diff --git a/Core/Src/stm32f4xx_it.c b/Core/Src/stm32f4xx_it.c
index 97aabfe..abebd0f 100644
--- a/Core/Src/stm32f4xx_it.c
+++ b/Core/Src/stm32f4xx_it.c
@@ -1,513 +1,513 @@
-/* USER CODE BEGIN Header */
-/**
- ******************************************************************************
- * @file stm32f4xx_it.c
- * @brief Interrupt Service Routines.
- ******************************************************************************
- * @attention
- *
- * © Copyright (c) 2025 STMicroelectronics.
- * All rights reserved.
- *
- * This software component is licensed by ST under Ultimate Liberty license
- * SLA0044, the "License"; You may not use this file except in compliance with
- * the License. You may obtain a copy of the License at:
- * www.st.com/SLA0044
- *
- ******************************************************************************
- */
-/* USER CODE END Header */
-
-/* Includes ------------------------------------------------------------------*/
-#include "main.h"
-#include "stm32f4xx_it.h"
-#include "FreeRTOS.h"
-#include "task.h"
-/* Private includes ----------------------------------------------------------*/
-/* USER CODE BEGIN Includes */
-#include "bsp/uart.h"
-/* USER CODE END Includes */
-
-/* Private typedef -----------------------------------------------------------*/
-/* USER CODE BEGIN TD */
-
-/* USER CODE END TD */
-
-/* Private define ------------------------------------------------------------*/
-/* USER CODE BEGIN PD */
-
-/* USER CODE END PD */
-
-/* Private macro -------------------------------------------------------------*/
-/* USER CODE BEGIN PM */
-
-/* USER CODE END PM */
-
-/* Private variables ---------------------------------------------------------*/
-/* USER CODE BEGIN PV */
-
-/* USER CODE END PV */
-
-/* Private function prototypes -----------------------------------------------*/
-/* USER CODE BEGIN PFP */
-
-/* USER CODE END PFP */
-
-/* Private user code ---------------------------------------------------------*/
-/* USER CODE BEGIN 0 */
-
-/* USER CODE END 0 */
-
-/* External variables --------------------------------------------------------*/
-extern PCD_HandleTypeDef hpcd_USB_OTG_FS;
-extern CAN_HandleTypeDef hcan1;
-extern CAN_HandleTypeDef hcan2;
-extern DMA_HandleTypeDef hdma_i2c2_tx;
-extern DMA_HandleTypeDef hdma_i2c3_rx;
-extern DMA_HandleTypeDef hdma_spi1_rx;
-extern DMA_HandleTypeDef hdma_spi1_tx;
-extern TIM_HandleTypeDef htim1;
-extern TIM_HandleTypeDef htim7;
-extern DMA_HandleTypeDef hdma_usart1_tx;
-extern DMA_HandleTypeDef hdma_usart1_rx;
-extern DMA_HandleTypeDef hdma_usart3_rx;
-extern DMA_HandleTypeDef hdma_usart6_rx;
-extern DMA_HandleTypeDef hdma_usart6_tx;
-extern UART_HandleTypeDef huart1;
-extern UART_HandleTypeDef huart6;
-/* USER CODE BEGIN EV */
-
-/* USER CODE END EV */
-
-/******************************************************************************/
-/* Cortex-M4 Processor Interruption and Exception Handlers */
-/******************************************************************************/
-/**
- * @brief This function handles Non maskable interrupt.
- */
-void NMI_Handler(void)
-{
- /* USER CODE BEGIN NonMaskableInt_IRQn 0 */
-
- /* USER CODE END NonMaskableInt_IRQn 0 */
- /* USER CODE BEGIN NonMaskableInt_IRQn 1 */
- while (1)
- {
- }
- /* USER CODE END NonMaskableInt_IRQn 1 */
-}
-
-/**
- * @brief This function handles Hard fault interrupt.
- */
-void HardFault_Handler(void)
-{
- /* USER CODE BEGIN HardFault_IRQn 0 */
-
- /* USER CODE END HardFault_IRQn 0 */
- while (1)
- {
- /* USER CODE BEGIN W1_HardFault_IRQn 0 */
- /* USER CODE END W1_HardFault_IRQn 0 */
- }
-}
-
-/**
- * @brief This function handles Memory management fault.
- */
-void MemManage_Handler(void)
-{
- /* USER CODE BEGIN MemoryManagement_IRQn 0 */
-
- /* USER CODE END MemoryManagement_IRQn 0 */
- while (1)
- {
- /* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */
- /* USER CODE END W1_MemoryManagement_IRQn 0 */
- }
-}
-
-/**
- * @brief This function handles Pre-fetch fault, memory access fault.
- */
-void BusFault_Handler(void)
-{
- /* USER CODE BEGIN BusFault_IRQn 0 */
-
- /* USER CODE END BusFault_IRQn 0 */
- while (1)
- {
- /* USER CODE BEGIN W1_BusFault_IRQn 0 */
- /* USER CODE END W1_BusFault_IRQn 0 */
- }
-}
-
-/**
- * @brief This function handles Undefined instruction or illegal state.
- */
-void UsageFault_Handler(void)
-{
- /* USER CODE BEGIN UsageFault_IRQn 0 */
-
- /* USER CODE END UsageFault_IRQn 0 */
- while (1)
- {
- /* USER CODE BEGIN W1_UsageFault_IRQn 0 */
- /* USER CODE END W1_UsageFault_IRQn 0 */
- }
-}
-
-/**
- * @brief This function handles Debug monitor.
- */
-void DebugMon_Handler(void)
-{
- /* USER CODE BEGIN DebugMonitor_IRQn 0 */
-
- /* USER CODE END DebugMonitor_IRQn 0 */
- /* USER CODE BEGIN DebugMonitor_IRQn 1 */
-
- /* USER CODE END DebugMonitor_IRQn 1 */
-}
-
-/**
- * @brief This function handles System tick timer.
- */
-void SysTick_Handler(void)
-{
- /* USER CODE BEGIN SysTick_IRQn 0 */
-
- /* USER CODE END SysTick_IRQn 0 */
- HAL_IncTick();
-#if (INCLUDE_xTaskGetSchedulerState == 1 )
- if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED)
- {
-#endif /* INCLUDE_xTaskGetSchedulerState */
- xPortSysTickHandler();
-#if (INCLUDE_xTaskGetSchedulerState == 1 )
- }
-#endif /* INCLUDE_xTaskGetSchedulerState */
- /* USER CODE BEGIN SysTick_IRQn 1 */
-
- /* USER CODE END SysTick_IRQn 1 */
-}
-
-/******************************************************************************/
-/* STM32F4xx Peripheral Interrupt Handlers */
-/* Add here the Interrupt Handlers for the used peripherals. */
-/* For the available peripheral interrupt handler names, */
-/* please refer to the startup file (startup_stm32f4xx.s). */
-/******************************************************************************/
-
-/**
- * @brief This function handles EXTI line0 interrupt.
- */
-void EXTI0_IRQHandler(void)
-{
- /* USER CODE BEGIN EXTI0_IRQn 0 */
-
- /* USER CODE END EXTI0_IRQn 0 */
- HAL_GPIO_EXTI_IRQHandler(USER_KEY_Pin);
- /* USER CODE BEGIN EXTI0_IRQn 1 */
-
- /* USER CODE END EXTI0_IRQn 1 */
-}
-
-/**
- * @brief This function handles EXTI line3 interrupt.
- */
-void EXTI3_IRQHandler(void)
-{
- /* USER CODE BEGIN EXTI3_IRQn 0 */
-
- /* USER CODE END EXTI3_IRQn 0 */
- HAL_GPIO_EXTI_IRQHandler(CMPS_INT_Pin);
- /* USER CODE BEGIN EXTI3_IRQn 1 */
-
- /* USER CODE END EXTI3_IRQn 1 */
-}
-
-/**
- * @brief This function handles EXTI line4 interrupt.
