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将外设的初始化放到单独的文件中,增加bsp_can

This commit is contained in:
zcj 2024-10-06 19:49:15 +08:00
parent e5a7e132c9
commit ca084f8e0c
38 changed files with 3321 additions and 3657 deletions
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24
.mxproject
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117
BSP/can_bsp.c Normal file
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@ -0,0 +1,117 @@
#include "can_bsp.h"
/**
************************************************************************
* @brief: can_bsp_init(void)
* @param: void
* @retval: void
* @details: CAN使能
************************************************************************
**/
void can_bsp_init(void)
{
can_filter_init();
HAL_FDCAN_Start(&hfdcan1); //开启FDCAN
HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0);
}
/**
************************************************************************
* @brief: can_filter_init(void)
* @param: void
* @retval: void
* @details: CAN滤波器初始化
************************************************************************
**/
void can_filter_init(void)
{
FDCAN_FilterTypeDef fdcan_filter;
fdcan_filter.IdType = FDCAN_STANDARD_ID; //标准ID
fdcan_filter.FilterIndex = 0; //滤波器索引
fdcan_filter.FilterType = FDCAN_FILTER_RANGE; //滤波器类型
fdcan_filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0; //过滤器0关联到FIFO0
fdcan_filter.FilterID1 = 0x0000; //32位ID
fdcan_filter.FilterID2 = 0x0000; //如果FDCAN配置为传统模式的话，这是32位掩码
if(HAL_FDCAN_ConfigFilter(&hfdcan1,&fdcan_filter)!=HAL_OK) //滤波器初始化
{
Error_Handler();
}
HAL_FDCAN_ConfigFifoWatermark(&hfdcan1, FDCAN_CFG_RX_FIFO0, 1);
}
/**
************************************************************************
* @brief: fdcanx_send_data(FDCAN_HandleTypeDef *hfdcan, uint16_t id, uint8_t *data, uint32_t len)
* @param: hfdcan：FDCAN句柄
* @param: id：CAN设备ID
* @param: data：发送的数据
* @param: len：发送的数据长度
* @retval: void
* @details: 发送数据
************************************************************************
**/
uint8_t fdcanx_send_data(FDCAN_HandleTypeDef *hfdcan, uint16_t id, uint8_t *data, uint32_t len)
{
FDCAN_TxHeaderTypeDef TxHeader;
TxHeader.Identifier = id;
TxHeader.IdType = FDCAN_STANDARD_ID; // 标准ID
TxHeader.TxFrameType = FDCAN_DATA_FRAME; // 数据帧
TxHeader.DataLength = len << 16; // 发送数据长度
TxHeader.ErrorStateIndicator = FDCAN_ESI_ACTIVE; // 设置错误状态指示
TxHeader.BitRateSwitch = FDCAN_BRS_OFF; //不开启可变波特率
TxHeader.FDFormat = FDCAN_CLASSIC_CAN; //普通CAN格式
TxHeader.TxEventFifoControl = FDCAN_NO_TX_EVENTS; // 用于发送事件FIFO控制, 不存储
TxHeader.MessageMarker = 0x00; // 用于复制到TX EVENT FIFO的消息Maker来识别消息状态，范围0到0xFF
if(HAL_FDCAN_AddMessageToTxFifoQ(hfdcan, &TxHeader, data)!=HAL_OK)
return 1;//发送
return 0;
}
/**
************************************************************************
* @brief: fdcanx_receive(FDCAN_HandleTypeDef *hfdcan, uint8_t *buf)
* @param: hfdcan：FDCAN句柄
* @param: buf：接收数据缓存
* @retval: 接收的数据长度
* @details: 接收数据
************************************************************************
**/
uint8_t fdcanx_receive(FDCAN_HandleTypeDef *hfdcan, uint8_t *buf)
{
FDCAN_RxHeaderTypeDef fdcan_RxHeader;
if(HAL_FDCAN_GetRxMessage(hfdcan,FDCAN_RX_FIFO0, &fdcan_RxHeader, buf)!=HAL_OK)
return 0;//接收数据
return fdcan_RxHeader.DataLength>>16;
}
/**
************************************************************************
* @brief: HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
* @param: hfdcan；FDCAN句柄
* @param: RxFifo0ITs：中断标志位
* @retval: void
* @details: HAL库的FDCAN中断回调函数
************************************************************************
**/
void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
{
if((RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) != RESET)
{
if(hfdcan == &hfdcan1)
{
fdcan1_rx_callback();
}
}
}
/**
************************************************************************
* @brief: fdcan_rx_callback(void)
* @param: void
* @retval: void
* @details: 供用户调用的接收弱函数
************************************************************************
**/
uint8_t rx_data1[8] = {0};
void fdcan1_rx_callback(void)
{
fdcanx_receive(&hfdcan1, rx_data1);
}

