxFifo0ElmtsNbr=0 -FDCAN2.RxFifo1ElmtSize=FDCAN_DATA_BYTES_64 -FDCAN2.RxFifo1ElmtsNbr=23 -FDCAN2.StdFiltersNbr=1 -FDCAN2.TxBuffersNbr=0 -FDCAN2.TxElmtSize=FDCAN_DATA_BYTES_64 -FDCAN2.TxFifoQueueElmtsNbr=23 -FDCAN3.CalculateBaudRateNominal=999999 -FDCAN3.CalculateTimeBitNominal=1000 -FDCAN3.CalculateTimeQuantumNominal=90.90909090909092 -FDCAN3.DataPrescaler=1 -FDCAN3.DataSyncJumpWidth=10 -FDCAN3.DataTimeSeg1=9 -FDCAN3.DataTimeSeg2=1 -FDCAN3.ExtFiltersNbr=1 -FDCAN3.FrameFormat=FDCAN_FRAME_FD_BRS -FDCAN3.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,MessageRAMOffset,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr,FrameFormat,NominalSyncJumpWidth,DataSyncJumpWidth,DataTimeSeg1,DataTimeSeg2,ExtFiltersNbr,RxFifo0ElmtSize,RxFifo1ElmtsNbr,RxFifo1ElmtSize,RxBuffersNbr,RxBufferSize,TxBuffersNbr,TxElmtSize,NominalTimeSeg1,NominalTimeSeg2,DataPrescaler,Mode -FDCAN3.MessageRAMOffset=1662 -FDCAN3.Mode=FDCAN_MODE_NORMAL -FDCAN3.NominalPrescaler=5 -FDCAN3.NominalSyncJumpWidth=10 -FDCAN3.NominalTimeSeg1=9 -FDCAN3.NominalTimeSeg2=1 -FDCAN3.RxBufferSize=FDCAN_DATA_BYTES_64 -FDCAN3.RxBuffersNbr=0 -FDCAN3.RxFifo0ElmtSize=FDCAN_DATA_BYTES_64 -FDCAN3.RxFifo0ElmtsNbr=0 -FDCAN3.RxFifo1ElmtSize=FDCAN_DATA_BYTES_64 -FDCAN3.RxFifo1ElmtsNbr=23 -FDCAN3.StdFiltersNbr=1 -FDCAN3.TxBuffersNbr=0 -FDCAN3.TxElmtSize=FDCAN_DATA_BYTES_64 -FDCAN3.TxFifoQueueElmtsNbr=23 -FREERTOS.IPParameters=Tasks01 -FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL -File.Version=6 -GPIO.groupedBy=Group By Peripherals -KeepUserPlacement=false -MMTAppRegionsCount=0 -MMTConfigApplied=false -Mcu.CPN=STM32H723VGT6 -Mcu.Family=STM32H7 -Mcu.IP0=ADC1 -Mcu.IP1=BDMA -Mcu.IP10=MEMORYMAP -Mcu.IP11=NVIC -Mcu.IP12=OCTOSPI1 -Mcu.IP13=RCC -Mcu.IP14=SPI2 -Mcu.IP15=SPI6 -Mcu.IP16=SYS -Mcu.IP17=TIM1 -Mcu.IP18=TIM2 -Mcu.IP19=TIM3 -Mcu.IP2=CORTEX_M7 -Mcu.IP20=TIM12 -Mcu.IP21=UART5 -Mcu.IP22=UART7 -Mcu.IP23=USART1 -Mcu.IP24=USART2 -Mcu.IP25=USART3 -Mcu.IP26=USART10 -Mcu.IP27=USB_OTG_HS -Mcu.IP3=DAC1 -Mcu.IP4=DEBUG -Mcu.IP5=DMA -Mcu.IP6=FDCAN1 -Mcu.IP7=FDCAN2 -Mcu.IP8=FDCAN3 -Mcu.IP9=FREERTOS -Mcu.IPNb=28 -Mcu.Name=STM32H723VGTx -Mcu.Package=LQFP100 -Mcu.Pin0=PE2 -Mcu.Pin1=PE3 -Mcu.Pin10=PC3_C -Mcu.Pin11=PA0 -Mcu.Pin12=PA1 -Mcu.Pin13=PA2 -Mcu.Pin14=PA3 -Mcu.Pin15=PA5 -Mcu.Pin16=PA7 -Mcu.Pin17=PC4 -Mcu.Pin18=PB0 -Mcu.Pin19=PB1 -Mcu.Pin2=PC13 -Mcu.Pin20=PB2 -Mcu.Pin21=PE7 -Mcu.Pin22=PE8 -Mcu.Pin23=PE9 -Mcu.Pin24=PE10 -Mcu.Pin25=PE11 -Mcu.Pin26=PE12 -Mcu.Pin27=PE13 -Mcu.Pin28=PE15 -Mcu.Pin29=PB10 -Mcu.Pin3=PC14-OSC32_IN -Mcu.Pin30=PB11 -Mcu.Pin31=PB13 -Mcu.Pin32=PB14 -Mcu.Pin33=PB15 -Mcu.Pin34=PD8 -Mcu.Pin35=PD9 -Mcu.Pin36=PD11 -Mcu.Pin37=PD12 -Mcu.Pin38=PD13 -Mcu.Pin39=PA9 -Mcu.Pin4=PC15-OSC32_OUT -Mcu.Pin40=PA10 -Mcu.Pin41=PA11 -Mcu.Pin42=PA12 -Mcu.Pin43=PA13(JTMS/SWDIO) -Mcu.Pin44=PA14(JTCK/SWCLK) -Mcu.Pin45=PA15(JTDI) -Mcu.Pin46=PC12 -Mcu.Pin47=PD0 -Mcu.Pin48=PD1 -Mcu.Pin49=PD2 -Mcu.Pin5=PH0-OSC_IN -Mcu.Pin50=PD4 -Mcu.Pin51=PD5 -Mcu.Pin52=PD6 -Mcu.Pin53=PB3(JTDO/TRACESWO) -Mcu.Pin54=PB5 -Mcu.Pin55=PB6 -Mcu.Pin56=VP_DAC1_VS_DACI2 -Mcu.Pin57=VP_FREERTOS_VS_CMSIS_V2 -Mcu.Pin58=VP_OCTOSPI1_VS_octo -Mcu.Pin59=VP_SYS_VS_tim23 -Mcu.Pin6=PH1-OSC_OUT -Mcu.Pin60=VP_MEMORYMAP_VS_MEMORYMAP -Mcu.Pin7=PC0 -Mcu.Pin8=PC1 -Mcu.Pin9=PC2_C -Mcu.PinsNb=61 -Mcu.ThirdPartyNb=0 -Mcu.UserConstants= -Mcu.UserName=STM32H723VGTx -MxCube.Version=6.15.0 -MxDb.Version=DB.6.0.150 -NVIC.BDMA_Channel0_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true -NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false -NVIC.DMA1_Stream0_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true -NVIC.DMA1_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true -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.DMA2_Stream0_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true -NVIC.DMA2_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true -NVIC.DMA2_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true -NVIC.DMA2_Stream3_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true -NVIC.DMA2_Stream4_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true -NVIC.DMA2_Stream5_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 -NVIC.FDCAN1_IT1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true -NVIC.FDCAN2_IT0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true -NVIC.FDCAN2_IT1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true -NVIC.FDCAN3_IT0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true -NVIC.FDCAN3_IT1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true -NVIC.ForceEnableDMAVector=true -NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false -NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false -NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false -NVIC.OTG_HS_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true -NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false\:false -NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4 -NVIC.SPI2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true -NVIC.SPI6_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true -NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false -NVIC.SavedPendsvIrqHandlerGenerated=true -NVIC.SavedSvcallIrqHandlerGenerated=true -NVIC.SavedSystickIrqHandlerGenerated=true -NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false -NVIC.TIM23_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true -NVIC.TimeBase=TIM23_IRQn -NVIC.TimeBaseIP=TIM23 -NVIC.UART5_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true -NVIC.UART7_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true -NVIC.USART10_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true -NVIC.USART1_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true -NVIC.USART2_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true -NVIC.USART3_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true -NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false -PA0.Locked=true -PA0.Signal=S_TIM2_CH1_ETR -PA1.Locked=true -PA1.Mode=OCTOSPI1_IOL_Port1L -PA1.Signal=OCTOSPIM_P1_IO3 -PA10.Locked=true -PA10.Mode=Asynchronous -PA10.Signal=USART1_RX -PA11.Mode=Device_Only_FS -PA11.Signal=USB_OTG_HS_DM -PA12.Mode=Device_Only_FS -PA12.Signal=USB_OTG_HS_DP -PA13(JTMS/SWDIO).Locked=true -PA13(JTMS/SWDIO).Mode=Serial_Wire -PA13(JTMS/SWDIO).Signal=DEBUG_JTMS-SWDIO -PA14(JTCK/SWCLK).Locked=true -PA14(JTCK/SWCLK).Mode=Serial_Wire -PA14(JTCK/SWCLK).Signal=DEBUG_JTCK-SWCLK -PA15(JTDI).Locked=true -PA15(JTDI).Signal=GPIO_Input -PA2.Locked=true -PA2.Signal=S_TIM2_CH3 -PA3.Locked=true -PA3.Mode=OCTOSPI1_IOL_Port1L -PA3.Signal=OCTOSPIM_P1_IO2 -PA5.Locked=true -PA5.Signal=ADCx_INP19 -PA7.Mode=TX_Only_Simplex_Unidirect_Master -PA7.Signal=SPI6_MOSI -PA9.Locked=true -PA9.Mode=Asynchronous -PA9.Signal=USART1_TX -PB0.Locked=true -PB0.Mode=OCTOSPI1_IOL_Port1L -PB0.Signal=OCTOSPIM_P1_IO1 -PB1.Locked=true -PB1.Signal=S_TIM3_CH4 -PB10.GPIOParameters=GPIO_Label -PB10.GPIO_Label=LCD_BLK -PB10.Locked=true -PB10.Signal=GPIO_Output -PB11.GPIOParameters=GPIO_Label -PB11.GPIO_Label=LCD_RES -PB11.Locked=true -PB11.Signal=GPIO_Output -PB13.GPIOParameters=GPIO_Speed -PB13.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH -PB13.Locked=true -PB13.Mode=Full_Duplex_Master -PB13.Signal=SPI2_SCK -PB14.Mode=Hardware Flow Control (RS485) -PB14.Signal=USART3_DE -PB15.Locked=true -PB15.Signal=S_TIM12_CH2 -PB2.Locked=true -PB2.Mode=O1_P1_CLK -PB2.Signal=OCTOSPIM_P1_CLK -PB3(JTDO/TRACESWO).Mode=TX_Only_Simplex_Unidirect_Master -PB3(JTDO/TRACESWO).Signal=SPI6_SCK -PB5.Locked=true -PB5.Mode=FDCAN_Activate -PB5.Signal=FDCAN2_RX -PB6.Locked=true -PB6.Mode=FDCAN_Activate -PB6.Signal=FDCAN2_TX -PC0.GPIOParameters=GPIO_Speed,PinState,GPIO_Label -PC0.GPIO_Label=ACCL_CS -PC0.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH -PC0.Locked=true -PC0.PinState=GPIO_PIN_SET -PC0.Signal=GPIO_Output -PC1.GPIOParameters=GPIO_Speed -PC1.