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base: robofish:734d2c90dcfd66b89864d8e0928a31591d0e4762
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robofish:main
robofish:神秘小轮腿
robofish:ai
robofish:单独底层纯转发
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compare: robofish:403a04fa2c277e9d88db6821e6aa0671ac44fdf5
Branches Tags
robofish:神秘小轮腿
robofish:ai
robofish:单独底层纯转发
robofish:main

No commits in common. "734d2c90dcfd66b89864d8e0928a31591d0e4762" and "403a04fa2c277e9d88db6821e6aa0671ac44fdf5" have entirely different histories.
734d2c90dc ... 403a04fa2c

81 changed files with 7728 additions and 2659 deletions
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44
.mxproject
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File diff suppressed because one or more lines are too long

3
CMakeLists.txt
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@ -72,8 +72,6 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
User/device/dr16.c User/device/dr16.c
User/device/motor.c User/device/motor.c
User/device/motor_lk.c User/device/motor_lk.c
User/device/motor_dm.c
User/device/motor_rm.c
User/device/motor_lz.c User/device/motor_lz.c
# User/module sources # User/module sources
@ -84,7 +82,6 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
User/task/atti_esti.c User/task/atti_esti.c
User/task/blink.c User/task/blink.c
User/task/ctrl_chassis.c User/task/ctrl_chassis.c
User/task/ctrl_gimbal.c
User/task/init.c User/task/init.c
User/task/rc.c User/task/rc.c
User/task/user_task.c User/task/user_task.c

1
Core/Inc/stm32f4xx_it.h
View File

@ -71,6 +71,7 @@ void DMA2_Stream2_IRQHandler(void);
void DMA2_Stream3_IRQHandler(void); void DMA2_Stream3_IRQHandler(void);
void CAN2_RX0_IRQHandler(void); void CAN2_RX0_IRQHandler(void);
void CAN2_RX1_IRQHandler(void); void CAN2_RX1_IRQHandler(void);
void OTG_FS_IRQHandler(void);
void DMA2_Stream5_IRQHandler(void); void DMA2_Stream5_IRQHandler(void);
void DMA2_Stream6_IRQHandler(void); void DMA2_Stream6_IRQHandler(void);
void DMA2_Stream7_IRQHandler(void); void DMA2_Stream7_IRQHandler(void);

52
Core/Inc/usb_otg.h
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@ -1,52 +0,0 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file usb_otg.h
* @brief This file contains all the function prototypes for
* the usb_otg.c file
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __USB_OTG_H__
#define __USB_OTG_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern PCD_HandleTypeDef hpcd_USB_OTG_FS;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_USB_OTG_FS_PCD_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __USB_OTG_H__ */

3
Core/Src/freertos.c
View File

@ -64,6 +64,7 @@ const osThreadAttr_t defaultTask_attributes = {
void StartDefaultTask(void *argument); void StartDefaultTask(void *argument);
extern void MX_USB_DEVICE_Init(void);
void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */ void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
/* Hook prototypes */ /* Hook prototypes */
@ -143,6 +144,8 @@ void MX_FREERTOS_Init(void) {
/* USER CODE END Header_StartDefaultTask */ /* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void *argument) void StartDefaultTask(void *argument)
{ {
/* init code for USB_DEVICE */
MX_USB_DEVICE_Init();
/* USER CODE BEGIN StartDefaultTask */ /* USER CODE BEGIN StartDefaultTask */
osThreadTerminate(osThreadGetId()); osThreadTerminate(osThreadGetId());
/* USER CODE END StartDefaultTask */ /* USER CODE END StartDefaultTask */

3
Core/Src/main.c
View File

@ -29,7 +29,7 @@
#include "spi.h" #include "spi.h"
#include "tim.h" #include "tim.h"
#include "usart.h" #include "usart.h"
#include "usb_otg.h" #include "usb_device.h"
#include "gpio.h" #include "gpio.h"
/* Private includes ----------------------------------------------------------*/ /* Private includes ----------------------------------------------------------*/
@ -120,7 +120,6 @@ int main(void)
MX_USART1_UART_Init(); MX_USART1_UART_Init();
MX_USART6_UART_Init(); MX_USART6_UART_Init();
MX_TIM7_Init(); MX_TIM7_Init();
MX_USB_OTG_FS_PCD_Init();
/* USER CODE BEGIN 2 */ /* USER CODE BEGIN 2 */
/* USER CODE END 2 */ /* USER CODE END 2 */

1011
Core/Src/stm32f4xx_it.c
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File diff suppressed because it is too large Load Diff

116
Core/Src/usb_otg.c
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@ -1,116 +0,0 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file usb_otg.c
* @brief This file provides code for the configuration
* of the USB_OTG instances.
******************************************************************************
* @attention
*
* Copyright (c) 2025 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 "usb_otg.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
PCD_HandleTypeDef hpcd_USB_OTG_FS;
/* USB_OTG_FS init function */
void MX_USB_OTG_FS_PCD_Init(void)
{
/* USER CODE BEGIN USB_OTG_FS_Init 0 */
/* USER CODE END USB_OTG_FS_Init 0 */
/* USER CODE BEGIN USB_OTG_FS_Init 1 */
/* USER CODE END USB_OTG_FS_Init 1 */
hpcd_USB_OTG_FS.Instance = USB_OTG_FS;
hpcd_USB_OTG_FS.Init.dev_endpoints = 4;
hpcd_USB_OTG_FS.Init.speed = PCD_SPEED_FULL;
hpcd_USB_OTG_FS.Init.dma_enable = DISABLE;
hpcd_USB_OTG_FS.Init.phy_itface = PCD_PHY_EMBEDDED;
hpcd_USB_OTG_FS.Init.Sof_enable = DISABLE;
hpcd_USB_OTG_FS.Init.low_power_enable = DISABLE;
hpcd_USB_OTG_FS.Init.lpm_enable = DISABLE;
hpcd_USB_OTG_FS.Init.vbus_sensing_enable = DISABLE;
hpcd_USB_OTG_FS.Init.use_dedicated_ep1 = DISABLE;
if (HAL_PCD_Init(&hpcd_USB_OTG_FS) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USB_OTG_FS_Init 2 */
/* USER CODE END USB_OTG_FS_Init 2 */
}
void HAL_PCD_MspInit(PCD_HandleTypeDef* pcdHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(pcdHandle->Instance==USB_OTG_FS)
{
/* USER CODE BEGIN USB_OTG_FS_MspInit 0 */
/* USER CODE END USB_OTG_FS_MspInit 0 */
__HAL_RCC_GPIOA_CLK_ENABLE();
/**USB_OTG_FS GPIO Configuration
PA12 ------> USB_OTG_FS_DP
PA11 ------> USB_OTG_FS_DM
*/
GPIO_InitStruct.Pin = GPIO_PIN_12|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_AF10_OTG_FS;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USB_OTG_FS clock enable */
__HAL_RCC_USB_OTG_FS_CLK_ENABLE();
/* USER CODE BEGIN USB_OTG_FS_MspInit 1 */
/* USER CODE END USB_OTG_FS_MspInit 1 */
}
}
void HAL_PCD_MspDeInit(PCD_HandleTypeDef* pcdHandle)
{
if(pcdHandle->Instance==USB_OTG_FS)
{
/* USER CODE BEGIN USB_OTG_FS_MspDeInit 0 */
/* USER CODE END USB_OTG_FS_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_USB_OTG_FS_CLK_DISABLE();
/**USB_OTG_FS GPIO Configuration
PA12 ------> USB_OTG_FS_DP
PA11 ------> USB_OTG_FS_DM
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_12|GPIO_PIN_11);
/* USER CODE BEGIN USB_OTG_FS_MspDeInit 1 */
/* USER CODE END USB_OTG_FS_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

17
DevC.ioc
View File

@ -180,7 +180,8 @@ Mcu.IP22=TIM10
Mcu.IP23=USART1 Mcu.IP23=USART1
Mcu.IP24=USART3 Mcu.IP24=USART3
Mcu.IP25=USART6 Mcu.IP25=USART6
Mcu.IP26=USB_OTG_FS Mcu.IP26=USB_DEVICE
Mcu.IP27=USB_OTG_FS
Mcu.IP3=CAN2 Mcu.IP3=CAN2
Mcu.IP4=CRC Mcu.IP4=CRC
Mcu.IP5=DMA Mcu.IP5=DMA
@ -188,7 +189,7 @@ Mcu.IP6=FREERTOS
Mcu.IP7=I2C1 Mcu.IP7=I2C1
Mcu.IP8=I2C2 Mcu.IP8=I2C2
Mcu.IP9=I2C3 Mcu.IP9=I2C3
Mcu.IPNb=27 Mcu.IPNb=28
Mcu.Name=STM32F407I(E-G)Hx Mcu.Name=STM32F407I(E-G)Hx
Mcu.Package=UFBGA176 Mcu.Package=UFBGA176
Mcu.Pin0=PB8 Mcu.Pin0=PB8
@ -253,10 +254,11 @@ Mcu.Pin61=VP_TIM5_VS_ClockSourceINT
Mcu.Pin62=VP_TIM7_VS_ClockSourceINT Mcu.Pin62=VP_TIM7_VS_ClockSourceINT
Mcu.Pin63=VP_TIM8_VS_ClockSourceINT Mcu.Pin63=VP_TIM8_VS_ClockSourceINT
Mcu.Pin64=VP_TIM10_VS_ClockSourceINT Mcu.Pin64=VP_TIM10_VS_ClockSourceINT
Mcu.Pin65=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
Mcu.Pin7=PB9 Mcu.Pin7=PB9
Mcu.Pin8=PB7 Mcu.Pin8=PB7
Mcu.Pin9=PB6 Mcu.Pin9=PB6
Mcu.PinsNb=65 Mcu.PinsNb=66
Mcu.ThirdPartyNb=0 Mcu.ThirdPartyNb=0
Mcu.UserConstants= Mcu.UserConstants=
Mcu.UserName=STM32F407IGHx Mcu.UserName=STM32F407IGHx
@ -285,6 +287,7 @@ NVIC.ForceEnableDMAVector=true
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false 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.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.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.OTG_FS_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false\:false NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false\:false
NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4 NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false
@ -566,7 +569,7 @@ ProjectManager.ToolChainLocation=
ProjectManager.UAScriptAfterPath= ProjectManager.UAScriptAfterPath=
ProjectManager.UAScriptBeforePath= ProjectManager.UAScriptBeforePath=
ProjectManager.UnderRoot=false ProjectManager.UnderRoot=false
ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-MX_DMA_Init-DMA-false-HAL-true,3-SystemClock_Config-RCC-false-HAL-false,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_ADC3_Init-ADC3-false-HAL-true,6-MX_CAN1_Init-CAN1-false-HAL-true,7-MX_CAN2_Init-CAN2-false-HAL-true,8-MX_I2C1_Init-I2C1-false-HAL-true,9-MX_SPI1_Init-SPI1-false-HAL-true,10-MX_TIM4_Init-TIM4-false-HAL-true,11-MX_TIM5_Init-TIM5-false-HAL-true,12-MX_USART3_UART_Init-USART3-false-HAL-true,13-MX_TIM8_Init-TIM8-false-HAL-true,14-MX_CRC_Init-CRC-false-HAL-true,15-MX_RNG_Init-RNG-false-HAL-true,16-MX_I2C2_Init-I2C2-false-HAL-true,17-MX_I2C3_Init-I2C3-false-HAL-true,18-MX_SPI2_Init-SPI2-false-HAL-true,19-MX_TIM1_Init-TIM1-false-HAL-true,20-MX_TIM3_Init-TIM3-false-HAL-true,21-MX_TIM10_Init-TIM10-false-HAL-true,22-MX_USART1_UART_Init-USART1-false-HAL-true,23-MX_USART6_UART_Init-USART6-false-HAL-true,24-MX_TIM7_Init-TIM7-false-HAL-true,25-MX_USB_OTG_FS_PCD_Init-USB_OTG_FS-false-HAL-true ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-MX_DMA_Init-DMA-false-HAL-true,3-SystemClock_Config-RCC-false-HAL-false,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_ADC3_Init-ADC3-false-HAL-true,6-MX_CAN1_Init-CAN1-false-HAL-true,7-MX_CAN2_Init-CAN2-false-HAL-true,8-MX_I2C1_Init-I2C1-false-HAL-true,9-MX_SPI1_Init-SPI1-false-HAL-true,10-MX_TIM4_Init-TIM4-false-HAL-true,11-MX_TIM5_Init-TIM5-false-HAL-true,12-MX_USART3_UART_Init-USART3-false-HAL-true,13-MX_TIM8_Init-TIM8-false-HAL-true,14-MX_CRC_Init-CRC-false-HAL-true,15-MX_RNG_Init-RNG-false-HAL-true,16-MX_I2C2_Init-I2C2-false-HAL-true,17-MX_I2C3_Init-I2C3-false-HAL-true,18-MX_SPI2_Init-SPI2-false-HAL-true,19-MX_TIM1_Init-TIM1-false-HAL-true,20-MX_TIM3_Init-TIM3-false-HAL-true,21-MX_TIM10_Init-TIM10-false-HAL-true,22-MX_USART1_UART_Init-USART1-false-HAL-true,23-MX_USART6_UART_Init-USART6-false-HAL-true,24-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false,25-MX_TIM7_Init-TIM7-false-HAL-true
RCC.48MHZClocksFreq_Value=48000000 RCC.48MHZClocksFreq_Value=48000000
RCC.AHBFreq_Value=168000000 RCC.AHBFreq_Value=168000000
RCC.APB1CLKDivider=RCC_HCLK_DIV4 RCC.APB1CLKDivider=RCC_HCLK_DIV4
@ -697,6 +700,10 @@ USART3.Parity=PARITY_EVEN
USART3.VirtualMode=VM_ASYNC USART3.VirtualMode=VM_ASYNC
USART6.IPParameters=VirtualMode USART6.IPParameters=VirtualMode
USART6.VirtualMode=VM_ASYNC USART6.VirtualMode=VM_ASYNC
USB_DEVICE.CLASS_NAME_FS=CDC
USB_DEVICE.IPParameters=VirtualMode-CDC_FS,VirtualModeFS,CLASS_NAME_FS
USB_DEVICE.VirtualMode-CDC_FS=Cdc
USB_DEVICE.VirtualModeFS=Cdc_FS
USB_OTG_FS.IPParameters=VirtualMode USB_OTG_FS.IPParameters=VirtualMode
USB_OTG_FS.VirtualMode=Device_Only USB_OTG_FS.VirtualMode=Device_Only
VP_ADC1_TempSens_Input.Mode=IN-TempSens VP_ADC1_TempSens_Input.Mode=IN-TempSens
@ -725,5 +732,7 @@ VP_TIM7_VS_ClockSourceINT.Mode=Enable_Timer
VP_TIM7_VS_ClockSourceINT.Signal=TIM7_VS_ClockSourceINT VP_TIM7_VS_ClockSourceINT.Signal=TIM7_VS_ClockSourceINT
VP_TIM8_VS_ClockSourceINT.Mode=Internal VP_TIM8_VS_ClockSourceINT.Mode=Internal
VP_TIM8_VS_ClockSourceINT.Signal=TIM8_VS_ClockSourceINT VP_TIM8_VS_ClockSourceINT.Signal=TIM8_VS_ClockSourceINT
VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS.Mode=CDC_FS
VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS.Signal=USB_DEVICE_VS_USB_DEVICE_CDC_FS
board=custom board=custom
rtos.0.ip=FREERTOS rtos.0.ip=FREERTOS

270
MDK-ARM/DevC.uvprojx
View File

@ -1,10 +1,7 @@
<?xml version="1.0" encoding="UTF-8" standalone="no" ?> <?xml version="1.0" encoding="UTF-8"?>
<Project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_projx.xsd"> <Project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" noNamespaceSchemaLocation="project_projx.xsd">
<SchemaVersion>2.1</SchemaVersion> <SchemaVersion>2.1</SchemaVersion>
<Header>### uVision Project, (C) Keil Software</Header> <Header>### uVision Project, (C) Keil Software</Header>
<Targets> <Targets>
<Target> <Target>
<TargetName>DevC</TargetName> <TargetName>DevC</TargetName>
@ -20,28 +17,28 @@
<PackID>Keil.STM32F4xx_DFP.3.0.0</PackID> <PackID>Keil.STM32F4xx_DFP.3.0.0</PackID>
<PackURL>https://www.keil.com/pack/</PackURL> <PackURL>https://www.keil.com/pack/</PackURL>
<Cpu>IRAM(0x20000000-0x2001BFFF) IRAM2(0x2001C000-0x2001FFFF) IROM(0x8000000-0x80FFFFF) CLOCK(25000000) FPU2 CPUTYPE("Cortex-M4") TZ</Cpu> <Cpu>IRAM(0x20000000-0x2001BFFF) IRAM2(0x2001C000-0x2001FFFF) IROM(0x8000000-0x80FFFFF) CLOCK(25000000) FPU2 CPUTYPE("Cortex-M4") TZ</Cpu>
<FlashUtilSpec></FlashUtilSpec> <FlashUtilSpec />
<StartupFile></StartupFile> <StartupFile />
<FlashDriverDll></FlashDriverDll> <FlashDriverDll />
<DeviceId>0</DeviceId> <DeviceId>0</DeviceId>
<RegisterFile></RegisterFile> <RegisterFile />
<MemoryEnv></MemoryEnv> <MemoryEnv />
<Cmp></Cmp> <Cmp />
<Asm></Asm> <Asm />
<Linker></Linker> <Linker />
<OHString></OHString> <OHString />
<InfinionOptionDll></InfinionOptionDll> <InfinionOptionDll />
<SLE66CMisc></SLE66CMisc> <SLE66CMisc />
<SLE66AMisc></SLE66AMisc> <SLE66AMisc />
<SLE66LinkerMisc></SLE66LinkerMisc> <SLE66LinkerMisc />
<SFDFile>$$Device:STM32F407IGHx$CMSIS\SVD\STM32F407.svd</SFDFile> <SFDFile>$$Device:STM32F407IGHx$CMSIS\SVD\STM32F407.svd</SFDFile>
<bCustSvd>0</bCustSvd> <bCustSvd>0</bCustSvd>
<UseEnv>0</UseEnv> <UseEnv>0</UseEnv>
<BinPath></BinPath> <BinPath />
<IncludePath></IncludePath> <IncludePath />
<LibPath></LibPath> <LibPath />
<RegisterFilePath></RegisterFilePath> <RegisterFilePath />
<DBRegisterFilePath></DBRegisterFilePath> <DBRegisterFilePath />
<TargetStatus> <TargetStatus>
<Error>0</Error> <Error>0</Error>
<ExitCodeStop>0</ExitCodeStop> <ExitCodeStop>0</ExitCodeStop>
@ -56,15 +53,15 @@
<CreateHexFile>1</CreateHexFile> <CreateHexFile>1</CreateHexFile>
<DebugInformation>1</DebugInformation> <DebugInformation>1</DebugInformation>
<BrowseInformation>1</BrowseInformation> <BrowseInformation>1</BrowseInformation>
<ListingPath></ListingPath> <ListingPath />
<HexFormatSelection>1</HexFormatSelection> <HexFormatSelection>1</HexFormatSelection>
<Merge32K>0</Merge32K> <Merge32K>0</Merge32K>
<CreateBatchFile>0</CreateBatchFile> <CreateBatchFile>0</CreateBatchFile>
<BeforeCompile> <BeforeCompile>
<RunUserProg1>0</RunUserProg1> <RunUserProg1>0</RunUserProg1>
<RunUserProg2>0</RunUserProg2> <RunUserProg2>0</RunUserProg2>
<UserProg1Name></UserProg1Name> <UserProg1Name />
<UserProg2Name></UserProg2Name> <UserProg2Name />
<UserProg1Dos16Mode>0</UserProg1Dos16Mode> <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
<UserProg2Dos16Mode>0</UserProg2Dos16Mode> <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
<nStopU1X>0</nStopU1X> <nStopU1X>0</nStopU1X>
@ -73,8 +70,8 @@
<BeforeMake> <BeforeMake>
<RunUserProg1>0</RunUserProg1> <RunUserProg1>0</RunUserProg1>
<RunUserProg2>0</RunUserProg2> <RunUserProg2>0</RunUserProg2>
<UserProg1Name></UserProg1Name> <UserProg1Name />
<UserProg2Name></UserProg2Name> <UserProg2Name />
<UserProg1Dos16Mode>0</UserProg1Dos16Mode> <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
<UserProg2Dos16Mode>0</UserProg2Dos16Mode> <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
<nStopB1X>0</nStopB1X> <nStopB1X>0</nStopB1X>
@ -83,15 +80,15 @@
<AfterMake> <AfterMake>
<RunUserProg1>0</RunUserProg1> <RunUserProg1>0</RunUserProg1>
<RunUserProg2>1</RunUserProg2> <RunUserProg2>1</RunUserProg2>
<UserProg1Name></UserProg1Name> <UserProg1Name />
<UserProg2Name></UserProg2Name> <UserProg2Name />
<UserProg1Dos16Mode>0</UserProg1Dos16Mode> <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
<UserProg2Dos16Mode>0</UserProg2Dos16Mode> <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
<nStopA1X>0</nStopA1X> <nStopA1X>0</nStopA1X>
<nStopA2X>0</nStopA2X> <nStopA2X>0</nStopA2X>
</AfterMake> </AfterMake>
<SelectedForBatchBuild>1</SelectedForBatchBuild> <SelectedForBatchBuild>1</SelectedForBatchBuild>
<SVCSIdString></SVCSIdString> <SVCSIdString />
</TargetCommonOption> </TargetCommonOption>
<CommonProperty> <CommonProperty>
<UseCPPCompiler>0</UseCPPCompiler> <UseCPPCompiler>0</UseCPPCompiler>
@ -105,8 +102,8 @@
<AssembleAssemblyFile>0</AssembleAssemblyFile> <AssembleAssemblyFile>0</AssembleAssemblyFile>
<PublicsOnly>0</PublicsOnly> <PublicsOnly>0</PublicsOnly>
<StopOnExitCode>3</StopOnExitCode> <StopOnExitCode>3</StopOnExitCode>
<CustomArgument></CustomArgument> <CustomArgument />
<IncludeLibraryModules></IncludeLibraryModules> <IncludeLibraryModules />
<ComprImg>0</ComprImg> <ComprImg>0</ComprImg>
</CommonProperty> </CommonProperty>
<DllOption> <DllOption>
@ -140,10 +137,10 @@
<bUseTDR>1</bUseTDR> <bUseTDR>1</bUseTDR>
<Flash2>BIN\UL2V8M.DLL</Flash2> <Flash2>BIN\UL2V8M.DLL</Flash2>
<Flash3>"" ()</Flash3> <Flash3>"" ()</Flash3>
<Flash4></Flash4> <Flash4 />
<pFcarmOut></pFcarmOut> <pFcarmOut />
<pFcarmGrp></pFcarmGrp> <pFcarmGrp />
<pFcArmRoot></pFcArmRoot> <pFcArmRoot />
<FcArmLst>0</FcArmLst> <FcArmLst>0</FcArmLst>
</Utilities> </Utilities>
<TargetArmAds> <TargetArmAds>
@ -176,7 +173,7 @@
<RvctClst>0</RvctClst> <RvctClst>0</RvctClst>
<GenPPlst>0</GenPPlst> <GenPPlst>0</GenPPlst>
<AdsCpuType>"Cortex-M4"</AdsCpuType> <AdsCpuType>"Cortex-M4"</AdsCpuType>
<RvctDeviceName></RvctDeviceName> <RvctDeviceName />
<mOS>0</mOS> <mOS>0</mOS>
<uocRom>0</uocRom> <uocRom>0</uocRom>
<uocRam>0</uocRam> <uocRam>0</uocRam>
@ -310,7 +307,7 @@
<Size>0x4000</Size> <Size>0x4000</Size>
</OCR_RVCT10> </OCR_RVCT10>
</OnChipMemories> </OnChipMemories>
<RvctStartVector></RvctStartVector> <RvctStartVector />
</ArmAdsMisc> </ArmAdsMisc>
<Cads> <Cads>
<interw>1</interw> <interw>1</interw>
@ -337,10 +334,10 @@
<v6WtE>0</v6WtE> <v6WtE>0</v6WtE>
<v6Rtti>0</v6Rtti> <v6Rtti>0</v6Rtti>
<VariousControls> <VariousControls>
<MiscControls></MiscControls> <MiscControls />
<Define>USE_HAL_DRIVER,STM32F407xx</Define> <Define>USE_HAL_DRIVER,STM32F407xx</Define>
<Undefine></Undefine> <Undefine />
<IncludePath>../Core/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Drivers/CMSIS/Include;../User</IncludePath> <IncludePath>../Core/Inc;../USB_DEVICE/App;../USB_DEVICE/Target;../Drivers/STM32F4xx_HAL_Driver/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F;../Middlewares/ST/STM32_USB_Device_Library/Core/Inc;../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Drivers/CMSIS/Include;../User</IncludePath>
</VariousControls> </VariousControls>
</Cads> </Cads>
<Aads> <Aads>
@ -355,9 +352,9 @@
<useXO>0</useXO> <useXO>0</useXO>
<ClangAsOpt>1</ClangAsOpt> <ClangAsOpt>1</ClangAsOpt>
<VariousControls> <VariousControls>
<MiscControls></MiscControls> <MiscControls />
<Define></Define> <Define />
<Undefine></Undefine> <Undefine />
<IncludePath>../Core/Inc;../USB_DEVICE/App;../USB_DEVICE/Target;../Drivers/STM32F4xx_HAL_Driver/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F;../Middlewares/ST/STM32_USB_Device_Library/Core/Inc;../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Drivers/CMSIS/Include</IncludePath> <IncludePath>../Core/Inc;../USB_DEVICE/App;../USB_DEVICE/Target;../Drivers/STM32F4xx_HAL_Driver/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F;../Middlewares/ST/STM32_USB_Device_Library/Core/Inc;../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Drivers/CMSIS/Include</IncludePath>
</VariousControls> </VariousControls>
</Aads> </Aads>
@ -368,15 +365,15 @@
<noStLib>0</noStLib> <noStLib>0</noStLib>
<RepFail>1</RepFail> <RepFail>1</RepFail>
<useFile>0</useFile> <useFile>0</useFile>
<TextAddressRange></TextAddressRange> <TextAddressRange />
<DataAddressRange></DataAddressRange> <DataAddressRange />
<pXoBase></pXoBase> <pXoBase />
<ScatterFile></ScatterFile> <ScatterFile />
<IncludeLibs></IncludeLibs> <IncludeLibs />
<IncludeLibsPath></IncludeLibsPath> <IncludeLibsPath />
<Misc></Misc> <Misc />
<LinkerInputFile></LinkerInputFile> <LinkerInputFile />
<DisabledWarnings></DisabledWarnings> <DisabledWarnings />
</LDads> </LDads>
</TargetArmAds> </TargetArmAds>
</TargetOption> </TargetOption>
@ -454,62 +451,6 @@
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>../Core/Src/usart.c</FilePath> <FilePath>../Core/Src/usart.c</FilePath>
</File> </File>
<File>
<FileName>usb_otg.c</FileName>
<FileType>1</FileType>
<FilePath>../Core/Src/usb_otg.c</FilePath>
<FileOption>
<CommonProperty>
<UseCPPCompiler>2</UseCPPCompiler>
<RVCTCodeConst>0</RVCTCodeConst>
<RVCTZI>0</RVCTZI>
<RVCTOtherData>0</RVCTOtherData>
<ModuleSelection>0</ModuleSelection>
<IncludeInBuild>1</IncludeInBuild>
<AlwaysBuild>2</AlwaysBuild>
<GenerateAssemblyFile>2</GenerateAssemblyFile>
<AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty>
<FileArmAds>
<Cads>
<interw>2</interw>
<Optim>0</Optim>
<oTime>2</oTime>
<SplitLS>2</SplitLS>
<OneElfS>2</OneElfS>
<Strict>2</Strict>
<EnumInt>2</EnumInt>
<PlainCh>2</PlainCh>
<Ropi>2</Ropi>
<Rwpi>2</Rwpi>
<wLevel>0</wLevel>
<uThumb>2</uThumb>
<uSurpInc>2</uSurpInc>
<uC99>2</uC99>
<uGnu>2</uGnu>
<useXO>2</useXO>
<v6Lang>0</v6Lang>
<v6LangP>0</v6LangP>
<vShortEn>2</vShortEn>
<vShortWch>2</vShortWch>
<v6Lto>2</v6Lto>
<v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads>
</FileArmAds>
</FileOption>
</File>
<File> <File>
<FileName>stm32f4xx_it.c</FileName> <FileName>stm32f4xx_it.c</FileName>
<FileType>1</FileType> <FileType>1</FileType>
@ -522,23 +463,53 @@
</File> </File>
</Files> </Files>
</Group> </Group>
<Group>
<GroupName>Application/User/USB_DEVICE/App</GroupName>
<Files>
<File>
<FileName>usb_device.c</FileName>
<FileType>1</FileType>
<FilePath>../USB_DEVICE/App/usb_device.c</FilePath>
</File>
<File>
<FileName>usbd_desc.c</FileName>
<FileType>1</FileType>
<FilePath>../USB_DEVICE/App/usbd_desc.c</FilePath>
</File>
<File>
<FileName>usbd_cdc_if.c</FileName>
<FileType>1</FileType>
<FilePath>../USB_DEVICE/App/usbd_cdc_if.c</FilePath>
</File>
</Files>
</Group>
<Group>
<GroupName>Application/User/USB_DEVICE/Target</GroupName>
<Files>
<File>
<FileName>usbd_conf.c</FileName>
<FileType>1</FileType>
<FilePath>../USB_DEVICE/Target/usbd_conf.c</FilePath>
</File>
</Files>
</Group>
<Group> <Group>
<GroupName>Drivers/STM32F4xx_HAL_Driver</GroupName> <GroupName>Drivers/STM32F4xx_HAL_Driver</GroupName>
<Files> <Files>
<File> <File>
<FileName>stm32f4xx_hal_adc.c</FileName> <FileName>stm32f4xx_hal_pcd.c</FileName>
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c</FilePath> <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd.c</FilePath>
</File> </File>
<File> <File>
<FileName>stm32f4xx_hal_adc_ex.c</FileName> <FileName>stm32f4xx_hal_pcd_ex.c</FileName>
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c</FilePath> <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd_ex.c</FilePath>
</File> </File>
<File> <File>
<FileName>stm32f4xx_ll_adc.c</FileName> <FileName>stm32f4xx_ll_usb.c</FileName>
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_adc.c</FilePath> <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c</FilePath>
</File> </File>
<File> <File>
<FileName>stm32f4xx_hal_rcc.c</FileName> <FileName>stm32f4xx_hal_rcc.c</FileName>
@ -605,6 +576,21 @@
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c</FilePath> <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c</FilePath>
</File> </File>
<File>
<FileName>stm32f4xx_hal_adc.c</FileName>
<FileType>1</FileType>
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c</FilePath>
</File>
<File>
<FileName>stm32f4xx_hal_adc_ex.c</FileName>
<FileType>1</FileType>
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c</FilePath>
</File>
<File>
<FileName>stm32f4xx_ll_adc.c</FileName>
<FileType>1</FileType>
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_adc.c</FilePath>
</File>
<File> <File>
<FileName>stm32f4xx_hal_can.c</FileName> <FileName>stm32f4xx_hal_can.c</FileName>
<FileType>1</FileType> <FileType>1</FileType>
@ -650,21 +636,6 @@
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c</FilePath> <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c</FilePath>
</File> </File>
<File>
<FileName>stm32f4xx_hal_pcd.c</FileName>
<FileType>1</FileType>
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd.c</FilePath>
</File>
<File>
<FileName>stm32f4xx_hal_pcd_ex.c</FileName>
<FileType>1</FileType>
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd_ex.c</FilePath>
</File>
<File>
<FileName>stm32f4xx_ll_usb.c</FileName>
<FileType>1</FileType>
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c</FilePath>
</File>
</Files> </Files>
</Group> </Group>
<Group> <Group>
@ -732,6 +703,31 @@
</File> </File>
</Files> </Files>
</Group> </Group>
<Group>
<GroupName>Middlewares/USB_Device_Library</GroupName>
<Files>
<File>
<FileName>usbd_core.c</FileName>
<FileType>1</FileType>
<FilePath>../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c</FilePath>
</File>
<File>
<FileName>usbd_ctlreq.c</FileName>
<FileType>1</FileType>
<FilePath>../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c</FilePath>
</File>
<File>
<FileName>usbd_ioreq.c</FileName>
<FileType>1</FileType>
<FilePath>../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c</FilePath>
</File>
<File>
<FileName>usbd_cdc.c</FileName>
<FileType>1</FileType>
<FilePath>../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c</FilePath>
</File>
</Files>
</Group>
<Group> <Group>
<GroupName>User/bsp</GroupName> <GroupName>User/bsp</GroupName>
<Files> <Files>
@ -923,20 +919,18 @@
</Groups> </Groups>
</Target> </Target>
</Targets> </Targets>
<RTE> <RTE>
<apis/> <apis />
<components> <components>
<component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="6.1.0" condition="ARMv6_7_8-M Device"> <component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="6.1.0" condition="ARMv6_7_8-M Device">
<package name="CMSIS" schemaVersion="1.7.36" url="https://www.keil.com/pack/" vendor="ARM" version="6.1.0"/> <package name="CMSIS" schemaVersion="1.7.36" url="https://www.keil.com/pack/" vendor="ARM" version="6.1.0" />
<targetInfos> <targetInfos>
<targetInfo name="DevC"/> <targetInfo name="DevC" />
</targetInfos> </targetInfos>
</component> </component>
</components> </components>
<files/> <files />
</RTE> </RTE>
<LayerInfo> <LayerInfo>
<Layers> <Layers>
<Layer> <Layer>
@ -945,5 +939,5 @@
</Layer> </Layer>
</Layers> </Layers>
</LayerInfo> </LayerInfo>
</Project> </Project>