15
BSP/can_bsp.h Normal file
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#ifndef __CAN_BSP_H__
#define __CAN_BSP_H__
#include "main.h"
#include "fdcan.h"
void can_bsp_init(void);
void can_filter_init(void);
uint8_t fdcanx_send_data(FDCAN_HandleTypeDef *hfdcan, uint16_t id, uint8_t *data, uint32_t len);
uint8_t fdcanx_receive(FDCAN_HandleTypeDef *hfdcan, uint8_t *buf);
void fdcan1_rx_callback(void);
void fdcan2_rx_callback(void);
void fdcan3_rx_callback(void);
#endif /* __CAN_BSP_H_ */

4
CMakeLists.txt
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@ -50,11 +50,11 @@ else ()
endif ()
include_directories(Core/Inc Drivers/STM32H7xx_HAL_Driver/Inc Drivers/STM32H7xx_HAL_Driver/Inc/Legacy
Drivers/CMSIS/Device/ST/STM32H7xx/Include Drivers/CMSIS/Include Middlewares/ST/ARM/DSP/Inc USER)
Drivers/CMSIS/Device/ST/STM32H7xx/Include Drivers/CMSIS/Include Middlewares/ST/ARM/DSP/Inc USER BSP)
add_definitions(-DDEBUG -DUSE_HAL_DRIVER -DSTM32H723xx)
file(GLOB_RECURSE SOURCES "Core/*.*" "Middlewares/*.*" "Drivers/*.*" "USER/*.*")
file(GLOB_RECURSE SOURCES "Core/*.*" "Middlewares/*.*" "Drivers/*.*" "USER/*.*" "BSP/*.*")
set(LINKER_SCRIPT ${CMAKE_SOURCE_DIR}/STM32H723VGTX_FLASH.ld)

52
Core/Inc/fdcan.h Normal file
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file fdcan.h
* @brief This file contains all the function prototypes for
* the fdcan.c file
******************************************************************************
* @attention
*
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __FDCAN_H__
#define __FDCAN_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern FDCAN_HandleTypeDef hfdcan1;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_FDCAN1_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __FDCAN_H__ */

49
Core/Inc/gpio.h Normal file
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file gpio.h
* @brief This file contains all the function prototypes for
* the gpio.c file
******************************************************************************
* @attention
*
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __GPIO_H__
#define __GPIO_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_GPIO_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /*__ GPIO_H__ */

52
Core/Inc/usart.h Normal file
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@ -0,0 +1,52 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file usart.h
* @brief This file contains all the function prototypes for
* the usart.c file
******************************************************************************
* @attention
*
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __USART_H__
#define __USART_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern UART_HandleTypeDef huart1;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_USART1_UART_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __USART_H__ */