- */
-void EXTI4_IRQHandler(void)
-{
- /* USER CODE BEGIN EXTI4_IRQn 0 */
-
- /* USER CODE END EXTI4_IRQn 0 */
- HAL_GPIO_EXTI_IRQHandler(ACCL_INT_Pin);
- /* USER CODE BEGIN EXTI4_IRQn 1 */
-
- /* USER CODE END EXTI4_IRQn 1 */
-}
-
-/**
- * @brief This function handles DMA1 stream1 global interrupt.
- */
-void DMA1_Stream1_IRQHandler(void)
-{
- /* USER CODE BEGIN DMA1_Stream1_IRQn 0 */
-
- /* USER CODE END DMA1_Stream1_IRQn 0 */
- HAL_DMA_IRQHandler(&hdma_usart3_rx);
- /* USER CODE BEGIN DMA1_Stream1_IRQn 1 */
-
- /* USER CODE END DMA1_Stream1_IRQn 1 */
-}
-
-/**
- * @brief This function handles DMA1 stream2 global interrupt.
- */
-void DMA1_Stream2_IRQHandler(void)
-{
- /* USER CODE BEGIN DMA1_Stream2_IRQn 0 */
-
- /* USER CODE END DMA1_Stream2_IRQn 0 */
- HAL_DMA_IRQHandler(&hdma_i2c3_rx);
- /* USER CODE BEGIN DMA1_Stream2_IRQn 1 */
-
- /* USER CODE END DMA1_Stream2_IRQn 1 */
-}
-
-/**
- * @brief This function handles CAN1 RX0 interrupts.
- */
-void CAN1_RX0_IRQHandler(void)
-{
- /* USER CODE BEGIN CAN1_RX0_IRQn 0 */
-
- /* USER CODE END CAN1_RX0_IRQn 0 */
- HAL_CAN_IRQHandler(&hcan1);
- /* USER CODE BEGIN CAN1_RX0_IRQn 1 */
-
- /* USER CODE END CAN1_RX0_IRQn 1 */
-}
-
-/**
- * @brief This function handles CAN1 RX1 interrupt.
- */
-void CAN1_RX1_IRQHandler(void)
-{
- /* USER CODE BEGIN CAN1_RX1_IRQn 0 */
-
- /* USER CODE END CAN1_RX1_IRQn 0 */
- HAL_CAN_IRQHandler(&hcan1);
- /* USER CODE BEGIN CAN1_RX1_IRQn 1 */
-
- /* USER CODE END CAN1_RX1_IRQn 1 */
-}
-
-/**
- * @brief This function handles EXTI line[9:5] interrupts.
- */
-void EXTI9_5_IRQHandler(void)
-{
- /* USER CODE BEGIN EXTI9_5_IRQn 0 */
-
- /* USER CODE END EXTI9_5_IRQn 0 */
- HAL_GPIO_EXTI_IRQHandler(GYRO_INT_Pin);
- /* USER CODE BEGIN EXTI9_5_IRQn 1 */
-
- /* USER CODE END EXTI9_5_IRQn 1 */
-}
-
-/**
- * @brief This function handles TIM1 break interrupt and TIM9 global interrupt.
- */
-void TIM1_BRK_TIM9_IRQHandler(void)
-{
- /* USER CODE BEGIN TIM1_BRK_TIM9_IRQn 0 */
-
- /* USER CODE END TIM1_BRK_TIM9_IRQn 0 */
- HAL_TIM_IRQHandler(&htim1);
- /* USER CODE BEGIN TIM1_BRK_TIM9_IRQn 1 */
-
- /* USER CODE END TIM1_BRK_TIM9_IRQn 1 */
-}
-
-/**
- * @brief This function handles USART1 global interrupt.
- */
-void USART1_IRQHandler(void)
-{
- /* USER CODE BEGIN USART1_IRQn 0 */
-
- /* USER CODE END USART1_IRQn 0 */
- HAL_UART_IRQHandler(&huart1);
- /* USER CODE BEGIN USART1_IRQn 1 */
-
- /* USER CODE END USART1_IRQn 1 */
-}
-
-/**
- * @brief This function handles DMA1 stream7 global interrupt.
- */
-void DMA1_Stream7_IRQHandler(void)
-{
- /* USER CODE BEGIN DMA1_Stream7_IRQn 0 */
-
- /* USER CODE END DMA1_Stream7_IRQn 0 */
- HAL_DMA_IRQHandler(&hdma_i2c2_tx);
- /* USER CODE BEGIN DMA1_Stream7_IRQn 1 */
-
- /* USER CODE END DMA1_Stream7_IRQn 1 */
-}
-
-/**
- * @brief This function handles TIM7 global interrupt.
- */
-void TIM7_IRQHandler(void)
-{
- /* USER CODE BEGIN TIM7_IRQn 0 */
-
- /* USER CODE END TIM7_IRQn 0 */
- HAL_TIM_IRQHandler(&htim7);
- /* USER CODE BEGIN TIM7_IRQn 1 */
-
- /* USER CODE END TIM7_IRQn 1 */
-}
-
-/**
- * @brief This function handles DMA2 stream1 global interrupt.
- */
-void DMA2_Stream1_IRQHandler(void)
-{
- /* USER CODE BEGIN DMA2_Stream1_IRQn 0 */
-
- /* USER CODE END DMA2_Stream1_IRQn 0 */
- HAL_DMA_IRQHandler(&hdma_usart6_rx);
- /* USER CODE BEGIN DMA2_Stream1_IRQn 1 */
-
- /* USER CODE END DMA2_Stream1_IRQn 1 */
-}
-
-/**
- * @brief This function handles DMA2 stream2 global interrupt.
- */
-void DMA2_Stream2_IRQHandler(void)
-{
- /* USER CODE BEGIN DMA2_Stream2_IRQn 0 */
-
- /* USER CODE END DMA2_Stream2_IRQn 0 */
- HAL_DMA_IRQHandler(&hdma_spi1_rx);
- /* USER CODE BEGIN DMA2_Stream2_IRQn 1 */
-
- /* USER CODE END DMA2_Stream2_IRQn 1 */
-}
-
-/**
- * @brief This function handles DMA2 stream3 global interrupt.
- */
-void DMA2_Stream3_IRQHandler(void)
-{
- /* USER CODE BEGIN DMA2_Stream3_IRQn 0 */
-
- /* USER CODE END DMA2_Stream3_IRQn 0 */
- HAL_DMA_IRQHandler(&hdma_spi1_tx);
- /* USER CODE BEGIN DMA2_Stream3_IRQn 1 */
-
- /* USER CODE END DMA2_Stream3_IRQn 1 */
-}
-
-/**
- * @brief This function handles CAN2 RX0 interrupts.
- */
-void CAN2_RX0_IRQHandler(void)
-{
- /* USER CODE BEGIN CAN2_RX0_IRQn 0 */
-
- /* USER CODE END CAN2_RX0_IRQn 0 */
- HAL_CAN_IRQHandler(&hcan2);
- /* USER CODE BEGIN CAN2_RX0_IRQn 1 */
-
- /* USER CODE END CAN2_RX0_IRQn 1 */
-}
-
-/**
- * @brief This function handles CAN2 RX1 interrupt.
- */
-void CAN2_RX1_IRQHandler(void)
-{
- /* USER CODE BEGIN CAN2_RX1_IRQn 0 */
-
- /* USER CODE END CAN2_RX1_IRQn 0 */
- HAL_CAN_IRQHandler(&hcan2);
- /* USER CODE BEGIN CAN2_RX1_IRQn 1 */
-
- /* USER CODE END CAN2_RX1_IRQn 1 */
-}
-
-/**
- * @brief This function handles USB On The Go FS global interrupt.
- */
-void OTG_FS_IRQHandler(void)
-{
- /* USER CODE BEGIN OTG_FS_IRQn 0 */
-
- /* USER CODE END OTG_FS_IRQn 0 */
- HAL_PCD_IRQHandler(&hpcd_USB_OTG_FS);
- /* USER CODE BEGIN OTG_FS_IRQn 1 */
-
- /* USER CODE END OTG_FS_IRQn 1 */
-}
-
-/**
- * @brief This function handles DMA2 stream5 global interrupt.