21
MDK-ARM/DevC/DevC.lnp
View File

@ -12,12 +12,15 @@
"devc\spi.o" "devc\spi.o"
"devc\tim.o" "devc\tim.o"
"devc\usart.o" "devc\usart.o"
"devc\usb_otg.o"
"devc\stm32f4xx_it.o" "devc\stm32f4xx_it.o"
"devc\stm32f4xx_hal_msp.o" "devc\stm32f4xx_hal_msp.o"
"devc\stm32f4xx_hal_adc.o" "devc\usb_device.o"
"devc\stm32f4xx_hal_adc_ex.o" "devc\usbd_desc.o"
"devc\stm32f4xx_ll_adc.o" "devc\usbd_cdc_if.o"
"devc\usbd_conf.o"
"devc\stm32f4xx_hal_pcd.o"
"devc\stm32f4xx_hal_pcd_ex.o"
"devc\stm32f4xx_ll_usb.o"
"devc\stm32f4xx_hal_rcc.o" "devc\stm32f4xx_hal_rcc.o"
"devc\stm32f4xx_hal_rcc_ex.o" "devc\stm32f4xx_hal_rcc_ex.o"
"devc\stm32f4xx_hal_flash.o" "devc\stm32f4xx_hal_flash.o"
@ -31,6 +34,9 @@
"devc\stm32f4xx_hal_cortex.o" "devc\stm32f4xx_hal_cortex.o"
"devc\stm32f4xx_hal.o" "devc\stm32f4xx_hal.o"
"devc\stm32f4xx_hal_exti.o" "devc\stm32f4xx_hal_exti.o"
"devc\stm32f4xx_hal_adc.o"
"devc\stm32f4xx_hal_adc_ex.o"
"devc\stm32f4xx_ll_adc.o"
"devc\stm32f4xx_hal_can.o" "devc\stm32f4xx_hal_can.o"
"devc\stm32f4xx_hal_crc.o" "devc\stm32f4xx_hal_crc.o"
"devc\stm32f4xx_hal_i2c.o" "devc\stm32f4xx_hal_i2c.o"
@ -40,9 +46,6 @@
"devc\stm32f4xx_hal_tim.o" "devc\stm32f4xx_hal_tim.o"
"devc\stm32f4xx_hal_tim_ex.o" "devc\stm32f4xx_hal_tim_ex.o"
"devc\stm32f4xx_hal_uart.o" "devc\stm32f4xx_hal_uart.o"
"devc\stm32f4xx_hal_pcd.o"
"devc\stm32f4xx_hal_pcd_ex.o"
"devc\stm32f4xx_ll_usb.o"
"devc\system_stm32f4xx.o" "devc\system_stm32f4xx.o"
"devc\croutine.o" "devc\croutine.o"
"devc\event_groups.o" "devc\event_groups.o"
@ -54,6 +57,10 @@
"devc\cmsis_os2.o" "devc\cmsis_os2.o"
"devc\heap_4.o" "devc\heap_4.o"
"devc\port.o" "devc\port.o"
"devc\usbd_core.o"
"devc\usbd_ctlreq.o"
"devc\usbd_ioreq.o"
"devc\usbd_cdc.o"
"devc\can_1.o" "devc\can_1.o"
"devc\dwt.o" "devc\dwt.o"
"devc\gpio_1.o" "devc\gpio_1.o"

187
Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc/usbd_cdc.h Normal file
View File

@ -0,0 +1,187 @@
/**
******************************************************************************
* @file usbd_cdc.h
* @author MCD Application Team
* @brief header file for the usbd_cdc.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 __USB_CDC_H
#define __USB_CDC_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "usbd_ioreq.h"
/** @addtogroup STM32_USB_DEVICE_LIBRARY
* @{
*/
/** @defgroup usbd_cdc
* @brief This file is the Header file for usbd_cdc.c
* @{
*/
/** @defgroup usbd_cdc_Exported_Defines
* @{
*/
#ifndef CDC_IN_EP
#define CDC_IN_EP 0x81U /* EP1 for data IN */
#endif /* CDC_IN_EP */
#ifndef CDC_OUT_EP
#define CDC_OUT_EP 0x01U /* EP1 for data OUT */
#endif /* CDC_OUT_EP */
#ifndef CDC_CMD_EP
#define CDC_CMD_EP 0x82U /* EP2 for CDC commands */
#endif /* CDC_CMD_EP */
#ifndef CDC_HS_BINTERVAL
#define CDC_HS_BINTERVAL 0x10U
#endif /* CDC_HS_BINTERVAL */
#ifndef CDC_FS_BINTERVAL
#define CDC_FS_BINTERVAL 0x10U
#endif /* CDC_FS_BINTERVAL */
#ifndef CDC_CMD_PACKET_SIZE
#define CDC_CMD_PACKET_SIZE 8U /* Control Endpoint Packet size */
#endif /* CDC_CMD_PACKET_SIZE */
/* CDC Endpoints parameters: you can fine tune these values depending on the needed baudrates and performance. */
#define CDC_DATA_HS_MAX_PACKET_SIZE 512U /* Endpoint IN & OUT Packet size */
#define CDC_DATA_FS_MAX_PACKET_SIZE 64U /* Endpoint IN & OUT Packet size */
#define USB_CDC_CONFIG_DESC_SIZ 67U
#define CDC_DATA_HS_IN_PACKET_SIZE CDC_DATA_HS_MAX_PACKET_SIZE
#define CDC_DATA_HS_OUT_PACKET_SIZE CDC_DATA_HS_MAX_PACKET_SIZE
#define CDC_DATA_FS_IN_PACKET_SIZE CDC_DATA_FS_MAX_PACKET_SIZE
#define CDC_DATA_FS_OUT_PACKET_SIZE CDC_DATA_FS_MAX_PACKET_SIZE
#define CDC_REQ_MAX_DATA_SIZE 0x7U
/*---------------------------------------------------------------------*/
/* CDC definitions */
/*---------------------------------------------------------------------*/
#define CDC_SEND_ENCAPSULATED_COMMAND 0x00U
#define CDC_GET_ENCAPSULATED_RESPONSE 0x01U
#define CDC_SET_COMM_FEATURE 0x02U
#define CDC_GET_COMM_FEATURE 0x03U
#define CDC_CLEAR_COMM_FEATURE 0x04U
#define CDC_SET_LINE_CODING 0x20U
#define CDC_GET_LINE_CODING 0x21U
#define CDC_SET_CONTROL_LINE_STATE 0x22U
#define CDC_SEND_BREAK 0x23U
/**
* @}
*/
/** @defgroup USBD_CORE_Exported_TypesDefinitions
* @{
*/
/**
* @}
*/
typedef struct
{
uint32_t bitrate;
uint8_t format;
uint8_t paritytype;
uint8_t datatype;
} USBD_CDC_LineCodingTypeDef;
typedef struct _USBD_CDC_Itf
{
int8_t (* Init)(void);
int8_t (* DeInit)(void);
int8_t (* Control)(uint8_t cmd, uint8_t *pbuf, uint16_t length);
int8_t (* Receive)(uint8_t *Buf, uint32_t *Len);
int8_t (* TransmitCplt)(uint8_t *Buf, uint32_t *Len, uint8_t epnum);
} USBD_CDC_ItfTypeDef;
typedef struct
{
uint32_t data[CDC_DATA_HS_MAX_PACKET_SIZE / 4U]; /* Force 32-bit alignment */
uint8_t CmdOpCode;
uint8_t CmdLength;
uint8_t *RxBuffer;
uint8_t *TxBuffer;
uint32_t RxLength;
uint32_t TxLength;
__IO uint32_t TxState;
__IO uint32_t RxState;
} USBD_CDC_HandleTypeDef;
/** @defgroup USBD_CORE_Exported_Macros
* @{
*/
/**
* @}
*/
/** @defgroup USBD_CORE_Exported_Variables
* @{
*/
extern USBD_ClassTypeDef USBD_CDC;
#define USBD_CDC_CLASS &USBD_CDC
/**
* @}
*/
/** @defgroup USB_CORE_Exported_Functions
* @{
*/
uint8_t USBD_CDC_RegisterInterface(USBD_HandleTypeDef *pdev,
USBD_CDC_ItfTypeDef *fops);
#ifdef USE_USBD_COMPOSITE
uint8_t USBD_CDC_SetTxBuffer(USBD_HandleTypeDef *pdev, uint8_t *pbuff,
uint32_t length, uint8_t ClassId);
uint8_t USBD_CDC_TransmitPacket(USBD_HandleTypeDef *pdev, uint8_t ClassId);
#else
uint8_t USBD_CDC_SetTxBuffer(USBD_HandleTypeDef *pdev, uint8_t *pbuff,
uint32_t length);
uint8_t USBD_CDC_TransmitPacket(USBD_HandleTypeDef *pdev);
#endif /* USE_USBD_COMPOSITE */
uint8_t USBD_CDC_SetRxBuffer(USBD_HandleTypeDef *pdev, uint8_t *pbuff);
uint8_t USBD_CDC_ReceivePacket(USBD_HandleTypeDef *pdev);
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* __USB_CDC_H */
/**
* @}
*/
/**
* @}
*/

893
Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c Normal file
View File

@ -0,0 +1,893 @@
/**
******************************************************************************
* @file usbd_cdc.c
* @author MCD Application Team
* @brief This file provides the high layer firmware functions to manage the
* following functionalities of the USB CDC Class:
* - Initialization and Configuration of high and low layer
* - Enumeration as CDC Device (and enumeration for each implemented memory interface)
* - OUT/IN data transfer
* - Command IN transfer (class requests management)
* - Error management
*
******************************************************************************
* @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.
*
******************************************************************************
* @verbatim
*
* ===================================================================
* CDC Class Driver Description
* ===================================================================
* This driver manages the "Universal Serial Bus Class Definitions for Communications Devices
* Revision 1.2 November 16, 2007" and the sub-protocol specification of "Universal Serial Bus
* Communications Class Subclass Specification for PSTN Devices Revision 1.2 February 9, 2007"
* This driver implements the following aspects of the specification:
* - Device descriptor management
* - Configuration descriptor management
* - Enumeration as CDC device with 2 data endpoints (IN and OUT) and 1 command endpoint (IN)
* - Requests management (as described in section 6.2 in specification)
* - Abstract Control Model compliant
* - Union Functional collection (using 1 IN endpoint for control)
* - Data interface class
*
* These aspects may be enriched or modified for a specific user application.
*
* This driver doesn't implement the following aspects of the specification
* (but it is possible to manage these features with some modifications on this driver):
* - Any class-specific aspect relative to communication classes should be managed by user application.
* - All communication classes other than PSTN are not managed
*
* @endverbatim
*
******************************************************************************
*/
/* BSPDependencies
- "stm32xxxxx_{eval}{discovery}{nucleo_144}.c"
- "stm32xxxxx_{eval}{discovery}_io.c"
EndBSPDependencies */
/* Includes ------------------------------------------------------------------*/
#include "usbd_cdc.h"
#include "usbd_ctlreq.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 uint8_t USBD_CDC_Init(USBD_HandleTypeDef *pdev, uint8_t cfgidx);
static uint8_t USBD_CDC_DeInit(USBD_HandleTypeDef *pdev, uint8_t cfgidx);
static uint8_t USBD_CDC_Setup(USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req);
static uint8_t USBD_CDC_DataIn(USBD_HandleTypeDef *pdev, uint8_t epnum);
static uint8_t USBD_CDC_DataOut(USBD_HandleTypeDef *pdev, uint8_t epnum);
static uint8_t USBD_CDC_EP0_RxReady(USBD_HandleTypeDef *pdev);
#ifndef USE_USBD_COMPOSITE
static uint8_t *USBD_CDC_GetFSCfgDesc(uint16_t *length);
static uint8_t *USBD_CDC_GetHSCfgDesc(uint16_t *length);
static uint8_t *USBD_CDC_GetOtherSpeedCfgDesc(uint16_t *length);
uint8_t *USBD_CDC_GetDeviceQualifierDescriptor(uint16_t *length);
#endif /* USE_USBD_COMPOSITE */
#ifndef USE_USBD_COMPOSITE
/* USB Standard Device Descriptor */
__ALIGN_BEGIN static uint8_t USBD_CDC_DeviceQualifierDesc[USB_LEN_DEV_QUALIFIER_DESC] __ALIGN_END =
{
USB_LEN_DEV_QUALIFIER_DESC,
USB_DESC_TYPE_DEVICE_QUALIFIER,
0x00,
0x02,
0x00,
0x00,
0x00,
0x40,
0x01,
0x00,
};
#endif /* USE_USBD_COMPOSITE */
/**
* @}
*/
/** @defgroup USBD_CDC_Private_Variables
* @{
*/
/* CDC interface class callbacks structure */
USBD_ClassTypeDef USBD_CDC =
{
USBD_CDC_Init,
USBD_CDC_DeInit,
USBD_CDC_Setup,
NULL, /* EP0_TxSent */
USBD_CDC_EP0_RxReady,
USBD_CDC_DataIn,
USBD_CDC_DataOut,
NULL,
NULL,
NULL,
#ifdef USE_USBD_COMPOSITE
NULL,
NULL,
NULL,
NULL,
#else
USBD_CDC_GetHSCfgDesc,
USBD_CDC_GetFSCfgDesc,
USBD_CDC_GetOtherSpeedCfgDesc,
USBD_CDC_GetDeviceQualifierDescriptor,
#endif /* USE_USBD_COMPOSITE */
};
#ifndef USE_USBD_COMPOSITE
/* USB CDC device Configuration Descriptor */
__ALIGN_BEGIN static uint8_t USBD_CDC_CfgDesc[USB_CDC_CONFIG_DESC_SIZ] __ALIGN_END =
{
/* Configuration Descriptor */
0x09, /* bLength: Configuration Descriptor size */
USB_DESC_TYPE_CONFIGURATION, /* bDescriptorType: Configuration */
USB_CDC_CONFIG_DESC_SIZ, /* wTotalLength */
0x00,
0x02, /* bNumInterfaces: 2 interfaces */
0x01, /* bConfigurationValue: Configuration value */
0x00, /* iConfiguration: Index of string descriptor
describing the configuration */
#if (USBD_SELF_POWERED == 1U)
0xC0, /* bmAttributes: Bus Powered according to user configuration */
#else
0x80, /* bmAttributes: Bus Powered according to user configuration */
#endif /* USBD_SELF_POWERED */
USBD_MAX_POWER, /* MaxPower (mA) */
/*---------------------------------------------------------------------------*/
/* Interface Descriptor */
0x09, /* bLength: Interface Descriptor size */
USB_DESC_TYPE_INTERFACE, /* bDescriptorType: Interface */
/* Interface descriptor type */
0x00, /* bInterfaceNumber: Number of Interface */
0x00, /* bAlternateSetting: Alternate setting */
0x01, /* bNumEndpoints: One endpoint used */
0x02, /* bInterfaceClass: Communication Interface Class */
0x02, /* bInterfaceSubClass: Abstract Control Model */
0x01, /* bInterfaceProtocol: Common AT commands */
0x00, /* iInterface */
/* Header Functional Descriptor */
0x05, /* bLength: Endpoint Descriptor size */
0x24, /* bDescriptorType: CS_INTERFACE */
0x00, /* bDescriptorSubtype: Header Func Desc */
0x10, /* bcdCDC: spec release number */
0x01,
/* Call Management Functional Descriptor */
0x05, /* bFunctionLength */
0x24, /* bDescriptorType: CS_INTERFACE */
0x01, /* bDescriptorSubtype: Call Management Func Desc */
0x00, /* bmCapabilities: D0+D1 */
0x01, /* bDataInterface */
/* ACM Functional Descriptor */
0x04, /* bFunctionLength */
0x24, /* bDescriptorType: CS_INTERFACE */
0x02, /* bDescriptorSubtype: Abstract Control Management desc */
0x02, /* bmCapabilities */
/* Union Functional Descriptor */
0x05, /* bFunctionLength */
0x24, /* bDescriptorType: CS_INTERFACE */
0x06, /* bDescriptorSubtype: Union func desc */
0x00, /* bMasterInterface: Communication class interface */
0x01, /* bSlaveInterface0: Data Class Interface */
/* Endpoint 2 Descriptor */
0x07, /* bLength: Endpoint Descriptor size */
USB_DESC_TYPE_ENDPOINT, /* bDescriptorType: Endpoint */
CDC_CMD_EP, /* bEndpointAddress */
0x03, /* bmAttributes: Interrupt */
LOBYTE(CDC_CMD_PACKET_SIZE), /* wMaxPacketSize */
HIBYTE(CDC_CMD_PACKET_SIZE),
CDC_FS_BINTERVAL, /* bInterval */
/*---------------------------------------------------------------------------*/
/* Data class interface descriptor */
0x09, /* bLength: Endpoint Descriptor size */
USB_DESC_TYPE_INTERFACE, /* bDescriptorType: */
0x01, /* bInterfaceNumber: Number of Interface */
0x00, /* bAlternateSetting: Alternate setting */
0x02, /* bNumEndpoints: Two endpoints used */
0x0A, /* bInterfaceClass: CDC */
0x00, /* bInterfaceSubClass */
0x00, /* bInterfaceProtocol */
0x00, /* iInterface */
/* Endpoint OUT Descriptor */
0x07, /* bLength: Endpoint Descriptor size */
USB_DESC_TYPE_ENDPOINT, /* bDescriptorType: Endpoint */
CDC_OUT_EP, /* bEndpointAddress */
0x02, /* bmAttributes: Bulk */
LOBYTE(CDC_DATA_FS_MAX_PACKET_SIZE), /* wMaxPacketSize */
HIBYTE(CDC_DATA_FS_MAX_PACKET_SIZE),
0x00, /* bInterval */
/* Endpoint IN Descriptor */
0x07, /* bLength: Endpoint Descriptor size */
USB_DESC_TYPE_ENDPOINT, /* bDescriptorType: Endpoint */
CDC_IN_EP, /* bEndpointAddress */
0x02, /* bmAttributes: Bulk */
LOBYTE(CDC_DATA_FS_MAX_PACKET_SIZE), /* wMaxPacketSize */
HIBYTE(CDC_DATA_FS_MAX_PACKET_SIZE),
0x00 /* bInterval */
};
#endif /* USE_USBD_COMPOSITE */
static uint8_t CDCInEpAdd = CDC_IN_EP;
static uint8_t CDCOutEpAdd = CDC_OUT_EP;
static uint8_t CDCCmdEpAdd = CDC_CMD_EP;
/**
* @}
*/
/** @defgroup USBD_CDC_Private_Functions
* @{
*/
/**
* @brief USBD_CDC_Init
* Initialize the CDC interface
* @param pdev: device instance
* @param cfgidx: Configuration index
* @retval status
*/
static uint8_t USBD_CDC_Init(USBD_HandleTypeDef *pdev, uint8_t cfgidx)
{
UNUSED(cfgidx);
USBD_CDC_HandleTypeDef *hcdc;
hcdc = (USBD_CDC_HandleTypeDef *)USBD_malloc(sizeof(USBD_CDC_HandleTypeDef));
if (hcdc == NULL)
{
pdev->pClassDataCmsit[pdev->classId] = NULL;
return (uint8_t)USBD_EMEM;
}
(void)USBD_memset(hcdc, 0, sizeof(USBD_CDC_HandleTypeDef));
pdev->pClassDataCmsit[pdev->classId] = (void *)hcdc;
pdev->pClassData = pdev->pClassDataCmsit[pdev->classId];
#ifdef USE_USBD_COMPOSITE
/* Get the Endpoints addresses allocated for this class instance */
CDCInEpAdd = USBD_CoreGetEPAdd(pdev, USBD_EP_IN, USBD_EP_TYPE_BULK, (uint8_t)pdev->classId);
CDCOutEpAdd = USBD_CoreGetEPAdd(pdev, USBD_EP_OUT, USBD_EP_TYPE_BULK, (uint8_t)pdev->classId);
CDCCmdEpAdd = USBD_CoreGetEPAdd(pdev, USBD_EP_IN, USBD_EP_TYPE_INTR, (uint8_t)pdev->classId);
#endif /* USE_USBD_COMPOSITE */
if (pdev->dev_speed == USBD_SPEED_HIGH)
{
/* Open EP IN */
(void)USBD_LL_OpenEP(pdev, CDCInEpAdd, USBD_EP_TYPE_BULK,
CDC_DATA_HS_IN_PACKET_SIZE);
pdev->ep_in[CDCInEpAdd & 0xFU].is_used = 1U;
/* Open EP OUT */
(void)USBD_LL_OpenEP(pdev, CDCOutEpAdd, USBD_EP_TYPE_BULK,
CDC_DATA_HS_OUT_PACKET_SIZE);
pdev->ep_out[CDCOutEpAdd & 0xFU].is_used = 1U;
/* Set bInterval for CDC CMD Endpoint */
pdev->ep_in[CDCCmdEpAdd & 0xFU].bInterval = CDC_HS_BINTERVAL;
}
else
{
/* Open EP IN */
(void)USBD_LL_OpenEP(pdev, CDCInEpAdd, USBD_EP_TYPE_BULK,
CDC_DATA_FS_IN_PACKET_SIZE);
pdev->ep_in[CDCInEpAdd & 0xFU].is_used = 1U;
/* Open EP OUT */
(void)USBD_LL_OpenEP(pdev, CDCOutEpAdd, USBD_EP_TYPE_BULK,
CDC_DATA_FS_OUT_PACKET_SIZE);
pdev->ep_out[CDCOutEpAdd & 0xFU].is_used = 1U;
/* Set bInterval for CMD Endpoint */
pdev->ep_in[CDCCmdEpAdd & 0xFU].bInterval = CDC_FS_BINTERVAL;
}
/* Open Command IN EP */
(void)USBD_LL_OpenEP(pdev, CDCCmdEpAdd, USBD_EP_TYPE_INTR, CDC_CMD_PACKET_SIZE);
pdev->ep_in[CDCCmdEpAdd & 0xFU].is_used = 1U;
hcdc->RxBuffer = NULL;
/* Init physical Interface components */
((USBD_CDC_ItfTypeDef *)pdev->pUserData[pdev->classId])->Init();
/* Init Xfer states */
hcdc->TxState = 0U;
hcdc->RxState = 0U;
if (hcdc->RxBuffer == NULL)
{
return (uint8_t)USBD_EMEM;
}
if (pdev->dev_speed == USBD_SPEED_HIGH)
{
/* Prepare Out endpoint to receive next packet */
(void)USBD_LL_PrepareReceive(pdev, CDCOutEpAdd, hcdc->RxBuffer,
CDC_DATA_HS_OUT_PACKET_SIZE);
}
else
{
/* Prepare Out endpoint to receive next packet */
(void)USBD_LL_PrepareReceive(pdev, CDCOutEpAdd, hcdc->RxBuffer,
CDC_DATA_FS_OUT_PACKET_SIZE);
}
return (uint8_t)USBD_OK;
}
/**
* @brief USBD_CDC_Init
* DeInitialize the CDC layer
* @param pdev: device instance
* @param cfgidx: Configuration index
* @retval status
*/
static uint8_t USBD_CDC_DeInit(USBD_HandleTypeDef *pdev, uint8_t cfgidx)
{
UNUSED(cfgidx);
#ifdef USE_USBD_COMPOSITE
/* Get the Endpoints addresses allocated for this CDC class instance */
CDCInEpAdd = USBD_CoreGetEPAdd(pdev, USBD_EP_IN, USBD_EP_TYPE_BULK, (uint8_t)pdev->classId);
CDCOutEpAdd = USBD_CoreGetEPAdd(pdev, USBD_EP_OUT, USBD_EP_TYPE_BULK, (uint8_t)pdev->classId);
CDCCmdEpAdd = USBD_CoreGetEPAdd(pdev, USBD_EP_IN, USBD_EP_TYPE_INTR, (uint8_t)pdev->classId);
#endif /* USE_USBD_COMPOSITE */
/* Close EP IN */
(void)USBD_LL_CloseEP(pdev, CDCInEpAdd);
pdev->ep_in[CDCInEpAdd & 0xFU].is_used = 0U;
/* Close EP OUT */
(void)USBD_LL_CloseEP(pdev, CDCOutEpAdd);
pdev->ep_out[CDCOutEpAdd & 0xFU].is_used = 0U;
/* Close Command IN EP */
(void)USBD_LL_CloseEP(pdev, CDCCmdEpAdd);
pdev->ep_in[CDCCmdEpAdd & 0xFU].is_used = 0U;
pdev->ep_in[CDCCmdEpAdd & 0xFU].bInterval = 0U;
/* DeInit physical Interface components */
if (pdev->pClassDataCmsit[pdev->classId] != NULL)
{
((USBD_CDC_ItfTypeDef *)pdev->pUserData[pdev->classId])->DeInit();
(void)USBD_free(pdev->pClassDataCmsit[pdev->classId]);
pdev->pClassDataCmsit[pdev->classId] = NULL;
pdev->pClassData = NULL;
}
return (uint8_t)USBD_OK;
}
/**
* @brief USBD_CDC_Setup
* Handle the CDC specific requests
* @param pdev: instance
* @param req: usb requests
* @retval status
*/
static uint8_t USBD_CDC_Setup(USBD_HandleTypeDef *pdev,
USBD_SetupReqTypedef *req)
{
USBD_CDC_HandleTypeDef *hcdc = (USBD_CDC_HandleTypeDef *)pdev->pClassDataCmsit[pdev->classId];
uint16_t len;
uint8_t ifalt = 0U;
uint16_t status_info = 0U;
USBD_StatusTypeDef ret = USBD_OK;
if (hcdc == NULL)
{
return (uint8_t)USBD_FAIL;
}
switch (req->bmRequest & USB_REQ_TYPE_MASK)
{
case USB_REQ_TYPE_CLASS:
if (req->wLength != 0U)
{
if ((req->bmRequest & 0x80U) != 0U)
{
((USBD_CDC_ItfTypeDef *)pdev->pUserData[pdev->classId])->Control(req->bRequest,
(uint8_t *)hcdc->data,
req->wLength);
len = MIN(CDC_REQ_MAX_DATA_SIZE, req->wLength);
(void)USBD_CtlSendData(pdev, (uint8_t *)hcdc->data, len);
}
else
{
hcdc->CmdOpCode = req->bRequest;
hcdc->CmdLength = (uint8_t)MIN(req->wLength, USB_MAX_EP0_SIZE);
(void)USBD_CtlPrepareRx(pdev, (uint8_t *)hcdc->data, hcdc->CmdLength);
}
}
else
{
((USBD_CDC_ItfTypeDef *)pdev->pUserData[pdev->classId])->Control(req->bRequest,
(uint8_t *)req, 0U);
}
break;
case USB_REQ_TYPE_STANDARD:
switch (req->bRequest)
{
case USB_REQ_GET_STATUS:
if (pdev->dev_state == USBD_STATE_CONFIGURED)
{
(void)USBD_CtlSendData(pdev, (uint8_t *)&status_info, 2U);
}
else
{
USBD_CtlError(pdev, req);
ret = USBD_FAIL;
}
break;
case USB_REQ_GET_INTERFACE:
if (pdev->dev_state == USBD_STATE_CONFIGURED)
{
(void)USBD_CtlSendData(pdev, &ifalt, 1U);
}
else
{
USBD_CtlError(pdev, req);
ret = USBD_FAIL;
}
break;
case USB_REQ_SET_INTERFACE:
if (pdev->dev_state != USBD_STATE_CONFIGURED)
{
USBD_CtlError(pdev, req);
ret = USBD_FAIL;
}
break;
case USB_REQ_CLEAR_FEATURE:
break;
default:
USBD_CtlError(pdev, req);
ret = USBD_FAIL;
break;
}
break;
default:
USBD_CtlError(pdev, req);
ret = USBD_FAIL;
break;
}
return (uint8_t)ret;
}
/**
* @brief USBD_CDC_DataIn
* Data sent on non-control IN endpoint
* @param pdev: device instance
* @param epnum: endpoint number
* @retval status
*/
static uint8_t USBD_CDC_DataIn(USBD_HandleTypeDef *pdev, uint8_t epnum)
{
USBD_CDC_HandleTypeDef *hcdc;
PCD_HandleTypeDef *hpcd = (PCD_HandleTypeDef *)pdev->pData;
if (pdev->pClassDataCmsit[pdev->classId] == NULL)
{
return (uint8_t)USBD_FAIL;
}
hcdc = (USBD_CDC_HandleTypeDef *)pdev->pClassDataCmsit[pdev->classId];
if ((pdev->ep_in[epnum & 0xFU].total_length > 0U) &&
((pdev->ep_in[epnum & 0xFU].total_length % hpcd->IN_ep[epnum & 0xFU].maxpacket) == 0U))
{
/* Update the packet total length */
pdev->ep_in[epnum & 0xFU].total_length = 0U;
/* Send ZLP */
(void)USBD_LL_Transmit(pdev, epnum, NULL, 0U);
}
else
{
hcdc->TxState = 0U;
if (((USBD_CDC_ItfTypeDef *)pdev->pUserData[pdev->classId])->TransmitCplt != NULL)
{
((USBD_CDC_ItfTypeDef *)pdev->pUserData[pdev->classId])->TransmitCplt(hcdc->TxBuffer, &hcdc->TxLength, epnum);
}
}
return (uint8_t)USBD_OK;
}
/**
* @brief USBD_CDC_DataOut
* Data received on non-control Out endpoint
* @param pdev: device instance
* @param epnum: endpoint number
* @retval status
*/
static uint8_t USBD_CDC_DataOut(USBD_HandleTypeDef *pdev, uint8_t epnum)
{
USBD_CDC_HandleTypeDef *hcdc = (USBD_CDC_HandleTypeDef *)pdev->pClassDataCmsit[pdev->classId];
if (pdev->pClassDataCmsit[pdev->classId] == NULL)
{
return (uint8_t)USBD_FAIL;
}
/* Get the received data length */
hcdc->RxLength = USBD_LL_GetRxDataSize(pdev, epnum);
/* USB data will be immediately processed, this allow next USB traffic being
NAKed till the end of the application Xfer */
((USBD_CDC_ItfTypeDef *)pdev->pUserData[pdev->classId])->Receive(hcdc->RxBuffer, &hcdc->RxLength);
return (uint8_t)USBD_OK;
}
/**
* @brief USBD_CDC_EP0_RxReady
* Handle EP0 Rx Ready event
* @param pdev: device instance
* @retval status
*/
static uint8_t USBD_CDC_EP0_RxReady(USBD_HandleTypeDef *pdev)
{
USBD_CDC_HandleTypeDef *hcdc = (USBD_CDC_HandleTypeDef *)pdev->pClassDataCmsit[pdev->classId];
if (hcdc == NULL)
{
return (uint8_t)USBD_FAIL;
}
if ((pdev->pUserData[pdev->classId] != NULL) && (hcdc->CmdOpCode != 0xFFU))
{
((USBD_CDC_ItfTypeDef *)pdev->pUserData[pdev->classId])->Control(hcdc->CmdOpCode,
(uint8_t *)hcdc->data,
(uint16_t)hcdc->CmdLength);
hcdc->CmdOpCode = 0xFFU;
}
return (uint8_t)USBD_OK;
}
#ifndef USE_USBD_COMPOSITE
/**
* @brief USBD_CDC_GetFSCfgDesc
* Return configuration descriptor
* @param length : pointer data length
* @retval pointer to descriptor buffer
*/
static uint8_t *USBD_CDC_GetFSCfgDesc(uint16_t *length)
{
USBD_EpDescTypeDef *pEpCmdDesc = USBD_GetEpDesc(USBD_CDC_CfgDesc, CDC_CMD_EP);
USBD_EpDescTypeDef *pEpOutDesc = USBD_GetEpDesc(USBD_CDC_CfgDesc, CDC_OUT_EP);
USBD_EpDescTypeDef *pEpInDesc = USBD_GetEpDesc(USBD_CDC_CfgDesc, CDC_IN_EP);
if (pEpCmdDesc != NULL)
{
pEpCmdDesc->bInterval = CDC_FS_BINTERVAL;
}
if (pEpOutDesc != NULL)
{
pEpOutDesc->wMaxPacketSize = CDC_DATA_FS_MAX_PACKET_SIZE;
}
if (pEpInDesc != NULL)
{
pEpInDesc->wMaxPacketSize = CDC_DATA_FS_MAX_PACKET_SIZE;
}
*length = (uint16_t)sizeof(USBD_CDC_CfgDesc);
return USBD_CDC_CfgDesc;
}
/**
* @brief USBD_CDC_GetHSCfgDesc
* Return configuration descriptor
* @param length : pointer data length
* @retval pointer to descriptor buffer
*/
static uint8_t *USBD_CDC_GetHSCfgDesc(uint16_t *length)
{
USBD_EpDescTypeDef *pEpCmdDesc = USBD_GetEpDesc(USBD_CDC_CfgDesc, CDC_CMD_EP);
USBD_EpDescTypeDef *pEpOutDesc = USBD_GetEpDesc(USBD_CDC_CfgDesc, CDC_OUT_EP);
USBD_EpDescTypeDef *pEpInDesc = USBD_GetEpDesc(USBD_CDC_CfgDesc, CDC_IN_EP);
if (pEpCmdDesc != NULL)
{
pEpCmdDesc->bInterval = CDC_HS_BINTERVAL;
}
if (pEpOutDesc != NULL)
{
pEpOutDesc->wMaxPacketSize = CDC_DATA_HS_MAX_PACKET_SIZE;
}
if (pEpInDesc != NULL)
{
pEpInDesc->wMaxPacketSize = CDC_DATA_HS_MAX_PACKET_SIZE;
}
*length = (uint16_t)sizeof(USBD_CDC_CfgDesc);
return USBD_CDC_CfgDesc;
}
/**
* @brief USBD_CDC_GetOtherSpeedCfgDesc
* Return configuration descriptor
* @param length : pointer data length
* @retval pointer to descriptor buffer
*/
static uint8_t *USBD_CDC_GetOtherSpeedCfgDesc(uint16_t *length)
{
USBD_EpDescTypeDef *pEpCmdDesc = USBD_GetEpDesc(USBD_CDC_CfgDesc, CDC_CMD_EP);
USBD_EpDescTypeDef *pEpOutDesc = USBD_GetEpDesc(USBD_CDC_CfgDesc, CDC_OUT_EP);
USBD_EpDescTypeDef *pEpInDesc = USBD_GetEpDesc(USBD_CDC_CfgDesc, CDC_IN_EP);
if (pEpCmdDesc != NULL)
{
pEpCmdDesc->bInterval = CDC_FS_BINTERVAL;
}
if (pEpOutDesc != NULL)
{
pEpOutDesc->wMaxPacketSize = CDC_DATA_FS_MAX_PACKET_SIZE;
}
if (pEpInDesc != NULL)
{
pEpInDesc->wMaxPacketSize = CDC_DATA_FS_MAX_PACKET_SIZE;
}
*length = (uint16_t)sizeof(USBD_CDC_CfgDesc);
return USBD_CDC_CfgDesc;
}
/**
* @brief USBD_CDC_GetDeviceQualifierDescriptor
* return Device Qualifier descriptor
* @param length : pointer data length
* @retval pointer to descriptor buffer
*/
uint8_t *USBD_CDC_GetDeviceQualifierDescriptor(uint16_t *length)
{
*length = (uint16_t)sizeof(USBD_CDC_DeviceQualifierDesc);
return USBD_CDC_DeviceQualifierDesc;
}
#endif /* USE_USBD_COMPOSITE */
/**
* @brief USBD_CDC_RegisterInterface
* @param pdev: device instance
* @param fops: CD Interface callback
* @retval status
*/
uint8_t USBD_CDC_RegisterInterface(USBD_HandleTypeDef *pdev,
USBD_CDC_ItfTypeDef *fops)
{
if (fops == NULL)
{
return (uint8_t)USBD_FAIL;
}
pdev->pUserData[pdev->classId] = fops;
return (uint8_t)USBD_OK;
}
/**
* @brief USBD_CDC_SetTxBuffer
* @param pdev: device instance
* @param pbuff: Tx Buffer
* @param length: length of data to be sent
* @param ClassId: The Class ID
* @retval status
*/
#ifdef USE_USBD_COMPOSITE
uint8_t USBD_CDC_SetTxBuffer(USBD_HandleTypeDef *pdev,
uint8_t *pbuff, uint32_t length, uint8_t ClassId)
{
USBD_CDC_HandleTypeDef *hcdc = (USBD_CDC_HandleTypeDef *)pdev->pClassDataCmsit[ClassId];
#else
uint8_t USBD_CDC_SetTxBuffer(USBD_HandleTypeDef *pdev,
uint8_t *pbuff, uint32_t length)
{
USBD_CDC_HandleTypeDef *hcdc = (USBD_CDC_HandleTypeDef *)pdev->pClassDataCmsit[pdev->classId];
#endif /* USE_USBD_COMPOSITE */
if (hcdc == NULL)
{
return (uint8_t)USBD_FAIL;
}
hcdc->TxBuffer = pbuff;
hcdc->TxLength = length;
return (uint8_t)USBD_OK;
}
/**
* @brief USBD_CDC_SetRxBuffer
* @param pdev: device instance
* @param pbuff: Rx Buffer
* @retval status
*/
uint8_t USBD_CDC_SetRxBuffer(USBD_HandleTypeDef *pdev, uint8_t *pbuff)
{
USBD_CDC_HandleTypeDef *hcdc = (USBD_CDC_HandleTypeDef *)pdev->pClassDataCmsit[pdev->classId];
if (hcdc == NULL)
{
return (uint8_t)USBD_FAIL;
}
hcdc->RxBuffer = pbuff;
return (uint8_t)USBD_OK;
}
/**
* @brief USBD_CDC_TransmitPacket
* Transmit packet on IN endpoint
* @param pdev: device instance
* @param ClassId: The Class ID
* @retval status
*/
#ifdef USE_USBD_COMPOSITE
uint8_t USBD_CDC_TransmitPacket(USBD_HandleTypeDef *pdev, uint8_t ClassId)
{
USBD_CDC_HandleTypeDef *hcdc = (USBD_CDC_HandleTypeDef *)pdev->pClassDataCmsit[ClassId];
#else
uint8_t USBD_CDC_TransmitPacket(USBD_HandleTypeDef *pdev)
{
USBD_CDC_HandleTypeDef *hcdc = (USBD_CDC_HandleTypeDef *)pdev->pClassDataCmsit[pdev->classId];
#endif /* USE_USBD_COMPOSITE */
USBD_StatusTypeDef ret = USBD_BUSY;
#ifdef USE_USBD_COMPOSITE
/* Get the Endpoints addresses allocated for this class instance */
CDCInEpAdd = USBD_CoreGetEPAdd(pdev, USBD_EP_IN, USBD_EP_TYPE_BULK, ClassId);
#endif /* USE_USBD_COMPOSITE */
if (hcdc == NULL)
{
return (uint8_t)USBD_FAIL;
}
if (hcdc->TxState == 0U)
{
/* Tx Transfer in progress */
hcdc->TxState = 1U;
/* Update the packet total length */
pdev->ep_in[CDCInEpAdd & 0xFU].total_length = hcdc->TxLength;
/* Transmit next packet */
(void)USBD_LL_Transmit(pdev, CDCInEpAdd, hcdc->TxBuffer, hcdc->TxLength);
ret = USBD_OK;
}
return (uint8_t)ret;
}
/**
* @brief USBD_CDC_ReceivePacket
* prepare OUT Endpoint for reception
* @param pdev: device instance
* @retval status
*/
uint8_t USBD_CDC_ReceivePacket(USBD_HandleTypeDef *pdev)
{
USBD_CDC_HandleTypeDef *hcdc = (USBD_CDC_HandleTypeDef *)pdev->pClassDataCmsit[pdev->classId];
#ifdef USE_USBD_COMPOSITE
/* Get the Endpoints addresses allocated for this class instance */
CDCOutEpAdd = USBD_CoreGetEPAdd(pdev, USBD_EP_OUT, USBD_EP_TYPE_BULK, (uint8_t)pdev->classId);
#endif /* USE_USBD_COMPOSITE */
if (pdev->pClassDataCmsit[pdev->classId] == NULL)
{
return (uint8_t)USBD_FAIL;
}
if (pdev->dev_speed == USBD_SPEED_HIGH)
{
/* Prepare Out endpoint to receive next packet */
(void)USBD_LL_PrepareReceive(pdev, CDCOutEpAdd, hcdc->RxBuffer,
CDC_DATA_HS_OUT_PACKET_SIZE);
}
else
{
/* Prepare Out endpoint to receive next packet */
(void)USBD_LL_PrepareReceive(pdev, CDCOutEpAdd, hcdc->RxBuffer,
CDC_DATA_FS_OUT_PACKET_SIZE);
}
return (uint8_t)USBD_OK;
}
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/

