修改报错
This commit is contained in:
parent
278689cec9
commit
dc1c5d4bda
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@ -0,0 +1,7 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<project version="4">
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<component name="Encoding">
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<file url="file://$PROJECT_DIR$/Core/Src/main.c" charset="GBK" />
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<file url="file://$PROJECT_DIR$/bsp/flash/bsp_flash.c" charset="GBK" />
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</component>
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</project>
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@ -0,0 +1,6 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<project version="4">
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<component name="VcsDirectoryMappings">
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<mapping directory="$PROJECT_DIR$" vcs="Git" />
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</component>
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</project>
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62
.mxproject
62
.mxproject
File diff suppressed because one or more lines are too long
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@ -19,9 +19,9 @@ set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_C_STANDARD 11)
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#Uncomment for hardware floating point
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#add_compile_definitions(ARM_MATH_CM4;ARM_MATH_MATRIX_CHECK;ARM_MATH_ROUNDING)
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#add_compile_options(-mfloat-abi=hard -mfpu=fpv4-sp-d16)
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#add_link_options(-mfloat-abi=hard -mfpu=fpv4-sp-d16)
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add_compile_definitions(ARM_MATH_CM4;ARM_MATH_MATRIX_CHECK;ARM_MATH_ROUNDING)
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add_compile_options(-mfloat-abi=hard -mfpu=fpv4-sp-d16)
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add_link_options(-mfloat-abi=hard -mfpu=fpv4-sp-d16)
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#Uncomment for software floating point
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#add_compile_options(-mfloat-abi=soft)
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@ -51,11 +51,20 @@ endif ()
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include_directories(Core/Inc USB_DEVICE/App USB_DEVICE/Target Drivers/STM32H7xx_HAL_Driver/Inc Drivers/STM32H7xx_HAL_Driver/Inc/Legacy Middlewares/Third_Party/FreeRTOS/Source/include Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F Middlewares/ST/STM32_USB_Device_Library/Core/Inc Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc Drivers/CMSIS/Device/ST/STM32H7xx/Include Drivers/CMSIS/Include Middlewares/ST/ARM/DSP/Inc
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bsp bsp/adc bsp/can bsp/dwt bsp/flash bsp/gpio bsp/iic bsp/log bsp/pwm bsp/spi bsp/usart bsp/usb
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modules modules/alarm modules/algorithm modules/auto_aim modules/BMI088 modules/can_comm modules/daemon modules/encoder modules/imu modules/ist8310
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modules/led modules/master_machine modules/message_center modules/motor modules/oled modules/referee modules/remote modules/standard_cmd
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modules/super_cap modules/TFminiPlus modules/unicomm modules/vofa modules/robotics
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modules/motor/DJImotor modules/motor/Dmmotor modules/motor/HTmotor modules/motor/LKmotor modules/motor/servo_motor modules/motor/step_motor modules/motor/Air_pump
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application application/chassis application/cmd application/arm application/to_stretch
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Middlewares/Third_Party/SEGGER/RTT Middlewares/Third_Party/SEGGER/Config)
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include_directories(Middlewares/ST/ARM/DSP/Inc)
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add_definitions(-DDEBUG -DUSE_HAL_DRIVER -DSTM32H723xx)
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file(GLOB_RECURSE SOURCES "Core/*.*" "Middlewares/*.*" "Drivers/*.*" "USB_DEVICE/*.*" "BSP/*.*")
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file(GLOB_RECURSE SOURCES "Core/*.*" "Middlewares/*.*" "Drivers/*.*" "USB_DEVICE/*.*"
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"bsp/*.*" "application/*.*" "modules/*.*")
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set(LINKER_SCRIPT ${CMAKE_SOURCE_DIR}/STM32H723VGTX_FLASH.ld)
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@ -65,6 +74,8 @@ add_link_options(-T ${LINKER_SCRIPT})
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add_executable(${PROJECT_NAME}.elf ${SOURCES} ${LINKER_SCRIPT})
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target_link_libraries(${PROJECT_NAME}.elf ${CMAKE_SOURCE_DIR}/Middlewares/ST/ARM/DSP/Lib/libarm_cortexM4lf_math.a)
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set(HEX_FILE ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.hex)
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set(BIN_FILE ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.bin)
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@ -52,11 +52,34 @@ void MemManage_Handler(void);
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void BusFault_Handler(void);
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void UsageFault_Handler(void);
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void DebugMon_Handler(void);
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void DMA1_Stream0_IRQHandler(void);
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void DMA1_Stream1_IRQHandler(void);
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void DMA1_Stream2_IRQHandler(void);
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void DMA1_Stream3_IRQHandler(void);
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void DMA1_Stream4_IRQHandler(void);
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void DMA1_Stream5_IRQHandler(void);
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void DMA1_Stream6_IRQHandler(void);
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void FDCAN1_IT0_IRQHandler(void);
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void FDCAN2_IT0_IRQHandler(void);
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void FDCAN1_IT1_IRQHandler(void);
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void FDCAN2_IT1_IRQHandler(void);
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void USART1_IRQHandler(void);
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void USART2_IRQHandler(void);
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void USART3_IRQHandler(void);
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void TIM8_TRG_COM_TIM14_IRQHandler(void);
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void DMA1_Stream7_IRQHandler(void);
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void UART5_IRQHandler(void);
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void DMA2_Stream0_IRQHandler(void);
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void DMA2_Stream1_IRQHandler(void);
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void DMA2_Stream2_IRQHandler(void);
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void FDCAN_CAL_IRQHandler(void);
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void OTG_HS_EP1_OUT_IRQHandler(void);
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void OTG_HS_EP1_IN_IRQHandler(void);
