可以啊

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)

Core/Inc/FreeRTOSConfig.h

@@ -68,7 +68,7 @@
 #define configTICK_RATE_HZ                       ((TickType_t)1000)
 #define configMAX_PRIORITIES                     ( 56 )
 #define configMINIMAL_STACK_SIZE                 ((uint16_t)128)
-#define configTOTAL_HEAP_SIZE                    ((size_t)15360)
+#define configTOTAL_HEAP_SIZE                    ((size_t)0x10000)
 #define configMAX_TASK_NAME_LEN                  ( 16 )
 #define configUSE_TRACE_FACILITY                 1
 #define configUSE_16_BIT_TICKS                   0

Core/Inc/main.h

@@ -59,24 +59,36 @@ void Error_Handler(void);
 /* Private defines -----------------------------------------------------------*/
 #define POWER_24V_2_Pin GPIO_PIN_13
 #define POWER_24V_2_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 ACC_CS_Pin GPIO_PIN_0
+#define ACCL_CS_Pin GPIO_PIN_0
-#define ACC_CS_GPIO_Port GPIOC
+#define ACCL_CS_GPIO_Port GPIOC
 #define GYRO_CS_Pin GPIO_PIN_3
 #define GYRO_CS_GPIO_Port GPIOC
-#define ACC_INT_Pin GPIO_PIN_10
+#define DCMI_PWDN_Pin GPIO_PIN_5
-#define ACC_INT_GPIO_Port GPIOE
+#define DCMI_PWDN_GPIO_Port GPIOC
-#define W25Q64_CS_Pin GPIO_PIN_11
+#define IMU_HEAT_Pin GPIO_PIN_1
-#define W25Q64_CS_GPIO_Port GPIOE
+#define IMU_HEAT_GPIO_Port GPIOB
+#define ACCL_INT_Pin GPIO_PIN_10
+#define ACCL_INT_GPIO_Port GPIOE
+#define ACCL_INT_EXTI_IRQn EXTI15_10_IRQn
 #define GYRO_INT_Pin GPIO_PIN_12
 #define GYRO_INT_GPIO_Port GPIOE
+#define GYRO_INT_EXTI_IRQn EXTI15_10_IRQn
 #define LCD_CS_Pin GPIO_PIN_15
 #define LCD_CS_GPIO_Port GPIOE
 #define LCD_BLK_Pin GPIO_PIN_10
 #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 BUZZER_Pin GPIO_PIN_15
+#define BUZZER_GPIO_Port GPIOB
+#define LCD_DC_Pin GPIO_PIN_10
+#define LCD_DC_GPIO_Port GPIOD
 
 /* USER CODE BEGIN Private defines */
 

Core/Inc/octospi.h

@@ -1,9 +1,9 @@
 /* USER CODE BEGIN Header */
 /**
   ******************************************************************************
-  * @file    dac.h
+  * @file    octospi.h
   * @brief   This file contains all the function prototypes for
-  *          the dac.c file
+  *          the octospi.c file
   ******************************************************************************
   * @attention
   *
@@ -18,8 +18,8 @@
   */
 /* USER CODE END Header */
 /* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __DAC_H__
+#ifndef __OCTOSPI_H__
-#define __DAC_H__
+#define __OCTOSPI_H__
 
 #ifdef __cplusplus
 extern "C" {
@@ -32,13 +32,13 @@ extern "C" {
 
 /* USER CODE END Includes */
 
-extern DAC_HandleTypeDef hdac1;
+extern OSPI_HandleTypeDef hospi1;
 
 /* USER CODE BEGIN Private defines */
 
 /* USER CODE END Private defines */
 
-void MX_DAC1_Init(void);
+void MX_OCTOSPI1_Init(void);
 
 /* USER CODE BEGIN Prototypes */
 
@@ -48,5 +48,5 @@ void MX_DAC1_Init(void);
 }
 #endif
 
-#endif /* __DAC_H__ */
+#endif /* __OCTOSPI_H__ */
 

Core/Inc/spi.h

@@ -32,16 +32,16 @@ extern "C" {
 
 /* USER CODE END Includes */
 
-extern SPI_HandleTypeDef hspi2;
+extern SPI_HandleTypeDef hspi1;
 
-extern SPI_HandleTypeDef hspi6;
+extern SPI_HandleTypeDef hspi2;
 
 /* USER CODE BEGIN Private defines */
 
 /* USER CODE END Private defines */
 
+void MX_SPI1_Init(void);
 void MX_SPI2_Init(void);
-void MX_SPI6_Init(void);
 
 /* USER CODE BEGIN Prototypes */
 

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   */
@@ -58,7 +58,7 @@
 /* #define HAL_GFXMMU_MODULE_ENABLED   */
 /* #define HAL_JPEG_MODULE_ENABLED   */
 /* #define HAL_OPAMP_MODULE_ENABLED   */
-/* #define HAL_OSPI_MODULE_ENABLED   */
+#define HAL_OSPI_MODULE_ENABLED
 /* #define HAL_I2S_MODULE_ENABLED   */
 /* #define HAL_SMBUS_MODULE_ENABLED   */
 /* #define HAL_IWDG_MODULE_ENABLED   */

Core/Inc/stm32h7xx_it.h

@@ -56,33 +56,21 @@ 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);
 void FDCAN2_IT1_IRQHandler(void);
-void TIM4_IRQHandler(void);
 void SPI2_IRQHandler(void);
 void USART1_IRQHandler(void);
 void USART2_IRQHandler(void);
 void USART3_IRQHandler(void);
-void DMA1_Stream7_IRQHandler(void);
+void EXTI15_10_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);
+void TIM23_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */

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();
 

Core/Src/bdma.c

@@ -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 */
-

Core/Src/dac.c

@@ -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 */

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 */
@@ -56,36 +55,6 @@ void MX_DMA_Init(void)
   /* 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);
 