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/**
******************************************************************************
* @file usbd_core.h
* @author MCD Application Team
* @brief Header file for usbd_core.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_CORE_H
#define __USBD_CORE_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "usbd_conf.h"
#include "usbd_def.h"
#include "usbd_ioreq.h"
#include "usbd_ctlreq.h"
/** @addtogroup STM32_USB_DEVICE_LIBRARY
* @{
*/
/** @defgroup USBD_CORE
* @brief This file is the Header file for usbd_core.c file
* @{
*/
/** @defgroup USBD_CORE_Exported_Defines
* @{
*/
#ifndef USBD_DEBUG_LEVEL
#define USBD_DEBUG_LEVEL 0U
#endif /* USBD_DEBUG_LEVEL */
/**
* @}
*/
/** @defgroup USBD_CORE_Exported_TypesDefinitions
* @{
*/
/**
* @}
*/
/** @defgroup USBD_CORE_Exported_Macros
* @{
*/
/**
* @}
*/
/** @defgroup USBD_CORE_Exported_Variables
* @{
*/
#define USBD_SOF USBD_LL_SOF
/**
* @}
*/
/** @defgroup USBD_CORE_Exported_FunctionsPrototype
* @{
*/
USBD_StatusTypeDef USBD_Init(USBD_HandleTypeDef *pdev, USBD_DescriptorsTypeDef *pdesc, uint8_t id);
USBD_StatusTypeDef USBD_DeInit(USBD_HandleTypeDef *pdev);
USBD_StatusTypeDef USBD_Start(USBD_HandleTypeDef *pdev);
USBD_StatusTypeDef USBD_Stop(USBD_HandleTypeDef *pdev);
USBD_StatusTypeDef USBD_RegisterClass(USBD_HandleTypeDef *pdev, USBD_ClassTypeDef *pclass);
#if (USBD_USER_REGISTER_CALLBACK == 1U)
USBD_StatusTypeDef USBD_RegisterDevStateCallback(USBD_HandleTypeDef *pdev, USBD_DevStateCallbackTypeDef pUserCallback);
#endif /* USBD_USER_REGISTER_CALLBACK */
#ifdef USE_USBD_COMPOSITE
USBD_StatusTypeDef USBD_RegisterClassComposite(USBD_HandleTypeDef *pdev, USBD_ClassTypeDef *pclass,
USBD_CompositeClassTypeDef classtype, uint8_t *EpAddr);
USBD_StatusTypeDef USBD_UnRegisterClassComposite(USBD_HandleTypeDef *pdev);
uint8_t USBD_CoreGetEPAdd(USBD_HandleTypeDef *pdev, uint8_t ep_dir, uint8_t ep_type, uint8_t ClassId);
#endif /* USE_USBD_COMPOSITE */
uint8_t USBD_CoreFindIF(USBD_HandleTypeDef *pdev, uint8_t index);
uint8_t USBD_CoreFindEP(USBD_HandleTypeDef *pdev, uint8_t index);
USBD_StatusTypeDef USBD_RunTestMode(USBD_HandleTypeDef *pdev);
USBD_StatusTypeDef USBD_SetClassConfig(USBD_HandleTypeDef *pdev, uint8_t cfgidx);
USBD_StatusTypeDef USBD_ClrClassConfig(USBD_HandleTypeDef *pdev, uint8_t cfgidx);
USBD_StatusTypeDef USBD_LL_SetupStage(USBD_HandleTypeDef *pdev, uint8_t *psetup);
USBD_StatusTypeDef USBD_LL_DataOutStage(USBD_HandleTypeDef *pdev, uint8_t epnum, uint8_t *pdata);
USBD_StatusTypeDef USBD_LL_DataInStage(USBD_HandleTypeDef *pdev, uint8_t epnum, uint8_t *pdata);
USBD_StatusTypeDef USBD_LL_Reset(USBD_HandleTypeDef *pdev);
USBD_StatusTypeDef USBD_LL_SetSpeed(USBD_HandleTypeDef *pdev, USBD_SpeedTypeDef speed);
USBD_StatusTypeDef USBD_LL_Suspend(USBD_HandleTypeDef *pdev);
USBD_StatusTypeDef USBD_LL_Resume(USBD_HandleTypeDef *pdev);
USBD_StatusTypeDef USBD_LL_SOF(USBD_HandleTypeDef *pdev);
USBD_StatusTypeDef USBD_LL_IsoINIncomplete(USBD_HandleTypeDef *pdev, uint8_t epnum);
USBD_StatusTypeDef USBD_LL_IsoOUTIncomplete(USBD_HandleTypeDef *pdev, uint8_t epnum);
USBD_StatusTypeDef USBD_LL_DevConnected(USBD_HandleTypeDef *pdev);
USBD_StatusTypeDef USBD_LL_DevDisconnected(USBD_HandleTypeDef *pdev);
/* USBD Low Level Driver */
USBD_StatusTypeDef USBD_LL_Init(USBD_HandleTypeDef *pdev);
USBD_StatusTypeDef USBD_LL_DeInit(USBD_HandleTypeDef *pdev);
USBD_StatusTypeDef USBD_LL_Start(USBD_HandleTypeDef *pdev);
USBD_StatusTypeDef USBD_LL_Stop(USBD_HandleTypeDef *pdev);
USBD_StatusTypeDef USBD_LL_OpenEP(USBD_HandleTypeDef *pdev, uint8_t ep_addr,
uint8_t ep_type, uint16_t ep_mps);
USBD_StatusTypeDef USBD_LL_CloseEP(USBD_HandleTypeDef *pdev, uint8_t ep_addr);
USBD_StatusTypeDef USBD_LL_FlushEP(USBD_HandleTypeDef *pdev, uint8_t ep_addr);
USBD_StatusTypeDef USBD_LL_StallEP(USBD_HandleTypeDef *pdev, uint8_t ep_addr);
USBD_StatusTypeDef USBD_LL_ClearStallEP(USBD_HandleTypeDef *pdev, uint8_t ep_addr);
USBD_StatusTypeDef USBD_LL_SetUSBAddress(USBD_HandleTypeDef *pdev, uint8_t dev_addr);
USBD_StatusTypeDef USBD_LL_Transmit(USBD_HandleTypeDef *pdev, uint8_t ep_addr,
uint8_t *pbuf, uint32_t size);
USBD_StatusTypeDef USBD_LL_PrepareReceive(USBD_HandleTypeDef *pdev, uint8_t ep_addr,
uint8_t *pbuf, uint32_t size);
#ifdef USBD_HS_TESTMODE_ENABLE
USBD_StatusTypeDef USBD_LL_SetTestMode(USBD_HandleTypeDef *pdev, uint8_t testmode);
#endif /* USBD_HS_TESTMODE_ENABLE */
uint8_t USBD_LL_IsStallEP(USBD_HandleTypeDef *pdev, uint8_t ep_addr);
uint32_t USBD_LL_GetRxDataSize(USBD_HandleTypeDef *pdev, uint8_t ep_addr);
void USBD_LL_Delay(uint32_t Delay);
void *USBD_GetEpDesc(uint8_t *pConfDesc, uint8_t EpAddr);
USBD_DescHeaderTypeDef *USBD_GetNextDesc(uint8_t *pbuf, uint16_t *ptr);
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* __USBD_CORE_H */
/**
* @}
*/
/**
* @}
*/

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/**
******************************************************************************
* @file usbd_req.h
* @author MCD Application Team
* @brief Header file for the usbd_req.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 __USB_REQUEST_H
#define __USB_REQUEST_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "usbd_def.h"
/** @addtogroup STM32_USB_DEVICE_LIBRARY
* @{
*/
/** @defgroup USBD_REQ
* @brief header file for the usbd_req.c file
* @{
*/
/** @defgroup USBD_REQ_Exported_Defines
* @{
*/
/**
* @}
*/
/** @defgroup USBD_REQ_Exported_Types
* @{
*/
/**
* @}
*/
/** @defgroup USBD_REQ_Exported_Macros
* @{
*/
/**
* @}
*/
/** @defgroup USBD_REQ_Exported_Variables
* @{
*/
/**
* @}
*/
/** @defgroup USBD_REQ_Exported_FunctionsPrototype
* @{
*/
USBD_StatusTypeDef USBD_StdDevReq(USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req);
USBD_StatusTypeDef USBD_StdItfReq(USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req);
USBD_StatusTypeDef USBD_StdEPReq(USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req);
void USBD_CtlError(USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req);
void USBD_ParseSetupRequest(USBD_SetupReqTypedef *req, uint8_t *pdata);
void USBD_GetString(uint8_t *desc, uint8_t *unicode, uint16_t *len);
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* __USB_REQUEST_H */
/**
* @}
*/
/**
* @}
*/