152
Core/Src/fdcan.c Normal file
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@ -0,0 +1,152 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file fdcan.c
* @brief This file provides code for the configuration
* of the FDCAN instances.
******************************************************************************
* @attention
*
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "fdcan.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
FDCAN_HandleTypeDef hfdcan1;
/* FDCAN1 init function */
void MX_FDCAN1_Init(void)
{
/* USER CODE BEGIN FDCAN1_Init 0 */
/* USER CODE END FDCAN1_Init 0 */
/* USER CODE BEGIN FDCAN1_Init 1 */
/* USER CODE END FDCAN1_Init 1 */
hfdcan1.Instance = FDCAN1;
hfdcan1.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
hfdcan1.Init.AutoRetransmission = DISABLE;
hfdcan1.Init.TransmitPause = DISABLE;
hfdcan1.Init.ProtocolException = DISABLE;
hfdcan1.Init.NominalPrescaler = 24;
hfdcan1.Init.NominalSyncJumpWidth = 1;
hfdcan1.Init.NominalTimeSeg1 = 2;
hfdcan1.Init.NominalTimeSeg2 = 2;
hfdcan1.Init.DataPrescaler = 1;
hfdcan1.Init.DataSyncJumpWidth = 1;
hfdcan1.Init.DataTimeSeg1 = 1;
hfdcan1.Init.DataTimeSeg2 = 1;
hfdcan1.Init.MessageRAMOffset = 0;
hfdcan1.Init.StdFiltersNbr = 1;
hfdcan1.Init.ExtFiltersNbr = 0;
hfdcan1.Init.RxFifo0ElmtsNbr = 32;
hfdcan1.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8;
hfdcan1.Init.RxFifo1ElmtsNbr = 0;
hfdcan1.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_8;
hfdcan1.Init.RxBuffersNbr = 0;
hfdcan1.Init.RxBufferSize = FDCAN_DATA_BYTES_8;
hfdcan1.Init.TxEventsNbr = 0;
hfdcan1.Init.TxBuffersNbr = 0;
hfdcan1.Init.TxFifoQueueElmtsNbr = 32;
hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
hfdcan1.Init.TxElmtSize = FDCAN_DATA_BYTES_8;
if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN FDCAN1_Init 2 */
/* USER CODE END FDCAN1_Init 2 */
}
void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* fdcanHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
if(fdcanHandle->Instance==FDCAN1)
{
/* USER CODE BEGIN FDCAN1_MspInit 0 */
/* USER CODE END FDCAN1_MspInit 0 */
/** Initializes the peripherals clock
*/
PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_FDCAN;
PeriphClkInitStruct.FdcanClockSelection = RCC_FDCANCLKSOURCE_PLL;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
{
Error_Handler();
}
/* FDCAN1 clock enable */
__HAL_RCC_FDCAN_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**FDCAN1 GPIO Configuration
PA11 ------> FDCAN1_RX
PA12 ------> FDCAN1_TX
*/
GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_12;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF9_FDCAN1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* FDCAN1 interrupt Init */
HAL_NVIC_SetPriority(FDCAN1_IT0_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(FDCAN1_IT0_IRQn);
HAL_NVIC_SetPriority(FDCAN1_IT1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(FDCAN1_IT1_IRQn);
/* USER CODE BEGIN FDCAN1_MspInit 1 */
/* USER CODE END FDCAN1_MspInit 1 */
}
}
void HAL_FDCAN_MspDeInit(FDCAN_HandleTypeDef* fdcanHandle)
{
if(fdcanHandle->Instance==FDCAN1)
{
/* USER CODE BEGIN FDCAN1_MspDeInit 0 */
/* USER CODE END FDCAN1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_FDCAN_CLK_DISABLE();
/**FDCAN1 GPIO Configuration
PA11 ------> FDCAN1_RX
PA12 ------> FDCAN1_TX
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);
/* FDCAN1 interrupt Deinit */
HAL_NVIC_DisableIRQ(FDCAN1_IT0_IRQn);
HAL_NVIC_DisableIRQ(FDCAN1_IT1_IRQn);
/* USER CODE BEGIN FDCAN1_MspDeInit 1 */
/* USER CODE END FDCAN1_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

66
Core/Src/gpio.c Normal file
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@ -0,0 +1,66 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file gpio.c
* @brief This file provides code for the configuration
* of all used GPIO pins.
******************************************************************************
* @attention
*
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "gpio.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/*----------------------------------------------------------------------------*/
/* Configure GPIO */
/*----------------------------------------------------------------------------*/
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/** Configure pins as
* Analog
* Input
* Output
* EVENT_OUT
* EXTI
*/
void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = LED_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct);
}
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */

141
Core/Src/main.c
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@ -18,6 +18,9 @@
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "fdcan.h"
#include "usart.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
@ -41,19 +44,12 @@
/* Private variables ---------------------------------------------------------*/
FDCAN_HandleTypeDef hfdcan1;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_FDCAN1_Init(void);
static void MX_USART1_UART_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
@ -168,137 +164,6 @@ void SystemClock_Config(void)
}
}
/**
* @brief FDCAN1 Initialization Function
* @param None
* @retval None
*/
static void MX_FDCAN1_Init(void)
{
/* USER CODE BEGIN FDCAN1_Init 0 */
/* USER CODE END FDCAN1_Init 0 */
/* USER CODE BEGIN FDCAN1_Init 1 */
/* USER CODE END FDCAN1_Init 1 */
hfdcan1.Instance = FDCAN1;
hfdcan1.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
hfdcan1.Init.AutoRetransmission = DISABLE;
hfdcan1.Init.TransmitPause = DISABLE;
hfdcan1.Init.ProtocolException = DISABLE;
hfdcan1.Init.NominalPrescaler = 24;
hfdcan1.Init.NominalSyncJumpWidth = 1;
hfdcan1.Init.NominalTimeSeg1 = 2;
hfdcan1.Init.NominalTimeSeg2 = 2;
hfdcan1.Init.DataPrescaler = 1;
hfdcan1.Init.DataSyncJumpWidth = 1;
hfdcan1.Init.DataTimeSeg1 = 1;
hfdcan1.Init.DataTimeSeg2 = 1;
hfdcan1.Init.MessageRAMOffset = 0;
hfdcan1.Init.StdFiltersNbr = 1;
hfdcan1.Init.ExtFiltersNbr = 0;
hfdcan1.Init.RxFifo0ElmtsNbr = 32;
hfdcan1.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8;
hfdcan1.Init.RxFifo1ElmtsNbr = 0;
hfdcan1.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_8;
hfdcan1.Init.RxBuffersNbr = 0;
hfdcan1.Init.RxBufferSize = FDCAN_DATA_BYTES_8;
hfdcan1.Init.TxEventsNbr = 0;
hfdcan1.Init.TxBuffersNbr = 0;
hfdcan1.Init.TxFifoQueueElmtsNbr = 32;
hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
hfdcan1.Init.TxElmtSize = FDCAN_DATA_BYTES_8;
if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN FDCAN1_Init 2 */
/* USER CODE END FDCAN1_Init 2 */
}
/**
* @brief USART1 Initialization Function
* @param None
* @retval None
*/
static void MX_USART1_UART_Init(void)
{
/* USER CODE BEGIN USART1_Init 0 */
/* USER CODE END USART1_Init 0 */
/* USER CODE BEGIN USART1_Init 1 */
/* USER CODE END USART1_Init 1 */
huart1.Instance = USART1;
huart1.Init.BaudRate = 115200;
huart1.Init.WordLength = UART_WORDLENGTH_8B;
huart1.Init.StopBits = UART_STOPBITS_1;
huart1.Init.Parity = UART_PARITY_NONE;
huart1.Init.Mode = UART_MODE_TX_RX;
huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart1.Init.OverSampling = UART_OVERSAMPLING_16;
huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
huart1.Init.ClockPrescaler = UART_PRESCALER_DIV1;
huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetTxFifoThreshold(&huart1, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetRxFifoThreshold(&huart1, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_DisableFifoMode(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
/* USER CODE END USART1_Init 2 */
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : LED_Pin */
GPIO_InitStruct.Pin = LED_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct);
/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */

165
Core/Src/stm32h7xx_hal_msp.c
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@ -76,171 +76,6 @@ void HAL_MspInit(void)
/* USER CODE END MspInit 1 */
}
/**
* @brief FDCAN MSP Initialization
* This function configures the hardware resources used in this example
* @param hfdcan: FDCAN handle pointer
* @retval None
*/
void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* hfdcan)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
if(hfdcan->Instance==FDCAN1)
{
/* USER CODE BEGIN FDCAN1_MspInit 0 */
/* USER CODE END FDCAN1_MspInit 0 */
/** Initializes the peripherals clock
*/
PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_FDCAN;
PeriphClkInitStruct.FdcanClockSelection = RCC_FDCANCLKSOURCE_PLL;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
{
Error_Handler();
}
/* Peripheral clock enable */
__HAL_RCC_FDCAN_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**FDCAN1 GPIO Configuration
PA11 ------> FDCAN1_RX
PA12 ------> FDCAN1_TX
*/
GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_12;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF9_FDCAN1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* FDCAN1 interrupt Init */
HAL_NVIC_SetPriority(FDCAN1_IT0_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(FDCAN1_IT0_IRQn);
HAL_NVIC_SetPriority(FDCAN1_IT1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(FDCAN1_IT1_IRQn);
/* USER CODE BEGIN FDCAN1_MspInit 1 */
/* USER CODE END FDCAN1_MspInit 1 */
}
}
/**
* @brief FDCAN MSP De-Initialization
* This function freeze the hardware resources used in this example
* @param hfdcan: FDCAN handle pointer
* @retval None
*/
void HAL_FDCAN_MspDeInit(FDCAN_HandleTypeDef* hfdcan)
{
if(hfdcan->Instance==FDCAN1)
{
/* USER CODE BEGIN FDCAN1_MspDeInit 0 */
/* USER CODE END FDCAN1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_FDCAN_CLK_DISABLE();
/**FDCAN1 GPIO Configuration
PA11 ------> FDCAN1_RX
PA12 ------> FDCAN1_TX
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);
/* FDCAN1 interrupt DeInit */
HAL_NVIC_DisableIRQ(FDCAN1_IT0_IRQn);
HAL_NVIC_DisableIRQ(FDCAN1_IT1_IRQn);
/* USER CODE BEGIN FDCAN1_MspDeInit 1 */
/* USER CODE END FDCAN1_MspDeInit 1 */
}
}
/**
* @brief UART MSP Initialization
* This function configures the hardware resources used in this example
* @param huart: UART handle pointer
* @retval None
*/
void HAL_UART_MspInit(UART_HandleTypeDef* huart)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
if(huart->Instance==USART1)
{
/* USER CODE BEGIN USART1_MspInit 0 */
/* USER CODE END USART1_MspInit 0 */
/** Initializes the peripherals clock
*/
PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_USART1;
PeriphClkInitStruct.Usart16ClockSelection = RCC_USART16910CLKSOURCE_D2PCLK2;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
{
Error_Handler();
}
/* Peripheral clock enable */
__HAL_RCC_USART1_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/**USART1 GPIO Configuration
PB14 ------> USART1_TX
PB15 ------> USART1_RX
*/
GPIO_InitStruct.Pin = GPIO_PIN_14|GPIO_PIN_15;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF4_USART1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* USART1 interrupt Init */
HAL_NVIC_SetPriority(USART1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(USART1_IRQn);
/* USER CODE BEGIN USART1_MspInit 1 */
/* USER CODE END USART1_MspInit 1 */
}
}
/**
* @brief UART MSP De-Initialization
* This function freeze the hardware resources used in this example
* @param huart: UART handle pointer
* @retval None
*/
void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
{
if(huart->Instance==USART1)
{
/* USER CODE BEGIN USART1_MspDeInit 0 */
/* USER CODE END USART1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_USART1_CLK_DISABLE();
/**USART1 GPIO Configuration
PB14 ------> USART1_TX
PB15 ------> USART1_RX
*/
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_14|GPIO_PIN_15);
/* USART1 interrupt DeInit */
HAL_NVIC_DisableIRQ(USART1_IRQn);
/* USER CODE BEGIN USART1_MspDeInit 1 */
/* USER CODE END USART1_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