- */
-void DMA2_Stream5_IRQHandler(void)
-{
- /* USER CODE BEGIN DMA2_Stream5_IRQn 0 */
-
- /* USER CODE END DMA2_Stream5_IRQn 0 */
- HAL_DMA_IRQHandler(&hdma_usart1_rx);
- /* USER CODE BEGIN DMA2_Stream5_IRQn 1 */
-
- /* USER CODE END DMA2_Stream5_IRQn 1 */
-}
-
-/**
- * @brief This function handles DMA2 stream6 global interrupt.
- */
-void DMA2_Stream6_IRQHandler(void)
-{
- /* USER CODE BEGIN DMA2_Stream6_IRQn 0 */
-
- /* USER CODE END DMA2_Stream6_IRQn 0 */
- HAL_DMA_IRQHandler(&hdma_usart6_tx);
- /* USER CODE BEGIN DMA2_Stream6_IRQn 1 */
-
- /* USER CODE END DMA2_Stream6_IRQn 1 */
-}
-
-/**
- * @brief This function handles DMA2 stream7 global interrupt.
- */
-void DMA2_Stream7_IRQHandler(void)
-{
- /* USER CODE BEGIN DMA2_Stream7_IRQn 0 */
-
- /* USER CODE END DMA2_Stream7_IRQn 0 */
- HAL_DMA_IRQHandler(&hdma_usart1_tx);
- /* USER CODE BEGIN DMA2_Stream7_IRQn 1 */
-
- /* USER CODE END DMA2_Stream7_IRQn 1 */
-}
-
-/**
- * @brief This function handles USART6 global interrupt.
- */
-void USART6_IRQHandler(void)
-{
- /* USER CODE BEGIN USART6_IRQn 0 */
-
- /* USER CODE END USART6_IRQn 0 */
- HAL_UART_IRQHandler(&huart6);
- /* USER CODE BEGIN USART6_IRQn 1 */
- BSP_UART_IRQHandler(&huart6);
-
- /* USER CODE END USART6_IRQn 1 */
-}
-
-/* USER CODE BEGIN 1 */
-
-/* USER CODE END 1 */
+/* USER CODE BEGIN Header */
+/**
+ ******************************************************************************
+ * @file stm32f4xx_it.c
+ * @brief Interrupt Service Routines.
+ ******************************************************************************
+ * @attention
+ *
+ * © Copyright (c) 2025 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software component is licensed by ST under Ultimate Liberty license
+ * SLA0044, the "License"; You may not use this file except in compliance with
+ * the License. You may obtain a copy of the License at:
+ * www.st.com/SLA0044
+ *
+ ******************************************************************************
+ */
+/* USER CODE END Header */
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+#include "stm32f4xx_it.h"
+#include "FreeRTOS.h"
+#include "task.h"
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+#include "bsp/uart.h"
+/* USER CODE END Includes */
+
+/* Private typedef -----------------------------------------------------------*/
+/* USER CODE BEGIN TD */
+
+/* USER CODE END TD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN PD */
+
+/* USER CODE END PD */
+
+/* Private macro -------------------------------------------------------------*/
+/* USER CODE BEGIN PM */
+
+/* USER CODE END PM */
+
+/* Private variables ---------------------------------------------------------*/
+/* USER CODE BEGIN PV */
+
+/* USER CODE END PV */
+
+/* Private function prototypes -----------------------------------------------*/
+/* USER CODE BEGIN PFP */
+
+/* USER CODE END PFP */
+
+/* Private user code ---------------------------------------------------------*/
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+
+/* External variables --------------------------------------------------------*/
+extern PCD_HandleTypeDef hpcd_USB_OTG_FS;
+extern CAN_HandleTypeDef hcan1;
+extern CAN_HandleTypeDef hcan2;
+extern DMA_HandleTypeDef hdma_i2c2_tx;
+extern DMA_HandleTypeDef hdma_i2c3_rx;
+extern DMA_HandleTypeDef hdma_spi1_rx;
+extern DMA_HandleTypeDef hdma_spi1_tx;
+extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim7;
+extern DMA_HandleTypeDef hdma_usart1_tx;
+extern DMA_HandleTypeDef hdma_usart1_rx;
+extern DMA_HandleTypeDef hdma_usart3_rx;
+extern DMA_HandleTypeDef hdma_usart6_rx;
+extern DMA_HandleTypeDef hdma_usart6_tx;
+extern UART_HandleTypeDef huart1;
+extern UART_HandleTypeDef huart6;
+/* USER CODE BEGIN EV */
+
+/* USER CODE END EV */
+
+/******************************************************************************/
+/* Cortex-M4 Processor Interruption and Exception Handlers */
+/******************************************************************************/
+/**
+ * @brief This function handles Non maskable interrupt.
+ */
+void NMI_Handler(void)
+{
+ /* USER CODE BEGIN NonMaskableInt_IRQn 0 */
+
+ /* USER CODE END NonMaskableInt_IRQn 0 */
+ /* USER CODE BEGIN NonMaskableInt_IRQn 1 */
+ while (1)
+ {
+ }
+ /* USER CODE END NonMaskableInt_IRQn 1 */
+}
+
+/**
+ * @brief This function handles Hard fault interrupt.
+ */
+void HardFault_Handler(void)
+{
+ /* USER CODE BEGIN HardFault_IRQn 0 */
+
+ /* USER CODE END HardFault_IRQn 0 */
+ while (1)
+ {
+ /* USER CODE BEGIN W1_HardFault_IRQn 0 */
+ /* USER CODE END W1_HardFault_IRQn 0 */
+ }
+}
+
+/**
+ * @brief This function handles Memory management fault.
+ */
+void MemManage_Handler(void)
+{
+ /* USER CODE BEGIN MemoryManagement_IRQn 0 */
+
+ /* USER CODE END MemoryManagement_IRQn 0 */
+ while (1)
+ {
+ /* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */
+ /* USER CODE END W1_MemoryManagement_IRQn 0 */
+ }
+}
+
+/**
+ * @brief This function handles Pre-fetch fault, memory access fault.
+ */
+void BusFault_Handler(void)
+{
+ /* USER CODE BEGIN BusFault_IRQn 0 */
+
+ /* USER CODE END BusFault_IRQn 0 */
+ while (1)
+ {
+ /* USER CODE BEGIN W1_BusFault_IRQn 0 */
+ /* USER CODE END W1_BusFault_IRQn 0 */
+ }
+}
+
+/**
+ * @brief This function handles Undefined instruction or illegal state.
+ */
+void UsageFault_Handler(void)
+{
+ /* USER CODE BEGIN UsageFault_IRQn 0 */
+
+ /* USER CODE END UsageFault_IRQn 0 */
+ while (1)
+ {
+ /* USER CODE BEGIN W1_UsageFault_IRQn 0 */
+ /* USER CODE END W1_UsageFault_IRQn 0 */
+ }
+}
+
+/**
+ * @brief This function handles Debug monitor.
+ */
+void DebugMon_Handler(void)
+{
+ /* USER CODE BEGIN DebugMonitor_IRQn 0 */
+
+ /* USER CODE END DebugMonitor_IRQn 0 */
+ /* USER CODE BEGIN DebugMonitor_IRQn 1 */
+
+ /* USER CODE END DebugMonitor_IRQn 1 */
+}
+
+/**
+ * @brief This function handles System tick timer.
+ */
+void SysTick_Handler(void)
+{
+ /* USER CODE BEGIN SysTick_IRQn 0 */
+
+ /* USER CODE END SysTick_IRQn 0 */
+ HAL_IncTick();
+#if (INCLUDE_xTaskGetSchedulerState == 1 )
+ if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED)
+ {
+#endif /* INCLUDE_xTaskGetSchedulerState */
+ xPortSysTickHandler();
+#if (INCLUDE_xTaskGetSchedulerState == 1 )
+ }
+#endif /* INCLUDE_xTaskGetSchedulerState */
+ /* USER CODE BEGIN SysTick_IRQn 1 */
+
+ /* USER CODE END SysTick_IRQn 1 */
+}
+
+/******************************************************************************/
+/* STM32F4xx Peripheral Interrupt Handlers */
+/* Add here the Interrupt Handlers for the used peripherals. */
+/* For the available peripheral interrupt handler names, */
+/* please refer to the startup file (startup_stm32f4xx.s). */
+/******************************************************************************/
+
+/**
+ * @brief This function handles EXTI line0 interrupt.