 }
 

Core/Src/fdcan.c

@@ -42,31 +42,31 @@ void MX_FDCAN1_Init(void)
   hfdcan1.Instance = FDCAN1;
   hfdcan1.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
   hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
-  hfdcan1.Init.AutoRetransmission = ENABLE;
+  hfdcan1.Init.AutoRetransmission = DISABLE;
   hfdcan1.Init.TransmitPause = DISABLE;
   hfdcan1.Init.ProtocolException = DISABLE;
-  hfdcan1.Init.NominalPrescaler = 5;
+  hfdcan1.Init.NominalPrescaler = 24;
-  hfdcan1.Init.NominalSyncJumpWidth = 10;
+  hfdcan1.Init.NominalSyncJumpWidth = 1;
-  hfdcan1.Init.NominalTimeSeg1 = 9;
+  hfdcan1.Init.NominalTimeSeg1 = 3;
   hfdcan1.Init.NominalTimeSeg2 = 1;
   hfdcan1.Init.DataPrescaler = 1;
-  hfdcan1.Init.DataSyncJumpWidth = 10;
+  hfdcan1.Init.DataSyncJumpWidth = 1;
-  hfdcan1.Init.DataTimeSeg1 = 9;
+  hfdcan1.Init.DataTimeSeg1 = 1;
   hfdcan1.Init.DataTimeSeg2 = 1;
   hfdcan1.Init.MessageRAMOffset = 0;
   hfdcan1.Init.StdFiltersNbr = 1;
-  hfdcan1.Init.ExtFiltersNbr = 1;
+  hfdcan1.Init.ExtFiltersNbr = 0;
-  hfdcan1.Init.RxFifo0ElmtsNbr = 23;
+  hfdcan1.Init.RxFifo0ElmtsNbr = 32;
-  hfdcan1.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_64;
+  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();
@@ -90,31 +90,31 @@ void MX_FDCAN2_Init(void)
   hfdcan2.Instance = FDCAN2;
   hfdcan2.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
   hfdcan2.Init.Mode = FDCAN_MODE_NORMAL;
-  hfdcan2.Init.AutoRetransmission = ENABLE;
+  hfdcan2.Init.AutoRetransmission = DISABLE;
   hfdcan2.Init.TransmitPause = DISABLE;
   hfdcan2.Init.ProtocolException = DISABLE;
-  hfdcan2.Init.NominalPrescaler = 5;
+  hfdcan2.Init.NominalPrescaler = 24;
-  hfdcan2.Init.NominalSyncJumpWidth = 10;
+  hfdcan2.Init.NominalSyncJumpWidth = 1;
-  hfdcan2.Init.NominalTimeSeg1 = 9;
+  hfdcan2.Init.NominalTimeSeg1 = 3;
   hfdcan2.Init.NominalTimeSeg2 = 1;
   hfdcan2.Init.DataPrescaler = 1;
-  hfdcan2.Init.DataSyncJumpWidth = 10;
+  hfdcan2.Init.DataSyncJumpWidth = 1;
-  hfdcan2.Init.DataTimeSeg1 = 9;
+  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.ExtFiltersNbr = 0;
-  hfdcan2.Init.RxFifo0ElmtsNbr = 0;
+  hfdcan2.Init.RxFifo0ElmtsNbr = 32;
-  hfdcan2.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_64;
+  hfdcan2.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8;
-  hfdcan2.Init.RxFifo1ElmtsNbr = 23;
+  hfdcan2.Init.RxFifo1ElmtsNbr = 0;
-  hfdcan2.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_64;
+  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();
@@ -138,31 +138,31 @@ void MX_FDCAN3_Init(void)
   hfdcan3.Instance = FDCAN3;
   hfdcan3.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
   hfdcan3.Init.Mode = FDCAN_MODE_NORMAL;
-  hfdcan3.Init.AutoRetransmission = ENABLE;
+  hfdcan3.Init.AutoRetransmission = DISABLE;
   hfdcan3.Init.TransmitPause = DISABLE;
   hfdcan3.Init.ProtocolException = DISABLE;
-  hfdcan3.Init.NominalPrescaler = 5;
+  hfdcan3.Init.NominalPrescaler = 24;
-  hfdcan3.Init.NominalSyncJumpWidth = 10;
+  hfdcan3.Init.NominalSyncJumpWidth = 1;
-  hfdcan3.Init.NominalTimeSeg1 = 9;
+  hfdcan3.Init.NominalTimeSeg1 = 3;
   hfdcan3.Init.NominalTimeSeg2 = 1;
   hfdcan3.Init.DataPrescaler = 1;
-  hfdcan3.Init.DataSyncJumpWidth = 10;
+  hfdcan3.Init.DataSyncJumpWidth = 1;
-  hfdcan3.Init.DataTimeSeg1 = 9;
+  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.ExtFiltersNbr = 0;
-  hfdcan3.Init.RxFifo0ElmtsNbr = 0;
+  hfdcan3.Init.RxFifo0ElmtsNbr = 32;
-  hfdcan3.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_64;
+  hfdcan3.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8;
-  hfdcan3.Init.RxFifo1ElmtsNbr = 23;
+  hfdcan3.Init.RxFifo1ElmtsNbr = 0;
-  hfdcan3.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_64;
+  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();

Core/Src/freertos.c

@@ -26,6 +26,7 @@
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 
+#include "task/user_task.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -96,6 +97,7 @@ void MX_FREERTOS_Init(void) {
 
   /* 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 */
@@ -114,11 +116,7 @@ void MX_FREERTOS_Init(void) {
 void StartDefaultTask(void *argument)
 {
   /* USER CODE BEGIN StartDefaultTask */
-  /* Infinite loop */
+    osThreadTerminate(osThreadGetId());
-  for(;;)
-  {
-    osDelay(1);
-  }
   /* USER CODE END StartDefaultTask */
 }
 

Core/Src/gpio.c

@@ -38,6 +38,7 @@
         * Output
         * EVENT_OUT
         * EXTI
+     PA8   ------> RCC_MCO_1
 */
 void MX_GPIO_Init(void)
 {
@@ -53,43 +54,47 @@ void MX_GPIO_Init(void)
   __HAL_RCC_GPIOD_CLK_ENABLE();
 
   /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOC, POWER_24V_2_Pin|POWER_5V_Pin|ACC_CS_Pin|GYRO_CS_Pin, GPIO_PIN_SET);
+  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, GPIO_PIN_14, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(LCD_CS_GPIO_Port, LCD_CS_Pin, GPIO_PIN_RESET);
-
-  /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOE, W25Q64_CS_Pin|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 PC14 POWER_5V_Pin */
+  /*Configure GPIO pin Output Level */
-  GPIO_InitStruct.Pin = POWER_24V_2_Pin|GPIO_PIN_14|POWER_5V_Pin;
+  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 : ACC_CS_Pin GYRO_CS_Pin */
+  /*Configure GPIO pins : ACCL_CS_Pin GYRO_CS_Pin DCMI_PWDN_Pin */
-  GPIO_InitStruct.Pin = ACC_CS_Pin|GYRO_CS_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;
   HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
 
-  /*Configure GPIO pins : ACC_INT_Pin GYRO_INT_Pin */
+  /*Configure GPIO pins : ACCL_INT_Pin GYRO_INT_Pin */
-  GPIO_InitStruct.Pin = ACC_INT_Pin|GYRO_INT_Pin;
+  GPIO_InitStruct.Pin = ACCL_INT_Pin|GYRO_INT_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
 
-  /*Configure GPIO pins : W25Q64_CS_Pin LCD_CS_Pin */
+  /*Configure GPIO pin : LCD_CS_Pin */
-  GPIO_InitStruct.Pin = W25Q64_CS_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;
@@ -107,6 +134,10 @@ void MX_GPIO_Init(void)
   /*AnalogSwitch Config */
   HAL_SYSCFG_AnalogSwitchConfig(SYSCFG_SWITCH_PC3, SYSCFG_SWITCH_PC3_CLOSE);
 
+  /* EXTI interrupt init*/
+  HAL_NVIC_SetPriority(EXTI15_10_IRQn, 5, 0);
+  HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);
+
 }
 
 /* USER CODE BEGIN 2 */

Core/Src/main.c

@@ -20,10 +20,9 @@
 #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"
 #include "spi.h"
 #include "tim.h"
 #include "usart.h"
@@ -58,7 +57,6 @@
 
 /* Private function prototypes -----------------------------------------------*/
 void SystemClock_Config(void);
-void PeriphCommonClock_Config(void);
 void MX_FREERTOS_Init(void);
 /* USER CODE BEGIN PFP */
 
@@ -80,14 +78,6 @@ int main(void)
 
   /* USER CODE END 1 */
 
-  /* Enable the CPU Cache */
-
-  /* Enable I-Cache---------------------------------------------------------*/
-  SCB_EnableICache();
-
-  /* Enable D-Cache---------------------------------------------------------*/
-  SCB_EnableDCache();
-
   /* MCU Configuration--------------------------------------------------------*/
 
   /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
@@ -100,9 +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 */
@@ -110,10 +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_SPI6_Init();
+  MX_SPI1_Init();
   MX_SPI2_Init();
   MX_TIM3_Init();
   MX_USART1_UART_Init();
@@ -126,7 +112,7 @@ int main(void)
   MX_FDCAN3_Init();
   MX_TIM1_Init();
   MX_TIM2_Init();
-  MX_DAC1_Init();
+  MX_OCTOSPI1_Init();
   MX_USB_OTG_HS_PCD_Init();
   MX_UART5_Init();
   /* USER CODE BEGIN 2 */
@@ -175,19 +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.PLLM = 2;
-  RCC_OscInitStruct.PLL.PLLN = 68;
+  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();
@@ -210,33 +199,7 @@ void SystemClock_Config(void)
   {
     Error_Handler();
   }
-}
+  HAL_RCC_MCOConfig(RCC_MCO1, RCC_MCO1SOURCE_HSI, RCC_MCODIV_1);
-
-/**
-  * @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();
-  }
 }
 
 /* USER CODE BEGIN 4 */
@@ -245,7 +208,7 @@ void PeriphCommonClock_Config(void)
 