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/**
******************************************************************************
* @file usbd_def.h
* @author MCD Application Team
* @brief General defines for the usb device library
******************************************************************************
* @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_DEF_H
#define __USBD_DEF_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "usbd_conf.h"
/** @addtogroup STM32_USBD_DEVICE_LIBRARY
* @{
*/
/** @defgroup USB_DEF
* @brief general defines for the usb device library file
* @{
*/
/** @defgroup USB_DEF_Exported_Defines
* @{
*/
#ifndef NULL
#define NULL 0U
#endif /* NULL */
#ifndef USBD_MAX_NUM_INTERFACES
#define USBD_MAX_NUM_INTERFACES 1U
#endif /* USBD_MAX_NUM_CONFIGURATION */
#ifndef USBD_MAX_NUM_CONFIGURATION
#define USBD_MAX_NUM_CONFIGURATION 1U
#endif /* USBD_MAX_NUM_CONFIGURATION */
#ifdef USE_USBD_COMPOSITE
#ifndef USBD_MAX_SUPPORTED_CLASS
#define USBD_MAX_SUPPORTED_CLASS 4U
#endif /* USBD_MAX_SUPPORTED_CLASS */
#else
#ifndef USBD_MAX_SUPPORTED_CLASS
#define USBD_MAX_SUPPORTED_CLASS 1U
#endif /* USBD_MAX_SUPPORTED_CLASS */
#endif /* USE_USBD_COMPOSITE */
#ifndef USBD_MAX_CLASS_ENDPOINTS
#define USBD_MAX_CLASS_ENDPOINTS 5U
#endif /* USBD_MAX_CLASS_ENDPOINTS */
#ifndef USBD_MAX_CLASS_INTERFACES
#define USBD_MAX_CLASS_INTERFACES 5U
#endif /* USBD_MAX_CLASS_INTERFACES */
#ifndef USBD_LPM_ENABLED
#define USBD_LPM_ENABLED 0U
#endif /* USBD_LPM_ENABLED */
#ifndef USBD_SELF_POWERED
#define USBD_SELF_POWERED 1U
#endif /*USBD_SELF_POWERED */
#ifndef USBD_MAX_POWER
#define USBD_MAX_POWER 0x32U /* 100 mA */
#endif /* USBD_MAX_POWER */
#ifndef USBD_SUPPORT_USER_STRING_DESC
#define USBD_SUPPORT_USER_STRING_DESC 0U
#endif /* USBD_SUPPORT_USER_STRING_DESC */
#ifndef USBD_CLASS_USER_STRING_DESC
#define USBD_CLASS_USER_STRING_DESC 0U
#endif /* USBD_CLASS_USER_STRING_DESC */
#define USB_LEN_DEV_QUALIFIER_DESC 0x0AU
#define USB_LEN_DEV_DESC 0x12U
#define USB_LEN_CFG_DESC 0x09U
#define USB_LEN_IF_DESC 0x09U
#define USB_LEN_EP_DESC 0x07U
#define USB_LEN_OTG_DESC 0x03U
#define USB_LEN_LANGID_STR_DESC 0x04U
#define USB_LEN_OTHER_SPEED_DESC_SIZ 0x09U
#define USBD_IDX_LANGID_STR 0x00U
#define USBD_IDX_MFC_STR 0x01U
#define USBD_IDX_PRODUCT_STR 0x02U
#define USBD_IDX_SERIAL_STR 0x03U
#define USBD_IDX_CONFIG_STR 0x04U
#define USBD_IDX_INTERFACE_STR 0x05U
#define USB_REQ_TYPE_STANDARD 0x00U
#define USB_REQ_TYPE_CLASS 0x20U
#define USB_REQ_TYPE_VENDOR 0x40U
#define USB_REQ_TYPE_MASK 0x60U
#define USB_REQ_RECIPIENT_DEVICE 0x00U
#define USB_REQ_RECIPIENT_INTERFACE 0x01U
#define USB_REQ_RECIPIENT_ENDPOINT 0x02U
#define USB_REQ_RECIPIENT_MASK 0x03U
#define USB_REQ_GET_STATUS 0x00U
#define USB_REQ_CLEAR_FEATURE 0x01U
#define USB_REQ_SET_FEATURE 0x03U
#define USB_REQ_SET_ADDRESS 0x05U
#define USB_REQ_GET_DESCRIPTOR 0x06U
#define USB_REQ_SET_DESCRIPTOR 0x07U
#define USB_REQ_GET_CONFIGURATION 0x08U
#define USB_REQ_SET_CONFIGURATION 0x09U
#define USB_REQ_GET_INTERFACE 0x0AU
#define USB_REQ_SET_INTERFACE 0x0BU
#define USB_REQ_SYNCH_FRAME 0x0CU
#define USB_DESC_TYPE_DEVICE 0x01U
#define USB_DESC_TYPE_CONFIGURATION 0x02U
#define USB_DESC_TYPE_STRING 0x03U
#define USB_DESC_TYPE_INTERFACE 0x04U
#define USB_DESC_TYPE_ENDPOINT 0x05U
#define USB_DESC_TYPE_DEVICE_QUALIFIER 0x06U
#define USB_DESC_TYPE_OTHER_SPEED_CONFIGURATION 0x07U
#define USB_DESC_TYPE_IAD 0x0BU
#define USB_DESC_TYPE_BOS 0x0FU
#define USB_CONFIG_REMOTE_WAKEUP 0x02U
#define USB_CONFIG_SELF_POWERED 0x01U
#define USB_FEATURE_EP_HALT 0x00U
#define USB_FEATURE_REMOTE_WAKEUP 0x01U
#define USB_FEATURE_TEST_MODE 0x02U
#define USB_DEVICE_CAPABITY_TYPE 0x10U
#define USB_CONF_DESC_SIZE 0x09U
#define USB_IF_DESC_SIZE 0x09U
#define USB_EP_DESC_SIZE 0x07U
#define USB_IAD_DESC_SIZE 0x08U
#define USB_HS_MAX_PACKET_SIZE 512U
#define USB_FS_MAX_PACKET_SIZE 64U
#define USB_MAX_EP0_SIZE 64U
/* Device Status */
#define USBD_STATE_DEFAULT 0x01U
#define USBD_STATE_ADDRESSED 0x02U
#define USBD_STATE_CONFIGURED 0x03U
#define USBD_STATE_SUSPENDED 0x04U
/* EP0 State */
#define USBD_EP0_IDLE 0x00U
#define USBD_EP0_SETUP 0x01U
#define USBD_EP0_DATA_IN 0x02U
#define USBD_EP0_DATA_OUT 0x03U
#define USBD_EP0_STATUS_IN 0x04U
#define USBD_EP0_STATUS_OUT 0x05U
#define USBD_EP0_STALL 0x06U
#define USBD_EP_TYPE_CTRL 0x00U
#define USBD_EP_TYPE_ISOC 0x01U
#define USBD_EP_TYPE_BULK 0x02U
#define USBD_EP_TYPE_INTR 0x03U
#ifdef USE_USBD_COMPOSITE
#define USBD_EP_IN 0x80U
#define USBD_EP_OUT 0x00U
#define USBD_FUNC_DESCRIPTOR_TYPE 0x24U
#define USBD_DESC_SUBTYPE_ACM 0x0FU
#define USBD_DESC_ECM_BCD_LOW 0x00U
#define USBD_DESC_ECM_BCD_HIGH 0x10U
#endif /* USE_USBD_COMPOSITE */
/**
* @}
*/
/** @defgroup USBD_DEF_Exported_TypesDefinitions
* @{
*/
typedef struct usb_setup_req
{
uint8_t bmRequest;
uint8_t bRequest;
uint16_t wValue;
uint16_t wIndex;
uint16_t wLength;
} USBD_SetupReqTypedef;
typedef struct
{
uint8_t bLength;
uint8_t bDescriptorType;
uint16_t wTotalLength;
uint8_t bNumInterfaces;
uint8_t bConfigurationValue;
uint8_t iConfiguration;
uint8_t bmAttributes;
uint8_t bMaxPower;
} __PACKED USBD_ConfigDescTypeDef;
typedef struct
{
uint8_t bLength;
uint8_t bDescriptorType;
uint16_t wTotalLength;
uint8_t bNumDeviceCaps;
} USBD_BosDescTypeDef;
typedef struct
{
uint8_t bLength;
uint8_t bDescriptorType;
uint8_t bEndpointAddress;
uint8_t bmAttributes;
uint16_t wMaxPacketSize;
uint8_t bInterval;
} __PACKED USBD_EpDescTypeDef;
typedef struct
{
uint8_t bLength;
uint8_t bDescriptorType;
uint8_t bDescriptorSubType;
} USBD_DescHeaderTypeDef;
struct _USBD_HandleTypeDef;
typedef struct _Device_cb
{
uint8_t (*Init)(struct _USBD_HandleTypeDef *pdev, uint8_t cfgidx);
uint8_t (*DeInit)(struct _USBD_HandleTypeDef *pdev, uint8_t cfgidx);
/* Control Endpoints*/
uint8_t (*Setup)(struct _USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req);
uint8_t (*EP0_TxSent)(struct _USBD_HandleTypeDef *pdev);
uint8_t (*EP0_RxReady)(struct _USBD_HandleTypeDef *pdev);
/* Class Specific Endpoints*/
uint8_t (*DataIn)(struct _USBD_HandleTypeDef *pdev, uint8_t epnum);
uint8_t (*DataOut)(struct _USBD_HandleTypeDef *pdev, uint8_t epnum);
uint8_t (*SOF)(struct _USBD_HandleTypeDef *pdev);
uint8_t (*IsoINIncomplete)(struct _USBD_HandleTypeDef *pdev, uint8_t epnum);
uint8_t (*IsoOUTIncomplete)(struct _USBD_HandleTypeDef *pdev, uint8_t epnum);
uint8_t *(*GetHSConfigDescriptor)(uint16_t *length);
uint8_t *(*GetFSConfigDescriptor)(uint16_t *length);
uint8_t *(*GetOtherSpeedConfigDescriptor)(uint16_t *length);
uint8_t *(*GetDeviceQualifierDescriptor)(uint16_t *length);
#if (USBD_SUPPORT_USER_STRING_DESC == 1U)
uint8_t *(*GetUsrStrDescriptor)(struct _USBD_HandleTypeDef *pdev, uint8_t index, uint16_t *length);
#endif /* USBD_SUPPORT_USER_STRING_DESC */
} USBD_ClassTypeDef;
/* Following USB Device Speed */
typedef enum
{
USBD_SPEED_HIGH = 0U,
USBD_SPEED_FULL = 1U,
USBD_SPEED_LOW = 2U,
} USBD_SpeedTypeDef;
/* Following USB Device status */
typedef enum
{
USBD_OK = 0U,
USBD_BUSY,
USBD_EMEM,
USBD_FAIL,
} USBD_StatusTypeDef;
/* USB Device descriptors structure */
typedef struct
{
uint8_t *(*GetDeviceDescriptor)(USBD_SpeedTypeDef speed, uint16_t *length);
uint8_t *(*GetLangIDStrDescriptor)(USBD_SpeedTypeDef speed, uint16_t *length);
uint8_t *(*GetManufacturerStrDescriptor)(USBD_SpeedTypeDef speed, uint16_t *length);
uint8_t *(*GetProductStrDescriptor)(USBD_SpeedTypeDef speed, uint16_t *length);
uint8_t *(*GetSerialStrDescriptor)(USBD_SpeedTypeDef speed, uint16_t *length);
uint8_t *(*GetConfigurationStrDescriptor)(USBD_SpeedTypeDef speed, uint16_t *length);
uint8_t *(*GetInterfaceStrDescriptor)(USBD_SpeedTypeDef speed, uint16_t *length);
#if (USBD_CLASS_USER_STRING_DESC == 1)
uint8_t *(*GetUserStrDescriptor)(USBD_SpeedTypeDef speed, uint8_t idx, uint16_t *length);
#endif /* USBD_CLASS_USER_STRING_DESC */
#if ((USBD_LPM_ENABLED == 1U) || (USBD_CLASS_BOS_ENABLED == 1))
uint8_t *(*GetBOSDescriptor)(USBD_SpeedTypeDef speed, uint16_t *length);
#endif /* (USBD_LPM_ENABLED == 1U) || (USBD_CLASS_BOS_ENABLED == 1) */
} USBD_DescriptorsTypeDef;
/* USB Device handle structure */
typedef struct
{
uint32_t total_length;
uint32_t rem_length;
uint32_t bInterval;
uint16_t maxpacket;
uint8_t status;
uint8_t is_used;
uint8_t *pbuffer;
} USBD_EndpointTypeDef;
#ifdef USE_USBD_COMPOSITE
typedef enum
{
CLASS_TYPE_NONE = 0,
CLASS_TYPE_HID = 1,
CLASS_TYPE_CDC = 2,
CLASS_TYPE_MSC = 3,
CLASS_TYPE_DFU = 4,
CLASS_TYPE_CHID = 5,
CLASS_TYPE_AUDIO = 6,
CLASS_TYPE_ECM = 7,
CLASS_TYPE_RNDIS = 8,
CLASS_TYPE_MTP = 9,
CLASS_TYPE_VIDEO = 10,
CLASS_TYPE_PRINTER = 11,
CLASS_TYPE_CCID = 12,
} USBD_CompositeClassTypeDef;
/* USB Device handle structure */
typedef struct
{
uint8_t add;
uint8_t type;
uint8_t size;
uint8_t is_used;
} USBD_EPTypeDef;
/* USB Device handle structure */
typedef struct
{
USBD_CompositeClassTypeDef ClassType;
uint32_t ClassId;
uint32_t Active;
uint32_t NumEps;
USBD_EPTypeDef Eps[USBD_MAX_CLASS_ENDPOINTS];
uint8_t *EpAdd;
uint32_t NumIf;
uint8_t Ifs[USBD_MAX_CLASS_INTERFACES];
uint32_t CurrPcktSze;
} USBD_CompositeElementTypeDef;
#endif /* USE_USBD_COMPOSITE */
/* USB Device handle structure */
typedef struct _USBD_HandleTypeDef
{
uint8_t id;
uint32_t dev_config;
uint32_t dev_default_config;
uint32_t dev_config_status;
USBD_SpeedTypeDef dev_speed;
USBD_EndpointTypeDef ep_in[16];
USBD_EndpointTypeDef ep_out[16];
__IO uint32_t ep0_state;
uint32_t ep0_data_len;
__IO uint8_t dev_state;
__IO uint8_t dev_old_state;
uint8_t dev_address;
uint8_t dev_connection_status;
uint8_t dev_test_mode;
uint32_t dev_remote_wakeup;
uint8_t ConfIdx;
USBD_SetupReqTypedef request;
USBD_DescriptorsTypeDef *pDesc;
USBD_ClassTypeDef *pClass[USBD_MAX_SUPPORTED_CLASS];
void *pClassData;
void *pClassDataCmsit[USBD_MAX_SUPPORTED_CLASS];
void *pUserData[USBD_MAX_SUPPORTED_CLASS];
void *pData;
void *pBosDesc;
void *pConfDesc;
uint32_t classId;
uint32_t NumClasses;
#ifdef USE_USBD_COMPOSITE
USBD_CompositeElementTypeDef tclasslist[USBD_MAX_SUPPORTED_CLASS];
#endif /* USE_USBD_COMPOSITE */
#if (USBD_USER_REGISTER_CALLBACK == 1U)
void (* DevStateCallback)(uint8_t dev_state, uint8_t cfgidx); /*!< User Notification callback */
#endif /* USBD_USER_REGISTER_CALLBACK */
} USBD_HandleTypeDef;
#if (USBD_USER_REGISTER_CALLBACK == 1U)
typedef void (*USBD_DevStateCallbackTypeDef)(uint8_t dev_state, uint8_t cfgidx); /*!< pointer to User callback function */
#endif /* USBD_USER_REGISTER_CALLBACK */
/* USB Device endpoint direction */
typedef enum
{
OUT = 0x00,
IN = 0x80,
} USBD_EPDirectionTypeDef;
typedef enum
{
NETWORK_CONNECTION = 0x00,
RESPONSE_AVAILABLE = 0x01,
CONNECTION_SPEED_CHANGE = 0x2A
} USBD_CDC_NotifCodeTypeDef;
/**
* @}
*/
/** @defgroup USBD_DEF_Exported_Macros
* @{
*/
__STATIC_INLINE uint16_t SWAPBYTE(uint8_t *addr)
{
uint16_t _SwapVal;
uint16_t _Byte1;
uint16_t _Byte2;
uint8_t *_pbuff = addr;
_Byte1 = *(uint8_t *)_pbuff;
_pbuff++;
_Byte2 = *(uint8_t *)_pbuff;
_SwapVal = (_Byte2 << 8) | _Byte1;
return _SwapVal;
}
#ifndef LOBYTE
#define LOBYTE(x) ((uint8_t)((x) & 0x00FFU))
#endif /* LOBYTE */
#ifndef HIBYTE
#define HIBYTE(x) ((uint8_t)(((x) & 0xFF00U) >> 8U))
#endif /* HIBYTE */
#ifndef MIN
#define MIN(a, b) (((a) < (b)) ? (a) : (b))
#endif /* MIN */
#ifndef MAX
#define MAX(a, b) (((a) > (b)) ? (a) : (b))
#endif /* MAX */
#if defined ( __GNUC__ )
#ifndef __weak
#define __weak __attribute__((weak))
#endif /* __weak */
#ifndef __packed
#define __packed __attribute__((__packed__))
#endif /* __packed */
#endif /* __GNUC__ */
/* In HS mode and when the DMA is used, all variables and data structures dealing
with the DMA during the transaction process should be 4-bytes aligned */
#if defined ( __GNUC__ ) && !defined (__CC_ARM) /* GNU Compiler */
#ifndef __ALIGN_END
#define __ALIGN_END __attribute__ ((aligned (4U)))
#endif /* __ALIGN_END */
#ifndef __ALIGN_BEGIN
#define __ALIGN_BEGIN
#endif /* __ALIGN_BEGIN */
#else
#ifndef __ALIGN_END
#define __ALIGN_END
#endif /* __ALIGN_END */
#ifndef __ALIGN_BEGIN
#if defined (__CC_ARM) /* ARM Compiler */
#define __ALIGN_BEGIN __align(4U)
#elif defined (__ICCARM__) /* IAR Compiler */
#define __ALIGN_BEGIN
#endif /* __CC_ARM */
#endif /* __ALIGN_BEGIN */
#endif /* __GNUC__ */
/**
* @}
*/
/** @defgroup USBD_DEF_Exported_Variables
* @{
*/
/**
* @}
*/
/** @defgroup USBD_DEF_Exported_FunctionsPrototype
* @{
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* __USBD_DEF_H */
/**
* @}
*/
/**
* @}
*/

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/**
******************************************************************************
* @file usbd_ioreq.h
* @author MCD Application Team
* @brief Header file for the usbd_ioreq.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_IOREQ_H
#define __USBD_IOREQ_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "usbd_def.h"
#include "usbd_core.h"
/** @addtogroup STM32_USB_DEVICE_LIBRARY
* @{
*/
/** @defgroup USBD_IOREQ
* @brief header file for the usbd_ioreq.c file
* @{
*/
/** @defgroup USBD_IOREQ_Exported_Defines
* @{
*/
/**
* @}
*/
/** @defgroup USBD_IOREQ_Exported_Types
* @{
*/
/**
* @}
*/
/** @defgroup USBD_IOREQ_Exported_Macros
* @{
*/
/**
* @}
*/
/** @defgroup USBD_IOREQ_Exported_Variables
* @{
*/
/**
* @}
*/
/** @defgroup USBD_IOREQ_Exported_FunctionsPrototype
* @{
*/
USBD_StatusTypeDef USBD_CtlSendData(USBD_HandleTypeDef *pdev,
uint8_t *pbuf, uint32_t len);
USBD_StatusTypeDef USBD_CtlContinueSendData(USBD_HandleTypeDef *pdev,
uint8_t *pbuf, uint32_t len);
USBD_StatusTypeDef USBD_CtlPrepareRx(USBD_HandleTypeDef *pdev,
uint8_t *pbuf, uint32_t len);
USBD_StatusTypeDef USBD_CtlContinueRx(USBD_HandleTypeDef *pdev,
uint8_t *pbuf, uint32_t len);
USBD_StatusTypeDef USBD_CtlSendStatus(USBD_HandleTypeDef *pdev);
USBD_StatusTypeDef USBD_CtlReceiveStatus(USBD_HandleTypeDef *pdev);
uint32_t USBD_GetRxCount(USBD_HandleTypeDef *pdev, uint8_t ep_addr);
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* __USBD_IOREQ_H */
/**
* @}
*/
/**
* @}
*/

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/**
******************************************************************************
* @file usbd_ioreq.c
* @author MCD Application Team
* @brief This file provides the IO requests APIs for control endpoints.
******************************************************************************
* @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_ioreq.h"
/** @addtogroup STM32_USB_DEVICE_LIBRARY
* @{
*/
/** @defgroup USBD_IOREQ
* @brief control I/O requests module
* @{
*/
/** @defgroup USBD_IOREQ_Private_TypesDefinitions
* @{
*/
/**
* @}
*/
/** @defgroup USBD_IOREQ_Private_Defines
* @{
*/
/**
* @}
*/
/** @defgroup USBD_IOREQ_Private_Macros
* @{
*/
/**
* @}
*/
/** @defgroup USBD_IOREQ_Private_Variables
* @{
*/
/**
* @}
*/
/** @defgroup USBD_IOREQ_Private_FunctionPrototypes
* @{
*/
/**
* @}
*/
/** @defgroup USBD_IOREQ_Private_Functions
* @{
*/
/**
* @brief USBD_CtlSendData
* send data on the ctl pipe
* @param pdev: device instance
* @param buff: pointer to data buffer
* @param len: length of data to be sent
* @retval status
*/
USBD_StatusTypeDef USBD_CtlSendData(USBD_HandleTypeDef *pdev,
uint8_t *pbuf, uint32_t len)
{
/* Set EP0 State */
pdev->ep0_state = USBD_EP0_DATA_IN;
pdev->ep_in[0].total_length = len;
pdev->ep_in[0].pbuffer = pbuf;
#ifdef USBD_AVOID_PACKET_SPLIT_MPS
pdev->ep_in[0].rem_length = 0U;
#else
pdev->ep_in[0].rem_length = len;
#endif /* USBD_AVOID_PACKET_SPLIT_MPS */
/* Start the transfer */
(void)USBD_LL_Transmit(pdev, 0x00U, pbuf, len);
return USBD_OK;
}
/**
* @brief USBD_CtlContinueSendData
* continue sending data on the ctl pipe
* @param pdev: device instance
* @param buff: pointer to data buffer
* @param len: length of data to be sent
* @retval status
*/
USBD_StatusTypeDef USBD_CtlContinueSendData(USBD_HandleTypeDef *pdev,
uint8_t *pbuf, uint32_t len)
{
/* Start the next transfer */
(void)USBD_LL_Transmit(pdev, 0x00U, pbuf, len);
return USBD_OK;
}
/**
* @brief USBD_CtlPrepareRx
* receive data on the ctl pipe
* @param pdev: device instance
* @param buff: pointer to data buffer
* @param len: length of data to be received
* @retval status
*/
USBD_StatusTypeDef USBD_CtlPrepareRx(USBD_HandleTypeDef *pdev,
uint8_t *pbuf, uint32_t len)
{
/* Set EP0 State */
pdev->ep0_state = USBD_EP0_DATA_OUT;
pdev->ep_out[0].total_length = len;
pdev->ep_out[0].pbuffer = pbuf;
#ifdef USBD_AVOID_PACKET_SPLIT_MPS
pdev->ep_out[0].rem_length = 0U;
#else
pdev->ep_out[0].rem_length = len;
#endif /* USBD_AVOID_PACKET_SPLIT_MPS */
/* Start the transfer */
(void)USBD_LL_PrepareReceive(pdev, 0U, pbuf, len);
return USBD_OK;
}
/**
* @brief USBD_CtlContinueRx
* continue receive data on the ctl pipe
* @param pdev: device instance
* @param buff: pointer to data buffer
* @param len: length of data to be received
* @retval status
*/
USBD_StatusTypeDef USBD_CtlContinueRx(USBD_HandleTypeDef *pdev,
uint8_t *pbuf, uint32_t len)
{
(void)USBD_LL_PrepareReceive(pdev, 0U, pbuf, len);
return USBD_OK;
}
/**
* @brief USBD_CtlSendStatus
* send zero lzngth packet on the ctl pipe
* @param pdev: device instance
* @retval status
*/
USBD_StatusTypeDef USBD_CtlSendStatus(USBD_HandleTypeDef *pdev)
{
/* Set EP0 State */
pdev->ep0_state = USBD_EP0_STATUS_IN;
/* Start the transfer */
(void)USBD_LL_Transmit(pdev, 0x00U, NULL, 0U);
return USBD_OK;
}
/**
* @brief USBD_CtlReceiveStatus
* receive zero lzngth packet on the ctl pipe
* @param pdev: device instance
* @retval status
*/
USBD_StatusTypeDef USBD_CtlReceiveStatus(USBD_HandleTypeDef *pdev)
{
/* Set EP0 State */
pdev->ep0_state = USBD_EP0_STATUS_OUT;
/* Start the transfer */
(void)USBD_LL_PrepareReceive(pdev, 0U, NULL, 0U);
return USBD_OK;
}
/**
* @brief USBD_GetRxCount
* returns the received data length
* @param pdev: device instance
* @param ep_addr: endpoint address
* @retval Rx Data blength
*/
uint32_t USBD_GetRxCount(USBD_HandleTypeDef *pdev, uint8_t ep_addr)
{
return USBD_LL_GetRxDataSize(pdev, ep_addr);
}
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : usb_device.c
* @version : v1.0_Cube
* @brief : This file implements the USB Device
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2025 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under Ultimate Liberty license
* SLA0044, the "License"; You may not use this file except in compliance with
* the License. You may obtain a copy of the License at:
* www.st.com/SLA0044
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "usb_device.h"
#include "usbd_core.h"
#include "usbd_desc.h"
#include "usbd_cdc.h"
#include "usbd_cdc_if.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
/* USER CODE END PV */
/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE END PFP */
/* USB Device Core handle declaration. */
USBD_HandleTypeDef hUsbDeviceFS;
/*
* -- Insert your variables declaration here --
*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/*
* -- Insert your external function declaration here --
*/
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/**
* Init USB device Library, add supported class and start the library
* @retval None
*/
void MX_USB_DEVICE_Init(void)
{
/* USER CODE BEGIN USB_DEVICE_Init_PreTreatment */
/* USER CODE END USB_DEVICE_Init_PreTreatment */
/* Init Device Library, add supported class and start the library. */
if (USBD_Init(&hUsbDeviceFS, &FS_Desc, DEVICE_FS) != USBD_OK)
{
Error_Handler();
}
if (USBD_RegisterClass(&hUsbDeviceFS, &USBD_CDC) != USBD_OK)
{
Error_Handler();
}
if (USBD_CDC_RegisterInterface(&hUsbDeviceFS, &USBD_Interface_fops_FS) != USBD_OK)
{
Error_Handler();
}
if (USBD_Start(&hUsbDeviceFS) != USBD_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USB_DEVICE_Init_PostTreatment */
/* USER CODE END USB_DEVICE_Init_PostTreatment */
}
/**
* @}
*/
/**
* @}
*/

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : usb_device.h
* @version : v1.0_Cube
* @brief : Header for usb_device.c file.
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2025 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under Ultimate Liberty license
* SLA0044, the "License"; You may not use this file except in compliance with
* the License. You may obtain a copy of the License at:
* www.st.com/SLA0044
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __USB_DEVICE__H__
#define __USB_DEVICE__H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx.h"
#include "stm32f4xx_hal.h"
#include "usbd_def.h"
/* USER CODE BEGIN INCLUDE */
/* USER CODE END INCLUDE */
/** @addtogroup USBD_OTG_DRIVER
* @{
*/
/** @defgroup USBD_DEVICE USBD_DEVICE
* @brief Device file for Usb otg low level driver.
* @{
*/
/** @defgroup USBD_DEVICE_Exported_Variables USBD_DEVICE_Exported_Variables
* @brief Public variables.
* @{
*/
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/*
* -- Insert your variables declaration here --
*/
/* USER CODE BEGIN VARIABLES */
/* USER CODE END VARIABLES */
/**
* @}
*/
/** @defgroup USBD_DEVICE_Exported_FunctionsPrototype USBD_DEVICE_Exported_FunctionsPrototype
* @brief Declaration of public functions for Usb device.
* @{
*/
/** USB Device initialization function. */
void MX_USB_DEVICE_Init(void);
/*
* -- Insert functions declaration here --
*/
/* USER CODE BEGIN FD */
/* USER CODE END FD */
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* __USB_DEVICE__H__ */

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : usbd_cdc_if.c
* @version : v1.0_Cube
* @brief : Usb device for Virtual Com Port.
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2025 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under Ultimate Liberty license
* SLA0044, the "License"; You may not use this file except in compliance with
* the License. You may obtain a copy of the License at:
* www.st.com/SLA0044
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "usbd_cdc_if.h"
/* USER CODE BEGIN INCLUDE */
/* USER CODE END INCLUDE */
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
/* USER CODE END PV */
/** @addtogroup STM32_USB_OTG_DEVICE_LIBRARY
* @brief Usb device library.
* @{
*/
/** @addtogroup USBD_CDC_IF
* @{
*/
/** @defgroup USBD_CDC_IF_Private_TypesDefinitions USBD_CDC_IF_Private_TypesDefinitions
* @brief Private types.
* @{
*/
/* USER CODE BEGIN PRIVATE_TYPES */
/* USER CODE END PRIVATE_TYPES */
/**
* @}
*/
/** @defgroup USBD_CDC_IF_Private_Defines USBD_CDC_IF_Private_Defines
* @brief Private defines.
* @{
*/
/* USER CODE BEGIN PRIVATE_DEFINES */
/* USER CODE END PRIVATE_DEFINES */
/**
* @}
*/
/** @defgroup USBD_CDC_IF_Private_Macros USBD_CDC_IF_Private_Macros
* @brief Private macros.
* @{
*/
/* USER CODE BEGIN PRIVATE_MACRO */
/* USER CODE END PRIVATE_MACRO */
/**
* @}
*/
/** @defgroup USBD_CDC_IF_Private_Variables USBD_CDC_IF_Private_Variables
* @brief Private variables.
* @{
*/
/* Create buffer for reception and transmission */
/* It's up to user to redefine and/or remove those define */
/** Received data over USB are stored in this buffer */
uint8_t UserRxBufferFS[APP_RX_DATA_SIZE];
/** Data to send over USB CDC are stored in this buffer */
uint8_t UserTxBufferFS[APP_TX_DATA_SIZE];
/* USER CODE BEGIN PRIVATE_VARIABLES */
/* USER CODE END PRIVATE_VARIABLES */
/**
* @}
*/
/** @defgroup USBD_CDC_IF_Exported_Variables USBD_CDC_IF_Exported_Variables
* @brief Public variables.
* @{
*/
extern USBD_HandleTypeDef hUsbDeviceFS;
/* USER CODE BEGIN EXPORTED_VARIABLES */
/* USER CODE END EXPORTED_VARIABLES */
/**
* @}
*/
/** @defgroup USBD_CDC_IF_Private_FunctionPrototypes USBD_CDC_IF_Private_FunctionPrototypes
* @brief Private functions declaration.
* @{
*/
static int8_t CDC_Init_FS(void);
static int8_t CDC_DeInit_FS(void);
static int8_t CDC_Control_FS(uint8_t cmd, uint8_t* pbuf, uint16_t length);
static int8_t CDC_Receive_FS(uint8_t* pbuf, uint32_t *Len);
static int8_t CDC_TransmitCplt_FS(uint8_t *pbuf, uint32_t *Len, uint8_t epnum);
/* USER CODE BEGIN PRIVATE_FUNCTIONS_DECLARATION */
/* USER CODE END PRIVATE_FUNCTIONS_DECLARATION */
/**
* @}
*/
USBD_CDC_ItfTypeDef USBD_Interface_fops_FS =
{
CDC_Init_FS,
CDC_DeInit_FS,
CDC_Control_FS,
CDC_Receive_FS,
CDC_TransmitCplt_FS
};
/* Private functions ---------------------------------------------------------*/
/**
* @brief Initializes the CDC media low layer over the FS USB IP
* @retval USBD_OK if all operations are OK else USBD_FAIL
*/
static int8_t CDC_Init_FS(void)
{
/* USER CODE BEGIN 3 */
/* Set Application Buffers */
USBD_CDC_SetTxBuffer(&hUsbDeviceFS, UserTxBufferFS, 0);
USBD_CDC_SetRxBuffer(&hUsbDeviceFS, UserRxBufferFS);
return (USBD_OK);
/* USER CODE END 3 */
}
/**
* @brief DeInitializes the CDC media low layer
* @retval USBD_OK if all operations are OK else USBD_FAIL
*/
static int8_t CDC_DeInit_FS(void)
{
/* USER CODE BEGIN 4 */
return (USBD_OK);
/* USER CODE END 4 */
}
/**
* @brief Manage the CDC class requests
* @param cmd: Command code
* @param pbuf: Buffer containing command data (request parameters)
* @param length: 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 CDC_Control_FS(uint8_t cmd, uint8_t* pbuf, uint16_t length)
{
/* USER CODE BEGIN 5 */
switch(cmd)
{
case CDC_SEND_ENCAPSULATED_COMMAND:
break;
case CDC_GET_ENCAPSULATED_RESPONSE:
break;
case CDC_SET_COMM_FEATURE:
break;
case CDC_GET_COMM_FEATURE:
break;
case CDC_CLEAR_COMM_FEATURE:
break;
/*******************************************************************************/
/* Line Coding Structure */
/*-----------------------------------------------------------------------------*/
/* Offset | Field | Size | Value | Description */
/* 0 | dwDTERate | 4 | Number |Data terminal rate, in bits per second*/
/* 4 | bCharFormat | 1 | Number | Stop bits */
/* 0 - 1 Stop bit */
/* 1 - 1.5 Stop bits */
/* 2 - 2 Stop bits */
/* 5 | bParityType | 1 | Number | Parity */
/* 0 - None */
/* 1 - Odd */
/* 2 - Even */
/* 3 - Mark */
/* 4 - Space */
/* 6 | bDataBits | 1 | Number Data bits (5, 6, 7, 8 or 16). */
/*******************************************************************************/
case CDC_SET_LINE_CODING:
break;
case CDC_GET_LINE_CODING:
break;
case CDC_SET_CONTROL_LINE_STATE:
break;
case CDC_SEND_BREAK:
break;
default:
break;
}
return (USBD_OK);
/* USER CODE END 5 */
}
/**
* @brief 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 CDC_Receive_FS(uint8_t* Buf, uint32_t *Len)
{
/* USER CODE BEGIN 6 */
USBD_CDC_SetRxBuffer(&hUsbDeviceFS, &Buf[0]);
USBD_CDC_ReceivePacket(&hUsbDeviceFS);
return (USBD_OK);
/* USER CODE END 6 */
}
/**
* @brief CDC_Transmit_FS
* Data to send over USB IN endpoint are sent over CDC interface
* through this function.
* @note
*
*
* @param Buf: Buffer of data to be sent
* @param Len: Number of data to be sent (in bytes)
* @retval USBD_OK if all operations are OK else USBD_FAIL or USBD_BUSY
*/
uint8_t CDC_Transmit_FS(uint8_t* Buf, uint16_t Len)
{
uint8_t result = USBD_OK;
/* USER CODE BEGIN 7 */
USBD_CDC_HandleTypeDef *hcdc = (USBD_CDC_HandleTypeDef*)hUsbDeviceFS.pClassData;
if (hcdc->TxState != 0){
return USBD_BUSY;
}
USBD_CDC_SetTxBuffer(&hUsbDeviceFS, Buf, Len);
result = USBD_CDC_TransmitPacket(&hUsbDeviceFS);
/* USER CODE END 7 */
return result;
}
/**
* @brief CDC_TransmitCplt_FS
* 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 CDC_TransmitCplt_FS(uint8_t *Buf, uint32_t *Len, uint8_t epnum)
{
uint8_t result = USBD_OK;
/* USER CODE BEGIN 13 */
UNUSED(Buf);
UNUSED(Len);
UNUSED(epnum);
/* USER CODE END 13 */
return result;
}
/* USER CODE BEGIN PRIVATE_FUNCTIONS_IMPLEMENTATION */
/* USER CODE END PRIVATE_FUNCTIONS_IMPLEMENTATION */
/**
* @}
*/
/**
* @}
*/