+ */
+void EXTI0_IRQHandler(void)
+{
+ /* USER CODE BEGIN EXTI0_IRQn 0 */
+
+ /* USER CODE END EXTI0_IRQn 0 */
+ HAL_GPIO_EXTI_IRQHandler(USER_KEY_Pin);
+ /* USER CODE BEGIN EXTI0_IRQn 1 */
+
+ /* USER CODE END EXTI0_IRQn 1 */
+}
+
+/**
+ * @brief This function handles EXTI line3 interrupt.
+ */
+void EXTI3_IRQHandler(void)
+{
+ /* USER CODE BEGIN EXTI3_IRQn 0 */
+
+ /* USER CODE END EXTI3_IRQn 0 */
+ HAL_GPIO_EXTI_IRQHandler(CMPS_INT_Pin);
+ /* USER CODE BEGIN EXTI3_IRQn 1 */
+
+ /* USER CODE END EXTI3_IRQn 1 */
+}
+
+/**
+ * @brief This function handles EXTI line4 interrupt.
+ */
+void EXTI4_IRQHandler(void)
+{
+ /* USER CODE BEGIN EXTI4_IRQn 0 */
+
+ /* USER CODE END EXTI4_IRQn 0 */
+ HAL_GPIO_EXTI_IRQHandler(ACCL_INT_Pin);
+ /* USER CODE BEGIN EXTI4_IRQn 1 */
+
+ /* USER CODE END EXTI4_IRQn 1 */
+}
+
+/**
+ * @brief This function handles DMA1 stream1 global interrupt.
+ */
+void DMA1_Stream1_IRQHandler(void)
+{
+ /* USER CODE BEGIN DMA1_Stream1_IRQn 0 */
+
+ /* USER CODE END DMA1_Stream1_IRQn 0 */
+ HAL_DMA_IRQHandler(&hdma_usart3_rx);
+ /* USER CODE BEGIN DMA1_Stream1_IRQn 1 */
+
+ /* USER CODE END DMA1_Stream1_IRQn 1 */
+}
+
+/**
+ * @brief This function handles DMA1 stream2 global interrupt.
+ */
+void DMA1_Stream2_IRQHandler(void)
+{
+ /* USER CODE BEGIN DMA1_Stream2_IRQn 0 */
+
+ /* USER CODE END DMA1_Stream2_IRQn 0 */
+ HAL_DMA_IRQHandler(&hdma_i2c3_rx);
+ /* USER CODE BEGIN DMA1_Stream2_IRQn 1 */
+
+ /* USER CODE END DMA1_Stream2_IRQn 1 */
+}
+
+/**
+ * @brief This function handles CAN1 RX0 interrupts.
+ */
+void CAN1_RX0_IRQHandler(void)
+{
+ /* USER CODE BEGIN CAN1_RX0_IRQn 0 */
+
+ /* USER CODE END CAN1_RX0_IRQn 0 */
+ HAL_CAN_IRQHandler(&hcan1);
+ /* USER CODE BEGIN CAN1_RX0_IRQn 1 */
+
+ /* USER CODE END CAN1_RX0_IRQn 1 */
+}
+
+/**
+ * @brief This function handles CAN1 RX1 interrupt.
+ */
+void CAN1_RX1_IRQHandler(void)
+{
+ /* USER CODE BEGIN CAN1_RX1_IRQn 0 */
+
+ /* USER CODE END CAN1_RX1_IRQn 0 */
+ HAL_CAN_IRQHandler(&hcan1);
+ /* USER CODE BEGIN CAN1_RX1_IRQn 1 */
+
+ /* USER CODE END CAN1_RX1_IRQn 1 */
+}
+
+/**
+ * @brief This function handles EXTI line[9:5] interrupts.
+ */
+void EXTI9_5_IRQHandler(void)
+{
+ /* USER CODE BEGIN EXTI9_5_IRQn 0 */
+
+ /* USER CODE END EXTI9_5_IRQn 0 */
+ HAL_GPIO_EXTI_IRQHandler(GYRO_INT_Pin);
+ /* USER CODE BEGIN EXTI9_5_IRQn 1 */
+
+ /* USER CODE END EXTI9_5_IRQn 1 */
+}
+
+/**
+ * @brief This function handles TIM1 break interrupt and TIM9 global interrupt.
+ */
+void TIM1_BRK_TIM9_IRQHandler(void)
+{
+ /* USER CODE BEGIN TIM1_BRK_TIM9_IRQn 0 */
+
+ /* USER CODE END TIM1_BRK_TIM9_IRQn 0 */
+ HAL_TIM_IRQHandler(&htim1);
+ /* USER CODE BEGIN TIM1_BRK_TIM9_IRQn 1 */
+
+ /* USER CODE END TIM1_BRK_TIM9_IRQn 1 */
+}
+
+/**
+ * @brief This function handles USART1 global interrupt.
+ */
+void USART1_IRQHandler(void)
+{
+ /* USER CODE BEGIN USART1_IRQn 0 */
+
+ /* USER CODE END USART1_IRQn 0 */
+ HAL_UART_IRQHandler(&huart1);
+ /* USER CODE BEGIN USART1_IRQn 1 */
+
+ /* USER CODE END USART1_IRQn 1 */
+}
+
+/**
+ * @brief This function handles DMA1 stream7 global interrupt.
+ */
+void DMA1_Stream7_IRQHandler(void)
+{
+ /* USER CODE BEGIN DMA1_Stream7_IRQn 0 */
+
+ /* USER CODE END DMA1_Stream7_IRQn 0 */
+ HAL_DMA_IRQHandler(&hdma_i2c2_tx);
+ /* USER CODE BEGIN DMA1_Stream7_IRQn 1 */
+
+ /* USER CODE END DMA1_Stream7_IRQn 1 */
+}
+
+/**
+ * @brief This function handles TIM7 global interrupt.
+ */
+void TIM7_IRQHandler(void)
+{
+ /* USER CODE BEGIN TIM7_IRQn 0 */
+
+ /* USER CODE END TIM7_IRQn 0 */
+ HAL_TIM_IRQHandler(&htim7);
+ /* USER CODE BEGIN TIM7_IRQn 1 */
+
+ /* USER CODE END TIM7_IRQn 1 */
+}
+
+/**
+ * @brief This function handles DMA2 stream1 global interrupt.
+ */
+void DMA2_Stream1_IRQHandler(void)
+{
+ /* USER CODE BEGIN DMA2_Stream1_IRQn 0 */
+
+ /* USER CODE END DMA2_Stream1_IRQn 0 */
+ HAL_DMA_IRQHandler(&hdma_usart6_rx);
+ /* USER CODE BEGIN DMA2_Stream1_IRQn 1 */
+
+ /* USER CODE END DMA2_Stream1_IRQn 1 */
+}
+
+/**
+ * @brief This function handles DMA2 stream2 global interrupt.
+ */
+void DMA2_Stream2_IRQHandler(void)
+{
+ /* USER CODE BEGIN DMA2_Stream2_IRQn 0 */
+
+ /* USER CODE END DMA2_Stream2_IRQn 0 */
+ HAL_DMA_IRQHandler(&hdma_spi1_rx);
+ /* USER CODE BEGIN DMA2_Stream2_IRQn 1 */
+
+ /* USER CODE END DMA2_Stream2_IRQn 1 */
+}
+
+/**
+ * @brief This function handles DMA2 stream3 global interrupt.
+ */
+void DMA2_Stream3_IRQHandler(void)
+{
+ /* USER CODE BEGIN DMA2_Stream3_IRQn 0 */
+
+ /* USER CODE END DMA2_Stream3_IRQn 0 */
+ HAL_DMA_IRQHandler(&hdma_spi1_tx);
+ /* USER CODE BEGIN DMA2_Stream3_IRQn 1 */
+
+ /* USER CODE END DMA2_Stream3_IRQn 1 */
+}
+
+/**
+ * @brief This function handles CAN2 RX0 interrupts.