145
Core/Src/usart.c Normal file
View File

@ -0,0 +1,145 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file usart.c
* @brief This file provides code for the configuration
* of the USART instances.
******************************************************************************
* @attention
*
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "usart.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
UART_HandleTypeDef huart1;
/* USART1 init function */
void MX_USART1_UART_Init(void)
{
/* USER CODE BEGIN USART1_Init 0 */
/* USER CODE END USART1_Init 0 */
/* USER CODE BEGIN USART1_Init 1 */
/* USER CODE END USART1_Init 1 */
huart1.Instance = USART1;
huart1.Init.BaudRate = 115200;
huart1.Init.WordLength = UART_WORDLENGTH_8B;
huart1.Init.StopBits = UART_STOPBITS_1;
huart1.Init.Parity = UART_PARITY_NONE;
huart1.Init.Mode = UART_MODE_TX_RX;
huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart1.Init.OverSampling = UART_OVERSAMPLING_16;
huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
huart1.Init.ClockPrescaler = UART_PRESCALER_DIV1;
huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetTxFifoThreshold(&huart1, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetRxFifoThreshold(&huart1, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_DisableFifoMode(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
/* USER CODE END USART1_Init 2 */
}
void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
if(uartHandle->Instance==USART1)
{
/* USER CODE BEGIN USART1_MspInit 0 */
/* USER CODE END USART1_MspInit 0 */
/** Initializes the peripherals clock
*/
PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_USART1;
PeriphClkInitStruct.Usart16ClockSelection = RCC_USART16910CLKSOURCE_D2PCLK2;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
{
Error_Handler();
}
/* USART1 clock enable */
__HAL_RCC_USART1_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/**USART1 GPIO Configuration
PB14 ------> USART1_TX
PB15 ------> USART1_RX
*/
GPIO_InitStruct.Pin = GPIO_PIN_14|GPIO_PIN_15;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF4_USART1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* USART1 interrupt Init */
HAL_NVIC_SetPriority(USART1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(USART1_IRQn);
/* USER CODE BEGIN USART1_MspInit 1 */
/* USER CODE END USART1_MspInit 1 */
}
}
void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
{
if(uartHandle->Instance==USART1)
{
/* USER CODE BEGIN USART1_MspDeInit 0 */
/* USER CODE END USART1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_USART1_CLK_DISABLE();
/**USART1 GPIO Configuration
PB14 ------> USART1_TX
PB15 ------> USART1_RX
*/
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_14|GPIO_PIN_15);
/* USART1 interrupt Deinit */
HAL_NVIC_DisableIRQ(USART1_IRQn);
/* USER CODE BEGIN USART1_MspDeInit 1 */
/* USER CODE END USART1_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

2
Customer_controller.ioc
View File

@ -83,7 +83,7 @@ ProjectManager.AskForMigrate=true
ProjectManager.BackupPrevious=false
ProjectManager.CompilerOptimize=6
ProjectManager.ComputerToolchain=false
ProjectManager.CoupleFile=false
ProjectManager.CoupleFile=true
ProjectManager.CustomerFirmwarePackage=
ProjectManager.DefaultFWLocation=true
ProjectManager.DeletePrevious=true

2
USER/RobotAlgorithmModule.c
View File

@ -219,7 +219,7 @@ void Matrix3Mult(double a[][3],double b[][3],double c[][3])
*@note:
*@warning:
*/
void Matrix4Mult(float a[][4], float b[][4], float c[][4])
void Matrix4Mult(double a[][4], double b[][4], double c[][4])
{
int i;
int j;

2
USER/RobotAlgorithmModule.h
View File

@ -128,7 +128,7 @@ extern "C" {
*@note:
*@warning:
*/
void Matrix4Mult(float a[][4], float b[][4], float c[][4]);
void Matrix4Mult(double a[][4], double b[][4], double c[][4]);
/**
*@brief Description: Calculate 3 x 3 matrix multiply a value.