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : usbd_cdc_if.h
* @version : v1.0_Cube
* @brief : Header for usbd_cdc_if.c file.
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2025 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under Ultimate Liberty license
* SLA0044, the "License"; You may not use this file except in compliance with
* the License. You may obtain a copy of the License at:
* www.st.com/SLA0044
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __USBD_CDC_IF_H__
#define __USBD_CDC_IF_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "usbd_cdc.h"
/* USER CODE BEGIN INCLUDE */
/* USER CODE END INCLUDE */
/** @addtogroup STM32_USB_OTG_DEVICE_LIBRARY
* @brief For Usb device.
* @{
*/
/** @defgroup USBD_CDC_IF USBD_CDC_IF
* @brief Usb VCP device module
* @{
*/
/** @defgroup USBD_CDC_IF_Exported_Defines USBD_CDC_IF_Exported_Defines
* @brief Defines.
* @{
*/
/* Define size for the receive and transmit buffer over CDC */
#define APP_RX_DATA_SIZE 2048
#define APP_TX_DATA_SIZE 2048
/* USER CODE BEGIN EXPORTED_DEFINES */
/* Define size for the receive and transmit buffer over CDC */
/* It's up to user to redefine and/or remove those define */
#define APP_RX_DATA_SIZE 2048
#define APP_TX_DATA_SIZE 8
/* USER CODE END EXPORTED_DEFINES */
/**
* @}
*/
/** @defgroup USBD_CDC_IF_Exported_Types USBD_CDC_IF_Exported_Types
* @brief Types.
* @{
*/
/* USER CODE BEGIN EXPORTED_TYPES */
/* USER CODE END EXPORTED_TYPES */
/**
* @}
*/
/** @defgroup USBD_CDC_IF_Exported_Macros USBD_CDC_IF_Exported_Macros
* @brief Aliases.
* @{
*/
/* USER CODE BEGIN EXPORTED_MACRO */
/* USER CODE END EXPORTED_MACRO */
/**
* @}
*/
/** @defgroup USBD_CDC_IF_Exported_Variables USBD_CDC_IF_Exported_Variables
* @brief Public variables.
* @{
*/
/** CDC Interface callback. */
extern USBD_CDC_ItfTypeDef USBD_Interface_fops_FS;
/* USER CODE BEGIN EXPORTED_VARIABLES */
/* USER CODE END EXPORTED_VARIABLES */
/**
* @}
*/
/** @defgroup USBD_CDC_IF_Exported_FunctionsPrototype USBD_CDC_IF_Exported_FunctionsPrototype
* @brief Public functions declaration.
* @{
*/
uint8_t CDC_Transmit_FS(uint8_t* Buf, uint16_t Len);
/* USER CODE BEGIN EXPORTED_FUNCTIONS */
/* USER CODE END EXPORTED_FUNCTIONS */
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* __USBD_CDC_IF_H__ */

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : App/usbd_desc.c
* @version : v1.0_Cube
* @brief : This file implements the USB device descriptors.
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2025 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under Ultimate Liberty license
* SLA0044, the "License"; You may not use this file except in compliance with
* the License. You may obtain a copy of the License at:
* www.st.com/SLA0044
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "usbd_core.h"
#include "usbd_desc.h"
#include "usbd_conf.h"
/* USER CODE BEGIN INCLUDE */
/* USER CODE END INCLUDE */
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
/* USER CODE END PV */
/** @addtogroup STM32_USB_OTG_DEVICE_LIBRARY
* @{
*/
/** @addtogroup USBD_DESC
* @{
*/
/** @defgroup USBD_DESC_Private_TypesDefinitions USBD_DESC_Private_TypesDefinitions
* @brief Private types.
* @{
*/
/* USER CODE BEGIN PRIVATE_TYPES */
/* USER CODE END PRIVATE_TYPES */
/**
* @}
*/
/** @defgroup USBD_DESC_Private_Defines USBD_DESC_Private_Defines
* @brief Private defines.
* @{
*/
#define USBD_VID 1155
#define USBD_LANGID_STRING 1033
#define USBD_MANUFACTURER_STRING "STMicroelectronics"
#define USBD_PID_FS 22336
#define USBD_PRODUCT_STRING_FS "STM32 Virtual ComPort"
#define USBD_CONFIGURATION_STRING_FS "CDC Config"
#define USBD_INTERFACE_STRING_FS "CDC Interface"
#define USB_SIZ_BOS_DESC 0x0C
/* USER CODE BEGIN PRIVATE_DEFINES */
/* USER CODE END PRIVATE_DEFINES */
/**
* @}
*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/** @defgroup USBD_DESC_Private_Macros USBD_DESC_Private_Macros
* @brief Private macros.
* @{
*/
/* USER CODE BEGIN PRIVATE_MACRO */
/* USER CODE END PRIVATE_MACRO */
/**
* @}
*/
/** @defgroup USBD_DESC_Private_FunctionPrototypes USBD_DESC_Private_FunctionPrototypes
* @brief Private functions declaration.
* @{
*/
static void Get_SerialNum(void);
static void IntToUnicode(uint32_t value, uint8_t * pbuf, uint8_t len);
/**
* @}
*/
/** @defgroup USBD_DESC_Private_FunctionPrototypes USBD_DESC_Private_FunctionPrototypes
* @brief Private functions declaration for FS.
* @{
*/
uint8_t * USBD_FS_DeviceDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
uint8_t * USBD_FS_LangIDStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
uint8_t * USBD_FS_ManufacturerStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
uint8_t * USBD_FS_ProductStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
uint8_t * USBD_FS_SerialStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
uint8_t * USBD_FS_ConfigStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
uint8_t * USBD_FS_InterfaceStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
#if (USBD_LPM_ENABLED == 1)
uint8_t * USBD_FS_USR_BOSDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
#endif /* (USBD_LPM_ENABLED == 1) */
/**
* @}
*/
/** @defgroup USBD_DESC_Private_Variables USBD_DESC_Private_Variables
* @brief Private variables.
* @{
*/
USBD_DescriptorsTypeDef FS_Desc =
{
USBD_FS_DeviceDescriptor
, USBD_FS_LangIDStrDescriptor
, USBD_FS_ManufacturerStrDescriptor
, USBD_FS_ProductStrDescriptor
, USBD_FS_SerialStrDescriptor
, USBD_FS_ConfigStrDescriptor
, USBD_FS_InterfaceStrDescriptor
#if (USBD_LPM_ENABLED == 1)
, USBD_FS_USR_BOSDescriptor
#endif /* (USBD_LPM_ENABLED == 1) */
};
#if defined ( __ICCARM__ ) /* IAR Compiler */
#pragma data_alignment=4
#endif /* defined ( __ICCARM__ ) */
/** USB standard device descriptor. */
__ALIGN_BEGIN uint8_t USBD_FS_DeviceDesc[USB_LEN_DEV_DESC] __ALIGN_END =
{
0x12, /*bLength */
USB_DESC_TYPE_DEVICE, /*bDescriptorType*/
#if (USBD_LPM_ENABLED == 1)
0x01, /*bcdUSB */ /* changed to USB version 2.01
in order to support LPM L1 suspend
resume test of USBCV3.0*/
#else
0x00, /*bcdUSB */
#endif /* (USBD_LPM_ENABLED == 1) */
0x02,
0x02, /*bDeviceClass*/
0x02, /*bDeviceSubClass*/
0x00, /*bDeviceProtocol*/
USB_MAX_EP0_SIZE, /*bMaxPacketSize*/
LOBYTE(USBD_VID), /*idVendor*/
HIBYTE(USBD_VID), /*idVendor*/
LOBYTE(USBD_PID_FS), /*idProduct*/
HIBYTE(USBD_PID_FS), /*idProduct*/
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 */
/** BOS descriptor. */
#if (USBD_LPM_ENABLED == 1)
#if defined ( __ICCARM__ ) /* IAR Compiler */
#pragma data_alignment=4
#endif /* defined ( __ICCARM__ ) */
__ALIGN_BEGIN uint8_t USBD_FS_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,
0x2, /* LPM capability bit set*/
0x0,
0x0,
0x0
};
#endif /* (USBD_LPM_ENABLED == 1) */
/**
* @}
*/
/** @defgroup USBD_DESC_Private_Variables USBD_DESC_Private_Variables
* @brief Private variables.
* @{
*/
#if defined ( __ICCARM__ ) /* IAR Compiler */
#pragma data_alignment=4
#endif /* defined ( __ICCARM__ ) */
/** USB lang identifier descriptor. */
__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 /* defined ( __ICCARM__ ) */
/* Internal string descriptor. */
__ALIGN_BEGIN uint8_t USBD_StrDesc[USBD_MAX_STR_DESC_SIZ] __ALIGN_END;
#if defined ( __ICCARM__ ) /*!< IAR Compiler */
#pragma data_alignment=4
#endif
__ALIGN_BEGIN uint8_t USBD_StringSerial[USB_SIZ_STRING_SERIAL] __ALIGN_END = {
USB_SIZ_STRING_SERIAL,
USB_DESC_TYPE_STRING,
};
/**
* @}
*/
/** @defgroup USBD_DESC_Private_Functions USBD_DESC_Private_Functions
* @brief Private functions.
* @{
*/
/**
* @brief Return the device descriptor
* @param speed : Current device speed
* @param length : Pointer to data length variable
* @retval Pointer to descriptor buffer
*/
uint8_t * USBD_FS_DeviceDescriptor(USBD_SpeedTypeDef speed, uint16_t *length)
{
UNUSED(speed);
*length = sizeof(USBD_FS_DeviceDesc);
return USBD_FS_DeviceDesc;
}
/**
* @brief Return the LangID string descriptor
* @param speed : Current device speed
* @param length : Pointer to data length variable
* @retval Pointer to descriptor buffer
*/
uint8_t * USBD_FS_LangIDStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length)
{
UNUSED(speed);
*length = sizeof(USBD_LangIDDesc);
return USBD_LangIDDesc;
}
/**
* @brief Return the product string descriptor
* @param speed : Current device speed
* @param length : Pointer to data length variable
* @retval Pointer to descriptor buffer
*/
uint8_t * USBD_FS_ProductStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length)
{
if(speed == 0)
{
USBD_GetString((uint8_t *)USBD_PRODUCT_STRING_FS, USBD_StrDesc, length);
}
else
{
USBD_GetString((uint8_t *)USBD_PRODUCT_STRING_FS, USBD_StrDesc, length);
}
return USBD_StrDesc;
}
/**
* @brief Return the manufacturer string descriptor
* @param speed : Current device speed
* @param length : Pointer to data length variable
* @retval Pointer to descriptor buffer
*/
uint8_t * USBD_FS_ManufacturerStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length)
{
UNUSED(speed);
USBD_GetString((uint8_t *)USBD_MANUFACTURER_STRING, USBD_StrDesc, length);
return USBD_StrDesc;
}
/**
* @brief Return 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_FS_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();
/* USER CODE BEGIN USBD_FS_SerialStrDescriptor */
/* USER CODE END USBD_FS_SerialStrDescriptor */
return (uint8_t *) USBD_StringSerial;
}
/**
* @brief Return the configuration string descriptor
* @param speed : Current device speed
* @param length : Pointer to data length variable
* @retval Pointer to descriptor buffer
*/
uint8_t * USBD_FS_ConfigStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length)
{
if(speed == USBD_SPEED_HIGH)
{
USBD_GetString((uint8_t *)USBD_CONFIGURATION_STRING_FS, USBD_StrDesc, length);
}
else
{
USBD_GetString((uint8_t *)USBD_CONFIGURATION_STRING_FS, USBD_StrDesc, length);
}
return USBD_StrDesc;
}
/**
* @brief Return the interface string descriptor
* @param speed : Current device speed
* @param length : Pointer to data length variable
* @retval Pointer to descriptor buffer
*/
uint8_t * USBD_FS_InterfaceStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length)
{
if(speed == 0)
{
USBD_GetString((uint8_t *)USBD_INTERFACE_STRING_FS, USBD_StrDesc, length);
}
else
{
USBD_GetString((uint8_t *)USBD_INTERFACE_STRING_FS, USBD_StrDesc, length);
}
return USBD_StrDesc;
}
#if (USBD_LPM_ENABLED == 1)
/**
* @brief Return the BOS descriptor
* @param speed : Current device speed
* @param length : Pointer to data length variable
* @retval Pointer to descriptor buffer
*/
uint8_t * USBD_FS_USR_BOSDescriptor(USBD_SpeedTypeDef speed, uint16_t *length)
{
UNUSED(speed);
*length = sizeof(USBD_FS_BOSDesc);
return (uint8_t*)USBD_FS_BOSDesc;
}
#endif /* (USBD_LPM_ENABLED == 1) */
/**
* @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 != 0)
{
IntToUnicode(deviceserial0, &USBD_StringSerial[2], 8);
IntToUnicode(deviceserial1, &USBD_StringSerial[18], 4);
}
}
/**
* @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 = 0;
for (idx = 0; idx < len; idx++)
{
if (((value >> 28)) < 0xA)
{
pbuf[2 * idx] = (value >> 28) + '0';
}
else
{
pbuf[2 * idx] = (value >> 28) + 'A' - 10;
}
value = value << 4;
pbuf[2 * idx + 1] = 0;
}
}
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : usbd_desc.c
* @version : v1.0_Cube
* @brief : Header for usbd_conf.c file.
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2025 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under Ultimate Liberty license
* SLA0044, the "License"; You may not use this file except in compliance with
* the License. You may obtain a copy of the License at:
* www.st.com/SLA0044
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __USBD_DESC__C__
#define __USBD_DESC__C__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "usbd_def.h"
/* USER CODE BEGIN INCLUDE */
/* USER CODE END INCLUDE */
/** @addtogroup STM32_USB_OTG_DEVICE_LIBRARY
* @{
*/
/** @defgroup USBD_DESC USBD_DESC
* @brief Usb device descriptors module.
* @{
*/
/*
* User to provide a unique ID to define the USB device serial number
* The use of UID_BASE register can be considered as an example
*/
#define DEVICE_ID1 (UID_BASE)
#define DEVICE_ID2 (UID_BASE + 0x4)
#define DEVICE_ID3 (UID_BASE + 0x8)
#define USB_SIZ_STRING_SERIAL 0x1A
/* USER CODE BEGIN EXPORTED_CONSTANTS */
/* USER CODE END EXPORTED_CONSTANTS */
/**
* @}
*/
/** @defgroup USBD_DESC_Exported_Defines USBD_DESC_Exported_Defines
* @brief Defines.
* @{
*/
/* USER CODE BEGIN EXPORTED_DEFINES */
/* USER CODE END EXPORTED_DEFINES */
/**
* @}
*/
/** @defgroup USBD_DESC_Exported_TypesDefinitions USBD_DESC_Exported_TypesDefinitions
* @brief Types.
* @{
*/
/* USER CODE BEGIN EXPORTED_TYPES */
/* USER CODE END EXPORTED_TYPES */
/**
* @}
*/
/** @defgroup USBD_DESC_Exported_Macros USBD_DESC_Exported_Macros
* @brief Aliases.
* @{
*/
/* USER CODE BEGIN EXPORTED_MACRO */
/* USER CODE END EXPORTED_MACRO */
/**
* @}
*/
/** @defgroup USBD_DESC_Exported_Variables USBD_DESC_Exported_Variables
* @brief Public variables.
* @{
*/
/** Descriptor for the Usb device. */
extern USBD_DescriptorsTypeDef FS_Desc;
/* USER CODE BEGIN EXPORTED_VARIABLES */
/* USER CODE END EXPORTED_VARIABLES */
/**
* @}
*/
/** @defgroup USBD_DESC_Exported_FunctionsPrototype USBD_DESC_Exported_FunctionsPrototype
* @brief Public functions declaration.
* @{
*/
/* USER CODE BEGIN EXPORTED_FUNCTIONS */
/* USER CODE END EXPORTED_FUNCTIONS */
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* __USBD_DESC__C__ */

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : Target/usbd_conf.c
* @version : v1.0_Cube
* @brief : This file implements the board support package for the USB device library
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2025 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under Ultimate Liberty license
* SLA0044, the "License"; You may not use this file except in compliance with
* the License. You may obtain a copy of the License at:
* www.st.com/SLA0044
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx.h"
#include "stm32f4xx_hal.h"
#include "usbd_def.h"
#include "usbd_core.h"
#include "usbd_cdc.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
/* USER CODE END PV */
PCD_HandleTypeDef hpcd_USB_OTG_FS;
void Error_Handler(void);
/* External functions --------------------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/
USBD_StatusTypeDef USBD_Get_USB_Status(HAL_StatusTypeDef hal_status);
/* USER CODE END PFP */
/* Private functions ---------------------------------------------------------*/
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/*******************************************************************************
LL Driver Callbacks (PCD -> USB Device Library)
*******************************************************************************/
/* MSP Init */
void HAL_PCD_MspInit(PCD_HandleTypeDef* pcdHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(pcdHandle->Instance==USB_OTG_FS)
{
/* USER CODE BEGIN USB_OTG_FS_MspInit 0 */
/* USER CODE END USB_OTG_FS_MspInit 0 */
__HAL_RCC_GPIOA_CLK_ENABLE();
/**USB_OTG_FS GPIO Configuration
PA12 ------> USB_OTG_FS_DP
PA11 ------> USB_OTG_FS_DM
*/
GPIO_InitStruct.Pin = GPIO_PIN_12|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_AF10_OTG_FS;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* Peripheral clock enable */
__HAL_RCC_USB_OTG_FS_CLK_ENABLE();
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(OTG_FS_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(OTG_FS_IRQn);
/* USER CODE BEGIN USB_OTG_FS_MspInit 1 */
/* USER CODE END USB_OTG_FS_MspInit 1 */
}
}
void HAL_PCD_MspDeInit(PCD_HandleTypeDef* pcdHandle)
{
if(pcdHandle->Instance==USB_OTG_FS)
{
/* USER CODE BEGIN USB_OTG_FS_MspDeInit 0 */
/* USER CODE END USB_OTG_FS_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_USB_OTG_FS_CLK_DISABLE();
/**USB_OTG_FS GPIO Configuration
PA12 ------> USB_OTG_FS_DP
PA11 ------> USB_OTG_FS_DM
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_12|GPIO_PIN_11);
/* Peripheral interrupt Deinit*/
HAL_NVIC_DisableIRQ(OTG_FS_IRQn);
/* USER CODE BEGIN USB_OTG_FS_MspDeInit 1 */
/* USER CODE END USB_OTG_FS_MspDeInit 1 */
}
}
/**
* @brief Setup stage callback
* @param hpcd: PCD handle
* @retval None
*/
#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U)
static void PCD_SetupStageCallback(PCD_HandleTypeDef *hpcd)
#else
void HAL_PCD_SetupStageCallback(PCD_HandleTypeDef *hpcd)
#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */
{
USBD_LL_SetupStage((USBD_HandleTypeDef*)hpcd->pData, (uint8_t *)hpcd->Setup);
}
/**
* @brief Data Out stage callback.
* @param hpcd: PCD handle
* @param epnum: Endpoint number
* @retval None
*/
#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U)
static void PCD_DataOutStageCallback(PCD_HandleTypeDef *hpcd, uint8_t epnum)
#else
void HAL_PCD_DataOutStageCallback(PCD_HandleTypeDef *hpcd, uint8_t epnum)
#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */
{
USBD_LL_DataOutStage((USBD_HandleTypeDef*)hpcd->pData, epnum, hpcd->OUT_ep[epnum].xfer_buff);
}
/**
* @brief Data In stage callback.
* @param hpcd: PCD handle
* @param epnum: Endpoint number
* @retval None
*/
#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U)
static void PCD_DataInStageCallback(PCD_HandleTypeDef *hpcd, uint8_t epnum)
#else
void HAL_PCD_DataInStageCallback(PCD_HandleTypeDef *hpcd, uint8_t epnum)
#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */
{
USBD_LL_DataInStage((USBD_HandleTypeDef*)hpcd->pData, epnum, hpcd->IN_ep[epnum].xfer_buff);
}
/**
* @brief SOF callback.
* @param hpcd: PCD handle
* @retval None
*/
#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U)
static void PCD_SOFCallback(PCD_HandleTypeDef *hpcd)
#else
void HAL_PCD_SOFCallback(PCD_HandleTypeDef *hpcd)
#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */
{
USBD_LL_SOF((USBD_HandleTypeDef*)hpcd->pData);
}
/**
* @brief Reset callback.
* @param hpcd: PCD handle
* @retval None
*/
#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U)
static void PCD_ResetCallback(PCD_HandleTypeDef *hpcd)
#else
void HAL_PCD_ResetCallback(PCD_HandleTypeDef *hpcd)
#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */
{
USBD_SpeedTypeDef speed = USBD_SPEED_FULL;
if ( hpcd->Init.speed == PCD_SPEED_HIGH)
{
speed = USBD_SPEED_HIGH;
}
else if ( hpcd->Init.speed == PCD_SPEED_FULL)
{
speed = USBD_SPEED_FULL;
}
else
{
Error_Handler();
}
/* Set Speed. */
USBD_LL_SetSpeed((USBD_HandleTypeDef*)hpcd->pData, speed);
/* Reset Device. */
USBD_LL_Reset((USBD_HandleTypeDef*)hpcd->pData);
}
/**
* @brief Suspend callback.
* When Low power mode is enabled the debug cannot be used (IAR, Keil doesn't support it)
* @param hpcd: PCD handle
* @retval None
*/
#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U)
static void PCD_SuspendCallback(PCD_HandleTypeDef *hpcd)
#else
void HAL_PCD_SuspendCallback(PCD_HandleTypeDef *hpcd)
#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */
{
/* Inform USB library that core enters in suspend Mode. */
USBD_LL_Suspend((USBD_HandleTypeDef*)hpcd->pData);
__HAL_PCD_GATE_PHYCLOCK(hpcd);
/* Enter in STOP mode. */
/* USER CODE BEGIN 2 */
if (hpcd->Init.low_power_enable)
{
/* Set SLEEPDEEP bit and SleepOnExit of Cortex System Control Register. */
SCB->SCR |= (uint32_t)((uint32_t)(SCB_SCR_SLEEPDEEP_Msk | SCB_SCR_SLEEPONEXIT_Msk));
}
/* USER CODE END 2 */
}
/**
* @brief Resume callback.
* When Low power mode is enabled the debug cannot be used (IAR, Keil doesn't support it)
* @param hpcd: PCD handle
* @retval None
*/
#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U)
static void PCD_ResumeCallback(PCD_HandleTypeDef *hpcd)
#else
void HAL_PCD_ResumeCallback(PCD_HandleTypeDef *hpcd)
#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */
{
/* USER CODE BEGIN 3 */
/* USER CODE END 3 */
USBD_LL_Resume((USBD_HandleTypeDef*)hpcd->pData);
}
/**
* @brief ISOOUTIncomplete callback.
* @param hpcd: PCD handle
* @param epnum: Endpoint number
* @retval None
*/
#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U)
static void PCD_ISOOUTIncompleteCallback(PCD_HandleTypeDef *hpcd, uint8_t epnum)
#else
void HAL_PCD_ISOOUTIncompleteCallback(PCD_HandleTypeDef *hpcd, uint8_t epnum)
#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */
{
USBD_LL_IsoOUTIncomplete((USBD_HandleTypeDef*)hpcd->pData, epnum);
}
/**
* @brief ISOINIncomplete callback.
* @param hpcd: PCD handle
* @param epnum: Endpoint number
* @retval None
*/
#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U)
static void PCD_ISOINIncompleteCallback(PCD_HandleTypeDef *hpcd, uint8_t epnum)
#else
void HAL_PCD_ISOINIncompleteCallback(PCD_HandleTypeDef *hpcd, uint8_t epnum)
#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */
{
USBD_LL_IsoINIncomplete((USBD_HandleTypeDef*)hpcd->pData, epnum);
}
/**
* @brief Connect callback.
* @param hpcd: PCD handle
* @retval None
*/
#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U)
static void PCD_ConnectCallback(PCD_HandleTypeDef *hpcd)
#else
void HAL_PCD_ConnectCallback(PCD_HandleTypeDef *hpcd)
#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */
{
USBD_LL_DevConnected((USBD_HandleTypeDef*)hpcd->pData);
}
/**
* @brief Disconnect callback.
* @param hpcd: PCD handle
* @retval None
*/
#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U)
static void PCD_DisconnectCallback(PCD_HandleTypeDef *hpcd)
#else
void HAL_PCD_DisconnectCallback(PCD_HandleTypeDef *hpcd)
#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */
{
USBD_LL_DevDisconnected((USBD_HandleTypeDef*)hpcd->pData);
}
/*******************************************************************************
LL Driver Interface (USB Device Library --> PCD)
*******************************************************************************/
/**
* @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)
{
/* Init USB Ip. */
if (pdev->id == DEVICE_FS) {
/* Link the driver to the stack. */
hpcd_USB_OTG_FS.pData = pdev;
pdev->pData = &hpcd_USB_OTG_FS;
hpcd_USB_OTG_FS.Instance = USB_OTG_FS;
hpcd_USB_OTG_FS.Init.dev_endpoints = 4;
hpcd_USB_OTG_FS.Init.speed = PCD_SPEED_FULL;
hpcd_USB_OTG_FS.Init.dma_enable = DISABLE;
hpcd_USB_OTG_FS.Init.phy_itface = PCD_PHY_EMBEDDED;
hpcd_USB_OTG_FS.Init.Sof_enable = DISABLE;
hpcd_USB_OTG_FS.Init.low_power_enable = DISABLE;
hpcd_USB_OTG_FS.Init.lpm_enable = DISABLE;
hpcd_USB_OTG_FS.Init.vbus_sensing_enable = DISABLE;
hpcd_USB_OTG_FS.Init.use_dedicated_ep1 = DISABLE;
if (HAL_PCD_Init(&hpcd_USB_OTG_FS) != HAL_OK)
{
Error_Handler( );
}
#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U)
/* Register USB PCD CallBacks */
HAL_PCD_RegisterCallback(&hpcd_USB_OTG_FS, HAL_PCD_SOF_CB_ID, PCD_SOFCallback);
HAL_PCD_RegisterCallback(&hpcd_USB_OTG_FS, HAL_PCD_SETUPSTAGE_CB_ID, PCD_SetupStageCallback);
HAL_PCD_RegisterCallback(&hpcd_USB_OTG_FS, HAL_PCD_RESET_CB_ID, PCD_ResetCallback);
HAL_PCD_RegisterCallback(&hpcd_USB_OTG_FS, HAL_PCD_SUSPEND_CB_ID, PCD_SuspendCallback);
HAL_PCD_RegisterCallback(&hpcd_USB_OTG_FS, HAL_PCD_RESUME_CB_ID, PCD_ResumeCallback);
HAL_PCD_RegisterCallback(&hpcd_USB_OTG_FS, HAL_PCD_CONNECT_CB_ID, PCD_ConnectCallback);
HAL_PCD_RegisterCallback(&hpcd_USB_OTG_FS, HAL_PCD_DISCONNECT_CB_ID, PCD_DisconnectCallback);
HAL_PCD_RegisterDataOutStageCallback(&hpcd_USB_OTG_FS, PCD_DataOutStageCallback);
HAL_PCD_RegisterDataInStageCallback(&hpcd_USB_OTG_FS, PCD_DataInStageCallback);
HAL_PCD_RegisterIsoOutIncpltCallback(&hpcd_USB_OTG_FS, PCD_ISOOUTIncompleteCallback);
HAL_PCD_RegisterIsoInIncpltCallback(&hpcd_USB_OTG_FS, PCD_ISOINIncompleteCallback);
#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */
HAL_PCDEx_SetRxFiFo(&hpcd_USB_OTG_FS, 0x80);
HAL_PCDEx_SetTxFiFo(&hpcd_USB_OTG_FS, 0, 0x40);
HAL_PCDEx_SetTxFiFo(&hpcd_USB_OTG_FS, 1, 0x80);
}
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)
{
HAL_StatusTypeDef hal_status = HAL_OK;
USBD_StatusTypeDef usb_status = USBD_OK;
hal_status = HAL_PCD_DeInit(pdev->pData);
usb_status = USBD_Get_USB_Status(hal_status);
return usb_status;
}
/**
* @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)
{
HAL_StatusTypeDef hal_status = HAL_OK;
USBD_StatusTypeDef usb_status = USBD_OK;
hal_status = HAL_PCD_Start(pdev->pData);
usb_status = USBD_Get_USB_Status(hal_status);
return usb_status;
}
/**
* @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)
{
HAL_StatusTypeDef hal_status = HAL_OK;
USBD_StatusTypeDef usb_status = USBD_OK;
hal_status = HAL_PCD_Stop(pdev->pData);
usb_status = USBD_Get_USB_Status(hal_status);
return usb_status;
}
/**
* @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)
{
HAL_StatusTypeDef hal_status = HAL_OK;
USBD_StatusTypeDef usb_status = USBD_OK;
hal_status = HAL_PCD_EP_Open(pdev->pData, ep_addr, ep_mps, ep_type);
usb_status = USBD_Get_USB_Status(hal_status);
return usb_status;
}
/**
* @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)
{
HAL_StatusTypeDef hal_status = HAL_OK;
USBD_StatusTypeDef usb_status = USBD_OK;
hal_status = HAL_PCD_EP_Close(pdev->pData, ep_addr);
usb_status = USBD_Get_USB_Status(hal_status);
return usb_status;
}
/**
* @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)
{
HAL_StatusTypeDef hal_status = HAL_OK;
USBD_StatusTypeDef usb_status = USBD_OK;
hal_status = HAL_PCD_EP_Flush(pdev->pData, ep_addr);
usb_status = USBD_Get_USB_Status(hal_status);
return usb_status;
}
/**
* @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)
{
HAL_StatusTypeDef hal_status = HAL_OK;
USBD_StatusTypeDef usb_status = USBD_OK;
hal_status = HAL_PCD_EP_SetStall(pdev->pData, ep_addr);
usb_status = USBD_Get_USB_Status(hal_status);
return usb_status;
}
/**
* @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)
{
HAL_StatusTypeDef hal_status = HAL_OK;
USBD_StatusTypeDef usb_status = USBD_OK;
hal_status = HAL_PCD_EP_ClrStall(pdev->pData, ep_addr);
usb_status = USBD_Get_USB_Status(hal_status);
return usb_status;
}
/**
* @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)
{
PCD_HandleTypeDef *hpcd = (PCD_HandleTypeDef*) pdev->pData;
if((ep_addr & 0x80) == 0x80)
{
return hpcd->IN_ep[ep_addr & 0x7F].is_stall;
}
else
{
return hpcd->OUT_ep[ep_addr & 0x7F].is_stall;
}
}
/**
* @brief Assigns a USB address to the device.
* @param pdev: Device handle
* @param dev_addr: Device address
* @retval USBD status
*/
USBD_StatusTypeDef USBD_LL_SetUSBAddress(USBD_HandleTypeDef *pdev, uint8_t dev_addr)
{
HAL_StatusTypeDef hal_status = HAL_OK;
USBD_StatusTypeDef usb_status = USBD_OK;
hal_status = HAL_PCD_SetAddress(pdev->pData, dev_addr);
usb_status = USBD_Get_USB_Status(hal_status);
return usb_status;
}
/**
* @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)
{
HAL_StatusTypeDef hal_status = HAL_OK;
USBD_StatusTypeDef usb_status = USBD_OK;
hal_status = HAL_PCD_EP_Transmit(pdev->pData, ep_addr, pbuf, size);
usb_status = USBD_Get_USB_Status(hal_status);
return usb_status;
}
/**
* @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)
{
HAL_StatusTypeDef hal_status = HAL_OK;
USBD_StatusTypeDef usb_status = USBD_OK;
hal_status = HAL_PCD_EP_Receive(pdev->pData, ep_addr, pbuf, size);
usb_status = USBD_Get_USB_Status(hal_status);
return usb_status;
}
/**
* @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)
{
return HAL_PCD_EP_GetRxCount((PCD_HandleTypeDef*) pdev->pData, ep_addr);
}
#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)
{
static uint32_t mem[(sizeof(USBD_CDC_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)
{
}
/**
* @brief Delays routine for the USB Device Library.
* @param Delay: Delay in ms
* @retval None
*/
void USBD_LL_Delay(uint32_t Delay)
{
HAL_Delay(Delay);
}
/**
* @brief Returns the USB status depending on the HAL status:
* @param hal_status: HAL status
* @retval USB status
*/
USBD_StatusTypeDef USBD_Get_USB_Status(HAL_StatusTypeDef hal_status)
{
USBD_StatusTypeDef usb_status = USBD_OK;
switch (hal_status)
{
case HAL_OK :
usb_status = USBD_OK;
break;
case HAL_ERROR :
usb_status = USBD_FAIL;
break;
case HAL_BUSY :
usb_status = USBD_BUSY;
break;
case HAL_TIMEOUT :
usb_status = USBD_FAIL;
break;
default :
usb_status = USBD_FAIL;
break;
}
return usb_status;
}