+ */
+void CAN2_RX0_IRQHandler(void)
+{
+ /* USER CODE BEGIN CAN2_RX0_IRQn 0 */
+
+ /* USER CODE END CAN2_RX0_IRQn 0 */
+ HAL_CAN_IRQHandler(&hcan2);
+ /* USER CODE BEGIN CAN2_RX0_IRQn 1 */
+
+ /* USER CODE END CAN2_RX0_IRQn 1 */
+}
+
+/**
+ * @brief This function handles CAN2 RX1 interrupt.
+ */
+void CAN2_RX1_IRQHandler(void)
+{
+ /* USER CODE BEGIN CAN2_RX1_IRQn 0 */
+
+ /* USER CODE END CAN2_RX1_IRQn 0 */
+ HAL_CAN_IRQHandler(&hcan2);
+ /* USER CODE BEGIN CAN2_RX1_IRQn 1 */
+
+ /* USER CODE END CAN2_RX1_IRQn 1 */
+}
+
+/**
+ * @brief This function handles USB On The Go FS global interrupt.
+ */
+void OTG_FS_IRQHandler(void)
+{
+ /* USER CODE BEGIN OTG_FS_IRQn 0 */
+
+ /* USER CODE END OTG_FS_IRQn 0 */
+ HAL_PCD_IRQHandler(&hpcd_USB_OTG_FS);
+ /* USER CODE BEGIN OTG_FS_IRQn 1 */
+
+ /* USER CODE END OTG_FS_IRQn 1 */
+}
+
+/**
+ * @brief This function handles DMA2 stream5 global interrupt.
+ */
+void DMA2_Stream5_IRQHandler(void)
+{
+ /* USER CODE BEGIN DMA2_Stream5_IRQn 0 */
+
+ /* USER CODE END DMA2_Stream5_IRQn 0 */
+ HAL_DMA_IRQHandler(&hdma_usart1_rx);
+ /* USER CODE BEGIN DMA2_Stream5_IRQn 1 */
+
+ /* USER CODE END DMA2_Stream5_IRQn 1 */
+}
+
+/**
+ * @brief This function handles DMA2 stream6 global interrupt.
+ */
+void DMA2_Stream6_IRQHandler(void)
+{
+ /* USER CODE BEGIN DMA2_Stream6_IRQn 0 */
+
+ /* USER CODE END DMA2_Stream6_IRQn 0 */
+ HAL_DMA_IRQHandler(&hdma_usart6_tx);
+ /* USER CODE BEGIN DMA2_Stream6_IRQn 1 */
+
+ /* USER CODE END DMA2_Stream6_IRQn 1 */
+}
+
+/**
+ * @brief This function handles DMA2 stream7 global interrupt.
+ */
+void DMA2_Stream7_IRQHandler(void)
+{
+ /* USER CODE BEGIN DMA2_Stream7_IRQn 0 */
+
+ /* USER CODE END DMA2_Stream7_IRQn 0 */
+ HAL_DMA_IRQHandler(&hdma_usart1_tx);
+ /* USER CODE BEGIN DMA2_Stream7_IRQn 1 */
+
+ /* USER CODE END DMA2_Stream7_IRQn 1 */
+}
+
+/**
+ * @brief This function handles USART6 global interrupt.
+ */
+void USART6_IRQHandler(void)
+{
+ /* USER CODE BEGIN USART6_IRQn 0 */
+
+ /* USER CODE END USART6_IRQn 0 */
+ HAL_UART_IRQHandler(&huart6);
+ /* USER CODE BEGIN USART6_IRQn 1 */
+ BSP_UART_IRQHandler(&huart6);
+
+ /* USER CODE END USART6_IRQn 1 */
+}
+
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */
diff --git a/User/bsp/can.c b/User/bsp/can.c
index 193dd2d..e401cdd 100644
--- a/User/bsp/can.c
+++ b/User/bsp/can.c
@@ -37,16 +37,21 @@ static osMutexId_t queue_mutex = NULL;
static void (*CAN_Callback[BSP_CAN_NUM][BSP_CAN_CB_NUM])(void);
static bool inited = false;
static BSP_CAN_IdParser_t id_parser = NULL; /* ID解析器 */
+static BSP_CAN_TxQueue_t tx_queues[BSP_CAN_NUM]; /* 每个CAN的发送队列 */
/* Private function prototypes ---------------------------------------------- */
static BSP_CAN_t CAN_Get(CAN_HandleTypeDef *hcan);
static osMessageQueueId_t BSP_CAN_FindQueue(BSP_CAN_t can, uint32_t can_id);
static int8_t BSP_CAN_CreateIdQueue(BSP_CAN_t can, uint32_t can_id, uint8_t queue_size);
-static int8_t BSP_CAN_DeleteIdQueue(BSP_CAN_t can, uint32_t can_id);
static void BSP_CAN_RxFifo0Callback(void);
static void BSP_CAN_RxFifo1Callback(void);
+static void BSP_CAN_TxCompleteCallback(void);
static BSP_CAN_FrameType_t BSP_CAN_GetFrameType(CAN_RxHeaderTypeDef *header);
static uint32_t BSP_CAN_DefaultIdParser(uint32_t original_id, BSP_CAN_FrameType_t frame_type);
+static void BSP_CAN_TxQueueInit(BSP_CAN_t can);
+static bool BSP_CAN_TxQueuePush(BSP_CAN_t can, BSP_CAN_TxMessage_t *msg);
+static bool BSP_CAN_TxQueuePop(BSP_CAN_t can, BSP_CAN_TxMessage_t *msg);
+static bool BSP_CAN_TxQueueIsEmpty(BSP_CAN_t can);
/* Private functions -------------------------------------------------------- */
/* USER FUNCTION BEGIN */
@@ -121,29 +126,7 @@ static int8_t BSP_CAN_CreateIdQueue(BSP_CAN_t can, uint32_t can_id, uint8_t queu
return BSP_OK;
}
-/**
- * @brief 删除指定CAN ID的消息队列
- * @note 内部函数，已包含互斥锁保护
- */
-static int8_t BSP_CAN_DeleteIdQueue(BSP_CAN_t can, uint32_t can_id) {
- if (osMutexAcquire(queue_mutex, CAN_QUEUE_MUTEX_TIMEOUT) != osOK) {
- return BSP_ERR_TIMEOUT;
- }
- BSP_CAN_QueueNode_t **current = &queue_list;
- while (*current != NULL) {
- if ((*current)->can == can && (*current)->can_id == can_id) {
- BSP_CAN_QueueNode_t *to_delete = *current;
- *current = (*current)->next;
- osMessageQueueDelete(to_delete->queue);
- BSP_Free(to_delete);
- osMutexRelease(queue_mutex);
- return BSP_OK;
- }
- current = &(*current)->next;
- }
- osMutexRelease(queue_mutex);
- return BSP_ERR; // 未找到
-}
+
/**
* @brief 获取帧类型
*/
@@ -163,6 +146,106 @@ static uint32_t BSP_CAN_DefaultIdParser(uint32_t original_id, BSP_CAN_FrameType_
return original_id;
}
+/**
+ * @brief 初始化发送队列
+ */
+static void BSP_CAN_TxQueueInit(BSP_CAN_t can) {
+ if (can >= BSP_CAN_NUM) return;
+
+ tx_queues[can].head = 0;
+ tx_queues[can].tail = 0;
+}
+
+/**
+ * @brief 向发送队列添加消息（无锁）
+ */
+static bool BSP_CAN_TxQueuePush(BSP_CAN_t can, BSP_CAN_TxMessage_t *msg) {
+ if (can >= BSP_CAN_NUM || msg == NULL) return false;
+
+ BSP_CAN_TxQueue_t *queue = &tx_queues[can];
+ uint32_t next_head = (queue->head + 1) % BSP_CAN_TX_QUEUE_SIZE;
+
+ // 队列满
+ if (next_head == queue->tail) {
+ return false;
+ }
+
+ // 复制消息
+ queue->buffer[queue->head] = *msg;
+
+ // 更新头指针（原子操作）
+ queue->head = next_head;
+
+ return true;
+}
+
+
+/**
+ * @brief 从发送队列取出消息（无锁）
+ */
+static bool BSP_CAN_TxQueuePop(BSP_CAN_t can, BSP_CAN_TxMessage_t *msg) {
+ if (can >= BSP_CAN_NUM || msg == NULL) return false;
+
+ BSP_CAN_TxQueue_t *queue = &tx_queues[can];
+
+ // 队列空
+ if (queue->head == queue->tail) {
+ return false;
