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xm:add-cmd
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pull from: xm:main
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11 Commits
add-cmd ... main

Author SHA1 Message Date
yxming66
910bd5a1b6 解决合并冲突: 统一配置和任务定义 2025-12-09 17:54:52 +08:00
yxming66
4fc4f106f2 Merge branch 'hehehe-main' 2025-12-09 17:34:15 +08:00
yxming66
7291980cbb 123 2025-12-09 17:32:08 +08:00
xm
1813c6d128 Merge pull request '初步功率控制' (#2) from hehehe/god-yuan-hero:main into main 
Reviewed-on: #2
 2025-12-08 02:49:57 +08:00
shentou
4443235b6a 初步功率控制 2025-12-07 14:35:28 +08:00
shentou
88ab6e203d 初步功率控制 2025-12-07 13:59:01 +08:00
yxming66
c0d4ae6c90 123 2025-12-05 19:44:20 +08:00
yxming66
e29e884953 Merge branch 'forupdatashoot' 2025-12-05 19:37:57 +08:00
yxming66
14aef5da76 123 2025-12-05 19:35:08 +08:00
yxming66
d6e889b0a7 纪念逝去的RC、PC、NUC、REF_GET 2025-11-15 00:12:10 +08:00
yxming66
2978659f20 同步 2025-11-10 20:43:18 +08:00
235 changed files with 69488 additions and 71642 deletions
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2
.clangd
View File

@ -2,6 +2,7 @@ CompileFlags:
Add: Add:
- '-ferror-limit=0' - '-ferror-limit=0'
- '-Wno-implicit-int' - '-Wno-implicit-int'
- "-I/usr/lib/arm-none-eabi/include"
CompilationDatabase: build/Debug CompilationDatabase: build/Debug
Diagnostics: Diagnostics:
Suppress: Suppress:
@ -9,3 +10,4 @@ Diagnostics:
- unknown_typename - unknown_typename
- unknown_typename_suggest - unknown_typename_suggest
- typename_requires_specqual - typename_requires_specqual

1
.gitattributes vendored Normal file
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@ -0,0 +1 @@
* text=auto

4
.gitignore vendored
View File

@ -1,3 +1,5 @@
build build
mx.scratch mx.scratch
!.settings !.settings
.cache
compile_commands.json

11
.mxproject
View File

@ -6,6 +6,11 @@ SourceFiles=..\Core\Src\main.c;..\Core\Src\gpio.c;..\Core\Src\freertos.c;..\Core
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; 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; 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] [PreviousGenFiles]
AdvancedFolderStructure=true AdvancedFolderStructure=true
HeaderFileListSize=11 HeaderFileListSize=11
@ -38,9 +43,3 @@ SourceFiles#10=..\Core\Src\main.c
SourceFolderListSize=1 SourceFolderListSize=1
SourcePath#0=..\Core\Src SourcePath#0=..\Core\Src
SourceFiles=; SourceFiles=;
[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;

13
.vscode/settings.json vendored
View File

@ -14,5 +14,16 @@
"starm-clangd", "starm-clangd",
"--query-driver=${env:CUBE_BUNDLE_PATH}/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-gcc.exe", "--query-driver=${env:CUBE_BUNDLE_PATH}/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-gcc.exe",
"--query-driver=${env:CUBE_BUNDLE_PATH}/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-g++.exe" "--query-driver=${env:CUBE_BUNDLE_PATH}/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-g++.exe"
] ],
"[c]": {
"editor.tabSize": 2,
"editor.insertSpaces": true,
"editor.detectIndentation": false
},
"[cpp]": {
"editor.tabSize": 2,
"editor.insertSpaces": true,
"editor.detectIndentation": false
}
} }

10
CMakeLists.txt
View File

@ -15,7 +15,7 @@ set(CMAKE_C_EXTENSIONS ON)
# Define the build type # Define the build type
if(NOT CMAKE_BUILD_TYPE) if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE "Debug") set(CMAKE_BUILD_TYPE "Debug")
endif() endif()
# Set the project name # Set the project name
@ -57,20 +57,21 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
# User/component sources # User/component sources
User/component/ahrs.c User/component/ahrs.c
User/component/at9s_pro_cmd.c
User/component/filter.c User/component/filter.c
User/component/mixer.c User/component/mixer.c
User/component/pid.c User/component/pid.c
User/component/user_math.c User/component/user_math.c
User/component/crc16.c
User/component/PowerControl.c
# User/device sources # User/device sources
User/device/dr16.c
User/device/AT9S_Pro.c User/device/AT9S_Pro.c
User/device/bmi088.c User/device/bmi088.c
User/device/motor.c User/device/motor.c
User/device/motor_dm.c User/device/motor_dm.c
User/device/motor_rm.c User/device/motor_rm.c
User/device/vofa.c User/device/vofa.c
User/device/supercap.c
# User/module sources # User/module sources
User/module/chassis.c User/module/chassis.c
User/module/config.c User/module/config.c
@ -87,6 +88,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
User/task/init.c User/task/init.c
User/task/rc.c User/task/rc.c
User/task/user_task.c User/task/user_task.c
User/task/supercap.c
) )
# Add include paths # Add include paths

2
Core/Inc/FreeRTOSConfig.h
View File

@ -69,7 +69,7 @@
#define configTICK_RATE_HZ ((TickType_t)1000) #define configTICK_RATE_HZ ((TickType_t)1000)
#define configMAX_PRIORITIES ( 56 ) #define configMAX_PRIORITIES ( 56 )
#define configMINIMAL_STACK_SIZE ((uint16_t)128) #define configMINIMAL_STACK_SIZE ((uint16_t)128)
#define configTOTAL_HEAP_SIZE ((size_t)0x6000) #define configTOTAL_HEAP_SIZE ((size_t)0x10000)
#define configMAX_TASK_NAME_LEN ( 16 ) #define configMAX_TASK_NAME_LEN ( 16 )
#define configUSE_TRACE_FACILITY 1 #define configUSE_TRACE_FACILITY 1
#define configUSE_16_BIT_TICKS 0 #define configUSE_16_BIT_TICKS 0

110
Core/Inc/can.h
View File

@ -1,55 +1,55 @@
/* USER CODE BEGIN Header */ /* USER CODE BEGIN Header */
/** /**
****************************************************************************** ******************************************************************************
* @file can.h * @file can.h
* @brief This file contains all the function prototypes for * @brief This file contains all the function prototypes for
* the can.c file * the can.c file
****************************************************************************** ******************************************************************************
* @attention * @attention
* *
* Copyright (c) 2025 STMicroelectronics. * Copyright (c) 2025 STMicroelectronics.
* All rights reserved. * All rights reserved.
* *
* This software is licensed under terms that can be found in the LICENSE file * This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component. * in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS. * If no LICENSE file comes with this software, it is provided AS-IS.
* *
****************************************************************************** ******************************************************************************
*/ */
/* USER CODE END Header */ /* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/ /* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __CAN_H__ #ifndef __CAN_H__
#define __CAN_H__ #define __CAN_H__
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
#include "main.h" #include "main.h"
/* USER CODE BEGIN Includes */ /* USER CODE BEGIN Includes */
/* USER CODE END Includes */ /* USER CODE END Includes */
extern CAN_HandleTypeDef hcan1; extern CAN_HandleTypeDef hcan1;
extern CAN_HandleTypeDef hcan2; extern CAN_HandleTypeDef hcan2;
/* USER CODE BEGIN Private defines */ /* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */ /* USER CODE END Private defines */
void MX_CAN1_Init(void); void MX_CAN1_Init(void);
void MX_CAN2_Init(void); void MX_CAN2_Init(void);
/* USER CODE BEGIN Prototypes */ /* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */ /* USER CODE END Prototypes */
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif /* __CAN_H__ */ #endif /* __CAN_H__ */

104
Core/Inc/dma.h
View File

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

98
Core/Inc/gpio.h
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@ -1,49 +1,49 @@
/* USER CODE BEGIN Header */ /* USER CODE BEGIN Header */
/** /**
****************************************************************************** ******************************************************************************
* @file gpio.h * @file gpio.h
* @brief This file contains all the function prototypes for * @brief This file contains all the function prototypes for
* the gpio.c file * the gpio.c file
****************************************************************************** ******************************************************************************
* @attention * @attention
* *
* Copyright (c) 2025 STMicroelectronics. * Copyright (c) 2025 STMicroelectronics.
* All rights reserved. * All rights reserved.
* *
* This software is licensed under terms that can be found in the LICENSE file * This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component. * in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS. * If no LICENSE file comes with this software, it is provided AS-IS.
* *
****************************************************************************** ******************************************************************************
*/ */
/* USER CODE END Header */ /* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/ /* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __GPIO_H__ #ifndef __GPIO_H__
#define __GPIO_H__ #define __GPIO_H__
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
#include "main.h" #include "main.h"
/* USER CODE BEGIN Includes */ /* USER CODE BEGIN Includes */
/* USER CODE END Includes */ /* USER CODE END Includes */
/* USER CODE BEGIN Private defines */ /* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */ /* USER CODE END Private defines */
void MX_GPIO_Init(void); void MX_GPIO_Init(void);
/* USER CODE BEGIN Prototypes */ /* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */ /* USER CODE END Prototypes */
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif /*__ GPIO_H__ */ #endif /*__ GPIO_H__ */

104
Core/Inc/i2c.h
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@ -1,52 +1,52 @@
/* USER CODE BEGIN Header */ /* USER CODE BEGIN Header */
/** /**
****************************************************************************** ******************************************************************************
* @file i2c.h * @file i2c.h
* @brief This file contains all the function prototypes for * @brief This file contains all the function prototypes for
* the i2c.c file * the i2c.c file
****************************************************************************** ******************************************************************************
* @attention * @attention
* *
* Copyright (c) 2025 STMicroelectronics. * Copyright (c) 2025 STMicroelectronics.
* All rights reserved. * All rights reserved.
* *
* This software is licensed under terms that can be found in the LICENSE file * This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component. * in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS. * If no LICENSE file comes with this software, it is provided AS-IS.
* *
****************************************************************************** ******************************************************************************
*/ */
/* USER CODE END Header */ /* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/ /* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __I2C_H__ #ifndef __I2C_H__
#define __I2C_H__ #define __I2C_H__
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
#include "main.h" #include "main.h"
/* USER CODE BEGIN Includes */ /* USER CODE BEGIN Includes */
/* USER CODE END Includes */ /* USER CODE END Includes */
extern I2C_HandleTypeDef hi2c3; extern I2C_HandleTypeDef hi2c3;
/* USER CODE BEGIN Private defines */ /* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */ /* USER CODE END Private defines */
void MX_I2C3_Init(void); void MX_I2C3_Init(void);
/* USER CODE BEGIN Prototypes */ /* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */ /* USER CODE END Prototypes */
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif /* __I2C_H__ */ #endif /* __I2C_H__ */

194
Core/Inc/main.h
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@ -1,97 +1,97 @@
/* USER CODE BEGIN Header */ /* USER CODE BEGIN Header */
/** /**
****************************************************************************** ******************************************************************************
* @file : main.h * @file : main.h
* @brief : Header for main.c file. * @brief : Header for main.c file.
* This file contains the common defines of the application. * This file contains the common defines of the application.
****************************************************************************** ******************************************************************************
* @attention * @attention
* *
* Copyright (c) 2025 STMicroelectronics. * Copyright (c) 2025 STMicroelectronics.
* All rights reserved. * All rights reserved.
* *
* This software is licensed under terms that can be found in the LICENSE file * This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component. * in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS. * If no LICENSE file comes with this software, it is provided AS-IS.
* *
****************************************************************************** ******************************************************************************
*/ */
/* USER CODE END Header */ /* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/ /* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __MAIN_H #ifndef __MAIN_H
#define __MAIN_H #define __MAIN_H
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h" #include "stm32f4xx_hal.h"
/* Private includes ----------------------------------------------------------*/ /* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */ /* USER CODE BEGIN Includes */
/* USER CODE END Includes */ /* USER CODE END Includes */
/* Exported types ------------------------------------------------------------*/ /* Exported types ------------------------------------------------------------*/
/* USER CODE BEGIN ET */ /* USER CODE BEGIN ET */
/* USER CODE END ET */ /* USER CODE END ET */
/* Exported constants --------------------------------------------------------*/ /* Exported constants --------------------------------------------------------*/
/* USER CODE BEGIN EC */ /* USER CODE BEGIN EC */
/* USER CODE END EC */ /* USER CODE END EC */
/* Exported macro ------------------------------------------------------------*/ /* Exported macro ------------------------------------------------------------*/
/* USER CODE BEGIN EM */ /* USER CODE BEGIN EM */
/* USER CODE END EM */ /* USER CODE END EM */
/* Exported functions prototypes ---------------------------------------------*/ /* Exported functions prototypes ---------------------------------------------*/
void Error_Handler(void); void Error_Handler(void);
/* USER CODE BEGIN EFP */ /* USER CODE BEGIN EFP */
/* USER CODE END EFP */ /* USER CODE END EFP */
/* Private defines -----------------------------------------------------------*/ /* Private defines -----------------------------------------------------------*/
#define CMPS_RST_Pin GPIO_PIN_6 #define CMPS_RST_Pin GPIO_PIN_6
#define CMPS_RST_GPIO_Port GPIOG #define CMPS_RST_GPIO_Port GPIOG
#define IMU_HEAT_PWM_Pin GPIO_PIN_6 #define IMU_HEAT_PWM_Pin GPIO_PIN_6
#define IMU_HEAT_PWM_GPIO_Port GPIOF #define IMU_HEAT_PWM_GPIO_Port GPIOF
#define LED_R_Pin GPIO_PIN_12 #define LED_R_Pin GPIO_PIN_12
#define LED_R_GPIO_Port GPIOH #define LED_R_GPIO_Port GPIOH
#define CMPS_INT_Pin GPIO_PIN_3 #define CMPS_INT_Pin GPIO_PIN_3
#define CMPS_INT_GPIO_Port GPIOG #define CMPS_INT_GPIO_Port GPIOG
#define CMPS_INT_EXTI_IRQn EXTI3_IRQn #define CMPS_INT_EXTI_IRQn EXTI3_IRQn
#define LED_G_Pin GPIO_PIN_11 #define LED_G_Pin GPIO_PIN_11
#define LED_G_GPIO_Port GPIOH #define LED_G_GPIO_Port GPIOH
#define LED_B_Pin GPIO_PIN_10 #define LED_B_Pin GPIO_PIN_10
#define LED_B_GPIO_Port GPIOH #define LED_B_GPIO_Port GPIOH
#define BUZZER_Pin GPIO_PIN_14 #define BUZZER_Pin GPIO_PIN_14
#define BUZZER_GPIO_Port GPIOD #define BUZZER_GPIO_Port GPIOD
#define USER_KEY_Pin GPIO_PIN_0 #define USER_KEY_Pin GPIO_PIN_0
#define USER_KEY_GPIO_Port GPIOA #define USER_KEY_GPIO_Port GPIOA
#define USER_KEY_EXTI_IRQn EXTI0_IRQn #define USER_KEY_EXTI_IRQn EXTI0_IRQn
#define ACCL_CS_Pin GPIO_PIN_4 #define ACCL_CS_Pin GPIO_PIN_4
#define ACCL_CS_GPIO_Port GPIOA #define ACCL_CS_GPIO_Port GPIOA
#define ACCL_INT_Pin GPIO_PIN_4 #define ACCL_INT_Pin GPIO_PIN_4
#define ACCL_INT_GPIO_Port GPIOC #define ACCL_INT_GPIO_Port GPIOC
#define ACCL_INT_EXTI_IRQn EXTI4_IRQn #define ACCL_INT_EXTI_IRQn EXTI4_IRQn
#define GYRO_INT_Pin GPIO_PIN_5 #define GYRO_INT_Pin GPIO_PIN_5
#define GYRO_INT_GPIO_Port GPIOC #define GYRO_INT_GPIO_Port GPIOC
#define GYRO_INT_EXTI_IRQn EXTI9_5_IRQn #define GYRO_INT_EXTI_IRQn EXTI9_5_IRQn
#define GYRO_CS_Pin GPIO_PIN_0 #define GYRO_CS_Pin GPIO_PIN_0
#define GYRO_CS_GPIO_Port GPIOB #define GYRO_CS_GPIO_Port GPIOB
/* USER CODE BEGIN Private defines */ /* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */ /* USER CODE END Private defines */
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif /* __MAIN_H */ #endif /* __MAIN_H */

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Core/Inc/spi.h
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@ -1,52 +1,52 @@
/* USER CODE BEGIN Header */ /* USER CODE BEGIN Header */
/** /**
****************************************************************************** ******************************************************************************
* @file spi.h * @file spi.h
* @brief This file contains all the function prototypes for * @brief This file contains all the function prototypes for
* the spi.c file * the spi.c file
****************************************************************************** ******************************************************************************
* @attention * @attention
* *
* Copyright (c) 2025 STMicroelectronics. * Copyright (c) 2025 STMicroelectronics.
* All rights reserved. * All rights reserved.
* *
* This software is licensed under terms that can be found in the LICENSE file * This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component. * in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS. * If no LICENSE file comes with this software, it is provided AS-IS.
* *
****************************************************************************** ******************************************************************************
*/ */
/* USER CODE END Header */ /* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/ /* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __SPI_H__ #ifndef __SPI_H__
#define __SPI_H__ #define __SPI_H__
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
#include "main.h" #include "main.h"
/* USER CODE BEGIN Includes */ /* USER CODE BEGIN Includes */
/* USER CODE END Includes */ /* USER CODE END Includes */
extern SPI_HandleTypeDef hspi1; extern SPI_HandleTypeDef hspi1;
/* USER CODE BEGIN Private defines */ /* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */ /* USER CODE END Private defines */
void MX_SPI1_Init(void); void MX_SPI1_Init(void);
/* USER CODE BEGIN Prototypes */ /* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */ /* USER CODE END Prototypes */
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif /* __SPI_H__ */ #endif /* __SPI_H__ */