 /**
   * @brief  Period elapsed callback in non blocking mode
-  * @note   This function is called  when TIM4 interrupt took place, inside
+  * @note   This function is called  when TIM23 interrupt took place, inside
   * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
   * a global variable "uwTick" used as application time base.
   * @param  htim : TIM handle
@@ -256,7 +219,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
   /* USER CODE BEGIN Callback 0 */
 
   /* USER CODE END Callback 0 */
-  if (htim->Instance == TIM4)
+  if (htim->Instance == TIM23)
   {
     HAL_IncTick();
   }

Core/Src/octospi.c

@@ -0,0 +1,195 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    octospi.c
+  * @brief   This file provides code for the configuration
+  *          of the OCTOSPI 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 "octospi.h"
+
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+
+OSPI_HandleTypeDef hospi1;
+
+/* OCTOSPI1 init function */
+void MX_OCTOSPI1_Init(void)
+{
+
+  /* USER CODE BEGIN OCTOSPI1_Init 0 */
+
+  /* USER CODE END OCTOSPI1_Init 0 */
+
+  OSPIM_CfgTypeDef sOspiManagerCfg = {0};
+
+  /* USER CODE BEGIN OCTOSPI1_Init 1 */
+
+  /* USER CODE END OCTOSPI1_Init 1 */
+  hospi1.Instance = OCTOSPI1;
+  hospi1.Init.FifoThreshold = 1;
+  hospi1.Init.DualQuad = HAL_OSPI_DUALQUAD_DISABLE;
+  hospi1.Init.MemoryType = HAL_OSPI_MEMTYPE_MICRON;
+  hospi1.Init.DeviceSize = 32;
+  hospi1.Init.ChipSelectHighTime = 1;
+  hospi1.Init.FreeRunningClock = HAL_OSPI_FREERUNCLK_DISABLE;
+  hospi1.Init.ClockMode = HAL_OSPI_CLOCK_MODE_0;
+  hospi1.Init.WrapSize = HAL_OSPI_WRAP_NOT_SUPPORTED;
+  hospi1.Init.ClockPrescaler = 1;
+  hospi1.Init.SampleShifting = HAL_OSPI_SAMPLE_SHIFTING_NONE;
+  hospi1.Init.DelayHoldQuarterCycle = HAL_OSPI_DHQC_DISABLE;
+  hospi1.Init.ChipSelectBoundary = 0;
+  hospi1.Init.DelayBlockBypass = HAL_OSPI_DELAY_BLOCK_BYPASSED;
+  hospi1.Init.MaxTran = 0;
+  hospi1.Init.Refresh = 0;
+  if (HAL_OSPI_Init(&hospi1) != HAL_OK)
+  {
+    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)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN OCTOSPI1_Init 2 */
+
+  /* USER CODE END OCTOSPI1_Init 2 */
+
+}
+
+void HAL_OSPI_MspInit(OSPI_HandleTypeDef* ospiHandle)
+{
+
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
+  if(ospiHandle->Instance==OCTOSPI1)
+  {
+  /* USER CODE BEGIN OCTOSPI1_MspInit 0 */
+
+  /* USER CODE END OCTOSPI1_MspInit 0 */
+
+  /** Initializes the peripherals clock
+  */
+    PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_OSPI;
+    PeriphClkInitStruct.OspiClockSelection = RCC_OSPICLKSOURCE_D1HCLK;
+    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    /* OCTOSPI1 clock enable */
+    __HAL_RCC_OCTOSPIM_CLK_ENABLE();
+    __HAL_RCC_OSPI1_CLK_ENABLE();
+
+    __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;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF9_OCTOSPIM_P1;
+    HAL_GPIO_Init(GPIOA, &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_AF6_OCTOSPIM_P1;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+    GPIO_InitStruct.Pin = GPIO_PIN_0;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF4_OCTOSPIM_P1;
+    HAL_GPIO_Init(GPIOB, &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_VERY_HIGH;
+    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;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF9_OCTOSPIM_P1;
+    HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN OCTOSPI1_MspInit 1 */
+
+  /* USER CODE END OCTOSPI1_MspInit 1 */
+  }
+}
+
+void HAL_OSPI_MspDeInit(OSPI_HandleTypeDef* ospiHandle)
+{
+
+  if(ospiHandle->Instance==OCTOSPI1)
+  {
+  /* USER CODE BEGIN OCTOSPI1_MspDeInit 0 */
+
+  /* USER CODE END OCTOSPI1_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_OCTOSPIM_CLK_DISABLE();
+    __HAL_RCC_OSPI1_CLK_DISABLE();
+
+    /**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
+    */
+    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 */
+
+  /* USER CODE END OCTOSPI1_MspDeInit 1 */
+  }
+}
+
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */

Core/Src/spi.c

@@ -24,12 +24,53 @@
 
 /* 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)
 {
@@ -71,48 +112,6 @@ void MX_SPI2_Init(void)
 
   /* USER CODE END SPI2_Init 2 */
 
-}
-/* SPI6 init function */
-void MX_SPI6_Init(void)
-{
-
-  /* USER CODE BEGIN SPI6_Init 0 */
-
-  /* USER CODE END SPI6_Init 0 */
-
-  /* USER CODE BEGIN SPI6_Init 1 */
-
-  /* USER CODE END SPI6_Init 1 */
-  hspi6.Instance = SPI6;
-  hspi6.Init.Mode = SPI_MODE_MASTER;
-  hspi6.Init.Direction = SPI_DIRECTION_2LINES_TXONLY;
-  hspi6.Init.DataSize = SPI_DATASIZE_8BIT;
-  hspi6.Init.CLKPolarity = SPI_POLARITY_LOW;
-  hspi6.Init.CLKPhase = SPI_PHASE_2EDGE;
-  hspi6.Init.NSS = SPI_NSS_SOFT;
-  hspi6.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_4;
-  hspi6.Init.FirstBit = SPI_FIRSTBIT_MSB;
-  hspi6.Init.TIMode = SPI_TIMODE_DISABLE;
-  hspi6.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
-  hspi6.Init.CRCPolynomial = 0x0;
-  hspi6.Init.NSSPMode = SPI_NSS_PULSE_ENABLE;
-  hspi6.Init.NSSPolarity = SPI_NSS_POLARITY_LOW;
-  hspi6.Init.FifoThreshold = SPI_FIFO_THRESHOLD_01DATA;
-  hspi6.Init.TxCRCInitializationPattern = SPI_CRC_INITIALIZATION_ALL_ZERO_PATTERN;
-  hspi6.Init.RxCRCInitializationPattern = SPI_CRC_INITIALIZATION_ALL_ZERO_PATTERN;
-  hspi6.Init.MasterSSIdleness = SPI_MASTER_SS_IDLENESS_00CYCLE;
-  hspi6.Init.MasterInterDataIdleness = SPI_MASTER_INTERDATA_IDLENESS_00CYCLE;
-  hspi6.Init.MasterReceiverAutoSusp = SPI_MASTER_RX_AUTOSUSP_DISABLE;
-  hspi6.Init.MasterKeepIOState = SPI_MASTER_KEEP_IO_STATE_DISABLE;
-  hspi6.Init.IOSwap = SPI_IO_SWAP_DISABLE;
-  if (HAL_SPI_Init(&hspi6) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN SPI6_Init 2 */
-
-  /* USER CODE END SPI6_Init 2 */
-
 }
 
 void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle)
@@ -120,12 +119,63 @@ 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 +202,7 @@ 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 +220,7 @@ 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;
@@ -194,75 +244,32 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle)
 
   /* USER CODE END SPI2_MspInit 1 */
   }
-  else if(spiHandle->Instance==SPI6)
-  {
-  /* USER CODE BEGIN SPI6_MspInit 0 */
-
-  /* USER CODE END SPI6_MspInit 0 */
-
-  /** Initializes the peripherals clock
-  */
-    PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_SPI6;
-    PeriphClkInitStruct.Spi6ClockSelection = RCC_SPI6CLKSOURCE_HSE;
-    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
-    {
-      Error_Handler();
-    }
-
-    /* SPI6 clock enable */
-    __HAL_RCC_SPI6_CLK_ENABLE();
-
-    __HAL_RCC_GPIOA_CLK_ENABLE();
-    __HAL_RCC_GPIOB_CLK_ENABLE();
-    /**SPI6 GPIO Configuration
-    PA7     ------> SPI6_MOSI
-    PB3(JTDO/TRACESWO)     ------> SPI6_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_LOW;
-    GPIO_InitStruct.Alternate = GPIO_AF8_SPI6;
-    HAL_GPIO_Init(GPIOA, &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_LOW;
-    GPIO_InitStruct.Alternate = GPIO_AF8_SPI6;
-    HAL_GPIO_Init(GPIOB, &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 */
-  }
 }
 