+ }
+
+ // 复制消息
+ *msg = queue->buffer[queue->tail];
+
+ // 更新尾指针（原子操作）
+ queue->tail = (queue->tail + 1) % BSP_CAN_TX_QUEUE_SIZE;
+
+ return true;
+}
+
+/**
+ * @brief 检查发送队列是否为空
+ */
+static bool BSP_CAN_TxQueueIsEmpty(BSP_CAN_t can) {
+ if (can >= BSP_CAN_NUM) return true;
+
+ return tx_queues[can].head == tx_queues[can].tail;
+}
+
+/**
+ * @brief 处理所有CAN实例的发送队列
+ */
+static void BSP_CAN_TxCompleteCallback(void) {
+ // 处理所有CAN实例的发送队列
+ for (int i = 0; i < BSP_CAN_NUM; i++) {
+ BSP_CAN_t can = (BSP_CAN_t)i;
+ CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle(can);
+ if (hcan == NULL) continue;
+
+ BSP_CAN_TxMessage_t msg;
+ uint32_t mailbox;
+
+ // 尝试发送队列中的消息
+ while (!BSP_CAN_TxQueueIsEmpty(can)) {
+ // 检查是否有空闲邮箱
+ if (HAL_CAN_GetTxMailboxesFreeLevel(hcan) == 0) {
+ break; // 没有空闲邮箱，等待下次中断
+ }
+
+ // 从队列中取出消息
+ if (!BSP_CAN_TxQueuePop(can, &msg)) {
+ break;
+ }
+
+ // 发送消息
+ if (HAL_CAN_AddTxMessage(hcan, &msg.header, msg.data, &mailbox) != HAL_OK) {
+ // 发送失败，消息已经从队列中移除，直接丢弃
+ break;
+ }
+ }
+ }
+}
+
+
/**
* @brief FIFO0接收处理函数
*/
@@ -347,7 +430,12 @@ int8_t BSP_CAN_Init(void) {
// 清零回调函数数组
memset(CAN_Callback, 0, sizeof(CAN_Callback));
-
+
+ // 初始化发送队列
+ for (int i = 0; i < BSP_CAN_NUM; i++) {
+ BSP_CAN_TxQueueInit((BSP_CAN_t)i);
+ }
+
// 初始化ID解析器为默认解析器
id_parser = BSP_CAN_DefaultIdParser;
@@ -377,6 +465,9 @@ int8_t BSP_CAN_Init(void) {
// 自动注册CAN1接收回调函数
BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifo0Callback);
+ BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback);
+ BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback);
+ BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback);
// 激活CAN1中断
HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING |
@@ -390,48 +481,19 @@ int8_t BSP_CAN_Init(void) {
// 自动注册CAN2接收回调函数
BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_RX_FIFO1_MSG_PENDING_CB, BSP_CAN_RxFifo1Callback);
+ BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback);
+ BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback);
+ BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback);
// 激活CAN2中断
- HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING);
+ HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING |
+ CAN_IT_TX_MAILBOX_EMPTY); // 激活发送邮箱空中断
inited = true;
return BSP_OK;
}
-int8_t BSP_CAN_DeInit(void) {
- if (!inited) {
- return BSP_ERR;
- }
-
- // 删除所有队列
- if (osMutexAcquire(queue_mutex, CAN_QUEUE_MUTEX_TIMEOUT) == osOK) {
- BSP_CAN_QueueNode_t *current = queue_list;
- while (current != NULL) {
- BSP_CAN_QueueNode_t *next = current->next;
- osMessageQueueDelete(current->queue);
- BSP_Free(current);
- current = next;
- }
- queue_list = NULL;
- osMutexRelease(queue_mutex);
- }
-
- // 删除互斥锁
- if (queue_mutex != NULL) {
- osMutexDelete(queue_mutex);
- queue_mutex = NULL;
- }
-
- // 清零回调函数数组
- memset(CAN_Callback, 0, sizeof(CAN_Callback));
-
- // 重置ID解析器
- id_parser = NULL;
-
- inited = false;
- return BSP_OK;
-}
CAN_HandleTypeDef *BSP_CAN_GetHandle(BSP_CAN_t can) {
if (can >= BSP_CAN_NUM) {
@@ -487,44 +549,58 @@ int8_t BSP_CAN_Transmit(BSP_CAN_t can, BSP_CAN_Format_t format,
return BSP_ERR_NULL;
}
- CAN_TxHeaderTypeDef header = {0};
- uint32_t mailbox;
+ // 准备发送消息
+ BSP_CAN_TxMessage_t tx_msg = {0};
switch (format) {
case BSP_CAN_FORMAT_STD_DATA:
- header.StdId = id;
- header.IDE = CAN_ID_STD;
- header.RTR = CAN_RTR_DATA;
+ tx_msg.header.StdId = id;
+ tx_msg.header.IDE = CAN_ID_STD;
+ tx_msg.header.RTR = CAN_RTR_DATA;
break;
case BSP_CAN_FORMAT_EXT_DATA:
- header.ExtId = id;
- header.IDE = CAN_ID_EXT;
- header.RTR = CAN_RTR_DATA;
+ tx_msg.header.ExtId = id;
+ tx_msg.header.IDE = CAN_ID_EXT;
+ tx_msg.header.RTR = CAN_RTR_DATA;
break;
case BSP_CAN_FORMAT_STD_REMOTE:
- header.StdId = id;
- header.IDE = CAN_ID_STD;
- header.RTR = CAN_RTR_REMOTE;
+ tx_msg.header.StdId = id;
+ tx_msg.header.IDE = CAN_ID_STD;
+ tx_msg.header.RTR = CAN_RTR_REMOTE;
break;
case BSP_CAN_FORMAT_EXT_REMOTE:
- header.ExtId = id;
- header.IDE = CAN_ID_EXT;
- header.RTR = CAN_RTR_REMOTE;
+ tx_msg.header.ExtId = id;
+ tx_msg.header.IDE = CAN_ID_EXT;
+ tx_msg.header.RTR = CAN_RTR_REMOTE;
break;
default:
return BSP_ERR;
}
- header.DLC = dlc;
- header.TransmitGlobalTime = DISABLE;
+ tx_msg.header.DLC = dlc;
+ tx_msg.header.TransmitGlobalTime = DISABLE;
- HAL_StatusTypeDef result = HAL_CAN_AddTxMessage(hcan, &header, data, &mailbox);
-
- if (result != HAL_OK) {
- return BSP_ERR;
+ // 复制数据
+ if (data != NULL && dlc > 0) {
+ memcpy(tx_msg.data, data, dlc);
}
- return BSP_OK;
+ // 尝试直接发送到邮箱
+ uint32_t mailbox;
+ if (HAL_CAN_GetTxMailboxesFreeLevel(hcan) > 0) {
+ HAL_StatusTypeDef result = HAL_CAN_AddTxMessage(hcan, &tx_msg.header, tx_msg.data, &mailbox);
+ if (result == HAL_OK) {
+ return BSP_OK; // 发送成功
+ }
+ }
+
+ // 邮箱满，尝试放入队列
+ if (BSP_CAN_TxQueuePush(can, &tx_msg)) {
+ return BSP_OK; // 成功放入队列
+ }
+
+ // 队列也满，丢弃数据
+ return BSP_ERR; // 数据丢弃
}
int8_t BSP_CAN_TransmitStdDataFrame(BSP_CAN_t can, BSP_CAN_StdDataFrame_t *frame) {
@@ -556,12 +632,6 @@ int8_t BSP_CAN_RegisterId(BSP_CAN_t can, uint32_t can_id, uint8_t queue_size) {
return BSP_CAN_CreateIdQueue(can, can_id, queue_size);
}
-int8_t BSP_CAN_UnregisterIdQueue(BSP_CAN_t can, uint32_t can_id) {
- if (!inited) {
- return BSP_ERR_INITED;
- }
- return BSP_CAN_DeleteIdQueue(can, can_id);
-}
int8_t BSP_CAN_GetMessage(BSP_CAN_t can, uint32_t can_id, BSP_CAN_Message_t *msg, uint32_t timeout) {
if (!inited) {
@@ -628,15 +698,6 @@ int8_t BSP_CAN_RegisterIdParser(BSP_CAN_IdParser_t parser) {
