diff --git a/.gitattributes b/.gitattributes new file mode 100644 index 0000000..176a458 --- /dev/null +++ b/.gitattributes @@ -0,0 +1 @@ +* text=auto diff --git a/.mxproject b/.mxproject index 77c26ef..85b38e1 100644 --- a/.mxproject +++ b/.mxproject @@ -1,46 +1,45 @@ -[PreviousLibFiles] -LibFiles=Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.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_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_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;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.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_i2c.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.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;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.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_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_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;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\cachel1_armv7.h;Drivers\CMSIS\Include\cmsis_armcc.h;Drivers\CMSIS\Include\cmsis_armclang.h;Drivers\CMSIS\Include\cmsis_armclang_ltm.h;Drivers\CMSIS\Include\cmsis_compiler.h;Drivers\CMSIS\Include\cmsis_gcc.h;Drivers\CMSIS\Include\cmsis_iccarm.h;Drivers\CMSIS\Include\cmsis_version.h;Drivers\CMSIS\Include\core_armv81mml.h;Drivers\CMSIS\Include\core_armv8mbl.h;Drivers\CMSIS\Include\core_armv8mml.h;Drivers\CMSIS\Include\core_cm0.h;Drivers\CMSIS\Include\core_cm0plus.h;Drivers\CMSIS\Include\core_cm1.h;Drivers\CMSIS\Include\core_cm23.h;Drivers\CMSIS\Include\core_cm3.h;Drivers\CMSIS\Include\core_cm33.h;Drivers\CMSIS\Include\core_cm35p.h;Drivers\CMSIS\Include\core_cm4.h;Drivers\CMSIS\Include\core_cm55.h;Drivers\CMSIS\Include\core_cm7.h;Drivers\CMSIS\Include\core_cm85.h;Drivers\CMSIS\Include\core_sc000.h;Drivers\CMSIS\Include\core_sc300.h;Drivers\CMSIS\Include\core_starmc1.h;Drivers\CMSIS\Include\mpu_armv7.h;Drivers\CMSIS\Include\mpu_armv8.h;Drivers\CMSIS\Include\pac_armv81.h;Drivers\CMSIS\Include\pmu_armv8.h;Drivers\CMSIS\Include\tz_context.h; - -[PreviousUsedKeilFiles] -SourceFiles=..\Core\Src\main.c;..\Core\Src\gpio.c;..\Core\Src\freertos.c;..\Core\Src\can.c;..\Core\Src\dma.c;..\Core\Src\i2c.c;..\Core\Src\spi.c;..\Core\Src\tim.c;..\Core\Src\usart.c;..\Core\Src\stm32f4xx_it.c;..\Core\Src\stm32f4xx_hal_msp.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.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_i2c.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.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\RVDS\ARM_CM4F\port.c;..\Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;..\Core\Src\system_stm32f4xx.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.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_i2c.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.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\RVDS\ARM_CM4F\port.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\RVDS\ARM_CM4F\port.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\RVDS\ARM_CM4F;..\Drivers\CMSIS\Device\ST\STM32F4xx\Include;..\Drivers\CMSIS\Include;..\Core\Inc; -CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;USE_HAL_DRIVER; - -[PreviousUsedCMakes] -SourceFiles=Core\Src\main.c;Core\Src\gpio.c;Core\Src\freertos.c;Core\Src\can.c;Core\Src\dma.c;Core\Src\i2c.c;Core\Src\spi.c;Core\Src\tim.c;Core\Src\usart.c;Core\Src\stm32f4xx_it.c;Core\Src\stm32f4xx_hal_msp.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.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_i2c.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.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;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Core\Src\system_stm32f4xx.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.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_i2c.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.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;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; -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;Drivers\CMSIS\Device\ST\STM32F4xx\Include;Drivers\CMSIS\Include;Core\Inc; -CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;USE_HAL_DRIVER; - -[PreviousGenFiles] -AdvancedFolderStructure=true -HeaderFileListSize=11 -HeaderFiles#0=..\Core\Inc\gpio.h -HeaderFiles#1=..\Core\Inc\FreeRTOSConfig.h -HeaderFiles#2=..\Core\Inc\can.h -HeaderFiles#3=..\Core\Inc\dma.h -HeaderFiles#4=..\Core\Inc\i2c.h -HeaderFiles#5=..\Core\Inc\spi.h -HeaderFiles#6=..\Core\Inc\tim.h -HeaderFiles#7=..\Core\Inc\usart.h -HeaderFiles#8=..\Core\Inc\stm32f4xx_it.h -HeaderFiles#9=..\Core\Inc\stm32f4xx_hal_conf.h -HeaderFiles#10=..\Core\Inc\main.h -HeaderFolderListSize=1 -HeaderPath#0=..\Core\Inc -HeaderFiles=; -SourceFileListSize=11 -SourceFiles#0=..\Core\Src\gpio.c -SourceFiles#1=..\Core\Src\freertos.c -SourceFiles#2=..\Core\Src\can.c -SourceFiles#3=..\Core\Src\dma.c -SourceFiles#4=..\Core\Src\i2c.c -SourceFiles#5=..\Core\Src\spi.c -SourceFiles#6=..\Core\Src\tim.c -SourceFiles#7=..\Core\Src\usart.c -SourceFiles#8=..\Core\Src\stm32f4xx_it.c -SourceFiles#9=..\Core\Src\stm32f4xx_hal_msp.c -SourceFiles#10=..\Core\Src\main.c -SourceFolderListSize=1 -SourcePath#0=..\Core\Src -SourceFiles=; - +[PreviousLibFiles] +LibFiles=Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.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_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_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;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.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_i2c.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.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;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.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_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_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;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\cachel1_armv7.h;Drivers\CMSIS\Include\cmsis_armcc.h;Drivers\CMSIS\Include\cmsis_armclang.h;Drivers\CMSIS\Include\cmsis_armclang_ltm.h;Drivers\CMSIS\Include\cmsis_compiler.h;Drivers\CMSIS\Include\cmsis_gcc.h;Drivers\CMSIS\Include\cmsis_iccarm.h;Drivers\CMSIS\Include\cmsis_version.h;Drivers\CMSIS\Include\core_armv81mml.h;Drivers\CMSIS\Include\core_armv8mbl.h;Drivers\CMSIS\Include\core_armv8mml.h;Drivers\CMSIS\Include\core_cm0.h;Drivers\CMSIS\Include\core_cm0plus.h;Drivers\CMSIS\Include\core_cm1.h;Drivers\CMSIS\Include\core_cm23.h;Drivers\CMSIS\Include\core_cm3.h;Drivers\CMSIS\Include\core_cm33.h;Drivers\CMSIS\Include\core_cm35p.h;Drivers\CMSIS\Include\core_cm4.h;Drivers\CMSIS\Include\core_cm55.h;Drivers\CMSIS\Include\core_cm7.h;Drivers\CMSIS\Include\core_cm85.h;Drivers\CMSIS\Include\core_sc000.h;Drivers\CMSIS\Include\core_sc300.h;Drivers\CMSIS\Include\core_starmc1.h;Drivers\CMSIS\Include\mpu_armv7.h;Drivers\CMSIS\Include\mpu_armv8.h;Drivers\CMSIS\Include\pac_armv81.h;Drivers\CMSIS\Include\pmu_armv8.h;Drivers\CMSIS\Include\tz_context.h; + +[PreviousUsedKeilFiles] +SourceFiles=..