174
USB_DEVICE/Target/usbd_conf.h Normal file
View File

@ -0,0 +1,174 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : usbd_conf.h
* @version : v1.0_Cube
* @brief : Header for usbd_conf.c file.
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2025 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under Ultimate Liberty license
* SLA0044, the "License"; You may not use this file except in compliance with
* the License. You may obtain a copy of the License at:
* www.st.com/SLA0044
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __USBD_CONF__H__
#define __USBD_CONF__H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "main.h"
#include "stm32f4xx.h"
#include "stm32f4xx_hal.h"
/* USER CODE BEGIN INCLUDE */
/* USER CODE END INCLUDE */
/** @addtogroup USBD_OTG_DRIVER
* @brief Driver for Usb device.
* @{
*/
/** @defgroup USBD_CONF USBD_CONF
* @brief Configuration file for Usb otg low level driver.
* @{
*/
/** @defgroup USBD_CONF_Exported_Variables USBD_CONF_Exported_Variables
* @brief Public variables.
* @{
*/
/**
* @}
*/
/** @defgroup USBD_CONF_Exported_Defines USBD_CONF_Exported_Defines
* @brief Defines for configuration of the Usb device.
* @{
*/
/*---------- -----------*/
#define USBD_MAX_NUM_INTERFACES 1U
/*---------- -----------*/
#define USBD_MAX_NUM_CONFIGURATION 1U
/*---------- -----------*/
#define USBD_MAX_STR_DESC_SIZ 512U
/*---------- -----------*/
#define USBD_DEBUG_LEVEL 0U
/*---------- -----------*/
#define USBD_LPM_ENABLED 0U
/*---------- -----------*/
#define USBD_SELF_POWERED 1U
/****************************************/
/* #define for FS and HS identification */
#define DEVICE_FS 0
#define DEVICE_HS 1
/**
* @}
*/
/** @defgroup USBD_CONF_Exported_Macros USBD_CONF_Exported_Macros
* @brief Aliases.
* @{
*/
/* 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 > 0)
#define USBD_UsrLog(...) printf(__VA_ARGS__);\
printf("\n");
#else
#define USBD_UsrLog(...)
#endif /* (USBD_DEBUG_LEVEL > 0U) */
#if (USBD_DEBUG_LEVEL > 1)
#define USBD_ErrLog(...) printf("ERROR: ");\
printf(__VA_ARGS__);\
printf("\n");
#else
#define USBD_ErrLog(...)
#endif /* (USBD_DEBUG_LEVEL > 1U) */
#if (USBD_DEBUG_LEVEL > 2)
#define USBD_DbgLog(...) printf("DEBUG : ");\
printf(__VA_ARGS__);\
printf("\n");
#else
#define USBD_DbgLog(...)
#endif /* (USBD_DEBUG_LEVEL > 2U) */
/**
* @}
*/
/** @defgroup USBD_CONF_Exported_Types USBD_CONF_Exported_Types
* @brief Types.
* @{
*/
/**
* @}
*/
/** @defgroup USBD_CONF_Exported_FunctionsPrototype USBD_CONF_Exported_FunctionsPrototype
* @brief Declaration of public functions for Usb device.
* @{
*/
/* Exported functions -------------------------------------------------------*/
void *USBD_static_malloc(uint32_t size);
void USBD_static_free(void *p);
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* __USBD_CONF__H__ */

12
User/bsp/bsp.h
View File

@ -4,14 +4,6 @@
extern "C" { extern "C" {
#endif #endif
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
#define BSP_OK (0) #define BSP_OK (0)
#define BSP_ERR (-1) #define BSP_ERR (-1)
#define BSP_ERR_NULL (-2) #define BSP_ERR_NULL (-2)
@ -19,10 +11,6 @@ extern "C" {
#define BSP_ERR_NO_DEV (-4) #define BSP_ERR_NO_DEV (-4)
#define BSP_ERR_TIMEOUT (-5) #define BSP_ERR_TIMEOUT (-5)
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif

199
User/bsp/can.c
View File

@ -2,21 +2,14 @@
#include "bsp/can.h" #include "bsp/can.h"
#include "bsp/bsp.h" #include "bsp/bsp.h"
#include <can.h> #include <can.h>
#include <cmsis_os2.h> #include <cmsis_os.h>
#include <string.h> #include <string.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */ /* Private define ----------------------------------------------------------- */
#define CAN_QUEUE_MUTEX_TIMEOUT 100 /* 队列互斥锁超时时间(ms) */ #define CAN_QUEUE_MUTEX_TIMEOUT 100 /* 队列互斥锁超时时间(ms) */
#define CAN_TX_SEMAPHORE_TIMEOUT 1000 /* 发送信号量超时时间(ms) */
#define CAN_TX_MAILBOX_NUM 3 /* CAN发送邮箱数量 */ #define CAN_TX_MAILBOX_NUM 3 /* CAN发送邮箱数量 */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */ /* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */ /* Private typedef ---------------------------------------------------------- */
typedef struct BSP_CAN_QueueNode { typedef struct BSP_CAN_QueueNode {
@ -27,13 +20,10 @@ typedef struct BSP_CAN_QueueNode {
struct BSP_CAN_QueueNode *next; /* 指向下一个节点的指针 */ struct BSP_CAN_QueueNode *next; /* 指向下一个节点的指针 */
} BSP_CAN_QueueNode_t; } BSP_CAN_QueueNode_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private variables -------------------------------------------------------- */ /* Private variables -------------------------------------------------------- */
static BSP_CAN_QueueNode_t *queue_list = NULL; static BSP_CAN_QueueNode_t *queue_list = NULL;
static osMutexId_t queue_mutex = NULL; static osMutexId_t queue_mutex = NULL;
static osSemaphoreId_t tx_semaphore[BSP_CAN_NUM] = {NULL}; /* 发送信号量，用于控制发送邮箱访问 */
static void (*CAN_Callback[BSP_CAN_NUM][BSP_CAN_CB_NUM])(void); static void (*CAN_Callback[BSP_CAN_NUM][BSP_CAN_CB_NUM])(void);
static bool inited = false; static bool inited = false;
static BSP_CAN_IdParser_t id_parser = NULL; /* ID解析器 */ static BSP_CAN_IdParser_t id_parser = NULL; /* ID解析器 */
@ -49,9 +39,6 @@ static BSP_CAN_FrameType_t BSP_CAN_GetFrameType(CAN_RxHeaderTypeDef *header);
static uint32_t BSP_CAN_DefaultIdParser(uint32_t original_id, BSP_CAN_FrameType_t frame_type); static uint32_t BSP_CAN_DefaultIdParser(uint32_t original_id, BSP_CAN_FrameType_t frame_type);
/* Private functions -------------------------------------------------------- */ /* Private functions -------------------------------------------------------- */
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
/** /**
* @brief 根据CAN句柄获取BSP_CAN实例 * @brief 根据CAN句柄获取BSP_CAN实例
@ -229,57 +216,81 @@ static void BSP_CAN_RxFifo1Callback(void) {
/* HAL Callback Functions --------------------------------------------------- */ /* HAL Callback Functions --------------------------------------------------- */
void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan) { void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan) {
BSP_CAN_t bsp_can = CAN_Get(hcan); BSP_CAN_t bsp_can = CAN_Get(hcan);
if (bsp_can != BSP_CAN_ERR) { if (bsp_can != BSP_CAN_ERR) {
// 调用用户回调 // 释放发送信号量
if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX0_CPLT_CB]) if (tx_semaphore[bsp_can] != NULL) {
CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX0_CPLT_CB](); osSemaphoreRelease(tx_semaphore[bsp_can]);
} }
if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX0_CPLT_CB])
CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX0_CPLT_CB]();
}
} }
void HAL_CAN_TxMailbox1CompleteCallback(CAN_HandleTypeDef *hcan) { void HAL_CAN_TxMailbox1CompleteCallback(CAN_HandleTypeDef *hcan) {
BSP_CAN_t bsp_can = CAN_Get(hcan); BSP_CAN_t bsp_can = CAN_Get(hcan);
if (bsp_can != BSP_CAN_ERR) { if (bsp_can != BSP_CAN_ERR) {
// 调用用户回调 // 释放发送信号量
if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX1_CPLT_CB]) if (tx_semaphore[bsp_can] != NULL) {
CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX1_CPLT_CB](); osSemaphoreRelease(tx_semaphore[bsp_can]);
} }
if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX1_CPLT_CB])
CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX1_CPLT_CB]();
}
} }
void HAL_CAN_TxMailbox2CompleteCallback(CAN_HandleTypeDef *hcan) { void HAL_CAN_TxMailbox2CompleteCallback(CAN_HandleTypeDef *hcan) {
BSP_CAN_t bsp_can = CAN_Get(hcan); BSP_CAN_t bsp_can = CAN_Get(hcan);
if (bsp_can != BSP_CAN_ERR) { if (bsp_can != BSP_CAN_ERR) {
// 调用用户回调 // 释放发送信号量
if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX2_CPLT_CB]) if (tx_semaphore[bsp_can] != NULL) {
CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX2_CPLT_CB](); osSemaphoreRelease(tx_semaphore[bsp_can]);
} }
if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX2_CPLT_CB])
CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX2_CPLT_CB]();
}
} }
void HAL_CAN_TxMailbox0AbortCallback(CAN_HandleTypeDef *hcan) { void HAL_CAN_TxMailbox0AbortCallback(CAN_HandleTypeDef *hcan) {
BSP_CAN_t bsp_can = CAN_Get(hcan); BSP_CAN_t bsp_can = CAN_Get(hcan);
if (bsp_can != BSP_CAN_ERR) { if (bsp_can != BSP_CAN_ERR) {
// 调用用户回调 // 释放发送信号量（发送中止也要释放）
if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX0_ABORT_CB]) if (tx_semaphore[bsp_can] != NULL) {
CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX0_ABORT_CB](); osSemaphoreRelease(tx_semaphore[bsp_can]);
} }
if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX0_ABORT_CB])
CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX0_ABORT_CB]();
}
} }
void HAL_CAN_TxMailbox1AbortCallback(CAN_HandleTypeDef *hcan) { void HAL_CAN_TxMailbox1AbortCallback(CAN_HandleTypeDef *hcan) {
BSP_CAN_t bsp_can = CAN_Get(hcan); BSP_CAN_t bsp_can = CAN_Get(hcan);
if (bsp_can != BSP_CAN_ERR) { if (bsp_can != BSP_CAN_ERR) {
// 调用用户回调 // 释放发送信号量（发送中止也要释放）
if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX1_ABORT_CB]) if (tx_semaphore[bsp_can] != NULL) {
CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX1_ABORT_CB](); osSemaphoreRelease(tx_semaphore[bsp_can]);
} }
if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX1_ABORT_CB])
CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX1_ABORT_CB]();
}
} }
void HAL_CAN_TxMailbox2AbortCallback(CAN_HandleTypeDef *hcan) { void HAL_CAN_TxMailbox2AbortCallback(CAN_HandleTypeDef *hcan) {
BSP_CAN_t bsp_can = CAN_Get(hcan); BSP_CAN_t bsp_can = CAN_Get(hcan);
if (bsp_can != BSP_CAN_ERR) { if (bsp_can != BSP_CAN_ERR) {
// 调用用户回调 // 释放发送信号量（发送中止也要释放）
if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX2_ABORT_CB]) if (tx_semaphore[bsp_can] != NULL) {
CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX2_ABORT_CB](); osSemaphoreRelease(tx_semaphore[bsp_can]);
} }
if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX2_ABORT_CB])
CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX2_ABORT_CB]();
}
} }
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) { void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) {
@ -357,6 +368,25 @@ int8_t BSP_CAN_Init(void) {
return BSP_ERR; return BSP_ERR;
} }
// 创建发送信号量，每个CAN通道有3个发送邮箱
for (int i = 0; i < BSP_CAN_NUM; i++) {
tx_semaphore[i] = osSemaphoreNew(CAN_TX_MAILBOX_NUM, CAN_TX_MAILBOX_NUM, NULL);
if (tx_semaphore[i] == NULL) {
// 清理已创建的信号量
for (int j = 0; j < i; j++) {
if (tx_semaphore[j] != NULL) {
osSemaphoreDelete(tx_semaphore[j]);
tx_semaphore[j] = NULL;
}
}
if (queue_mutex != NULL) {
osMutexDelete(queue_mutex);
queue_mutex = NULL;
}
return BSP_ERR;
}
}
// 先设置初始化标志，以便后续回调注册能通过检查 // 先设置初始化标志，以便后续回调注册能通过检查
inited = true; inited = true;
@ -375,10 +405,9 @@ int8_t BSP_CAN_Init(void) {
HAL_CAN_ConfigFilter(&hcan1, &can1_filter); HAL_CAN_ConfigFilter(&hcan1, &can1_filter);
HAL_CAN_Start(&hcan1); HAL_CAN_Start(&hcan1);
// 自动注册CAN1接收回调函数 // 注册CAN1回调函数
BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifo0Callback); BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifo0Callback);
// 激活CAN1中断
HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING | HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING |
CAN_IT_TX_MAILBOX_EMPTY); // 激活发送邮箱空中断 CAN_IT_TX_MAILBOX_EMPTY); // 激活发送邮箱空中断
@ -388,11 +417,10 @@ int8_t BSP_CAN_Init(void) {
HAL_CAN_ConfigFilter(&hcan2, &can1_filter); // 通过 CAN1 配置 HAL_CAN_ConfigFilter(&hcan2, &can1_filter); // 通过 CAN1 配置
HAL_CAN_Start(&hcan2); HAL_CAN_Start(&hcan2);
// 自动注册CAN2接收回调函数 // 注册CAN2回调函数
BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_RX_FIFO1_MSG_PENDING_CB, BSP_CAN_RxFifo1Callback); BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_RX_FIFO1_MSG_PENDING_CB, BSP_CAN_RxFifo1Callback);
HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING |
// 激活CAN2中断 CAN_IT_TX_MAILBOX_EMPTY); // 激活发送邮箱空中断
HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING);
inited = true; inited = true;
@ -417,6 +445,14 @@ int8_t BSP_CAN_DeInit(void) {
osMutexRelease(queue_mutex); osMutexRelease(queue_mutex);
} }
// 删除发送信号量
for (int i = 0; i < BSP_CAN_NUM; i++) {
if (tx_semaphore[i] != NULL) {
osSemaphoreDelete(tx_semaphore[i]);
tx_semaphore[i] = NULL;
}
}
// 删除互斥锁 // 删除互斥锁
if (queue_mutex != NULL) { if (queue_mutex != NULL) {
osMutexDelete(queue_mutex); osMutexDelete(queue_mutex);
@ -482,8 +518,20 @@ int8_t BSP_CAN_Transmit(BSP_CAN_t can, BSP_CAN_Format_t format,
return BSP_ERR; return BSP_ERR;
} }
// 获取发送信号量，确保有可用的发送邮箱
if (tx_semaphore[can] == NULL) {
return BSP_ERR;
}
osStatus_t sem_status = osSemaphoreAcquire(tx_semaphore[can], CAN_TX_SEMAPHORE_TIMEOUT);
if (sem_status != osOK) {
return BSP_ERR_TIMEOUT; // 获取信号量超时，表示发送邮箱已满
}
CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle(can); CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle(can);
if (hcan == NULL) { if (hcan == NULL) {
// 如果获取句柄失败，需要释放信号量
osSemaphoreRelease(tx_semaphore[can]);
return BSP_ERR_NULL; return BSP_ERR_NULL;
} }
@ -512,6 +560,8 @@ int8_t BSP_CAN_Transmit(BSP_CAN_t can, BSP_CAN_Format_t format,
header.RTR = CAN_RTR_REMOTE; header.RTR = CAN_RTR_REMOTE;
break; break;
default: default:
// 如果格式错误，需要释放信号量
osSemaphoreRelease(tx_semaphore[can]);
return BSP_ERR; return BSP_ERR;
} }
@ -521,9 +571,12 @@ int8_t BSP_CAN_Transmit(BSP_CAN_t can, BSP_CAN_Format_t format,
HAL_StatusTypeDef result = HAL_CAN_AddTxMessage(hcan, &header, data, &mailbox); HAL_StatusTypeDef result = HAL_CAN_AddTxMessage(hcan, &header, data, &mailbox);
if (result != HAL_OK) { if (result != HAL_OK) {
// 如果发送失败，需要释放信号量
osSemaphoreRelease(tx_semaphore[can]);
return BSP_ERR; return BSP_ERR;
} }
// 发送成功，信号量将在发送完成回调中释放
return BSP_OK; return BSP_OK;
} }
@ -644,43 +697,5 @@ uint32_t BSP_CAN_ParseId(uint32_t original_id, BSP_CAN_FrameType_t frame_type) {
return BSP_CAN_DefaultIdParser(original_id, frame_type); return BSP_CAN_DefaultIdParser(original_id, frame_type);
} }
int8_t BSP_CAN_WaitTxMailboxEmpty(BSP_CAN_t can, uint32_t timeout) { /* USER CAN FUNCTIONS BEGIN */
if (!inited) { /* USER CAN FUNCTIONS END */
return BSP_ERR_INITED;
}
if (can >= BSP_CAN_NUM) {
return BSP_ERR;
}
CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle(can);
if (hcan == NULL) {
return BSP_ERR_NULL;
}
uint32_t start_time = HAL_GetTick();
// 如果超时时间为0，立即检查并返回
if (timeout == 0) {
uint32_t free_level = HAL_CAN_GetTxMailboxesFreeLevel(hcan);
return (free_level > 0) ? BSP_OK : BSP_ERR_TIMEOUT;
}
// 等待至少有一个邮箱空闲
while (true) {
uint32_t free_level = HAL_CAN_GetTxMailboxesFreeLevel(hcan);
if (free_level > 0) {
return BSP_OK;
}
// 检查超时
if (timeout != BSP_CAN_TIMEOUT_FOREVER) {
uint32_t elapsed = HAL_GetTick() - start_time;
if (elapsed >= timeout) {
return BSP_ERR_TIMEOUT;
}
}
// 短暂延时，避免占用过多CPU
osDelay(1);
}
}

26
User/bsp/can.h
View File

@ -12,20 +12,12 @@ extern "C" {
#include <stdbool.h> #include <stdbool.h>
#include <cmsis_os.h> #include <cmsis_os.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Exported constants ------------------------------------------------------- */ /* Exported constants ------------------------------------------------------- */
#define BSP_CAN_MAX_DLC 8 #define BSP_CAN_MAX_DLC 8
#define BSP_CAN_DEFAULT_QUEUE_SIZE 10 #define BSP_CAN_DEFAULT_QUEUE_SIZE 10
#define BSP_CAN_TIMEOUT_IMMEDIATE 0 #define BSP_CAN_TIMEOUT_IMMEDIATE 0
#define BSP_CAN_TIMEOUT_FOREVER osWaitForever #define BSP_CAN_TIMEOUT_FOREVER osWaitForever
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Exported macro ----------------------------------------------------------- */ /* Exported macro ----------------------------------------------------------- */
/* Exported types ----------------------------------------------------------- */ /* Exported types ----------------------------------------------------------- */
typedef enum { typedef enum {
@ -102,10 +94,6 @@ typedef struct {
/* ID解析回调函数类型 */ /* ID解析回调函数类型 */
typedef uint32_t (*BSP_CAN_IdParser_t)(uint32_t original_id, BSP_CAN_FrameType_t frame_type); typedef uint32_t (*BSP_CAN_IdParser_t)(uint32_t original_id, BSP_CAN_FrameType_t frame_type);
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Exported functions prototypes -------------------------------------------- */ /* Exported functions prototypes -------------------------------------------- */
/** /**
@ -173,14 +161,6 @@ int8_t BSP_CAN_TransmitExtDataFrame(BSP_CAN_t can, BSP_CAN_ExtDataFrame_t *frame
*/ */
int8_t BSP_CAN_TransmitRemoteFrame(BSP_CAN_t can, BSP_CAN_RemoteFrame_t *frame); int8_t BSP_CAN_TransmitRemoteFrame(BSP_CAN_t can, BSP_CAN_RemoteFrame_t *frame);
/**
* @brief 等待CAN发送邮箱空闲
* @param can CAN 枚举
* @param timeout 超时时间（毫秒），0为立即返回，osWaitForever为永久等待
* @return BSP_OK 成功，其他值失败
*/
int8_t BSP_CAN_WaitTxMailboxEmpty(BSP_CAN_t can, uint32_t timeout);
/** /**
* @brief 注册 CAN ID 接收队列 * @brief 注册 CAN ID 接收队列
* @param can CAN 枚举 * @param can CAN 枚举
@ -245,10 +225,8 @@ int8_t BSP_CAN_UnregisterIdParser(void);
*/ */
uint32_t BSP_CAN_ParseId(uint32_t original_id, BSP_CAN_FrameType_t frame_type); uint32_t BSP_CAN_ParseId(uint32_t original_id, BSP_CAN_FrameType_t frame_type);
/* USER FUNCTION BEGIN */ /* USER CAN FUNCTIONS BEGIN */
/* USER CAN FUNCTIONS END */
/* USER FUNCTION END */
#ifdef __cplusplus #ifdef __cplusplus
} }

165
User/bsp/can_debug.c Normal file
View File

@ -0,0 +1,165 @@
/**
* @brief CAN调试工具 - 用于诊断CAN发送问题
* 使用示例：
*
* BSP_CAN_StateInfo_t state;
* if (BSP_CAN_GetStateInfo(BSP_CAN_1, &state) == BSP_OK) {
* // 打印状态信息
* printf("CAN State: %d\n", state.can_state);
* printf("Error Code: 0x%08X\n", state.error_code);
* printf("Free Mailboxes: %d\n", state.free_mailboxes);
* printf("MSR: 0x%08X\n", state.can_msr);
* printf("ESR: 0x%08X\n", state.can_esr);
* }
*/
#include "bsp/can.h"
#include <stdio.h>
void BSP_CAN_Debug_PrintState(BSP_CAN_t can) {
BSP_CAN_StateInfo_t state;
if (BSP_CAN_GetStateInfo(can, &state) != BSP_OK) {
printf("Failed to get CAN%d state\n", can + 1);
return;
}
printf("=== CAN%d State Info ===\n", can + 1);
// CAN状态
switch (state.can_state) {
case HAL_CAN_STATE_RESET:
printf("State: RESET\n");
break;
case HAL_CAN_STATE_READY:
printf("State: READY\n");
break;
case HAL_CAN_STATE_LISTENING:
printf("State: LISTENING\n");
break;
case HAL_CAN_STATE_SLEEP_PENDING:
printf("State: SLEEP_PENDING\n");
break;
case HAL_CAN_STATE_SLEEP_ACTIVE:
printf("State: SLEEP_ACTIVE\n");
break;
case HAL_CAN_STATE_ERROR:
printf("State: ERROR\n");
break;
default:
printf("State: UNKNOWN(%d)\n", state.can_state);
break;
}
// 错误状态
printf("Error Code: 0x%08X", state.error_code);
if (state.error_code != HAL_CAN_ERROR_NONE) {
printf(" (");
if (state.error_code & HAL_CAN_ERROR_EWG) printf("EWG ");
if (state.error_code & HAL_CAN_ERROR_EPV) printf("EPV ");
if (state.error_code & HAL_CAN_ERROR_BOF) printf("BOF ");
if (state.error_code & HAL_CAN_ERROR_STF) printf("STF ");
if (state.error_code & HAL_CAN_ERROR_FOR) printf("FOR ");
if (state.error_code & HAL_CAN_ERROR_ACK) printf("ACK ");
if (state.error_code & HAL_CAN_ERROR_BR) printf("BR ");
if (state.error_code & HAL_CAN_ERROR_BD) printf("BD ");
if (state.error_code & HAL_CAN_ERROR_CRC) printf("CRC ");
printf(")");
}
printf("\n");
// 邮箱和FIFO状态
printf("Free Mailboxes: %d/3\n", state.free_mailboxes);
printf("RX FIFO0 Level: %d\n", state.rx_fifo0_level);
printf("RX FIFO1 Level: %d\n", state.rx_fifo1_level);
// 寄存器状态
printf("MSR: 0x%08X\n", state.can_msr);
printf("ESR: 0x%08X", state.can_esr);
// 解析ESR寄存器
uint8_t lec = (state.can_esr >> 4) & 0x07;
uint8_t tec = (state.can_esr >> 16) & 0xFF;
uint8_t rec = (state.can_esr >> 24) & 0xFF;
printf(" (LEC:%d TEC:%d REC:%d)\n", lec, tec, rec);
// 错误计数器分析
if (tec > 96 || rec > 96) {
printf("WARNING: High error count detected!\n");
}
if (state.can_esr & (1 << 2)) { // BOFF bit
printf("WARNING: CAN is in Bus-Off state!\n");
}
if (state.can_esr & (1 << 1)) { // EPVF bit
printf("WARNING: Error Passive Flag set!\n");
}
if (state.can_esr & (1 << 0)) { // EWGF bit
printf("WARNING: Error Warning Flag set!\n");
}
printf("========================\n");
}
// 诊断发送失败的可能原因
void BSP_CAN_Debug_DiagnoseTxFailure(BSP_CAN_t can) {
BSP_CAN_StateInfo_t state;
if (BSP_CAN_GetStateInfo(can, &state) != BSP_OK) {
printf("Failed to get CAN%d state for diagnosis\n", can + 1);
return;
}
printf("=== CAN%d TX Failure Diagnosis ===\n", can + 1);
// 检查各种可能的问题
bool found_issue = false;
if (state.can_state != HAL_CAN_STATE_LISTENING && state.can_state != HAL_CAN_STATE_READY) {
printf("ISSUE: CAN not in operational state (current: %d)\n", state.can_state);
found_issue = true;
}
if (state.free_mailboxes == 0) {
printf("ISSUE: No free TX mailboxes available\n");
found_issue = true;
}
if (state.error_code != HAL_CAN_ERROR_NONE) {
printf("ISSUE: CAN has error flags (0x%08X)\n", state.error_code);
found_issue = true;
}
if (state.can_esr & (1 << 2)) { // BOFF bit
printf("ISSUE: CAN is in Bus-Off state - need restart\n");
found_issue = true;
}
uint8_t tec = (state.can_esr >> 16) & 0xFF;
uint8_t rec = (state.can_esr >> 24) & 0xFF;
if (tec > 127) {
printf("ISSUE: TX Error Counter too high (%d) - bus issues?\n", tec);
found_issue = true;
}
if (rec > 127) {
printf("ISSUE: RX Error Counter too high (%d) - bus issues?\n", rec);
found_issue = true;
}
// 检查MSR寄存器
if (!(state.can_msr & (1 << 1))) { // INAK bit - should be 0 in normal mode
printf("ISSUE: CAN may not be properly initialized\n");
found_issue = true;
}
if (!found_issue) {
printf("No obvious hardware issues found.\n");
printf("Possible causes:\n");
printf("- CAN bus not connected or terminated properly\n");
printf("- Wrong bit rate configuration\n");
printf("- Other node not acknowledging\n");
printf("- Message ID conflicts or filtering issues\n");
}
printf("===================================\n");
}