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH -PC1.Mode=Full_Duplex_Master -PC1.Signal=SPI2_MOSI -PC12.Mode=Asynchronous -PC12.Signal=UART5_TX -PC13.GPIOParameters=PinState,GPIO_Label -PC13.GPIO_Label=POWER_24V_2 -PC13.Locked=true -PC13.PinState=GPIO_PIN_RESET -PC13.Signal=GPIO_Output -PC14-OSC32_IN.GPIOParameters=GPIO_Label -PC14-OSC32_IN.GPIO_Label=POWER_24_EN\! -PC14-OSC32_IN.Locked=true -PC14-OSC32_IN.Signal=GPIO_Output -PC15-OSC32_OUT.GPIOParameters=PinState,GPIO_Label -PC15-OSC32_OUT.GPIO_Label=POWER_5V -PC15-OSC32_OUT.Locked=true -PC15-OSC32_OUT.PinState=GPIO_PIN_SET -PC15-OSC32_OUT.Signal=GPIO_Output -PC2_C.GPIOParameters=GPIO_Speed -PC2_C.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH -PC2_C.Mode=Full_Duplex_Master -PC2_C.Signal=SPI2_MISO -PC3_C.GPIOParameters=GPIO_Speed,PinState,GPIO_Label -PC3_C.GPIO_Label=GYRO_CS -PC3_C.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH -PC3_C.Locked=true -PC3_C.PinState=GPIO_PIN_SET -PC3_C.Signal=GPIO_Output -PC4.Locked=true -PC4.Signal=ADCx_INP4 -PD0.Mode=FDCAN_Activate -PD0.Signal=FDCAN1_RX -PD1.Locked=true -PD1.Mode=FDCAN_Activate -PD1.Signal=FDCAN1_TX -PD11.Locked=true -PD11.Mode=OCTOSPI1_IOL_Port1L -PD11.Signal=OCTOSPIM_P1_IO0 -PD12.Mode=FDCAN_Activate -PD12.Signal=FDCAN3_RX -PD13.Locked=true -PD13.Mode=FDCAN_Activate -PD13.Signal=FDCAN3_TX -PD2.Mode=Asynchronous -PD2.Signal=UART5_RX -PD4.Locked=true -PD4.Mode=Hardware Flow Control (RS485) -PD4.Signal=USART2_DE -PD5.Locked=true -PD5.Mode=Asynchronous -PD5.Signal=USART2_TX -PD6.Locked=true -PD6.Mode=Asynchronous -PD6.Signal=USART2_RX -PD8.Mode=Asynchronous -PD8.Signal=USART3_TX -PD9.Mode=Asynchronous -PD9.Signal=USART3_RX -PE10.GPIOParameters=GPIO_PuPd,GPIO_Label -PE10.GPIO_Label=ACCL_INT -PE10.GPIO_PuPd=GPIO_NOPULL -PE10.Locked=true -PE10.Signal=GPXTI10 -PE11.GPIOParameters=GPIO_Label -PE11.GPIO_Label=W25Q64_CS -PE11.Locked=true -PE11.Signal=GPIO_Output -PE12.GPIOParameters=GPIO_Label -PE12.GPIO_Label=GYRO_INT -PE12.Locked=true -PE12.Signal=GPXTI12 -PE13.Signal=S_TIM1_CH3 -PE15.GPIOParameters=GPIO_Label -PE15.GPIO_Label=LCD_CS -PE15.Locked=true -PE15.Signal=GPIO_Output -PE2.Mode=Asynchronous -PE2.Signal=USART10_RX -PE3.Mode=Asynchronous -PE3.Signal=USART10_TX -PE7.Mode=Asynchronous -PE7.Signal=UART7_RX -PE8.Mode=Asynchronous -PE8.Signal=UART7_TX -PE9.Locked=true -PE9.Signal=S_TIM1_CH1 -PH0-OSC_IN.Mode=HSE-External-Oscillator -PH0-OSC_IN.Signal=RCC_OSC_IN -PH1-OSC_OUT.Mode=HSE-External-Oscillator -PH1-OSC_OUT.Signal=RCC_OSC_OUT -PinOutPanel.RotationAngle=0 -ProjectManager.AskForMigrate=true -ProjectManager.BackupPrevious=false -ProjectManager.CompilerLinker=GCC -ProjectManager.CompilerOptimize=6 -ProjectManager.ComputerToolchain=false -ProjectManager.CoupleFile=true -ProjectManager.CustomerFirmwarePackage= -ProjectManager.DefaultFWLocation=true -ProjectManager.DeletePrevious=true -ProjectManager.DeviceId=STM32H723VGTx -ProjectManager.FirmwarePackage=STM32Cube FW_H7 V1.12.1 -ProjectManager.FreePins=false -ProjectManager.HalAssertFull=false -ProjectManager.HeapSize=0x200 -ProjectManager.KeepUserCode=true -ProjectManager.LastFirmware=true -ProjectManager.LibraryCopy=0 -ProjectManager.MainLocation=Core/Src -ProjectManager.NoMain=false -ProjectManager.PreviousToolchain= -ProjectManager.ProjectBuild=false -ProjectManager.ProjectFileName=balance_infantry.ioc -ProjectManager.ProjectName=balance_infantry -ProjectManager.ProjectStructure= -ProjectManager.RegisterCallBack= -ProjectManager.StackSize=0x800 -ProjectManager.TargetToolchain=CMake -ProjectManager.ToolChainLocation= -ProjectManager.UAScriptAfterPath= -ProjectManager.UAScriptBeforePath= -ProjectManager.UnderRoot=false -ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_BDMA_Init-BDMA-false-HAL-true,5-MX_ADC1_Init-ADC1-false-HAL-true,6-MX_TIM12_Init-TIM12-false-HAL-true,7-MX_SPI6_Init-SPI6-false-HAL-true,8-MX_SPI2_Init-SPI2-false-HAL-true,9-MX_TIM3_Init-TIM3-false-HAL-true,10-MX_USART1_UART_Init-USART1-false-HAL-true,11-MX_USART2_UART_Init-USART2-false-HAL-true,12-MX_USART3_UART_Init-USART3-false-HAL-true,13-MX_UART7_Init-UART7-false-HAL-true,14-MX_USART10_UART_Init-USART10-false-HAL-true,15-MX_FDCAN1_Init-FDCAN1-false-HAL-true,16-MX_FDCAN2_Init-FDCAN2-false-HAL-true,17-MX_FDCAN3_Init-FDCAN3-false-HAL-true,18-MX_TIM1_Init-TIM1-false-HAL-true,19-MX_TIM2_Init-TIM2-false-HAL-true,20-MX_DAC1_Init-DAC1-false-HAL-true,21-MX_USB_OTG_HS_PCD_Init-USB_OTG_HS-false-HAL-true,22-MX_UART5_Init-UART5-false-HAL-true,0-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true -RCC.ADCFreq_Value=64000000 -RCC.AHB12Freq_Value=275000000 -RCC.AHB4Freq_Value=275000000 -RCC.APB1Freq_Value=137500000 -RCC.APB2Freq_Value=137500000 -RCC.APB3Freq_Value=137500000 -RCC.APB4Freq_Value=137500000 -RCC.AXIClockFreq_Value=275000000 -RCC.CECFreq_Value=32000 -RCC.CKPERFreq_Value=64000000 -RCC.CortexFreq_Value=550000000 -RCC.CpuClockFreq_Value=550000000 -RCC.D1CPREFreq_Value=550000000 -RCC.D1PPRE=RCC_APB3_DIV2 -RCC.D2PPRE1=RCC_APB1_DIV2 -RCC.D2PPRE2=RCC_APB2_DIV2 -RCC.D3PPRE=RCC_APB4_DIV2 -RCC.DFSDMACLkFreq_Value=55000000 -RCC.DFSDMFreq_Value=137500000 -RCC.DIVM1=3 -RCC.DIVM2=2 -RCC.DIVN1=68 -RCC.DIVN2=16 -RCC.DIVN3=128 -RCC.DIVP1=1 -RCC.DIVP1Freq_Value=550000000 -RCC.DIVP2=3 -RCC.DIVP2Freq_Value=64000000 -RCC.DIVP3=4 -RCC.DIVP3Freq_Value=24000000 -RCC.DIVQ1=10 -RCC.DIVQ1Freq_Value=55000000 -RCC.DIVQ2Freq_Value=96000000 -RCC.DIVQ3Freq_Value=48000000 -RCC.DIVR1Freq_Value=275000000 -RCC.DIVR2Freq_Value=96000000 -RCC.DIVR3Freq_Value=48000000 -RCC.FDCANFreq_Value=55000000 -RCC.FMCFreq_Value=275000000 -RCC.FamilyName=M -RCC.HCLK3ClockFreq_Value=275000000 -RCC.HCLKFreq_Value=275000000 -RCC.HPRE=RCC_HCLK_DIV2 -RCC.HSE_VALUE=24000000 -RCC.I2C123Freq_Value=137500000 -RCC.I2C4Freq_Value=137500000 -RCC.IPParameters=ADCFreq_Value,AHB12Freq_Value,AHB4Freq_Value,APB1Freq_Value,APB2Freq_Value,APB3Freq_Value,APB4Freq_Value,AXIClockFreq_Value,CECFreq_Value,CKPERFreq_Value,CortexFreq_Value,CpuClockFreq_Value,D1CPREFreq_Value,D1PPRE,D2PPRE1,D2PPRE2,D3PPRE,DFSDMACLkFreq_Value,DFSDMFreq_Value,DIVM1,DIVM2,DIVN1,DIVN2,DIVN3,DIVP1,DIVP1Freq_Value,DIVP2,DIVP2Freq_Value,DIVP3,DIVP3Freq_Value,DIVQ1,DIVQ1Freq_Value,DIVQ2Freq_Value,DIVQ3Freq_Value,DIVR1Freq_Value,DIVR2Freq_Value,DIVR3Freq_Value,FDCANFreq_Value,FMCFreq_Value,FamilyName,HCLK3ClockFreq_Value,HCLKFreq_Value,HPRE,HSE_VALUE,I2C123Freq_Value,I2C4Freq_Value,LPTIM1Freq_Value,LPTIM2Freq_Value,LPTIM345Freq_Value,LPUART1Freq_Value,LTDCFreq_Value,MCO1PinFreq_Value,MCO2PinFreq_Value,PLL2FRACN,PLL2_VCI_Range-AdvancedSettings,PLL2_VCO_SEL-AdvancedSettings,PLL3FRACN,PLL3_VCO_SEL-AdvancedSettings,PLLFRACN,PLLSourceVirtual,QSPIFreq_Value,RNGFreq_Value,RTCFreq_Value,SAI1Freq_Value,SAI4AFreq_Value,SAI4BFreq_Value,SDMMCFreq_Value,SPDIFRXFreq_Value,SPI123CLockSelection,SPI123Freq_Value,SPI45Freq_Value,SPI6CLockSelection,SPI6Freq_Value,SWPMI1Freq_Value,SYSCLKFreq_VALUE,SYSCLKSource,Tim1OutputFreq_Value,Tim2OutputFreq_Value,TraceFreq_Value,USART16Freq_Value,USART234578Freq_Value,USBCLockSelection,USBFreq_Value,VCO1OutputFreq_Value,VCO2OutputFreq_Value,VCO3OutputFreq_Value,VCOInput1Freq_Value,VCOInput2Freq_Value,VCOInput3Freq_Value -RCC.LPTIM1Freq_Value=137500000 -RCC.LPTIM2Freq_Value=137500000 -RCC.LPTIM345Freq_Value=137500000 -RCC.LPUART1Freq_Value=137500000 -RCC.LTDCFreq_Value=48000000 -RCC.MCO1PinFreq_Value=64000000 -RCC.MCO2PinFreq_Value=550000000 -RCC.PLL2FRACN=0 -RCC.PLL2_VCI_Range-AdvancedSettings=RCC_PLL2VCIRANGE_0 -RCC.PLL2_VCO_SEL-AdvancedSettings=RCC_PLL2VCOWIDE -RCC.PLL3FRACN=0 -RCC.PLL3_VCO_SEL-AdvancedSettings=RCC_PLL3VCOMEDIUM -RCC.PLLFRACN=6144 -RCC.PLLSourceVirtual=RCC_PLLSOURCE_HSE -RCC.QSPIFreq_Value=275000000 -RCC.RNGFreq_Value=48000000 -RCC.RTCFreq_Value=32000 -RCC.SAI1Freq_Value=55000000 -RCC.SAI4AFreq_Value=55000000 -RCC.SAI4BFreq_Value=55000000 -RCC.SDMMCFreq_Value=55000000 -RCC.SPDIFRXFreq_Value=55000000 -RCC.SPI123CLockSelection=RCC_SPI123CLKSOURCE_PLL2 -RCC.SPI123Freq_Value=64000000 -RCC.SPI45Freq_Value=137500000 -RCC.SPI6CLockSelection=RCC_SPI6CLKSOURCE_HSE -RCC.SPI6Freq_Value=24000000 -RCC.SWPMI1Freq_Value=137500000 -RCC.SYSCLKFreq_VALUE=550000000 -RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK -RCC.Tim1OutputFreq_Value=275000000 -RCC.Tim2OutputFreq_Value=275000000 -RCC.TraceFreq_Value=275000000 -RCC.USART16Freq_Value=137500000 -RCC.USART234578Freq_Value=137500000 -RCC.USBCLockSelection=RCC_USBCLKSOURCE_HSI48 -RCC.USBFreq_Value=48000000 -RCC.VCO1OutputFreq_Value=550000000 -RCC.VCO2OutputFreq_Value=192000000 -RCC.VCO3OutputFreq_Value=96000000 -RCC.VCOInput1Freq_Value=8000000 -RCC.VCOInput2Freq_Value=12000000 -RCC.VCOInput3Freq_Value=750000 -SH.ADCx_INP19.0=ADC1_INP19,IN19-Single-Ended -SH.ADCx_INP19.ConfNb=1 -SH.ADCx_INP4.0=ADC1_INP4,IN4-Single-Ended -SH.ADCx_INP4.ConfNb=1 -SH.GPXTI10.0=GPIO_EXTI10 -SH.GPXTI10.ConfNb=1 -SH.GPXTI12.0=GPIO_EXTI12 -SH.GPXTI12.ConfNb=1 -SH.S_TIM12_CH2.0=TIM12_CH2,PWM Generation2 CH2 -SH.S_TIM12_CH2.ConfNb=1 -SH.S_TIM1_CH1.0=TIM1_CH1,PWM Generation1 CH1 -SH.S_TIM1_CH1.ConfNb=1 -SH.S_TIM1_CH3.0=TIM1_CH3,PWM Generation3 CH3 -SH.S_TIM1_CH3.ConfNb=1 -SH.S_TIM2_CH1_ETR.0=TIM2_CH1,PWM Generation1 CH1 -SH.S_TIM2_CH1_ETR.ConfNb=1 -SH.S_TIM2_CH3.0=TIM2_CH3,PWM Generation3 CH3 -SH.S_TIM2_CH3.ConfNb=1 -SH.S_TIM3_CH4.0=TIM3_CH4,PWM Generation4 CH4 -SH.S_TIM3_CH4.ConfNb=1 -SPI2.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_32 -SPI2.CLKPhase=SPI_PHASE_2EDGE -SPI2.CLKPolarity=SPI_POLARITY_HIGH -SPI2.CalculateBaudRate=2.0 MBits/s -SPI2.DataSize=SPI_DATASIZE_8BIT -SPI2.Direction=SPI_DIRECTION_2LINES -SPI2.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,DataSize,BaudRatePrescaler,CLKPolarity,CLKPhase -SPI2.Mode=SPI_MODE_MASTER -SPI2.VirtualType=VM_MASTER -SPI6.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_4 -SPI6.CLKPhase=SPI_PHASE_2EDGE -SPI6.CalculateBaudRate=6.0 MBits/s -SPI6.DataSize=SPI_DATASIZE_8BIT -SPI6.Direction=SPI_DIRECTION_2LINES_TXONLY -SPI6.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,DataSize,BaudRatePrescaler,CLKPhase -SPI6.Mode=SPI_MODE_MASTER -SPI6.VirtualType=VM_MASTER -TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1 -TIM1.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3 -TIM1.IPParameters=Channel-PWM Generation3 CH3,Channel-PWM Generation1 CH1,Period,Pulse-PWM Generation1 CH1,Pulse-PWM Generation3 CH3,Prescaler -TIM1.Period=10000 -TIM1.Prescaler=24 -TIM1.Pulse-PWM\ Generation1\ CH1=5000 -TIM1.Pulse-PWM\ Generation3\ CH3=5000 -TIM12.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2 -TIM12.IPParameters=Channel-PWM Generation2 CH2,Prescaler,Period -TIM12.Period=2000-1 -TIM12.Prescaler=24-1 -TIM2.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1 -TIM2.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3 -TIM2.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation3 CH3,Period,Pulse-PWM Generation1 CH1,Pulse-PWM Generation3 CH3,Prescaler -TIM2.Period=10000 -TIM2.Prescaler=24 -TIM2.Pulse-PWM\ Generation1\ CH1=5000 -TIM2.Pulse-PWM\ Generation3\ CH3=5000 -TIM3.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE -TIM3.