\Core\Src\main.c;..\Core\Src\gpio.c;..\Core\Src\freertos.c;..\Core\Src\can.c;..\Core\Src\dma.c;..\Core\Src\i2c.c;..\Core\Src\spi.c;..\Core\Src\tim.c;..\Core\Src\usart.c;..\Core\Src\stm32f4xx_it.c;..\Core\Src\stm32f4xx_hal_msp.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.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_i2c.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.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\RVDS\ARM_CM4F\port.c;..\Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;..\Core\Src\system_stm32f4xx.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.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_i2c.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.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\RVDS\ARM_CM4F\port.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\RVDS\ARM_CM4F\port.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\RVDS\ARM_CM4F;..\Drivers\CMSIS\Device\ST\STM32F4xx\Include;..\Drivers\CMSIS\Include;..\Core\Inc; +CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;USE_HAL_DRIVER; + +[PreviousUsedCMakes] +SourceFiles=Core\Src\main.c;Core\Src\gpio.c;Core\Src\freertos.c;Core\Src\can.c;Core\Src\dma.c;Core\Src\i2c.c;Core\Src\spi.c;Core\Src\tim.c;Core\Src\usart.c;Core\Src\stm32f4xx_it.c;Core\Src\stm32f4xx_hal_msp.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.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_i2c.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.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;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Core\Src\system_stm32f4xx.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.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_i2c.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.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;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; +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;Drivers\CMSIS\Device\ST\STM32F4xx\Include;Drivers\CMSIS\Include;Core\Inc; +CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;USE_HAL_DRIVER; + +[PreviousGenFiles] +AdvancedFolderStructure=true +HeaderFileListSize=11 +HeaderFiles#0=..\Core\Inc\gpio.h +HeaderFiles#1=..\Core\Inc\FreeRTOSConfig.h +HeaderFiles#2=..\Core\Inc\can.h +HeaderFiles#3=..\Core\Inc\dma.h +HeaderFiles#4=..\Core\Inc\i2c.h +HeaderFiles#5=..\Core\Inc\spi.h +HeaderFiles#6=..\Core\Inc\tim.h +HeaderFiles#7=..\Core\Inc\usart.h +HeaderFiles#8=..\Core\Inc\stm32f4xx_it.h +HeaderFiles#9=..\Core\Inc\stm32f4xx_hal_conf.h +HeaderFiles#10=..\Core\Inc\main.h +HeaderFolderListSize=1 +HeaderPath#0=..\Core\Inc +HeaderFiles=; +SourceFileListSize=11 +SourceFiles#0=..\Core\Src\gpio.c +SourceFiles#1=..\Core\Src\freertos.c +SourceFiles#2=..\Core\Src\can.c +SourceFiles#3=..\Core\Src\dma.c +SourceFiles#4=..\Core\Src\i2c.c +SourceFiles#5=..\Core\Src\spi.c +SourceFiles#6=..\Core\Src\tim.c +SourceFiles#7=..\Core\Src\usart.c +SourceFiles#8=..\Core\Src\stm32f4xx_it.c +SourceFiles#9=..\Core\Src\stm32f4xx_hal_msp.c +SourceFiles#10=..\Core\Src\main.c +SourceFolderListSize=1 +SourcePath#0=..\Core\Src +SourceFiles=; diff --git a/CMakeLists.txt b/CMakeLists.txt index 9354946..342d8b5 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -63,7 +63,6 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE User/component/user_math.c User/component/crc16.c User/component/PowerControl.c -# /home/shentou/workspace/SuperCap/god-yuan-hero/User/component/PowerControl.c # User/device sources User/device/dr16.c User/device/AT9S_Pro.c @@ -73,7 +72,6 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE User/device/motor_rm.c User/device/vofa.c User/device/supercap.c -# /home/shentou/workspace/SuperCap/god-yuan-hero/User/device/supercap.c # User/module sources User/module/chassis.c User/module/config.c @@ -91,7 +89,6 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE User/task/rc.c User/task/user_task.c User/task/supercap.c -# /home/shentou/workspace/SuperCap/god-yuan-hero/User/task/supercap.c ) # Add include paths diff --git a/Core/Inc/FreeRTOSConfig.h b/Core/Inc/FreeRTOSConfig.h index 39e6e34..2bb6640 100644 --- a/Core/Inc/FreeRTOSConfig.h +++ b/Core/Inc/FreeRTOSConfig.h @@ -1,171 +1,171 @@ -/* USER CODE BEGIN Header */ -/* - * FreeRTOS Kernel V10.3.1 - * Portion Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved. - * Portion Copyright (C) 2019 StMicroelectronics, Inc. All Rights Reserved. - * - * Permission is hereby granted, free of charge, to any person obtaining a copy of - * this software and associated documentation files (the "Software"), to deal in - * the Software without restriction, including without limitation the rights to - * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of - * the Software, and to permit persons to whom the Software is furnished to do so, - * subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in all - * copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS - * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR - * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER - * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN - * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - * - * http://www.FreeRTOS.org - * http://aws.amazon.com/freertos - * - * 1 tab == 4 spaces! - */ -/* USER CODE END Header */ - -#ifndef FREERTOS_CONFIG_H -#define FREERTOS_CONFIG_H - -/*----------------------------------------------------------- - * Application specific definitions. - * - * These definitions should be adjusted for your particular hardware and - * application requirements. - * - * These parameters and more are described within the 'configuration' section of the - * FreeRTOS API documentation available on the FreeRTOS.org web site. - * - * See http://www.freertos.org/a00110.html - *----------------------------------------------------------*/ - -/* USER CODE BEGIN Includes */ -/* Section where include file can be added */ -/* USER CODE END Includes */ - -/* Ensure definitions are only used by the compiler, and not by the assembler. */ -#if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__) - #include - extern uint32_t SystemCoreClock; - void xPortSysTickHandler(void); -#endif -#ifndef CMSIS_device_header -#define CMSIS_device_header "stm32f4xx.h" -#endif /* CMSIS_device_header */ - -#define configENABLE_FPU 0 -#define configENABLE_MPU 0 - -#define configUSE_PREEMPTION 1 -#define configSUPPORT_STATIC_ALLOCATION 1 -#define configSUPPORT_DYNAMIC_ALLOCATION 1 -#define configUSE_IDLE_HOOK 0 -#define