86
USER/kinematics.c
View File

@ -6,7 +6,7 @@
#include "RobotAlgorithmModule.h"
#include "arm_math.h"
Link_Parameter_s Link[4];
float Total_Transformation_Matrix[4][4],Process1_Transformation_Matrix[4][4],Process2_Transformation_Matrix[4][4];
double Total_Transformation_Matrix[4][4],Process1_Transformation_Matrix[4][4],Process2_Transformation_Matrix[4][4];
void Kinematic_Init()
{
Link[0].length = LINK_LENGTH1;
@ -25,57 +25,61 @@ void Kinematic_Init()
Link[3].twist = LINK_TWIST4;
}
void Kinematic_Calculate()
{
void Kinematic_Calculate() {
//计算通用其次变换矩阵
for(int num=0;num++;num<4)
{
Link[num].transformation_matrix[0][0]=cosf(Link[num].angle);
Link[num].transformation_matrix[0][1]=-sinf(Link[num].angle)*cosf(Link[num].twist);
Link[num].transformation_matrix[0][2]=sinf(Link[num].angle)*sinf(Link[num].twist);
Link[num].transformation_matrix[0][3]=Link[num].length*cosf(Link[num].angle);
Link[num].transformation_matrix[1][0]=sinf(Link[num].angle);
Link[num].transformation_matrix[1][1]=cosf(Link[num].angle)*cosf(Link[num].twist);
Link[num].transformation_matrix[1][2]=-cosf(Link[num].angle)*sinf(Link[num].twist);
Link[num].transformation_matrix[1][3]=Link[num].length*sinf(Link[num].angle);
Link[num].transformation_matrix[2][0]=0;
Link[num].transformation_matrix[2][1]=sinf(Link[num].twist);
Link[num].transformation_matrix[2][2]=cosf(Link[num].twist);
Link[num].transformation_matrix[2][3]=Link[num].offset;
Link[num].transformation_matrix[3][0]=0;
Link[num].transformation_matrix[3][1]=0;
Link[num].transformation_matrix[3][2]=0;
Link[num].transformation_matrix[3][3]=1;
for (int num = 0; num++; num < 4) {
Link[num].transformation_matrix[0][0] = cos(Link[num].angle);
Link[num].transformation_matrix[0][1] = -sin(Link[num].angle) * cos(Link[num].twist);
Link[num].transformation_matrix[0][2] = sin(Link[num].angle) * sin(Link[num].twist);
Link[num].transformation_matrix[0][3] = Link[num].length * cos(Link[num].angle);
Link[num].transformation_matrix[1][0] = sin(Link[num].angle);
Link[num].transformation_matrix[1][1] = cos(Link[num].angle) * cos(Link[num].twist);
Link[num].transformation_matrix[1][2] = -cos(Link[num].angle) * sin(Link[num].twist);
Link[num].transformation_matrix[1][3] = Link[num].length * sin(Link[num].angle);
Link[num].transformation_matrix[2][0] = 0;
Link[num].transformation_matrix[2][1] = sin(Link[num].twist);
Link[num].transformation_matrix[2][2] = cos(Link[num].twist);
Link[num].transformation_matrix[2][3] = Link[num].offset;
Link[num].transformation_matrix[3][0] = 0;
Link[num].transformation_matrix[3][1] = 0;
Link[num].transformation_matrix[3][2] = 0;
Link[num].transformation_matrix[3][3] = 1;
}
//求出总变换（正运动学）
Matrix4Mult(Link[0].transformation_matrix,Link[1].transformation_matrix,Process1_Transformation_Matrix);
Matrix4Mult(Process1_Transformation_Matrix,Link[2].transformation_matrix,Process2_Transformation_Matrix);
Matrix4Mult(Process2_Transformation_Matrix,Link[3].transformation_matrix,Total_Transformation_Matrix);
Matrix4Mult(Link[0].transformation_matrix, Link[1].transformation_matrix, Process1_Transformation_Matrix);
Matrix4Mult(Process1_Transformation_Matrix, Link[2].transformation_matrix, Process2_Transformation_Matrix);
Matrix4Mult(Process2_Transformation_Matrix, Link[3].transformation_matrix, Total_Transformation_Matrix);
//逆运动学
//关节1
float m=Total_Transformation_Matrix[1][3]-Link[3].length*Total_Transformation_Matrix[1][0]-Link[3].offset*Total_Transformation_Matrix[1][2];
float n=Total_Transformation_Matrix[0][3]-Link[3].length*Total_Transformation_Matrix[0][0]-Link[3].offset*Total_Transformation_Matrix[0][2];
//TODO:多解，需要一个判断位来选择解
Link[0].angle_set = atan2f(m,n)-atan2f(Link[1].offset, sqrtf(m*m+n*n-Link[2].offset*Link[2].offset));
Link[0].angle_set = atan2f(m,n)-atan2f(Link[1].offset, -sqrtf(m*m+n*n-Link[2].offset*Link[2].offset));
double m = Total_Transformation_Matrix[1][3] - Link[3].length * Total_Transformation_Matrix[1][0] -
Link[3].offset * Total_Transformation_Matrix[1][2];
double n = Total_Transformation_Matrix[0][3] - Link[3].length * Total_Transformation_Matrix[0][0] -
Link[3].offset * Total_Transformation_Matrix[0][2];
Link[0].angle_set = atan2(m, n) - atan2(Link[1].offset, 0);
//关节3
//TODO:多解问题
Link[2].angle_set = acosf(Total_Transformation_Matrix[1][2]*cosf(Link[0].angle_set)-Total_Transformation_Matrix[0][2]*sinf(Link[0].angle));
Link[2].angle_set = -acosf(Total_Transformation_Matrix[1][2]*cosf(Link[0].angle_set)-Total_Transformation_Matrix[0][2]*sinf(Link[0].angle));
}
Link[2].angle_set = acos(Total_Transformation_Matrix[1][2] * cos(Link[0].angle_set) -
Total_Transformation_Matrix[0][2] * sin(Link[0].angle));
// Link[2].angle_set = -acos(Total_Transformation_Matrix[1][2] * cos(Link[0].angle_set) -
// Total_Transformation_Matrix[0][2] * sin(Link[0].angle));
//关节4
double mm = -Total_Transformation_Matrix[1][2];
double nn = Total_Transformation_Matrix[0][2];
// Link[3].angle_set = atan2(mm, nn) - atan2(cos(Link[1].angle_set), sqrt(mm * mm + nn * nn -
// cos(Link[1].angle_set) *
// cos(Link[1].angle_set)));
Link[3].angle_set = atan2(mm, nn) - atan2(sin(Link[1].angle_set), -sqrt(mm * mm + nn * nn -
cos(Link[1].angle_set) *
cos(Link[1].angle_set)));
//关节2
Link[1].angle_set = asin(Total_Transformation_Matrix[2][2] / sin(Link[2].angle_set));
}