990
Core/Inc/stm32f4xx_hal_conf.h
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@ -1,495 +1,495 @@
/* USER CODE BEGIN Header */ /* USER CODE BEGIN Header */
/** /**
****************************************************************************** ******************************************************************************
* @file stm32f4xx_hal_conf_template.h * @file stm32f4xx_hal_conf_template.h
* @author MCD Application Team * @author MCD Application Team
* @brief HAL configuration template file. * @brief HAL configuration template file.
* This file should be copied to the application folder and renamed * This file should be copied to the application folder and renamed
* to stm32f4xx_hal_conf.h. * to stm32f4xx_hal_conf.h.
****************************************************************************** ******************************************************************************
* @attention * @attention
* *
* Copyright (c) 2017 STMicroelectronics. * Copyright (c) 2017 STMicroelectronics.
* All rights reserved. * All rights reserved.
* *
* This software is licensed under terms that can be found in the LICENSE file * This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component. * in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS. * If no LICENSE file comes with this software, it is provided AS-IS.
* *
****************************************************************************** ******************************************************************************
*/ */
/* USER CODE END Header */ /* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/ /* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32F4xx_HAL_CONF_H #ifndef __STM32F4xx_HAL_CONF_H
#define __STM32F4xx_HAL_CONF_H #define __STM32F4xx_HAL_CONF_H
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/* Exported types ------------------------------------------------------------*/ /* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/ /* Exported constants --------------------------------------------------------*/
/* ########################## Module Selection ############################## */ /* ########################## Module Selection ############################## */
/** /**
* @brief This is the list of modules to be used in the HAL driver * @brief This is the list of modules to be used in the HAL driver
*/ */
#define HAL_MODULE_ENABLED #define HAL_MODULE_ENABLED
/* #define HAL_CRYP_MODULE_ENABLED */ /* #define HAL_CRYP_MODULE_ENABLED */
/* #define HAL_ADC_MODULE_ENABLED */ /* #define HAL_ADC_MODULE_ENABLED */
#define HAL_CAN_MODULE_ENABLED #define HAL_CAN_MODULE_ENABLED
/* #define HAL_CRC_MODULE_ENABLED */ /* #define HAL_CRC_MODULE_ENABLED */
/* #define HAL_CAN_LEGACY_MODULE_ENABLED */ /* #define HAL_CAN_LEGACY_MODULE_ENABLED */
/* #define HAL_DAC_MODULE_ENABLED */ /* #define HAL_DAC_MODULE_ENABLED */
/* #define HAL_DCMI_MODULE_ENABLED */ /* #define HAL_DCMI_MODULE_ENABLED */
/* #define HAL_DMA2D_MODULE_ENABLED */ /* #define HAL_DMA2D_MODULE_ENABLED */
/* #define HAL_ETH_MODULE_ENABLED */ /* #define HAL_ETH_MODULE_ENABLED */
/* #define HAL_ETH_LEGACY_MODULE_ENABLED */ /* #define HAL_ETH_LEGACY_MODULE_ENABLED */
/* #define HAL_NAND_MODULE_ENABLED */ /* #define HAL_NAND_MODULE_ENABLED */
/* #define HAL_NOR_MODULE_ENABLED */ /* #define HAL_NOR_MODULE_ENABLED */
/* #define HAL_PCCARD_MODULE_ENABLED */ /* #define HAL_PCCARD_MODULE_ENABLED */
/* #define HAL_SRAM_MODULE_ENABLED */ /* #define HAL_SRAM_MODULE_ENABLED */
/* #define HAL_SDRAM_MODULE_ENABLED */ /* #define HAL_SDRAM_MODULE_ENABLED */
/* #define HAL_HASH_MODULE_ENABLED */ /* #define HAL_HASH_MODULE_ENABLED */
#define HAL_I2C_MODULE_ENABLED #define HAL_I2C_MODULE_ENABLED
/* #define HAL_I2S_MODULE_ENABLED */ /* #define HAL_I2S_MODULE_ENABLED */
/* #define HAL_IWDG_MODULE_ENABLED */ /* #define HAL_IWDG_MODULE_ENABLED */
/* #define HAL_LTDC_MODULE_ENABLED */ /* #define HAL_LTDC_MODULE_ENABLED */
/* #define HAL_RNG_MODULE_ENABLED */ /* #define HAL_RNG_MODULE_ENABLED */
/* #define HAL_RTC_MODULE_ENABLED */ /* #define HAL_RTC_MODULE_ENABLED */
/* #define HAL_SAI_MODULE_ENABLED */ /* #define HAL_SAI_MODULE_ENABLED */
/* #define HAL_SD_MODULE_ENABLED */ /* #define HAL_SD_MODULE_ENABLED */
/* #define HAL_MMC_MODULE_ENABLED */ /* #define HAL_MMC_MODULE_ENABLED */
#define HAL_SPI_MODULE_ENABLED #define HAL_SPI_MODULE_ENABLED
#define HAL_TIM_MODULE_ENABLED #define HAL_TIM_MODULE_ENABLED
#define HAL_UART_MODULE_ENABLED #define HAL_UART_MODULE_ENABLED
/* #define HAL_USART_MODULE_ENABLED */ /* #define HAL_USART_MODULE_ENABLED */
/* #define HAL_IRDA_MODULE_ENABLED */ /* #define HAL_IRDA_MODULE_ENABLED */
/* #define HAL_SMARTCARD_MODULE_ENABLED */ /* #define HAL_SMARTCARD_MODULE_ENABLED */
/* #define HAL_SMBUS_MODULE_ENABLED */ /* #define HAL_SMBUS_MODULE_ENABLED */
/* #define HAL_WWDG_MODULE_ENABLED */ /* #define HAL_WWDG_MODULE_ENABLED */
/* #define HAL_PCD_MODULE_ENABLED */ /* #define HAL_PCD_MODULE_ENABLED */
/* #define HAL_HCD_MODULE_ENABLED */ /* #define HAL_HCD_MODULE_ENABLED */
/* #define HAL_DSI_MODULE_ENABLED */ /* #define HAL_DSI_MODULE_ENABLED */
/* #define HAL_QSPI_MODULE_ENABLED */ /* #define HAL_QSPI_MODULE_ENABLED */
/* #define HAL_QSPI_MODULE_ENABLED */ /* #define HAL_QSPI_MODULE_ENABLED */
/* #define HAL_CEC_MODULE_ENABLED */ /* #define HAL_CEC_MODULE_ENABLED */
/* #define HAL_FMPI2C_MODULE_ENABLED */ /* #define HAL_FMPI2C_MODULE_ENABLED */
/* #define HAL_FMPSMBUS_MODULE_ENABLED */ /* #define HAL_FMPSMBUS_MODULE_ENABLED */
/* #define HAL_SPDIFRX_MODULE_ENABLED */ /* #define HAL_SPDIFRX_MODULE_ENABLED */
/* #define HAL_DFSDM_MODULE_ENABLED */ /* #define HAL_DFSDM_MODULE_ENABLED */
/* #define HAL_LPTIM_MODULE_ENABLED */ /* #define HAL_LPTIM_MODULE_ENABLED */
#define HAL_GPIO_MODULE_ENABLED #define HAL_GPIO_MODULE_ENABLED
#define HAL_EXTI_MODULE_ENABLED #define HAL_EXTI_MODULE_ENABLED
#define HAL_DMA_MODULE_ENABLED #define HAL_DMA_MODULE_ENABLED
#define HAL_RCC_MODULE_ENABLED #define HAL_RCC_MODULE_ENABLED
#define HAL_FLASH_MODULE_ENABLED #define HAL_FLASH_MODULE_ENABLED
#define HAL_PWR_MODULE_ENABLED #define HAL_PWR_MODULE_ENABLED
#define HAL_CORTEX_MODULE_ENABLED #define HAL_CORTEX_MODULE_ENABLED
/* ########################## HSE/HSI Values adaptation ##################### */ /* ########################## HSE/HSI Values adaptation ##################### */
/** /**
* @brief Adjust the value of External High Speed oscillator (HSE) used in your application. * @brief Adjust the value of External High Speed oscillator (HSE) used in your application.
* This value is used by the RCC HAL module to compute the system frequency * This value is used by the RCC HAL module to compute the system frequency
* (when HSE is used as system clock source, directly or through the PLL). * (when HSE is used as system clock source, directly or through the PLL).
*/ */
#if !defined (HSE_VALUE) #if !defined (HSE_VALUE)
#define HSE_VALUE 12000000U /*!< Value of the External oscillator in Hz */ #define HSE_VALUE 12000000U /*!< Value of the External oscillator in Hz */
#endif /* HSE_VALUE */ #endif /* HSE_VALUE */
#if !defined (HSE_STARTUP_TIMEOUT) #if !defined (HSE_STARTUP_TIMEOUT)
#define HSE_STARTUP_TIMEOUT 100U /*!< Time out for HSE start up, in ms */ #define HSE_STARTUP_TIMEOUT 100U /*!< Time out for HSE start up, in ms */
#endif /* HSE_STARTUP_TIMEOUT */ #endif /* HSE_STARTUP_TIMEOUT */
/** /**
* @brief Internal High Speed oscillator (HSI) value. * @brief Internal High Speed oscillator (HSI) value.
* This value is used by the RCC HAL module to compute the system frequency * This value is used by the RCC HAL module to compute the system frequency
* (when HSI is used as system clock source, directly or through the PLL). * (when HSI is used as system clock source, directly or through the PLL).
*/ */
#if !defined (HSI_VALUE) #if !defined (HSI_VALUE)
#define HSI_VALUE ((uint32_t)16000000U) /*!< Value of the Internal oscillator in Hz*/ #define HSI_VALUE ((uint32_t)16000000U) /*!< Value of the Internal oscillator in Hz*/
#endif /* HSI_VALUE */ #endif /* HSI_VALUE */
/** /**
* @brief Internal Low Speed oscillator (LSI) value. * @brief Internal Low Speed oscillator (LSI) value.
*/ */
#if !defined (LSI_VALUE) #if !defined (LSI_VALUE)
#define LSI_VALUE 32000U /*!< LSI Typical Value in Hz*/ #define LSI_VALUE 32000U /*!< LSI Typical Value in Hz*/
#endif /* LSI_VALUE */ /*!< Value of the Internal Low Speed oscillator in Hz #endif /* LSI_VALUE */ /*!< Value of the Internal Low Speed oscillator in Hz
The real value may vary depending on the variations The real value may vary depending on the variations
in voltage and temperature.*/ in voltage and temperature.*/
/** /**
* @brief External Low Speed oscillator (LSE) value. * @brief External Low Speed oscillator (LSE) value.
*/ */
#if !defined (LSE_VALUE) #if !defined (LSE_VALUE)
#define LSE_VALUE 32768U /*!< Value of the External Low Speed oscillator in Hz */ #define LSE_VALUE 32768U /*!< Value of the External Low Speed oscillator in Hz */
#endif /* LSE_VALUE */ #endif /* LSE_VALUE */
#if !defined (LSE_STARTUP_TIMEOUT) #if !defined (LSE_STARTUP_TIMEOUT)
#define LSE_STARTUP_TIMEOUT 5000U /*!< Time out for LSE start up, in ms */ #define LSE_STARTUP_TIMEOUT 5000U /*!< Time out for LSE start up, in ms */
#endif /* LSE_STARTUP_TIMEOUT */ #endif /* LSE_STARTUP_TIMEOUT */
/** /**
* @brief External clock source for I2S peripheral * @brief External clock source for I2S peripheral
* This value is used by the I2S HAL module to compute the I2S clock source * This value is used by the I2S HAL module to compute the I2S clock source
* frequency, this source is inserted directly through I2S_CKIN pad. * frequency, this source is inserted directly through I2S_CKIN pad.
*/ */
#if !defined (EXTERNAL_CLOCK_VALUE) #if !defined (EXTERNAL_CLOCK_VALUE)
#define EXTERNAL_CLOCK_VALUE 12288000U /*!< Value of the External audio frequency in Hz*/ #define EXTERNAL_CLOCK_VALUE 12288000U /*!< Value of the External audio frequency in Hz*/
#endif /* EXTERNAL_CLOCK_VALUE */ #endif /* EXTERNAL_CLOCK_VALUE */
/* Tip: To avoid modifying this file each time you need to use different HSE, /* Tip: To avoid modifying this file each time you need to use different HSE,
=== you can define the HSE value in your toolchain compiler preprocessor. */ === you can define the HSE value in your toolchain compiler preprocessor. */
/* ########################### System Configuration ######################### */ /* ########################### System Configuration ######################### */
/** /**
* @brief This is the HAL system configuration section * @brief This is the HAL system configuration section
*/ */
#define VDD_VALUE 3300U /*!< Value of VDD in mv */ #define VDD_VALUE 3300U /*!< Value of VDD in mv */
#define TICK_INT_PRIORITY 15U /*!< tick interrupt priority */ #define TICK_INT_PRIORITY 15U /*!< tick interrupt priority */
#define USE_RTOS 0U #define USE_RTOS 0U
#define PREFETCH_ENABLE 1U #define PREFETCH_ENABLE 1U
#define INSTRUCTION_CACHE_ENABLE 1U #define INSTRUCTION_CACHE_ENABLE 1U
#define DATA_CACHE_ENABLE 1U #define DATA_CACHE_ENABLE 1U
#define USE_HAL_ADC_REGISTER_CALLBACKS 0U /* ADC register callback disabled */ #define USE_HAL_ADC_REGISTER_CALLBACKS 0U /* ADC register callback disabled */
#define USE_HAL_CAN_REGISTER_CALLBACKS 0U /* CAN register callback disabled */ #define USE_HAL_CAN_REGISTER_CALLBACKS 0U /* CAN register callback disabled */
#define USE_HAL_CEC_REGISTER_CALLBACKS 0U /* CEC register callback disabled */ #define USE_HAL_CEC_REGISTER_CALLBACKS 0U /* CEC register callback disabled */
#define USE_HAL_CRYP_REGISTER_CALLBACKS 0U /* CRYP register callback disabled */ #define USE_HAL_CRYP_REGISTER_CALLBACKS 0U /* CRYP register callback disabled */
#define USE_HAL_DAC_REGISTER_CALLBACKS 0U /* DAC register callback disabled */ #define USE_HAL_DAC_REGISTER_CALLBACKS 0U /* DAC register callback disabled */
#define USE_HAL_DCMI_REGISTER_CALLBACKS 0U /* DCMI register callback disabled */ #define USE_HAL_DCMI_REGISTER_CALLBACKS 0U /* DCMI register callback disabled */
#define USE_HAL_DFSDM_REGISTER_CALLBACKS 0U /* DFSDM register callback disabled */ #define USE_HAL_DFSDM_REGISTER_CALLBACKS 0U /* DFSDM register callback disabled */
#define USE_HAL_DMA2D_REGISTER_CALLBACKS 0U /* DMA2D register callback disabled */ #define USE_HAL_DMA2D_REGISTER_CALLBACKS 0U /* DMA2D register callback disabled */
#define USE_HAL_DSI_REGISTER_CALLBACKS 0U /* DSI register callback disabled */ #define USE_HAL_DSI_REGISTER_CALLBACKS 0U /* DSI register callback disabled */
#define USE_HAL_ETH_REGISTER_CALLBACKS 0U /* ETH register callback disabled */ #define USE_HAL_ETH_REGISTER_CALLBACKS 0U /* ETH register callback disabled */
#define USE_HAL_HASH_REGISTER_CALLBACKS 0U /* HASH register callback disabled */ #define USE_HAL_HASH_REGISTER_CALLBACKS 0U /* HASH register callback disabled */
#define USE_HAL_HCD_REGISTER_CALLBACKS 0U /* HCD register callback disabled */ #define USE_HAL_HCD_REGISTER_CALLBACKS 0U /* HCD register callback disabled */
#define USE_HAL_I2C_REGISTER_CALLBACKS 0U /* I2C register callback disabled */ #define USE_HAL_I2C_REGISTER_CALLBACKS 0U /* I2C register callback disabled */
#define USE_HAL_FMPI2C_REGISTER_CALLBACKS 0U /* FMPI2C register callback disabled */ #define USE_HAL_FMPI2C_REGISTER_CALLBACKS 0U /* FMPI2C register callback disabled */
#define USE_HAL_FMPSMBUS_REGISTER_CALLBACKS 0U /* FMPSMBUS register callback disabled */ #define USE_HAL_FMPSMBUS_REGISTER_CALLBACKS 0U /* FMPSMBUS register callback disabled */
#define USE_HAL_I2S_REGISTER_CALLBACKS 0U /* I2S register callback disabled */ #define USE_HAL_I2S_REGISTER_CALLBACKS 0U /* I2S register callback disabled */
#define USE_HAL_IRDA_REGISTER_CALLBACKS 0U /* IRDA register callback disabled */ #define USE_HAL_IRDA_REGISTER_CALLBACKS 0U /* IRDA register callback disabled */
#define USE_HAL_LPTIM_REGISTER_CALLBACKS 0U /* LPTIM register callback disabled */ #define USE_HAL_LPTIM_REGISTER_CALLBACKS 0U /* LPTIM register callback disabled */
#define USE_HAL_LTDC_REGISTER_CALLBACKS 0U /* LTDC register callback disabled */ #define USE_HAL_LTDC_REGISTER_CALLBACKS 0U /* LTDC register callback disabled */
#define USE_HAL_MMC_REGISTER_CALLBACKS 0U /* MMC register callback disabled */ #define USE_HAL_MMC_REGISTER_CALLBACKS 0U /* MMC register callback disabled */
#define USE_HAL_NAND_REGISTER_CALLBACKS 0U /* NAND register callback disabled */ #define USE_HAL_NAND_REGISTER_CALLBACKS 0U /* NAND register callback disabled */
#define USE_HAL_NOR_REGISTER_CALLBACKS 0U /* NOR register callback disabled */ #define USE_HAL_NOR_REGISTER_CALLBACKS 0U /* NOR register callback disabled */
#define USE_HAL_PCCARD_REGISTER_CALLBACKS 0U /* PCCARD register callback disabled */ #define USE_HAL_PCCARD_REGISTER_CALLBACKS 0U /* PCCARD register callback disabled */
#define USE_HAL_PCD_REGISTER_CALLBACKS 0U /* PCD register callback disabled */ #define USE_HAL_PCD_REGISTER_CALLBACKS 0U /* PCD register callback disabled */
#define USE_HAL_QSPI_REGISTER_CALLBACKS 0U /* QSPI register callback disabled */ #define USE_HAL_QSPI_REGISTER_CALLBACKS 0U /* QSPI register callback disabled */
#define USE_HAL_RNG_REGISTER_CALLBACKS 0U /* RNG register callback disabled */ #define USE_HAL_RNG_REGISTER_CALLBACKS 0U /* RNG register callback disabled */
#define USE_HAL_RTC_REGISTER_CALLBACKS 0U /* RTC register callback disabled */ #define USE_HAL_RTC_REGISTER_CALLBACKS 0U /* RTC register callback disabled */
#define USE_HAL_SAI_REGISTER_CALLBACKS 0U /* SAI register callback disabled */ #define USE_HAL_SAI_REGISTER_CALLBACKS 0U /* SAI register callback disabled */
#define USE_HAL_SD_REGISTER_CALLBACKS 0U /* SD register callback disabled */ #define USE_HAL_SD_REGISTER_CALLBACKS 0U /* SD register callback disabled */
#define USE_HAL_SMARTCARD_REGISTER_CALLBACKS 0U /* SMARTCARD register callback disabled */ #define USE_HAL_SMARTCARD_REGISTER_CALLBACKS 0U /* SMARTCARD register callback disabled */
#define USE_HAL_SDRAM_REGISTER_CALLBACKS 0U /* SDRAM register callback disabled */ #define USE_HAL_SDRAM_REGISTER_CALLBACKS 0U /* SDRAM register callback disabled */
#define USE_HAL_SRAM_REGISTER_CALLBACKS 0U /* SRAM register callback disabled */ #define USE_HAL_SRAM_REGISTER_CALLBACKS 0U /* SRAM register callback disabled */
#define USE_HAL_SPDIFRX_REGISTER_CALLBACKS 0U /* SPDIFRX register callback disabled */ #define USE_HAL_SPDIFRX_REGISTER_CALLBACKS 0U /* SPDIFRX register callback disabled */
#define USE_HAL_SMBUS_REGISTER_CALLBACKS 0U /* SMBUS register callback disabled */ #define USE_HAL_SMBUS_REGISTER_CALLBACKS 0U /* SMBUS register callback disabled */
#define USE_HAL_SPI_REGISTER_CALLBACKS 0U /* SPI register callback disabled */ #define USE_HAL_SPI_REGISTER_CALLBACKS 0U /* SPI register callback disabled */
#define USE_HAL_TIM_REGISTER_CALLBACKS 0U /* TIM register callback disabled */ #define USE_HAL_TIM_REGISTER_CALLBACKS 0U /* TIM register callback disabled */
#define USE_HAL_UART_REGISTER_CALLBACKS 0U /* UART register callback disabled */ #define USE_HAL_UART_REGISTER_CALLBACKS 0U /* UART register callback disabled */
#define USE_HAL_USART_REGISTER_CALLBACKS 0U /* USART register callback disabled */ #define USE_HAL_USART_REGISTER_CALLBACKS 0U /* USART register callback disabled */
#define USE_HAL_WWDG_REGISTER_CALLBACKS 0U /* WWDG register callback disabled */ #define USE_HAL_WWDG_REGISTER_CALLBACKS 0U /* WWDG register callback disabled */
/* ########################## Assert Selection ############################## */ /* ########################## Assert Selection ############################## */
/** /**
* @brief Uncomment the line below to expanse the "assert_param" macro in the * @brief Uncomment the line below to expanse the "assert_param" macro in the
* HAL drivers code * HAL drivers code
*/ */
/* #define USE_FULL_ASSERT 1U */ /* #define USE_FULL_ASSERT 1U */
/* ################## Ethernet peripheral configuration ##################### */ /* ################## Ethernet peripheral configuration ##################### */
/* Section 1 : Ethernet peripheral configuration */ /* Section 1 : Ethernet peripheral configuration */
/* MAC ADDRESS: MAC_ADDR0:MAC_ADDR1:MAC_ADDR2:MAC_ADDR3:MAC_ADDR4:MAC_ADDR5 */ /* MAC ADDRESS: MAC_ADDR0:MAC_ADDR1:MAC_ADDR2:MAC_ADDR3:MAC_ADDR4:MAC_ADDR5 */
#define MAC_ADDR0 2U #define MAC_ADDR0 2U
#define MAC_ADDR1 0U #define MAC_ADDR1 0U
#define MAC_ADDR2 0U #define MAC_ADDR2 0U
#define MAC_ADDR3 0U #define MAC_ADDR3 0U
#define MAC_ADDR4 0U #define MAC_ADDR4 0U
#define MAC_ADDR5 0U #define MAC_ADDR5 0U
/* Definition of the Ethernet driver buffers size and count */ /* Definition of the Ethernet driver buffers size and count */
#define ETH_RX_BUF_SIZE ETH_MAX_PACKET_SIZE /* buffer size for receive */ #define ETH_RX_BUF_SIZE ETH_MAX_PACKET_SIZE /* buffer size for receive */
#define ETH_TX_BUF_SIZE ETH_MAX_PACKET_SIZE /* buffer size for transmit */ #define ETH_TX_BUF_SIZE ETH_MAX_PACKET_SIZE /* buffer size for transmit */
#define ETH_RXBUFNB 4U /* 4 Rx buffers of size ETH_RX_BUF_SIZE */ #define ETH_RXBUFNB 4U /* 4 Rx buffers of size ETH_RX_BUF_SIZE */
#define ETH_TXBUFNB 4U /* 4 Tx buffers of size ETH_TX_BUF_SIZE */ #define ETH_TXBUFNB 4U /* 4 Tx buffers of size ETH_TX_BUF_SIZE */
/* Section 2: PHY configuration section */ /* Section 2: PHY configuration section */
/* DP83848_PHY_ADDRESS Address*/ /* DP83848_PHY_ADDRESS Address*/
#define DP83848_PHY_ADDRESS #define DP83848_PHY_ADDRESS
/* PHY Reset delay these values are based on a 1 ms Systick interrupt*/ /* PHY Reset delay these values are based on a 1 ms Systick interrupt*/
#define PHY_RESET_DELAY 0x000000FFU #define PHY_RESET_DELAY 0x000000FFU
/* PHY Configuration delay */ /* PHY Configuration delay */
#define PHY_CONFIG_DELAY 0x00000FFFU #define PHY_CONFIG_DELAY 0x00000FFFU
#define PHY_READ_TO 0x0000FFFFU #define PHY_READ_TO 0x0000FFFFU
#define PHY_WRITE_TO 0x0000FFFFU #define PHY_WRITE_TO 0x0000FFFFU
/* Section 3: Common PHY Registers */ /* Section 3: Common PHY Registers */
#define PHY_BCR ((uint16_t)0x0000U) /*!< Transceiver Basic Control Register */ #define PHY_BCR ((uint16_t)0x0000U) /*!< Transceiver Basic Control Register */
#define PHY_BSR ((uint16_t)0x0001U) /*!< Transceiver Basic Status Register */ #define PHY_BSR ((uint16_t)0x0001U) /*!< Transceiver Basic Status Register */
#define PHY_RESET ((uint16_t)0x8000U) /*!< PHY Reset */ #define PHY_RESET ((uint16_t)0x8000U) /*!< PHY Reset */
#define PHY_LOOPBACK ((uint16_t)0x4000U) /*!< Select loop-back mode */ #define PHY_LOOPBACK ((uint16_t)0x4000U) /*!< Select loop-back mode */
#define PHY_FULLDUPLEX_100M ((uint16_t)0x2100U) /*!< Set the full-duplex mode at 100 Mb/s */ #define PHY_FULLDUPLEX_100M ((uint16_t)0x2100U) /*!< Set the full-duplex mode at 100 Mb/s */
#define PHY_HALFDUPLEX_100M ((uint16_t)0x2000U) /*!< Set the half-duplex mode at 100 Mb/s */ #define PHY_HALFDUPLEX_100M ((uint16_t)0x2000U) /*!< Set the half-duplex mode at 100 Mb/s */
#define PHY_FULLDUPLEX_10M ((uint16_t)0x0100U) /*!< Set the full-duplex mode at 10 Mb/s */ #define PHY_FULLDUPLEX_10M ((uint16_t)0x0100U) /*!< Set the full-duplex mode at 10 Mb/s */
#define PHY_HALFDUPLEX_10M ((uint16_t)0x0000U) /*!< Set the half-duplex mode at 10 Mb/s */ #define PHY_HALFDUPLEX_10M ((uint16_t)0x0000U) /*!< Set the half-duplex mode at 10 Mb/s */
#define PHY_AUTONEGOTIATION ((uint16_t)0x1000U) /*!< Enable auto-negotiation function */ #define PHY_AUTONEGOTIATION ((uint16_t)0x1000U) /*!< Enable auto-negotiation function */
#define PHY_RESTART_AUTONEGOTIATION ((uint16_t)0x0200U) /*!< Restart auto-negotiation function */ #define PHY_RESTART_AUTONEGOTIATION ((uint16_t)0x0200U) /*!< Restart auto-negotiation function */
#define PHY_POWERDOWN ((uint16_t)0x0800U) /*!< Select the power down mode */ #define PHY_POWERDOWN ((uint16_t)0x0800U) /*!< Select the power down mode */
#define PHY_ISOLATE ((uint16_t)0x0400U) /*!< Isolate PHY from MII */ #define PHY_ISOLATE ((uint16_t)0x0400U) /*!< Isolate PHY from MII */
#define PHY_AUTONEGO_COMPLETE ((uint16_t)0x0020U) /*!< Auto-Negotiation process completed */ #define PHY_AUTONEGO_COMPLETE ((uint16_t)0x0020U) /*!< Auto-Negotiation process completed */
#define PHY_LINKED_STATUS ((uint16_t)0x0004U) /*!< Valid link established */ #define PHY_LINKED_STATUS ((uint16_t)0x0004U) /*!< Valid link established */
#define PHY_JABBER_DETECTION ((uint16_t)0x0002U) /*!< Jabber condition detected */ #define PHY_JABBER_DETECTION ((uint16_t)0x0002U) /*!< Jabber condition detected */
/* Section 4: Extended PHY Registers */ /* Section 4: Extended PHY Registers */
#define PHY_SR ((uint16_t)) /*!< PHY status register Offset */ #define PHY_SR ((uint16_t)) /*!< PHY status register Offset */
#define PHY_SPEED_STATUS ((uint16_t)) /*!< PHY Speed mask */ #define PHY_SPEED_STATUS ((uint16_t)) /*!< PHY Speed mask */
#define PHY_DUPLEX_STATUS ((uint16_t)) /*!< PHY Duplex mask */ #define PHY_DUPLEX_STATUS ((uint16_t)) /*!< PHY Duplex mask */
/* ################## SPI peripheral configuration ########################## */ /* ################## SPI peripheral configuration ########################## */
/* CRC FEATURE: Use to activate CRC feature inside HAL SPI Driver /* CRC FEATURE: Use to activate CRC feature inside HAL SPI Driver
* Activated: CRC code is present inside driver * Activated: CRC code is present inside driver
* Deactivated: CRC code cleaned from driver * Deactivated: CRC code cleaned from driver
*/ */
#define USE_SPI_CRC 0U #define USE_SPI_CRC 0U
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
/** /**
* @brief Include module's header file * @brief Include module's header file
*/ */
#ifdef HAL_RCC_MODULE_ENABLED #ifdef HAL_RCC_MODULE_ENABLED
#include "stm32f4xx_hal_rcc.h" #include "stm32f4xx_hal_rcc.h"
#endif /* HAL_RCC_MODULE_ENABLED */ #endif /* HAL_RCC_MODULE_ENABLED */
#ifdef HAL_GPIO_MODULE_ENABLED #ifdef HAL_GPIO_MODULE_ENABLED
#include "stm32f4xx_hal_gpio.h" #include "stm32f4xx_hal_gpio.h"
#endif /* HAL_GPIO_MODULE_ENABLED */ #endif /* HAL_GPIO_MODULE_ENABLED */
#ifdef HAL_EXTI_MODULE_ENABLED #ifdef HAL_EXTI_MODULE_ENABLED
#include "stm32f4xx_hal_exti.h" #include "stm32f4xx_hal_exti.h"
#endif /* HAL_EXTI_MODULE_ENABLED */ #endif /* HAL_EXTI_MODULE_ENABLED */
#ifdef HAL_DMA_MODULE_ENABLED #ifdef HAL_DMA_MODULE_ENABLED
#include "stm32f4xx_hal_dma.h" #include "stm32f4xx_hal_dma.h"
#endif /* HAL_DMA_MODULE_ENABLED */ #endif /* HAL_DMA_MODULE_ENABLED */
#ifdef HAL_CORTEX_MODULE_ENABLED #ifdef HAL_CORTEX_MODULE_ENABLED
#include "stm32f4xx_hal_cortex.h" #include "stm32f4xx_hal_cortex.h"
#endif /* HAL_CORTEX_MODULE_ENABLED */ #endif /* HAL_CORTEX_MODULE_ENABLED */
#ifdef HAL_ADC_MODULE_ENABLED #ifdef HAL_ADC_MODULE_ENABLED
#include "stm32f4xx_hal_adc.h" #include "stm32f4xx_hal_adc.h"
#endif /* HAL_ADC_MODULE_ENABLED */ #endif /* HAL_ADC_MODULE_ENABLED */
#ifdef HAL_CAN_MODULE_ENABLED #ifdef HAL_CAN_MODULE_ENABLED
#include "stm32f4xx_hal_can.h" #include "stm32f4xx_hal_can.h"
#endif /* HAL_CAN_MODULE_ENABLED */ #endif /* HAL_CAN_MODULE_ENABLED */
#ifdef HAL_CAN_LEGACY_MODULE_ENABLED #ifdef HAL_CAN_LEGACY_MODULE_ENABLED
#include "stm32f4xx_hal_can_legacy.h" #include "stm32f4xx_hal_can_legacy.h"
#endif /* HAL_CAN_LEGACY_MODULE_ENABLED */ #endif /* HAL_CAN_LEGACY_MODULE_ENABLED */
#ifdef HAL_CRC_MODULE_ENABLED #ifdef HAL_CRC_MODULE_ENABLED
#include "stm32f4xx_hal_crc.h" #include "stm32f4xx_hal_crc.h"
#endif /* HAL_CRC_MODULE_ENABLED */ #endif /* HAL_CRC_MODULE_ENABLED */
#ifdef HAL_CRYP_MODULE_ENABLED #ifdef HAL_CRYP_MODULE_ENABLED
#include "stm32f4xx_hal_cryp.h" #include "stm32f4xx_hal_cryp.h"
#endif /* HAL_CRYP_MODULE_ENABLED */ #endif /* HAL_CRYP_MODULE_ENABLED */
#ifdef HAL_DMA2D_MODULE_ENABLED #ifdef HAL_DMA2D_MODULE_ENABLED
#include "stm32f4xx_hal_dma2d.h" #include "stm32f4xx_hal_dma2d.h"
#endif /* HAL_DMA2D_MODULE_ENABLED */ #endif /* HAL_DMA2D_MODULE_ENABLED */
#ifdef HAL_DAC_MODULE_ENABLED #ifdef HAL_DAC_MODULE_ENABLED
#include "stm32f4xx_hal_dac.h" #include "stm32f4xx_hal_dac.h"
#endif /* HAL_DAC_MODULE_ENABLED */ #endif /* HAL_DAC_MODULE_ENABLED */
#ifdef HAL_DCMI_MODULE_ENABLED #ifdef HAL_DCMI_MODULE_ENABLED
#include "stm32f4xx_hal_dcmi.h" #include "stm32f4xx_hal_dcmi.h"
#endif /* HAL_DCMI_MODULE_ENABLED */ #endif /* HAL_DCMI_MODULE_ENABLED */
#ifdef HAL_ETH_MODULE_ENABLED #ifdef HAL_ETH_MODULE_ENABLED
#include "stm32f4xx_hal_eth.h" #include "stm32f4xx_hal_eth.h"
#endif /* HAL_ETH_MODULE_ENABLED */ #endif /* HAL_ETH_MODULE_ENABLED */
#ifdef HAL_ETH_LEGACY_MODULE_ENABLED #ifdef HAL_ETH_LEGACY_MODULE_ENABLED
#include "stm32f4xx_hal_eth_legacy.h" #include "stm32f4xx_hal_eth_legacy.h"
#endif /* HAL_ETH_LEGACY_MODULE_ENABLED */ #endif /* HAL_ETH_LEGACY_MODULE_ENABLED */
#ifdef HAL_FLASH_MODULE_ENABLED #ifdef HAL_FLASH_MODULE_ENABLED
#include "stm32f4xx_hal_flash.h" #include "stm32f4xx_hal_flash.h"
#endif /* HAL_FLASH_MODULE_ENABLED */ #endif /* HAL_FLASH_MODULE_ENABLED */
#ifdef HAL_SRAM_MODULE_ENABLED #ifdef HAL_SRAM_MODULE_ENABLED
#include "stm32f4xx_hal_sram.h" #include "stm32f4xx_hal_sram.h"
#endif /* HAL_SRAM_MODULE_ENABLED */ #endif /* HAL_SRAM_MODULE_ENABLED */
#ifdef HAL_NOR_MODULE_ENABLED #ifdef HAL_NOR_MODULE_ENABLED
#include "stm32f4xx_hal_nor.h" #include "stm32f4xx_hal_nor.h"
#endif /* HAL_NOR_MODULE_ENABLED */ #endif /* HAL_NOR_MODULE_ENABLED */
#ifdef HAL_NAND_MODULE_ENABLED #ifdef HAL_NAND_MODULE_ENABLED
#include "stm32f4xx_hal_nand.h" #include "stm32f4xx_hal_nand.h"
#endif /* HAL_NAND_MODULE_ENABLED */ #endif /* HAL_NAND_MODULE_ENABLED */
#ifdef HAL_PCCARD_MODULE_ENABLED #ifdef HAL_PCCARD_MODULE_ENABLED
#include "stm32f4xx_hal_pccard.h" #include "stm32f4xx_hal_pccard.h"
#endif /* HAL_PCCARD_MODULE_ENABLED */ #endif /* HAL_PCCARD_MODULE_ENABLED */
#ifdef HAL_SDRAM_MODULE_ENABLED #ifdef HAL_SDRAM_MODULE_ENABLED
#include "stm32f4xx_hal_sdram.h" #include "stm32f4xx_hal_sdram.h"
#endif /* HAL_SDRAM_MODULE_ENABLED */ #endif /* HAL_SDRAM_MODULE_ENABLED */
#ifdef HAL_HASH_MODULE_ENABLED #ifdef HAL_HASH_MODULE_ENABLED
#include "stm32f4xx_hal_hash.h" #include "stm32f4xx_hal_hash.h"
#endif /* HAL_HASH_MODULE_ENABLED */ #endif /* HAL_HASH_MODULE_ENABLED */
#ifdef HAL_I2C_MODULE_ENABLED #ifdef HAL_I2C_MODULE_ENABLED
#include "stm32f4xx_hal_i2c.h" #include "stm32f4xx_hal_i2c.h"
#endif /* HAL_I2C_MODULE_ENABLED */ #endif /* HAL_I2C_MODULE_ENABLED */
#ifdef HAL_SMBUS_MODULE_ENABLED #ifdef HAL_SMBUS_MODULE_ENABLED
#include "stm32f4xx_hal_smbus.h" #include "stm32f4xx_hal_smbus.h"
#endif /* HAL_SMBUS_MODULE_ENABLED */ #endif /* HAL_SMBUS_MODULE_ENABLED */
#ifdef HAL_I2S_MODULE_ENABLED #ifdef HAL_I2S_MODULE_ENABLED
#include "stm32f4xx_hal_i2s.h" #include "stm32f4xx_hal_i2s.h"
#endif /* HAL_I2S_MODULE_ENABLED */ #endif /* HAL_I2S_MODULE_ENABLED */
#ifdef HAL_IWDG_MODULE_ENABLED #ifdef HAL_IWDG_MODULE_ENABLED
#include "stm32f4xx_hal_iwdg.h" #include "stm32f4xx_hal_iwdg.h"
#endif /* HAL_IWDG_MODULE_ENABLED */ #endif /* HAL_IWDG_MODULE_ENABLED */
#ifdef HAL_LTDC_MODULE_ENABLED #ifdef HAL_LTDC_MODULE_ENABLED
#include "stm32f4xx_hal_ltdc.h" #include "stm32f4xx_hal_ltdc.h"
#endif /* HAL_LTDC_MODULE_ENABLED */ #endif /* HAL_LTDC_MODULE_ENABLED */
#ifdef HAL_PWR_MODULE_ENABLED #ifdef HAL_PWR_MODULE_ENABLED
#include "stm32f4xx_hal_pwr.h" #include "stm32f4xx_hal_pwr.h"
#endif /* HAL_PWR_MODULE_ENABLED */ #endif /* HAL_PWR_MODULE_ENABLED */
#ifdef HAL_RNG_MODULE_ENABLED #ifdef HAL_RNG_MODULE_ENABLED
#include "stm32f4xx_hal_rng.h" #include "stm32f4xx_hal_rng.h"
#endif /* HAL_RNG_MODULE_ENABLED */ #endif /* HAL_RNG_MODULE_ENABLED */
#ifdef HAL_RTC_MODULE_ENABLED #ifdef HAL_RTC_MODULE_ENABLED
#include "stm32f4xx_hal_rtc.h" #include "stm32f4xx_hal_rtc.h"
#endif /* HAL_RTC_MODULE_ENABLED */ #endif /* HAL_RTC_MODULE_ENABLED */
#ifdef HAL_SAI_MODULE_ENABLED #ifdef HAL_SAI_MODULE_ENABLED
#include "stm32f4xx_hal_sai.h" #include "stm32f4xx_hal_sai.h"
#endif /* HAL_SAI_MODULE_ENABLED */ #endif /* HAL_SAI_MODULE_ENABLED */
#ifdef HAL_SD_MODULE_ENABLED #ifdef HAL_SD_MODULE_ENABLED
#include "stm32f4xx_hal_sd.h" #include "stm32f4xx_hal_sd.h"
#endif /* HAL_SD_MODULE_ENABLED */ #endif /* HAL_SD_MODULE_ENABLED */
#ifdef HAL_SPI_MODULE_ENABLED #ifdef HAL_SPI_MODULE_ENABLED
#include "stm32f4xx_hal_spi.h" #include "stm32f4xx_hal_spi.h"
#endif /* HAL_SPI_MODULE_ENABLED */ #endif /* HAL_SPI_MODULE_ENABLED */
#ifdef HAL_TIM_MODULE_ENABLED #ifdef HAL_TIM_MODULE_ENABLED
#include "stm32f4xx_hal_tim.h" #include "stm32f4xx_hal_tim.h"
#endif /* HAL_TIM_MODULE_ENABLED */ #endif /* HAL_TIM_MODULE_ENABLED */
#ifdef HAL_UART_MODULE_ENABLED #ifdef HAL_UART_MODULE_ENABLED
#include "stm32f4xx_hal_uart.h" #include "stm32f4xx_hal_uart.h"
#endif /* HAL_UART_MODULE_ENABLED */ #endif /* HAL_UART_MODULE_ENABLED */
#ifdef HAL_USART_MODULE_ENABLED #ifdef HAL_USART_MODULE_ENABLED
#include "stm32f4xx_hal_usart.h" #include "stm32f4xx_hal_usart.h"
#endif /* HAL_USART_MODULE_ENABLED */ #endif /* HAL_USART_MODULE_ENABLED */
#ifdef HAL_IRDA_MODULE_ENABLED #ifdef HAL_IRDA_MODULE_ENABLED
#include "stm32f4xx_hal_irda.h" #include "stm32f4xx_hal_irda.h"
#endif /* HAL_IRDA_MODULE_ENABLED */ #endif /* HAL_IRDA_MODULE_ENABLED */
#ifdef HAL_SMARTCARD_MODULE_ENABLED #ifdef HAL_SMARTCARD_MODULE_ENABLED
#include "stm32f4xx_hal_smartcard.h" #include "stm32f4xx_hal_smartcard.h"
#endif /* HAL_SMARTCARD_MODULE_ENABLED */ #endif /* HAL_SMARTCARD_MODULE_ENABLED */
#ifdef HAL_WWDG_MODULE_ENABLED #ifdef HAL_WWDG_MODULE_ENABLED
#include "stm32f4xx_hal_wwdg.h" #include "stm32f4xx_hal_wwdg.h"
#endif /* HAL_WWDG_MODULE_ENABLED */ #endif /* HAL_WWDG_MODULE_ENABLED */
#ifdef HAL_PCD_MODULE_ENABLED #ifdef HAL_PCD_MODULE_ENABLED
#include "stm32f4xx_hal_pcd.h" #include "stm32f4xx_hal_pcd.h"
#endif /* HAL_PCD_MODULE_ENABLED */ #endif /* HAL_PCD_MODULE_ENABLED */
#ifdef HAL_HCD_MODULE_ENABLED #ifdef HAL_HCD_MODULE_ENABLED
#include "stm32f4xx_hal_hcd.h" #include "stm32f4xx_hal_hcd.h"
#endif /* HAL_HCD_MODULE_ENABLED */ #endif /* HAL_HCD_MODULE_ENABLED */
#ifdef HAL_DSI_MODULE_ENABLED #ifdef HAL_DSI_MODULE_ENABLED
#include "stm32f4xx_hal_dsi.h" #include "stm32f4xx_hal_dsi.h"
#endif /* HAL_DSI_MODULE_ENABLED */ #endif /* HAL_DSI_MODULE_ENABLED */
#ifdef HAL_QSPI_MODULE_ENABLED #ifdef HAL_QSPI_MODULE_ENABLED
#include "stm32f4xx_hal_qspi.h" #include "stm32f4xx_hal_qspi.h"
#endif /* HAL_QSPI_MODULE_ENABLED */ #endif /* HAL_QSPI_MODULE_ENABLED */
#ifdef HAL_CEC_MODULE_ENABLED #ifdef HAL_CEC_MODULE_ENABLED
#include "stm32f4xx_hal_cec.h" #include "stm32f4xx_hal_cec.h"
#endif /* HAL_CEC_MODULE_ENABLED */ #endif /* HAL_CEC_MODULE_ENABLED */
#ifdef HAL_FMPI2C_MODULE_ENABLED #ifdef HAL_FMPI2C_MODULE_ENABLED
#include "stm32f4xx_hal_fmpi2c.h" #include "stm32f4xx_hal_fmpi2c.h"
#endif /* HAL_FMPI2C_MODULE_ENABLED */ #endif /* HAL_FMPI2C_MODULE_ENABLED */
#ifdef HAL_FMPSMBUS_MODULE_ENABLED #ifdef HAL_FMPSMBUS_MODULE_ENABLED
#include "stm32f4xx_hal_fmpsmbus.h" #include "stm32f4xx_hal_fmpsmbus.h"
#endif /* HAL_FMPSMBUS_MODULE_ENABLED */ #endif /* HAL_FMPSMBUS_MODULE_ENABLED */
#ifdef HAL_SPDIFRX_MODULE_ENABLED #ifdef HAL_SPDIFRX_MODULE_ENABLED
#include "stm32f4xx_hal_spdifrx.h" #include "stm32f4xx_hal_spdifrx.h"
#endif /* HAL_SPDIFRX_MODULE_ENABLED */ #endif /* HAL_SPDIFRX_MODULE_ENABLED */
#ifdef HAL_DFSDM_MODULE_ENABLED #ifdef HAL_DFSDM_MODULE_ENABLED
#include "stm32f4xx_hal_dfsdm.h" #include "stm32f4xx_hal_dfsdm.h"
#endif /* HAL_DFSDM_MODULE_ENABLED */ #endif /* HAL_DFSDM_MODULE_ENABLED */
#ifdef HAL_LPTIM_MODULE_ENABLED #ifdef HAL_LPTIM_MODULE_ENABLED
#include "stm32f4xx_hal_lptim.h" #include "stm32f4xx_hal_lptim.h"
#endif /* HAL_LPTIM_MODULE_ENABLED */ #endif /* HAL_LPTIM_MODULE_ENABLED */
#ifdef HAL_MMC_MODULE_ENABLED #ifdef HAL_MMC_MODULE_ENABLED
#include "stm32f4xx_hal_mmc.h" #include "stm32f4xx_hal_mmc.h"
#endif /* HAL_MMC_MODULE_ENABLED */ #endif /* HAL_MMC_MODULE_ENABLED */
/* Exported macro ------------------------------------------------------------*/ /* Exported macro ------------------------------------------------------------*/
#ifdef USE_FULL_ASSERT #ifdef USE_FULL_ASSERT
/** /**
* @brief The assert_param macro is used for function's parameters check. * @brief The assert_param macro is used for function's parameters check.
* @param expr If expr is false, it calls assert_failed function * @param expr If expr is false, it calls assert_failed function
* which reports the name of the source file and the source * which reports the name of the source file and the source
* line number of the call that failed. * line number of the call that failed.
* If expr is true, it returns no value. * If expr is true, it returns no value.
* @retval None * @retval None
*/ */
#define assert_param(expr) ((expr) ? (void)0U : assert_failed((uint8_t *)__FILE__, __LINE__)) #define assert_param(expr) ((expr) ? (void)0U : assert_failed((uint8_t *)__FILE__, __LINE__))
/* Exported functions ------------------------------------------------------- */ /* Exported functions ------------------------------------------------------- */
void assert_failed(uint8_t* file, uint32_t line); void assert_failed(uint8_t* file, uint32_t line);
#else #else
#define assert_param(expr) ((void)0U) #define assert_param(expr) ((void)0U)
#endif /* USE_FULL_ASSERT */ #endif /* USE_FULL_ASSERT */
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif /* __STM32F4xx_HAL_CONF_H */ #endif /* __STM32F4xx_HAL_CONF_H */

