diff --git a/.mxproject b/.mxproject index d383ea3..8dab33b 100644 --- a/.mxproject +++ b/.mxproject @@ -1,3 +1,11 @@ +[PreviousLibFiles] +LibFiles=Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_bus.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_rcc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_system.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_utils.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_gpio.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_dma.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_dmamux.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_pwr.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_cortex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h;Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_exti.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_adc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_crc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_crc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_i2c.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rng.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_rng.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_spi.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_tim.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usart.h;Middlewares/Third_Party/FreeRTOS/Source/include/croutine.h;Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h;Middlewares/Third_Party/FreeRTOS/Source/include/event_groups.h;Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h;Middlewares/Third_Party/FreeRTOS/Source/include/list.h;Middlewares/Third_Party/FreeRTOS/Source/include/message_buffer.h;Middlewares/Third_Party/FreeRTOS/Source/include/mpu_prototypes.h;Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h;Middlewares/Third_Party/FreeRTOS/Source/include/portable.h;Middlewares/Third_Party/FreeRTOS/Source/include/projdefs.h;Middlewares/Third_Party/FreeRTOS/Source/include/queue.h;Middlewares/Third_Party/FreeRTOS/Source/include/semphr.h;Middlewares/Third_Party/FreeRTOS/Source/include/stack_macros.h;Middlewares/Third_Party/FreeRTOS/Source/include/StackMacros.h;Middlewares/Third_Party/FreeRTOS/Source/include/stream_buffer.h;Middlewares/Third_Party/FreeRTOS/Source/include/task.h;Middlewares/Third_Party/FreeRTOS/Source/include/timers.h;Middlewares/Third_Party/FreeRTOS/Source/include/atomic.h;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_os2.h;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h;Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_core.h;Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_ctlreq.h;Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_def.h;Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_ioreq.h;Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc/usbd_cdc.h;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_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+ +[PreviousUsedCMakes] 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lewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c;Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c;Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;Core/Src/system_stm32f4xx.c;;;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c;Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c; +HeaderPath=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/GCC/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;Core/Inc;USB_DEVICE/App;USB_DEVICE/Target; +CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;USE_HAL_DRIVER; + [PreviousGenFiles] AdvancedFolderStructure=true HeaderFileListSize=18 @@ -49,11 +57,3 @@ SourcePath#1=../USB_DEVICE/App SourcePath#2=../USB_DEVICE/Target SourceFiles=; -[PreviousLibFiles] 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lude/StackMacros.h;Middlewares/Third_Party/FreeRTOS/Source/include/stream_buffer.h;Middlewares/Third_Party/FreeRTOS/Source/include/task.h;Middlewares/Third_Party/FreeRTOS/Source/include/timers.h;Middlewares/Third_Party/FreeRTOS/Source/include/atomic.h;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_os2.h;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h;Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_core.h;Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_ctlreq.h;Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_def.h;Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_ioreq.h;Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc/usbd_cdc.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;Drivers/CMSIS/Include/core_cm85.h;Drivers/CMSIS/Include/cachel1_armv7.h;Drivers/CMSIS/Include/pac_armv81.h;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/tz_context.h;Drivers/CMSIS/Include/core_cm3.h;Drivers/CMSIS/Include/cmsis_compiler.h;Drivers/CMSIS/Include/cmsis_armclang.h;Drivers/CMSIS/Include/core_cm35p.h;Drivers/CMSIS/Include/mpu_armv7.h;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Include/core_cm4.h;Drivers/CMSIS/Include/core_cm0.h;Drivers/CMSIS/Include/cmsis_iccarm.h;Drivers/CMSIS/Include/core_armv81mml.h;Drivers/CMSIS/Include/core_armv8mml.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/core_cm55.h;Drivers/CMSIS/Include/core_cm1.h;Drivers/CMSIS/Include/mpu_armv8.h;Drivers/CMSIS/Include/core_sc300.h;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/cmsis_version.h;Drivers/CMSIS/Include/pmu_armv8.h;Drivers/CMSIS/Include/core_cm23.h;Drivers/CMSIS/Include/core_cm33.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/core_armv8mbl.h;Drivers/CMSIS/Include/core_starmc1.h;Drivers/CMSIS/Include/cmsis_armclang_ltm.h; - -[PreviousUsedCMakes] -SourceFiles=Core/Src/main.c;Core/Src/gpio.c;Core/Src/freertos.c;Core/Src/adc.c;Core/Src/can.c;Core/Src/crc.c;Core/Src/dma.c;Core/Src/i2c.c;Core/Src/rng.c;Core/Src/spi.c;Core/Src/tim.c;Core/Src/usart.c;USB_DEVICE/App/usb_device.c;USB_DEVICE/Target/usbd_conf.c;USB_DEVICE/App/usbd_desc.c;USB_DEVICE/App/usbd_cdc_if.c;Core/Src/stm32f4xx_it.c;Core/Src/stm32f4xx_hal_msp.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_adc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_crc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rng.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c;Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c;Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;Core/Src/system_stm32f4xx.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_adc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_crc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rng.