20
USER/kinematics.h
View File

@ -6,16 +6,16 @@
#define CUSTOMER_CONTROLLER_KINEMATICS_H
//连杆偏移
#define LINK_OFFSET1 76
#define LINK_OFFSET2 116
#define LINK_OFFSET1 0.076
#define LINK_OFFSET2 0.116
#define LINK_OFFSET3 0
#define LINK_OFFSET4 0
#define LINK_OFFSET4 0.1295
//连杆长度
#define LINK_LENGTH1 0
#define LINK_LENGTH2 0
#define LINK_LENGTH3 0
#define LINK_LENGTH4 36
#define LINK_LENGTH4 0.036
//连杆扭角
#define LINK_TWIST1 -1.570796
@ -25,12 +25,12 @@
typedef struct
{
float offset; //d
float length; //a
float twist; //alpha
float angle; //theta
float angle_set;
float transformation_matrix[4][4];
double offset; //d
double length; //a
double twist; //alpha
double angle; //theta
double angle_set;
double transformation_matrix[4][4];
} Link_Parameter_s;

60
cmake-build-debug/.cmake/api/v1/reply/codemodel-v2-01a5fa9245440b0f659d.json
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@ -1,60 +0,0 @@
{
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{
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"id" : "Customer_controller.elf::@6890427a1f51a3e7e1df",
"jsonFile" : "target-Customer_controller.elf-ce91f7862e88eb5381c0.json",
"name" : "Customer_controller.elf",
"projectIndex" : 0
}
]
}
],
"kind" : "codemodel",
"paths" :
{
"build" : "D:/RM/@RM2025/Customer_controller/cmake-build-debug",
"source" : "D:/RM/@RM2025/Customer_controller"
},
"version" :
{
"major" : 2,
"minor" : 5
}
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Change Dir: D:/RM/@RM2025/Customer_controller/cmake-build-debug/CMakeFiles/CMakeScratch/TryCompile-s24644
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@ -29,4 +29,8 @@ CMAKE_PROGRESS_28 = 28
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@ -65,6 +66,7 @@
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@ -100,6 +102,18 @@
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@ -841,6 +937,15 @@ help:
@echo ... edit_cache
@echo ... rebuild_cache
@echo ... Customer_controller.elf
@echo ... BSP/can_bsp.obj
@echo ... BSP/can_bsp.i
@echo ... BSP/can_bsp.s
@echo ... Core/Src/fdcan.obj
@echo ... Core/Src/fdcan.i
@echo ... Core/Src/fdcan.s
@echo ... Core/Src/gpio.obj
@echo ... Core/Src/gpio.i
@echo ... Core/Src/gpio.s
@echo ... Core/Src/main.obj
@echo ... Core/Src/main.i
@echo ... Core/Src/main.s
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@echo ... Core/Src/system_stm32h7xx.i
@echo ... Core/Src/system_stm32h7xx.s
@echo ... Core/Src/usart.obj
@echo ... Core/Src/usart.i
@echo ... Core/Src/usart.s
@echo ... Core/Startup/startup_stm32h723vgtx.obj
@echo ... Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.obj
@echo ... Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.i