162
Core/Inc/stm32f4xx_it.h
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@ -1,81 +1,81 @@
/* USER CODE BEGIN Header */ /* USER CODE BEGIN Header */
/** /**
****************************************************************************** ******************************************************************************
* @file stm32f4xx_it.h * @file stm32f4xx_it.h
* @brief This file contains the headers of the interrupt handlers. * @brief This file contains the headers of the interrupt handlers.
****************************************************************************** ******************************************************************************
* @attention * @attention
* *
* Copyright (c) 2025 STMicroelectronics. * Copyright (c) 2025 STMicroelectronics.
* All rights reserved. * All rights reserved.
* *
* This software is licensed under terms that can be found in the LICENSE file * This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component. * in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS. * If no LICENSE file comes with this software, it is provided AS-IS.
* *
****************************************************************************** ******************************************************************************
*/ */
/* USER CODE END Header */ /* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/ /* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32F4xx_IT_H #ifndef __STM32F4xx_IT_H
#define __STM32F4xx_IT_H #define __STM32F4xx_IT_H
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/* Private includes ----------------------------------------------------------*/ /* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */ /* USER CODE BEGIN Includes */
/* USER CODE END Includes */ /* USER CODE END Includes */
/* Exported types ------------------------------------------------------------*/ /* Exported types ------------------------------------------------------------*/
/* USER CODE BEGIN ET */ /* USER CODE BEGIN ET */
/* USER CODE END ET */ /* USER CODE END ET */
/* Exported constants --------------------------------------------------------*/ /* Exported constants --------------------------------------------------------*/
/* USER CODE BEGIN EC */ /* USER CODE BEGIN EC */
/* USER CODE END EC */ /* USER CODE END EC */
/* Exported macro ------------------------------------------------------------*/ /* Exported macro ------------------------------------------------------------*/
/* USER CODE BEGIN EM */ /* USER CODE BEGIN EM */
/* USER CODE END EM */ /* USER CODE END EM */
/* Exported functions prototypes ---------------------------------------------*/ /* Exported functions prototypes ---------------------------------------------*/
void NMI_Handler(void); void NMI_Handler(void);
void HardFault_Handler(void); void HardFault_Handler(void);
void MemManage_Handler(void); void MemManage_Handler(void);
void BusFault_Handler(void); void BusFault_Handler(void);
void UsageFault_Handler(void); void UsageFault_Handler(void);
void DebugMon_Handler(void); void DebugMon_Handler(void);
void SysTick_Handler(void); void SysTick_Handler(void);
void EXTI0_IRQHandler(void); void EXTI0_IRQHandler(void);
void EXTI3_IRQHandler(void); void EXTI3_IRQHandler(void);
void EXTI4_IRQHandler(void); void EXTI4_IRQHandler(void);
void DMA1_Stream1_IRQHandler(void); void DMA1_Stream1_IRQHandler(void);
void DMA1_Stream2_IRQHandler(void); void DMA1_Stream2_IRQHandler(void);
void CAN1_TX_IRQHandler(void); void CAN1_TX_IRQHandler(void);
void CAN1_RX0_IRQHandler(void); void CAN1_RX0_IRQHandler(void);
void CAN1_RX1_IRQHandler(void); void CAN1_RX1_IRQHandler(void);
void EXTI9_5_IRQHandler(void); void EXTI9_5_IRQHandler(void);
void DMA2_Stream1_IRQHandler(void); void DMA2_Stream1_IRQHandler(void);
void DMA2_Stream2_IRQHandler(void); void DMA2_Stream2_IRQHandler(void);
void DMA2_Stream3_IRQHandler(void); void DMA2_Stream3_IRQHandler(void);
void CAN2_TX_IRQHandler(void); void CAN2_TX_IRQHandler(void);
void CAN2_RX0_IRQHandler(void); void CAN2_RX0_IRQHandler(void);
void CAN2_RX1_IRQHandler(void); void CAN2_RX1_IRQHandler(void);
void DMA2_Stream6_IRQHandler(void); void DMA2_Stream6_IRQHandler(void);
void USART6_IRQHandler(void); void USART6_IRQHandler(void);
/* USER CODE BEGIN EFP */ /* USER CODE BEGIN EFP */
/* USER CODE END EFP */ /* USER CODE END EFP */
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif /* __STM32F4xx_IT_H */ #endif /* __STM32F4xx_IT_H */

120
Core/Inc/tim.h
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@ -1,60 +1,60 @@
/* USER CODE BEGIN Header */ /* USER CODE BEGIN Header */
/** /**
****************************************************************************** ******************************************************************************
* @file tim.h * @file tim.h
* @brief This file contains all the function prototypes for * @brief This file contains all the function prototypes for
* the tim.c file * the tim.c file
****************************************************************************** ******************************************************************************
* @attention * @attention
* *
* Copyright (c) 2025 STMicroelectronics. * Copyright (c) 2025 STMicroelectronics.
* All rights reserved. * All rights reserved.
* *
* This software is licensed under terms that can be found in the LICENSE file * This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component. * in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS. * If no LICENSE file comes with this software, it is provided AS-IS.
* *
****************************************************************************** ******************************************************************************
*/ */
/* USER CODE END Header */ /* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/ /* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __TIM_H__ #ifndef __TIM_H__
#define __TIM_H__ #define __TIM_H__
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
#include "main.h" #include "main.h"
/* USER CODE BEGIN Includes */ /* USER CODE BEGIN Includes */
/* USER CODE END Includes */ /* USER CODE END Includes */
extern TIM_HandleTypeDef htim4; extern TIM_HandleTypeDef htim4;
extern TIM_HandleTypeDef htim5; extern TIM_HandleTypeDef htim5;
extern TIM_HandleTypeDef htim10; extern TIM_HandleTypeDef htim10;
/* USER CODE BEGIN Private defines */ /* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */ /* USER CODE END Private defines */
void MX_TIM4_Init(void); void MX_TIM4_Init(void);
void MX_TIM5_Init(void); void MX_TIM5_Init(void);
void MX_TIM10_Init(void); void MX_TIM10_Init(void);
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim); void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
/* USER CODE BEGIN Prototypes */ /* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */ /* USER CODE END Prototypes */
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif /* __TIM_H__ */ #endif /* __TIM_H__ */

110
Core/Inc/usart.h
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@ -1,55 +1,55 @@
/* USER CODE BEGIN Header */ /* USER CODE BEGIN Header */
/** /**
****************************************************************************** ******************************************************************************
* @file usart.h * @file usart.h
* @brief This file contains all the function prototypes for * @brief This file contains all the function prototypes for
* the usart.c file * the usart.c file
****************************************************************************** ******************************************************************************
* @attention * @attention
* *
* Copyright (c) 2025 STMicroelectronics. * Copyright (c) 2025 STMicroelectronics.
* All rights reserved. * All rights reserved.
* *
* This software is licensed under terms that can be found in the LICENSE file * This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component. * in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS. * If no LICENSE file comes with this software, it is provided AS-IS.
* *
****************************************************************************** ******************************************************************************
*/ */
/* USER CODE END Header */ /* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/ /* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __USART_H__ #ifndef __USART_H__
#define __USART_H__ #define __USART_H__
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
#include "main.h" #include "main.h"
/* USER CODE BEGIN Includes */ /* USER CODE BEGIN Includes */
/* USER CODE END Includes */ /* USER CODE END Includes */
extern UART_HandleTypeDef huart3; extern UART_HandleTypeDef huart3;
extern UART_HandleTypeDef huart6; extern UART_HandleTypeDef huart6;
/* USER CODE BEGIN Private defines */ /* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */ /* USER CODE END Private defines */
void MX_USART3_UART_Init(void); void MX_USART3_UART_Init(void);
void MX_USART6_UART_Init(void); void MX_USART6_UART_Init(void);
/* USER CODE BEGIN Prototypes */ /* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */ /* USER CODE END Prototypes */
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif /* __USART_H__ */ #endif /* __USART_H__ */

460
Core/Src/can.c
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@ -1,230 +1,230 @@
/* USER CODE BEGIN Header */ /* USER CODE BEGIN Header */
/** /**
****************************************************************************** ******************************************************************************
* @file can.c * @file can.c
* @brief This file provides code for the configuration * @brief This file provides code for the configuration
* of the CAN instances. * of the CAN instances.
****************************************************************************** ******************************************************************************
* @attention * @attention
* *
* Copyright (c) 2025 STMicroelectronics. * Copyright (c) 2025 STMicroelectronics.
* All rights reserved. * All rights reserved.
* *
* This software is licensed under terms that can be found in the LICENSE file * This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component. * in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS. * If no LICENSE file comes with this software, it is provided AS-IS.
* *
****************************************************************************** ******************************************************************************
*/ */
/* USER CODE END Header */ /* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
#include "can.h" #include "can.h"
/* USER CODE BEGIN 0 */ /* USER CODE BEGIN 0 */
/* USER CODE END 0 */ /* USER CODE END 0 */
CAN_HandleTypeDef hcan1; CAN_HandleTypeDef hcan1;
CAN_HandleTypeDef hcan2; CAN_HandleTypeDef hcan2;
/* CAN1 init function */ /* CAN1 init function */
void MX_CAN1_Init(void) void MX_CAN1_Init(void)
{ {
/* USER CODE BEGIN CAN1_Init 0 */ /* USER CODE BEGIN CAN1_Init 0 */
/* USER CODE END CAN1_Init 0 */ /* USER CODE END CAN1_Init 0 */
/* USER CODE BEGIN CAN1_Init 1 */ /* USER CODE BEGIN CAN1_Init 1 */
/* USER CODE END CAN1_Init 1 */ /* USER CODE END CAN1_Init 1 */
hcan1.Instance = CAN1; hcan1.Instance = CAN1;
hcan1.Init.Prescaler = 3; hcan1.Init.Prescaler = 3;
hcan1.Init.Mode = CAN_MODE_NORMAL; hcan1.Init.Mode = CAN_MODE_NORMAL;
hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ; hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan1.Init.TimeSeg1 = CAN_BS1_10TQ; hcan1.Init.TimeSeg1 = CAN_BS1_10TQ;
hcan1.Init.TimeSeg2 = CAN_BS2_3TQ; hcan1.Init.TimeSeg2 = CAN_BS2_3TQ;
hcan1.Init.TimeTriggeredMode = DISABLE; hcan1.Init.TimeTriggeredMode = DISABLE;
hcan1.Init.AutoBusOff = DISABLE; hcan1.Init.AutoBusOff = DISABLE;
hcan1.Init.AutoWakeUp = DISABLE; hcan1.Init.AutoWakeUp = DISABLE;
hcan1.Init.AutoRetransmission = ENABLE; hcan1.Init.AutoRetransmission = ENABLE;
hcan1.Init.ReceiveFifoLocked = DISABLE; hcan1.Init.ReceiveFifoLocked = DISABLE;
hcan1.Init.TransmitFifoPriority = DISABLE; hcan1.Init.TransmitFifoPriority = DISABLE;
if (HAL_CAN_Init(&hcan1) != HAL_OK) if (HAL_CAN_Init(&hcan1) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
} }
/* USER CODE BEGIN CAN1_Init 2 */ /* USER CODE BEGIN CAN1_Init 2 */
/* USER CODE END CAN1_Init 2 */ /* USER CODE END CAN1_Init 2 */
} }
/* CAN2 init function */ /* CAN2 init function */
void MX_CAN2_Init(void) void MX_CAN2_Init(void)
{ {
/* USER CODE BEGIN CAN2_Init 0 */ /* USER CODE BEGIN CAN2_Init 0 */
/* USER CODE END CAN2_Init 0 */ /* USER CODE END CAN2_Init 0 */
/* USER CODE BEGIN CAN2_Init 1 */ /* USER CODE BEGIN CAN2_Init 1 */
/* USER CODE END CAN2_Init 1 */ /* USER CODE END CAN2_Init 1 */
hcan2.Instance = CAN2; hcan2.Instance = CAN2;
hcan2.Init.Prescaler = 3; hcan2.Init.Prescaler = 3;
hcan2.Init.Mode = CAN_MODE_NORMAL; hcan2.Init.Mode = CAN_MODE_NORMAL;
hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ; hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan2.Init.TimeSeg1 = CAN_BS1_10TQ; hcan2.Init.TimeSeg1 = CAN_BS1_10TQ;
hcan2.Init.TimeSeg2 = CAN_BS2_3TQ; hcan2.Init.TimeSeg2 = CAN_BS2_3TQ;
hcan2.Init.TimeTriggeredMode = DISABLE; hcan2.Init.TimeTriggeredMode = DISABLE;
hcan2.Init.AutoBusOff = DISABLE; hcan2.Init.AutoBusOff = DISABLE;
hcan2.Init.AutoWakeUp = DISABLE; hcan2.Init.AutoWakeUp = DISABLE;
hcan2.Init.AutoRetransmission = ENABLE; hcan2.Init.AutoRetransmission = ENABLE;
hcan2.Init.ReceiveFifoLocked = DISABLE; hcan2.Init.ReceiveFifoLocked = DISABLE;
hcan2.Init.TransmitFifoPriority = DISABLE; hcan2.Init.TransmitFifoPriority = DISABLE;
if (HAL_CAN_Init(&hcan2) != HAL_OK) if (HAL_CAN_Init(&hcan2) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
} }
/* USER CODE BEGIN CAN2_Init 2 */ /* USER CODE BEGIN CAN2_Init 2 */
/* USER CODE END CAN2_Init 2 */ /* USER CODE END CAN2_Init 2 */
} }
static uint32_t HAL_RCC_CAN1_CLK_ENABLED=0; static uint32_t HAL_RCC_CAN1_CLK_ENABLED=0;
void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle) void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
{ {
GPIO_InitTypeDef GPIO_InitStruct = {0}; GPIO_InitTypeDef GPIO_InitStruct = {0};
if(canHandle->Instance==CAN1) if(canHandle->Instance==CAN1)
{ {
/* USER CODE BEGIN CAN1_MspInit 0 */ /* USER CODE BEGIN CAN1_MspInit 0 */
/* USER CODE END CAN1_MspInit 0 */ /* USER CODE END CAN1_MspInit 0 */
/* CAN1 clock enable */ /* CAN1 clock enable */
HAL_RCC_CAN1_CLK_ENABLED++; HAL_RCC_CAN1_CLK_ENABLED++;
if(HAL_RCC_CAN1_CLK_ENABLED==1){ if(HAL_RCC_CAN1_CLK_ENABLED==1){
__HAL_RCC_CAN1_CLK_ENABLE(); __HAL_RCC_CAN1_CLK_ENABLE();
} }
__HAL_RCC_GPIOD_CLK_ENABLE(); __HAL_RCC_GPIOD_CLK_ENABLE();
/**CAN1 GPIO Configuration /**CAN1 GPIO Configuration
PD0 ------> CAN1_RX PD0 ------> CAN1_RX
PD1 ------> CAN1_TX PD1 ------> CAN1_TX
*/ */
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1; GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF9_CAN1; GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct); HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
/* CAN1 interrupt Init */ /* CAN1 interrupt Init */
HAL_NVIC_SetPriority(CAN1_TX_IRQn, 5, 0); HAL_NVIC_SetPriority(CAN1_TX_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN1_TX_IRQn); HAL_NVIC_EnableIRQ(CAN1_TX_IRQn);
HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 5, 0); HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn); HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 5, 0); HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN1_RX1_IRQn); HAL_NVIC_EnableIRQ(CAN1_RX1_IRQn);
/* USER CODE BEGIN CAN1_MspInit 1 */ /* USER CODE BEGIN CAN1_MspInit 1 */
/* USER CODE END CAN1_MspInit 1 */ /* USER CODE END CAN1_MspInit 1 */
} }
else if(canHandle->Instance==CAN2) else if(canHandle->Instance==CAN2)
{ {
/* USER CODE BEGIN CAN2_MspInit 0 */ /* USER CODE BEGIN CAN2_MspInit 0 */
/* USER CODE END CAN2_MspInit 0 */ /* USER CODE END CAN2_MspInit 0 */
/* CAN2 clock enable */ /* CAN2 clock enable */
__HAL_RCC_CAN2_CLK_ENABLE(); __HAL_RCC_CAN2_CLK_ENABLE();
HAL_RCC_CAN1_CLK_ENABLED++; HAL_RCC_CAN1_CLK_ENABLED++;
if(HAL_RCC_CAN1_CLK_ENABLED==1){ if(HAL_RCC_CAN1_CLK_ENABLED==1){
__HAL_RCC_CAN1_CLK_ENABLE(); __HAL_RCC_CAN1_CLK_ENABLE();
} }
__HAL_RCC_GPIOB_CLK_ENABLE(); __HAL_RCC_GPIOB_CLK_ENABLE();
/**CAN2 GPIO Configuration /**CAN2 GPIO Configuration
PB5 ------> CAN2_RX PB5 ------> CAN2_RX
PB6 ------> CAN2_TX PB6 ------> CAN2_TX
*/ */
GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6; GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF9_CAN2; GPIO_InitStruct.Alternate = GPIO_AF9_CAN2;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* CAN2 interrupt Init */ /* CAN2 interrupt Init */
HAL_NVIC_SetPriority(CAN2_TX_IRQn, 5, 0); HAL_NVIC_SetPriority(CAN2_TX_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN2_TX_IRQn); HAL_NVIC_EnableIRQ(CAN2_TX_IRQn);
HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 5, 0); HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn); HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 5, 0); HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN2_RX1_IRQn); HAL_NVIC_EnableIRQ(CAN2_RX1_IRQn);
/* USER CODE BEGIN CAN2_MspInit 1 */ /* USER CODE BEGIN CAN2_MspInit 1 */
/* USER CODE END CAN2_MspInit 1 */ /* USER CODE END CAN2_MspInit 1 */
} }
} }
void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle) void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
{ {
if(canHandle->Instance==CAN1) if(canHandle->Instance==CAN1)
{ {
/* USER CODE BEGIN CAN1_MspDeInit 0 */ /* USER CODE BEGIN CAN1_MspDeInit 0 */
/* USER CODE END CAN1_MspDeInit 0 */ /* USER CODE END CAN1_MspDeInit 0 */
/* Peripheral clock disable */ /* Peripheral clock disable */
HAL_RCC_CAN1_CLK_ENABLED--; HAL_RCC_CAN1_CLK_ENABLED--;
if(HAL_RCC_CAN1_CLK_ENABLED==0){ if(HAL_RCC_CAN1_CLK_ENABLED==0){
__HAL_RCC_CAN1_CLK_DISABLE(); __HAL_RCC_CAN1_CLK_DISABLE();
} }
/**CAN1 GPIO Configuration /**CAN1 GPIO Configuration
PD0 ------> CAN1_RX PD0 ------> CAN1_RX
PD1 ------> CAN1_TX PD1 ------> CAN1_TX
*/ */
HAL_GPIO_DeInit(GPIOD, GPIO_PIN_0|GPIO_PIN_1); HAL_GPIO_DeInit(GPIOD, GPIO_PIN_0|GPIO_PIN_1);
/* CAN1 interrupt Deinit */ /* CAN1 interrupt Deinit */
HAL_NVIC_DisableIRQ(CAN1_TX_IRQn); HAL_NVIC_DisableIRQ(CAN1_TX_IRQn);
HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn); HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn); HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn);
/* USER CODE BEGIN CAN1_MspDeInit 1 */ /* USER CODE BEGIN CAN1_MspDeInit 1 */
/* USER CODE END CAN1_MspDeInit 1 */ /* USER CODE END CAN1_MspDeInit 1 */
} }
else if(canHandle->Instance==CAN2) else if(canHandle->Instance==CAN2)
{ {
/* USER CODE BEGIN CAN2_MspDeInit 0 */ /* USER CODE BEGIN CAN2_MspDeInit 0 */
/* USER CODE END CAN2_MspDeInit 0 */ /* USER CODE END CAN2_MspDeInit 0 */
/* Peripheral clock disable */ /* Peripheral clock disable */
__HAL_RCC_CAN2_CLK_DISABLE(); __HAL_RCC_CAN2_CLK_DISABLE();
HAL_RCC_CAN1_CLK_ENABLED--; HAL_RCC_CAN1_CLK_ENABLED--;
if(HAL_RCC_CAN1_CLK_ENABLED==0){ if(HAL_RCC_CAN1_CLK_ENABLED==0){
__HAL_RCC_CAN1_CLK_DISABLE(); __HAL_RCC_CAN1_CLK_DISABLE();
} }
/**CAN2 GPIO Configuration /**CAN2 GPIO Configuration
PB5 ------> CAN2_RX PB5 ------> CAN2_RX
PB6 ------> CAN2_TX PB6 ------> CAN2_TX
*/ */
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_5|GPIO_PIN_6); HAL_GPIO_DeInit(GPIOB, GPIO_PIN_5|GPIO_PIN_6);
/* CAN2 interrupt Deinit */ /* CAN2 interrupt Deinit */
HAL_NVIC_DisableIRQ(CAN2_TX_IRQn); HAL_NVIC_DisableIRQ(CAN2_TX_IRQn);
HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn); HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn);
HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn); HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn);
/* USER CODE BEGIN CAN2_MspDeInit 1 */ /* USER CODE BEGIN CAN2_MspDeInit 1 */
/* USER CODE END CAN2_MspDeInit 1 */ /* USER CODE END CAN2_MspDeInit 1 */
} }
} }
/* USER CODE BEGIN 1 */ /* USER CODE BEGIN 1 */
/* USER CODE END 1 */ /* USER CODE END 1 */