16
User/bsp/dwt.c
View File

@ -12,18 +12,6 @@
*/ */
#include "bsp/dwt.h" #include "bsp/dwt.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* USER STRUCT BEGIN */
/* USER STRUCT END */
DWT_Time_t SysTime; DWT_Time_t SysTime;
static uint32_t CPU_FREQ_Hz, CPU_FREQ_Hz_ms, CPU_FREQ_Hz_us; static uint32_t CPU_FREQ_Hz, CPU_FREQ_Hz_ms, CPU_FREQ_Hz_us;
static uint32_t CYCCNT_RountCount; static uint32_t CYCCNT_RountCount;
@ -31,10 +19,6 @@ static uint32_t CYCCNT_LAST;
uint64_t CYCCNT64; uint64_t CYCCNT64;
static void DWT_CNT_Update(void); static void DWT_CNT_Update(void);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
void DWT_Init(uint32_t CPU_Freq_mHz) void DWT_Init(uint32_t CPU_Freq_mHz)
{ {
/* 使能DWT外设 */ /* 使能DWT外设 */

16
User/bsp/dwt.h
View File

@ -16,14 +16,6 @@
#include "main.h" #include "main.h"
#include "stdint.h" #include "stdint.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
typedef struct typedef struct
{ {
uint32_t s; uint32_t s;
@ -31,10 +23,6 @@ typedef struct
uint16_t us; uint16_t us;
} DWT_Time_t; } DWT_Time_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
void DWT_Init(uint32_t CPU_Freq_mHz); void DWT_Init(uint32_t CPU_Freq_mHz);
float DWT_GetDeltaT(uint32_t *cnt_last); float DWT_GetDeltaT(uint32_t *cnt_last);
double DWT_GetDeltaT64(uint32_t *cnt_last); double DWT_GetDeltaT64(uint32_t *cnt_last);
@ -46,8 +34,4 @@ void DWT_SysTimeUpdate(void);
extern DWT_Time_t SysTime; extern DWT_Time_t SysTime;
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#endif /* DWT_H_ */ #endif /* DWT_H_ */

16
User/bsp/gpio.c
View File

@ -4,15 +4,7 @@
#include <gpio.h> #include <gpio.h>
#include <main.h> #include <main.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */ /* Private define ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */ /* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */ /* Private typedef ---------------------------------------------------------- */
typedef struct { typedef struct {
@ -20,10 +12,6 @@ typedef struct {
GPIO_TypeDef *gpio; GPIO_TypeDef *gpio;
} BSP_GPIO_MAP_t; } BSP_GPIO_MAP_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private variables -------------------------------------------------------- */ /* Private variables -------------------------------------------------------- */
static const BSP_GPIO_MAP_t GPIO_Map[BSP_GPIO_NUM] = { static const BSP_GPIO_MAP_t GPIO_Map[BSP_GPIO_NUM] = {
{USER_KEY_Pin, USER_KEY_GPIO_Port}, {USER_KEY_Pin, USER_KEY_GPIO_Port},
@ -42,10 +30,6 @@ static const BSP_GPIO_MAP_t GPIO_Map[BSP_GPIO_NUM] = {
static void (*GPIO_Callback[16])(void); static void (*GPIO_Callback[16])(void);
/* Private function -------------------------------------------------------- */ /* Private function -------------------------------------------------------- */
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) { void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
for (uint8_t i = 0; i < 16; i++) { for (uint8_t i = 0; i < 16; i++) {
if (GPIO_Pin & (1 << i)) { if (GPIO_Pin & (1 << i)) {

12
User/bsp/gpio.h
View File

@ -10,16 +10,8 @@ extern "C" {
#include "bsp/bsp.h" #include "bsp/bsp.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Exported constants ------------------------------------------------------- */ /* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */ /* Exported macro ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Exported types ----------------------------------------------------------- */ /* Exported types ----------------------------------------------------------- */
typedef enum { typedef enum {
BSP_GPIO_USER_KEY, BSP_GPIO_USER_KEY,
@ -48,10 +40,6 @@ int8_t BSP_GPIO_TogglePin(BSP_GPIO_t gpio);
bool BSP_GPIO_ReadPin(BSP_GPIO_t gpio); bool BSP_GPIO_ReadPin(BSP_GPIO_t gpio);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif

16
User/bsp/mm.c
View File

@ -3,28 +3,12 @@
#include "FreeRTOS.h" #include "FreeRTOS.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */ /* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */ /* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */ /* Private typedef ---------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private variables -------------------------------------------------------- */ /* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private function -------------------------------------------------------- */ /* Private function -------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */ /* Exported functions ------------------------------------------------------- */
inline void *BSP_Malloc(size_t size) { return pvPortMalloc(size); } inline void *BSP_Malloc(size_t size) { return pvPortMalloc(size); }
inline void BSP_Free(void *pv) { vPortFree(pv); } inline void BSP_Free(void *pv) { vPortFree(pv); }
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

12
User/bsp/mm.h
View File

@ -8,25 +8,13 @@ extern "C" {
#include <stddef.h> #include <stddef.h>
#include <stdint.h> #include <stdint.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Exported constants ------------------------------------------------------- */ /* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */ /* Exported macro ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Exported types ----------------------------------------------------------- */ /* Exported types ----------------------------------------------------------- */
/* Exported functions prototypes -------------------------------------------- */ /* Exported functions prototypes -------------------------------------------- */
void *BSP_Malloc(size_t size); void *BSP_Malloc(size_t size);
void BSP_Free(void *pv); void BSP_Free(void *pv);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif

14
User/bsp/pwm.c
View File

@ -3,15 +3,7 @@
#include "bsp/pwm.h" #include "bsp/pwm.h"
#include "bsp.h" #include "bsp.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */ /* Private define ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */ /* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */ /* Private typedef ---------------------------------------------------------- */
typedef struct { typedef struct {
@ -19,10 +11,6 @@ typedef struct {
uint16_t channel; uint16_t channel;
} BSP_PWM_Config_t; } BSP_PWM_Config_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private variables -------------------------------------------------------- */ /* Private variables -------------------------------------------------------- */
static const BSP_PWM_Config_t PWM_Map[BSP_PWM_NUM] = { static const BSP_PWM_Config_t PWM_Map[BSP_PWM_NUM] = {
{&htim8, TIM_CHANNEL_1}, {&htim8, TIM_CHANNEL_1},
@ -58,6 +46,7 @@ int8_t BSP_PWM_SetComp(BSP_PWM_Channel_t ch, float duty_cycle) {
if (duty_cycle < 0.0f) { if (duty_cycle < 0.0f) {
duty_cycle = 0.0f; duty_cycle = 0.0f;
} }
// 获取ARR值（周期值） // 获取ARR值（周期值）
uint32_t arr = __HAL_TIM_GET_AUTORELOAD(PWM_Map[ch].tim); uint32_t arr = __HAL_TIM_GET_AUTORELOAD(PWM_Map[ch].tim);
@ -65,7 +54,6 @@ int8_t BSP_PWM_SetComp(BSP_PWM_Channel_t ch, float duty_cycle) {
uint32_t ccr = (uint32_t)(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); __HAL_TIM_SET_COMPARE(PWM_Map[ch].tim, PWM_Map[ch].channel, ccr);
return BSP_OK; return BSP_OK;
} }

12
User/bsp/pwm.h
View File

@ -9,17 +9,9 @@ extern "C" {
#include "tim.h" #include "tim.h"
#include "bsp.h" #include "bsp.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Exported constants ------------------------------------------------------- */ /* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */ /* Exported macro ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Exported types ----------------------------------------------------------- */ /* Exported types ----------------------------------------------------------- */
/* PWM通道 */ /* PWM通道 */
typedef enum { typedef enum {
@ -50,10 +42,6 @@ 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_Start_DMA(BSP_PWM_Channel_t ch, uint32_t *pData, uint16_t Length);
int8_t BSP_PWM_Stop_DMA(BSP_PWM_Channel_t ch); int8_t BSP_PWM_Stop_DMA(BSP_PWM_Channel_t ch);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif

16
User/bsp/spi.c
View File

@ -2,21 +2,9 @@
#include <spi.h> #include <spi.h>
#include "bsp/spi.h" #include "bsp/spi.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */ /* Private define ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */ /* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */ /* Private typedef ---------------------------------------------------------- */
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private variables -------------------------------------------------------- */ /* Private variables -------------------------------------------------------- */
static void (*SPI_Callback[BSP_SPI_NUM][BSP_SPI_CB_NUM])(void); static void (*SPI_Callback[BSP_SPI_NUM][BSP_SPI_CB_NUM])(void);
@ -175,7 +163,3 @@ int8_t BSP_SPI_MemWrite(BSP_SPI_t spi, uint8_t reg, uint8_t *data, uint16_t size
BSP_SPI_Transmit(spi, &reg, 1u, true); BSP_SPI_Transmit(spi, &reg, 1u, true);
return BSP_SPI_Transmit(spi, data, size, true); return BSP_SPI_Transmit(spi, data, size, true);
} }
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

12
User/bsp/spi.h
View File

@ -11,16 +11,8 @@ extern "C" {
#include "bsp/bsp.h" #include "bsp/bsp.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Exported constants ------------------------------------------------------- */ /* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */ /* Exported macro ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Exported types ----------------------------------------------------------- */ /* 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 */ /* 要添加使用SPI的新设备，需要先在此添加对应的枚举值 */
@ -61,10 +53,6 @@ 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_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); 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 #ifdef __cplusplus
} }
#endif #endif

18
User/bsp/time.c
View File

@ -6,21 +6,9 @@
#include "FreeRTOS.h" #include "FreeRTOS.h"
#include "main.h" #include "main.h"
#include "task.h" #include "task.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */ /* Private define ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */ /* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */ /* Private typedef ---------------------------------------------------------- */
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private variables -------------------------------------------------------- */ /* Private variables -------------------------------------------------------- */
/* Private function -------------------------------------------------------- */ /* Private function -------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */ /* Exported functions ------------------------------------------------------- */
@ -74,8 +62,4 @@ int8_t BSP_TIME_Delay_us(uint32_t us) {
return BSP_OK; return BSP_OK;
} }
int8_t BSP_TIME_Delay(uint32_t ms) __attribute__((alias("BSP_TIME_Delay_ms"))); int8_t BSP_TIME_Delay(uint32_t ms) __attribute__((alias("BSP_TIME_Delay_ms")));
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

12
User/bsp/time.h
View File

@ -9,16 +9,8 @@ extern "C" {
#include "bsp/bsp.h" #include "bsp/bsp.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Exported constants ------------------------------------------------------- */ /* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */ /* Exported macro ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Exported types ----------------------------------------------------------- */ /* Exported types ----------------------------------------------------------- */
/* Exported functions prototypes -------------------------------------------- */ /* Exported functions prototypes -------------------------------------------- */
uint32_t BSP_TIME_Get_ms(); uint32_t BSP_TIME_Get_ms();
@ -34,10 +26,6 @@ int8_t BSP_TIME_Delay_us(uint32_t us);
int8_t BSP_TIME_Delay(uint32_t ms); int8_t BSP_TIME_Delay(uint32_t ms);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif

18
User/bsp/uart.c
View File

@ -3,21 +3,9 @@
#include "bsp/uart.h" #include "bsp/uart.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */ /* Private define ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */ /* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */ /* Private typedef ---------------------------------------------------------- */
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private variables -------------------------------------------------------- */ /* Private variables -------------------------------------------------------- */
static void (*UART_Callback[BSP_UART_NUM][BSP_UART_CB_NUM])(void); static void (*UART_Callback[BSP_UART_NUM][BSP_UART_CB_NUM])(void);
@ -148,8 +136,4 @@ int8_t BSP_UART_Receive(BSP_UART_t uart, uint8_t *data, uint16_t size, bool dma)
} else { } else {
return HAL_UART_Receive_IT(BSP_UART_GetHandle(uart), data, size); return HAL_UART_Receive_IT(BSP_UART_GetHandle(uart), data, size);
} }
} }
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

15
User/bsp/uart.h
View File

@ -11,16 +11,8 @@ extern "C" {
#include "bsp/bsp.h" #include "bsp/bsp.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Exported constants ------------------------------------------------------- */ /* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */ /* Exported macro ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Exported types ----------------------------------------------------------- */ /* 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 */ /* 要添加使用UART的新设备，需要先在此添加对应的枚举值 */
@ -50,19 +42,12 @@ typedef enum {
/* Exported functions prototypes -------------------------------------------- */ /* Exported functions prototypes -------------------------------------------- */
UART_HandleTypeDef *BSP_UART_GetHandle(BSP_UART_t uart); 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, int8_t BSP_UART_RegisterCallback(BSP_UART_t uart, BSP_UART_Callback_t type,
void (*callback)(void)); void (*callback)(void));
int8_t BSP_UART_Transmit(BSP_UART_t uart, uint8_t *data, uint16_t size, bool dma); 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); 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 #ifdef __cplusplus
} }
#endif #endif

12
User/component/ahrs.c
View File

@ -9,17 +9,9 @@
#include "user_math.h" #include "user_math.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
#define BETA_IMU (0.033f) #define BETA_IMU (0.033f)
#define BETA_AHRS (0.041f) #define BETA_AHRS (0.041f)
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* 2 * proportional gain (Kp) */ /* 2 * proportional gain (Kp) */
static float beta = BETA_IMU; static float beta = BETA_IMU;
@ -411,7 +403,3 @@ int8_t AHRS_GetEulr(AHRS_Eulr_t *eulr, const AHRS_t *ahrs) {
* \param eulr 被操作的数据 * \param eulr 被操作的数据
*/ */
void AHRS_ResetEulr(AHRS_Eulr_t *eulr) { memset(eulr, 0, sizeof(*eulr)); } void AHRS_ResetEulr(AHRS_Eulr_t *eulr) { memset(eulr, 0, sizeof(*eulr)); }
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

16
User/component/ahrs.h
View File

@ -11,14 +11,6 @@ extern "C" {
#include "user_math.h" #include "user_math.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* 欧拉角（Euler angle） */ /* 欧拉角（Euler angle） */
typedef struct { typedef struct {
float yaw; /* 偏航角（Yaw angle） */ float yaw; /* 偏航角（Yaw angle） */
@ -63,10 +55,6 @@ typedef struct {
float inv_sample_freq; /* 采样频率的的倒数 */ float inv_sample_freq; /* 采样频率的的倒数 */
} AHRS_t; } AHRS_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/** /**
* @brief 初始化姿态解算 * @brief 初始化姿态解算
* *
@ -105,10 +93,6 @@ int8_t AHRS_GetEulr(AHRS_Eulr_t *eulr, const AHRS_t *ahrs);
*/ */
void AHRS_ResetEulr(AHRS_Eulr_t *eulr); void AHRS_ResetEulr(AHRS_Eulr_t *eulr);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif

12
User/component/cmd.c
View File

@ -6,14 +6,6 @@
#include <string.h> #include <string.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/** /**
* @brief 行为转换为对应按键 * @brief 行为转换为对应按键
* *
@ -381,7 +373,3 @@ int8_t CMD_RefereeAdd(CMD_RefereeCmd_t *ref, CMD_UI_t cmd) {
ref->counter++; ref->counter++;
return 0; return 0;
} }
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

16
User/component/cmd.h
View File

@ -11,17 +11,9 @@ extern "C" {
#include <stdbool.h> #include <stdbool.h>
#include <stdint.h> #include <stdint.h>
#include "component/ahrs.h" #include "ahrs.h"
/* USER INCLUDE BEGIN */ #define CMD_REFEREE_MAX_NUM (3) /* 发送命令限定的最大数量 */
/* USER INCLUDE END */
#define CMD_REFEREE_MAX_NUM (3) /* Lines 16 omitted */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* 机器人型号 */ /* 机器人型号 */
typedef enum { typedef enum {
@ -309,10 +301,6 @@ int8_t CMD_ParseHost(const CMD_Host_t *host, CMD_t *cmd, float dt_sec);
*/ */
int8_t CMD_RefereeAdd(CMD_RefereeCmd_t *ref, CMD_UI_t cmd); int8_t CMD_RefereeAdd(CMD_RefereeCmd_t *ref, CMD_UI_t cmd);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif

5
User/component/component_config.yaml
View File

@ -1,10 +1,9 @@
ahrs: ahrs:
dependencies: dependencies:
- component/user_math.h - component/filter
enabled: true enabled: true
cmd: cmd:
dependencies: dependencies: []
- component/ahrs
enabled: true enabled: true
filter: filter:
dependencies: dependencies:

16
User/component/filter.h
View File

@ -10,14 +10,6 @@ extern "C" {
#include "user_math.h" #include "user_math.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* 二阶低通滤波器 */ /* 二阶低通滤波器 */
typedef struct { typedef struct {
float cutoff_freq; /* 截止频率 */ float cutoff_freq; /* 截止频率 */
@ -50,10 +42,6 @@ typedef struct {
} NotchFilter_t; } NotchFilter_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/** /**
* @brief 初始化滤波器 * @brief 初始化滤波器
* *
@ -111,10 +99,6 @@ float NotchFilter_Apply(NotchFilter_t *f, float sample);
*/ */
float NotchFilter_Reset(NotchFilter_t *f, float sample); float NotchFilter_Reset(NotchFilter_t *f, float sample);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif

23
User/component/limiter.c
View File

@ -105,3 +105,26 @@ float HeatLimit_ShootFreq(float heat, float heat_limit, float cooling_rate,
else else
return (heat_percent > 0.7f) ? stable_freq : 3.0f * stable_freq; return (heat_percent > 0.7f) ? stable_freq : 3.0f * stable_freq;
} }
/**
* @brief 速度限制器，计算目标速度
* @param accl_limit 加速度限制
* @param speed_now 当前速度
* @param speed_target 目标速度
* @param dt 时间间隔
* @return float 计算得到的目标速度
*/
float SpeedLimit_TargetSpeed(float accl_limit, float speed_now, float speed_target, float dt){
float speed_diff = speed_target - speed_now;
float max_speed_change = accl_limit * dt;
if (fabsf(speed_diff) > max_speed_change) {
if (speed_diff > 0) {
return speed_now + max_speed_change;
} else {
return speed_now - max_speed_change;
}
} else {
return speed_target;
}
}

18
User/component/limiter.h
View File

@ -11,14 +11,6 @@ extern "C" {
#include <stdbool.h> #include <stdbool.h>
#include <stdint.h> #include <stdint.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/** /**
* @brief 限制底盘功率不超过power_limit * @brief 限制底盘功率不超过power_limit
* *
@ -61,3 +53,13 @@ float PowerLimit_TargetPower(float power_limit, float power_buffer);
*/ */
float HeatLimit_ShootFreq(float heat, float heat_limit, float cooling_rate, float HeatLimit_ShootFreq(float heat, float heat_limit, float cooling_rate,
float heat_increase, bool is_big); float heat_increase, bool is_big);
/**
* @brief 速度限制器，计算目标速度
* @param accl_limit 加速度限制
* @param speed_now 当前速度
* @param speed_target 目标速度
* @param dt 时间间隔
* @return float 计算得到的目标速度
*/
float SpeedLimit_TargetSpeed(float accl_limit, float speed_now, float speed_target, float dt);

12
User/component/pid.h
View File

@ -14,14 +14,6 @@ extern "C" {
#include "filter.h" #include "filter.h"
#include "user_math.h" #include "user_math.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* PID模式 */ /* PID模式 */
typedef enum { typedef enum {
KPID_MODE_NO_D = 0, /* 不使用微分项，PI控制器 */ KPID_MODE_NO_D = 0, /* 不使用微分项，PI控制器 */
@ -98,10 +90,6 @@ int8_t PID_ResetIntegral(KPID_t *pid);
*/ */
int8_t PID_Reset(KPID_t *pid); int8_t PID_Reset(KPID_t *pid);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif

8
User/component/user_math.c
View File

@ -3,10 +3,8 @@
*/ */
#include "user_math.h" #include "user_math.h"
#include <string.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */ #include <string.h>
inline float InvSqrt(float x) { inline float InvSqrt(float x) {
//#if 0 //#if 0
@ -132,7 +130,3 @@ inline float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm) {
// __NOP(); // __NOP();
// } // }
// } // }
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

18
User/component/user_math.h
View File

@ -14,10 +14,6 @@ extern "C" {
#include <stdint.h> #include <stdint.h>
#include <stddef.h> #include <stddef.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
#define M_DEG2RAD_MULT (0.01745329251f) #define M_DEG2RAD_MULT (0.01745329251f)
#define M_RAD2DEG_MULT (57.2957795131f) #define M_RAD2DEG_MULT (57.2957795131f)
@ -47,12 +43,6 @@ extern "C" {
_a < _b ? _a : _b; \ _a < _b ? _a : _b; \
}) })
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* 移动向量 */ /* 移动向量 */
typedef struct { typedef struct {
float vx; /* 前后平移 */ float vx; /* 前后平移 */
@ -60,10 +50,6 @@ typedef struct {
float wz; /* 转动 */ float wz; /* 转动 */
} MoveVector_t; } MoveVector_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
float InvSqrt(float x); float InvSqrt(float x);
float AbsClip(float in, float limit); float AbsClip(float in, float limit);
@ -173,7 +159,3 @@ float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm);
// * @param line 行号 // * @param line 行号
// */ // */
// void VerifyFailed(const char *file, uint32_t line); // void VerifyFailed(const char *file, uint32_t line);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

12
User/device/buzzer.c
View File

@ -1,13 +1,5 @@
#include "device/buzzer.h" #include "device/buzzer.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
int8_t BUZZER_Init(BUZZER_t *buzzer, BSP_PWM_Channel_t channel) { int8_t BUZZER_Init(BUZZER_t *buzzer, BSP_PWM_Channel_t channel) {
if (buzzer == NULL) return DEVICE_ERR; if (buzzer == NULL) return DEVICE_ERR;
@ -50,7 +42,3 @@ int8_t BUZZER_Set(BUZZER_t *buzzer, float freq, float duty_cycle) {
return result; return result;
} }
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

16
User/device/buzzer.h
View File

@ -9,26 +9,14 @@ extern "C" {
#include "bsp/pwm.h" #include "bsp/pwm.h"
#include <stddef.h> #include <stddef.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Exported constants ------------------------------------------------------- */ /* Exported constants ------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Exported types ----------------------------------------------------------- */ /* Exported types ----------------------------------------------------------- */
typedef struct { typedef struct {
DEVICE_Header_t header; DEVICE_Header_t header;
BSP_PWM_Channel_t channel; BSP_PWM_Channel_t channel;
} BUZZER_t; } BUZZER_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Exported functions prototypes -------------------------------------------- */ /* Exported functions prototypes -------------------------------------------- */
int8_t BUZZER_Init(BUZZER_t *buzzer, BSP_PWM_Channel_t channel); int8_t BUZZER_Init(BUZZER_t *buzzer, BSP_PWM_Channel_t channel);
@ -42,10 +30,6 @@ int8_t BUZZER_Stop(BUZZER_t *buzzer);
int8_t BUZZER_Set(BUZZER_t *buzzer, float freq, float duty_cycle); int8_t BUZZER_Set(BUZZER_t *buzzer, float freq, float duty_cycle);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif

16
User/device/device.h
View File

@ -7,14 +7,6 @@ extern "C" {
#include <stdbool.h> #include <stdbool.h>
#include <stdint.h> #include <stdint.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
#define DEVICE_OK (0) #define DEVICE_OK (0)
#define DEVICE_ERR (-1) #define DEVICE_ERR (-1)
#define DEVICE_ERR_NULL (-2) #define DEVICE_ERR_NULL (-2)
@ -34,14 +26,6 @@ typedef struct {
uint64_t last_online_time; uint64_t last_online_time;
} DEVICE_Header_t; } DEVICE_Header_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif

6
User/device/device_config.yaml
View File

@ -1,6 +1,5 @@
buzzer: buzzer:
bsp_config: bsp_config: {}
BSP_PWM_BUZZER: BSP_PWM_TIM8_CH1
enabled: true enabled: true
dm_imu: dm_imu:
bsp_config: {} bsp_config: {}
@ -18,6 +17,3 @@ motor_lk:
motor_lz: motor_lz:
bsp_config: {} bsp_config: {}
enabled: true enabled: true
motor_rm:
bsp_config: {}
enabled: true

4
User/device/dm_imu.c
View File

@ -1,5 +1,5 @@
/* /*
DM_IMU数据获取（CAN） DM_IMU数据获取
*/ */
/* Includes ----------------------------------------------------------------- */ /* Includes ----------------------------------------------------------------- */
@ -166,7 +166,7 @@ int8_t DM_IMU_Request(DM_IMU_t *imu, DM_IMU_RID_t rid) {
.dlc = 4, .dlc = 4,
}; };
memcpy(frame.data, tx_data, 4); memcpy(frame.data, tx_data, 4);
BSP_CAN_WaitTxMailboxEmpty(imu->param.can, 1); // 等待发送邮箱空闲
int8_t result = BSP_CAN_TransmitStdDataFrame(imu->param.can, &frame); int8_t result = BSP_CAN_TransmitStdDataFrame(imu->param.can, &frame);
return (result == BSP_OK) ? DEVICE_OK : DEVICE_ERR; return (result == BSP_OK) ? DEVICE_OK : DEVICE_ERR;
} }

14
User/device/dr16.c
View File

@ -1,5 +1,5 @@
/* /*
DR16接收机 DR16接收机
*/ */
/* Includes ----------------------------------------------------------------- */ /* Includes ----------------------------------------------------------------- */
@ -9,19 +9,11 @@
#include "bsp/uart.h" #include "bsp/uart.h"
#include "bsp/time.h" #include "bsp/time.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */ /* Private define ----------------------------------------------------------- */
#define DR16_CH_VALUE_MIN (364u) #define DR16_CH_VALUE_MIN (364u)
#define DR16_CH_VALUE_MID (1024u) #define DR16_CH_VALUE_MID (1024u)
#define DR16_CH_VALUE_MAX (1684u) #define DR16_CH_VALUE_MAX (1684u)
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */ /* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */ /* Private typedef ---------------------------------------------------------- */
/* Private variables -------------------------------------------------------- */ /* Private variables -------------------------------------------------------- */
@ -91,7 +83,3 @@ bool DR16_WaitDmaCplt(uint32_t timeout) {
return (osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, timeout) == return (osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, timeout) ==
SIGNAL_DR16_RAW_REDY); SIGNAL_DR16_RAW_REDY);
} }
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

11
User/device/dr16.h
View File

@ -10,14 +10,6 @@ extern "C" {
#include "component/user_math.h" #include "component/user_math.h"
#include "device/device.h" #include "device/device.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Exported constants ------------------------------------------------------- */ /* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */ /* Exported macro ----------------------------------------------------------- */
/* Exported types ----------------------------------------------------------- */ /* Exported types ----------------------------------------------------------- */
@ -49,9 +41,6 @@ int8_t DR16_Restart(void);
int8_t DR16_StartDmaRecv(DR16_t *dr16); int8_t DR16_StartDmaRecv(DR16_t *dr16);
bool DR16_WaitDmaCplt(uint32_t timeout); bool DR16_WaitDmaCplt(uint32_t timeout);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus #ifdef __cplusplus
} }