configUSE_TICK_HOOK 0 -#define configCPU_CLOCK_HZ ( SystemCoreClock ) -#define configTICK_RATE_HZ ((TickType_t)1000) -#define configMAX_PRIORITIES ( 56 ) -#define configMINIMAL_STACK_SIZE ((uint16_t)128) -#define configTOTAL_HEAP_SIZE ((size_t)0x10000) -#define configMAX_TASK_NAME_LEN ( 16 ) -#define configUSE_TRACE_FACILITY 1 -#define configUSE_16_BIT_TICKS 0 -#define configUSE_MUTEXES 1 -#define configQUEUE_REGISTRY_SIZE 8 -#define configUSE_RECURSIVE_MUTEXES 1 -#define configUSE_COUNTING_SEMAPHORES 1 -#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0 -/* USER CODE BEGIN MESSAGE_BUFFER_LENGTH_TYPE */ -/* Defaults to size_t for backward compatibility, but can be changed - if lengths will always be less than the number of bytes in a size_t. */ -#define configMESSAGE_BUFFER_LENGTH_TYPE size_t -/* USER CODE END MESSAGE_BUFFER_LENGTH_TYPE */ - -/* Co-routine definitions. */ -#define configUSE_CO_ROUTINES 0 -#define configMAX_CO_ROUTINE_PRIORITIES ( 2 ) - -/* Software timer definitions. */ -#define configUSE_TIMERS 1 -#define configTIMER_TASK_PRIORITY ( 2 ) -#define configTIMER_QUEUE_LENGTH 10 -#define configTIMER_TASK_STACK_DEPTH 256 - -/* CMSIS-RTOS V2 flags */ -#define configUSE_OS2_THREAD_SUSPEND_RESUME 1 -#define configUSE_OS2_THREAD_ENUMERATE 1 -#define configUSE_OS2_EVENTFLAGS_FROM_ISR 1 -#define configUSE_OS2_THREAD_FLAGS 1 -#define configUSE_OS2_TIMER 1 -#define configUSE_OS2_MUTEX 1 - -/* Set the following definitions to 1 to include the API function, or zero -to exclude the API function. */ -#define INCLUDE_vTaskPrioritySet 1 -#define INCLUDE_uxTaskPriorityGet 1 -#define INCLUDE_vTaskDelete 1 -#define INCLUDE_vTaskCleanUpResources 0 -#define INCLUDE_vTaskSuspend 1 -#define INCLUDE_vTaskDelayUntil 1 -#define INCLUDE_vTaskDelay 1 -#define INCLUDE_xTaskGetSchedulerState 1 -#define INCLUDE_xTimerPendFunctionCall 1 -#define INCLUDE_xQueueGetMutexHolder 1 -#define INCLUDE_uxTaskGetStackHighWaterMark 1 -#define INCLUDE_xTaskGetCurrentTaskHandle 1 -#define INCLUDE_eTaskGetState 1 - -/* - * The CMSIS-RTOS V2 FreeRTOS wrapper is dependent on the heap implementation used - * by the application thus the correct define need to be enabled below - */ -#define USE_FreeRTOS_HEAP_4 - -/* Cortex-M specific definitions. */ -#ifdef __NVIC_PRIO_BITS - /* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */ - #define configPRIO_BITS __NVIC_PRIO_BITS -#else - #define configPRIO_BITS 4 -#endif - -/* The lowest interrupt priority that can be used in a call to a "set priority" -function. */ -#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 15 - -/* The highest interrupt priority that can be used by any interrupt service -routine that makes calls to interrupt safe FreeRTOS API functions. DO NOT CALL -INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER -PRIORITY THAN THIS! (higher priorities are lower numeric values. */ -#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5 - -/* Interrupt priorities used by the kernel port layer itself. These are generic -to all Cortex-M ports, and do not rely on any particular library functions. */ -#define configKERNEL_INTERRUPT_PRIORITY ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) ) -/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!! -See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */ -#define configMAX_SYSCALL_INTERRUPT_PRIORITY ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) ) - -/* Normal assert() semantics without relying on the provision of an assert.h -header file. */ -/* USER CODE BEGIN 1 */ -#define configASSERT( x ) if ((x) == 0) {taskDISABLE_INTERRUPTS(); for( ;; );} -/* USER CODE END 1 */ - -/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS -standard names. */ -#define vPortSVCHandler SVC_Handler -#define xPortPendSVHandler PendSV_Handler - -/* IMPORTANT: After 10.3.1 update, Systick_Handler comes from NVIC (if SYS timebase = systick), otherwise from cmsis_os2.c */ - -#define USE_CUSTOM_SYSTICK_HANDLER_IMPLEMENTATION 1 - -/* USER CODE BEGIN Defines */ -/* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */ -/* USER CODE END Defines */ - -#endif /* FREERTOS_CONFIG_H */ +/* USER CODE BEGIN Header */ +/* + * FreeRTOS Kernel V10.3.1 + * Portion Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * Portion Copyright (C) 2019 StMicroelectronics, Inc. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * http://www.FreeRTOS.org + * http://aws.amazon.com/freertos + * + * 1 tab == 4 spaces! + */ +/* USER CODE END Header */ + +#ifndef FREERTOS_CONFIG_H +#define FREERTOS_CONFIG_H + +/*----------------------------------------------------------- + * Application specific definitions. + * + * These definitions should be adjusted for your particular hardware and + * application requirements. + * + * These parameters and more are described within the 'configuration' section of the + * FreeRTOS API documentation available on the FreeRTOS.org web site. + * + * See http://www.freertos.org/a00110.html + *----------------------------------------------------------*/ + +/* USER CODE BEGIN Includes */ +/* Section where include file can be added */ +/* USER CODE END Includes */ + +/* Ensure definitions are only used by the compiler, and not by the assembler. */ +#if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__) + #include + extern uint32_t SystemCoreClock; + void xPortSysTickHandler(void); +#endif +#ifndef CMSIS_device_header +#define CMSIS_device_header "stm32f4xx.h" +#endif /* CMSIS_device_header */ + +#define configENABLE_FPU 0 +#define configENABLE_MPU 0 + +#define configUSE_PREEMPTION 1 +#define configSUPPORT_STATIC_ALLOCATION 1 +#define configSUPPORT_DYNAMIC_ALLOCATION 1 +#define configUSE_IDLE_HOOK 0 +#define configUSE_TICK_HOOK 0 +#define configCPU_CLOCK_HZ ( SystemCoreClock ) +#define configTICK_RATE_HZ ((TickType_t)1000) +#define configMAX_PRIORITIES ( 56 ) +#define configMINIMAL_STACK_SIZE ((uint16_t)128) +#define configTOTAL_HEAP_SIZE ((size_t)0x10000) +#define configMAX_TASK_NAME_LEN ( 16 ) +#define configUSE_TRACE_FACILITY 1 +#define configUSE_16_BIT_TICKS 0 +#define configUSE_MUTEXES 1 +#define configQUEUE_REGISTRY_SIZE 8 +#define configUSE_RECURSIVE_MUTEXES 1 +#define configUSE_COUNTING_SEMAPHORES 1 +#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0 +/* USER CODE BEGIN MESSAGE_BUFFER_LENGTH_TYPE */ +/* Defaults to size_t for backward compatibility, but can be changed + if lengths will always be less than the number of bytes in a size_t. */ +#define configMESSAGE_BUFFER_LENGTH_TYPE size_t +/* USER CODE END MESSAGE_BUFFER_LENGTH_TYPE */ + +/* Co-routine definitions. */ +#define configUSE_CO_ROUTINES 0 +#define configMAX_CO_ROUTINE_PRIORITIES ( 2 ) + +/* Software timer definitions. */ +#define configUSE_TIMERS 1 +#define configTIMER_TASK_PRIORITY ( 2 ) +#define