142
Core/Src/dma.c
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@ -1,71 +1,71 @@
/* USER CODE BEGIN Header */ /* USER CODE BEGIN Header */
/** /**
****************************************************************************** ******************************************************************************
* @file dma.c * @file dma.c
* @brief This file provides code for the configuration * @brief This file provides code for the configuration
* of all the requested memory to memory DMA transfers. * of all the requested memory to memory DMA transfers.
****************************************************************************** ******************************************************************************
* @attention * @attention
* *
* Copyright (c) 2025 STMicroelectronics. * Copyright (c) 2025 STMicroelectronics.
* All rights reserved. * All rights reserved.
* *
* This software is licensed under terms that can be found in the LICENSE file * This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component. * in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS. * If no LICENSE file comes with this software, it is provided AS-IS.
* *
****************************************************************************** ******************************************************************************
*/ */
/* USER CODE END Header */ /* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
#include "dma.h" #include "dma.h"
/* USER CODE BEGIN 0 */ /* USER CODE BEGIN 0 */
/* USER CODE END 0 */ /* USER CODE END 0 */
/*----------------------------------------------------------------------------*/ /*----------------------------------------------------------------------------*/
/* Configure DMA */ /* Configure DMA */
/*----------------------------------------------------------------------------*/ /*----------------------------------------------------------------------------*/
/* USER CODE BEGIN 1 */ /* USER CODE BEGIN 1 */
/* USER CODE END 1 */ /* USER CODE END 1 */
/** /**
* Enable DMA controller clock * Enable DMA controller clock
*/ */
void MX_DMA_Init(void) void MX_DMA_Init(void)
{ {
/* DMA controller clock enable */ /* DMA controller clock enable */
__HAL_RCC_DMA1_CLK_ENABLE(); __HAL_RCC_DMA1_CLK_ENABLE();
__HAL_RCC_DMA2_CLK_ENABLE(); __HAL_RCC_DMA2_CLK_ENABLE();
/* DMA interrupt init */ /* DMA interrupt init */
/* DMA1_Stream1_IRQn interrupt configuration */ /* DMA1_Stream1_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Stream1_IRQn, 5, 0); HAL_NVIC_SetPriority(DMA1_Stream1_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream1_IRQn); HAL_NVIC_EnableIRQ(DMA1_Stream1_IRQn);
/* DMA1_Stream2_IRQn interrupt configuration */ /* DMA1_Stream2_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Stream2_IRQn, 5, 0); HAL_NVIC_SetPriority(DMA1_Stream2_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream2_IRQn); HAL_NVIC_EnableIRQ(DMA1_Stream2_IRQn);
/* DMA2_Stream1_IRQn interrupt configuration */ /* DMA2_Stream1_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA2_Stream1_IRQn, 5, 0); HAL_NVIC_SetPriority(DMA2_Stream1_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA2_Stream1_IRQn); HAL_NVIC_EnableIRQ(DMA2_Stream1_IRQn);
/* DMA2_Stream2_IRQn interrupt configuration */ /* DMA2_Stream2_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 5, 0); HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn); HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn);
/* DMA2_Stream3_IRQn interrupt configuration */ /* DMA2_Stream3_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA2_Stream3_IRQn, 5, 0); HAL_NVIC_SetPriority(DMA2_Stream3_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA2_Stream3_IRQn); HAL_NVIC_EnableIRQ(DMA2_Stream3_IRQn);
/* DMA2_Stream6_IRQn interrupt configuration */ /* DMA2_Stream6_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA2_Stream6_IRQn, 5, 0); HAL_NVIC_SetPriority(DMA2_Stream6_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA2_Stream6_IRQn); HAL_NVIC_EnableIRQ(DMA2_Stream6_IRQn);
} }
/* USER CODE BEGIN 2 */ /* USER CODE BEGIN 2 */
/* USER CODE END 2 */ /* USER CODE END 2 */

254
Core/Src/freertos.c
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@ -1,127 +1,127 @@
/* USER CODE BEGIN Header */ /* USER CODE BEGIN Header */
/** /**
****************************************************************************** ******************************************************************************
* File Name : freertos.c * File Name : freertos.c
* Description : Code for freertos applications * Description : Code for freertos applications
****************************************************************************** ******************************************************************************
* @attention * @attention
* *
* Copyright (c) 2025 STMicroelectronics. * Copyright (c) 2025 STMicroelectronics.
* All rights reserved. * All rights reserved.
* *
* This software is licensed under terms that can be found in the LICENSE file * This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component. * in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS. * If no LICENSE file comes with this software, it is provided AS-IS.
* *
****************************************************************************** ******************************************************************************
*/ */
/* USER CODE END Header */ /* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
#include "FreeRTOS.h" #include "FreeRTOS.h"
#include "task.h" #include "task.h"
#include "main.h" #include "main.h"
#include "cmsis_os.h" #include "cmsis_os.h"
/* Private includes ----------------------------------------------------------*/ /* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */ /* USER CODE BEGIN Includes */
#include "task/user_task.h" #include "task/user_task.h"
/* USER CODE END Includes */ /* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/ /* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */ /* USER CODE BEGIN PTD */
/* USER CODE END PTD */ /* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/ /* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */ /* USER CODE BEGIN PD */
/* USER CODE END PD */ /* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/ /* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */ /* USER CODE BEGIN PM */
/* USER CODE END PM */ /* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/ /* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN Variables */ /* USER CODE BEGIN Variables */
/* USER CODE END Variables */ /* USER CODE END Variables */
/* Definitions for defaultTask */ /* Definitions for defaultTask */
osThreadId_t defaultTaskHandle; osThreadId_t defaultTaskHandle;
const osThreadAttr_t defaultTask_attributes = { const osThreadAttr_t defaultTask_attributes = {
.name = "defaultTask", .name = "defaultTask",
.stack_size = 128 * 4, .stack_size = 128 * 4,
.priority = (osPriority_t) osPriorityNormal, .priority = (osPriority_t) osPriorityNormal,
}; };
/* Private function prototypes -----------------------------------------------*/ /* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */ /* USER CODE BEGIN FunctionPrototypes */
/* USER CODE END FunctionPrototypes */ /* USER CODE END FunctionPrototypes */
void StartDefaultTask(void *argument); void StartDefaultTask(void *argument);
void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */ void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
/** /**
* @brief FreeRTOS initialization * @brief FreeRTOS initialization
* @param None * @param None
* @retval None * @retval None
*/ */
void MX_FREERTOS_Init(void) { void MX_FREERTOS_Init(void) {
/* USER CODE BEGIN Init */ /* USER CODE BEGIN Init */
/* USER CODE END Init */ /* USER CODE END Init */
/* USER CODE BEGIN RTOS_MUTEX */ /* USER CODE BEGIN RTOS_MUTEX */
/* add mutexes, ... */ /* add mutexes, ... */
/* USER CODE END RTOS_MUTEX */ /* USER CODE END RTOS_MUTEX */
/* USER CODE BEGIN RTOS_SEMAPHORES */ /* USER CODE BEGIN RTOS_SEMAPHORES */
/* add semaphores, ... */ /* add semaphores, ... */
/* USER CODE END RTOS_SEMAPHORES */ /* USER CODE END RTOS_SEMAPHORES */
/* USER CODE BEGIN RTOS_TIMERS */ /* USER CODE BEGIN RTOS_TIMERS */
/* start timers, add new ones, ... */ /* start timers, add new ones, ... */
/* USER CODE END RTOS_TIMERS */ /* USER CODE END RTOS_TIMERS */
/* USER CODE BEGIN RTOS_QUEUES */ /* USER CODE BEGIN RTOS_QUEUES */
/* add queues, ... */ /* add queues, ... */
/* USER CODE END RTOS_QUEUES */ /* USER CODE END RTOS_QUEUES */
/* Create the thread(s) */ /* Create the thread(s) */
/* creation of defaultTask */ /* creation of defaultTask */
defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes); defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
/* USER CODE BEGIN RTOS_THREADS */ /* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */ /* add threads, ... */
osThreadNew(Task_Init, NULL, &attr_init); // 创建初始化任务 osThreadNew(Task_Init, NULL, &attr_init); // 创建初始化任务
/* USER CODE END RTOS_THREADS */ /* USER CODE END RTOS_THREADS */
/* USER CODE BEGIN RTOS_EVENTS */ /* USER CODE BEGIN RTOS_EVENTS */
/* add events, ... */ /* add events, ... */
/* USER CODE END RTOS_EVENTS */ /* USER CODE END RTOS_EVENTS */
} }
/* USER CODE BEGIN Header_StartDefaultTask */ /* USER CODE BEGIN Header_StartDefaultTask */
/** /**
* @brief Function implementing the defaultTask thread. * @brief Function implementing the defaultTask thread.
* @param argument: Not used * @param argument: Not used
* @retval None * @retval None
*/ */
/* USER CODE END Header_StartDefaultTask */ /* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void *argument) void StartDefaultTask(void *argument)
{ {
/* USER CODE BEGIN StartDefaultTask */ /* USER CODE BEGIN StartDefaultTask */
osThreadTerminate(osThreadGetId()); osThreadTerminate(osThreadGetId());
/* USER CODE END StartDefaultTask */ /* USER CODE END StartDefaultTask */
} }
/* Private application code --------------------------------------------------*/ /* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */ /* USER CODE BEGIN Application */
/* USER CODE END Application */ /* USER CODE END Application */

242
Core/Src/gpio.c
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@ -1,121 +1,121 @@
/* USER CODE BEGIN Header */ /* USER CODE BEGIN Header */
/** /**
****************************************************************************** ******************************************************************************
* @file gpio.c * @file gpio.c
* @brief This file provides code for the configuration * @brief This file provides code for the configuration
* of all used GPIO pins. * of all used GPIO pins.
****************************************************************************** ******************************************************************************
* @attention * @attention
* *
* Copyright (c) 2025 STMicroelectronics. * Copyright (c) 2025 STMicroelectronics.
* All rights reserved. * All rights reserved.
* *
* This software is licensed under terms that can be found in the LICENSE file * This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component. * in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS. * If no LICENSE file comes with this software, it is provided AS-IS.
* *
****************************************************************************** ******************************************************************************
*/ */
/* USER CODE END Header */ /* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
#include "gpio.h" #include "gpio.h"
/* USER CODE BEGIN 0 */ /* USER CODE BEGIN 0 */
/* USER CODE END 0 */ /* USER CODE END 0 */
/*----------------------------------------------------------------------------*/ /*----------------------------------------------------------------------------*/
/* Configure GPIO */ /* Configure GPIO */
/*----------------------------------------------------------------------------*/ /*----------------------------------------------------------------------------*/
/* USER CODE BEGIN 1 */ /* USER CODE BEGIN 1 */
/* USER CODE END 1 */ /* USER CODE END 1 */
/** Configure pins as /** Configure pins as
* Analog * Analog
* Input * Input
* Output * Output
* EVENT_OUT * EVENT_OUT
* EXTI * EXTI
*/ */
void MX_GPIO_Init(void) void MX_GPIO_Init(void)
{ {
GPIO_InitTypeDef GPIO_InitStruct = {0}; GPIO_InitTypeDef GPIO_InitStruct = {0};
/* GPIO Ports Clock Enable */ /* GPIO Ports Clock Enable */
__HAL_RCC_GPIOB_CLK_ENABLE(); __HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOG_CLK_ENABLE(); __HAL_RCC_GPIOG_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE(); __HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE(); __HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE(); __HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOH_CLK_ENABLE(); __HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOF_CLK_ENABLE(); __HAL_RCC_GPIOF_CLK_ENABLE();
/*Configure GPIO pin Output Level */ /*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(CMPS_RST_GPIO_Port, CMPS_RST_Pin, GPIO_PIN_RESET); HAL_GPIO_WritePin(CMPS_RST_GPIO_Port, CMPS_RST_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */ /*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(ACCL_CS_GPIO_Port, ACCL_CS_Pin, GPIO_PIN_SET); HAL_GPIO_WritePin(ACCL_CS_GPIO_Port, ACCL_CS_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */ /*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GYRO_CS_GPIO_Port, GYRO_CS_Pin, GPIO_PIN_SET); HAL_GPIO_WritePin(GYRO_CS_GPIO_Port, GYRO_CS_Pin, GPIO_PIN_SET);
/*Configure GPIO pin : CMPS_RST_Pin */ /*Configure GPIO pin : CMPS_RST_Pin */
GPIO_InitStruct.Pin = CMPS_RST_Pin; GPIO_InitStruct.Pin = CMPS_RST_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP; GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
HAL_GPIO_Init(CMPS_RST_GPIO_Port, &GPIO_InitStruct); HAL_GPIO_Init(CMPS_RST_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : CMPS_INT_Pin */ /*Configure GPIO pin : CMPS_INT_Pin */
GPIO_InitStruct.Pin = CMPS_INT_Pin; GPIO_InitStruct.Pin = CMPS_INT_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING; GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
GPIO_InitStruct.Pull = GPIO_PULLUP; GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(CMPS_INT_GPIO_Port, &GPIO_InitStruct); HAL_GPIO_Init(CMPS_INT_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : USER_KEY_Pin */ /*Configure GPIO pin : USER_KEY_Pin */
GPIO_InitStruct.Pin = USER_KEY_Pin; GPIO_InitStruct.Pin = USER_KEY_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING; GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
GPIO_InitStruct.Pull = GPIO_PULLUP; GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(USER_KEY_GPIO_Port, &GPIO_InitStruct); HAL_GPIO_Init(USER_KEY_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : ACCL_CS_Pin */ /*Configure GPIO pin : ACCL_CS_Pin */
GPIO_InitStruct.Pin = ACCL_CS_Pin; GPIO_InitStruct.Pin = ACCL_CS_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP; GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
HAL_GPIO_Init(ACCL_CS_GPIO_Port, &GPIO_InitStruct); HAL_GPIO_Init(ACCL_CS_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : ACCL_INT_Pin GYRO_INT_Pin */ /*Configure GPIO pins : ACCL_INT_Pin GYRO_INT_Pin */
GPIO_InitStruct.Pin = ACCL_INT_Pin|GYRO_INT_Pin; GPIO_InitStruct.Pin = ACCL_INT_Pin|GYRO_INT_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING; GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
GPIO_InitStruct.Pull = GPIO_PULLUP; GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : GYRO_CS_Pin */ /*Configure GPIO pin : GYRO_CS_Pin */
GPIO_InitStruct.Pin = GYRO_CS_Pin; GPIO_InitStruct.Pin = GYRO_CS_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP; GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
HAL_GPIO_Init(GYRO_CS_GPIO_Port, &GPIO_InitStruct); HAL_GPIO_Init(GYRO_CS_GPIO_Port, &GPIO_InitStruct);
/* EXTI interrupt init*/ /* EXTI interrupt init*/
HAL_NVIC_SetPriority(EXTI0_IRQn, 5, 0); HAL_NVIC_SetPriority(EXTI0_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(EXTI0_IRQn); HAL_NVIC_EnableIRQ(EXTI0_IRQn);
HAL_NVIC_SetPriority(EXTI3_IRQn, 5, 0); HAL_NVIC_SetPriority(EXTI3_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(EXTI3_IRQn); HAL_NVIC_EnableIRQ(EXTI3_IRQn);
HAL_NVIC_SetPriority(EXTI4_IRQn, 5, 0); HAL_NVIC_SetPriority(EXTI4_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(EXTI4_IRQn); HAL_NVIC_EnableIRQ(EXTI4_IRQn);
HAL_NVIC_SetPriority(EXTI9_5_IRQn, 5, 0); HAL_NVIC_SetPriority(EXTI9_5_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(EXTI9_5_IRQn); HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);
} }
/* USER CODE BEGIN 2 */ /* USER CODE BEGIN 2 */
/* USER CODE END 2 */ /* USER CODE END 2 */

294
Core/Src/i2c.c
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@ -1,147 +1,147 @@
/* USER CODE BEGIN Header */ /* USER CODE BEGIN Header */
/** /**
****************************************************************************** ******************************************************************************
* @file i2c.c * @file i2c.c
* @brief This file provides code for the configuration * @brief This file provides code for the configuration
* of the I2C instances. * of the I2C instances.
****************************************************************************** ******************************************************************************
* @attention * @attention
* *
* Copyright (c) 2025 STMicroelectronics. * Copyright (c) 2025 STMicroelectronics.
* All rights reserved. * All rights reserved.
* *
* This software is licensed under terms that can be found in the LICENSE file * This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component. * in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS. * If no LICENSE file comes with this software, it is provided AS-IS.
* *
****************************************************************************** ******************************************************************************
*/ */
/* USER CODE END Header */ /* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
#include "i2c.h" #include "i2c.h"
/* USER CODE BEGIN 0 */ /* USER CODE BEGIN 0 */
/* USER CODE END 0 */ /* USER CODE END 0 */
I2C_HandleTypeDef hi2c3; I2C_HandleTypeDef hi2c3;
DMA_HandleTypeDef hdma_i2c3_rx; DMA_HandleTypeDef hdma_i2c3_rx;
/* I2C3 init function */ /* I2C3 init function */
void MX_I2C3_Init(void) void MX_I2C3_Init(void)
{ {
/* USER CODE BEGIN I2C3_Init 0 */ /* USER CODE BEGIN I2C3_Init 0 */
/* USER CODE END I2C3_Init 0 */ /* USER CODE END I2C3_Init 0 */
/* USER CODE BEGIN I2C3_Init 1 */ /* USER CODE BEGIN I2C3_Init 1 */
/* USER CODE END I2C3_Init 1 */ /* USER CODE END I2C3_Init 1 */
hi2c3.Instance = I2C3; hi2c3.Instance = I2C3;
hi2c3.Init.ClockSpeed = 400000; hi2c3.Init.ClockSpeed = 400000;
hi2c3.Init.DutyCycle = I2C_DUTYCYCLE_2; hi2c3.Init.DutyCycle = I2C_DUTYCYCLE_2;
hi2c3.Init.OwnAddress1 = 0; hi2c3.Init.OwnAddress1 = 0;
hi2c3.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT; hi2c3.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c3.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE; hi2c3.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
hi2c3.Init.OwnAddress2 = 0; hi2c3.Init.OwnAddress2 = 0;
hi2c3.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE; hi2c3.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
hi2c3.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE; hi2c3.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
if (HAL_I2C_Init(&hi2c3) != HAL_OK) if (HAL_I2C_Init(&hi2c3) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
} }
/* USER CODE BEGIN I2C3_Init 2 */ /* USER CODE BEGIN I2C3_Init 2 */
/* USER CODE END I2C3_Init 2 */ /* USER CODE END I2C3_Init 2 */
} }
void HAL_I2C_MspInit(I2C_HandleTypeDef* i2cHandle) void HAL_I2C_MspInit(I2C_HandleTypeDef* i2cHandle)
{ {
GPIO_InitTypeDef GPIO_InitStruct = {0}; GPIO_InitTypeDef GPIO_InitStruct = {0};
if(i2cHandle->Instance==I2C3) if(i2cHandle->Instance==I2C3)
{ {
/* USER CODE BEGIN I2C3_MspInit 0 */ /* USER CODE BEGIN I2C3_MspInit 0 */
/* USER CODE END I2C3_MspInit 0 */ /* USER CODE END I2C3_MspInit 0 */
__HAL_RCC_GPIOC_CLK_ENABLE(); __HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE(); __HAL_RCC_GPIOA_CLK_ENABLE();
/**I2C3 GPIO Configuration /**I2C3 GPIO Configuration
PC9 ------> I2C3_SDA PC9 ------> I2C3_SDA
PA8 ------> I2C3_SCL PA8 ------> I2C3_SCL
*/ */
GPIO_InitStruct.Pin = GPIO_PIN_9; GPIO_InitStruct.Pin = GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_AF_OD; GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF4_I2C3; GPIO_InitStruct.Alternate = GPIO_AF4_I2C3;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_8; GPIO_InitStruct.Pin = GPIO_PIN_8;
GPIO_InitStruct.Mode = GPIO_MODE_AF_OD; GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF4_I2C3; GPIO_InitStruct.Alternate = GPIO_AF4_I2C3;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* I2C3 clock enable */ /* I2C3 clock enable */
__HAL_RCC_I2C3_CLK_ENABLE(); __HAL_RCC_I2C3_CLK_ENABLE();
/* I2C3 DMA Init */ /* I2C3 DMA Init */
/* I2C3_RX Init */ /* I2C3_RX Init */
hdma_i2c3_rx.Instance = DMA1_Stream2; hdma_i2c3_rx.Instance = DMA1_Stream2;
hdma_i2c3_rx.Init.Channel = DMA_CHANNEL_3; hdma_i2c3_rx.Init.Channel = DMA_CHANNEL_3;
hdma_i2c3_rx.Init.Direction = DMA_PERIPH_TO_MEMORY; hdma_i2c3_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_i2c3_rx.Init.PeriphInc = DMA_PINC_DISABLE; hdma_i2c3_rx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_i2c3_rx.Init.MemInc = DMA_MINC_ENABLE; hdma_i2c3_rx.Init.MemInc = DMA_MINC_ENABLE;
hdma_i2c3_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; hdma_i2c3_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_i2c3_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; hdma_i2c3_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_i2c3_rx.Init.Mode = DMA_NORMAL; hdma_i2c3_rx.Init.Mode = DMA_NORMAL;
hdma_i2c3_rx.Init.Priority = DMA_PRIORITY_LOW; hdma_i2c3_rx.Init.Priority = DMA_PRIORITY_LOW;
hdma_i2c3_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; hdma_i2c3_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma_i2c3_rx) != HAL_OK) if (HAL_DMA_Init(&hdma_i2c3_rx) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
} }
__HAL_LINKDMA(i2cHandle,hdmarx,hdma_i2c3_rx); __HAL_LINKDMA(i2cHandle,hdmarx,hdma_i2c3_rx);
/* USER CODE BEGIN I2C3_MspInit 1 */ /* USER CODE BEGIN I2C3_MspInit 1 */
/* USER CODE END I2C3_MspInit 1 */ /* USER CODE END I2C3_MspInit 1 */
} }
} }
void HAL_I2C_MspDeInit(I2C_HandleTypeDef* i2cHandle) void HAL_I2C_MspDeInit(I2C_HandleTypeDef* i2cHandle)
{ {
if(i2cHandle->Instance==I2C3) if(i2cHandle->Instance==I2C3)
{ {
/* USER CODE BEGIN I2C3_MspDeInit 0 */ /* USER CODE BEGIN I2C3_MspDeInit 0 */
/* USER CODE END I2C3_MspDeInit 0 */ /* USER CODE END I2C3_MspDeInit 0 */
/* Peripheral clock disable */ /* Peripheral clock disable */
__HAL_RCC_I2C3_CLK_DISABLE(); __HAL_RCC_I2C3_CLK_DISABLE();
/**I2C3 GPIO Configuration /**I2C3 GPIO Configuration
PC9 ------> I2C3_SDA PC9 ------> I2C3_SDA
PA8 ------> I2C3_SCL PA8 ------> I2C3_SCL
*/ */
HAL_GPIO_DeInit(GPIOC, GPIO_PIN_9); HAL_GPIO_DeInit(GPIOC, GPIO_PIN_9);
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_8); HAL_GPIO_DeInit(GPIOA, GPIO_PIN_8);
/* I2C3 DMA DeInit */ /* I2C3 DMA DeInit */
HAL_DMA_DeInit(i2cHandle->hdmarx); HAL_DMA_DeInit(i2cHandle->hdmarx);
/* USER CODE BEGIN I2C3_MspDeInit 1 */ /* USER CODE BEGIN I2C3_MspDeInit 1 */
/* USER CODE END I2C3_MspDeInit 1 */ /* USER CODE END I2C3_MspDeInit 1 */
} }
} }
/* USER CODE BEGIN 1 */ /* USER CODE BEGIN 1 */
/* USER CODE END 1 */ /* USER CODE END 1 */