return BSP_OK;
}
-int8_t BSP_CAN_UnregisterIdParser(void) {
- if (!inited) {
- return BSP_ERR_INITED;
- }
-
- id_parser = BSP_CAN_DefaultIdParser;
- return BSP_OK;
-}
-
uint32_t BSP_CAN_ParseId(uint32_t original_id, BSP_CAN_FrameType_t frame_type) {
if (id_parser != NULL) {
return id_parser(original_id, frame_type);
@@ -644,42 +705,4 @@ uint32_t BSP_CAN_ParseId(uint32_t original_id, BSP_CAN_FrameType_t frame_type) {
return BSP_CAN_DefaultIdParser(original_id, frame_type);
}
-int8_t BSP_CAN_WaitTxMailboxEmpty(BSP_CAN_t can, uint32_t timeout) {
- if (!inited) {
- return BSP_ERR_INITED;
- }
- if (can >= BSP_CAN_NUM) {
- return BSP_ERR;
- }
-
- CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle(can);
- if (hcan == NULL) {
- return BSP_ERR_NULL;
- }
-
- uint32_t start_time = HAL_GetTick();
-
- // 如果超时时间为0，立即检查并返回
- if (timeout == 0) {
- uint32_t free_level = HAL_CAN_GetTxMailboxesFreeLevel(hcan);
- return (free_level > 0) ? BSP_OK : BSP_ERR_TIMEOUT;
- }
-
- // 等待至少有一个邮箱空闲
- while (true) {
- uint32_t free_level = HAL_CAN_GetTxMailboxesFreeLevel(hcan);
- if (free_level > 0) {
- return BSP_OK;
- }
-
- // 检查超时
- if (timeout != BSP_CAN_TIMEOUT_FOREVER) {
- uint32_t elapsed = HAL_GetTick() - start_time;
- if (elapsed >= timeout) {
- return BSP_ERR_TIMEOUT;
- }
- }
-
- osDelay(1);
- }
-}
+
diff --git a/User/bsp/can.h b/User/bsp/can.h
index 00b60fe..e6b5f71 100644
--- a/User/bsp/can.h
+++ b/User/bsp/can.h
@@ -21,6 +21,7 @@ extern "C" {
#define BSP_CAN_DEFAULT_QUEUE_SIZE 10
#define BSP_CAN_TIMEOUT_IMMEDIATE 0
#define BSP_CAN_TIMEOUT_FOREVER osWaitForever
+#define BSP_CAN_TX_QUEUE_SIZE 32 /* 发送队列大小 */
/* USER DEFINE BEGIN */
@@ -102,6 +103,19 @@ typedef struct {
/* ID解析回调函数类型 */
typedef uint32_t (*BSP_CAN_IdParser_t)(uint32_t original_id, BSP_CAN_FrameType_t frame_type);
+/* CAN发送消息结构体 */
+typedef struct {
+ CAN_TxHeaderTypeDef header; /* 发送头 */
+ uint8_t data[BSP_CAN_MAX_DLC]; /* 数据 */
+} BSP_CAN_TxMessage_t;
+
+/* 无锁环形队列结构体 */
+typedef struct {
+ BSP_CAN_TxMessage_t buffer[BSP_CAN_TX_QUEUE_SIZE]; /* 缓冲区 */
+ volatile uint32_t head; /* 队列头 */
+ volatile uint32_t tail; /* 队列尾 */
+} BSP_CAN_TxQueue_t;
+
/* USER STRUCT BEGIN */
/* USER STRUCT END */
@@ -114,12 +128,6 @@ typedef uint32_t (*BSP_CAN_IdParser_t)(uint32_t original_id, BSP_CAN_FrameType_t
*/
int8_t BSP_CAN_Init(void);
-/**
- * @brief 反初始化 CAN 模块
- * @return BSP_OK 成功，其他值失败
- */
-int8_t BSP_CAN_DeInit(void);
-
/**
* @brief 获取 CAN 句柄
* @param can CAN 枚举
@@ -173,13 +181,20 @@ int8_t BSP_CAN_TransmitExtDataFrame(BSP_CAN_t can, BSP_CAN_ExtDataFrame_t *frame
*/
int8_t BSP_CAN_TransmitRemoteFrame(BSP_CAN_t can, BSP_CAN_RemoteFrame_t *frame);
+
/**
- * @brief 等待CAN发送邮箱空闲
+ * @brief 获取发送队列中待发送消息数量
+ * @param can CAN 枚举
+ * @return 队列中消息数量，-1表示错误
+ */
+int32_t BSP_CAN_GetTxQueueCount(BSP_CAN_t can);
+
+/**
+ * @brief 清空发送队列
* @param can CAN 枚举
- * @param timeout 超时时间（毫秒），0为立即返回，osWaitForever为永久等待
* @return BSP_OK 成功，其他值失败
*/
-int8_t BSP_CAN_WaitTxMailboxEmpty(BSP_CAN_t can, uint32_t timeout);
+int8_t BSP_CAN_FlushTxQueue(BSP_CAN_t can);
/**
* @brief 注册 CAN ID 接收队列
@@ -190,13 +205,7 @@ int8_t BSP_CAN_WaitTxMailboxEmpty(BSP_CAN_t can, uint32_t timeout);
*/
int8_t BSP_CAN_RegisterId(BSP_CAN_t can, uint32_t can_id, uint8_t queue_size);
-/**
- * @brief 注销 CAN ID 接收队列
- * @param can CAN 枚举
- * @param can_id 解析后的CAN ID
- * @return BSP_OK 成功，其他值失败
- */
-int8_t BSP_CAN_UnregisterIdQueue(BSP_CAN_t can, uint32_t can_id);
+
/**
* @brief 获取 CAN 消息
@@ -231,11 +240,6 @@ int8_t BSP_CAN_FlushQueue(BSP_CAN_t can, uint32_t can_id);
*/
int8_t BSP_CAN_RegisterIdParser(BSP_CAN_IdParser_t parser);
-/**
- * @brief 注销ID解析器
- * @return BSP_OK 成功，其他值失败
- */
-int8_t BSP_CAN_UnregisterIdParser(void);
/**
* @brief 解析CAN ID
diff --git a/User/component/user_math.c b/User/component/user_math.c
index 084bef3..49a4723 100644
--- a/User/component/user_math.c
+++ b/User/component/user_math.c
@@ -51,8 +51,8 @@ inline void ResetMoveVector(MoveVector_t *mv) { memset(mv, 0, sizeof(*mv)); }
* \brief 计算循环值的误差，用于没有负数值，并在一定范围内变化的值
* 例如编码器：相差1.5PI其实等于相差-0.5PI
*
- * \param sp 设定值
- * \param fb 反馈值
+ * \param sp 被操作的值
+ * \param fb 变化量
* \param range 被操作的值变化范围，正数时起效
*
* \return 函数运行结果
diff --git a/User/device/device_config.yaml b/User/device/device_config.yaml
index 70844c0..a538a7f 100644
--- a/User/device/device_config.yaml
+++ b/User/device/device_config.yaml
@@ -12,6 +12,9 @@ dr16:
motor:
bsp_config: {}
enabled: true
+motor_dm:
+ bsp_config: {}
+ enabled: true
motor_lk:
bsp_config: {}
enabled: true
diff --git a/User/device/dm_imu.c b/User/device/dm_imu.c
index e05c1de..18b05e5 100644
--- a/User/device/dm_imu.c
+++ b/User/device/dm_imu.c
@@ -166,7 +166,6 @@ int8_t DM_IMU_Request(DM_IMU_t *imu, DM_IMU_RID_t rid) {
.dlc = 4,
};
memcpy(frame.data, tx_data, 4);
- BSP_CAN_WaitTxMailboxEmpty(imu->param.can, 1); // 等待发送邮箱空闲
int8_t result = BSP_CAN_TransmitStdDataFrame(imu->param.can, &frame);
return (result == BSP_OK) ? DEVICE_OK : DEVICE_ERR;
}
diff --git a/User/device/dr16.c b/User/device/dr16.c
index 929e4b5..120997b 100644
--- a/User/device/dr16.c
+++ b/User/device/dr16.c
@@ -141,13 +141,13 @@ int8_t DR16_ParseData(DR16_t *dr16){
uint16_t key_value = dr16->raw_data.key;
// 解析键盘位映射（W-B键，位0-15）
- for (int i = CMD_KEY_W; i <= CMD_KEY_B; i++) {
+ 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[CMD_L_CLICK] = dr16->data.mouse.l_click;
- dr16->data.keyboard.key[CMD_R_CLICK] = dr16->data.mouse.r_click;
+ 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;