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c;Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c;Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;Core/Src/system_stm32f4xx.c;;;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c;Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c; -HeaderPath=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/GCC/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;Core/Inc;USB_DEVICE/App;USB_DEVICE/Target; -CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;USE_HAL_DRIVER; - diff --git a/CMakeLists.txt b/CMakeLists.txt index 81c8618..6e56951 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -67,6 +67,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE # User/device sources User/device/bmi088.c User/device/buzzer.c + User/device/ai.c # User/task sources User/task/ai.c diff --git a/Core/Inc/stm32f4xx_it.h b/Core/Inc/stm32f4xx_it.h index 1aed9c4..978d0c8 100644 --- a/Core/Inc/stm32f4xx_it.h +++ b/Core/Inc/stm32f4xx_it.h @@ -58,6 +58,7 @@ void EXTI3_IRQHandler(void); void EXTI4_IRQHandler(void); void DMA1_Stream1_IRQHandler(void); void DMA1_Stream2_IRQHandler(void); +void CAN1_TX_IRQHandler(void); void CAN1_RX0_IRQHandler(void); void CAN1_RX1_IRQHandler(void); void EXTI9_5_IRQHandler(void); @@ -68,6 +69,7 @@ void TIM7_IRQHandler(void); void DMA2_Stream1_IRQHandler(void); void DMA2_Stream2_IRQHandler(void); void DMA2_Stream3_IRQHandler(void); +void CAN2_TX_IRQHandler(void); void CAN2_RX0_IRQHandler(void); void CAN2_RX1_IRQHandler(void); void OTG_FS_IRQHandler(void); diff --git a/Core/Src/can.c b/Core/Src/can.c index ba8667f..fbaab77 100644 --- a/Core/Src/can.c +++ b/Core/Src/can.c @@ -122,6 +122,8 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle) HAL_GPIO_Init(GPIOD, &GPIO_InitStruct); /* CAN1 interrupt Init */ + HAL_NVIC_SetPriority(CAN1_TX_IRQn, 5, 0); + HAL_NVIC_EnableIRQ(CAN1_TX_IRQn); HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 5, 0); HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn); HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 5, 0); @@ -155,6 +157,8 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle) HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); /* CAN2 interrupt Init */ + HAL_NVIC_SetPriority(CAN2_TX_IRQn, 5, 0); + HAL_NVIC_EnableIRQ(CAN2_TX_IRQn); HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 5, 0); HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn); HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 5, 0); @@ -186,6 +190,7 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle) HAL_GPIO_DeInit(GPIOD, GPIO_PIN_0|GPIO_PIN_1); /* CAN1 interrupt Deinit */ + HAL_NVIC_DisableIRQ(CAN1_TX_IRQn); HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn); HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn); /* USER CODE BEGIN CAN1_MspDeInit 1 */ @@ -211,6 +216,7 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle) HAL_GPIO_DeInit(GPIOB, GPIO_PIN_5|GPIO_PIN_6); /* CAN2 interrupt Deinit */ + HAL_NVIC_DisableIRQ(CAN2_TX_IRQn); HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn); HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn); /* USER CODE BEGIN CAN2_MspDeInit 1 */ diff --git a/Core/Src/freertos.c b/Core/Src/freertos.c index 1a85e80..a07ad4b 100644 --- a/Core/Src/freertos.c +++ b/Core/Src/freertos.c @@ -1,157 +1,157 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * File Name : freertos.c - * Description : Code for freertos applications - ****************************************************************************** - * @attention - * - * Copyright (c) 2026 STMicroelectronics. - * All rights reserved. - * - * This software is licensed under terms that can be found in the LICENSE file - * in the root directory of this software component. - * If no LICENSE file comes with this software, it is provided AS-IS. - * - ****************************************************************************** - */ -/* USER CODE END Header */ - -/* Includes ------------------------------------------------------------------*/ -#include "FreeRTOS.h" -#include "task.h" -#include "main.h" -#include "cmsis_os.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ - -#include "task/user_task.h" -/* USER CODE END Includes */ - -/* Private typedef -----------------------------------------------------------*/ -/* USER CODE BEGIN PTD */ - -/* USER CODE END PTD */ - -/* Private define ------------------------------------------------------------*/ -/* USER CODE BEGIN PD */ - -/* USER CODE END PD */ - -/* Private macro -------------------------------------------------------------*/ -/* USER CODE BEGIN PM */ - -/* USER CODE END PM */ - -/* Private variables ---------------------------------------------------------*/ -/* USER CODE BEGIN Variables */ - -/* USER CODE END Variables */ -/* Definitions for defaultTask */ -osThreadId_t defaultTaskHandle; -const osThreadAttr_t defaultTask_attributes = { - .name = "defaultTask", - .stack_size = 128 * 4, - .priority = (osPriority_t) osPriorityNormal, -}; - -/* Private function prototypes -----------------------------------------------*/ -/* USER CODE BEGIN FunctionPrototypes */ - -/* USER CODE END FunctionPrototypes */ - -void StartDefaultTask(void *argument); - -extern void MX_USB_DEVICE_Init(void); -void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */ - -/* Hook prototypes */ -void configureTimerForRunTimeStats(void); -unsigned long getRunTimeCounterValue(void); -void vApplicationStackOverflowHook(TaskHandle_t xTask, signed char *pcTaskName); - -/* USER CODE BEGIN 1 */ -/* Functions needed when configGENERATE_RUN_TIME_STATS is on */ -__weak void configureTimerForRunTimeStats(void) -{ - -} - -__weak unsigned long getRunTimeCounterValue(void) -{ -return 0; -} -/* USER CODE END 1 */ - -/* USER CODE BEGIN 4 */ -void vApplicationStackOverflowHook(TaskHandle_t xTask, signed char *pcTaskName) -{ - /* Run time stack overflow checking is performed if - configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook function is - called if a stack overflow is detected. */ -} -/* USER CODE END 4 */ - -/** - * @brief FreeRTOS initialization - * @param None - * @retval None - */ -void MX_FREERTOS_Init(void) { - /* USER CODE BEGIN Init */ - - /* USER CODE END Init */ - - /* USER CODE BEGIN RTOS_MUTEX */ - /* add mutexes, ... */ - /* USER CODE END RTOS_MUTEX */ - - /* USER CODE BEGIN RTOS_SEMAPHORES */ - /* add semaphores, ... */ - /* USER CODE END RTOS_SEMAPHORES */ - - /* USER CODE BEGIN RTOS_TIMERS */ - /* start timers, add new ones, ... */ - /* USER CODE END RTOS_TIMERS */ - - /* USER CODE BEGIN RTOS_QUEUES */ - /* add queues, ... */ - /* USER CODE END RTOS_QUEUES */ - - /* Create the thread(s) */ - /* creation of defaultTask */ - defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes); - - /* USER CODE BEGIN RTOS_THREADS */ - /* add threads, ... */ - osThreadNew(Task_Init, NULL, &attr_init); // 创建初始化任务 -/* USER CODE END RTOS_THREADS */ - - /* USER CODE BEGIN RTOS_EVENTS */ - /* add events, ... */ - /* USER CODE END RTOS_EVENTS */ - -} - -/* USER CODE BEGIN Header_StartDefaultTask */ -/** - * @brief Function implementing the defaultTask thread. - * @param argument: Not used - * @retval None - */ -/* USER CODE END Header_StartDefaultTask */ -void StartDefaultTask(void *argument) -{ - /* init code for USB_DEVICE */ - MX_USB_DEVICE_Init(); - /* USER CODE BEGIN StartDefaultTask */ - osThreadTerminate(osThreadGetId()); -/* USER CODE END StartDefaultTask */ -} - -/* Private application code --------------------------------------------------*/ -/* USER CODE BEGIN