418
Core/Src/main.c
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@ -1,209 +1,209 @@
/* USER CODE BEGIN Header */ /* USER CODE BEGIN Header */
/** /**
****************************************************************************** ******************************************************************************
* @file : main.c * @file : main.c
* @brief : Main program body * @brief : Main program body
****************************************************************************** ******************************************************************************
* @attention * @attention
* *
* Copyright (c) 2025 STMicroelectronics. * Copyright (c) 2025 STMicroelectronics.
* All rights reserved. * All rights reserved.
* *
* This software is licensed under terms that can be found in the LICENSE file * This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component. * in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS. * If no LICENSE file comes with this software, it is provided AS-IS.
* *
****************************************************************************** ******************************************************************************
*/ */
/* USER CODE END Header */ /* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
#include "main.h" #include "main.h"
#include "cmsis_os.h" #include "cmsis_os.h"
#include "can.h" #include "can.h"
#include "dma.h" #include "dma.h"
#include "i2c.h" #include "i2c.h"
#include "spi.h" #include "spi.h"
#include "tim.h" #include "tim.h"
#include "usart.h" #include "usart.h"
#include "gpio.h" #include "gpio.h"
/* Private includes ----------------------------------------------------------*/ /* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */ /* USER CODE BEGIN Includes */
/* USER CODE END Includes */ /* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/ /* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */ /* USER CODE BEGIN PTD */
/* USER CODE END PTD */ /* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/ /* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */ /* USER CODE BEGIN PD */
/* USER CODE END PD */ /* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/ /* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */ /* USER CODE BEGIN PM */
/* USER CODE END PM */ /* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/ /* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */ /* USER CODE BEGIN PV */
/* USER CODE END PV */ /* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/ /* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void); void SystemClock_Config(void);
void MX_FREERTOS_Init(void); void MX_FREERTOS_Init(void);
/* USER CODE BEGIN PFP */ /* USER CODE BEGIN PFP */
/* USER CODE END PFP */ /* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/ /* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */ /* USER CODE BEGIN 0 */
/* USER CODE END 0 */ /* USER CODE END 0 */
/** /**
* @brief The application entry point. * @brief The application entry point.
* @retval int * @retval int
*/ */
int main(void) int main(void)
{ {
/* USER CODE BEGIN 1 */ /* USER CODE BEGIN 1 */
/* USER CODE END 1 */ /* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/ /* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */ /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init(); HAL_Init();
/* USER CODE BEGIN Init */ /* USER CODE BEGIN Init */
/* USER CODE END Init */ /* USER CODE END Init */
/* Configure the system clock */ /* Configure the system clock */
SystemClock_Config(); SystemClock_Config();
/* USER CODE BEGIN SysInit */ /* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */ /* USER CODE END SysInit */
/* Initialize all configured peripherals */ /* Initialize all configured peripherals */
MX_GPIO_Init(); MX_GPIO_Init();
MX_DMA_Init(); MX_DMA_Init();
MX_CAN1_Init(); MX_CAN1_Init();
MX_CAN2_Init(); MX_CAN2_Init();
MX_I2C3_Init(); MX_I2C3_Init();
MX_TIM10_Init(); MX_TIM10_Init();
MX_SPI1_Init(); MX_SPI1_Init();
MX_USART3_UART_Init(); MX_USART3_UART_Init();
MX_USART6_UART_Init(); MX_USART6_UART_Init();
MX_TIM4_Init(); MX_TIM4_Init();
MX_TIM5_Init(); MX_TIM5_Init();
/* USER CODE BEGIN 2 */ /* USER CODE BEGIN 2 */
/* USER CODE END 2 */ /* USER CODE END 2 */
/* Init scheduler */ /* Init scheduler */
osKernelInitialize(); /* Call init function for freertos objects (in cmsis_os2.c) */ osKernelInitialize(); /* Call init function for freertos objects (in cmsis_os2.c) */
MX_FREERTOS_Init(); MX_FREERTOS_Init();
/* Start scheduler */ /* Start scheduler */
osKernelStart(); osKernelStart();
/* We should never get here as control is now taken by the scheduler */ /* We should never get here as control is now taken by the scheduler */
/* Infinite loop */ /* Infinite loop */
/* USER CODE BEGIN WHILE */ /* USER CODE BEGIN WHILE */
while (1) while (1)
{ {
/* USER CODE END WHILE */ /* USER CODE END WHILE */
/* USER CODE BEGIN 3 */ /* USER CODE BEGIN 3 */
} }
/* USER CODE END 3 */ /* USER CODE END 3 */
} }
/** /**
* @brief System Clock Configuration * @brief System Clock Configuration
* @retval None * @retval None
*/ */
void SystemClock_Config(void) void SystemClock_Config(void)
{ {
RCC_OscInitTypeDef RCC_OscInitStruct = {0}; RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Configure the main internal regulator output voltage /** Configure the main internal regulator output voltage
*/ */
__HAL_RCC_PWR_CLK_ENABLE(); __HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
/** Initializes the RCC Oscillators according to the specified parameters /** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure. * in the RCC_OscInitTypeDef structure.
*/ */
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON; RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 6; RCC_OscInitStruct.PLL.PLLM = 6;
RCC_OscInitStruct.PLL.PLLN = 168; RCC_OscInitStruct.PLL.PLLN = 168;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 4; RCC_OscInitStruct.PLL.PLLQ = 4;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
} }
/** Initializes the CPU, AHB and APB buses clocks /** Initializes the CPU, AHB and APB buses clocks
*/ */
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4; RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
} }
} }
/* USER CODE BEGIN 4 */ /* USER CODE BEGIN 4 */
/* USER CODE END 4 */ /* USER CODE END 4 */
/** /**
* @brief This function is executed in case of error occurrence. * @brief This function is executed in case of error occurrence.
* @retval None * @retval None
*/ */
void Error_Handler(void) void Error_Handler(void)
{ {
/* USER CODE BEGIN Error_Handler_Debug */ /* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */ /* User can add his own implementation to report the HAL error return state */
__disable_irq(); __disable_irq();
while (1) while (1)
{ {
} }
/* USER CODE END Error_Handler_Debug */ /* USER CODE END Error_Handler_Debug */
} }
#ifdef USE_FULL_ASSERT #ifdef USE_FULL_ASSERT
/** /**
* @brief Reports the name of the source file and the source line number * @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred. * where the assert_param error has occurred.
* @param file: pointer to the source file name * @param file: pointer to the source file name
* @param line: assert_param error line source number * @param line: assert_param error line source number
* @retval None * @retval None
*/ */
void assert_failed(uint8_t *file, uint32_t line) void assert_failed(uint8_t *file, uint32_t line)
{ {
/* USER CODE BEGIN 6 */ /* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number, /* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */ ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */ /* USER CODE END 6 */
} }
#endif /* USE_FULL_ASSERT */ #endif /* USE_FULL_ASSERT */

342
Core/Src/spi.c
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@ -1,171 +1,171 @@
/* USER CODE BEGIN Header */ /* USER CODE BEGIN Header */
/** /**
****************************************************************************** ******************************************************************************
* @file spi.c * @file spi.c
* @brief This file provides code for the configuration * @brief This file provides code for the configuration
* of the SPI instances. * of the SPI instances.
****************************************************************************** ******************************************************************************
* @attention * @attention
* *
* Copyright (c) 2025 STMicroelectronics. * Copyright (c) 2025 STMicroelectronics.
* All rights reserved. * All rights reserved.
* *
* This software is licensed under terms that can be found in the LICENSE file * This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component. * in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS. * If no LICENSE file comes with this software, it is provided AS-IS.
* *
****************************************************************************** ******************************************************************************
*/ */
/* USER CODE END Header */ /* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
#include "spi.h" #include "spi.h"
/* USER CODE BEGIN 0 */ /* USER CODE BEGIN 0 */
/* USER CODE END 0 */ /* USER CODE END 0 */
SPI_HandleTypeDef hspi1; SPI_HandleTypeDef hspi1;
DMA_HandleTypeDef hdma_spi1_rx; DMA_HandleTypeDef hdma_spi1_rx;
DMA_HandleTypeDef hdma_spi1_tx; DMA_HandleTypeDef hdma_spi1_tx;
/* SPI1 init function */ /* SPI1 init function */
void MX_SPI1_Init(void) void MX_SPI1_Init(void)
{ {
/* USER CODE BEGIN SPI1_Init 0 */ /* USER CODE BEGIN SPI1_Init 0 */
/* USER CODE END SPI1_Init 0 */ /* USER CODE END SPI1_Init 0 */
/* USER CODE BEGIN SPI1_Init 1 */ /* USER CODE BEGIN SPI1_Init 1 */
/* USER CODE END SPI1_Init 1 */ /* USER CODE END SPI1_Init 1 */
hspi1.Instance = SPI1; hspi1.Instance = SPI1;
hspi1.Init.Mode = SPI_MODE_MASTER; hspi1.Init.Mode = SPI_MODE_MASTER;
hspi1.Init.Direction = SPI_DIRECTION_2LINES; hspi1.Init.Direction = SPI_DIRECTION_2LINES;
hspi1.Init.DataSize = SPI_DATASIZE_8BIT; hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
hspi1.Init.CLKPolarity = SPI_POLARITY_HIGH; hspi1.Init.CLKPolarity = SPI_POLARITY_HIGH;
hspi1.Init.CLKPhase = SPI_PHASE_2EDGE; hspi1.Init.CLKPhase = SPI_PHASE_2EDGE;
hspi1.Init.NSS = SPI_NSS_SOFT; hspi1.Init.NSS = SPI_NSS_SOFT;
hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_16; hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_16;
hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
hspi1.Init.TIMode = SPI_TIMODE_DISABLE; hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
hspi1.Init.CRCPolynomial = 10; hspi1.Init.CRCPolynomial = 10;
if (HAL_SPI_Init(&hspi1) != HAL_OK) if (HAL_SPI_Init(&hspi1) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
} }
/* USER CODE BEGIN SPI1_Init 2 */ /* USER CODE BEGIN SPI1_Init 2 */
/* USER CODE END SPI1_Init 2 */ /* USER CODE END SPI1_Init 2 */
} }
void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle) void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle)
{ {
GPIO_InitTypeDef GPIO_InitStruct = {0}; GPIO_InitTypeDef GPIO_InitStruct = {0};
if(spiHandle->Instance==SPI1) if(spiHandle->Instance==SPI1)
{ {
/* USER CODE BEGIN SPI1_MspInit 0 */ /* USER CODE BEGIN SPI1_MspInit 0 */
/* USER CODE END SPI1_MspInit 0 */ /* USER CODE END SPI1_MspInit 0 */
/* SPI1 clock enable */ /* SPI1 clock enable */
__HAL_RCC_SPI1_CLK_ENABLE(); __HAL_RCC_SPI1_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE(); __HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE(); __HAL_RCC_GPIOA_CLK_ENABLE();
/**SPI1 GPIO Configuration /**SPI1 GPIO Configuration
PB4 ------> SPI1_MISO PB4 ------> SPI1_MISO
PB3 ------> SPI1_SCK PB3 ------> SPI1_SCK
PA7 ------> SPI1_MOSI PA7 ------> SPI1_MOSI
*/ */
GPIO_InitStruct.Pin = GPIO_PIN_4|GPIO_PIN_3; GPIO_InitStruct.Pin = GPIO_PIN_4|GPIO_PIN_3;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF5_SPI1; GPIO_InitStruct.Alternate = GPIO_AF5_SPI1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_7; GPIO_InitStruct.Pin = GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF5_SPI1; GPIO_InitStruct.Alternate = GPIO_AF5_SPI1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* SPI1 DMA Init */ /* SPI1 DMA Init */
/* SPI1_RX Init */ /* SPI1_RX Init */
hdma_spi1_rx.Instance = DMA2_Stream2; hdma_spi1_rx.Instance = DMA2_Stream2;
hdma_spi1_rx.Init.Channel = DMA_CHANNEL_3; hdma_spi1_rx.Init.Channel = DMA_CHANNEL_3;
hdma_spi1_rx.Init.Direction = DMA_PERIPH_TO_MEMORY; hdma_spi1_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_spi1_rx.Init.PeriphInc = DMA_PINC_DISABLE; hdma_spi1_rx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_spi1_rx.Init.MemInc = DMA_MINC_ENABLE; hdma_spi1_rx.Init.MemInc = DMA_MINC_ENABLE;
hdma_spi1_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; hdma_spi1_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_spi1_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; hdma_spi1_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_spi1_rx.Init.Mode = DMA_NORMAL; hdma_spi1_rx.Init.Mode = DMA_NORMAL;
hdma_spi1_rx.Init.Priority = DMA_PRIORITY_LOW; hdma_spi1_rx.Init.Priority = DMA_PRIORITY_LOW;
hdma_spi1_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; hdma_spi1_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma_spi1_rx) != HAL_OK) if (HAL_DMA_Init(&hdma_spi1_rx) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
} }
__HAL_LINKDMA(spiHandle,hdmarx,hdma_spi1_rx); __HAL_LINKDMA(spiHandle,hdmarx,hdma_spi1_rx);
/* SPI1_TX Init */ /* SPI1_TX Init */
hdma_spi1_tx.Instance = DMA2_Stream3; hdma_spi1_tx.Instance = DMA2_Stream3;
hdma_spi1_tx.Init.Channel = DMA_CHANNEL_3; hdma_spi1_tx.Init.Channel = DMA_CHANNEL_3;
hdma_spi1_tx.Init.Direction = DMA_MEMORY_TO_PERIPH; hdma_spi1_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
hdma_spi1_tx.Init.PeriphInc = DMA_PINC_DISABLE; hdma_spi1_tx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_spi1_tx.Init.MemInc = DMA_MINC_ENABLE; hdma_spi1_tx.Init.MemInc = DMA_MINC_ENABLE;
hdma_spi1_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; hdma_spi1_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_spi1_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; hdma_spi1_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_spi1_tx.Init.Mode = DMA_NORMAL; hdma_spi1_tx.Init.Mode = DMA_NORMAL;
hdma_spi1_tx.Init.Priority = DMA_PRIORITY_LOW; hdma_spi1_tx.Init.Priority = DMA_PRIORITY_LOW;
hdma_spi1_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; hdma_spi1_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma_spi1_tx) != HAL_OK) if (HAL_DMA_Init(&hdma_spi1_tx) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
} }
__HAL_LINKDMA(spiHandle,hdmatx,hdma_spi1_tx); __HAL_LINKDMA(spiHandle,hdmatx,hdma_spi1_tx);
/* USER CODE BEGIN SPI1_MspInit 1 */ /* USER CODE BEGIN SPI1_MspInit 1 */
/* USER CODE END SPI1_MspInit 1 */ /* USER CODE END SPI1_MspInit 1 */
} }
} }
void HAL_SPI_MspDeInit(SPI_HandleTypeDef* spiHandle) void HAL_SPI_MspDeInit(SPI_HandleTypeDef* spiHandle)
{ {
if(spiHandle->Instance==SPI1) if(spiHandle->Instance==SPI1)
{ {
/* USER CODE BEGIN SPI1_MspDeInit 0 */ /* USER CODE BEGIN SPI1_MspDeInit 0 */
/* USER CODE END SPI1_MspDeInit 0 */ /* USER CODE END SPI1_MspDeInit 0 */
/* Peripheral clock disable */ /* Peripheral clock disable */
__HAL_RCC_SPI1_CLK_DISABLE(); __HAL_RCC_SPI1_CLK_DISABLE();
/**SPI1 GPIO Configuration /**SPI1 GPIO Configuration
PB4 ------> SPI1_MISO PB4 ------> SPI1_MISO
PB3 ------> SPI1_SCK PB3 ------> SPI1_SCK
PA7 ------> SPI1_MOSI PA7 ------> SPI1_MOSI
*/ */
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_4|GPIO_PIN_3); HAL_GPIO_DeInit(GPIOB, GPIO_PIN_4|GPIO_PIN_3);
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_7); HAL_GPIO_DeInit(GPIOA, GPIO_PIN_7);
/* SPI1 DMA DeInit */ /* SPI1 DMA DeInit */
HAL_DMA_DeInit(spiHandle->hdmarx); HAL_DMA_DeInit(spiHandle->hdmarx);
HAL_DMA_DeInit(spiHandle->hdmatx); HAL_DMA_DeInit(spiHandle->hdmatx);
/* USER CODE BEGIN SPI1_MspDeInit 1 */ /* USER CODE BEGIN SPI1_MspDeInit 1 */
/* USER CODE END SPI1_MspDeInit 1 */ /* USER CODE END SPI1_MspDeInit 1 */
} }
} }
/* USER CODE BEGIN 1 */ /* USER CODE BEGIN 1 */
/* USER CODE END 1 */ /* USER CODE END 1 */

168
Core/Src/stm32f4xx_hal_msp.c
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@ -1,84 +1,84 @@
/* USER CODE BEGIN Header */ /* USER CODE BEGIN Header */
/** /**
****************************************************************************** ******************************************************************************
* @file stm32f4xx_hal_msp.c * @file stm32f4xx_hal_msp.c
* @brief This file provides code for the MSP Initialization * @brief This file provides code for the MSP Initialization
* and de-Initialization codes. * and de-Initialization codes.
****************************************************************************** ******************************************************************************
* @attention * @attention
* *
* Copyright (c) 2025 STMicroelectronics. * Copyright (c) 2025 STMicroelectronics.
* All rights reserved. * All rights reserved.
* *
* This software is licensed under terms that can be found in the LICENSE file * This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component. * in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS. * If no LICENSE file comes with this software, it is provided AS-IS.
* *
****************************************************************************** ******************************************************************************
*/ */
/* USER CODE END Header */ /* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
#include "main.h" #include "main.h"
/* USER CODE BEGIN Includes */ /* USER CODE BEGIN Includes */
/* USER CODE END Includes */ /* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/ /* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */ /* USER CODE BEGIN TD */
/* USER CODE END TD */ /* USER CODE END TD */
/* Private define ------------------------------------------------------------*/ /* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN Define */ /* USER CODE BEGIN Define */
/* USER CODE END Define */ /* USER CODE END Define */
/* Private macro -------------------------------------------------------------*/ /* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN Macro */ /* USER CODE BEGIN Macro */
/* USER CODE END Macro */ /* USER CODE END Macro */
/* Private variables ---------------------------------------------------------*/ /* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */ /* USER CODE BEGIN PV */
/* USER CODE END PV */ /* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/ /* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN PFP */ /* USER CODE BEGIN PFP */
/* USER CODE END PFP */ /* USER CODE END PFP */
/* External functions --------------------------------------------------------*/ /* External functions --------------------------------------------------------*/
/* USER CODE BEGIN ExternalFunctions */ /* USER CODE BEGIN ExternalFunctions */
/* USER CODE END ExternalFunctions */ /* USER CODE END ExternalFunctions */
/* USER CODE BEGIN 0 */ /* USER CODE BEGIN 0 */
/* USER CODE END 0 */ /* USER CODE END 0 */
/** /**
* Initializes the Global MSP. * Initializes the Global MSP.
*/ */
void HAL_MspInit(void) void HAL_MspInit(void)
{ {
/* USER CODE BEGIN MspInit 0 */ /* USER CODE BEGIN MspInit 0 */
/* USER CODE END MspInit 0 */ /* USER CODE END MspInit 0 */
__HAL_RCC_SYSCFG_CLK_ENABLE(); __HAL_RCC_SYSCFG_CLK_ENABLE();
__HAL_RCC_PWR_CLK_ENABLE(); __HAL_RCC_PWR_CLK_ENABLE();
/* System interrupt init*/ /* System interrupt init*/
/* PendSV_IRQn interrupt configuration */ /* PendSV_IRQn interrupt configuration */
HAL_NVIC_SetPriority(PendSV_IRQn, 15, 0); HAL_NVIC_SetPriority(PendSV_IRQn, 15, 0);
/* USER CODE BEGIN MspInit 1 */ /* USER CODE BEGIN MspInit 1 */
/* USER CODE END MspInit 1 */ /* USER CODE END MspInit 1 */
} }
/* USER CODE BEGIN 1 */ /* USER CODE BEGIN 1 */
/* USER CODE END 1 */ /* USER CODE END 1 */