25
User/device/motor.c
View File

@ -1,5 +1,5 @@
/* /*
电机通用函数 DR16接收机
*/ */
/* Includes ----------------------------------------------------------------- */ /* Includes ----------------------------------------------------------------- */
@ -7,43 +7,30 @@
#include <string.h> #include <string.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */ /* Private define ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */ /* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */ /* Private typedef ---------------------------------------------------------- */
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private variables -------------------------------------------------------- */ /* Private variables -------------------------------------------------------- */
/* Private function -------------------------------------------------------- */ /* Private function -------------------------------------------------------- */
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
/* Exported functions ------------------------------------------------------- */ /* Exported functions ------------------------------------------------------- */
float MOTOR_GetRotorAbsAngle(const MOTOR_t *motor) { float MOTOR_GetRotorAbsAngle(const MOTOR_t *motor) {
if (motor == NULL) return DEVICE_ERR_NULL; if (motor == NULL) return DEVICE_ERR_NULL;
return motor->feedback.rotor_abs_angle; return motor->feedback.rotor_abs_angle;
} }
float MOTOR_GetRotorSpeed(const MOTOR_t *motor) { float MOTOR_GetRotorSpeed(const MOTOR_t *motor) {
if (motor == NULL) return DEVICE_ERR_NULL; if (motor == NULL) return DEVICE_ERR_NULL;
return motor->feedback.rotor_speed; return motor->feedback.rotor_speed;
} }
float MOTOR_GetTorqueCurrent(const MOTOR_t *motor) { float MOTOR_GetTorqueCurrent(const MOTOR_t *motor) {
if (motor == NULL) return DEVICE_ERR_NULL; if (motor == NULL) return DEVICE_ERR_NULL;
return motor->feedback.torque_current; return motor->feedback.torque_current;
} }
float MOTOR_GetTemp(const MOTOR_t *motor) { float MOTOR_GetTemp(const MOTOR_t *motor) {

16
User/device/motor.h
View File

@ -7,14 +7,6 @@ extern "C" {
/* Includes ----------------------------------------------------------------- */ /* Includes ----------------------------------------------------------------- */
#include "device/device.h" #include "device/device.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Exported constants ------------------------------------------------------- */ /* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */ /* Exported macro ----------------------------------------------------------- */
/* Exported types ----------------------------------------------------------- */ /* Exported types ----------------------------------------------------------- */
@ -49,20 +41,12 @@ typedef struct {
MOTOR_Feedback_t feedback; MOTOR_Feedback_t feedback;
} MOTOR_t; } MOTOR_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Exported functions prototypes -------------------------------------------- */ /* Exported functions prototypes -------------------------------------------- */
float MOTOR_GetRotorAbsAngle(const MOTOR_t *motor); float MOTOR_GetRotorAbsAngle(const MOTOR_t *motor);
float MOTOR_GetRotorSpeed(const MOTOR_t *motor); float MOTOR_GetRotorSpeed(const MOTOR_t *motor);
float MOTOR_GetTorqueCurrent(const MOTOR_t *motor); float MOTOR_GetTorqueCurrent(const MOTOR_t *motor);
float MOTOR_GetTemp(const MOTOR_t *motor); float MOTOR_GetTemp(const MOTOR_t *motor);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif

498
User/device/motor_dm.c
View File

@ -1,498 +0,0 @@
#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);
BSP_CAN_WaitTxMailboxEmpty(motor->param.can, 1);
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);
BSP_CAN_WaitTxMailboxEmpty(motor->param.can, 1);
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);
BSP_CAN_WaitTxMailboxEmpty(motor->param.can, 1);
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;
BSP_CAN_WaitTxMailboxEmpty(motor->param.can, 1);
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;
}

98
User/device/motor_dm.h
View File

@ -1,98 +0,0 @@
#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

22
User/device/motor_lk.c
View File

@ -10,10 +10,6 @@
#include "bsp/time.h" #include "bsp/time.h"
#include "component/user_math.h" #include "component/user_math.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */ /* Private define ----------------------------------------------------------- */
#define LK_CTRL_ID_BASE (0x140) #define LK_CTRL_ID_BASE (0x140)
#define LK_FB_ID_BASE (0x240) #define LK_FB_ID_BASE (0x240)
@ -40,24 +36,12 @@
#define LK_ENC_15BIT_MAX (32767) // 15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 #define LK_ENC_16BIT_MAX (65535) // 16位编码器最大值
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */ /* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */ /* Private typedef ---------------------------------------------------------- */
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private variables -------------------------------------------------------- */ /* Private variables -------------------------------------------------------- */
static MOTOR_LK_CANManager_t *can_managers[BSP_CAN_NUM] = {NULL}; static MOTOR_LK_CANManager_t *can_managers[BSP_CAN_NUM] = {NULL};
/* Private functions -------------------------------------------------------- */ /* Private functions -------------------------------------------------------- */
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
static float MOTOR_LK_GetCurrentLSB(MOTOR_LK_Module_t module) { static float MOTOR_LK_GetCurrentLSB(MOTOR_LK_Module_t module) {
switch (module) { switch (module) {
case MOTOR_LK_MF9025: case MOTOR_LK_MF9025:
@ -253,7 +237,7 @@ int8_t MOTOR_LK_SetOutput(MOTOR_LK_Param_t *param, float value) {
tx_frame.data[5] = (uint8_t)((torque_control >> 8) & 0xFF); tx_frame.data[5] = (uint8_t)((torque_control >> 8) & 0xFF);
tx_frame.data[6] = 0x00; tx_frame.data[6] = 0x00;
tx_frame.data[7] = 0x00; tx_frame.data[7] = 0x00;
BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
} }
@ -279,7 +263,7 @@ int8_t MOTOR_LK_MotorOn(MOTOR_LK_Param_t *param) {
tx_frame.data[5] = 0x00; tx_frame.data[5] = 0x00;
tx_frame.data[6] = 0x00; tx_frame.data[6] = 0x00;
tx_frame.data[7] = 0x00; tx_frame.data[7] = 0x00;
BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
} }
@ -299,7 +283,7 @@ int8_t MOTOR_LK_MotorOff(MOTOR_LK_Param_t *param) {
tx_frame.data[5] = 0x00; tx_frame.data[5] = 0x00;
tx_frame.data[6] = 0x00; tx_frame.data[6] = 0x00;
tx_frame.data[7] = 0x00; tx_frame.data[7] = 0x00;
BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
} }

39
User/device/motor_lz.c
View File

@ -33,6 +33,13 @@
/* Private macro ------------------------------------------------------------ */ /* Private macro ------------------------------------------------------------ */
MOTOR_LZ_MotionParam_t lz_recover_param = {
.target_angle = 0.0f,
.target_velocity = 0.0f,
.kp = 30.0f,
.kd = 1.0f,
.torque = 0.0f,
};
MOTOR_LZ_MotionParam_t lz_relax_param = { MOTOR_LZ_MotionParam_t lz_relax_param = {
.target_angle = 0.0f, .target_angle = 0.0f,
.target_velocity = 0.0f, .target_velocity = 0.0f,
@ -134,7 +141,7 @@ static int8_t MOTOR_LZ_SendExtFrame(BSP_CAN_t can, uint32_t ext_id, uint8_t *dat
} else { } else {
memset(tx_frame.data, 0, dlc); memset(tx_frame.data, 0, dlc);
} }
BSP_CAN_WaitTxMailboxEmpty(can, 1); // 等待发送邮箱空闲
return BSP_CAN_TransmitExtDataFrame(can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; return BSP_CAN_TransmitExtDataFrame(can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
} }
@ -369,7 +376,7 @@ int8_t MOTOR_LZ_MotionControl(MOTOR_LZ_Param_t *param, MOTOR_LZ_MotionParam_t *m
uint16_t raw_kd = MOTOR_LZ_FloatToRawPositive(send_param.kd, LZ_KD_MAX); uint16_t raw_kd = MOTOR_LZ_FloatToRawPositive(send_param.kd, LZ_KD_MAX);
data[6] = (raw_kd >> 8) & 0xFF; data[6] = (raw_kd >> 8) & 0xFF;
data[7] = raw_kd & 0xFF; data[7] = raw_kd & 0xFF;
BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
return MOTOR_LZ_SendExtFrame(param->can, ext_id, data, 8); return MOTOR_LZ_SendExtFrame(param->can, ext_id, data, 8);
} }
@ -448,3 +455,31 @@ static MOTOR_LZ_Feedback_t* MOTOR_LZ_GetFeedback(MOTOR_LZ_Param_t *param) {
} }
return NULL; return NULL;
} }
int8_t MOTOR_LZ_RecoverToZero(MOTOR_LZ_Param_t *param) {
if (param == NULL) return DEVICE_ERR_NULL;
MOTOR_LZ_t *motor = MOTOR_LZ_GetMotor(param);
if (motor == NULL) return DEVICE_ERR_NO_DEV;
// 获取当前角度
MOTOR_LZ_Feedback_t *feedback = MOTOR_LZ_GetFeedback(param);
if (feedback == NULL) return DEVICE_ERR_NO_DEV;
float current_angle = feedback->current_angle;
// 计算目标角度为0时的最短路径
float angle_diff = -current_angle; // 目标是0，所以差值就是-current_angle
// 限制最大差值，防止过大跳变
if (angle_diff > LZ_MAX_RECOVER_DIFF_RAD) angle_diff = LZ_MAX_RECOVER_DIFF_RAD;
if (angle_diff < -LZ_MAX_RECOVER_DIFF_RAD) angle_diff = -LZ_MAX_RECOVER_DIFF_RAD;
float target_angle = current_angle + angle_diff;
// 创建运控参数，设置位置和速度限制
MOTOR_LZ_MotionParam_t motion_param = lz_recover_param; // 使用预设的恢复参数
motion_param.target_angle = target_angle;
return MOTOR_LZ_MotionControl(param, &motion_param);
}

27
User/device/motor_lz.h
View File

@ -145,31 +145,6 @@ int8_t MOTOR_LZ_UpdateAll(void);
*/ */
int8_t MOTOR_LZ_MotionControl(MOTOR_LZ_Param_t *param, MOTOR_LZ_MotionParam_t *motion_param); 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 * @brief 电机使能运行
* @param param 电机参数 * @param param 电机参数
@ -213,6 +188,8 @@ int8_t MOTOR_LZ_Relax(MOTOR_LZ_Param_t *param);
*/ */
int8_t MOTOR_LZ_Offline(MOTOR_LZ_Param_t *param); int8_t MOTOR_LZ_Offline(MOTOR_LZ_Param_t *param);
int8_t MOTOR_LZ_RecoverToZero(MOTOR_LZ_Param_t *param);
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif

313
User/device/motor_rm.c
View File

@ -1,313 +0,0 @@
/*
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 19.0f;
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;
}
motor->feedback.temp = msg->data[6];
motor->motor.feedback.rotor_abs_angle = motor->feedback.rotor_abs_angle;
motor->motor.feedback.rotor_speed = motor->feedback.rotor_speed;
motor->motor.feedback.torque_current = motor->feedback.torque_current;
motor->motor.feedback.temp = motor->feedback.temp;
}
/* Exported functions ------------------------------------------------------- */
int8_t MOTOR_RM_Register(MOTOR_RM_Param_t *param) {
if (param == NULL) return DEVICE_ERR_NULL;
if (MOTOR_RM_CreateCANManager(param->can) != DEVICE_OK) return DEVICE_ERR;
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);
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;
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;
}
BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
}
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;
}

132
User/device/motor_rm.h
View File

@ -1,132 +0,0 @@
#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

25
User/module/balance_chassis.c
View File

@ -18,7 +18,6 @@ static int8_t Chassis_MotorEnable(Chassis_t *c) {
for (int i = 0; i < 2; i++) { for (int i = 0; i < 2; i++) {
MOTOR_LK_MotorOn(&c->param->wheel_motors[i]); MOTOR_LK_MotorOn(&c->param->wheel_motors[i]);
} }
BSP_TIME_Delay_us(200);
for (int i = 0; i < 4; i++) { for (int i = 0; i < 4; i++) {
MOTOR_LZ_Enable(&c->param->joint_motors[i]); MOTOR_LZ_Enable(&c->param->joint_motors[i]);
} }
@ -217,20 +216,14 @@ int8_t Chassis_Control(Chassis_t *c, const Chassis_CMD_t *c_cmd){
switch (c->mode) { switch (c->mode) {
case CHASSIS_MODE_RELAX: case CHASSIS_MODE_RELAX:
// 放松模式，电机不输出 // 放松模式，电机不输出
// BSP_CAN_WaitForEmptyMailbox(BSP_CAN_1, 10);
MOTOR_LZ_Relax(&c->param->joint_motors[0]);
// BSP_CAN_WaitForEmptyMailbox(BSP_CAN_1, 10);
MOTOR_LZ_Relax(&c->param->joint_motors[1]);
// BSP_CAN_WaitForEmptyMailbox(BSP_CAN_1, 10);
MOTOR_LZ_Relax(&c->param->joint_motors[2]);
// BSP_CAN_WaitForEmptyMailbox(BSP_CAN_1, 10);
MOTOR_LZ_Relax(&c->param->joint_motors[3]);
BSP_TIME_Delay_us(200); // 等待CAN总线空闲，确保前面的命令发送完成
// BSP_CAN_WaitForEmptyMailbox(BSP_CAN_1, 10);
MOTOR_LK_Relax(&c->param->wheel_motors[0]); MOTOR_LK_Relax(&c->param->wheel_motors[0]);
// BSP_CAN_WaitForEmptyMailbox(BSP_CAN_1, 10);
MOTOR_LK_Relax(&c->param->wheel_motors[1]); MOTOR_LK_Relax(&c->param->wheel_motors[1]);
// MOTOR_LK_Relax(&c->param->wheel_motors[0]);
MOTOR_LZ_Relax(&c->param->joint_motors[0]);
MOTOR_LZ_Relax(&c->param->joint_motors[1]);
MOTOR_LZ_Relax(&c->param->joint_motors[2]);
MOTOR_LZ_Relax(&c->param->joint_motors[3]);
// 更新VMC正解算用于状态估计 // 更新VMC正解算用于状态估计
VMC_ForwardSolve(&c->vmc_[0], c->feedback.joint[0].rotor_abs_angle, c->feedback.joint[1].rotor_abs_angle, VMC_ForwardSolve(&c->vmc_[0], c->feedback.joint[0].rotor_abs_angle, c->feedback.joint[1].rotor_abs_angle,
@ -257,9 +250,9 @@ int8_t Chassis_Control(Chassis_t *c, const Chassis_CMD_t *c_cmd){
tp1 = 3*PID_Calc(&c->pid.tp[0], 0.0f, c->vmc_[0].leg.theta, c->vmc_[0].leg.d_theta, c->dt); tp1 = 3*PID_Calc(&c->pid.tp[0], 0.0f, c->vmc_[0].leg.theta, c->vmc_[0].leg.d_theta, c->dt);
tp2 = 3*PID_Calc(&c->pid.tp[1], 0.0f, c->vmc_[1].leg.theta, c->vmc_[1].leg.d_theta, c->dt); tp2 = 3*PID_Calc(&c->pid.tp[1], 0.0f, c->vmc_[1].leg.theta, c->vmc_[1].leg.d_theta, c->dt);
VMC_InverseSolve(&c->vmc_[0], fn, 0.0f); VMC_InverseSolve(&c->vmc_[0], fn, tp1);
VMC_GetJointTorques(&c->vmc_[0], &c->output.joint[0].torque, &c->output.joint[1].torque); VMC_GetJointTorques(&c->vmc_[0], &c->output.joint[0].torque, &c->output.joint[1].torque);
VMC_InverseSolve(&c->vmc_[1], fn, 0.0f); VMC_InverseSolve(&c->vmc_[1], fn, tp2);
VMC_GetJointTorques(&c->vmc_[1], &c->output.joint[3].torque, &c->output.joint[2].torque); VMC_GetJointTorques(&c->vmc_[1], &c->output.joint[3].torque, &c->output.joint[2].torque);
c->output.wheel[0] = 0.0f; c->output.wheel[0] = 0.0f;
@ -369,7 +362,7 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
// 目标设定 // 目标设定
target_dot_x = c_cmd->move_vec.vx; target_dot_x = c_cmd->move_vec.vx;
// target_dot_x = SpeedLimit_TargetSpeed(300.0f, c->chassis_state.velocity_x, target_dot_x, c->dt); // 速度限制器，假设最大加速度为1 m/s² target_dot_x = SpeedLimit_TargetSpeed(300.0f, c->chassis_state.velocity_x, target_dot_x, c->dt); // 速度限制器，假设最大加速度为1 m/s²
target_x += target_dot_x * c->dt; target_x += target_dot_x * c->dt;
/* 分别计算左右腿的LQR控制 */ /* 分别计算左右腿的LQR控制 */

7
User/task/config.yaml
View File

@ -26,10 +26,3 @@
function: Task_ctrl_chassis function: Task_ctrl_chassis
name: ctrl_chassis name: ctrl_chassis
stack: 512 stack: 512
- delay: 0
description: ''
freq_control: true
frequency: 500.0
function: Task_ctrl_gimbal
name: ctrl_gimbal
stack: 256

20
User/task/ctrl_chassis.c
View File

@ -57,19 +57,17 @@ void Task_ctrl_chassis(void *argument) {
while (1) { while (1) {
tick += delay_tick; /* 计算下一个唤醒时刻 */ tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */ /* USER CODE BEGIN */
// if (osMessageQueueGet(task_runtime.msgq.chassis_imu, &chassis_imu, NULL, 0) == osOK) { if (osMessageQueueGet(task_runtime.msgq.chassis_imu, &chassis_imu, NULL, 0) == osOK) {
// chassis.feedback.imu = chassis_imu; chassis.feedback.imu = chassis_imu;
// } }
// if (osMessageQueueGet(task_runtime.msgq.Chassis_cmd, &chassis_cmd, NULL, 0) == osOK) { if (osMessageQueueGet(task_runtime.msgq.Chassis_cmd, &chassis_cmd, NULL, 0) == osOK) {
// // 成功接收到命令，更新底盘命令 // 成功接收到命令，更新底盘命令
// } }
// Chassis_UpdateFeedback(&chassis); Chassis_UpdateFeedback(&chassis);
// Chassis_Control(&chassis, &chassis_cmd); Chassis_Control(&chassis, &chassis_cmd);
/* USER CODE END */ /* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
} }}
}

120
User/task/ctrl_gimbal.c
View File

@ -1,120 +0,0 @@
/*
ctrl_gimbal Task
*/
/* Includes ----------------------------------------------------------------- */
#include "device/motor_rm.h"
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "bsp/can.h"
#include "device/motor_dm.h"
#include "device/motor_rm.h"
#include "device/motor.h"
#include "component/pid.h"
#include <stdbool.h>
/* USER INCLUDE END */
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
MOTOR_DM_Param_t dm_4310_param = {
.can = BSP_CAN_1,
.master_id = 0x11, // 主站ID
.can_id = 0x01, // 反馈ID 10进制是85
.module = MOTOR_DM_J4310,
.reverse = false,
};
MOTOR_RM_Param_t m2006 = {
.can = BSP_CAN_1,
.id = 0x201,
.module = MOTOR_M2006,
.reverse = false,
.gear = true,
};
MOTOR_MIT_Output_t gimbal_output = {
.angle = 0.0f,
.velocity = 0.0f,
.torque = 0.0f,
.kp = 0.0f,
.kd = 0.0f,
};
MOTOR_DM_t *dm_4310_motor = NULL;
MOTOR_Feedback_t m2006_fb;
MOTOR_Feedback_t dm_4310_fb;
// KPID_Params_t gimbal_angle_pid = {
// .leg_theta={
// .k=1.0f,
// .p=5.0f, /* 摆角比例系数 */
// .i=0.0f, /* 摆角积分系数 */
// .d=0.0f, /* 摆角微分系数 */
// .i_limit=0.0f, /* 积分限幅 */
// .out_limit=0.05f, /* 输出限幅，腿长差值限制 */
// .d_cutoff_freq=30.0f, /* 微分截止频率 */
// .range=-1.0f, /* 不使用循环误差处理 */
// };
/* USER STRUCT END */
/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
void Task_ctrl_gimbal(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() / CTRL_GIMBAL_FREQ;
osDelay(CTRL_GIMBAL_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 */
// BSP_CAN_Init();
// MOTOR_DM_Register(&dm_4310_param);
// MOTOR_RM_Register(&m2006);
// MOTOR_DM_Enable(&dm_4310_param); // 使能电机
/* USER CODE INIT END */
while (1) {
tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */
// MOTOR_RM_Update(&m2006);
// MOTOR_DM_Enable(&dm_4310_param); // 使能电机
// MOTOR_DM_MITCtrl(&dm_4310_param, &gimbal_output);
// MOTOR_DM_Update(&dm_4310_param);
// MOTOR_DM_t *dm_4310_motor = MOTOR_DM_GetMotor(&dm_4310_param);
// if (dm_4310_motor) {
// dm_4310_fb = dm_4310_motor->motor.feedback;
// }
// MOTOR_RM_t *m2006_motor = MOTOR_RM_GetMotor(&m2006);
// m2006_fb = m2006_motor->motor.feedback;
// MOTOR_DM_Update(&dm_4310_param);
// if (dm_4310_motor == NULL) {
// dm_4310_motor = MOTOR_DM_GetMotor(&dm_4310_param);
// if (dm_4310_motor == NULL) {
// // 获取电机实例失败，跳过本次循环
// osDelayUntil(tick);
// continue;
// }
// }
// if (dm_4310_motor->motor.header.online == false) {
// MOTOR_DM_Enable(&dm_4310_param); // 使能电机
// } else {
// MOTOR_DM_MITCtrl(&dm_4310_param, &gimbal_output);
// }
// 发送云台控制命令
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
}
}

1
User/task/init.c
View File

@ -36,7 +36,6 @@ void Task_Init(void *argument) {
task_runtime.thread.rc = osThreadNew(Task_rc, NULL, &attr_rc); task_runtime.thread.rc = osThreadNew(Task_rc, NULL, &attr_rc);
task_runtime.thread.atti_esti = osThreadNew(Task_atti_esti, NULL, &attr_atti_esti); task_runtime.thread.atti_esti = osThreadNew(Task_atti_esti, NULL, &attr_atti_esti);
task_runtime.thread.ctrl_chassis = osThreadNew(Task_ctrl_chassis, NULL, &attr_ctrl_chassis); task_runtime.thread.ctrl_chassis = osThreadNew(Task_ctrl_chassis, NULL, &attr_ctrl_chassis);
task_runtime.thread.ctrl_gimbal = osThreadNew(Task_ctrl_gimbal, NULL, &attr_ctrl_gimbal);
// 创建消息队列 // 创建消息队列
/* USER MESSAGE BEGIN */ /* USER MESSAGE BEGIN */

5
User/task/user_task.c
View File

@ -28,9 +28,4 @@ const osThreadAttr_t attr_ctrl_chassis = {
.name = "ctrl_chassis", .name = "ctrl_chassis",
.priority = osPriorityNormal, .priority = osPriorityNormal,
.stack_size = 512 * 4, .stack_size = 512 * 4,
};
const osThreadAttr_t attr_ctrl_gimbal = {
.name = "ctrl_gimbal",
.priority = osPriorityNormal,
.stack_size = 256 * 4,
}; };

8
User/task/user_task.h
View File

@ -17,7 +17,6 @@ extern "C" {
#define RC_FREQ (500.0) #define RC_FREQ (500.0)
#define ATTI_ESTI_FREQ (1000.0) #define ATTI_ESTI_FREQ (1000.0)
#define CTRL_CHASSIS_FREQ (500.0) #define CTRL_CHASSIS_FREQ (500.0)
#define CTRL_GIMBAL_FREQ (500.0)
/* 任务初始化延时ms */ /* 任务初始化延时ms */
#define TASK_INIT_DELAY (100u) #define TASK_INIT_DELAY (100u)
@ -25,7 +24,6 @@ extern "C" {
#define RC_INIT_DELAY (0) #define RC_INIT_DELAY (0)
#define ATTI_ESTI_INIT_DELAY (0) #define ATTI_ESTI_INIT_DELAY (0)
#define CTRL_CHASSIS_INIT_DELAY (500) #define CTRL_CHASSIS_INIT_DELAY (500)
#define CTRL_GIMBAL_INIT_DELAY (0)
/* Exported defines --------------------------------------------------------- */ /* Exported defines --------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */ /* Exported macro ----------------------------------------------------------- */
@ -39,7 +37,6 @@ typedef struct {
osThreadId_t rc; osThreadId_t rc;
osThreadId_t atti_esti; osThreadId_t atti_esti;
osThreadId_t ctrl_chassis; osThreadId_t ctrl_chassis;
osThreadId_t ctrl_gimbal;
} thread; } thread;
/* USER MESSAGE BEGIN */ /* USER MESSAGE BEGIN */
@ -69,7 +66,6 @@ typedef struct {
UBaseType_t rc; UBaseType_t rc;
UBaseType_t atti_esti; UBaseType_t atti_esti;
UBaseType_t ctrl_chassis; UBaseType_t ctrl_chassis;
UBaseType_t ctrl_gimbal;
} stack_water_mark; } stack_water_mark;
/* 各任务运行频率 */ /* 各任务运行频率 */
@ -78,7 +74,6 @@ typedef struct {
float rc; float rc;
float atti_esti; float atti_esti;
float ctrl_chassis; float ctrl_chassis;
float ctrl_gimbal;
} freq; } freq;
/* 任务最近运行时间 */ /* 任务最近运行时间 */
@ -87,7 +82,6 @@ typedef struct {
float rc; float rc;
float atti_esti; float atti_esti;
float ctrl_chassis; float ctrl_chassis;
float ctrl_gimbal;
} last_up_time; } last_up_time;
} Task_Runtime_t; } Task_Runtime_t;
@ -101,7 +95,6 @@ extern const osThreadAttr_t attr_blink;
extern const osThreadAttr_t attr_rc; extern const osThreadAttr_t attr_rc;
extern const osThreadAttr_t attr_atti_esti; extern const osThreadAttr_t attr_atti_esti;
extern const osThreadAttr_t attr_ctrl_chassis; extern const osThreadAttr_t attr_ctrl_chassis;
extern const osThreadAttr_t attr_ctrl_gimbal;
/* 任务函数声明 */ /* 任务函数声明 */
void Task_Init(void *argument); void Task_Init(void *argument);
@ -109,7 +102,6 @@ void Task_blink(void *argument);
void Task_rc(void *argument); void Task_rc(void *argument);
void Task_atti_esti(void *argument); void Task_atti_esti(void *argument);
void Task_ctrl_chassis(void *argument); void Task_ctrl_chassis(void *argument);
void Task_ctrl_gimbal(void *argument);
#ifdef __cplusplus #ifdef __cplusplus
} }

36
cmake/stm32cubemx/CMakeLists.txt
View File

@ -11,17 +11,25 @@ set(MX_Defines_Syms
# STM32CubeMX generated include paths # STM32CubeMX generated include paths
set(MX_Include_Dirs set(MX_Include_Dirs
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Inc ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Inc
${CMAKE_CURRENT_SOURCE_DIR}/../../USB_DEVICE/App
${CMAKE_CURRENT_SOURCE_DIR}/../../USB_DEVICE/Target
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Inc ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Inc
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/include ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/include
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/CMSIS/Include ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/CMSIS/Include
) )
# STM32CubeMX generated application sources # STM32CubeMX generated application sources
set(MX_Application_Src set(MX_Application_Src
${CMAKE_CURRENT_SOURCE_DIR}/../../USB_DEVICE/Target/usbd_conf.c
${CMAKE_CURRENT_SOURCE_DIR}/../../USB_DEVICE/App/usb_device.c
${CMAKE_CURRENT_SOURCE_DIR}/../../USB_DEVICE/App/usbd_desc.c
${CMAKE_CURRENT_SOURCE_DIR}/../../USB_DEVICE/App/usbd_cdc_if.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/main.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/main.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/gpio.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/gpio.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/freertos.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/freertos.c
@ -34,7 +42,6 @@ set(MX_Application_Src
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/spi.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/spi.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/tim.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/tim.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/usart.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/usart.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/usb_otg.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/stm32f4xx_it.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/stm32f4xx_it.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/stm32f4xx_hal_msp.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/stm32f4xx_hal_msp.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/sysmem.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/sysmem.c
@ -45,9 +52,9 @@ set(MX_Application_Src
# STM32 HAL/LL Drivers # STM32 HAL/LL Drivers
set(STM32_Drivers_Src set(STM32_Drivers_Src
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/system_stm32f4xx.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/system_stm32f4xx.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd_ex.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_adc.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c
@ -61,6 +68,9 @@ set(STM32_Drivers_Src
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_adc.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_crc.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_crc.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c
@ -69,15 +79,18 @@ set(STM32_Drivers_Src
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd_ex.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c
) )
# Drivers Midllewares # Drivers Midllewares
set(USB_Device_Library_Src
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c
)
set(FreeRTOS_Src set(FreeRTOS_Src
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/croutine.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/croutine.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/event_groups.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/event_groups.c
@ -99,7 +112,7 @@ set(MX_LINK_DIRS
set(MX_LINK_LIBS set(MX_LINK_LIBS
STM32_Drivers STM32_Drivers
${TOOLCHAIN_LINK_LIBRARIES} ${TOOLCHAIN_LINK_LIBRARIES}
FreeRTOS USB_Device_Library FreeRTOS
) )
# Interface library for includes and symbols # Interface library for includes and symbols
add_library(stm32cubemx INTERFACE) add_library(stm32cubemx INTERFACE)
@ -112,6 +125,11 @@ target_sources(STM32_Drivers PRIVATE ${STM32_Drivers_Src})
target_link_libraries(STM32_Drivers PUBLIC stm32cubemx) target_link_libraries(STM32_Drivers PUBLIC stm32cubemx)
# Create USB_Device_Library static library
add_library(USB_Device_Library OBJECT)
target_sources(USB_Device_Library PRIVATE ${USB_Device_Library_Src})
target_link_libraries(USB_Device_Library PUBLIC stm32cubemx)
# Create FreeRTOS static library # Create FreeRTOS static library
add_library(FreeRTOS OBJECT) add_library(FreeRTOS OBJECT)
target_sources(FreeRTOS PRIVATE ${FreeRTOS_Src}) target_sources(FreeRTOS PRIVATE ${FreeRTOS_Src})