 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 */
 
@@ -289,31 +296,6 @@ void HAL_SPI_MspDeInit(SPI_HandleTypeDef* spiHandle)
 
   /* USER CODE END SPI2_MspDeInit 1 */
   }
-  else if(spiHandle->Instance==SPI6)
-  {
-  /* USER CODE BEGIN SPI6_MspDeInit 0 */
-
-  /* USER CODE END SPI6_MspDeInit 0 */
-    /* Peripheral clock disable */
-    __HAL_RCC_SPI6_CLK_DISABLE();
-
-    /**SPI6 GPIO Configuration
-    PA7     ------> SPI6_MOSI
-    PB3(JTDO/TRACESWO)     ------> SPI6_SCK
-    */
-    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_7);
-
-    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_3);
-
-    /* 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 */
-  }
 }
 
 /* USER CODE BEGIN 1 */

Core/Src/stm32h7xx_hal_timebase_tim.c

@@ -25,12 +25,12 @@
 /* Private define ------------------------------------------------------------*/
 /* Private macro -------------------------------------------------------------*/
 /* Private variables ---------------------------------------------------------*/
-TIM_HandleTypeDef        htim4;
+TIM_HandleTypeDef        htim23;
 /* Private function prototypes -----------------------------------------------*/
 /* Private functions ---------------------------------------------------------*/
 
 /**
-  * @brief  This function configures the TIM4 as a time base source.
+  * @brief  This function configures the TIM23 as a time base source.
   *         The time source is configured  to have 1ms time base with a dedicated
   *         Tick interrupt priority.
   * @note   This function is called  automatically at the beginning of program after
@@ -41,17 +41,17 @@ TIM_HandleTypeDef        htim4;
 HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
 {
   RCC_ClkInitTypeDef    clkconfig;
-  uint32_t              uwTimclock, uwAPB1Prescaler;
+  uint32_t              uwTimclock;
   uint32_t              uwPrescalerValue;
   uint32_t              pFLatency;
 
-  /*Configure the TIM4 IRQ priority */
+  /*Configure the TIM23 IRQ priority */
   if (TickPriority < (1UL << __NVIC_PRIO_BITS))
    {
-     HAL_NVIC_SetPriority(TIM4_IRQn, TickPriority ,0);
+     HAL_NVIC_SetPriority(TIM23_IRQn, TickPriority ,0);
 
-     /* Enable the TIM4 global Interrupt */
+     /* Enable the TIM23 global Interrupt */
-     HAL_NVIC_EnableIRQ(TIM4_IRQn);
+     HAL_NVIC_EnableIRQ(TIM23_IRQn);
      uwTickPrio = TickPriority;
     }
   else
@@ -59,45 +59,36 @@ HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
     return HAL_ERROR;
   }
 
-  /* Enable TIM4 clock */
+  /* Enable TIM23 clock */
-  __HAL_RCC_TIM4_CLK_ENABLE();
+  __HAL_RCC_TIM23_CLK_ENABLE();
 
   /* Get clock configuration */
   HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);
 
-  /* Get APB1 prescaler */
+  /* Compute TIM23 clock */
-  uwAPB1Prescaler = clkconfig.APB1CLKDivider;
+      uwTimclock = 2*HAL_RCC_GetPCLK2Freq();
-  /* Compute TIM4 clock */
-  if (uwAPB1Prescaler == RCC_HCLK_DIV1)
-  {
-    uwTimclock = HAL_RCC_GetPCLK1Freq();
-  }
-  else
-  {
-    uwTimclock = 2UL * HAL_RCC_GetPCLK1Freq();
-  }
 
-  /* Compute the prescaler value to have TIM4 counter clock equal to 1MHz */
+  /* Compute the prescaler value to have TIM23 counter clock equal to 1MHz */
   uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000U) - 1U);
 
-  /* Initialize TIM4 */
+  /* Initialize TIM23 */
-  htim4.Instance = TIM4;
+  htim23.Instance = TIM23;
 
   /* Initialize TIMx peripheral as follow:
-   * Period = [(TIM4CLK/1000) - 1]. to have a (1/1000) s time base.
+   * Period = [(TIM23CLK/1000) - 1]. to have a (1/1000) s time base.
    * Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock.
    * ClockDivision = 0
    * Counter direction = Up
    */
-  htim4.Init.Period = (1000000U / 1000U) - 1U;
+  htim23.Init.Period = (1000000U / 1000U) - 1U;
-  htim4.Init.Prescaler = uwPrescalerValue;
+  htim23.Init.Prescaler = uwPrescalerValue;
-  htim4.Init.ClockDivision = 0;
+  htim23.Init.ClockDivision = 0;
-  htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim23.Init.CounterMode = TIM_COUNTERMODE_UP;
 
-  if(HAL_TIM_Base_Init(&htim4) == HAL_OK)
+  if(HAL_TIM_Base_Init(&htim23) == HAL_OK)
   {
     /* Start the TIM time Base generation in interrupt mode */
-    return HAL_TIM_Base_Start_IT(&htim4);
+    return HAL_TIM_Base_Start_IT(&htim23);
   }
 
   /* Return function status */
@@ -106,25 +97,25 @@ HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
 
 /**
   * @brief  Suspend Tick increment.
-  * @note   Disable the tick increment by disabling TIM4 update interrupt.
+  * @note   Disable the tick increment by disabling TIM23 update interrupt.
   * @param  None
   * @retval None
   */
 void HAL_SuspendTick(void)
 {
-  /* Disable TIM4 update Interrupt */
+  /* Disable TIM23 update Interrupt */
-  __HAL_TIM_DISABLE_IT(&htim4, TIM_IT_UPDATE);
+  __HAL_TIM_DISABLE_IT(&htim23, TIM_IT_UPDATE);
 }
 
 /**
   * @brief  Resume Tick increment.
-  * @note   Enable the tick increment by Enabling TIM4 update interrupt.
+  * @note   Enable the tick increment by Enabling TIM23 update interrupt.
   * @param  None
   * @retval None
   */
 void HAL_ResumeTick(void)
 {
-  /* Enable TIM4 Update interrupt */
+  /* Enable TIM23 Update interrupt */
-  __HAL_TIM_ENABLE_IT(&htim4, TIM_IT_UPDATE);
+  __HAL_TIM_ENABLE_IT(&htim23, TIM_IT_UPDATE);
 }
 

Core/Src/stm32h7xx_it.c

@@ -61,28 +61,15 @@ 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;
-extern TIM_HandleTypeDef htim4;
 
 /* USER CODE BEGIN EV */
 
@@ -208,7 +195,7 @@ 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 */
@@ -222,7 +209,7 @@ 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 */
@@ -236,54 +223,12 @@ 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);
+  HAL_DMA_IRQHandler(&hdma_uart5_rx);
   /* 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.
   */
@@ -340,20 +285,6 @@ void FDCAN2_IT1_IRQHandler(void)
   /* USER CODE END FDCAN2_IT1_IRQn 1 */
 }
 
-/**
-  * @brief This function handles TIM4 global interrupt.
-  */
-void TIM4_IRQHandler(void)
-{
-  /* USER CODE BEGIN TIM4_IRQn 0 */
-
-  /* USER CODE END TIM4_IRQn 0 */
-  HAL_TIM_IRQHandler(&htim4);
-  /* USER CODE BEGIN TIM4_IRQn 1 */
-
-  /* USER CODE END TIM4_IRQn 1 */
-}
-
 /**
   * @brief This function handles SPI2 global interrupt.
   */
@@ -411,17 +342,18 @@ void USART3_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles DMA1 stream7 global interrupt.
+  * @brief This function handles EXTI line[15:10] interrupts.
   */
-void DMA1_Stream7_IRQHandler(void)
+void EXTI15_10_IRQHandler(void)
 {
-  /* USER CODE BEGIN DMA1_Stream7_IRQn 0 */
+  /* USER CODE BEGIN EXTI15_10_IRQn 0 */
 