870
Core/Src/stm32f4xx_it.c
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@ -1,435 +1,435 @@
/* USER CODE BEGIN Header */ /* USER CODE BEGIN Header */
/** /**
****************************************************************************** ******************************************************************************
* @file stm32f4xx_it.c * @file stm32f4xx_it.c
* @brief Interrupt Service Routines. * @brief Interrupt Service Routines.
****************************************************************************** ******************************************************************************
* @attention * @attention
* *
* Copyright (c) 2025 STMicroelectronics. * Copyright (c) 2025 STMicroelectronics.
* All rights reserved. * All rights reserved.
* *
* This software is licensed under terms that can be found in the LICENSE file * This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component. * in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS. * If no LICENSE file comes with this software, it is provided AS-IS.
* *
****************************************************************************** ******************************************************************************
*/ */
/* USER CODE END Header */ /* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
#include "main.h" #include "main.h"
#include "stm32f4xx_it.h" #include "stm32f4xx_it.h"
#include "FreeRTOS.h" #include "FreeRTOS.h"
#include "task.h" #include "task.h"
/* Private includes ----------------------------------------------------------*/ /* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */ /* USER CODE BEGIN Includes */
#include "bsp/uart.h" #include "bsp/uart.h"
/* USER CODE END Includes */ /* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/ /* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */ /* USER CODE BEGIN TD */
/* USER CODE END TD */ /* USER CODE END TD */
/* Private define ------------------------------------------------------------*/ /* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */ /* USER CODE BEGIN PD */
/* USER CODE END PD */ /* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/ /* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */ /* USER CODE BEGIN PM */
/* USER CODE END PM */ /* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/ /* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */ /* USER CODE BEGIN PV */
/* USER CODE END PV */ /* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/ /* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN PFP */ /* USER CODE BEGIN PFP */
/* USER CODE END PFP */ /* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/ /* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */ /* USER CODE BEGIN 0 */
/* USER CODE END 0 */ /* USER CODE END 0 */
/* External variables --------------------------------------------------------*/ /* External variables --------------------------------------------------------*/
extern CAN_HandleTypeDef hcan1; extern CAN_HandleTypeDef hcan1;
extern CAN_HandleTypeDef hcan2; extern CAN_HandleTypeDef hcan2;
extern DMA_HandleTypeDef hdma_i2c3_rx; extern DMA_HandleTypeDef hdma_i2c3_rx;
extern DMA_HandleTypeDef hdma_spi1_rx; extern DMA_HandleTypeDef hdma_spi1_rx;
extern DMA_HandleTypeDef hdma_spi1_tx; extern DMA_HandleTypeDef hdma_spi1_tx;
extern DMA_HandleTypeDef hdma_usart3_rx; extern DMA_HandleTypeDef hdma_usart3_rx;
extern DMA_HandleTypeDef hdma_usart6_rx; extern DMA_HandleTypeDef hdma_usart6_rx;
extern DMA_HandleTypeDef hdma_usart6_tx; extern DMA_HandleTypeDef hdma_usart6_tx;
extern UART_HandleTypeDef huart6; extern UART_HandleTypeDef huart6;
/* USER CODE BEGIN EV */ /* USER CODE BEGIN EV */
/* USER CODE END EV */ /* USER CODE END EV */
/******************************************************************************/ /******************************************************************************/
/* Cortex-M4 Processor Interruption and Exception Handlers */ /* Cortex-M4 Processor Interruption and Exception Handlers */
/******************************************************************************/ /******************************************************************************/
/** /**
* @brief This function handles Non maskable interrupt. * @brief This function handles Non maskable interrupt.
*/ */
void NMI_Handler(void) void NMI_Handler(void)
{ {
/* USER CODE BEGIN NonMaskableInt_IRQn 0 */ /* USER CODE BEGIN NonMaskableInt_IRQn 0 */
/* USER CODE END NonMaskableInt_IRQn 0 */ /* USER CODE END NonMaskableInt_IRQn 0 */
/* USER CODE BEGIN NonMaskableInt_IRQn 1 */ /* USER CODE BEGIN NonMaskableInt_IRQn 1 */
while (1) while (1)
{ {
} }
/* USER CODE END NonMaskableInt_IRQn 1 */ /* USER CODE END NonMaskableInt_IRQn 1 */
} }
/** /**
* @brief This function handles Hard fault interrupt. * @brief This function handles Hard fault interrupt.
*/ */
void HardFault_Handler(void) void HardFault_Handler(void)
{ {
/* USER CODE BEGIN HardFault_IRQn 0 */ /* USER CODE BEGIN HardFault_IRQn 0 */
/* USER CODE END HardFault_IRQn 0 */ /* USER CODE END HardFault_IRQn 0 */
while (1) while (1)
{ {
/* USER CODE BEGIN W1_HardFault_IRQn 0 */ /* USER CODE BEGIN W1_HardFault_IRQn 0 */
/* USER CODE END W1_HardFault_IRQn 0 */ /* USER CODE END W1_HardFault_IRQn 0 */
} }
} }
/** /**
* @brief This function handles Memory management fault. * @brief This function handles Memory management fault.
*/ */
void MemManage_Handler(void) void MemManage_Handler(void)
{ {
/* USER CODE BEGIN MemoryManagement_IRQn 0 */ /* USER CODE BEGIN MemoryManagement_IRQn 0 */
/* USER CODE END MemoryManagement_IRQn 0 */ /* USER CODE END MemoryManagement_IRQn 0 */
while (1) while (1)
{ {
/* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */ /* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */
/* USER CODE END W1_MemoryManagement_IRQn 0 */ /* USER CODE END W1_MemoryManagement_IRQn 0 */
} }
} }
/** /**
* @brief This function handles Pre-fetch fault, memory access fault. * @brief This function handles Pre-fetch fault, memory access fault.
*/ */
void BusFault_Handler(void) void BusFault_Handler(void)
{ {
/* USER CODE BEGIN BusFault_IRQn 0 */ /* USER CODE BEGIN BusFault_IRQn 0 */
/* USER CODE END BusFault_IRQn 0 */ /* USER CODE END BusFault_IRQn 0 */
while (1) while (1)
{ {
/* USER CODE BEGIN W1_BusFault_IRQn 0 */ /* USER CODE BEGIN W1_BusFault_IRQn 0 */
/* USER CODE END W1_BusFault_IRQn 0 */ /* USER CODE END W1_BusFault_IRQn 0 */
} }
} }
/** /**
* @brief This function handles Undefined instruction or illegal state. * @brief This function handles Undefined instruction or illegal state.
*/ */
void UsageFault_Handler(void) void UsageFault_Handler(void)
{ {
/* USER CODE BEGIN UsageFault_IRQn 0 */ /* USER CODE BEGIN UsageFault_IRQn 0 */
/* USER CODE END UsageFault_IRQn 0 */ /* USER CODE END UsageFault_IRQn 0 */
while (1) while (1)
{ {
/* USER CODE BEGIN W1_UsageFault_IRQn 0 */ /* USER CODE BEGIN W1_UsageFault_IRQn 0 */
/* USER CODE END W1_UsageFault_IRQn 0 */ /* USER CODE END W1_UsageFault_IRQn 0 */
} }
} }
/** /**
* @brief This function handles Debug monitor. * @brief This function handles Debug monitor.
*/ */
void DebugMon_Handler(void) void DebugMon_Handler(void)
{ {
/* USER CODE BEGIN DebugMonitor_IRQn 0 */ /* USER CODE BEGIN DebugMonitor_IRQn 0 */
/* USER CODE END DebugMonitor_IRQn 0 */ /* USER CODE END DebugMonitor_IRQn 0 */
/* USER CODE BEGIN DebugMonitor_IRQn 1 */ /* USER CODE BEGIN DebugMonitor_IRQn 1 */
/* USER CODE END DebugMonitor_IRQn 1 */ /* USER CODE END DebugMonitor_IRQn 1 */
} }
/** /**
* @brief This function handles System tick timer. * @brief This function handles System tick timer.
*/ */
void SysTick_Handler(void) void SysTick_Handler(void)
{ {
/* USER CODE BEGIN SysTick_IRQn 0 */ /* USER CODE BEGIN SysTick_IRQn 0 */
/* USER CODE END SysTick_IRQn 0 */ /* USER CODE END SysTick_IRQn 0 */
HAL_IncTick(); HAL_IncTick();
#if (INCLUDE_xTaskGetSchedulerState == 1 ) #if (INCLUDE_xTaskGetSchedulerState == 1 )
if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED)
{ {
#endif /* INCLUDE_xTaskGetSchedulerState */ #endif /* INCLUDE_xTaskGetSchedulerState */
xPortSysTickHandler(); xPortSysTickHandler();
#if (INCLUDE_xTaskGetSchedulerState == 1 ) #if (INCLUDE_xTaskGetSchedulerState == 1 )
} }
#endif /* INCLUDE_xTaskGetSchedulerState */ #endif /* INCLUDE_xTaskGetSchedulerState */
/* USER CODE BEGIN SysTick_IRQn 1 */ /* USER CODE BEGIN SysTick_IRQn 1 */
/* USER CODE END SysTick_IRQn 1 */ /* USER CODE END SysTick_IRQn 1 */
} }
/******************************************************************************/ /******************************************************************************/
/* STM32F4xx Peripheral Interrupt Handlers */ /* STM32F4xx Peripheral Interrupt Handlers */
/* Add here the Interrupt Handlers for the used peripherals. */ /* Add here the Interrupt Handlers for the used peripherals. */
/* For the available peripheral interrupt handler names, */ /* For the available peripheral interrupt handler names, */
/* please refer to the startup file (startup_stm32f4xx.s). */ /* please refer to the startup file (startup_stm32f4xx.s). */
/******************************************************************************/ /******************************************************************************/
/** /**
* @brief This function handles EXTI line0 interrupt. * @brief This function handles EXTI line0 interrupt.
*/ */
void EXTI0_IRQHandler(void) void EXTI0_IRQHandler(void)
{ {
/* USER CODE BEGIN EXTI0_IRQn 0 */ /* USER CODE BEGIN EXTI0_IRQn 0 */
/* USER CODE END EXTI0_IRQn 0 */ /* USER CODE END EXTI0_IRQn 0 */
HAL_GPIO_EXTI_IRQHandler(USER_KEY_Pin); HAL_GPIO_EXTI_IRQHandler(USER_KEY_Pin);
/* USER CODE BEGIN EXTI0_IRQn 1 */ /* USER CODE BEGIN EXTI0_IRQn 1 */
/* USER CODE END EXTI0_IRQn 1 */ /* USER CODE END EXTI0_IRQn 1 */
} }
/** /**
* @brief This function handles EXTI line3 interrupt. * @brief This function handles EXTI line3 interrupt.
*/ */
void EXTI3_IRQHandler(void) void EXTI3_IRQHandler(void)
{ {
/* USER CODE BEGIN EXTI3_IRQn 0 */ /* USER CODE BEGIN EXTI3_IRQn 0 */
/* USER CODE END EXTI3_IRQn 0 */ /* USER CODE END EXTI3_IRQn 0 */
HAL_GPIO_EXTI_IRQHandler(CMPS_INT_Pin); HAL_GPIO_EXTI_IRQHandler(CMPS_INT_Pin);
/* USER CODE BEGIN EXTI3_IRQn 1 */ /* USER CODE BEGIN EXTI3_IRQn 1 */
/* USER CODE END EXTI3_IRQn 1 */ /* USER CODE END EXTI3_IRQn 1 */
} }
/** /**
* @brief This function handles EXTI line4 interrupt. * @brief This function handles EXTI line4 interrupt.
*/ */
void EXTI4_IRQHandler(void) void EXTI4_IRQHandler(void)
{ {
/* USER CODE BEGIN EXTI4_IRQn 0 */ /* USER CODE BEGIN EXTI4_IRQn 0 */
/* USER CODE END EXTI4_IRQn 0 */ /* USER CODE END EXTI4_IRQn 0 */
HAL_GPIO_EXTI_IRQHandler(ACCL_INT_Pin); HAL_GPIO_EXTI_IRQHandler(ACCL_INT_Pin);
/* USER CODE BEGIN EXTI4_IRQn 1 */ /* USER CODE BEGIN EXTI4_IRQn 1 */
/* USER CODE END EXTI4_IRQn 1 */ /* USER CODE END EXTI4_IRQn 1 */
} }
/** /**
* @brief This function handles DMA1 stream1 global interrupt. * @brief This function handles DMA1 stream1 global interrupt.
*/ */
void DMA1_Stream1_IRQHandler(void) void DMA1_Stream1_IRQHandler(void)
{ {
/* USER CODE BEGIN DMA1_Stream1_IRQn 0 */ /* USER CODE BEGIN DMA1_Stream1_IRQn 0 */
/* USER CODE END DMA1_Stream1_IRQn 0 */ /* USER CODE END DMA1_Stream1_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart3_rx); HAL_DMA_IRQHandler(&hdma_usart3_rx);
/* USER CODE BEGIN DMA1_Stream1_IRQn 1 */ /* USER CODE BEGIN DMA1_Stream1_IRQn 1 */
/* USER CODE END DMA1_Stream1_IRQn 1 */ /* USER CODE END DMA1_Stream1_IRQn 1 */
} }
/** /**
* @brief This function handles DMA1 stream2 global interrupt. * @brief This function handles DMA1 stream2 global interrupt.
*/ */
void DMA1_Stream2_IRQHandler(void) void DMA1_Stream2_IRQHandler(void)
{ {
/* USER CODE BEGIN DMA1_Stream2_IRQn 0 */ /* USER CODE BEGIN DMA1_Stream2_IRQn 0 */
/* USER CODE END DMA1_Stream2_IRQn 0 */ /* USER CODE END DMA1_Stream2_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_i2c3_rx); HAL_DMA_IRQHandler(&hdma_i2c3_rx);
/* USER CODE BEGIN DMA1_Stream2_IRQn 1 */ /* USER CODE BEGIN DMA1_Stream2_IRQn 1 */
/* USER CODE END DMA1_Stream2_IRQn 1 */ /* USER CODE END DMA1_Stream2_IRQn 1 */
} }
/** /**
* @brief This function handles CAN1 TX interrupts. * @brief This function handles CAN1 TX interrupts.
*/ */
void CAN1_TX_IRQHandler(void) void CAN1_TX_IRQHandler(void)
{ {
/* USER CODE BEGIN CAN1_TX_IRQn 0 */ /* USER CODE BEGIN CAN1_TX_IRQn 0 */
/* USER CODE END CAN1_TX_IRQn 0 */ /* USER CODE END CAN1_TX_IRQn 0 */
HAL_CAN_IRQHandler(&hcan1); HAL_CAN_IRQHandler(&hcan1);
/* USER CODE BEGIN CAN1_TX_IRQn 1 */ /* USER CODE BEGIN CAN1_TX_IRQn 1 */
/* USER CODE END CAN1_TX_IRQn 1 */ /* USER CODE END CAN1_TX_IRQn 1 */
} }
/** /**
* @brief This function handles CAN1 RX0 interrupts. * @brief This function handles CAN1 RX0 interrupts.
*/ */
void CAN1_RX0_IRQHandler(void) void CAN1_RX0_IRQHandler(void)
{ {
/* USER CODE BEGIN CAN1_RX0_IRQn 0 */ /* USER CODE BEGIN CAN1_RX0_IRQn 0 */
/* USER CODE END CAN1_RX0_IRQn 0 */ /* USER CODE END CAN1_RX0_IRQn 0 */
HAL_CAN_IRQHandler(&hcan1); HAL_CAN_IRQHandler(&hcan1);
/* USER CODE BEGIN CAN1_RX0_IRQn 1 */ /* USER CODE BEGIN CAN1_RX0_IRQn 1 */
/* USER CODE END CAN1_RX0_IRQn 1 */ /* USER CODE END CAN1_RX0_IRQn 1 */
} }
/** /**
* @brief This function handles CAN1 RX1 interrupt. * @brief This function handles CAN1 RX1 interrupt.
*/ */
void CAN1_RX1_IRQHandler(void) void CAN1_RX1_IRQHandler(void)
{ {
/* USER CODE BEGIN CAN1_RX1_IRQn 0 */ /* USER CODE BEGIN CAN1_RX1_IRQn 0 */
/* USER CODE END CAN1_RX1_IRQn 0 */ /* USER CODE END CAN1_RX1_IRQn 0 */
HAL_CAN_IRQHandler(&hcan1); HAL_CAN_IRQHandler(&hcan1);
/* USER CODE BEGIN CAN1_RX1_IRQn 1 */ /* USER CODE BEGIN CAN1_RX1_IRQn 1 */
/* USER CODE END CAN1_RX1_IRQn 1 */ /* USER CODE END CAN1_RX1_IRQn 1 */
} }
/** /**
* @brief This function handles EXTI line[9:5] interrupts. * @brief This function handles EXTI line[9:5] interrupts.
*/ */
void EXTI9_5_IRQHandler(void) void EXTI9_5_IRQHandler(void)
{ {
/* USER CODE BEGIN EXTI9_5_IRQn 0 */ /* USER CODE BEGIN EXTI9_5_IRQn 0 */
/* USER CODE END EXTI9_5_IRQn 0 */ /* USER CODE END EXTI9_5_IRQn 0 */
HAL_GPIO_EXTI_IRQHandler(GYRO_INT_Pin); HAL_GPIO_EXTI_IRQHandler(GYRO_INT_Pin);
/* USER CODE BEGIN EXTI9_5_IRQn 1 */ /* USER CODE BEGIN EXTI9_5_IRQn 1 */
/* USER CODE END EXTI9_5_IRQn 1 */ /* USER CODE END EXTI9_5_IRQn 1 */
} }
/** /**
* @brief This function handles DMA2 stream1 global interrupt. * @brief This function handles DMA2 stream1 global interrupt.
*/ */
void DMA2_Stream1_IRQHandler(void) void DMA2_Stream1_IRQHandler(void)
{ {
/* USER CODE BEGIN DMA2_Stream1_IRQn 0 */ /* USER CODE BEGIN DMA2_Stream1_IRQn 0 */
/* USER CODE END DMA2_Stream1_IRQn 0 */ /* USER CODE END DMA2_Stream1_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart6_rx); HAL_DMA_IRQHandler(&hdma_usart6_rx);
/* USER CODE BEGIN DMA2_Stream1_IRQn 1 */ /* USER CODE BEGIN DMA2_Stream1_IRQn 1 */
/* USER CODE END DMA2_Stream1_IRQn 1 */ /* USER CODE END DMA2_Stream1_IRQn 1 */
} }
/** /**
* @brief This function handles DMA2 stream2 global interrupt. * @brief This function handles DMA2 stream2 global interrupt.
*/ */
void DMA2_Stream2_IRQHandler(void) void DMA2_Stream2_IRQHandler(void)
{ {
/* USER CODE BEGIN DMA2_Stream2_IRQn 0 */ /* USER CODE BEGIN DMA2_Stream2_IRQn 0 */
/* USER CODE END DMA2_Stream2_IRQn 0 */ /* USER CODE END DMA2_Stream2_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_spi1_rx); HAL_DMA_IRQHandler(&hdma_spi1_rx);
/* USER CODE BEGIN DMA2_Stream2_IRQn 1 */ /* USER CODE BEGIN DMA2_Stream2_IRQn 1 */
/* USER CODE END DMA2_Stream2_IRQn 1 */ /* USER CODE END DMA2_Stream2_IRQn 1 */
} }
/** /**
* @brief This function handles DMA2 stream3 global interrupt. * @brief This function handles DMA2 stream3 global interrupt.
*/ */
void DMA2_Stream3_IRQHandler(void) void DMA2_Stream3_IRQHandler(void)
{ {
/* USER CODE BEGIN DMA2_Stream3_IRQn 0 */ /* USER CODE BEGIN DMA2_Stream3_IRQn 0 */
/* USER CODE END DMA2_Stream3_IRQn 0 */ /* USER CODE END DMA2_Stream3_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_spi1_tx); HAL_DMA_IRQHandler(&hdma_spi1_tx);
/* USER CODE BEGIN DMA2_Stream3_IRQn 1 */ /* USER CODE BEGIN DMA2_Stream3_IRQn 1 */
/* USER CODE END DMA2_Stream3_IRQn 1 */ /* USER CODE END DMA2_Stream3_IRQn 1 */
} }
/** /**
* @brief This function handles CAN2 TX interrupts. * @brief This function handles CAN2 TX interrupts.
*/ */
void CAN2_TX_IRQHandler(void) void CAN2_TX_IRQHandler(void)
{ {
/* USER CODE BEGIN CAN2_TX_IRQn 0 */ /* USER CODE BEGIN CAN2_TX_IRQn 0 */
/* USER CODE END CAN2_TX_IRQn 0 */ /* USER CODE END CAN2_TX_IRQn 0 */
HAL_CAN_IRQHandler(&hcan2); HAL_CAN_IRQHandler(&hcan2);
/* USER CODE BEGIN CAN2_TX_IRQn 1 */ /* USER CODE BEGIN CAN2_TX_IRQn 1 */
/* USER CODE END CAN2_TX_IRQn 1 */ /* USER CODE END CAN2_TX_IRQn 1 */
} }
/** /**
* @brief This function handles CAN2 RX0 interrupts. * @brief This function handles CAN2 RX0 interrupts.
*/ */
void CAN2_RX0_IRQHandler(void) void CAN2_RX0_IRQHandler(void)
{ {
/* USER CODE BEGIN CAN2_RX0_IRQn 0 */ /* USER CODE BEGIN CAN2_RX0_IRQn 0 */
/* USER CODE END CAN2_RX0_IRQn 0 */ /* USER CODE END CAN2_RX0_IRQn 0 */
HAL_CAN_IRQHandler(&hcan2); HAL_CAN_IRQHandler(&hcan2);
/* USER CODE BEGIN CAN2_RX0_IRQn 1 */ /* USER CODE BEGIN CAN2_RX0_IRQn 1 */
/* USER CODE END CAN2_RX0_IRQn 1 */ /* USER CODE END CAN2_RX0_IRQn 1 */
} }
/** /**
* @brief This function handles CAN2 RX1 interrupt. * @brief This function handles CAN2 RX1 interrupt.
*/ */
void CAN2_RX1_IRQHandler(void) void CAN2_RX1_IRQHandler(void)
{ {
/* USER CODE BEGIN CAN2_RX1_IRQn 0 */ /* USER CODE BEGIN CAN2_RX1_IRQn 0 */
/* USER CODE END CAN2_RX1_IRQn 0 */ /* USER CODE END CAN2_RX1_IRQn 0 */
HAL_CAN_IRQHandler(&hcan2); HAL_CAN_IRQHandler(&hcan2);
/* USER CODE BEGIN CAN2_RX1_IRQn 1 */ /* USER CODE BEGIN CAN2_RX1_IRQn 1 */
/* USER CODE END CAN2_RX1_IRQn 1 */ /* USER CODE END CAN2_RX1_IRQn 1 */
} }
/** /**
* @brief This function handles DMA2 stream6 global interrupt. * @brief This function handles DMA2 stream6 global interrupt.
*/ */
void DMA2_Stream6_IRQHandler(void) void DMA2_Stream6_IRQHandler(void)
{ {
/* USER CODE BEGIN DMA2_Stream6_IRQn 0 */ /* USER CODE BEGIN DMA2_Stream6_IRQn 0 */
/* USER CODE END DMA2_Stream6_IRQn 0 */ /* USER CODE END DMA2_Stream6_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart6_tx); HAL_DMA_IRQHandler(&hdma_usart6_tx);
/* USER CODE BEGIN DMA2_Stream6_IRQn 1 */ /* USER CODE BEGIN DMA2_Stream6_IRQn 1 */
/* USER CODE END DMA2_Stream6_IRQn 1 */ /* USER CODE END DMA2_Stream6_IRQn 1 */
} }
/** /**
* @brief This function handles USART6 global interrupt. * @brief This function handles USART6 global interrupt.
*/ */
void USART6_IRQHandler(void) void USART6_IRQHandler(void)
{ {
/* USER CODE BEGIN USART6_IRQn 0 */ /* USER CODE BEGIN USART6_IRQn 0 */
/* USER CODE END USART6_IRQn 0 */ /* USER CODE END USART6_IRQn 0 */
HAL_UART_IRQHandler(&huart6); HAL_UART_IRQHandler(&huart6);
/* USER CODE BEGIN USART6_IRQn 1 */ /* USER CODE BEGIN USART6_IRQn 1 */
BSP_UART_IRQHandler(&huart6); BSP_UART_IRQHandler(&huart6);
/* USER CODE END USART6_IRQn 1 */ /* USER CODE END USART6_IRQn 1 */
} }
/* USER CODE BEGIN 1 */ /* USER CODE BEGIN 1 */
/* USER CODE END 1 */ /* USER CODE END 1 */

674
Core/Src/tim.c
View File

@ -1,337 +1,337 @@
/* USER CODE BEGIN Header */ /* USER CODE BEGIN Header */
/** /**
****************************************************************************** ******************************************************************************
* @file tim.c * @file tim.c
* @brief This file provides code for the configuration * @brief This file provides code for the configuration
* of the TIM instances. * of the TIM instances.
****************************************************************************** ******************************************************************************
* @attention * @attention
* *
* Copyright (c) 2025 STMicroelectronics. * Copyright (c) 2025 STMicroelectronics.
* All rights reserved. * All rights reserved.
* *
* This software is licensed under terms that can be found in the LICENSE file * This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component. * in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS. * If no LICENSE file comes with this software, it is provided AS-IS.
* *
****************************************************************************** ******************************************************************************
*/ */
/* USER CODE END Header */ /* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
#include "tim.h" #include "tim.h"
/* USER CODE BEGIN 0 */ /* USER CODE BEGIN 0 */
/* USER CODE END 0 */ /* USER CODE END 0 */
TIM_HandleTypeDef htim4; TIM_HandleTypeDef htim4;
TIM_HandleTypeDef htim5; TIM_HandleTypeDef htim5;
TIM_HandleTypeDef htim10; TIM_HandleTypeDef htim10;
/* TIM4 init function */ /* TIM4 init function */
void MX_TIM4_Init(void) void MX_TIM4_Init(void)
{ {
/* USER CODE BEGIN TIM4_Init 0 */ /* USER CODE BEGIN TIM4_Init 0 */
/* USER CODE END TIM4_Init 0 */ /* USER CODE END TIM4_Init 0 */
TIM_MasterConfigTypeDef sMasterConfig = {0}; TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0}; TIM_OC_InitTypeDef sConfigOC = {0};
/* USER CODE BEGIN TIM4_Init 1 */ /* USER CODE BEGIN TIM4_Init 1 */
/* USER CODE END TIM4_Init 1 */ /* USER CODE END TIM4_Init 1 */
htim4.Instance = TIM4; htim4.Instance = TIM4;
htim4.Init.Prescaler = 0; htim4.Init.Prescaler = 0;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP; htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
htim4.Init.Period = 65535; htim4.Init.Period = 65535;
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_PWM_Init(&htim4) != HAL_OK) if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
} }
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK) if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
} }
sConfigOC.OCMode = TIM_OCMODE_PWM1; sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0; sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
} }
/* USER CODE BEGIN TIM4_Init 2 */ /* USER CODE BEGIN TIM4_Init 2 */
/* USER CODE END TIM4_Init 2 */ /* USER CODE END TIM4_Init 2 */
HAL_TIM_MspPostInit(&htim4); HAL_TIM_MspPostInit(&htim4);
} }
/* TIM5 init function */ /* TIM5 init function */
void MX_TIM5_Init(void) void MX_TIM5_Init(void)
{ {
/* USER CODE BEGIN TIM5_Init 0 */ /* USER CODE BEGIN TIM5_Init 0 */
/* USER CODE END TIM5_Init 0 */ /* USER CODE END TIM5_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0}; TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0}; TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0}; TIM_OC_InitTypeDef sConfigOC = {0};
/* USER CODE BEGIN TIM5_Init 1 */ /* USER CODE BEGIN TIM5_Init 1 */
/* USER CODE END TIM5_Init 1 */ /* USER CODE END TIM5_Init 1 */
htim5.Instance = TIM5; htim5.Instance = TIM5;
htim5.Init.Prescaler = 0; htim5.Init.Prescaler = 0;
htim5.Init.CounterMode = TIM_COUNTERMODE_UP; htim5.Init.CounterMode = TIM_COUNTERMODE_UP;
htim5.Init.Period = 65535; htim5.Init.Period = 65535;
htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim5.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; htim5.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim5) != HAL_OK) if (HAL_TIM_Base_Init(&htim5) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
} }
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim5, &sClockSourceConfig) != HAL_OK) if (HAL_TIM_ConfigClockSource(&htim5, &sClockSourceConfig) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
} }
if (HAL_TIM_PWM_Init(&htim5) != HAL_OK) if (HAL_TIM_PWM_Init(&htim5) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
} }
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim5, &sMasterConfig) != HAL_OK) if (HAL_TIMEx_MasterConfigSynchronization(&htim5, &sMasterConfig) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
} }
sConfigOC.OCMode = TIM_OCMODE_PWM1; sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0; sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
} }
if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
} }
if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
} }
/* USER CODE BEGIN TIM5_Init 2 */ /* USER CODE BEGIN TIM5_Init 2 */
/* USER CODE END TIM5_Init 2 */ /* USER CODE END TIM5_Init 2 */
HAL_TIM_MspPostInit(&htim5); HAL_TIM_MspPostInit(&htim5);
} }
/* TIM10 init function */ /* TIM10 init function */
void MX_TIM10_Init(void) void MX_TIM10_Init(void)
{ {
/* USER CODE BEGIN TIM10_Init 0 */ /* USER CODE BEGIN TIM10_Init 0 */
/* USER CODE END TIM10_Init 0 */ /* USER CODE END TIM10_Init 0 */
TIM_OC_InitTypeDef sConfigOC = {0}; TIM_OC_InitTypeDef sConfigOC = {0};
/* USER CODE BEGIN TIM10_Init 1 */ /* USER CODE BEGIN TIM10_Init 1 */
/* USER CODE END TIM10_Init 1 */ /* USER CODE END TIM10_Init 1 */
htim10.Instance = TIM10; htim10.Instance = TIM10;
htim10.Init.Prescaler = 0; htim10.Init.Prescaler = 0;
htim10.Init.CounterMode = TIM_COUNTERMODE_UP; htim10.Init.CounterMode = TIM_COUNTERMODE_UP;
htim10.Init.Period = 4999; htim10.Init.Period = 4999;
htim10.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim10.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim10.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; htim10.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim10) != HAL_OK) if (HAL_TIM_Base_Init(&htim10) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
} }
if (HAL_TIM_PWM_Init(&htim10) != HAL_OK) if (HAL_TIM_PWM_Init(&htim10) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
} }
sConfigOC.OCMode = TIM_OCMODE_PWM1; sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0; sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim10, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) if (HAL_TIM_PWM_ConfigChannel(&htim10, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
} }
/* USER CODE BEGIN TIM10_Init 2 */ /* USER CODE BEGIN TIM10_Init 2 */
/* USER CODE END TIM10_Init 2 */ /* USER CODE END TIM10_Init 2 */
HAL_TIM_MspPostInit(&htim10); HAL_TIM_MspPostInit(&htim10);
} }
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle) void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle)
{ {
if(tim_pwmHandle->Instance==TIM4) if(tim_pwmHandle->Instance==TIM4)
{ {
/* USER CODE BEGIN TIM4_MspInit 0 */ /* USER CODE BEGIN TIM4_MspInit 0 */
/* USER CODE END TIM4_MspInit 0 */ /* USER CODE END TIM4_MspInit 0 */
/* TIM4 clock enable */ /* TIM4 clock enable */
__HAL_RCC_TIM4_CLK_ENABLE(); __HAL_RCC_TIM4_CLK_ENABLE();
/* USER CODE BEGIN TIM4_MspInit 1 */ /* USER CODE BEGIN TIM4_MspInit 1 */
/* USER CODE END TIM4_MspInit 1 */ /* USER CODE END TIM4_MspInit 1 */
} }
} }
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle) void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
{ {
if(tim_baseHandle->Instance==TIM5) if(tim_baseHandle->Instance==TIM5)
{ {
/* USER CODE BEGIN TIM5_MspInit 0 */ /* USER CODE BEGIN TIM5_MspInit 0 */
/* USER CODE END TIM5_MspInit 0 */ /* USER CODE END TIM5_MspInit 0 */
/* TIM5 clock enable */ /* TIM5 clock enable */
__HAL_RCC_TIM5_CLK_ENABLE(); __HAL_RCC_TIM5_CLK_ENABLE();
/* USER CODE BEGIN TIM5_MspInit 1 */ /* USER CODE BEGIN TIM5_MspInit 1 */
/* USER CODE END TIM5_MspInit 1 */ /* USER CODE END TIM5_MspInit 1 */
} }
else if(tim_baseHandle->Instance==TIM10) else if(tim_baseHandle->Instance==TIM10)
{ {
/* USER CODE BEGIN TIM10_MspInit 0 */ /* USER CODE BEGIN TIM10_MspInit 0 */
/* USER CODE END TIM10_MspInit 0 */ /* USER CODE END TIM10_MspInit 0 */
/* TIM10 clock enable */ /* TIM10 clock enable */
__HAL_RCC_TIM10_CLK_ENABLE(); __HAL_RCC_TIM10_CLK_ENABLE();
/* USER CODE BEGIN TIM10_MspInit 1 */ /* USER CODE BEGIN TIM10_MspInit 1 */
/* USER CODE END TIM10_MspInit 1 */ /* USER CODE END TIM10_MspInit 1 */
} }
} }
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle) void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
{ {
GPIO_InitTypeDef GPIO_InitStruct = {0}; GPIO_InitTypeDef GPIO_InitStruct = {0};
if(timHandle->Instance==TIM4) if(timHandle->Instance==TIM4)
{ {
/* USER CODE BEGIN TIM4_MspPostInit 0 */ /* USER CODE BEGIN TIM4_MspPostInit 0 */
/* USER CODE END TIM4_MspPostInit 0 */ /* USER CODE END TIM4_MspPostInit 0 */
__HAL_RCC_GPIOD_CLK_ENABLE(); __HAL_RCC_GPIOD_CLK_ENABLE();
/**TIM4 GPIO Configuration /**TIM4 GPIO Configuration
PD14 ------> TIM4_CH3 PD14 ------> TIM4_CH3
*/ */
GPIO_InitStruct.Pin = BUZZER_Pin; GPIO_InitStruct.Pin = BUZZER_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP; GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM4; GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
HAL_GPIO_Init(BUZZER_GPIO_Port, &GPIO_InitStruct); HAL_GPIO_Init(BUZZER_GPIO_Port, &GPIO_InitStruct);
/* USER CODE BEGIN TIM4_MspPostInit 1 */ /* USER CODE BEGIN TIM4_MspPostInit 1 */
/* USER CODE END TIM4_MspPostInit 1 */ /* USER CODE END TIM4_MspPostInit 1 */
} }
else if(timHandle->Instance==TIM5) else if(timHandle->Instance==TIM5)
{ {
/* USER CODE BEGIN TIM5_MspPostInit 0 */ /* USER CODE BEGIN TIM5_MspPostInit 0 */
/* USER CODE END TIM5_MspPostInit 0 */ /* USER CODE END TIM5_MspPostInit 0 */
__HAL_RCC_GPIOH_CLK_ENABLE(); __HAL_RCC_GPIOH_CLK_ENABLE();
/**TIM5 GPIO Configuration /**TIM5 GPIO Configuration
PH12 ------> TIM5_CH3 PH12 ------> TIM5_CH3
PH11 ------> TIM5_CH2 PH11 ------> TIM5_CH2
PH10 ------> TIM5_CH1 PH10 ------> TIM5_CH1
*/ */
GPIO_InitStruct.Pin = LED_R_Pin|LED_G_Pin|LED_B_Pin; GPIO_InitStruct.Pin = LED_R_Pin|LED_G_Pin|LED_B_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP; GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM5; GPIO_InitStruct.Alternate = GPIO_AF2_TIM5;
HAL_GPIO_Init(GPIOH, &GPIO_InitStruct); HAL_GPIO_Init(GPIOH, &GPIO_InitStruct);
/* USER CODE BEGIN TIM5_MspPostInit 1 */ /* USER CODE BEGIN TIM5_MspPostInit 1 */
/* USER CODE END TIM5_MspPostInit 1 */ /* USER CODE END TIM5_MspPostInit 1 */
} }
else if(timHandle->Instance==TIM10) else if(timHandle->Instance==TIM10)
{ {
/* USER CODE BEGIN TIM10_MspPostInit 0 */ /* USER CODE BEGIN TIM10_MspPostInit 0 */
/* USER CODE END TIM10_MspPostInit 0 */ /* USER CODE END TIM10_MspPostInit 0 */
__HAL_RCC_GPIOF_CLK_ENABLE(); __HAL_RCC_GPIOF_CLK_ENABLE();
/**TIM10 GPIO Configuration /**TIM10 GPIO Configuration
PF6 ------> TIM10_CH1 PF6 ------> TIM10_CH1
*/ */
GPIO_InitStruct.Pin = IMU_HEAT_PWM_Pin; GPIO_InitStruct.Pin = IMU_HEAT_PWM_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLDOWN; GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF3_TIM10; GPIO_InitStruct.Alternate = GPIO_AF3_TIM10;
HAL_GPIO_Init(IMU_HEAT_PWM_GPIO_Port, &GPIO_InitStruct); HAL_GPIO_Init(IMU_HEAT_PWM_GPIO_Port, &GPIO_InitStruct);
/* USER CODE BEGIN TIM10_MspPostInit 1 */ /* USER CODE BEGIN TIM10_MspPostInit 1 */
/* USER CODE END TIM10_MspPostInit 1 */ /* USER CODE END TIM10_MspPostInit 1 */
} }
} }
void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle) void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle)
{ {
if(tim_pwmHandle->Instance==TIM4) if(tim_pwmHandle->Instance==TIM4)
{ {
/* USER CODE BEGIN TIM4_MspDeInit 0 */ /* USER CODE BEGIN TIM4_MspDeInit 0 */
/* USER CODE END TIM4_MspDeInit 0 */ /* USER CODE END TIM4_MspDeInit 0 */
/* Peripheral clock disable */ /* Peripheral clock disable */
__HAL_RCC_TIM4_CLK_DISABLE(); __HAL_RCC_TIM4_CLK_DISABLE();
/* USER CODE BEGIN TIM4_MspDeInit 1 */ /* USER CODE BEGIN TIM4_MspDeInit 1 */
/* USER CODE END TIM4_MspDeInit 1 */ /* USER CODE END TIM4_MspDeInit 1 */
} }
} }
void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle) void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
{ {
if(tim_baseHandle->Instance==TIM5) if(tim_baseHandle->Instance==TIM5)
{ {
/* USER CODE BEGIN TIM5_MspDeInit 0 */ /* USER CODE BEGIN TIM5_MspDeInit 0 */
/* USER CODE END TIM5_MspDeInit 0 */ /* USER CODE END TIM5_MspDeInit 0 */
/* Peripheral clock disable */ /* Peripheral clock disable */
__HAL_RCC_TIM5_CLK_DISABLE(); __HAL_RCC_TIM5_CLK_DISABLE();
/* USER CODE BEGIN TIM5_MspDeInit 1 */ /* USER CODE BEGIN TIM5_MspDeInit 1 */
/* USER CODE END TIM5_MspDeInit 1 */ /* USER CODE END TIM5_MspDeInit 1 */
} }
else if(tim_baseHandle->Instance==TIM10) else if(tim_baseHandle->Instance==TIM10)
{ {
/* USER CODE BEGIN TIM10_MspDeInit 0 */ /* USER CODE BEGIN TIM10_MspDeInit 0 */
/* USER CODE END TIM10_MspDeInit 0 */ /* USER CODE END TIM10_MspDeInit 0 */
/* Peripheral clock disable */ /* Peripheral clock disable */
__HAL_RCC_TIM10_CLK_DISABLE(); __HAL_RCC_TIM10_CLK_DISABLE();
/* USER CODE BEGIN TIM10_MspDeInit 1 */ /* USER CODE BEGIN TIM10_MspDeInit 1 */
/* USER CODE END TIM10_MspDeInit 1 */ /* USER CODE END TIM10_MspDeInit 1 */
} }
} }
/* USER CODE BEGIN 1 */ /* USER CODE BEGIN 1 */
/* USER CODE END 1 */ /* USER CODE END 1 */