diff --git a/User/device/dr16.h b/User/device/dr16.h
index 73ebbf2..03fa526 100644
--- a/User/device/dr16.h
+++ b/User/device/dr16.h
@@ -38,33 +38,33 @@ typedef struct __packed {
} DR16_RawData_t;
typedef enum {
- CMD_SW_ERR = 0,
- CMD_SW_UP = 1,
- CMD_SW_MID = 3,
- CMD_SW_DOWN = 2,
+ 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 {
- CMD_KEY_W = 0,
- CMD_KEY_S,
- CMD_KEY_A,
- CMD_KEY_D,
- CMD_KEY_SHIFT,
- CMD_KEY_CTRL,
- CMD_KEY_Q,
- CMD_KEY_E,
- CMD_KEY_R,
- CMD_KEY_F,
- CMD_KEY_G,
- CMD_KEY_Z,
- CMD_KEY_X,
- CMD_KEY_C,
- CMD_KEY_V,
- CMD_KEY_B,
- CMD_L_CLICK,
- CMD_R_CLICK,
- CMD_KEY_NUM,
+ DR16_KEY_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 {
@@ -87,14 +87,13 @@ typedef struct {
} mouse; /* 鼠标值 */
union {
- bool key[CMD_KEY_NUM]; /* 键盘按键值 */
+ 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;
diff --git a/User/device/motor_dm.c b/User/device/motor_dm.c
index b394d59..a77656f 100644
--- a/User/device/motor_dm.c
+++ b/User/device/motor_dm.c
@@ -133,7 +133,7 @@ static int8_t MOTOR_DM_SendMITCmd(MOTOR_DM_t *motor, MOTOR_MIT_Output_t *output)
frame.dlc = 8;
memcpy(frame.data, data, 8);
- BSP_CAN_WaitTxMailboxEmpty(motor->param.can, 1);
+
return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
}
@@ -163,7 +163,6 @@ static int8_t MOTOR_DM_SendPosVelCmd(MOTOR_DM_t *motor, float pos, float vel) {
frame.dlc = 8;
memcpy(frame.data, data, 8);
- BSP_CAN_WaitTxMailboxEmpty(motor->param.can, 1);
return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
}
@@ -190,7 +189,6 @@ static int8_t MOTOR_DM_SendVelCmd(MOTOR_DM_t *motor, float vel) {
frame.dlc = 4;
memcpy(frame.data, data, 4);
- BSP_CAN_WaitTxMailboxEmpty(motor->param.can, 1);
return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
}
@@ -460,7 +458,7 @@ int8_t MOTOR_DM_Enable(MOTOR_DM_Param_t *param){
frame.data[5] = 0xFF;
frame.data[6] = 0xFF;
frame.data[7] = 0xFC;
- BSP_CAN_WaitTxMailboxEmpty(motor->param.can, 1);
+
return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
}
diff --git a/User/device/motor_lk.c b/User/device/motor_lk.c
index c7911d6..c26878e 100644
--- a/User/device/motor_lk.c
+++ b/User/device/motor_lk.c
@@ -253,7 +253,6 @@ int8_t MOTOR_LK_SetOutput(MOTOR_LK_Param_t *param, float value) {
tx_frame.data[5] = (uint8_t)((torque_control >> 8) & 0xFF);
tx_frame.data[6] = 0x00;
tx_frame.data[7] = 0x00;
- BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
}
@@ -279,7 +278,6 @@ int8_t MOTOR_LK_MotorOn(MOTOR_LK_Param_t *param) {
tx_frame.data[5] = 0x00;
tx_frame.data[6] = 0x00;
tx_frame.data[7] = 0x00;
- BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
}
@@ -299,7 +297,6 @@ int8_t MOTOR_LK_MotorOff(MOTOR_LK_Param_t *param) {
tx_frame.data[5] = 0x00;
tx_frame.data[6] = 0x00;
tx_frame.data[7] = 0x00;
- BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
}
diff --git a/User/device/motor_lz.c b/User/device/motor_lz.c
index 59ba153..0553530 100644
--- a/User/device/motor_lz.c
+++ b/User/device/motor_lz.c
@@ -134,7 +134,6 @@ static int8_t MOTOR_LZ_SendExtFrame(BSP_CAN_t can, uint32_t ext_id, uint8_t *dat
} else {
memset(tx_frame.data, 0, dlc);
}
- BSP_CAN_WaitTxMailboxEmpty(can, 1); // 等待发送邮箱空闲
return BSP_CAN_TransmitExtDataFrame(can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
}
@@ -244,15 +243,6 @@ int8_t MOTOR_LZ_Init(void) {
return BSP_CAN_RegisterIdParser(MOTOR_LZ_IdParser) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
}
-/**
- * @brief 反初始化灵足电机驱动系统
- * @return 设备状态码
- */
-int8_t MOTOR_LZ_DeInit(void) {
- // 注销ID解析器
- return BSP_CAN_UnregisterIdParser() == BSP_OK ? DEVICE_OK : DEVICE_ERR;
-}
-
int8_t MOTOR_LZ_Register(MOTOR_LZ_Param_t *param) {
if (param == NULL) return DEVICE_ERR_NULL;
@@ -369,7 +359,6 @@ int8_t MOTOR_LZ_MotionControl(MOTOR_LZ_Param_t *param, MOTOR_LZ_MotionParam_t *m
uint16_t raw_kd = MOTOR_LZ_FloatToRawPositive(send_param.kd, LZ_KD_MAX);
data[6] = (raw_kd >> 8) & 0xFF;
data[7] = raw_kd & 0xFF;
- BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
return MOTOR_LZ_SendExtFrame(param->can, ext_id, data, 8);
}
@@ -378,7 +367,6 @@ 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
- // 格式: 0x300FF7X, 其中X是motor_id的低4位
uint32_t ext_id = MOTOR_LZ_BuildExtID(MOTOR_LZ_CMD_ENABLE, param->host_id, param->motor_id);
// 数据区清零
diff --git a/User/device/motor_rm.c b/User/device/motor_rm.c
index b852c48..ba10434 100644
--- a/User/device/motor_rm.c
+++ b/User/device/motor_rm.c
@@ -139,16 +139,22 @@ static void Motor_RM_Decode(MOTOR_RM_t *motor, BSP_CAN_Message_t *msg) {
motor->feedback.rotor_speed = rotor_speed;
motor->feedback.torque_current = torque_current;
}
+ if (motor->motor.reverse) {
+ 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;
+ }
+ 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];
- motor->motor.feedback.rotor_abs_angle = motor->feedback.rotor_abs_angle;
- motor->motor.feedback.rotor_speed = motor->feedback.rotor_speed;
- motor->motor.feedback.torque_current = motor->feedback.torque_current;
- motor->motor.feedback.temp = motor->feedback.temp;
}
/* 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;
@@ -197,7 +203,7 @@ int8_t MOTOR_RM_Update(MOTOR_RM_Param_t *param) {
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;
}
}
@@ -227,6 +233,9 @@ int8_t MOTOR_RM_SetOutput(MOTOR_RM_Param_t *param, float value) {
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);
@@ -282,7 +291,6 @@ int8_t MOTOR_RM_Ctrl(MOTOR_RM_Param_t *param) {
default:
return DEVICE_ERR;
}
- BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
}