Application */ - -/* USER CODE END Application */ - +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * File Name : freertos.c + * Description : Code for freertos applications + ****************************************************************************** + * @attention + * + * Copyright (c) 2026 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ +/* USER CODE END Header */ + +/* Includes ------------------------------------------------------------------*/ +#include "FreeRTOS.h" +#include "task.h" +#include "main.h" +#include "cmsis_os.h" + +/* Private includes ----------------------------------------------------------*/ +/* USER CODE BEGIN Includes */ + +#include "task/user_task.h" +/* USER CODE END Includes */ + +/* Private typedef -----------------------------------------------------------*/ +/* USER CODE BEGIN PTD */ + +/* USER CODE END PTD */ + +/* Private define ------------------------------------------------------------*/ +/* USER CODE BEGIN PD */ + +/* USER CODE END PD */ + +/* Private macro -------------------------------------------------------------*/ +/* USER CODE BEGIN PM */ + +/* USER CODE END PM */ + +/* Private variables ---------------------------------------------------------*/ +/* USER CODE BEGIN Variables */ + +/* USER CODE END Variables */ +/* Definitions for defaultTask */ +osThreadId_t defaultTaskHandle; +const osThreadAttr_t defaultTask_attributes = { + .name = "defaultTask", + .stack_size = 128 * 4, + .priority = (osPriority_t) osPriorityNormal, +}; + +/* Private function prototypes -----------------------------------------------*/ +/* USER CODE BEGIN FunctionPrototypes */ + +/* USER CODE END FunctionPrototypes */ + +void StartDefaultTask(void *argument); + +extern void MX_USB_DEVICE_Init(void); +void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */ + +/* Hook prototypes */ +void configureTimerForRunTimeStats(void); +unsigned long getRunTimeCounterValue(void); +void vApplicationStackOverflowHook(TaskHandle_t xTask, signed char *pcTaskName); + +/* USER CODE BEGIN 1 */ +/* Functions needed when configGENERATE_RUN_TIME_STATS is on */ +__weak void configureTimerForRunTimeStats(void) +{ + +} + +__weak unsigned long getRunTimeCounterValue(void) +{ +return 0; +} +/* USER CODE END 1 */ + +/* USER CODE BEGIN 4 */ +void vApplicationStackOverflowHook(TaskHandle_t xTask, signed char *pcTaskName) +{ + /* Run time stack overflow checking is performed if + configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook function is + called if a stack overflow is detected. */ +} +/* USER CODE END 4 */ + +/** + * @brief FreeRTOS initialization + * @param None + * @retval None + */ +void MX_FREERTOS_Init(void) { + /* USER CODE BEGIN Init */ + + /* USER CODE END Init */ + + /* USER CODE BEGIN RTOS_MUTEX */ + /* add mutexes, ... */ + /* USER CODE END RTOS_MUTEX */ + + /* USER CODE BEGIN RTOS_SEMAPHORES */ + /* add semaphores, ... */ + /* USER CODE END RTOS_SEMAPHORES */ + + /* USER CODE BEGIN RTOS_TIMERS */ + /* start timers, add new ones, ... */ + /* USER CODE END RTOS_TIMERS */ + + /* USER CODE BEGIN RTOS_QUEUES */ + /* add queues, ... */ + /* USER CODE END RTOS_QUEUES */ + + /* Create the thread(s) */ + /* creation of defaultTask */ + defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes); + + /* USER CODE BEGIN RTOS_THREADS */ + /* add threads, ... */ + osThreadNew(Task_Init, NULL, &attr_init); // 创建初始化任务 + /* USER CODE END RTOS_THREADS */ + + /* USER CODE BEGIN RTOS_EVENTS */ + /* add events, ... */ + /* USER CODE END RTOS_EVENTS */ + +} + +/* USER CODE BEGIN Header_StartDefaultTask */ +/** + * @brief Function implementing the defaultTask thread. + * @param argument: Not used + * @retval None + */ +/* USER CODE END Header_StartDefaultTask */ +void StartDefaultTask(void *argument) +{ + /* init code for USB_DEVICE */ + MX_USB_DEVICE_Init(); + /* USER CODE BEGIN StartDefaultTask */ + osThreadTerminate(osThreadGetId()); + /* USER CODE END StartDefaultTask */ +} + +/* Private application code --------------------------------------------------*/ +/* USER CODE BEGIN Application */ + +/* USER CODE END Application */ + diff --git a/Core/Src/stm32f4xx_it.c b/Core/Src/stm32f4xx_it.c index a82df58..62bb1a2 100644 --- a/Core/Src/stm32f4xx_it.c +++ b/Core/Src/stm32f4xx_it.c @@ -1,512 +1,540 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * @file stm32f4xx_it.c - * @brief Interrupt Service Routines. - ****************************************************************************** - * @attention - * - * Copyright (c) 2026 STMicroelectronics. - * All rights reserved. - * - * This software is licensed under terms that can be found in the LICENSE file - * in the root directory of this software component. - * If no LICENSE file comes with this software, it is provided AS-IS. - * - ****************************************************************************** - */ -/* USER CODE END Header */ - -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "stm32f4xx_it.h" -#include "FreeRTOS.h" -#include "task.h" -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include "bsp/uart.h" -/* USER CODE END Includes */ - -/* Private typedef -----------------------------------------------------------*/ -/* USER CODE BEGIN TD */ - -/* USER CODE END TD */ - -/* Private define ------------------------------------------------------------*/ -/* USER CODE BEGIN PD */ - -/* USER CODE END PD */ - -/* Private macro -------------------------------------------------------------*/ -/* USER CODE BEGIN PM */ - -/* USER CODE END PM */ - -/* Private variables ---------------------------------------------------------*/ -/* USER CODE BEGIN PV */ - -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -/* USER CODE BEGIN PFP */ - -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ - -/* USER CODE END 0 */ - -/* External variables --------------------------------------------------------*/ -extern PCD_HandleTypeDef hpcd_USB_OTG_FS; -extern CAN_HandleTypeDef hcan1; -extern CAN_HandleTypeDef hcan2; -extern DMA_HandleTypeDef hdma_i2c2_tx; -extern DMA_HandleTypeDef hdma_i2c3_rx; -extern DMA_HandleTypeDef hdma_spi1_rx; -extern DMA_HandleTypeDef hdma_spi1_tx; -extern TIM_HandleTypeDef htim1; -extern TIM_HandleTypeDef htim7; -extern DMA_HandleTypeDef hdma_usart1_tx; -extern DMA_HandleTypeDef hdma_usart1_rx; -extern DMA_HandleTypeDef hdma_usart3_rx; -extern DMA_HandleTypeDef hdma_usart6_rx; -extern DMA_HandleTypeDef hdma_usart6_tx; -extern UART_HandleTypeDef huart1; -extern UART_HandleTypeDef huart6; -/* USER CODE BEGIN EV */ - -/* USER CODE END EV */ - -/******************************************************************************/ -/* Cortex-M4 Processor Interruption and Exception Handlers */ -/******************************************************************************/ -/** - * @brief This function handles Non maskable interrupt. - */ -void NMI_Handler(void) -{ - /* USER CODE BEGIN NonMaskableInt_IRQn 0 */ - - /* USER CODE END NonMaskableInt_IRQn 0 */ - /* USER CODE BEGIN NonMaskableInt_IRQn 1 */ - while (1) - { - } - /* USER CODE END NonMaskableInt_IRQn 1 */ -} - -/** - * @brief This function handles Hard fault interrupt. - */ -void HardFault_Handler(void) -{ - /* USER CODE BEGIN HardFault_IRQn 0 */ - - /* USER CODE END HardFault_IRQn 0 */ - while (1) - { - /* USER CODE BEGIN W1_HardFault_IRQn 0 */ - /* USER CODE END W1_HardFault_IRQn 0 */ - } -} - -/** - * @brief This function handles Memory management fault. - */ -void MemManage_Handler(void) -{ - /* USER CODE BEGIN MemoryManagement_IRQn 0 */ - - /* USER CODE END MemoryManagement_IRQn 0 */ - while (1) - { - /* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */ - /* USER CODE END W1_MemoryManagement_IRQn 0 */ - } -} - -/** - * @brief This function handles Pre-fetch fault, memory access fault. - */ -void BusFault_Handler(void) -{ - /* USER CODE BEGIN BusFault_IRQn 0 */ - - /* USER CODE END BusFault_IRQn 0 */ - while (1) - { - /* USER CODE BEGIN W1_BusFault_IRQn 0 */ - /* USER CODE END W1_BusFault_IRQn 0 */ - } -} - -/** - * @brief This function handles Undefined instruction or illegal state. - */ -void UsageFault_Handler(void) -{ - /* USER CODE BEGIN UsageFault_IRQn 0 */ - - /* USER CODE END UsageFault_IRQn 0 */ - while (1) - { - /* USER CODE BEGIN W1_UsageFault_IRQn 0 */ - /* USER CODE END W1_UsageFault_IRQn 0 */ - } -} - -/** - * @brief This function handles Debug monitor. - */ -void DebugMon_Handler(void) -{ - /* USER CODE BEGIN DebugMonitor_IRQn 0 */ - - /* USER CODE END DebugMonitor_IRQn 0 */ - /* USER CODE BEGIN DebugMonitor_IRQn 1 */ - - /* USER CODE END DebugMonitor_IRQn 1 */ -} - -/** - * @brief This function handles System tick timer. - */ -void SysTick_Handler(void) -{ - /* USER CODE BEGIN SysTick_IRQn 0 */ - - /* USER CODE END SysTick_IRQn 0 */ - HAL_IncTick(); -#if (INCLUDE_xTaskGetSchedulerState == 1 ) - if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) - { -#endif /* INCLUDE_xTaskGetSchedulerState */ - xPortSysTickHandler(); -#if (INCLUDE_xTaskGetSchedulerState == 1 ) - } -#endif /* INCLUDE_xTaskGetSchedulerState */ - /* USER CODE BEGIN SysTick_IRQn 1 */ - - /* USER CODE END SysTick_IRQn 1 */ -} - -/******************************************************************************/ -/* STM32F4xx Peripheral Interrupt Handlers */ -/* Add here the Interrupt Handlers for the used peripherals. */ -/* For the available peripheral interrupt handler names, */ -/* please refer to the startup file (startup_stm32f4xx.s). */ -/******************************************************************************/ - -/** - * @brief This function handles EXTI line0 interrupt. - */ -void EXTI0_IRQHandler(void) -{ - /* USER CODE BEGIN EXTI0_IRQn 0 */ - - /* USER CODE END EXTI0_IRQn 0 */ - HAL_GPIO_EXTI_IRQHandler(USER_KEY_Pin); - /* USER CODE BEGIN EXTI0_IRQn 1 */ - - /* USER CODE END EXTI0_IRQn 1 */ -} - -/** - * @brief This function handles EXTI line3 interrupt. - */ -void EXTI3_IRQHandler(void) -{ - /* USER CODE BEGIN EXTI3_IRQn 0 */ - - /* USER CODE END EXTI3_IRQn 0 */ - HAL_GPIO_EXTI_IRQHandler(CMPS_INT_Pin); - /* USER CODE BEGIN EXTI3_IRQn 1 */ - - /* USER CODE END EXTI3_IRQn 1 */ -} - -/** - * @brief This function handles EXTI line4 interrupt. - */ -void EXTI4_IRQHandler(void) -{ - /* USER CODE BEGIN EXTI4_IRQn 0 */ - - /* USER CODE END EXTI4_IRQn 0 */ - HAL_GPIO_EXTI_IRQHandler(ACCL_INT_Pin); - /* USER CODE BEGIN EXTI4_IRQn 1 */ - - /* USER CODE END EXTI4_IRQn 1 */ -} - -/** - * @brief This function handles DMA1 stream1 global interrupt. - */ -void DMA1_Stream1_IRQHandler(void) -{ - /* USER CODE BEGIN DMA1_Stream1_IRQn 0 */ - - /* USER CODE END DMA1_Stream1_IRQn 0 */ - HAL_DMA_IRQHandler(&hdma_usart3_rx); - /* USER CODE BEGIN DMA1_Stream1_IRQn 1 */ - - /* USER CODE END DMA1_Stream1_IRQn 1 */ -} - -/** - * @brief This function handles DMA1 stream2 global interrupt. - */ -void DMA1_Stream2_IRQHandler(void) -{ - /* USER CODE BEGIN DMA1_Stream2_IRQn 0 */ - - /* USER CODE END DMA1_Stream2_IRQn 0 */ - HAL_DMA_IRQHandler(&hdma_i2c3_rx); - /* USER CODE BEGIN DMA1_Stream2_IRQn 1 */ - - /* USER CODE END DMA1_Stream2_IRQn 1 */ -} - -/** - * @brief This function handles CAN1 RX0 interrupts. - */ -void CAN1_RX0_IRQHandler(void) -{ - /* USER CODE BEGIN CAN1_RX0_IRQn 0 */ - - /* USER CODE END CAN1_RX0_IRQn 0 */ - HAL_CAN_IRQHandler(&hcan1); - /* USER CODE BEGIN CAN1_RX0_IRQn 1 */ - - /* USER CODE END CAN1_RX0_IRQn 1 */ -} - -/** - * @brief This function handles CAN1 RX1 interrupt. - */ -void CAN1_RX1_IRQHandler(void) -{ - /* USER CODE BEGIN CAN1_RX1_IRQn 0 */ - - /* USER CODE END CAN1_RX1_IRQn 0 */ - HAL_CAN_IRQHandler(&hcan1); - /* USER CODE BEGIN CAN1_RX1_IRQn 1 */ - - /* USER CODE END CAN1_RX1_IRQn 1 */ -} - -/** - * @brief This function handles EXTI line[9:5] interrupts. - */ -void EXTI9_5_IRQHandler(void) -{ - /* USER CODE BEGIN EXTI9_5_IRQn 0 */ - - /* USER CODE END EXTI9_5_IRQn 0 */ - HAL_GPIO_EXTI_IRQHandler(GYRO_INT_Pin); - /* USER CODE BEGIN EXTI9_5_IRQn 1 */ - - /* USER CODE END EXTI9_5_IRQn 1 */ -} - -/** - * @brief This function handles TIM1 break interrupt and TIM9 global interrupt. - */ -void TIM1_BRK_TIM9_IRQHandler(void) -{ - /* USER CODE BEGIN TIM1_BRK_TIM9_IRQn 0 */ - - /* USER CODE END TIM1_BRK_TIM9_IRQn 0 */ - HAL_TIM_IRQHandler(&htim1); - /* USER CODE BEGIN TIM1_BRK_TIM9_IRQn 1 */ - - /* USER CODE END TIM1_BRK_TIM9_IRQn 1 */ -} - -/** - * @brief This function handles USART1 global interrupt. - */ -void USART1_IRQHandler(void) -{ - /* USER CODE BEGIN USART1_IRQn 0 */ - - /* USER CODE END USART1_IRQn 0 */ - HAL_UART_IRQHandler(&huart1); - /* USER CODE BEGIN USART1_IRQn 1 */ - BSP_UART_IRQHandler(&huart1); - - /* USER CODE END USART1_IRQn 1 */ -} - -/** - * @brief This function handles DMA1 stream7 global interrupt. - */ -void DMA1_Stream7_IRQHandler(void) -{ - /* USER CODE BEGIN DMA1_Stream7_IRQn 0 */ - - /* USER CODE END DMA1_Stream7_IRQn 0 */ - HAL_DMA_IRQHandler(&hdma_i2c2_tx); - /* USER CODE BEGIN DMA1_Stream7_IRQn 1 */ - - /* USER CODE END DMA1_Stream7_IRQn 1 */ -} - -/** - * @brief This function handles TIM7 global interrupt. - */ -void TIM7_IRQHandler(void) -{ - /* USER CODE BEGIN TIM7_IRQn 0 */ - - /* USER CODE END TIM7_IRQn 0 */ - HAL_TIM_IRQHandler(&htim7); - /* USER CODE BEGIN TIM7_IRQn 1 */ - - /* USER CODE END TIM7_IRQn 1 */ -} - -/** - * @brief This function handles DMA2 stream1 global interrupt. - */ -void DMA2_Stream1_IRQHandler(void) -{ - /* USER CODE BEGIN DMA2_Stream1_IRQn 0 */ - - /* USER CODE END DMA2_Stream1_IRQn 0 */ - HAL_DMA_IRQHandler(&hdma_usart6_rx); - /* USER CODE BEGIN DMA2_Stream1_IRQn 1 */ - - /* USER CODE END DMA2_Stream1_IRQn 1 */ -} - -/** - * @brief This function handles DMA2 stream2 global interrupt. - */ -void DMA2_Stream2_IRQHandler(void) -{ - /* USER CODE BEGIN DMA2_Stream2_IRQn 0 */ - - /* USER CODE END DMA2_Stream2_IRQn 0 */ - HAL_DMA_IRQHandler(&hdma_spi1_rx); - /* USER CODE BEGIN DMA2_Stream2_IRQn 1 */ - - /* USER CODE END DMA2_Stream2_IRQn 1 */ -} - -/** - * @brief This function handles DMA2 stream3 global interrupt. - */ -void DMA2_Stream3_IRQHandler(void) -{ - /* USER CODE BEGIN DMA2_Stream3_IRQn 