-  /* USER CODE END DMA1_Stream7_IRQn 0 */
+  /* USER CODE END EXTI15_10_IRQn 0 */
-  HAL_DMA_IRQHandler(&hdma_usart1_tx);
+  HAL_GPIO_EXTI_IRQHandler(ACCL_INT_Pin);
-  /* USER CODE BEGIN DMA1_Stream7_IRQn 1 */
+  HAL_GPIO_EXTI_IRQHandler(GYRO_INT_Pin);
+  /* USER CODE BEGIN EXTI15_10_IRQn 1 */
 
-  /* USER CODE END DMA1_Stream7_IRQn 1 */
+  /* USER CODE END EXTI15_10_IRQn 1 */
 }
 
 /**
@@ -438,104 +370,6 @@ void UART5_IRQHandler(void)
   /* 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.
   */
@@ -550,34 +384,6 @@ 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.
   */
@@ -620,6 +426,20 @@ void FDCAN3_IT1_IRQHandler(void)
   /* USER CODE END FDCAN3_IT1_IRQn 1 */
 }
 
+/**
+  * @brief This function handles TIM23 global interrupt.
+  */
+void TIM23_IRQHandler(void)
+{
+  /* USER CODE BEGIN TIM23_IRQn 0 */
+
+  /* USER CODE END TIM23_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim23);
+  /* USER CODE BEGIN TIM23_IRQn 1 */
+
+  /* USER CODE END TIM23_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */

Core/Src/tim.c

@@ -340,12 +340,12 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
     /**TIM3 GPIO Configuration
     PB1     ------> TIM3_CH4
     */
-    GPIO_InitStruct.Pin = GPIO_PIN_1;
+    GPIO_InitStruct.Pin = IMU_HEAT_Pin;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
     GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
-    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+    HAL_GPIO_Init(IMU_HEAT_GPIO_Port, &GPIO_InitStruct);
 
   /* USER CODE BEGIN TIM3_MspPostInit 1 */
 
@@ -361,12 +361,12 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
     /**TIM12 GPIO Configuration
     PB15     ------> TIM12_CH2
     */
-    GPIO_InitStruct.Pin = GPIO_PIN_15;
+    GPIO_InitStruct.Pin = BUZZER_Pin;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
     GPIO_InitStruct.Alternate = GPIO_AF2_TIM12;
-    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+    HAL_GPIO_Init(BUZZER_GPIO_Port, &GPIO_InitStruct);
 
   /* USER CODE BEGIN TIM12_MspPostInit 1 */
 

Core/Src/usart.c

@@ -31,16 +31,6 @@ 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)
@@ -350,7 +340,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
 
     /* UART5 DMA Init */
     /* UART5_RX Init */
-    hdma_uart5_rx.Instance = DMA1_Stream1;
+    hdma_uart5_rx.Instance = DMA1_Stream3;
     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;
@@ -404,43 +394,6 @@ 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 +431,6 @@ 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 +469,6 @@ 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 +515,6 @@ 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 +559,6 @@ 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);
@@ -805,10 +610,6 @@ 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 +630,6 @@ 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 +651,6 @@ 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 +674,6 @@ 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 +694,6 @@ 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 */

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 */

CtrBoard-H7_ALL.ioc

@@ -0,0 +1,685 @@
+#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.Request3=UART5_RX
+Dma.RequestsNb=4
+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
+Dma.UART5_RX.3.Direction=DMA_PERIPH_TO_MEMORY
+Dma.UART5_RX.3.EventEnable=DISABLE
+Dma.UART5_RX.3.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.UART5_RX.3.Instance=DMA1_Stream3
+Dma.UART5_RX.3.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.UART5_RX.3.MemInc=DMA_MINC_ENABLE
+Dma.UART5_RX.3.Mode=DMA_NORMAL
+Dma.UART5_RX.3.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.UART5_RX.3.PeriphInc=DMA_PINC_DISABLE
+Dma.UART5_RX.3.Polarity=HAL_DMAMUX_REQ_GEN_RISING
+Dma.UART5_RX.3.Priority=DMA_PRIORITY_LOW
+Dma.UART5_RX.3.RequestNumber=1
+Dma.UART5_RX.3.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
+Dma.UART5_RX.3.SignalID=NONE
+Dma.UART5_RX.3.SyncEnable=DISABLE
+Dma.UART5_RX.3.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
+Dma.UART5_RX.3.SyncRequestNumber=1
+Dma.UART5_RX.3.SyncSignalID=NONE
+FDCAN1.CalculateBaudRateNominal=1000000
+FDCAN1.CalculateTimeBitNominal=1000
+FDCAN1.CalculateTimeQuantumNominal=200.0
+FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr,NominalTimeSeg1
+FDCAN1.NominalPrescaler=24
+FDCAN1.NominalTimeSeg1=3
+FDCAN1.RxFifo0ElmtsNbr=32
+FDCAN1.StdFiltersNbr=1
+FDCAN1.TxFifoQueueElmtsNbr=32
+FDCAN2.CalculateBaudRateNominal=1000000
+FDCAN2.CalculateTimeBitNominal=1000
+FDCAN2.CalculateTimeQuantumNominal=200.0
+FDCAN2.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,MessageRAMOffset,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr,NominalTimeSeg1
+FDCAN2.MessageRAMOffset=0x406
+FDCAN2.NominalPrescaler=24
+FDCAN2.NominalTimeSeg1=3
+FDCAN2.RxFifo0ElmtsNbr=32
+FDCAN2.StdFiltersNbr=1
+FDCAN2.TxFifoQueueElmtsNbr=32
+FDCAN3.CalculateBaudRateNominal=1000000
+FDCAN3.CalculateTimeBitNominal=1000
+FDCAN3.CalculateTimeQuantumNominal=200.0
+FDCAN3.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,MessageRAMOffset,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr,NominalTimeSeg1
+FDCAN3.MessageRAMOffset=0x812
+FDCAN3.NominalPrescaler=24
+FDCAN3.NominalTimeSeg1=3
+FDCAN3.RxFifo0ElmtsNbr=32
+FDCAN3.StdFiltersNbr=1
+FDCAN3.TxFifoQueueElmtsNbr=32
+FREERTOS.IPParameters=Tasks01,configTOTAL_HEAP_SIZE
+FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
+FREERTOS.configTOTAL_HEAP_SIZE=0x10000
+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=SYS
+Mcu.IP15=TIM1
+Mcu.IP16=TIM2
+Mcu.IP17=TIM3
+Mcu.IP18=TIM12
+Mcu.IP19=UART5
+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=PC4
+Mcu.Pin17=PC5
+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=PB12
+Mcu.Pin32=PB13
+Mcu.Pin33=PB14
+Mcu.Pin34=PB15
+Mcu.Pin35=PD8
+Mcu.Pin36=PD9
+Mcu.Pin37=PD10
+Mcu.Pin38=PD11
+Mcu.Pin39=PD12
+Mcu.Pin4=PC15-OSC32_OUT
+Mcu.Pin40=PD13
+Mcu.Pin41=PA8
+Mcu.Pin42=PA9
+Mcu.Pin43=PA10
+Mcu.Pin44=PA11
+Mcu.Pin45=PA12
+Mcu.Pin46=PA13(JTMS/SWDIO)
+Mcu.Pin47=PA14(JTCK/SWCLK)
+Mcu.Pin48=PA15(JTDI)
+Mcu.Pin49=PC12
+Mcu.Pin5=PH0-OSC_IN
+Mcu.Pin50=PD0
+Mcu.Pin51=PD1
+Mcu.Pin52=PD2
+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.DMA1_Stream3_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.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
+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.GPIOParameters=GPIO_Label
+PB1.GPIO_Label=IMU_HEAT
+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.GPIOParameters=GPIO_Label
+PB15.GPIO_Label=BUZZER
+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=Asynchronous
+PC12.Signal=UART5_TX
+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
+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
+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_TIM12_Init-TIM12-false-HAL-true,6-MX_SPI1_Init-SPI1-false-HAL-true,7-MX_SPI2_Init-SPI2-false-HAL-true,8-MX_TIM3_Init-TIM3-false-HAL-true,9-MX_USART1_UART_Init-USART1-false-HAL-true,10-MX_USART2_UART_Init-USART2-false-HAL-true,11-MX_USART3_UART_Init-USART3-false-HAL-true,12-MX_UART7_Init-UART7-false-HAL-true,13-MX_USART10_UART_Init-USART10-false-HAL-true,14-MX_FDCAN1_Init-FDCAN1-false-HAL-true,15-MX_FDCAN2_Init-FDCAN2-false-HAL-true,16-MX_FDCAN3_Init-FDCAN3-false-HAL-true,17-MX_TIM1_Init-TIM1-false-HAL-true,18-MX_TIM2_Init-TIM2-false-HAL-true,19-MX_OCTOSPI1_Init-OCTOSPI1-false-HAL-true,20-MX_USB_OTG_HS_PCD_Init-USB_OTG_HS-false-HAL-true,21-MX_UART5_Init-UART5-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
+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=Mode,WordLength,Parity,BaudRate
+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
+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

Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc/usbd_cdc_if_template.h

@@ -1,52 +1,43 @@
-/* USER CODE BEGIN Header */
+/**
-/**
+  ******************************************************************************
-  ******************************************************************************
+  * @file    usbd_cdc_if_template.h
-  * @file    bdma.h
+  * @author  MCD Application Team
-  * @brief   This file contains all the function prototypes for
+  * @brief   Header for usbd_cdc_if_template.c file.
-  *          the bdma.c file
+  ******************************************************************************
-  ******************************************************************************
+  * @attention
-  * @attention
+  *
-  *
+  * Copyright (c) 2015 STMicroelectronics.
-  * Copyright (c) 2026 STMicroelectronics.
+  * All rights reserved.
-  * All rights reserved.
+  *
-  *
+  * This software is licensed under terms that can be found in the LICENSE file
-  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
-  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
-  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
-  *
+  ******************************************************************************
-  ******************************************************************************
+  */
-  */
+
-/* USER CODE END Header */
+/* Define to prevent recursive inclusion -------------------------------------*/
-/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __USBD_CDC_IF_TEMPLATE_H
-#ifndef __BDMA_H__
+#define __USBD_CDC_IF_TEMPLATE_H
-#define __BDMA_H__
+
-
+#ifdef __cplusplus
-#ifdef __cplusplus
+extern "C" {
-extern "C" {
+#endif
-#endif
+
-
+/* Includes ------------------------------------------------------------------*/
-/* Includes ------------------------------------------------------------------*/
+#include "usbd_cdc.h"
-#include "main.h"
+
-
+/* Exported types ------------------------------------------------------------*/
-/* DMA memory to memory transfer handles -------------------------------------*/
+/* Exported constants --------------------------------------------------------*/
-
+
-/* USER CODE BEGIN Includes */
+extern USBD_CDC_ItfTypeDef  USBD_CDC_Template_fops;
-
+
-/* USER CODE END Includes */
+/* Exported macro ------------------------------------------------------------*/
-
+/* Exported functions ------------------------------------------------------- */
-/* USER CODE BEGIN Private defines */
+
-
+#ifdef __cplusplus
-/* USER CODE END Private defines */
+}
-
+#endif
-void MX_BDMA_Init(void);
+
-
+#endif /* __USBD_CDC_IF_TEMPLATE_H */
-/* USER CODE BEGIN Prototypes */
+
-
-/* USER CODE END Prototypes */
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __BDMA_H__ */
-

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);
+}
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+

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 <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+/** @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 */
+
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */

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*/
+

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);
+}
+

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;
+  }
+}

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. If you received this
+software component outside of a package or without applicable license terms,
+the terms of the SLA0044 license shall apply and are fully reproduced below:
+
+SLA0044 Rev5/February 2018
+
+Software license agreement
+
+ULTIMATE LIBERTY SOFTWARE LICENSE AGREEMENT
+
+BY INSTALLING, COPYING, DOWNLOADING, ACCESSING OR OTHERWISE USING THIS SOFTWARE
+OR ANY PART THEREOF (AND THE RELATED DOCUMENTATION) FROM STMICROELECTRONICS
+INTERNATIONAL N.V, SWISS BRANCH AND/OR ITS AFFILIATED COMPANIES
+(STMICROELECTRONICS), THE RECIPIENT, ON BEHALF OF HIMSELF OR HERSELF, OR ON
+BEHALF OF ANY ENTITY BY WHICH SUCH RECIPIENT IS EMPLOYED AND/OR ENGAGED AGREES
+TO BE BOUND BY THIS SOFTWARE LICENSE AGREEMENT.
+
+Under STMicroelectronics’ intellectual property rights, the redistribution,
+reproduction and use in source and binary forms of the software or any part
+thereof, with or without modification, are permitted provided that the following
+conditions are met:
+
+1. Redistribution of source code (modified or not) must retain any copyright
+notice, this list of conditions and the disclaimer set forth below as items 10
+and 11.
+
+2. Redistributions in binary form, except as embedded into microcontroller or
+microprocessor device manufactured by or for STMicroelectronics or a software
+update for such device, must reproduce any copyright notice provided with the
+binary code, this list of conditions, and the disclaimer set forth below as
+items 10 and 11, in documentation and/or other materials provided with the
+distribution.
+
+3. Neither the name of STMicroelectronics nor the names of other contributors to
+this software may be used to endorse or promote products derived from this
+software or part thereof without specific written permission.
+
+4. This software or any part thereof, including modifications and/or derivative
+works of this software, must be used and execute solely and exclusively on or in
+combination with a microcontroller or microprocessor device manufactured by or
+for STMicroelectronics.
+
+5. No use, reproduction or redistribution of this software partially or totally
+may be done in any manner that would subject this software to any Open Source
+Terms. “Open Source Terms” shall mean any open source license which requires as
+part of distribution of software that the source code of such software is
+distributed therewith or otherwise made available, or open source license that
+substantially complies with the Open Source definition specified at
+www.opensource.org and any other comparable open source license such as for
+example GNU General Public License (GPL), Eclipse Public License (EPL), Apache
+Software License, BSD license or MIT license.
+
+6. 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.
+

README.md

@@ -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...

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_Heap_Size = 0x1000;      /* required amount of heap  */
-_Min_Stack_Size = 0x800; /* required amount of stack */
+_Min_Stack_Size = 0x2000; /* required amount of stack */
 
 /* Define output sections */
 SECTIONS
@@ -165,7 +165,7 @@ SECTIONS
     *(.RamFunc*)       /* .RamFunc* sections */
 
     . = ALIGN(4);
-  } >DTCMRAM AT> FLASH
+  } >RAM_D1 AT> FLASH
 
  /* Initialized TLS data section */
   .tdata : ALIGN(4)
@@ -175,7 +175,7 @@ SECTIONS
     _edata = .;        /* define a global symbol at data end */
     PROVIDE(__data_end = .);
     PROVIDE(__tdata_end = .);
-  } >DTCMRAM AT> FLASH
+  } >RAM_D1 AT> FLASH
 
   PROVIDE( __tdata_start = ADDR(.tdata) );
   PROVIDE( __tdata_size = __tdata_end - __tdata_start );
@@ -199,7 +199,7 @@ SECTIONS
     *(.tbss .tbss.*)
     . = ALIGN(4);
     PROVIDE( __tbss_end = . );
-  } >DTCMRAM
+  } >RAM_D1
 
   PROVIDE( __tbss_start = ADDR(.tbss) );
   PROVIDE( __tbss_size = __tbss_end - __tbss_start );
@@ -223,7 +223,7 @@ SECTIONS
     _ebss = .;         /* define a global symbol at bss end */
     __bss_end__ = _ebss;
       PROVIDE( __bss_end = .);
-  } >DTCMRAM
+  } >RAM_D1
   PROVIDE( __non_tls_bss_start = ADDR(.bss) );
 