512
Core/Src/usart.c
View File

@ -1,256 +1,256 @@
/* USER CODE BEGIN Header */ /* USER CODE BEGIN Header */
/** /**
****************************************************************************** ******************************************************************************
* @file usart.c * @file usart.c
* @brief This file provides code for the configuration * @brief This file provides code for the configuration
* of the USART instances. * of the USART instances.
****************************************************************************** ******************************************************************************
* @attention * @attention
* *
* Copyright (c) 2025 STMicroelectronics. * Copyright (c) 2025 STMicroelectronics.
* All rights reserved. * All rights reserved.
* *
* This software is licensed under terms that can be found in the LICENSE file * This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component. * in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS. * If no LICENSE file comes with this software, it is provided AS-IS.
* *
****************************************************************************** ******************************************************************************
*/ */
/* USER CODE END Header */ /* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
#include "usart.h" #include "usart.h"
/* USER CODE BEGIN 0 */ /* USER CODE BEGIN 0 */
/* USER CODE END 0 */ /* USER CODE END 0 */
UART_HandleTypeDef huart3; UART_HandleTypeDef huart3;
UART_HandleTypeDef huart6; UART_HandleTypeDef huart6;
DMA_HandleTypeDef hdma_usart3_rx; DMA_HandleTypeDef hdma_usart3_rx;
DMA_HandleTypeDef hdma_usart6_rx; DMA_HandleTypeDef hdma_usart6_rx;
DMA_HandleTypeDef hdma_usart6_tx; DMA_HandleTypeDef hdma_usart6_tx;
/* USART3 init function */ /* USART3 init function */
void MX_USART3_UART_Init(void) void MX_USART3_UART_Init(void)
{ {
/* USER CODE BEGIN USART3_Init 0 */ /* USER CODE BEGIN USART3_Init 0 */
/* USER CODE END USART3_Init 0 */ /* USER CODE END USART3_Init 0 */
/* USER CODE BEGIN USART3_Init 1 */ /* USER CODE BEGIN USART3_Init 1 */
/* USER CODE END USART3_Init 1 */ /* USER CODE END USART3_Init 1 */
huart3.Instance = USART3; huart3.Instance = USART3;
huart3.Init.BaudRate = 100000; huart3.Init.BaudRate = 100000;
huart3.Init.WordLength = UART_WORDLENGTH_8B; huart3.Init.WordLength = UART_WORDLENGTH_8B;
huart3.Init.StopBits = UART_STOPBITS_1; huart3.Init.StopBits = UART_STOPBITS_1;
huart3.Init.Parity = UART_PARITY_NONE; huart3.Init.Parity = UART_PARITY_NONE;
huart3.Init.Mode = UART_MODE_TX_RX; huart3.Init.Mode = UART_MODE_TX_RX;
huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE; huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart3.Init.OverSampling = UART_OVERSAMPLING_16; huart3.Init.OverSampling = UART_OVERSAMPLING_16;
if (HAL_UART_Init(&huart3) != HAL_OK) if (HAL_UART_Init(&huart3) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
} }
/* USER CODE BEGIN USART3_Init 2 */ /* USER CODE BEGIN USART3_Init 2 */
/* USER CODE END USART3_Init 2 */ /* USER CODE END USART3_Init 2 */
} }
/* USART6 init function */ /* USART6 init function */
void MX_USART6_UART_Init(void) void MX_USART6_UART_Init(void)
{ {
/* USER CODE BEGIN USART6_Init 0 */ /* USER CODE BEGIN USART6_Init 0 */
/* USER CODE END USART6_Init 0 */ /* USER CODE END USART6_Init 0 */
/* USER CODE BEGIN USART6_Init 1 */ /* USER CODE BEGIN USART6_Init 1 */
/* USER CODE END USART6_Init 1 */ /* USER CODE END USART6_Init 1 */
huart6.Instance = USART6; huart6.Instance = USART6;
huart6.Init.BaudRate = 115200; huart6.Init.BaudRate = 115200;
huart6.Init.WordLength = UART_WORDLENGTH_8B; huart6.Init.WordLength = UART_WORDLENGTH_8B;
huart6.Init.StopBits = UART_STOPBITS_1; huart6.Init.StopBits = UART_STOPBITS_1;
huart6.Init.Parity = UART_PARITY_NONE; huart6.Init.Parity = UART_PARITY_NONE;
huart6.Init.Mode = UART_MODE_TX_RX; huart6.Init.Mode = UART_MODE_TX_RX;
huart6.Init.HwFlowCtl = UART_HWCONTROL_NONE; huart6.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart6.Init.OverSampling = UART_OVERSAMPLING_16; huart6.Init.OverSampling = UART_OVERSAMPLING_16;
if (HAL_UART_Init(&huart6) != HAL_OK) if (HAL_UART_Init(&huart6) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
} }
/* USER CODE BEGIN USART6_Init 2 */ /* USER CODE BEGIN USART6_Init 2 */
/* USER CODE END USART6_Init 2 */ /* USER CODE END USART6_Init 2 */
} }
void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle) void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
{ {
GPIO_InitTypeDef GPIO_InitStruct = {0}; GPIO_InitTypeDef GPIO_InitStruct = {0};
if(uartHandle->Instance==USART3) if(uartHandle->Instance==USART3)
{ {
/* USER CODE BEGIN USART3_MspInit 0 */ /* USER CODE BEGIN USART3_MspInit 0 */
/* USER CODE END USART3_MspInit 0 */ /* USER CODE END USART3_MspInit 0 */
/* USART3 clock enable */ /* USART3 clock enable */
__HAL_RCC_USART3_CLK_ENABLE(); __HAL_RCC_USART3_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE(); __HAL_RCC_GPIOC_CLK_ENABLE();
/**USART3 GPIO Configuration /**USART3 GPIO Configuration
PC11 ------> USART3_RX PC11 ------> USART3_RX
PC10 ------> USART3_TX PC10 ------> USART3_TX
*/ */
GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_10; GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_10;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF7_USART3; GPIO_InitStruct.Alternate = GPIO_AF7_USART3;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/* USART3 DMA Init */ /* USART3 DMA Init */
/* USART3_RX Init */ /* USART3_RX Init */
hdma_usart3_rx.Instance = DMA1_Stream1; hdma_usart3_rx.Instance = DMA1_Stream1;
hdma_usart3_rx.Init.Channel = DMA_CHANNEL_4; hdma_usart3_rx.Init.Channel = DMA_CHANNEL_4;
hdma_usart3_rx.Init.Direction = DMA_PERIPH_TO_MEMORY; hdma_usart3_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_usart3_rx.Init.PeriphInc = DMA_PINC_DISABLE; hdma_usart3_rx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_usart3_rx.Init.MemInc = DMA_MINC_ENABLE; hdma_usart3_rx.Init.MemInc = DMA_MINC_ENABLE;
hdma_usart3_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; hdma_usart3_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_usart3_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; hdma_usart3_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_usart3_rx.Init.Mode = DMA_NORMAL; hdma_usart3_rx.Init.Mode = DMA_NORMAL;
hdma_usart3_rx.Init.Priority = DMA_PRIORITY_LOW; hdma_usart3_rx.Init.Priority = DMA_PRIORITY_LOW;
hdma_usart3_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; hdma_usart3_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma_usart3_rx) != HAL_OK) if (HAL_DMA_Init(&hdma_usart3_rx) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
} }
__HAL_LINKDMA(uartHandle,hdmarx,hdma_usart3_rx); __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart3_rx);
/* USER CODE BEGIN USART3_MspInit 1 */ /* USER CODE BEGIN USART3_MspInit 1 */
/* USER CODE END USART3_MspInit 1 */ /* USER CODE END USART3_MspInit 1 */
} }
else if(uartHandle->Instance==USART6) else if(uartHandle->Instance==USART6)
{ {
/* USER CODE BEGIN USART6_MspInit 0 */ /* USER CODE BEGIN USART6_MspInit 0 */
/* USER CODE END USART6_MspInit 0 */ /* USER CODE END USART6_MspInit 0 */
/* USART6 clock enable */ /* USART6 clock enable */
__HAL_RCC_USART6_CLK_ENABLE(); __HAL_RCC_USART6_CLK_ENABLE();
__HAL_RCC_GPIOG_CLK_ENABLE(); __HAL_RCC_GPIOG_CLK_ENABLE();
/**USART6 GPIO Configuration /**USART6 GPIO Configuration
PG14 ------> USART6_TX PG14 ------> USART6_TX
PG9 ------> USART6_RX PG9 ------> USART6_RX
*/ */
GPIO_InitStruct.Pin = GPIO_PIN_14|GPIO_PIN_9; GPIO_InitStruct.Pin = GPIO_PIN_14|GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF8_USART6; GPIO_InitStruct.Alternate = GPIO_AF8_USART6;
HAL_GPIO_Init(GPIOG, &GPIO_InitStruct); HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);
/* USART6 DMA Init */ /* USART6 DMA Init */
/* USART6_RX Init */ /* USART6_RX Init */
hdma_usart6_rx.Instance = DMA2_Stream1; hdma_usart6_rx.Instance = DMA2_Stream1;
hdma_usart6_rx.Init.Channel = DMA_CHANNEL_5; hdma_usart6_rx.Init.Channel = DMA_CHANNEL_5;
hdma_usart6_rx.Init.Direction = DMA_PERIPH_TO_MEMORY; hdma_usart6_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_usart6_rx.Init.PeriphInc = DMA_PINC_DISABLE; hdma_usart6_rx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_usart6_rx.Init.MemInc = DMA_MINC_ENABLE; hdma_usart6_rx.Init.MemInc = DMA_MINC_ENABLE;
hdma_usart6_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; hdma_usart6_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_usart6_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; hdma_usart6_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_usart6_rx.Init.Mode = DMA_NORMAL; hdma_usart6_rx.Init.Mode = DMA_NORMAL;
hdma_usart6_rx.Init.Priority = DMA_PRIORITY_LOW; hdma_usart6_rx.Init.Priority = DMA_PRIORITY_LOW;
hdma_usart6_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; hdma_usart6_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma_usart6_rx) != HAL_OK) if (HAL_DMA_Init(&hdma_usart6_rx) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
} }
__HAL_LINKDMA(uartHandle,hdmarx,hdma_usart6_rx); __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart6_rx);
/* USART6_TX Init */ /* USART6_TX Init */
hdma_usart6_tx.Instance = DMA2_Stream6; hdma_usart6_tx.Instance = DMA2_Stream6;
hdma_usart6_tx.Init.Channel = DMA_CHANNEL_5; hdma_usart6_tx.Init.Channel = DMA_CHANNEL_5;
hdma_usart6_tx.Init.Direction = DMA_MEMORY_TO_PERIPH; hdma_usart6_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
hdma_usart6_tx.Init.PeriphInc = DMA_PINC_DISABLE; hdma_usart6_tx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_usart6_tx.Init.MemInc = DMA_MINC_ENABLE; hdma_usart6_tx.Init.MemInc = DMA_MINC_ENABLE;
hdma_usart6_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; hdma_usart6_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_usart6_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; hdma_usart6_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_usart6_tx.Init.Mode = DMA_NORMAL; hdma_usart6_tx.Init.Mode = DMA_NORMAL;
hdma_usart6_tx.Init.Priority = DMA_PRIORITY_LOW; hdma_usart6_tx.Init.Priority = DMA_PRIORITY_LOW;
hdma_usart6_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; hdma_usart6_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma_usart6_tx) != HAL_OK) if (HAL_DMA_Init(&hdma_usart6_tx) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
} }
__HAL_LINKDMA(uartHandle,hdmatx,hdma_usart6_tx); __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart6_tx);
/* USART6 interrupt Init */ /* USART6 interrupt Init */
HAL_NVIC_SetPriority(USART6_IRQn, 5, 0); HAL_NVIC_SetPriority(USART6_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(USART6_IRQn); HAL_NVIC_EnableIRQ(USART6_IRQn);
/* USER CODE BEGIN USART6_MspInit 1 */ /* USER CODE BEGIN USART6_MspInit 1 */
/* USER CODE END USART6_MspInit 1 */ /* USER CODE END USART6_MspInit 1 */
} }
} }
void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle) void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
{ {
if(uartHandle->Instance==USART3) if(uartHandle->Instance==USART3)
{ {
/* USER CODE BEGIN USART3_MspDeInit 0 */ /* USER CODE BEGIN USART3_MspDeInit 0 */
/* USER CODE END USART3_MspDeInit 0 */ /* USER CODE END USART3_MspDeInit 0 */
/* Peripheral clock disable */ /* Peripheral clock disable */
__HAL_RCC_USART3_CLK_DISABLE(); __HAL_RCC_USART3_CLK_DISABLE();
/**USART3 GPIO Configuration /**USART3 GPIO Configuration
PC11 ------> USART3_RX PC11 ------> USART3_RX
PC10 ------> USART3_TX PC10 ------> USART3_TX
*/ */
HAL_GPIO_DeInit(GPIOC, GPIO_PIN_11|GPIO_PIN_10); HAL_GPIO_DeInit(GPIOC, GPIO_PIN_11|GPIO_PIN_10);
/* USART3 DMA DeInit */ /* USART3 DMA DeInit */
HAL_DMA_DeInit(uartHandle->hdmarx); HAL_DMA_DeInit(uartHandle->hdmarx);
/* USER CODE BEGIN USART3_MspDeInit 1 */ /* USER CODE BEGIN USART3_MspDeInit 1 */
/* USER CODE END USART3_MspDeInit 1 */ /* USER CODE END USART3_MspDeInit 1 */
} }
else if(uartHandle->Instance==USART6) else if(uartHandle->Instance==USART6)
{ {
/* USER CODE BEGIN USART6_MspDeInit 0 */ /* USER CODE BEGIN USART6_MspDeInit 0 */
/* USER CODE END USART6_MspDeInit 0 */ /* USER CODE END USART6_MspDeInit 0 */
/* Peripheral clock disable */ /* Peripheral clock disable */
__HAL_RCC_USART6_CLK_DISABLE(); __HAL_RCC_USART6_CLK_DISABLE();
/**USART6 GPIO Configuration /**USART6 GPIO Configuration
PG14 ------> USART6_TX PG14 ------> USART6_TX
PG9 ------> USART6_RX PG9 ------> USART6_RX
*/ */
HAL_GPIO_DeInit(GPIOG, GPIO_PIN_14|GPIO_PIN_9); HAL_GPIO_DeInit(GPIOG, GPIO_PIN_14|GPIO_PIN_9);
/* USART6 DMA DeInit */ /* USART6 DMA DeInit */
HAL_DMA_DeInit(uartHandle->hdmarx); HAL_DMA_DeInit(uartHandle->hdmarx);
HAL_DMA_DeInit(uartHandle->hdmatx); HAL_DMA_DeInit(uartHandle->hdmatx);
/* USART6 interrupt Deinit */ /* USART6 interrupt Deinit */
HAL_NVIC_DisableIRQ(USART6_IRQn); HAL_NVIC_DisableIRQ(USART6_IRQn);
/* USER CODE BEGIN USART6_MspDeInit 1 */ /* USER CODE BEGIN USART6_MspDeInit 1 */
/* USER CODE END USART6_MspDeInit 1 */ /* USER CODE END USART6_MspDeInit 1 */
} }
} }
/* USER CODE BEGIN 1 */ /* USER CODE BEGIN 1 */
/* USER CODE END 1 */ /* USER CODE END 1 */

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@ -1,115 +1,115 @@
/** /**
****************************************************************************** ******************************************************************************
* @file stm32f4xx_hal_i2c_ex.h * @file stm32f4xx_hal_i2c_ex.h
* @author MCD Application Team * @author MCD Application Team
* @brief Header file of I2C HAL Extension module. * @brief Header file of I2C HAL Extension module.
****************************************************************************** ******************************************************************************
* @attention * @attention
* *
* Copyright (c) 2016 STMicroelectronics. * Copyright (c) 2016 STMicroelectronics.
* All rights reserved. * All rights reserved.
* *
* This software is licensed under terms that can be found in the LICENSE file * This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component. * in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS. * If no LICENSE file comes with this software, it is provided AS-IS.
* *
****************************************************************************** ******************************************************************************
*/ */
/* Define to prevent recursive inclusion -------------------------------------*/ /* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32F4xx_HAL_I2C_EX_H #ifndef __STM32F4xx_HAL_I2C_EX_H
#define __STM32F4xx_HAL_I2C_EX_H #define __STM32F4xx_HAL_I2C_EX_H
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
#if defined(I2C_FLTR_ANOFF)&&defined(I2C_FLTR_DNF) #if defined(I2C_FLTR_ANOFF)&&defined(I2C_FLTR_DNF)
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal_def.h" #include "stm32f4xx_hal_def.h"
/** @addtogroup STM32F4xx_HAL_Driver /** @addtogroup STM32F4xx_HAL_Driver
* @{ * @{
*/ */
/** @addtogroup I2CEx /** @addtogroup I2CEx
* @{ * @{
*/ */
/* Exported types ------------------------------------------------------------*/ /* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/ /* Exported constants --------------------------------------------------------*/
/** @defgroup I2CEx_Exported_Constants I2C Exported Constants /** @defgroup I2CEx_Exported_Constants I2C Exported Constants
* @{ * @{
*/ */
/** @defgroup I2CEx_Analog_Filter I2C Analog Filter /** @defgroup I2CEx_Analog_Filter I2C Analog Filter
* @{ * @{
*/ */
#define I2C_ANALOGFILTER_ENABLE 0x00000000U #define I2C_ANALOGFILTER_ENABLE 0x00000000U
#define I2C_ANALOGFILTER_DISABLE I2C_FLTR_ANOFF #define I2C_ANALOGFILTER_DISABLE I2C_FLTR_ANOFF
/** /**
* @} * @}
*/ */
/** /**
* @} * @}
*/ */
/* Exported macro ------------------------------------------------------------*/ /* Exported macro ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/ /* Exported functions --------------------------------------------------------*/
/** @addtogroup I2CEx_Exported_Functions /** @addtogroup I2CEx_Exported_Functions
* @{ * @{
*/ */
/** @addtogroup I2CEx_Exported_Functions_Group1 /** @addtogroup I2CEx_Exported_Functions_Group1
* @{ * @{
*/ */
/* Peripheral Control functions ************************************************/ /* Peripheral Control functions ************************************************/
HAL_StatusTypeDef HAL_I2CEx_ConfigAnalogFilter(I2C_HandleTypeDef *hi2c, uint32_t AnalogFilter); HAL_StatusTypeDef HAL_I2CEx_ConfigAnalogFilter(I2C_HandleTypeDef *hi2c, uint32_t AnalogFilter);
HAL_StatusTypeDef HAL_I2CEx_ConfigDigitalFilter(I2C_HandleTypeDef *hi2c, uint32_t DigitalFilter); HAL_StatusTypeDef HAL_I2CEx_ConfigDigitalFilter(I2C_HandleTypeDef *hi2c, uint32_t DigitalFilter);
/** /**
* @} * @}
*/ */
/** /**
* @} * @}
*/ */
/* Private types -------------------------------------------------------------*/ /* Private types -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/ /* Private variables ---------------------------------------------------------*/
/* Private constants ---------------------------------------------------------*/ /* Private constants ---------------------------------------------------------*/
/** @defgroup I2CEx_Private_Constants I2C Private Constants /** @defgroup I2CEx_Private_Constants I2C Private Constants
* @{ * @{
*/ */
/** /**
* @} * @}
*/ */
/* Private macros ------------------------------------------------------------*/ /* Private macros ------------------------------------------------------------*/
/** @defgroup I2CEx_Private_Macros I2C Private Macros /** @defgroup I2CEx_Private_Macros I2C Private Macros
* @{ * @{
*/ */
#define IS_I2C_ANALOG_FILTER(FILTER) (((FILTER) == I2C_ANALOGFILTER_ENABLE) || \ #define IS_I2C_ANALOG_FILTER(FILTER) (((FILTER) == I2C_ANALOGFILTER_ENABLE) || \
((FILTER) == I2C_ANALOGFILTER_DISABLE)) ((FILTER) == I2C_ANALOGFILTER_DISABLE))
#define IS_I2C_DIGITAL_FILTER(FILTER) ((FILTER) <= 0x0000000FU) #define IS_I2C_DIGITAL_FILTER(FILTER) ((FILTER) <= 0x0000000FU)
/** /**
* @} * @}
*/ */
/** /**
* @} * @}
*/ */
/** /**
* @} * @}
*/ */
#endif #endif
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif /* __STM32F4xx_HAL_I2C_EX_H */ #endif /* __STM32F4xx_HAL_I2C_EX_H */