configTIMER_QUEUE_LENGTH 10 +#define configTIMER_TASK_STACK_DEPTH 256 + +/* CMSIS-RTOS V2 flags */ +#define configUSE_OS2_THREAD_SUSPEND_RESUME 1 +#define configUSE_OS2_THREAD_ENUMERATE 1 +#define configUSE_OS2_EVENTFLAGS_FROM_ISR 1 +#define configUSE_OS2_THREAD_FLAGS 1 +#define configUSE_OS2_TIMER 1 +#define configUSE_OS2_MUTEX 1 + +/* Set the following definitions to 1 to include the API function, or zero +to exclude the API function. */ +#define INCLUDE_vTaskPrioritySet 1 +#define INCLUDE_uxTaskPriorityGet 1 +#define INCLUDE_vTaskDelete 1 +#define INCLUDE_vTaskCleanUpResources 0 +#define INCLUDE_vTaskSuspend 1 +#define INCLUDE_vTaskDelayUntil 1 +#define INCLUDE_vTaskDelay 1 +#define INCLUDE_xTaskGetSchedulerState 1 +#define INCLUDE_xTimerPendFunctionCall 1 +#define INCLUDE_xQueueGetMutexHolder 1 +#define INCLUDE_uxTaskGetStackHighWaterMark 1 +#define INCLUDE_xTaskGetCurrentTaskHandle 1 +#define INCLUDE_eTaskGetState 1 + +/* + * The CMSIS-RTOS V2 FreeRTOS wrapper is dependent on the heap implementation used + * by the application thus the correct define need to be enabled below + */ +#define USE_FreeRTOS_HEAP_4 + +/* Cortex-M specific definitions. */ +#ifdef __NVIC_PRIO_BITS + /* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */ + #define configPRIO_BITS __NVIC_PRIO_BITS +#else + #define configPRIO_BITS 4 +#endif + +/* The lowest interrupt priority that can be used in a call to a "set priority" +function. */ +#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 15 + +/* The highest interrupt priority that can be used by any interrupt service +routine that makes calls to interrupt safe FreeRTOS API functions. DO NOT CALL +INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER +PRIORITY THAN THIS! (higher priorities are lower numeric values. */ +#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5 + +/* Interrupt priorities used by the kernel port layer itself. These are generic +to all Cortex-M ports, and do not rely on any particular library functions. */ +#define configKERNEL_INTERRUPT_PRIORITY ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) ) +/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!! +See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */ +#define configMAX_SYSCALL_INTERRUPT_PRIORITY ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) ) + +/* Normal assert() semantics without relying on the provision of an assert.h +header file. */ +/* USER CODE BEGIN 1 */ +#define configASSERT( x ) if ((x) == 0) {taskDISABLE_INTERRUPTS(); for( ;; );} +/* USER CODE END 1 */ + +/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS +standard names. */ +#define vPortSVCHandler SVC_Handler +#define xPortPendSVHandler PendSV_Handler + +/* IMPORTANT: After 10.3.1 update, Systick_Handler comes from NVIC (if SYS timebase = systick), otherwise from cmsis_os2.c */ + +#define USE_CUSTOM_SYSTICK_HANDLER_IMPLEMENTATION 1 + +/* USER CODE BEGIN Defines */ +/* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */ +/* USER CODE END Defines */ + +#endif /* FREERTOS_CONFIG_H */ diff --git a/User/component/PowerControl.h b/User/component/PowerControl.h index 136fd9c..b7efd87 100644 --- a/User/component/PowerControl.h +++ b/User/component/PowerControl.h @@ -27,4 +27,3 @@ void power_out_calu(power_model_t* param,float scale,float* in_array,float* rpm_ #endif #endif - diff --git a/User/task/blink.c b/User/task/blink.c index a635e46..9e39704 100644 --- a/User/task/blink.c +++ b/User/task/blink.c @@ -1,50 +1,50 @@ -/* - blink Task - -*/ - -/* Includes ----------------------------------------------------------------- */ -#include "task/user_task.h" -/* USER INCLUDE BEGIN */ -#include "bsp/pwm.h" -#include -/* USER INCLUDE END */ - -/* Private typedef ---------------------------------------------------------- */ -/* Private define ----------------------------------------------------------- */ -/* Private macro ------------------------------------------------------------ */ -/* Private variables -------------------------------------------------------- */ -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -/* Private function --------------------------------------------------------- */ -/* Exported functions ------------------------------------------------------- */ -void Task_blink(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() / BLINK_FREQ; - - osDelay(BLINK_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_PWM_Stop(BSP_PWM_LED_R); - BSP_PWM_Stop(BSP_PWM_LED_B); - BSP_PWM_SetComp(BSP_PWM_LED_G, 0.0f); - BSP_PWM_Start(BSP_PWM_LED_G); - /* USER CODE INIT END */ - - while (1) { - tick += delay_tick; /* 计算下一个唤醒时刻 */ - /* USER CODE BEGIN */ - // 呼吸灯 - 基于tick的正弦波 - float duty = (sinf(tick * 0.003f) + 1.0f) * 0.5f; // 0到1之间的正弦波，加快频率 - BSP_PWM_SetComp(BSP_PWM_LED_G, duty); - /* USER CODE END */ - osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ - } - -} \ No newline at end of file +/* + blink Task + +*/ + +/* Includes ----------------------------------------------------------------- */ +#include "task/user_task.h" +/* USER INCLUDE BEGIN */ +#include "bsp/pwm.h" +#include +/* USER INCLUDE END */ + +/* Private typedef ---------------------------------------------------------- */ +/* Private define ----------------------------------------------------------- */ +/* Private macro ------------------------------------------------------------ */ +/* Private variables -------------------------------------------------------- */ +/* USER STRUCT BEGIN */ + +/* USER STRUCT END */ + +/* Private function --------------------------------------------------------- */ +/* Exported functions ------------------------------------------------------- */ +void Task_blink(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() / BLINK_FREQ; + + osDelay(BLINK_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_PWM_Stop(BSP_PWM_LED_R); + BSP_PWM_Stop(BSP_PWM_LED_B); + BSP_PWM_SetComp(BSP_PWM_LED_G, 0.0f); + BSP_PWM_Start(BSP_PWM_LED_G); + /* USER CODE INIT END */ + + while (1) { + tick += delay_tick; /* 计算下一个唤醒时刻 */ + /* USER CODE BEGIN */ + // 呼吸灯 - 基于tick的正弦波 + float duty = (sinf(tick * 0.003f) + 1.0f) * 0.5f; // 0到1之间的正弦波，加快频率 + BSP_PWM_SetComp(BSP_PWM_LED_G, duty); + /* USER CODE END */ + osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ + } + +} diff --git a/User/task/cmd.c b/User/task/cmd.c index 48d15a7..d515903 100644 --- a/User/task/cmd.c +++ b/User/task/cmd.c @@ -1,75 +1,75 @@ -/* - cmd Task - -*/ - -/* Includes ----------------------------------------------------------------- */ -#include "task/user_task.h" -/* USER INCLUDE BEGIN */ -#include "device/dr16.h" -#include "device/AT9S_Pro.h" -#include "module/config.h" -#include "module/chassis.h" -#include "module/gimbal.h" -#include "module/shoot.h" -#include "module/cmd.h" -//#define DEAD_AREA 