   PROVIDE( __bss_start = __tbss_start );

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

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: IMU_HEAT
+    label: IMU_HEAT
+    timer: TIM3
+  - channel: TIM_CHANNEL_2
+    custom_name: BUZZER
+    label: BUZZER
+    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: UART5
+    name: DR16
+  enabled: true

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

User/bsp/fdcan.c

@@ -0,0 +1,576 @@
+/* Includes ----------------------------------------------------------------- */
+#include "fdcan.h"
+#include "bsp/fdcan.h"
+#include "bsp/bsp.h"
+#include <fdcan.h>
+#include <cmsis_os2.h>
+#include <string.h>
+
+/* 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);
+}
+/* */
+

User/bsp/fdcan.h

@@ -0,0 +1,137 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include <stdint.h>
+#include <stdbool.h>
+#include "bsp/bsp.h"
+#include "bsp/mm.h"
+#include <cmsis_os.h>
+
+/* USER INCLUDE BEGIN */
+#include <fdcan.h>
+/* 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

User/bsp/flash.c

@@ -0,0 +1,82 @@
+/* Includes ----------------------------------------------------------------- */
+#include "bsp/flash.h"
+
+#include <main.h>
+#include <string.h>
+
+/* 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, &sector_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);
+}

User/bsp/flash.h

@@ -0,0 +1,46 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------ */
+#include <main.h>
+
+#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

User/bsp/gpio.c

@@ -0,0 +1,126 @@
+/* Includes ----------------------------------------------------------------- */
+#include "bsp/gpio.h"
+
+#include <gpio.h>
+#include <main.h>
+
+/* 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;
+}

User/bsp/gpio.h

@@ -0,0 +1,59 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include <stdint.h>
+#include <stdbool.h>
+
+#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

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 */

User/bsp/mm.h

@@ -0,0 +1,32 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include <stddef.h>
+#include <stdint.h>
+
+/* 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

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;
+}

User/bsp/pwm.h

@@ -0,0 +1,53 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include <stdint.h>
+#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_IMU_HEAT,
+  BSP_PWM_BUZZER,
+  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

User/bsp/spi.c

@@ -0,0 +1,181 @@
+/* Includes ----------------------------------------------------------------- */
+#include <spi.h>
+#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, &reg, 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, &reg, 1u, true);
+  return BSP_SPI_Transmit(spi, data, size, true);
+}
+
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */

User/bsp/spi.h

@@ -0,0 +1,70 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include <spi.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+#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

User/bsp/time.c

@@ -0,0 +1,81 @@
+/* Includes ----------------------------------------------------------------- */
+#include "bsp/time.h"
+#include "bsp.h"
+
+#include <cmsis_os2.h>
+#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 */

User/bsp/time.h

@@ -0,0 +1,43 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include <stdint.h>
+
+#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

User/bsp/uart.c

@@ -0,0 +1,155 @@
+/* Includes ----------------------------------------------------------------- */
+#include <usart.h>
+
+#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 == UART5)
+    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 &huart5;
+    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 */

User/bsp/uart.h

@@ -0,0 +1,68 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include <usart.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+#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

User/component/ahrs.c

@@ -0,0 +1,417 @@
+/*
+  开源的AHRS算法。
+  MadgwickAHRS
+*/
+
+#include "ahrs.h"
+
+#include <string.h>
+
+#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 */

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

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

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 */

User/component/crc16.h

@@ -0,0 +1,30 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdbool.h>
+
+#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

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 */

User/component/crc8.h

@@ -0,0 +1,30 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdint.h>
+
+/* 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

User/component/error_detect.c

@@ -0,0 +1,67 @@
+/*
+  错误检测。
+*/
+
+#include "error_detect.h"
+
+#include <stddef.h>
+#include <string.h>
+
+#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;
+}

User/component/error_detect.h

@@ -0,0 +1,82 @@
+/*
+  错误检测。
+*/
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdbool.h>
+#include <stdint.h>
+
+/* 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

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);
+}

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

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 <string.h>
+#include <stdint.h>
+
+/* 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;
+}
+

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 */
+
+
+
+
+
+
+
+
+
+
+
+
+

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;
+}

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 <stdint.h>
+
+#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

User/component/user_math.c

@@ -0,0 +1,134 @@
+/*
+  自定义的数学运算。
+*/
+
+#include "user_math.h"
+#include <string.h>
+/* 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 */

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 <float.h>
+#include <math.h>
+#include <stdbool.h>
+#include <stdint.h>
+#include <stddef.h>
+
+/* 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 */

User/device/bmi088.c

@@ -0,0 +1,381 @@
+/*
+     BMI088 陀螺仪+加速度计传感器。
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "bmi088.h"
+
+#include <cmsis_os2.h>
+#include <gpio.h>
+#include <stdbool.h>
+#include <string.h>
+
+#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;
+}

User/device/bmi088.h

@@ -0,0 +1,81 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include <stdbool.h>
+#include <stdint.h>
+
+#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

User/device/buzzer.c

@@ -0,0 +1,171 @@
+#include "device/buzzer.h"
+#include "bsp/time.h"
+#include <math.h>
+
+/* 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 */

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 <stddef.h>     // 标准定义
+#include <stdint.h>     // 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

User/device/device.h

@@ -0,0 +1,51 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdbool.h>
+#include <stdint.h>
+
+/* 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

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_TIM2_CH1
+  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

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 <string.h>
+#include <stdbool.h>
+
+/* 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 */

User/device/dr16.h

@@ -0,0 +1,117 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include <cmsis_os2.h>
+
+#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

User/device/motor.c

@@ -0,0 +1,52 @@
+/*
+    电机通用函数
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "motor.h"
+
+#include <string.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  -------------------------------------------------------- */
+/* 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;
+}

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

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<<bits)-1))/span);
+}
+
+static float uint_to_float(int x_int, float x_min, float x_max, int bits)
+{
+	/* converts unsigned int to float, given range and number of bits */
+	float span = x_max - x_min;
+	float offset = x_min;
+	return ((float)x_int)*span/((float)((1<<bits)-1)) + offset;
+}
+/* Private function prototypes ---------------------------------------------- */
+static int8_t MOTOR_DM_ParseFeedbackFrame(MOTOR_DM_t *motor, const uint8_t *data);
+static int8_t MOTOR_DM_SendMITCmd(MOTOR_DM_t *motor, MOTOR_MIT_Output_t *output);
+static int8_t MOTOR_DM_SendPosVelCmd(MOTOR_DM_t *motor, float pos, float vel);
+static int8_t MOTOR_DM_SendVelCmd(MOTOR_DM_t *motor, float vel);
+static MOTOR_DM_CANManager_t* MOTOR_DM_GetCANManager(BSP_CAN_t can);
+
+/* Private functions -------------------------------------------------------- */
+
+/**
+ * @brief 解析DM电机反馈帧
+ * @param motor 电机实例
+ * @param data CAN数据
+ * @return 解析结果
+ */
+static int8_t MOTOR_DM_ParseFeedbackFrame(MOTOR_DM_t *motor, const uint8_t *data) {
+    if (motor == NULL || data == NULL) {
+        return DEVICE_ERR_NULL;
+    }
+    uint16_t p_int=(data[1]<<8)|data[2];
+    motor->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;
+}

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

User/device/motor_lk.c

@@ -0,0 +1,329 @@
+/*
+  LK电机驱动
+*/
+/* Includes ----------------------------------------------------------------- */
+#include "motor_lk.h"
+#include <stdbool.h>
+#include <string.h>
+#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;
+}

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

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 <stdint.h>
+#include <stdbool.h>
+#include <string.h>
+#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;
+}

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

User/device/motor_rm.c

@@ -0,0 +1,321 @@
+/*
+  RM电机驱动
+*/
+/* Includes ----------------------------------------------------------------- */
+#include "motor_rm.h"
+#include <stdbool.h>
+#include <string.h>
+#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;
+}