0 */ - - /* USER CODE END DMA2_Stream3_IRQn 0 */ - HAL_DMA_IRQHandler(&hdma_spi1_tx); - /* USER CODE BEGIN DMA2_Stream3_IRQn 1 */ - - /* USER CODE END DMA2_Stream3_IRQn 1 */ -} - -/** - * @brief This function handles CAN2 RX0 interrupts. - */ -void CAN2_RX0_IRQHandler(void) -{ - /* USER CODE BEGIN CAN2_RX0_IRQn 0 */ - - /* USER CODE END CAN2_RX0_IRQn 0 */ - HAL_CAN_IRQHandler(&hcan2); - /* USER CODE BEGIN CAN2_RX0_IRQn 1 */ - - /* USER CODE END CAN2_RX0_IRQn 1 */ -} - -/** - * @brief This function handles CAN2 RX1 interrupt. - */ -void CAN2_RX1_IRQHandler(void) -{ - /* USER CODE BEGIN CAN2_RX1_IRQn 0 */ - - /* USER CODE END CAN2_RX1_IRQn 0 */ - HAL_CAN_IRQHandler(&hcan2); - /* USER CODE BEGIN CAN2_RX1_IRQn 1 */ - - /* USER CODE END CAN2_RX1_IRQn 1 */ -} - -/** - * @brief This function handles USB On The Go FS global interrupt. - */ -void OTG_FS_IRQHandler(void) -{ - /* USER CODE BEGIN OTG_FS_IRQn 0 */ - - /* USER CODE END OTG_FS_IRQn 0 */ - HAL_PCD_IRQHandler(&hpcd_USB_OTG_FS); - /* USER CODE BEGIN OTG_FS_IRQn 1 */ - - /* USER CODE END OTG_FS_IRQn 1 */ -} - -/** - * @brief This function handles DMA2 stream5 global interrupt. - */ -void DMA2_Stream5_IRQHandler(void) -{ - /* USER CODE BEGIN DMA2_Stream5_IRQn 0 */ - - /* USER CODE END DMA2_Stream5_IRQn 0 */ - HAL_DMA_IRQHandler(&hdma_usart1_rx); - /* USER CODE BEGIN DMA2_Stream5_IRQn 1 */ - - /* USER CODE END DMA2_Stream5_IRQn 1 */ -} - -/** - * @brief This function handles DMA2 stream6 global interrupt. - */ -void DMA2_Stream6_IRQHandler(void) -{ - /* USER CODE BEGIN DMA2_Stream6_IRQn 0 */ - - /* USER CODE END DMA2_Stream6_IRQn 0 */ - HAL_DMA_IRQHandler(&hdma_usart6_tx); - /* USER CODE BEGIN DMA2_Stream6_IRQn 1 */ - - /* USER CODE END DMA2_Stream6_IRQn 1 */ -} - -/** - * @brief This function handles DMA2 stream7 global interrupt. - */ -void DMA2_Stream7_IRQHandler(void) -{ - /* USER CODE BEGIN DMA2_Stream7_IRQn 0 */ - - /* USER CODE END DMA2_Stream7_IRQn 0 */ - HAL_DMA_IRQHandler(&hdma_usart1_tx); - /* USER CODE BEGIN DMA2_Stream7_IRQn 1 */ - - /* USER CODE END DMA2_Stream7_IRQn 1 */ -} - -/** - * @brief This function handles USART6 global interrupt. - */ -void USART6_IRQHandler(void) -{ - /* USER CODE BEGIN USART6_IRQn 0 */ - - /* USER CODE END USART6_IRQn 0 */ - HAL_UART_IRQHandler(&huart6); - /* USER CODE BEGIN USART6_IRQn 1 */ - - /* USER CODE END USART6_IRQn 1 */ -} - -/* USER CODE BEGIN 1 */ - -/* USER CODE END 1 */ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * @file stm32f4xx_it.c + * @brief Interrupt Service Routines. + ****************************************************************************** + * @attention + * + * Copyright (c) 2026 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ +/* USER CODE END Header */ + +/* Includes ------------------------------------------------------------------*/ +#include "main.h" +#include "stm32f4xx_it.h" +#include "FreeRTOS.h" +#include "task.h" +/* Private includes ----------------------------------------------------------*/ +/* USER CODE BEGIN Includes */ +#include "bsp/uart.h" +/* USER CODE END Includes */ + +/* Private typedef -----------------------------------------------------------*/ +/* USER CODE BEGIN TD */ + +/* USER CODE END TD */ + +/* Private define ------------------------------------------------------------*/ +/* USER CODE BEGIN PD */ + +/* USER CODE END PD */ + +/* Private macro -------------------------------------------------------------*/ +/* USER CODE BEGIN PM */ + +/* USER CODE END PM */ + +/* Private variables ---------------------------------------------------------*/ +/* USER CODE BEGIN PV */ + +/* USER CODE END PV */ + +/* Private function prototypes -----------------------------------------------*/ +/* USER CODE BEGIN PFP */ + +/* USER CODE END PFP */ + +/* Private user code ---------------------------------------------------------*/ +/* USER CODE BEGIN 0 */ + +/* USER CODE END 0 */ + +/* External variables --------------------------------------------------------*/ +extern PCD_HandleTypeDef hpcd_USB_OTG_FS; +extern CAN_HandleTypeDef hcan1; +extern CAN_HandleTypeDef hcan2; +extern DMA_HandleTypeDef hdma_i2c2_tx; +extern DMA_HandleTypeDef hdma_i2c3_rx; +extern DMA_HandleTypeDef hdma_spi1_rx; +extern DMA_HandleTypeDef hdma_spi1_tx; +extern TIM_HandleTypeDef htim1; +extern TIM_HandleTypeDef htim7; +extern DMA_HandleTypeDef hdma_usart1_tx; +extern DMA_HandleTypeDef hdma_usart1_rx; +extern DMA_HandleTypeDef hdma_usart3_rx; +extern DMA_HandleTypeDef hdma_usart6_rx; +extern DMA_HandleTypeDef hdma_usart6_tx; +extern UART_HandleTypeDef huart1; +extern UART_HandleTypeDef huart6; +/* USER CODE BEGIN EV */ + +/* USER CODE END EV */ + +/******************************************************************************/ +/* Cortex-M4 Processor Interruption and Exception Handlers */ +/******************************************************************************/ +/** + * @brief This function handles Non maskable interrupt. + */ +void NMI_Handler(void) +{ + /* USER CODE BEGIN NonMaskableInt_IRQn 0 */ + + /* USER CODE END NonMaskableInt_IRQn 0 */ + /* USER CODE BEGIN NonMaskableInt_IRQn 1 */ + while (1) + { + } + /* USER CODE END NonMaskableInt_IRQn 1 */ +} + +/** + * @brief This function handles Hard fault interrupt. + */ +void HardFault_Handler(void) +{ + /* USER CODE BEGIN HardFault_IRQn 0 */ + + /* USER CODE END HardFault_IRQn 0 */ + while (1) + { + /* USER CODE BEGIN W1_HardFault_IRQn 0 */ + /* USER CODE END W1_HardFault_IRQn 0 */ + } +} + +/** + * @brief This function handles Memory management fault. + */ +void MemManage_Handler(void) +{ + /* USER CODE BEGIN MemoryManagement_IRQn 0 */ + + /* USER CODE END MemoryManagement_IRQn 0 */ + while (1) + { + /* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */ + /* USER CODE END W1_MemoryManagement_IRQn 0 */ + } +} + +/** + * @brief This function handles Pre-fetch fault, memory access fault. + */ +void BusFault_Handler(void) +{ + /* USER CODE BEGIN BusFault_IRQn 0 */ + + /* USER CODE END BusFault_IRQn 0 */ + while (1) + { + /* USER CODE BEGIN W1_BusFault_IRQn 0 */ + /* USER CODE END W1_BusFault_IRQn 0 */ + } +} + +/** + * @brief This function handles Undefined instruction or illegal state. + */ +void UsageFault_Handler(void) +{ + /* USER CODE BEGIN UsageFault_IRQn 0 */ + + /* USER CODE END UsageFault_IRQn 0 */ + while (1) + { + /* USER CODE BEGIN W1_UsageFault_IRQn 0 */ + /* USER CODE END W1_UsageFault_IRQn 0 */ + } +} + +/** + * @brief This function handles Debug monitor. + */ +void DebugMon_Handler(void) +{ + /* USER CODE BEGIN DebugMonitor_IRQn 0 */ + + /* USER CODE END DebugMonitor_IRQn 0 */ + /* USER CODE BEGIN DebugMonitor_IRQn 1 */ + + /* USER CODE END DebugMonitor_IRQn 1 */ +} + +/** + * @brief This function handles System tick timer. + */ +void SysTick_Handler(void) +{ + /* USER CODE BEGIN SysTick_IRQn 0 */ + + /* USER CODE END SysTick_IRQn 0 */ + HAL_IncTick(); +#if (INCLUDE_xTaskGetSchedulerState == 1 ) + if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) + { +#endif /* INCLUDE_xTaskGetSchedulerState */ + xPortSysTickHandler(); +#if (INCLUDE_xTaskGetSchedulerState == 1 ) + } +#endif /* INCLUDE_xTaskGetSchedulerState */ + /* USER CODE BEGIN SysTick_IRQn 1 */ + + /* USER CODE END SysTick_IRQn 1 */ +} + +/******************************************************************************/ +/* STM32F4xx Peripheral Interrupt Handlers */ +/* Add here the Interrupt Handlers for the used peripherals. */ +/* For the available peripheral interrupt handler names, */ +/* please refer to the startup file (startup_stm32f4xx.s). */ +/******************************************************************************/ + +/** + * @brief This function handles EXTI line0 interrupt. + */ +void EXTI0_IRQHandler(void) +{ + /* USER CODE BEGIN EXTI0_IRQn 0 */ + + /* USER CODE END EXTI0_IRQn 0 */ + HAL_GPIO_EXTI_IRQHandler(USER_KEY_Pin); + /* USER CODE BEGIN EXTI0_IRQn 1 */ + + /* USER CODE END EXTI0_IRQn 1 */ +} + +/** + * @brief This function handles EXTI line3 interrupt. + */ +void EXTI3_IRQHandler(void) +{ + /* USER CODE BEGIN EXTI3_IRQn 0 */ + + /* USER CODE END EXTI3_IRQn 0 */ + HAL_GPIO_EXTI_IRQHandler(CMPS_INT_Pin); + /* USER CODE BEGIN EXTI3_IRQn 1 */ + + /* USER CODE END EXTI3_IRQn 1 */ +} + +/** + * @brief This function handles EXTI line4 interrupt. + */ +void EXTI4_IRQHandler(void) +{ + /* USER CODE BEGIN EXTI4_IRQn 0 */ + + /* USER CODE END EXTI4_IRQn 0 */ + HAL_GPIO_EXTI_IRQHandler(ACCL_INT_Pin); + /* USER CODE BEGIN EXTI4_IRQn 1 */ + + /* USER CODE END EXTI4_IRQn 1 */ +} + +/** + * @brief This function handles DMA1 stream1 global interrupt. + */ +void DMA1_Stream1_IRQHandler(void) +{ + /* USER CODE BEGIN DMA1_Stream1_IRQn 0 */ + + /* USER CODE END DMA1_Stream1_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_usart3_rx); + /* USER CODE BEGIN DMA1_Stream1_IRQn 1 */ + + /* USER CODE END DMA1_Stream1_IRQn 1 */ +} + +/** + * @brief This function handles DMA1 stream2 global interrupt. + */ +void DMA1_Stream2_IRQHandler(void) +{ + /* USER CODE BEGIN DMA1_Stream2_IRQn 0 */ + + /* USER CODE END DMA1_Stream2_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_i2c3_rx); + /* USER CODE BEGIN DMA1_Stream2_IRQn 1 */ + + /* USER CODE END DMA1_Stream2_IRQn 1 */ +} + +/** + * @brief This function handles CAN1 TX interrupts. + */ +void CAN1_TX_IRQHandler(void) +{ + /* USER CODE BEGIN CAN1_TX_IRQn 0 */ + + /* USER CODE END CAN1_TX_IRQn 0 */ + HAL_CAN_IRQHandler(&hcan1); + /* USER CODE BEGIN CAN1_TX_IRQn 1 */ + + /* USER CODE END CAN1_TX_IRQn 1 */ +} + +/** + * @brief This function handles CAN1 RX0 interrupts. + */ +void CAN1_RX0_IRQHandler(void) +{ + /* USER CODE BEGIN CAN1_RX0_IRQn 0 */ + + /* USER CODE END CAN1_RX0_IRQn 0 */ + HAL_CAN_IRQHandler(&hcan1); + /* USER CODE BEGIN CAN1_RX0_IRQn 1 */ + + /* USER CODE END CAN1_RX0_IRQn 1 */ +} + +/** + * @brief This function handles CAN1 RX1 interrupt. + */ +void CAN1_RX1_IRQHandler(void) +{ + /* USER CODE BEGIN CAN1_RX1_IRQn 0 */ + + /* USER CODE END CAN1_RX1_IRQn 0 */ + HAL_CAN_IRQHandler(&hcan1); + /* USER CODE BEGIN CAN1_RX1_IRQn 1 */ + + /* USER CODE END CAN1_RX1_IRQn 1 */ +} + +/** + * @brief This function handles EXTI line[9:5] interrupts. + */ +void EXTI9_5_IRQHandler(void) +{ + /* USER CODE BEGIN EXTI9_5_IRQn 0 */ + + /* USER CODE END EXTI9_5_IRQn 0 */ + HAL_GPIO_EXTI_IRQHandler(GYRO_INT_Pin); + /* USER CODE BEGIN EXTI9_5_IRQn 1 */ + + /* USER CODE END EXTI9_5_IRQn 1 */ +} + +/** + * @brief This function handles TIM1 break interrupt and TIM9 global interrupt. + */ +void TIM1_BRK_TIM9_IRQHandler(void) +{ + /* USER CODE BEGIN TIM1_BRK_TIM9_IRQn 0 */ + + /* USER CODE END TIM1_BRK_TIM9_IRQn 0 */ + HAL_TIM_IRQHandler(&htim1); + /* USER CODE BEGIN TIM1_BRK_TIM9_IRQn 1 */ + + /* USER CODE END TIM1_BRK_TIM9_IRQn 1 */ +} + +/** + * @brief This function handles USART1 global interrupt. + */ +void USART1_IRQHandler(void) +{ + /* USER CODE BEGIN USART1_IRQn 0 */ + + /* USER CODE END USART1_IRQn 0 */ + HAL_UART_IRQHandler(&huart1); + /* USER CODE BEGIN USART1_IRQn 1 */ + BSP_UART_IRQHandler(&huart1); + + /* USER CODE END USART1_IRQn 1 */ +} + +/** + * @brief This function handles DMA1 stream7 global interrupt. + */ +void DMA1_Stream7_IRQHandler(void) +{ + /* USER CODE BEGIN DMA1_Stream7_IRQn 0 */ + + /* USER CODE END DMA1_Stream7_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_i2c2_tx); + /* USER CODE BEGIN DMA1_Stream7_IRQn 1 */ + + /* USER CODE END DMA1_Stream7_IRQn 1 */ +} + +/** + * @brief This function handles TIM7 global interrupt. + */ +void TIM7_IRQHandler(void) +{ + /* USER CODE BEGIN TIM7_IRQn 0 */ + + /* USER CODE END TIM7_IRQn 0 */ + HAL_TIM_IRQHandler(&htim7); + /* USER CODE BEGIN TIM7_IRQn 1 */ + + /* USER CODE END TIM7_IRQn 1 */ +} + +/** + * @brief This function handles DMA2 stream1 global interrupt. + */ +void DMA2_Stream1_IRQHandler(void) +{ + /* USER CODE BEGIN DMA2_Stream1_IRQn 0 */ + + /* USER CODE END DMA2_Stream1_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_usart6_rx); + /* USER CODE BEGIN DMA2_Stream1_IRQn 1 */ + + /* USER CODE END DMA2_Stream1_IRQn 1 */ +} + +/** + * @brief This function handles DMA2 stream2 global interrupt. + */ +void DMA2_Stream2_IRQHandler(void) +{ + /* USER CODE BEGIN DMA2_Stream2_IRQn 0 */ + + /* USER CODE END DMA2_Stream2_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_spi1_rx); + /* USER CODE BEGIN DMA2_Stream2_IRQn 1 */ + + /* USER CODE END DMA2_Stream2_IRQn 1 */ +} + +/** + * @brief This function handles DMA2 stream3 global interrupt. + */ +void DMA2_Stream3_IRQHandler(void) +{ + /* USER CODE BEGIN DMA2_Stream3_IRQn 0 */ + + /* USER CODE END DMA2_Stream3_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_spi1_tx); + /* USER CODE BEGIN DMA2_Stream3_IRQn 1 */ + + /* USER CODE END DMA2_Stream3_IRQn 1 */ +} + +/** + * @brief This function handles CAN2 TX interrupts. + */ +void CAN2_TX_IRQHandler(void) +{ + /* USER CODE BEGIN CAN2_TX_IRQn 0 */ + + /* USER CODE END CAN2_TX_IRQn 0 */ + HAL_CAN_IRQHandler(&hcan2); + /* USER CODE BEGIN CAN2_TX_IRQn 1 */ + + /* USER CODE END CAN2_TX_IRQn 1 */ +} + +/** + * @brief This function handles CAN2 RX0 interrupts. + */ +void CAN2_RX0_IRQHandler(void) +{ + /* USER CODE BEGIN CAN2_RX0_IRQn 0 */ + + /* USER CODE END CAN2_RX0_IRQn 0 */ + HAL_CAN_IRQHandler(&hcan2); + /* USER CODE BEGIN CAN2_RX0_IRQn 1 */ + + /* USER CODE END CAN2_RX0_IRQn 1 */ +} + +/** + * @brief This function handles CAN2 RX1 interrupt. + */ +void CAN2_RX1_IRQHandler(void) +{ + /* USER CODE BEGIN CAN2_RX1_IRQn 0 */ + + /* USER CODE END CAN2_RX1_IRQn 0 */ + HAL_CAN_IRQHandler(&hcan2); + /* USER CODE BEGIN CAN2_RX1_IRQn 1 */ + + /* USER CODE END CAN2_RX1_IRQn 1 */ +} + +/** + * @brief This function handles USB On The Go FS global interrupt. + */ +void OTG_FS_IRQHandler(void) +{ + /* USER CODE BEGIN OTG_FS_IRQn 0 */ + + /* USER CODE END OTG_FS_IRQn 0 */ + HAL_PCD_IRQHandler(&hpcd_USB_OTG_FS); + /* USER CODE BEGIN OTG_FS_IRQn 1 */ + + /* USER CODE END OTG_FS_IRQn 1 */ +} + +/** + * @brief This function handles DMA2 stream5 global interrupt. + */ +void DMA2_Stream5_IRQHandler(void) +{ + /* USER CODE BEGIN DMA2_Stream5_IRQn 