0.05f -/* USER INCLUDE END */ - -/* Private typedef ---------------------------------------------------------- */ -/* Private define ----------------------------------------------------------- */ -/* Private macro ------------------------------------------------------------ */ -/* Private variables -------------------------------------------------------- */ -/* USER STRUCT BEGIN */ -#if CMD_RCTypeTable_Index == 0 -DR16_t cmd_dr16; -#elif CMD_RCTypeTable_Index == 1 -AT9S_t cmd_at9s; -#endif -Shoot_CMD_t cmd_for_shoot; -Chassis_CMD_t cmd_for_chassis; -Gimbal_CMD_t cmd_for_gimbal; - -CMD_t cmd; -/* USER STRUCT END */ - -/* Private function --------------------------------------------------------- */ -/* Exported functions ------------------------------------------------------- */ -void Task_cmd(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() / CMD_FREQ; - - osDelay(CMD_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 */ - Cmd_Init(&cmd, &Config_GetRobotParam()->cmd_param); - /* USER CODE INIT END */ - - while (1) { - tick += delay_tick; /* 计算下一个唤醒时刻 */ - /* USER CODE BEGIN */ - #if CMD_RCTypeTable_Index == 0 - osMessageQueueGet(task_runtime.msgq.cmd.rc, &cmd_dr16, NULL, 0); - #elif CMD_RCTypeTable_Index == 1 - osMessageQueueGet(task_runtime.msgq.cmd.rc, &cmd_at9s, NULL, 0); - #endif - Cmd_Get(&cmd,cmd_dr16); - Cmd_GenerateCommand(&cmd); - cmd_for_shoot=cmd.output.shoot.cmd; - cmd_for_chassis=cmd.output.chassis.cmd; - cmd_for_gimbal=cmd.output.gimbal.cmd; - osMessageQueueReset(task_runtime.msgq.gimbal.cmd); - osMessageQueuePut(task_runtime.msgq.gimbal.cmd, &cmd_for_gimbal, 0, 0); - osMessageQueueReset(task_runtime.msgq.shoot.cmd); - osMessageQueuePut(task_runtime.msgq.shoot.cmd, &cmd_for_shoot, 0, 0); - osMessageQueueReset(task_runtime.msgq.chassis.cmd); - osMessageQueuePut(task_runtime.msgq.chassis.cmd, &cmd_for_chassis, 0, 0); - /* USER CODE END */ - osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ - } - -} \ No newline at end of file +/* + cmd Task + +*/ + +/* Includes ----------------------------------------------------------------- */ +#include "task/user_task.h" +/* USER INCLUDE BEGIN */ +#include "device/dr16.h" +#include "device/AT9S_Pro.h" +#include "module/config.h" +#include "module/chassis.h" +#include "module/gimbal.h" +#include "module/shoot.h" +#include "module/cmd.h" +//#define DEAD_AREA 0.05f +/* USER INCLUDE END */ + +/* Private typedef ---------------------------------------------------------- */ +/* Private define ----------------------------------------------------------- */ +/* Private macro ------------------------------------------------------------ */ +/* Private variables -------------------------------------------------------- */ +/* USER STRUCT BEGIN */ +#if CMD_RCTypeTable_Index == 0 +DR16_t cmd_dr16; +#elif CMD_RCTypeTable_Index == 1 +AT9S_t cmd_at9s; +#endif +Shoot_CMD_t cmd_for_shoot; +Chassis_CMD_t cmd_for_chassis; +Gimbal_CMD_t cmd_for_gimbal; + +CMD_t cmd; +/* USER STRUCT END */ + +/* Private function --------------------------------------------------------- */ +/* Exported functions ------------------------------------------------------- */ +void Task_cmd(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() / CMD_FREQ; + + osDelay(CMD_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 */ + Cmd_Init(&cmd, &Config_GetRobotParam()->cmd_param); + /* USER CODE INIT END */ + + while (1) { + tick += delay_tick; /* 计算下一个唤醒时刻 */ + /* USER CODE BEGIN */ + #if CMD_RCTypeTable_Index == 0 + osMessageQueueGet(task_runtime.msgq.cmd.rc, &cmd_dr16, NULL, 0); + #elif CMD_RCTypeTable_Index == 1 + osMessageQueueGet(task_runtime.msgq.cmd.rc, &cmd_at9s, NULL, 0); + #endif + Cmd_Get(&cmd,cmd_dr16); + Cmd_GenerateCommand(&cmd); + cmd_for_shoot=cmd.output.shoot.cmd; + cmd_for_chassis=cmd.output.chassis.cmd; + cmd_for_gimbal=cmd.output.gimbal.cmd; + osMessageQueueReset(task_runtime.msgq.gimbal.cmd); + osMessageQueuePut(task_runtime.msgq.gimbal.cmd, &cmd_for_gimbal, 0, 0); + osMessageQueueReset(task_runtime.msgq.shoot.cmd); + osMessageQueuePut(task_runtime.msgq.shoot.cmd, &cmd_for_shoot, 0, 0); + osMessageQueueReset(task_runtime.msgq.chassis.cmd); + osMessageQueuePut(task_runtime.msgq.chassis.cmd, &cmd_for_chassis, 0, 0); + /* USER CODE END */ + osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ + } + +} diff --git a/User/task/config.yaml b/User/task/config.yaml index c061292..50bb2a8 100644 --- a/User/task/config.yaml +++ b/User/task/config.yaml @@ -1,56 +1,56 @@ -- delay: 0 - description: '' - freq_control: true - frequency: 500.0 - function: Task_rc - name: rc - stack: 256 -- delay: 0 - description: '' - freq_control: true - frequency: 1000.0 - function: Task_atti_esti - name: atti_esti - stack: 256 -- delay: 0 - description: '' - freq_control: true - frequency: 100.0 - function: Task_blink - name: blink - stack: 256 -- delay: 0 - description: '' - freq_control: true - frequency: 500.0 - function: Task_ctrl_chassis - name: ctrl_chassis - stack: 256 -- delay: 0 - description: '' - freq_control: true - frequency: 500.0 - function: Task_ctrl_gimbal - name: ctrl_gimbal - stack: 256 -- delay: 0 - description: '' - freq_control: true - frequency: 500.0 - function: Task_ctrl_shoot - name: ctrl_shoot - stack: 256 -- delay: 0 - description: '' - freq_control: true - frequency: 500.0 - function: Task_cmd - name: cmd - stack: 256 -- delay: 0 - description: '' - freq_control: true - frequency: 500.0 - function: Task_supercap - name: supercap - stack: 512 +- delay: 0 + description: '' + freq_control: true + frequency: 500.0 + function: Task_rc + name: rc + stack: 256 +- delay: 0 + description: '' + freq_control: true + frequency: 1000.0 + function: Task_atti_esti + name: atti_esti + stack: 256 +- delay: 0 + description: '' + freq_control: true + frequency: 100.0 + function: Task_blink + name: blink + stack: 256 +- delay: 0 + description: '' + freq_control: true + frequency: 500.0 + function: Task_ctrl_chassis + name: ctrl_chassis + stack: 256 +- delay: 0 + description: '' + freq_control: true + frequency: 500.0 + function: Task_ctrl_gimbal + name: ctrl_gimbal + stack: 256 +- delay: 0 + description: '' + freq_control: true + frequency: 500.0 + function: Task_ctrl_shoot + name: ctrl_shoot + stack: 256 +- delay: 0 + description: '' + freq_control: true + frequency: 500.0 + function: Task_cmd + name: cmd + stack: 256 +- delay: 0 + description: '' + freq_control: true + frequency: 500.0 + function: Task_supercap + name: supercap + stack: 512 diff --git a/User/task/ctrl_chassis.c b/User/task/ctrl_chassis.c index 7178f2f..aaae4c1 100644 --- a/User/task/ctrl_chassis.c +++ b/User/task/ctrl_chassis.c @@ -1,61 +1,61 @@ -/* - ctrl_chassis Task - -*/ - -/* Includes ----------------------------------------------------------------- */ -#include "task/user_task.h" -/* USER INCLUDE BEGIN */ -#include "module/chassis.h" -#include "module/config.h" -#include "device/supercap.h" -/* USER INCLUDE END */ - -/* Private typedef ---------------------------------------------------------- */ -/* Private define ----------------------------------------------------------- */ -/* Private macro ------------------------------------------------------------ */ -/* Private variables -------------------------------------------------------- */ -/* USER STRUCT BEGIN */ -Chassis_t chassis; -Chassis_CMD_t chassis_cmd; -Chassis_IMU_t chassis_imu; +/* + ctrl_chassis Task + +*/ + +/* Includes ----------------------------------------------------------------- */ +#include "task/user_task.h" +/* USER INCLUDE BEGIN */ +#include "module/chassis.h" +#include "module/config.h" +#include "device/supercap.h" +/* USER INCLUDE END */ + +/* Private typedef ---------------------------------------------------------- */ +/* Private define ----------------------------------------------------------- */ +/* Private macro ------------------------------------------------------------ */ +/* Private variables -------------------------------------------------------- */ +/* USER STRUCT BEGIN */ +Chassis_t chassis; +Chassis_CMD_t chassis_cmd; +Chassis_IMU_t chassis_imu; float max =50; -/* USER STRUCT END */ - -/* Private function --------------------------------------------------------- */ -/* Exported functions ------------------------------------------------------- */ -void Task_ctrl_chassis(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_CHASSIS_FREQ; - - osDelay(CTRL_CHASSIS_INIT_DELAY); /* 延时一段时间再开启任务 */ - - uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */ - /* USER CODE INIT BEGIN */ +/* USER STRUCT END */ - Config_RobotParam_t *cfg = Config_GetRobotParam(); - Chassis_Init(&chassis, &cfg->chassis_param, (float)CTRL_CHASSIS_FREQ); - chassis.mech_zero=0.57f; - /* USER CODE INIT END */ - - while (1) { - tick += delay_tick; /* 计算下一个唤醒时刻 */ - /* USER CODE BEGIN */ +/* Private function --------------------------------------------------------- */ +/* Exported functions ------------------------------------------------------- */ +void Task_ctrl_chassis(void *argument) { + (void)argument; /* 未使用argument，消除警告 */ - osMessageQueueGet(task_runtime.msgq.chassis.yaw, &chassis.feedback.encoder_gimbalYawMotor, NULL, 0); - osMessageQueueGet(task_runtime.msgq.chassis.cmd, &chassis_cmd, NULL, 0);//遥控器 - - Chassis_UpdateFeedback(&chassis); - Chassis_Control(&chassis, &chassis_cmd, osKernelGetTickCount()); + + /* 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_CHASSIS_FREQ; + + osDelay(CTRL_CHASSIS_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 */ + + Config_RobotParam_t *cfg = Config_GetRobotParam(); + Chassis_Init(&chassis, &cfg->chassis_param, (float)CTRL_CHASSIS_FREQ); + chassis.mech_zero=0.57f; + /* USER CODE INIT END */ + + while (1) { + tick += delay_tick; /* 计算下一个唤醒时刻 */ + /* USER CODE BEGIN */ + + osMessageQueueGet(task_runtime.msgq.chassis.yaw, &chassis.feedback.encoder_gimbalYawMotor, NULL, 0); + osMessageQueueGet(task_runtime.msgq.chassis.cmd, &chassis_cmd, NULL, 0);//遥控器 + + Chassis_UpdateFeedback(&chassis); + Chassis_Control(&chassis, &chassis_cmd, osKernelGetTickCount()); Chassis_Power_Control(&chassis,max); - Chassis_Output(&chassis); - /* USER CODE END */ - osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ - } - + Chassis_Output(&chassis); + /* USER CODE END */ + osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ + } + } diff --git a/User/task/init.c b/User/task/init.c index 1319bfe..58e7c72 100644 --- a/User/task/init.c +++ b/User/task/init.c @@ -1,65 +1,65 @@ -/* - Init Task - 任务初始化，创建各个线程任务和消息队列 -*/ - -/* Includes ----------------------------------------------------------------- */ -#include "task/user_task.h" - -/* USER INCLUDE BEGIN */ -#include "device/dr16.h" -#include "device/AT9S_Pro.h" -#include "module/gimbal.h" -#include "module/shoot.h" -#include "module/chassis.h" - -/* USER INCLUDE END */ - -/* Private typedef ---------------------------------------------------------- */ -/* Private define ----------------------------------------------------------- */ -/* Private macro ------------------------------------------------------------ */ -/* Private variables -------------------------------------------------------- */ -/* Private function --------------------------------------------------------- */ -/* Exported functions ------------------------------------------------------- */ - -/** - * \brief 初始化 - * - * \param argument 未使用 - */ -void Task_Init(void *argument) { - (void)argument; /* 未使用argument，消除警告 */ - /* USER CODE INIT BEGIN */ - - /* USER CODE INIT END */ - osKernelLock(); /* 锁定内核，防止任务切换 */ - - /* 创建任务线程 */ - task_runtime.thread.rc = osThreadNew(Task_rc, NULL, &attr_rc); - task_runtime.thread.atti_esti = osThreadNew(Task_atti_esti, NULL, &attr_atti_esti); - task_runtime.thread.blink = osThreadNew(Task_blink, NULL, &attr_blink); - 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); - task_runtime.thread.ctrl_shoot = osThreadNew(Task_ctrl_shoot, NULL, &attr_ctrl_shoot); - task_runtime.thread.cmd = osThreadNew(Task_cmd, NULL, &attr_cmd); - task_runtime.thread.supercap = osThreadNew(Task_supercap, NULL, &attr_supercap); - - // 创建消息队列 - /* USER MESSAGE BEGIN */ - task_runtime.msgq.user_msg= osMessageQueueNew(2u, 10, NULL); -#if CMD_RCTypeTable_Index == 0 - task_runtime.msgq.cmd.rc= osMessageQueueNew(3u, sizeof(DR16_t), NULL); -#elif CMD_RCTypeTable_Index == 1 - task_runtime.msgq.cmd.rc= osMessageQueueNew(3u, sizeof(AT9S_t), NULL); -#endif - task_runtime.msgq.chassis.yaw = osMessageQueueNew(2u, sizeof(float), NULL); - task_runtime.msgq.chassis.cmd= osMessageQueueNew(3u, sizeof(Chassis_CMD_t), NULL); - task_runtime.msgq.gimbal.imu= osMessageQueueNew(2u, sizeof(Gimbal_IMU_t), NULL); - task_runtime.msgq.gimbal.cmd= osMessageQueueNew(2u, sizeof(Gimbal_CMD_t), NULL); - task_runtime.msgq.shoot.cmd = osMessageQueueNew(2u, sizeof(Shoot_CMD_t), NULL); - - /* USER MESSAGE END */ - - osKernelUnlock(); // 解锁内核 - osThreadTerminate(osThreadGetId()); // 任务完成后结束自身 -} \ No newline at end of file +/* + Init Task + 任务初始化，创建各个线程任务和消息队列 +*/ + +/* Includes ----------------------------------------------------------------- */ +#include "task/user_task.h" + +/* USER INCLUDE BEGIN */ +#include "device/dr16.h" +#include "device/AT9S_Pro.h" +#include "module/gimbal.h" +#include "module/shoot.h" +#include "module/chassis.h" + +/* USER INCLUDE END */ + +/* Private typedef ---------------------------------------------------------- */ +/* Private define ----------------------------------------------------------- */ +/* Private macro ------------------------------------------------------------ */ +/* Private variables -------------------------------------------------------- */ +/* Private function --------------------------------------------------------- */ +/* Exported functions ------------------------------------------------------- */ + +/** + * \brief 初始化 + * + * \param argument 未使用 + */ +void Task_Init(void *argument) { + (void)argument; /* 未使用argument，消除警告 */ + /* USER CODE INIT BEGIN */ + + /* USER CODE INIT END */ + osKernelLock(); /* 锁定内核，防止任务切换 */ + + /* 创建任务线程 */ + task_runtime.thread.rc = osThreadNew(Task_rc, NULL, &attr_rc); + task_runtime.thread.atti_esti = osThreadNew(Task_atti_esti, NULL, &attr_atti_esti); + task_runtime.thread.blink = osThreadNew(Task_blink, NULL, &attr_blink); + 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); + task_runtime.thread.ctrl_shoot = osThreadNew(Task_ctrl_shoot, NULL, &attr_ctrl_shoot); + task_runtime.thread.cmd = osThreadNew(Task_cmd, NULL, &attr_cmd); + task_runtime.thread.supercap = osThreadNew(Task_supercap, NULL, &attr_supercap); + + // 创建消息队列 + /* USER MESSAGE BEGIN */ + task_runtime.msgq.user_msg= osMessageQueueNew(2u, 10, NULL); +#if CMD_RCTypeTable_Index == 0 + task_runtime.msgq.cmd.rc= osMessageQueueNew(3u, sizeof(DR16_t), NULL); +#elif CMD_RCTypeTable_Index == 1 + task_runtime.msgq.cmd.rc= osMessageQueueNew(3u, sizeof(AT9S_t), NULL); +#endif + task_runtime.msgq.chassis.yaw = osMessageQueueNew(2u, sizeof(float), NULL); + task_runtime.msgq.chassis.cmd= osMessageQueueNew(3u, sizeof(Chassis_CMD_t), NULL); + task_runtime.msgq.gimbal.imu= osMessageQueueNew(2u, sizeof(Gimbal_IMU_t), NULL); + task_runtime.msgq.gimbal.cmd= osMessageQueueNew(2u, sizeof(Gimbal_CMD_t), NULL); + task_runtime.msgq.shoot.cmd = osMessageQueueNew(2u, sizeof(Shoot_CMD_t), NULL); + + /* USER MESSAGE END */ + + osKernelUnlock(); // 解锁内核 + osThreadTerminate(osThreadGetId()); // 任务完成后结束自身 +} diff --git a/User/task/rc.c b/User/task/rc.c index 83a2f33..74e8a37 100644 --- a/User/task/rc.c +++ b/User/task/rc.c @@ -1,80 +1,80 @@ -/* - rc Task - -*/ - -/* Includes ----------------------------------------------------------------- */ -#include "task/user_task.h" -/* USER INCLUDE BEGIN */ - -#define DR16 -#ifdef AT9S -#include "device/at9s_pro.h" -#endif - -#ifdef DR16 -#include "device/dr16.h" -#endif -/* USER INCLUDE END */ - -/* Private typedef ---------------------------------------------------------- */ -/* Private define ----------------------------------------------------------- */ -/* Private macro ------------------------------------------------------------ */ -/* Private variables -------------------------------------------------------- */ -/* USER STRUCT BEGIN */ -#ifdef AT9S - uint8_t cmd_buffer[AT9S_FRAME_LEN]; - AT9S_t at9s; -#endif -#ifdef DR16 -DR16_t dr16; -#endif -/* USER STRUCT END */ - -/* Private function --------------------------------------------------------- */ -/* Exported functions ------------------------------------------------------- */ -void Task_rc(void *argument) { - (void)argument; /* 未使用argument，消除警告 */ - - - /* 计算任务运行到指定频率需要等待的tick数 */ - const uint32_t delay_tick = osKernelGetTickFreq() / RC_FREQ; - - osDelay(RC_INIT_DELAY); /* 延时一段时间再开启任务 */ - - uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */ - /* USER CODE INIT BEGIN */ - #ifdef AT9S - AT9S_Init(&at9s); - AT9S_StartDmaRecv(cmd_buffer); - #endif - #ifdef DR16 - DR16_Init(&dr16); - #endif - /* USER CODE INIT END */ - - while (1) { - tick += delay_tick; /* 计算下一个唤醒时刻 */ - /* USER CODE BEGIN */ - #ifdef AT9S - if (AT9S_WaitDmaCplt(10)) { - AT9S_ParseRaw(cmd_buffer, &at9s); - AT9S_StartDmaRecv(cmd_buffer); - } - osMessageQueuePut(task_runtime.msgq.cmd.rc, &at9s, 0, 0); - #endif - #ifdef DR16 - DR16_StartDmaRecv(&dr16); - if (DR16_WaitDmaCplt(20)) { - DR16_ParseData(&dr16); - } else { - DR16_Offline(&dr16); - } - osMessageQueueReset(task_runtime.msgq.cmd.rc); - osMessageQueuePut(task_runtime.msgq.cmd.rc, &dr16, 0, 0); - #endif - /* USER CODE END */ - osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ - } - -} \ No newline at end of file +/* + rc Task + +*/ + +/* Includes ----------------------------------------------------------------- */ +#include "task/user_task.h" +/* USER INCLUDE BEGIN */ + +#define DR16 +#ifdef AT9S +#include "device/at9s_pro.h" +#endif + +#ifdef DR16 +#include "device/dr16.h" +#endif +/* USER INCLUDE END */ + +/* Private typedef ---------------------------------------------------------- */ +/* Private define ----------------------------------------------------------- */ +/* Private macro ------------------------------------------------------------ */ +/* Private variables -------------------------------------------------------- */ +/* USER STRUCT BEGIN */ +#ifdef AT9S + uint8_t cmd_buffer[AT9S_FRAME_LEN]; + AT9S_t at9s; +#endif +#ifdef DR16 +DR16_t dr16; +#endif +/* USER STRUCT END */ + +/* Private function --------------------------------------------------------- */ +/* Exported functions ------------------------------------------------------- */ +void Task_rc(void *argument) { + (void)argument; /* 未使用argument，消除警告 */ + + + /* 计算任务运行到指定频率需要等待的tick数 */ + const uint32_t delay_tick = osKernelGetTickFreq() / RC_FREQ; + + osDelay(RC_INIT_DELAY); /* 延时一段时间再开启任务 */ + + uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */ + /* USER CODE INIT BEGIN */ + #ifdef AT9S + AT9S_Init(&at9s); + AT9S_StartDmaRecv(cmd_buffer); + #endif + #ifdef DR16 + DR16_Init(&dr16); + #endif + /* USER CODE INIT END */ + + while (1) { + tick += delay_tick; /* 计算下一个唤醒时刻 */ + /* USER CODE BEGIN */ + #ifdef AT9S + if (AT9S_WaitDmaCplt(10)) { + AT9S_ParseRaw(cmd_buffer, &at9s); + AT9S_StartDmaRecv(cmd_buffer); + } + osMessageQueuePut(task_runtime.msgq.cmd.rc, &at9s, 0, 0); + #endif + #ifdef DR16 + DR16_StartDmaRecv(&dr16); + if (DR16_WaitDmaCplt(20)) { + DR16_ParseData(&dr16); + } else { + DR16_Offline(&dr16); + } + osMessageQueueReset(task_runtime.msgq.cmd.rc); + osMessageQueuePut(task_runtime.msgq.cmd.rc, &dr16, 0, 0); + #endif + /* USER CODE END */ + osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ + } + +} diff --git a/User/task/user_task.c b/User/task/user_task.c index 7f95b02..a3ce646 100644 --- a/User/task/user_task.c +++ b/User/task/user_task.c @@ -48,4 +48,4 @@ const osThreadAttr_t attr_supercap = { .name = "supercap", .priority = osPriorityNormal, .stack_size = 512 * 4, -}; +}; diff --git a/User/task/user_task.h b/User/task/user_task.h index deb9486..2de8688 100644 --- a/User/task/user_task.h +++ b/User/task/user_task.h @@ -1,157 +1,157 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif -/* Includes ----------------------------------------------------------------- */ -#include -#include "FreeRTOS.h" -#include "task.