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

User/task/atti_esit.c

@@ -0,0 +1,89 @@
+/*
+    atti_esit Task
+
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "task/user_task.h"
+/* USER INCLUDE BEGIN */
+#include "bsp/gpio.h"
+#include "bsp/mm.h"
+#include "bsp/pwm.h"
+#include "component/ahrs.h"
+#include "component/pid.h"
+#include "device/bmi088.h"
+#include "task/user_task.h"
+/* USER INCLUDE END */
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+BMI088_t bmi088;
+
+AHRS_t gimbal_ahrs;
+AHRS_Magn_t magn;
+AHRS_Eulr_t eulr_to_send;
+
+KPID_t imu_temp_ctrl_pid;
+
+/*默认校准参数*/
+BMI088_Cali_t cali_bmi088 = {
+    .gyro_offset = {-0.00147764047f, -0.00273479894f, 0.00154074503f},
+};
+
+static const KPID_Params_t imu_temp_ctrl_pid_param = {
+    .k = 0.1f,
+    .p = 0.15f,
+    .i = 0.01f,
+    .d = 0.02f,
+    .i_limit = 1.0f,
+    .out_limit = 1.0f,
+};
+
+/* 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 */
+  BMI088_Init(&bmi088, &cali_bmi088);
+  AHRS_Init(&gimbal_ahrs, &magn, BMI088_GetUpdateFreq(&bmi088));
+  PID_Init(&imu_temp_ctrl_pid, KPID_MODE_NO_D,
+           1.0f / BMI088_GetUpdateFreq(&bmi088), &imu_temp_ctrl_pid_param);
+  BSP_PWM_Start(BSP_PWM_IMU_HEAT);
+  /* USER CODE INIT END */
+
+  while (1) {
+    /* USER CODE BEGIN */
+    BMI088_WaitNew();
+    BMI088_AcclStartDmaRecv();
+    BMI088_AcclWaitDmaCplt();
+
+    BMI088_GyroStartDmaRecv();
+    BMI088_GyroWaitDmaCplt();
+
+    /* 锁住RTOS内核防止数据解析过程中断，造成错误 */
+    osKernelLock();
+    /* 接收完所有数据后，把数据从原始字节加工成方便计算的数据 */
+    BMI088_ParseAccl(&bmi088);
+    BMI088_ParseGyro(&bmi088);
+    // IST8310_Parse(&ist8310);
+
+    /* 根据设备接收到的数据进行姿态解析 */
+    AHRS_Update(&gimbal_ahrs, &bmi088.accl, &bmi088.gyro, &magn);
+
+    /* 根据解析出来的四元数计算欧拉角 */
+    AHRS_GetEulr(&eulr_to_send, &gimbal_ahrs);
+    BSP_PWM_SetComp(BSP_PWM_IMU_HEAT, PID_Calc(&imu_temp_ctrl_pid, 40.5f,
+                                               bmi088.temp, 0.0f, 0.0f));
+    osKernelUnlock();
+
+    /* USER CODE END */
+  }
+}

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

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
+}

User/task/rc.c

@@ -0,0 +1,50 @@
+/*
+    rc Task
+    
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "device/dr16.h"
+#include "task/user_task.h"
+/* USER INCLUDE BEGIN */
+#include "device/dr16.h"
+/* USER INCLUDE END */
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+DR16_t dr16;
+/* 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 */
+  DR16_Init(&dr16);
+  /* USER CODE INIT END */
+  
+  while (1) {
+    tick += delay_tick; /* 计算下一个唤醒时刻 */
+    /* USER CODE BEGIN */
+    DR16_StartDmaRecv(&dr16);
+    if (DR16_WaitDmaCplt(20)) {
+      DR16_ParseData(&dr16);
+    } else {
+      DR16_Offline(&dr16);
+    }
+    /* USER CODE END */
+    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
+  }
+  
+}

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,
+};

User/task/user_task.h

@@ -0,0 +1,85 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+/* Includes ----------------------------------------------------------------- */
+#include <cmsis_os2.h>
+#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

balance_infantry.ioc

@@ -1,902 +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=Enabled
-CORTEX_M7.CPU_ICache=Enabled
-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.AutoRetransmission=ENABLE
-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_CLASSIC
-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,AutoRetransmission
-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.AutoRetransmission=ENABLE
-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_CLASSIC
-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,AutoRetransmission
-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.AutoRetransmission=ENABLE
-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_CLASSIC
-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,AutoRetransmission
-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=RCC
-Mcu.IP13=SPI2
-Mcu.IP14=SPI6
-Mcu.IP15=SYS
-Mcu.IP16=TIM1
-Mcu.IP17=TIM2
-Mcu.IP18=TIM3
-Mcu.IP19=TIM12
-Mcu.IP2=CORTEX_M7
-Mcu.IP20=UART5
-Mcu.IP21=UART7
-Mcu.IP22=USART1
-Mcu.IP23=USART2
-Mcu.IP24=USART3
-Mcu.IP25=USART10
-Mcu.IP26=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=27
-Mcu.Name=STM32H723VGTx
-Mcu.Package=LQFP100
-Mcu.Pin0=PE2
-Mcu.Pin1=PE3
-Mcu.Pin10=PC3_C
-Mcu.Pin11=PA0
-Mcu.Pin12=PA2
-Mcu.Pin13=PA5
-Mcu.Pin14=PA7
-Mcu.Pin15=PC4
-Mcu.Pin16=PB1
-Mcu.Pin17=PE7
-Mcu.Pin18=PE8
-Mcu.Pin19=PE9
-Mcu.Pin2=PC13
-Mcu.Pin20=PE10
-Mcu.Pin21=PE11
-Mcu.Pin22=PE12
-Mcu.Pin23=PE13
-Mcu.Pin24=PE15
-Mcu.Pin25=PB10
-Mcu.Pin26=PB11
-Mcu.Pin27=PB13
-Mcu.Pin28=PB14
-Mcu.Pin29=PB15
-Mcu.Pin3=PC14-OSC32_IN
-Mcu.Pin30=PD8
-Mcu.Pin31=PD9
-Mcu.Pin32=PD12
-Mcu.Pin33=PD13
-Mcu.Pin34=PA9
-Mcu.Pin35=PA10
-Mcu.Pin36=PA11
-Mcu.Pin37=PA12
-Mcu.Pin38=PA13(JTMS/SWDIO)
-Mcu.Pin39=PA14(JTCK/SWCLK)
-Mcu.Pin4=PC15-OSC32_OUT
-Mcu.Pin40=PA15(JTDI)
-Mcu.Pin41=PC12
-Mcu.Pin42=PD0
-Mcu.Pin43=PD1
-Mcu.Pin44=PD2
-Mcu.Pin45=PD4
-Mcu.Pin46=PD5
-Mcu.Pin47=PD6
-Mcu.Pin48=PB3(JTDO/TRACESWO)
-Mcu.Pin49=PB5
-Mcu.Pin5=PH0-OSC_IN
-Mcu.Pin50=PB6
-Mcu.Pin51=VP_DAC1_VS_DACI2
-Mcu.Pin52=VP_FREERTOS_VS_CMSIS_V2
-Mcu.Pin53=VP_SYS_VS_tim4
-Mcu.Pin54=VP_MEMORYMAP_VS_MEMORYMAP
-Mcu.Pin6=PH1-OSC_OUT
-Mcu.Pin7=PC0
-Mcu.Pin8=PC1
-Mcu.Pin9=PC2_C
-Mcu.PinsNb=55
-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.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.TIM4_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
-NVIC.TimeBase=TIM4_IRQn
-NVIC.TimeBaseIP=TIM4
-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
-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
-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
-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
-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=ACC_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_SET
-PC13.Signal=GPIO_Output
-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
-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=ACC_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_SYS_VS_tim4.Mode=TIM4
-VP_SYS_VS_tim4.Signal=SYS_VS_tim4
-board=custom

cmake/stm32cubemx/CMakeLists.txt

@@ -27,10 +27,9 @@ 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
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/spi.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/tim.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/usart.c
@@ -66,9 +65,8 @@ 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
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi_ex.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart.c