0 */ + + /* USER CODE END DMA2_Stream5_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_usart1_rx); + /* USER CODE BEGIN DMA2_Stream5_IRQn 1 */ + + /* USER CODE END DMA2_Stream5_IRQn 1 */ +} + +/** + * @brief This function handles DMA2 stream6 global interrupt. + */ +void DMA2_Stream6_IRQHandler(void) +{ + /* USER CODE BEGIN DMA2_Stream6_IRQn 0 */ + + /* USER CODE END DMA2_Stream6_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_usart6_tx); + /* USER CODE BEGIN DMA2_Stream6_IRQn 1 */ + + /* USER CODE END DMA2_Stream6_IRQn 1 */ +} + +/** + * @brief This function handles DMA2 stream7 global interrupt. + */ +void DMA2_Stream7_IRQHandler(void) +{ + /* USER CODE BEGIN DMA2_Stream7_IRQn 0 */ + + /* USER CODE END DMA2_Stream7_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_usart1_tx); + /* USER CODE BEGIN DMA2_Stream7_IRQn 1 */ + + /* USER CODE END DMA2_Stream7_IRQn 1 */ +} + +/** + * @brief This function handles USART6 global interrupt. + */ +void USART6_IRQHandler(void) +{ + /* USER CODE BEGIN USART6_IRQn 0 */ + + /* USER CODE END USART6_IRQn 0 */ + HAL_UART_IRQHandler(&huart6); + /* USER CODE BEGIN USART6_IRQn 1 */ + + /* USER CODE END USART6_IRQn 1 */ +} + +/* USER CODE BEGIN 1 */ + +/* USER CODE END 1 */ diff --git a/DevC.ioc b/DevC.ioc index 062f4f3..86937e3 100644 --- a/DevC.ioc +++ b/DevC.ioc @@ -270,8 +270,10 @@ MxDb.Version=DB.6.0.150 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false NVIC.CAN1_RX0_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true NVIC.CAN1_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.CAN1_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.CAN2_RX0_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true NVIC.CAN2_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.CAN2_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.DMA1_Stream1_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true NVIC.DMA1_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true NVIC.DMA1_Stream7_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true diff --git a/User/device/ai.c b/User/device/ai.c new file mode 100644 index 0000000..6ee1e3e --- /dev/null +++ b/User/device/ai.c @@ -0,0 +1,152 @@ +/* +AI +*/ + +/* Includes ----------------------------------------------------------------- */ +#include "ai.h" + +#include + +#include "bsp\delay.h" +#include "bsp\uart.h" +#include "component\crc16.h" +#include "component\crc8.h" +#include "component\user_math.h" +#include "component\filter.h" + + +/* Private define ----------------------------------------------------------- */ +#define AI_LEN_RX_BUFF (sizeof(Protocol_DownPackage_t)) + +/* Private macro ------------------------------------------------------------ */ +/* Private typedef ---------------------------------------------------------- */ +/* Private variables -------------------------------------------------------- */ +static volatile uint32_t drop_message = 0; + +static uint8_t rxbuf[AI_LEN_RX_BUFF]; + +static bool inited = false; + +static osThreadId_t thread_alert; + +/* Private function -------------------------------------------------------- */ + +static void Ai_RxCpltCallback(void) { + osThreadFlagsSet(thread_alert, SIGNAL_AI_RAW_REDY); +} + +static void Ai_IdleLineCallback(void) { + osThreadFlagsSet(thread_alert, SIGNAL_AI_RAW_REDY); +} + +/* Exported functions ------------------------------------------------------- */ +int8_t AI_Init(AI_t *ai) { + UNUSED(ai); + ASSERT(ai); + if (inited) return DEVICE_ERR_INITED; + VERIFY((thread_alert = osThreadGetId()) != NULL); + + BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_RX_CPLT_CB, + Ai_RxCpltCallback); + BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_IDLE_LINE_CB, + Ai_IdleLineCallback); + + inited = true; + return 0; +} + +int8_t AI_Restart(void) { + __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_AI)); + __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_AI)); + return DEVICE_OK; +} + +int8_t AI_StartReceiving(AI_t *ai) { + UNUSED(ai); + if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AI), rxbuf, + AI_LEN_RX_BUFF) == HAL_OK) + return DEVICE_OK; + return DEVICE_ERR; +} + +bool AI_WaitDmaCplt(void) { + return (osThreadFlagsWait(SIGNAL_AI_RAW_REDY, osFlagsWaitAll, 0) == + SIGNAL_AI_RAW_REDY); +} + +int8_t AI_ParseHost(AI_t *ai) { + if (!CRC16_Verify((const uint8_t *)&(rxbuf), sizeof(ai->from_host))) + goto error; + ai->ai_online = true; + memcpy(&(ai->from_host), rxbuf, sizeof(ai->from_host)); + memset(rxbuf, 0, AI_LEN_RX_BUFF); + return DEVICE_OK; + +error: + drop_message++; + return DEVICE_ERR; +} + +void AI_PackCmd(AI_t *ai, CMD_Host_t *cmd_host) { + cmd_host->gimbal_delta.yaw = ai->from_host.data.gimbal.yaw; + cmd_host->gimbal_delta.pit = ai->from_host.data.gimbal.pit; + cmd_host->fire = (ai->from_host.data.notice & AI_NOTICE_FIRE); + cmd_host->chassis_move_vec.vx = ai->from_host.data.chassis_move_vec.vx; + cmd_host->chassis_move_vec.vy = ai->from_host.data.chassis_move_vec.vy; + cmd_host->chassis_move_vec.wz = ai->from_host.data.chassis_move_vec.wz; +} + +int8_t AI_HandleOffline(AI_t *ai, CMD_Host_t *cmd_host) { + if (ai == NULL) return DEVICE_ERR_NULL; + if (cmd_host == NULL) return DEVICE_ERR_NULL; + ai->ai_online = false; + memset(&(ai->from_host), 0, sizeof(ai->from_host)); + memset(cmd_host, 0, sizeof(*cmd_host)); + return 0; +} + +int8_t AI_PackMCU(AI_t *ai, const AHRS_Quaternion_t *quat) { + ai->to_host.mcu.id = AI_ID_MCU; + memcpy((void *)&(ai->to_host.mcu.package.data.quat), (const void *)quat, + sizeof(*quat)); + ai->to_host.mcu.package.data.notice = 0; + if (ai->status == AI_STATUS_AUTOAIM) + ai->to_host.mcu.package.data.notice |= AI_NOTICE_AUTOAIM; + else if (ai->status == AI_STATUS_HITSWITCH) + ai->to_host.mcu.package.data.notice |= AI_NOTICE_HITBUFF; + else if (ai->status == AI_STATUS_AUTOMATIC) + ai->to_host.mcu.package.data.notice |= AI_NOTICE_AUTOMATIC; + + ai->to_host.mcu.package.crc16 = CRC16_Calc( + (const uint8_t *)&(ai->to_host.mcu.package), + sizeof(ai->to_host.mcu.package) - sizeof(uint16_t), CRC16_INIT); + return DEVICE_OK; +} + +int8_t AI_PackRef(AI_t *ai, const Referee_ForAI_t *ref) { + (void)ref; + ai->to_host.ref.id = AI_ID_REF; + ai->to_host.ref.package.crc16 = CRC16_Calc( + (const uint8_t *)&(ai->to_host.ref.package), + sizeof(ai->to_host.ref.package) - sizeof(uint16_t), CRC16_INIT); + return DEVICE_OK; +} + +int8_t AI_StartSend(AI_t *ai, bool ref_update) { + if (ref_update) { + if (HAL_UART_Transmit_DMA( + BSP_UART_GetHandle(BSP_UART_AI), (uint8_t *)&(ai->to_host), + sizeof(ai->to_host.ref) + sizeof(ai->to_host.mcu)) == HAL_OK) + return DEVICE_OK; + else + return DEVICE_ERR; + } else { + if (HAL_UART_Transmit_DMA(BSP_UART_GetHandle(BSP_UART_AI), + (uint8_t *)&(ai->to_host.mcu), + sizeof(ai->to_host.mcu)) == HAL_OK) + return DEVICE_OK; + else + return DEVICE_ERR; + } +} + diff --git a/User/device/ai.h b/User/device/ai.h new file mode 100644 index 0000000..4d63a8a --- /dev/null +++ b/User/device/ai.h @@ -0,0 +1,75 @@ +/* + AI +*/ + +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ----------------------------------------------------------------- */ +#include +#include +#include + +#include "component/ahrs.h" +#include "component/user_math.h" +#include "component/filter.h" +#include "device/device.h" + +/* Exported constants ------------------------------------------------------- */ +/* Exported macro ----------------------------------------------------------- */ +/* Exported types ----------------------------------------------------------- */ + +/* AI命令状态 */ +typedef struct __packed { + float vx; + float vy; + float wz; +} AI_ChassisMoveVec_t; + + + +typedef struct __packed { + uint8_t id; + Protocol_UpPackageReferee_t package; +} AI_UpPackageReferee_t; + +typedef struct __packed { + uint8_t id; + Protocol_UpPackageMCU_t package; +} AI_UpPackageMCU_t; + +typedef struct __packed { + osThreadId_t thread_alert; + + Protocol_DownPackage_t from_host; + + struct { + AI_UpPackageReferee_t ref; + AI_UpPackageMCU_t mcu; + } to_host; + + CMD_AI_Status_t status; + bool ai_online; +} AI_t; + +/* Exported functions prototypes -------------------------------------------- */ +int8_t AI_Init(AI_t *ai); +int8_t AI_Restart(void); + +int8_t AI_StartReceiving(AI_t *ai); +bool AI_WaitDmaCplt(void); +int8_t AI_ParseHost(AI_t *ai); +int8_t AI_HandleOffline(AI_t *ai, CMD_Host_t *cmd_host); +int8_t AI_PackMCU(AI_t *ai, const AHRS_Quaternion_t *quat); +int8_t AI_PackRef(AI_t *ai, const Referee_ForAI_t *ref); +int8_t AI_StartSend(AI_t *ai, bool option); +void AI_PackCmd(AI_t *ai, CMD_Host_t *cmd_host); +#ifdef __cplusplus +} +#endif + + + diff --git a/User/task/imu.c b/User/task/imu.c index 463a51a..45496aa 100644 --- a/User/task/imu.c +++ b/User/task/imu.c @@ -44,13 +44,13 @@ static AHRS_All_t imu_data; /** * @brief 浮点数转换为无符号整数函数 */ -static uint16_t float_to_uint(float x, float x_min, float x_max, int bits) { +static uint32_t float_to_uint(float x, float x_min, float x_max, int bits) { float span = x_max - x_min; float offset = x_min; // 限幅 if (x > x_max) x = x_max; if (x < x_min) x = x_min; - return (uint16_t)((x - offset) * ((float)((1 << bits) - 1)) / span); + return (uint32_t)((x - offset) * ((float)((1 << bits) - 1)) / span); } /* Exported functions ------------------------------------------------------- */ @@ -65,7 +65,7 @@ void Task_imu(void *argument) { uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */ /* USER CODE INIT BEGIN */ - + BSP_CAN_Init(); /* USER CODE INIT END */ while (1) { @@ -75,52 +75,55 @@ void Task_imu(void *argument) { if (osMessageQueueGet(task_runtime.msgq.gimbal_imu, &imu_data, NULL, 0) == osOK) { BSP_CAN_StdDataFrame_t can_frame; - /* 包1: 加速度计数据 (temp, acc_x, acc_y, acc_z) */ + /* 包1: 加速度计数据 (acc_x, acc_y, acc_z) - 使用21位精度 */ can_frame.id = CAN_ID_IMU_ACCEL; can_frame.dlc = 8; - can_frame.data[0] = 0; // 预留 - can_frame.data[1] = 0; // 温度数据（如需要可添加） - uint16_t acc_x = float_to_uint(imu_data.accl.x, ACCEL_CAN_MIN, ACCEL_CAN_MAX, 16); - uint16_t acc_y = float_to_uint(imu_data.accl.y, ACCEL_CAN_MIN, ACCEL_CAN_MAX, 16); - uint16_t acc_z = float_to_uint(imu_data.accl.z, ACCEL_CAN_MIN, ACCEL_CAN_MAX, 16); - can_frame.data[2] = acc_x & 0xFF; - can_frame.data[3] = (acc_x >> 8) & 0xFF; - can_frame.data[4] = acc_y & 0xFF; - can_frame.data[5] = (acc_y >> 8) & 0xFF; - can_frame.data[6] = acc_z & 0xFF; - can_frame.data[7] = (acc_z >> 8) & 0xFF; + uint32_t acc_x = float_to_uint(imu_data.accl.x, ACCEL_CAN_MIN, ACCEL_CAN_MAX, 21); + uint32_t acc_y = float_to_uint(imu_data.accl.y, ACCEL_CAN_MIN, ACCEL_CAN_MAX, 21); + uint32_t acc_z = float_to_uint(imu_data.accl.z, ACCEL_CAN_MIN, ACCEL_CAN_MAX, 21); + // 打包: acc_x(21bit) acc_y(21bit) acc_z(21bit) = 63bits + can_frame.data[0] = (acc_x >> 13) & 0xFF; + can_frame.data[1] = (acc_x >> 5) & 0xFF; + can_frame.data[2] = ((acc_x << 3) & 0xF8) | ((acc_y >> 18) & 0x07); + can_frame.data[3] = (acc_y >> 10) & 0xFF; + can_frame.data[4] = (acc_y >> 2) & 0xFF; + can_frame.data[5] = ((acc_y << 6) & 0xC0) | ((acc_z >> 15) & 0x3F); + can_frame.data[6] = (acc_z >> 7) & 0xFF; + can_frame.data[7] = (acc_z << 1) & 0xFE; BSP_CAN_TransmitStdDataFrame(BSP_CAN_2, &can_frame); - /* 包2: 陀螺仪数据 (gyro_x, gyro_y, gyro_z) */ + /* 包2: 陀螺仪数据 (gyro_x, gyro_y, gyro_z) - 使用21位精度 */ can_frame.id = CAN_ID_IMU_GYRO; can_frame.dlc = 8; - can_frame.data[0] = 0; // 预留 - can_frame.data[1] = 0; // 预留 - uint16_t gyro_x = float_to_uint(imu_data.gyro.x, GYRO_CAN_MIN, GYRO_CAN_MAX, 16); - uint16_t gyro_y = float_to_uint(imu_data.gyro.y, GYRO_CAN_MIN, GYRO_CAN_MAX, 16); - uint16_t gyro_z = float_to_uint(imu_data.gyro.z, GYRO_CAN_MIN, GYRO_CAN_MAX, 16); - can_frame.data[2] = gyro_x & 0xFF; - can_frame.data[3] = (gyro_x >> 8) & 0xFF; - can_frame.data[4] = gyro_y & 0xFF; - can_frame.data[5] = (gyro_y >> 8) & 0xFF; - can_frame.data[6] = gyro_z & 0xFF; - can_frame.data[7] = (gyro_z >> 8) & 0xFF; + uint32_t gyro_x = float_to_uint(imu_data.gyro.x, GYRO_CAN_MIN, GYRO_CAN_MAX, 21); + uint32_t gyro_y = float_to_uint(imu_data.gyro.y, GYRO_CAN_MIN, GYRO_CAN_MAX, 21); + uint32_t gyro_z = float_to_uint(imu_data.gyro.z, GYRO_CAN_MIN, GYRO_CAN_MAX, 21); + // 打包: gyro_x(21bit) gyro_y(21bit) gyro_z(21bit) = 63bits + can_frame.data[0] = (gyro_x >> 13) & 0xFF; + can_frame.data[1] = (gyro_x >> 5) & 0xFF; + can_frame.data[2] = ((gyro_x << 3) & 0xF8) | ((gyro_y >> 18) & 0x07); + can_frame.data[3] = (gyro_y >> 10) & 0xFF; + can_frame.data[4] = (gyro_y >> 2) & 0xFF; + can_frame.data[5] = ((gyro_y << 6) & 0xC0) | ((gyro_z >> 15) & 0x3F); + can_frame.data[6] = (gyro_z >> 7) & 0xFF; + can_frame.data[7] = (gyro_z << 1) & 0xFE; BSP_CAN_TransmitStdDataFrame(BSP_CAN_2, &can_frame); - /* 包3: 欧拉角数据 (pit, yaw, rol) */ + /* 包3: 欧拉角数据 (pit, yaw, rol) - 使用21位精度 */ can_frame.id = CAN_ID_IMU_EULER; can_frame.dlc = 8; - can_frame.data[0] = 0; // 预留 - can_frame.data[1] = 0; // 预留 - uint16_t pit = float_to_uint(imu_data.eulr.pit, PITCH_CAN_MIN, PITCH_CAN_MAX, 16); - uint16_t yaw = float_to_uint(imu_data.eulr.yaw, YAW_CAN_MIN, YAW_CAN_MAX, 16); - uint16_t rol = float_to_uint(imu_data.eulr.rol, ROLL_CAN_MIN, ROLL_CAN_MAX, 16); - can_frame.data[2] = pit & 0xFF; - can_frame.data[3] = (pit >> 8) & 0xFF; - can_frame.data[4] = yaw & 0xFF; - can_frame.data[5] = (yaw >> 8) & 0xFF; - can_frame.data[6] = rol & 0xFF; - can_frame.data[7] = (rol >> 8) & 0xFF; + uint32_t pit = float_to_uint(imu_data.eulr.pit, PITCH_CAN_MIN, PITCH_CAN_MAX, 21); + uint32_t yaw = float_to_uint(imu_data.eulr.yaw, YAW_CAN_MIN, YAW_CAN_MAX, 21); + uint32_t rol = float_to_uint(imu_data.eulr.rol, ROLL_CAN_MIN, ROLL_CAN_MAX, 21); + // 打包: pit(21bit) yaw(21bit) rol(21bit) = 63bits + can_frame.data[0] = (pit >> 13) & 0xFF; + can_frame.data[1] = (pit >> 5) & 0xFF; + can_frame.data[2] = ((pit << 3) & 0xF8) | ((yaw >> 18) & 0x07); + can_frame.data[3] = (yaw >> 10) & 0xFF; + can_frame.data[4] = (yaw >> 2) & 0xFF; + can_frame.data[5] = ((yaw << 6) & 0xC0) | ((rol >> 15) & 0x3F); + can_frame.data[6] = (rol >> 7) & 0xFF; + can_frame.data[7] = (rol << 1) & 0xFE; BSP_CAN_TransmitStdDataFrame(BSP_CAN_2, &can_frame); /* 包4: 四元数数据 (q0, q1, q2, q3) - 使用14位精度打包 */