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Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_i2c.h
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Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c
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Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c
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@ -1,182 +1,182 @@
/** /**
****************************************************************************** ******************************************************************************
* @file stm32f4xx_hal_i2c_ex.c * @file stm32f4xx_hal_i2c_ex.c
* @author MCD Application Team * @author MCD Application Team
* @brief I2C Extension HAL module driver. * @brief I2C Extension HAL module driver.
* This file provides firmware functions to manage the following * This file provides firmware functions to manage the following
* functionalities of I2C extension peripheral: * functionalities of I2C extension peripheral:
* + Extension features functions * + Extension features functions
* *
****************************************************************************** ******************************************************************************
* @attention * @attention
* *
* Copyright (c) 2016 STMicroelectronics. * Copyright (c) 2016 STMicroelectronics.
* All rights reserved. * All rights reserved.
* *
* This software is licensed under terms that can be found in the LICENSE file * This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component. * in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS. * If no LICENSE file comes with this software, it is provided AS-IS.
* *
****************************************************************************** ******************************************************************************
@verbatim @verbatim
============================================================================== ==============================================================================
##### I2C peripheral extension features ##### ##### I2C peripheral extension features #####
============================================================================== ==============================================================================
[..] Comparing to other previous devices, the I2C interface for STM32F427xx/437xx/ [..] Comparing to other previous devices, the I2C interface for STM32F427xx/437xx/
429xx/439xx devices contains the following additional features : 429xx/439xx devices contains the following additional features :
(+) Possibility to disable or enable Analog Noise Filter (+) Possibility to disable or enable Analog Noise Filter
(+) Use of a configured Digital Noise Filter (+) Use of a configured Digital Noise Filter
##### How to use this driver ##### ##### How to use this driver #####
============================================================================== ==============================================================================
[..] This driver provides functions to configure Noise Filter [..] This driver provides functions to configure Noise Filter
(#) Configure I2C Analog noise filter using the function HAL_I2C_AnalogFilter_Config() (#) Configure I2C Analog noise filter using the function HAL_I2C_AnalogFilter_Config()
(#) Configure I2C Digital noise filter using the function HAL_I2C_DigitalFilter_Config() (#) Configure I2C Digital noise filter using the function HAL_I2C_DigitalFilter_Config()
@endverbatim @endverbatim
*/ */
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h" #include "stm32f4xx_hal.h"
/** @addtogroup STM32F4xx_HAL_Driver /** @addtogroup STM32F4xx_HAL_Driver
* @{ * @{
*/ */
/** @defgroup I2CEx I2CEx /** @defgroup I2CEx I2CEx
* @brief I2C HAL module driver * @brief I2C HAL module driver
* @{ * @{
*/ */
#ifdef HAL_I2C_MODULE_ENABLED #ifdef HAL_I2C_MODULE_ENABLED
#if defined(I2C_FLTR_ANOFF)&&defined(I2C_FLTR_DNF) #if defined(I2C_FLTR_ANOFF)&&defined(I2C_FLTR_DNF)
/* Private typedef -----------------------------------------------------------*/ /* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/ /* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/ /* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/ /* Private variables ---------------------------------------------------------*/
/* Private function prototypes -----------------------------------------------*/ /* Private function prototypes -----------------------------------------------*/
/* Exported functions --------------------------------------------------------*/ /* Exported functions --------------------------------------------------------*/
/** @defgroup I2CEx_Exported_Functions I2C Exported Functions /** @defgroup I2CEx_Exported_Functions I2C Exported Functions
* @{ * @{
*/ */
/** @defgroup I2CEx_Exported_Functions_Group1 Extension features functions /** @defgroup I2CEx_Exported_Functions_Group1 Extension features functions
* @brief Extension features functions * @brief Extension features functions
* *
@verbatim @verbatim
=============================================================================== ===============================================================================
##### Extension features functions ##### ##### Extension features functions #####
=============================================================================== ===============================================================================
[..] This section provides functions allowing to: [..] This section provides functions allowing to:
(+) Configure Noise Filters (+) Configure Noise Filters
@endverbatim @endverbatim
* @{ * @{
*/ */
/** /**
* @brief Configures I2C Analog noise filter. * @brief Configures I2C Analog noise filter.
* @param hi2c pointer to a I2C_HandleTypeDef structure that contains * @param hi2c pointer to a I2C_HandleTypeDef structure that contains
* the configuration information for the specified I2Cx peripheral. * the configuration information for the specified I2Cx peripheral.
* @param AnalogFilter new state of the Analog filter. * @param AnalogFilter new state of the Analog filter.
* @retval HAL status * @retval HAL status
*/ */
HAL_StatusTypeDef HAL_I2CEx_ConfigAnalogFilter(I2C_HandleTypeDef *hi2c, uint32_t AnalogFilter) HAL_StatusTypeDef HAL_I2CEx_ConfigAnalogFilter(I2C_HandleTypeDef *hi2c, uint32_t AnalogFilter)
{ {
/* Check the parameters */ /* Check the parameters */
assert_param(IS_I2C_ALL_INSTANCE(hi2c->Instance)); assert_param(IS_I2C_ALL_INSTANCE(hi2c->Instance));
assert_param(IS_I2C_ANALOG_FILTER(AnalogFilter)); assert_param(IS_I2C_ANALOG_FILTER(AnalogFilter));
if (hi2c->State == HAL_I2C_STATE_READY) if (hi2c->State == HAL_I2C_STATE_READY)
{ {
hi2c->State = HAL_I2C_STATE_BUSY; hi2c->State = HAL_I2C_STATE_BUSY;
/* Disable the selected I2C peripheral */ /* Disable the selected I2C peripheral */
__HAL_I2C_DISABLE(hi2c); __HAL_I2C_DISABLE(hi2c);
/* Reset I2Cx ANOFF bit */ /* Reset I2Cx ANOFF bit */
hi2c->Instance->FLTR &= ~(I2C_FLTR_ANOFF); hi2c->Instance->FLTR &= ~(I2C_FLTR_ANOFF);
/* Disable the analog filter */ /* Disable the analog filter */
hi2c->Instance->FLTR |= AnalogFilter; hi2c->Instance->FLTR |= AnalogFilter;
__HAL_I2C_ENABLE(hi2c); __HAL_I2C_ENABLE(hi2c);
hi2c->State = HAL_I2C_STATE_READY; hi2c->State = HAL_I2C_STATE_READY;
return HAL_OK; return HAL_OK;
} }
else else
{ {
return HAL_BUSY; return HAL_BUSY;
} }
} }
/** /**
* @brief Configures I2C Digital noise filter. * @brief Configures I2C Digital noise filter.
* @param hi2c pointer to a I2C_HandleTypeDef structure that contains * @param hi2c pointer to a I2C_HandleTypeDef structure that contains
* the configuration information for the specified I2Cx peripheral. * the configuration information for the specified I2Cx peripheral.
* @param DigitalFilter Coefficient of digital noise filter between 0x00 and 0x0F. * @param DigitalFilter Coefficient of digital noise filter between 0x00 and 0x0F.
* @retval HAL status * @retval HAL status
*/ */
HAL_StatusTypeDef HAL_I2CEx_ConfigDigitalFilter(I2C_HandleTypeDef *hi2c, uint32_t DigitalFilter) HAL_StatusTypeDef HAL_I2CEx_ConfigDigitalFilter(I2C_HandleTypeDef *hi2c, uint32_t DigitalFilter)
{ {
uint16_t tmpreg = 0; uint16_t tmpreg = 0;
/* Check the parameters */ /* Check the parameters */
assert_param(IS_I2C_ALL_INSTANCE(hi2c->Instance)); assert_param(IS_I2C_ALL_INSTANCE(hi2c->Instance));
assert_param(IS_I2C_DIGITAL_FILTER(DigitalFilter)); assert_param(IS_I2C_DIGITAL_FILTER(DigitalFilter));
if (hi2c->State == HAL_I2C_STATE_READY) if (hi2c->State == HAL_I2C_STATE_READY)
{ {
hi2c->State = HAL_I2C_STATE_BUSY; hi2c->State = HAL_I2C_STATE_BUSY;
/* Disable the selected I2C peripheral */ /* Disable the selected I2C peripheral */
__HAL_I2C_DISABLE(hi2c); __HAL_I2C_DISABLE(hi2c);
/* Get the old register value */ /* Get the old register value */
tmpreg = hi2c->Instance->FLTR; tmpreg = hi2c->Instance->FLTR;
/* Reset I2Cx DNF bit [3:0] */ /* Reset I2Cx DNF bit [3:0] */
tmpreg &= ~(I2C_FLTR_DNF); tmpreg &= ~(I2C_FLTR_DNF);
/* Set I2Cx DNF coefficient */ /* Set I2Cx DNF coefficient */
tmpreg |= DigitalFilter; tmpreg |= DigitalFilter;
/* Store the new register value */ /* Store the new register value */
hi2c->Instance->FLTR = tmpreg; hi2c->Instance->FLTR = tmpreg;
__HAL_I2C_ENABLE(hi2c); __HAL_I2C_ENABLE(hi2c);
hi2c->State = HAL_I2C_STATE_READY; hi2c->State = HAL_I2C_STATE_READY;
return HAL_OK; return HAL_OK;
} }
else else
{ {
return HAL_BUSY; return HAL_BUSY;
} }
} }
/** /**
* @} * @}
*/ */
/** /**
* @} * @}
*/ */
#endif #endif
#endif /* HAL_I2C_MODULE_ENABLED */ #endif /* HAL_I2C_MODULE_ENABLED */
/** /**
* @} * @}
*/ */
/** /**
* @} * @}
*/ */

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MDK-ARM/JLinkLog.txt
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MDK-ARM/hero.uvguix.yxm23
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MDK-ARM/hero.uvoptx
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59
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47
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50
MDK-ARM/hero/can_1.d
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@ -1,50 +0,0 @@
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58
MDK-ARM/hero/chassis.d
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
..\User\module\chassis.h ..\Core\Inc\main.h \
..\User\component\at9s_pro_cmd.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
..\User\device\at9s_pro.h ..\User\component\user_math.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\float.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\math.h ..\User\device\device.h

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MDK-ARM/hero/ctrl_gimbal.d
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@ -1,58 +0,0 @@
hero/ctrl_gimbal.o: ..\User\task\ctrl_gimbal.c ..\User\task\user_task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
..\Core\Inc\FreeRTOSConfig.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
..\User\component\ahrs.h ..\User\component\user_math.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\float.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\math.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
..\User\module\gimbal.h ..\User\component\filter.h \
..\User\component\pid.h ..\User\device\motor.h ..\User\device\device.h \
..\User\device\motor_dm.h ..\User\bsp\can.h ..\Core\Inc\can.h \
..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
..\Core\Inc\stm32f4xx_hal_conf.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
..\Drivers\CMSIS\Include\core_cm4.h \
..\Drivers\CMSIS\Include\cmsis_version.h \
..\Drivers\CMSIS\Include\cmsis_compiler.h \
..\Drivers\CMSIS\Include\cmsis_armclang.h \
..\Drivers\CMSIS\Include\mpu_armv7.h \
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.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_hal_exti.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.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_i2c.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.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_hal_spi.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
..\User\bsp\bsp.h ..\User\bsp\mm.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\device\motor_rm.h ..\User\module\config.h \
..\User\module\shoot.h ..\Core\Inc\main.h ..\User\module\chassis.h \
..\User\component\at9s_pro_cmd.h ..\User\device\at9s_pro.h

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MDK-ARM/hero/ctrl_shoot.d
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hero/ctrl_shoot.o: ..\User\task\ctrl_shoot.c ..\User\task\user_task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
..\Core\Inc\FreeRTOSConfig.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
..\User\component\at9s_pro_cmd.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
..\User\device\at9s_pro.h ..\User\component\user_math.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\float.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\math.h ..\User\device\device.h \
..\User\module\shoot.h ..\Core\Inc\main.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
..\Core\Inc\stm32f4xx_hal_conf.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
..\Drivers\CMSIS\Include\core_cm4.h \
..\Drivers\CMSIS\Include\cmsis_version.h \
..\Drivers\CMSIS\Include\cmsis_compiler.h \
..\Drivers\CMSIS\Include\cmsis_armclang.h \
..\Drivers\CMSIS\Include\mpu_armv7.h \
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.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_hal_exti.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.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_i2c.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.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_hal_spi.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
..\User\component\pid.h ..\User\component\filter.h \
..\User\device\motor_rm.h ..\User\device\motor.h ..\User\bsp\can.h \
..\Core\Inc\can.h ..\Core\Inc\main.h ..\User\bsp\bsp.h \
..\User\bsp\mm.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\module\config.h ..\User\module\gimbal.h \
..\User\component\ahrs.h ..\User\device\motor_dm.h \
..\User\module\chassis.h

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MDK-ARM/hero/dr16.d
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@ -2,14 +2,12 @@ hero/dr16.o: ..\User\device\dr16.c ..\User\device\dr16.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \ D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \ D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
..\User\component\dr16_cmd.h \ ..\User\component\user_math.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
..\User\component\component.h ..\User\component\user_math.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\float.h \ D:\cangming\ARM\ARMCLANG\Bin\..\include\float.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\math.h ..\User\device\device.h \ D:\cangming\ARM\ARMCLANG\Bin\..\include\math.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\string.h ..\User\bsp\uart.h \ D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
..\Core\Inc\usart.h ..\Core\Inc\main.h \ ..\User\device\device.h ..\User\bsp\uart.h ..\Core\Inc\usart.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \ ..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
..\Core\Inc\stm32f4xx_hal_conf.h \ ..\Core\Inc\stm32f4xx_hal_conf.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
@ -41,4 +39,5 @@ hero/dr16.o: ..\User\device\dr16.c ..\User\device\dr16.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.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_hal_uart.h \
..\User\bsp\bsp.h ..\User\bsp\bsp.h ..\User\bsp\time.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\string.h

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hero/event_groups.o: \
..\Middlewares\Third_Party\FreeRTOS\Source\event_groups.c \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stdlib.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
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..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\timers.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\event_groups.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\timers.h

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MDK-ARM/hero/freertos.d
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@ -1,48 +0,0 @@
hero/freertos.o: ..\Core\Src\freertos.c \
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
..\Core\Inc\FreeRTOSConfig.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
..\Core\Inc\stm32f4xx_hal_conf.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
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..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
..\Drivers\CMSIS\Include\core_cm4.h \
..\Drivers\CMSIS\Include\cmsis_version.h \
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..\Drivers\CMSIS\Include\cmsis_armclang.h \
..\Drivers\CMSIS\Include\mpu_armv7.h \
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
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..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\task\user_task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h

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MDK-ARM/hero/gimbal.d
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@ -1,55 +0,0 @@
hero/gimbal.o: ..\User\module\gimbal.c ..\User\module\gimbal.h \
..\User\component\ahrs.h ..\User\component\user_math.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\float.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\math.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
..\User\component\filter.h ..\User\component\pid.h \
..\User\device\motor.h ..\User\device\device.h \
..\User\device\motor_dm.h ..\User\bsp\can.h ..\Core\Inc\can.h \
..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
..\Core\Inc\stm32f4xx_hal_conf.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
..\User\bsp\bsp.h ..\User\bsp\mm.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
..\Core\Inc\FreeRTOSConfig.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\device\motor_rm.h ..\User\bsp\time.h

BIN
MDK-ARM/hero/gimbal.o
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MDK-ARM/hero/gpio.o
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MDK-ARM/hero/gpio_1.o
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14
MDK-ARM/hero/heap_4.d
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@ -1,14 +0,0 @@
hero/heap_4.o: \
..\Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stdlib.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
..\Core\Inc\FreeRTOSConfig.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h

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MDK-ARM/hero/heap_4.o
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MDK-ARM/hero/hero.axf
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313
MDK-ARM/hero/hero.build_log.htm
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@ -21,8 +21,8 @@ Target DLL: Segger\JL2CM3.dll V2.99.38.0
Dialog DLL: TCM.DLL V1.48.0.0 Dialog DLL: TCM.DLL V1.48.0.0
<h2>Project:</h2> <h2>Project:</h2>
D:\CUBEMX\hero\MDK-ARM\hero.uvprojx D:\CUBEMX\hero\god-yuan-hero\MDK-ARM\hero.uvprojx
Project File Date: 10/14/2025 Project File Date: 12/05/2025
<h2>Output:</h2> <h2>Output:</h2>
*** Using Compiler 'V6.16', folder: 'D:\cangming\ARM\ARMCLANG\Bin' *** Using Compiler 'V6.16', folder: 'D:\cangming\ARM\ARMCLANG\Bin'
@ -30,12 +30,308 @@ Build target 'hero'
Note: source file '..\User\bsp\can.c' - object file renamed from 'hero\can.o' to 'hero\can_1.o'. Note: source file '..\User\bsp\can.c' - object file renamed from 'hero\can.o' to 'hero\can_1.o'.
Note: source file '..\User\bsp\gpio.c' - object file renamed from 'hero\gpio.o' to 'hero\gpio_1.o'. Note: source file '..\User\bsp\gpio.c' - object file renamed from 'hero\gpio.o' to 'hero\gpio_1.o'.
Note: source file '..\User\bsp\spi.c' - object file renamed from 'hero\spi.o' to 'hero\spi_1.o'. Note: source file '..\User\bsp\spi.c' - object file renamed from 'hero\spi.o' to 'hero\spi_1.o'.
compiling blink.c... Note: source file '..\User\task\cmd.c' - object file renamed from 'hero\cmd.o' to 'hero\cmd_1.o'.
../Core/Src/main.c(21): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
#include "portmacro.h"
^~~~~~~~~~~~~
1 error generated.
compiling main.c...
compiling stm32f4xx_hal_flash_ramfunc.c...
compiling gpio.c...
compiling dma.c...
compiling stm32f4xx_hal_rcc_ex.c...
compiling i2c.c...
compiling stm32f4xx_hal_can.c...
compiling stm32f4xx_hal_pwr.c...
compiling stm32f4xx_hal_dma.c...
compiling stm32f4xx_hal_msp.c...
compiling usart.c...
compiling stm32f4xx_hal_pwr_ex.c...
compiling tim.c...
compiling stm32f4xx_hal_flash_ex.c...
compiling spi.c...
../Core/Src/freertos.c(21): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
#include "portmacro.h"
^~~~~~~~~~~~~
1 error generated.
compiling freertos.c...
compiling stm32f4xx_hal_gpio.c...
compiling stm32f4xx_hal_i2c_ex.c...
compiling stm32f4xx_hal_rcc.c...
compiling stm32f4xx_hal_cortex.c...
compiling stm32f4xx_hal_dma_ex.c...
compiling stm32f4xx_hal.c...
../Core/Src/stm32f4xx_it.c(23): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
#include "portmacro.h"
^~~~~~~~~~~~~
1 error generated.
compiling stm32f4xx_it.c...
compiling stm32f4xx_hal_exti.c...
compiling stm32f4xx_hal_flash.c...
compiling can.c...
compiling stm32f4xx_hal_tim_ex.c...
compiling stm32f4xx_hal_uart.c...
compiling stm32f4xx_hal_spi.c...
compiling stm32f4xx_hal_i2c.c...
compiling stm32f4xx_hal_tim.c...
../Middlewares/Third_Party/FreeRTOS/Source/croutine.c(28): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
#include "portmacro.h"
^~~~~~~~~~~~~
1 error generated.
compiling croutine.c...
compiling system_stm32f4xx.c...
../Middlewares/Third_Party/FreeRTOS/Source/event_groups.c(37): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
#include "portmacro.h"
^~~~~~~~~~~~~
1 error generated.
compiling event_groups.c...
../Middlewares/Third_Party/FreeRTOS/Source/list.c(30): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
#include "portmacro.h"
^~~~~~~~~~~~~
1 error generated.
compiling list.c...
../Middlewares/Third_Party/FreeRTOS/Source/queue.c(36): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
#include "portmacro.h"
^~~~~~~~~~~~~
1 error generated.
compiling queue.c...
../Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c(38): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
#include "portmacro.h"
^~~~~~~~~~~~~
1 error generated.
compiling stream_buffer.c...
../Middlewares/Third_Party/FreeRTOS/Source/tasks.c(38): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
#include "portmacro.h"
^~~~~~~~~~~~~
1 error generated.
compiling tasks.c...
../Middlewares/Third_Party/FreeRTOS/Source/timers.c(36): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
#include "portmacro.h"
^~~~~~~~~~~~~
1 error generated.
compiling timers.c...
ArmClang: error: no such file or directory: '../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c'
ArmClang: error: no input files
compiling port.c...
../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c(43): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
#include "portmacro.h"
^~~~~~~~~~~~~
1 error generated.
compiling heap_4.c...
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c(28): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
#include "portmacro.h"
^~~~~~~~~~~~~
1 error generated.
compiling cmsis_os2.c...
../User/bsp/can.c(2): warning: In file included from...
../User\bsp/can.h(13): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
#include "portmacro.h"
^~~~~~~~~~~~~
1 error generated.
compiling can.c...
compiling dwt.c...
../User/bsp/mm.c(4): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
#include "portmacro.h"
^~~~~~~~~~~~~
1 error generated.
compiling mm.c...
compiling gpio.c...
compiling pwm.c...
../User/bsp/time.c(6): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
#include "portmacro.h"
^~~~~~~~~~~~~
1 error generated.
compiling time.c...
compiling uart.c...
compiling spi.c...
compiling AT9S_Pro.c...
compiling bmi088.c...
compiling motor.c...
../User/device/motor_dm.c(7): warning: In file included from...
../User\device/motor_dm.h(10): warning: In file included from...
../User\bsp/can.h(13): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
#include "portmacro.h"
^~~~~~~~~~~~~
1 error generated.
compiling motor_dm.c...
../User/device/motor_rm.c(5): warning: In file included from...
../User/device/motor_rm.h(11): warning: In file included from...
../User\bsp/can.h(13): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
#include "portmacro.h"
^~~~~~~~~~~~~
1 error generated.
compiling motor_rm.c...
compiling vofa.c...
compiling dr16.c...
compiling ahrs.c...
compiling filter.c...
compiling mixer.c...
compiling user_math.c...
compiling pid.c...
../User/module/gimbal.c(6): warning: In file included from...
../User/module/gimbal.h(16): warning: In file included from...
../User\device/motor_dm.h(10): warning: In file included from...
../User\bsp/can.h(13): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
#include "portmacro.h"
^~~~~~~~~~~~~
1 error generated.
compiling gimbal.c...
../User/module/config.c(6): warning: In file included from...
../User\module/config.h(14): warning: In file included from...
../User\device/motor_rm.h(11): warning: In file included from...
../User\bsp/can.h(13): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
#include "portmacro.h"
^~~~~~~~~~~~~
1 error generated.
compiling config.c...
../User/module/shoot.c(36): warning: In file included from...
../User/module/shoot.h(14): warning: In file included from...
../User\device/motor_rm.h(11): warning: In file included from...
../User\bsp/can.h(13): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
#include "portmacro.h"
^~~~~~~~~~~~~
1 error generated.
compiling shoot.c...
../User/module/chassis.c(8): warning: In file included from...
../User\bsp/can.h(13): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
#include "portmacro.h"
^~~~~~~~~~~~~
1 error generated.
compiling chassis.c... compiling chassis.c...
linking... ../User/module/cmd.c(4): warning: In file included from...
Program Size: Code=89872 RO-data=1200 RW-data=624 ZI-data=42304 ../User\module/cmd.h(11): warning: In file included from...
FromELF: creating hex file... ../User\module/chassis.h(13): warning: In file included from...
"hero\hero.axf" - 0 Error(s), 0 Warning(s). ../User\bsp/can.h(13): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
#include "portmacro.h"
^~~~~~~~~~~~~
1 error generated.
compiling cmd.c...
../User/task/atti_esti.c(7): warning: In file included from...
../User\task/user_task.h(8): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
#include "portmacro.h"
^~~~~~~~~~~~~
1 error generated.
compiling atti_esti.c...
../User/task/init.c(7): warning: In file included from...
../User\task/user_task.h(8): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
#include "portmacro.h"
^~~~~~~~~~~~~
1 error generated.
compiling init.c...
../User/task/rc.c(9): warning: In file included from...
../User\task/user_task.h(8): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
#include "portmacro.h"
^~~~~~~~~~~~~
1 error generated.
compiling rc.c...
../User/task/user_task.c(1): warning: In file included from...
../User\task/user_task.h(8): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
#include "portmacro.h"
^~~~~~~~~~~~~
1 error generated.
compiling user_task.c...
../User/task/blink.c(7): warning: In file included from...
../User\task/user_task.h(8): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
#include "portmacro.h"
^~~~~~~~~~~~~
1 error generated.
compiling blink.c...
../User/task/ctrl_chassis.c(7): warning: In file included from...
../User\task/user_task.h(8): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
#include "portmacro.h"
^~~~~~~~~~~~~
1 error generated.
compiling ctrl_chassis.c...
../User/task/ctrl_gimbal.c(7): warning: In file included from...
../User\task/user_task.h(8): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
#include "portmacro.h"
^~~~~~~~~~~~~
1 error generated.
compiling ctrl_gimbal.c...
../User/task/ctrl_shoot.c(7): warning: In file included from...
../User\task/user_task.h(8): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
#include "portmacro.h"
^~~~~~~~~~~~~
1 error generated.
compiling ctrl_shoot.c...
../User/task/cmd.c(7): warning: In file included from...
../User\task/user_task.h(8): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
#include "portmacro.h"
^~~~~~~~~~~~~
1 error generated.
compiling cmd.c...
"hero\hero.axf" - 33 Error(s), 0 Warning(s).
<h2>Software Packages used:</h2> <h2>Software Packages used:</h2>
@ -59,7 +355,8 @@ Package Vendor: Keil
* Component: ARM::CMSIS:CORE:5.4.0 * Component: ARM::CMSIS:CORE:5.4.0
Include file: CMSIS\Core\Include\tz_context.h Include file: CMSIS\Core\Include\tz_context.h
Build Time Elapsed: 00:00:01 Target not created.
Build Time Elapsed: 00:00:07
</pre> </pre>
</body> </body>
</html> </html>

11388
MDK-ARM/hero/hero.hex
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6046
MDK-ARM/hero/hero.htm
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File diff suppressed because it is too large Load Diff

5
MDK-ARM/hero/hero.lnp
View File

@ -56,8 +56,8 @@
"hero\motor_dm.o" "hero\motor_dm.o"
"hero\motor_rm.o" "hero\motor_rm.o"
"hero\vofa.o" "hero\vofa.o"
"hero\dr16.o"
"hero\ahrs.o" "hero\ahrs.o"
"hero\at9s_pro_cmd.o"
"hero\filter.o" "hero\filter.o"
"hero\pid.o" "hero\pid.o"
"hero\user_math.o" "hero\user_math.o"
@ -66,6 +66,7 @@
"hero\gimbal.o" "hero\gimbal.o"
"hero\shoot.o" "hero\shoot.o"
"hero\chassis.o" "hero\chassis.o"
"hero\cmd.o"
"hero\atti_esti.o" "hero\atti_esti.o"
"hero\init.o" "hero\init.o"
"hero\rc.o" "hero\rc.o"
@ -74,7 +75,7 @@
"hero\ctrl_chassis.o" "hero\ctrl_chassis.o"
"hero\ctrl_gimbal.o" "hero\ctrl_gimbal.o"
"hero\ctrl_shoot.o" "hero\ctrl_shoot.o"
"hero\cmd.o" "hero\cmd_1.o"
--strict --scatter "hero\hero.sct" --strict --scatter "hero\hero.sct"
--summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols --summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols
--info sizes --info totals --info unused --info veneers --info sizes --info totals --info unused --info veneers

5468
MDK-ARM/hero/hero.map
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File diff suppressed because it is too large Load Diff

1162
MDK-ARM/hero/hero_hero.dep
View File

File diff suppressed because it is too large Load Diff

19
MDK-ARM/hero/hero_sct.Bak Normal file
View File

@ -0,0 +1,19 @@
; *************************************************************
; *** Scatter-Loading Description File generated by uVision ***
; *************************************************************
LR_IROM1 0x08000000 0x00100000 { ; load region size_region
ER_IROM1 0x08000000 0x00100000 { ; load address = execution address
*.o (RESET, +First)
*(InRoot$$Sections)
.ANY (+RO)
.ANY (+XO)
}
RW_IRAM1 0x20000000 0x0001C000 { ; RW data
.ANY (+RW +ZI)
}
RW_IRAM2 0x2001C000 0x00004000 {
.ANY (+RW +ZI)
}
}

BIN
MDK-ARM/hero/i2c.o
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Binary file not shown.

59
MDK-ARM/hero/init.d
View File

@ -1,59 +0,0 @@
hero/init.o: ..\User\task\init.c ..\User\task\user_task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
..\Core\Inc\FreeRTOSConfig.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
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D:\cangming\ARM\ARMCLANG\Bin\..\include\float.h \
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hero/list.o: ..\Middlewares\Third_Party\FreeRTOS\Source\list.c \
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hero/main.o: ..\Core\Src\main.c ..\Core\Inc\main.h \
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hero/mm.o: ..\User\bsp\mm.c ..\User\bsp\mm.h \
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hero/motor_dm.o: ..\User\device\motor_dm.c ..\User\device\motor_dm.h \
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