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ -/* Exported constants ------------------------------------------------------- */ -/* 任务运行频率 */ -#define RC_FREQ (500.0) -#define ATTI_ESTI_FREQ (1000.0) -#define BLINK_FREQ (100.0) -#define CTRL_CHASSIS_FREQ (500.0) -#define CTRL_GIMBAL_FREQ (500.0) -#define CTRL_SHOOT_FREQ (500.0) -#define CMD_FREQ (500.0) -#define SUPERCAP_FREQ (500.0) - -/* 任务初始化延时ms */ -#define TASK_INIT_DELAY (100u) -#define RC_INIT_DELAY (0) -#define ATTI_ESTI_INIT_DELAY (0) -#define BLINK_INIT_DELAY (0) -#define CTRL_CHASSIS_INIT_DELAY (0) -#define CTRL_GIMBAL_INIT_DELAY (0) -#define CTRL_SHOOT_INIT_DELAY (0) -#define CMD_INIT_DELAY (0) -#define SUPERCAP_INIT_DELAY (0) - -/* Exported defines --------------------------------------------------------- */ -/* Exported macro ----------------------------------------------------------- */ -/* Exported types ----------------------------------------------------------- */ - -/* 任务运行时结构体 */ -typedef struct { - /* 各任务，也可以叫做线程 */ - struct { - osThreadId_t rc; - osThreadId_t atti_esti; - osThreadId_t blink; - osThreadId_t ctrl_chassis; - osThreadId_t ctrl_gimbal; - osThreadId_t ctrl_shoot; - osThreadId_t cmd; - osThreadId_t supercap; - } thread; - - /* USER MESSAGE BEGIN */ - struct { - osMessageQueueId_t user_msg; /* 用户自定义任务消息队列 */ - - struct { - osMessageQueueId_t imu; - osMessageQueueId_t cmd; - osMessageQueueId_t yaw; - }chassis; - struct { - osMessageQueueId_t imu; - osMessageQueueId_t cmd; - }gimbal; - struct{ - osMessageQueueId_t cmd; - }shoot; - struct{ - osMessageQueueId_t rc; - osMessageQueueId_t pc; - osMessageQueueId_t nuc; - osMessageQueueId_t ref; - }cmd; - - - } msgq; - /* USER MESSAGE END */ - - /* 机器人状态 */ - struct { - float battery; /* 电池电量百分比 */ - float vbat; /* 电池电压 */ - float cpu_temp; /* CPU温度 */ - } status; - - /* USER CONFIG BEGIN */ - - /* USER CONFIG END */ - - /* 各任务的stack使用 */ - struct { - UBaseType_t rc; - UBaseType_t atti_esti; - UBaseType_t blink; - UBaseType_t ctrl_chassis; - UBaseType_t ctrl_gimbal; - UBaseType_t ctrl_shoot; - UBaseType_t cmd; - UBaseType_t supercap; - } stack_water_mark; - - /* 各任务运行频率 */ - struct { - float rc; - float atti_esti; - float blink; - float ctrl_chassis; - float ctrl_gimbal; - float ctrl_shoot; - float cmd; - float supercap; - } freq; - - /* 任务最近运行时间 */ - struct { - float rc; - float atti_esti; - float blink; - float ctrl_chassis; - float ctrl_gimbal; - float ctrl_shoot; - float cmd; - float supercap; - } last_up_time; - -} Task_Runtime_t; - -/* 任务运行时结构体 */ -extern Task_Runtime_t task_runtime; - -/* 初始化任务句柄 */ -extern const osThreadAttr_t attr_init; -extern const osThreadAttr_t attr_rc; -extern const osThreadAttr_t attr_atti_esti; -extern const osThreadAttr_t attr_blink; -extern const osThreadAttr_t attr_ctrl_chassis; -extern const osThreadAttr_t attr_ctrl_gimbal; -extern const osThreadAttr_t attr_ctrl_shoot; -extern const osThreadAttr_t attr_cmd; -extern const osThreadAttr_t attr_supercap; - -/* 任务函数声明 */ -void Task_Init(void *argument); -void Task_rc(void *argument); -void Task_atti_esti(void *argument); -void Task_blink(void *argument); -void Task_ctrl_chassis(void *argument); -void Task_ctrl_gimbal(void *argument); -void Task_ctrl_shoot(void *argument); -void Task_cmd(void *argument); -void Task_supercap(void *argument); - -#ifdef __cplusplus -} -#endif \ No newline at end of file +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif +/* Includes ----------------------------------------------------------------- */ +#include +#include "FreeRTOS.h" +#include "task.h" + +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ +/* Exported constants ------------------------------------------------------- */ +/* 任务运行频率 */ +#define RC_FREQ (500.0) +#define ATTI_ESTI_FREQ (1000.0) +#define BLINK_FREQ (100.0) +#define CTRL_CHASSIS_FREQ (500.0) +#define CTRL_GIMBAL_FREQ (500.0) +#define CTRL_SHOOT_FREQ (500.0) +#define CMD_FREQ (500.0) +#define SUPERCAP_FREQ (500.0) + +/* 任务初始化延时ms */ +#define TASK_INIT_DELAY (100u) +#define RC_INIT_DELAY (0) +#define ATTI_ESTI_INIT_DELAY (0) +#define BLINK_INIT_DELAY (0) +#define CTRL_CHASSIS_INIT_DELAY (0) +#define CTRL_GIMBAL_INIT_DELAY (0) +#define CTRL_SHOOT_INIT_DELAY (0) +#define CMD_INIT_DELAY (0) +#define SUPERCAP_INIT_DELAY (0) + +/* Exported defines --------------------------------------------------------- */ +/* Exported macro ----------------------------------------------------------- */ +/* Exported types ----------------------------------------------------------- */ + +/* 任务运行时结构体 */ +typedef struct { + /* 各任务，也可以叫做线程 */ + struct { + osThreadId_t rc; + osThreadId_t atti_esti; + osThreadId_t blink; + osThreadId_t ctrl_chassis; + osThreadId_t ctrl_gimbal; + osThreadId_t ctrl_shoot; + osThreadId_t cmd; + osThreadId_t supercap; + } thread; + + /* USER MESSAGE BEGIN */ + struct { + osMessageQueueId_t user_msg; /* 用户自定义任务消息队列 */ + + struct { + osMessageQueueId_t imu; + osMessageQueueId_t cmd; + osMessageQueueId_t yaw; + }chassis; + struct { + osMessageQueueId_t imu; + osMessageQueueId_t cmd; + }gimbal; + struct{ + osMessageQueueId_t cmd; + }shoot; + struct{ + osMessageQueueId_t rc; + osMessageQueueId_t pc; + osMessageQueueId_t nuc; + osMessageQueueId_t ref; + }cmd; + + + } msgq; + /* USER MESSAGE END */ + + /* 机器人状态 */ + struct { + float battery; /* 电池电量百分比 */ + float vbat; /* 电池电压 */ + float cpu_temp; /* CPU温度 */ + } status; + + /* USER CONFIG BEGIN */ + + /* USER CONFIG END */ + + /* 各任务的stack使用 */ + struct { + UBaseType_t rc; + UBaseType_t atti_esti; + UBaseType_t blink; + UBaseType_t ctrl_chassis; + UBaseType_t ctrl_gimbal; + UBaseType_t ctrl_shoot; + UBaseType_t cmd; + UBaseType_t supercap; + } stack_water_mark; + + /* 各任务运行频率 */ + struct { + float rc; + float atti_esti; + float blink; + float ctrl_chassis; + float ctrl_gimbal; + float ctrl_shoot; + float cmd; + float supercap; + } freq; + + /* 任务最近运行时间 */ + struct { + float rc; + float atti_esti; + float blink; + float ctrl_chassis; + float ctrl_gimbal; + float ctrl_shoot; + float cmd; + float supercap; + } last_up_time; + +} Task_Runtime_t; + +/* 任务运行时结构体 */ +extern Task_Runtime_t task_runtime; + +/* 初始化任务句柄 */ +extern const osThreadAttr_t attr_init; +extern const osThreadAttr_t attr_rc; +extern const osThreadAttr_t attr_atti_esti; +extern const osThreadAttr_t attr_blink; +extern const osThreadAttr_t attr_ctrl_chassis; +extern const osThreadAttr_t attr_ctrl_gimbal; +extern const osThreadAttr_t attr_ctrl_shoot; +extern const osThreadAttr_t attr_cmd; +extern const osThreadAttr_t attr_supercap; + +/* 任务函数声明 */ +void Task_Init(void *argument); +void Task_rc(void *argument); +void Task_atti_esti(void *argument); +void Task_blink(void *argument); +void Task_ctrl_chassis(void *argument); +void Task_ctrl_gimbal(void *argument); +void Task_ctrl_shoot(void *argument); +void Task_cmd(void *argument); +void Task_supercap(void *argument); + +#ifdef __cplusplus +} +#endif