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4 -TIM3.IPParameters=Channel-PWM Generation4 CH4,Prescaler,Period,AutoReloadPreload -TIM3.Period=10000-1 -TIM3.Prescaler=24-1 -UART5.BaudRate=100000 -UART5.IPParameters=BaudRate,WordLength,Parity,Mode -UART5.Mode=MODE_RX -UART5.Parity=PARITY_EVEN -UART5.WordLength=WORDLENGTH_9B -UART7.BaudRate=921600 -UART7.IPParameters=BaudRate -USART1.BaudRate=921600 -USART1.IPParameters=VirtualMode-Asynchronous,BaudRate -USART1.VirtualMode-Asynchronous=VM_ASYNC -USART10.BaudRate=921600 -USART10.IPParameters=VirtualMode,BaudRate -USART10.VirtualMode=VM_ASYNC -USART2.BaudRate=921600 -USART2.IPParameters=VirtualMode-Asynchronous,VirtualMode-Hardware Flow Control (RS485),BaudRate -USART2.VirtualMode-Asynchronous=VM_ASYNC -USART2.VirtualMode-Hardware\ Flow\ Control\ (RS485)=VM_ASYNC -USART3.BaudRate=921600 -USART3.IPParameters=VirtualMode-Asynchronous,VirtualMode-Hardware Flow Control (RS485),BaudRate -USART3.VirtualMode-Asynchronous=VM_ASYNC -USART3.VirtualMode-Hardware\ Flow\ Control\ (RS485)=VM_ASYNC -USB_OTG_HS.IPParameters=VirtualMode-Device_Only_FS,dma_enable-Device_Only_FS -USB_OTG_HS.VirtualMode-Device_Only_FS=Device_Only_FS -USB_OTG_HS.dma_enable-Device_Only_FS=ENABLE -VP_DAC1_VS_DACI2.Mode=DAC_OUT2_Int -VP_DAC1_VS_DACI2.Signal=DAC1_VS_DACI2 -VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2 -VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2 -VP_MEMORYMAP_VS_MEMORYMAP.Mode=CurAppReg -VP_MEMORYMAP_VS_MEMORYMAP.Signal=MEMORYMAP_VS_MEMORYMAP -VP_OCTOSPI1_VS_octo.Mode=octo_mode -VP_OCTOSPI1_VS_octo.Signal=OCTOSPI1_VS_octo -VP_SYS_VS_tim23.Mode=TIM23 -VP_SYS_VS_tim23.Signal=SYS_VS_tim23 -board=custom diff --git a/cmake/stm32cubemx/CMakeLists.txt b/cmake/stm32cubemx/CMakeLists.txt index a3f5aaa..869852d 100644 --- a/cmake/stm32cubemx/CMakeLists.txt +++ b/cmake/stm32cubemx/CMakeLists.txt @@ -27,8 +27,6 @@ set(MX_Application_Src ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/gpio.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/freertos.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/adc.c - ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/bdma.c - ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/dac.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/dma.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/fdcan.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/octospi.c @@ -67,8 +65,6 @@ set(STM32_Drivers_Src ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c_ex.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_exti.c - ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dac.c - ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dac_ex.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_fdcan.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_ospi.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi.c