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void OTG_HS_IRQHandler(void);
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void UART7_IRQHandler(void);
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void USART10_IRQHandler(void);
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void FDCAN3_IT0_IRQHandler(void);
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void FDCAN3_IT1_IRQHandler(void);
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/* USER CODE BEGIN EFP */
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/* USER CODE END EFP */
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@ -216,6 +216,10 @@ void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* fdcanHandle)
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/* FDCAN1 interrupt Init */
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HAL_NVIC_SetPriority(FDCAN1_IT0_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(FDCAN1_IT0_IRQn);
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HAL_NVIC_SetPriority(FDCAN1_IT1_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(FDCAN1_IT1_IRQn);
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HAL_NVIC_SetPriority(FDCAN_CAL_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(FDCAN_CAL_IRQn);
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/* USER CODE BEGIN FDCAN1_MspInit 1 */
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/* USER CODE END FDCAN1_MspInit 1 */
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@ -256,6 +260,10 @@ void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* fdcanHandle)
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/* FDCAN2 interrupt Init */
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HAL_NVIC_SetPriority(FDCAN2_IT0_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(FDCAN2_IT0_IRQn);
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HAL_NVIC_SetPriority(FDCAN2_IT1_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(FDCAN2_IT1_IRQn);
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HAL_NVIC_SetPriority(FDCAN_CAL_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(FDCAN_CAL_IRQn);
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/* USER CODE BEGIN FDCAN2_MspInit 1 */
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/* USER CODE END FDCAN2_MspInit 1 */
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@ -296,6 +304,8 @@ void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* fdcanHandle)
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/* FDCAN3 interrupt Init */
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HAL_NVIC_SetPriority(FDCAN3_IT0_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(FDCAN3_IT0_IRQn);
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HAL_NVIC_SetPriority(FDCAN3_IT1_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(FDCAN3_IT1_IRQn);
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/* USER CODE BEGIN FDCAN3_MspInit 1 */
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/* USER CODE END FDCAN3_MspInit 1 */
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@ -324,6 +334,15 @@ void HAL_FDCAN_MspDeInit(FDCAN_HandleTypeDef* fdcanHandle)
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/* FDCAN1 interrupt Deinit */
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HAL_NVIC_DisableIRQ(FDCAN1_IT0_IRQn);
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HAL_NVIC_DisableIRQ(FDCAN1_IT1_IRQn);
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/* USER CODE BEGIN FDCAN1:FDCAN_CAL_IRQn disable */
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/**
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* Uncomment the line below to disable the "FDCAN_CAL_IRQn" interrupt
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* Be aware, disabling shared interrupt may affect other IPs
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*/
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/* HAL_NVIC_DisableIRQ(FDCAN_CAL_IRQn); */
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/* USER CODE END FDCAN1:FDCAN_CAL_IRQn disable */
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/* USER CODE BEGIN FDCAN1_MspDeInit 1 */
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/* USER CODE END FDCAN1_MspDeInit 1 */
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@ -347,6 +366,15 @@ void HAL_FDCAN_MspDeInit(FDCAN_HandleTypeDef* fdcanHandle)
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/* FDCAN2 interrupt Deinit */
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HAL_NVIC_DisableIRQ(FDCAN2_IT0_IRQn);
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HAL_NVIC_DisableIRQ(FDCAN2_IT1_IRQn);
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/* USER CODE BEGIN FDCAN2:FDCAN_CAL_IRQn disable */
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/**
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* Uncomment the line below to disable the "FDCAN_CAL_IRQn" interrupt
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* Be aware, disabling shared interrupt may affect other IPs
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*/
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/* HAL_NVIC_DisableIRQ(FDCAN_CAL_IRQn); */
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/* USER CODE END FDCAN2:FDCAN_CAL_IRQn disable */
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/* USER CODE BEGIN FDCAN2_MspDeInit 1 */
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/* USER CODE END FDCAN2_MspDeInit 1 */
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@ -370,6 +398,7 @@ void HAL_FDCAN_MspDeInit(FDCAN_HandleTypeDef* fdcanHandle)
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/* FDCAN3 interrupt Deinit */
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HAL_NVIC_DisableIRQ(FDCAN3_IT0_IRQn);
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HAL_NVIC_DisableIRQ(FDCAN3_IT1_IRQn);
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/* USER CODE BEGIN FDCAN3_MspDeInit 1 */
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/* USER CODE END FDCAN3_MspDeInit 1 */
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@ -19,6 +19,7 @@
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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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#include "cmsis_os.h"
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#include "dma.h"
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#include "fdcan.h"
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#include "i2c.h"
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#include "memorymap.h"
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@ -30,7 +31,8 @@
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "robot.h"
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#include "bsp_log.h"
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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@ -99,6 +101,7 @@ int main(void)
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/* Initialize all configured peripherals */
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MX_GPIO_Init();
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MX_DMA_Init();
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MX_FDCAN1_Init();
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MX_FDCAN2_Init();
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MX_FDCAN3_Init();
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@ -117,6 +120,13 @@ int main(void)
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MX_SPI1_Init();
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/* USER CODE BEGIN 2 */
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// 气泵上电默认关é—
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HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
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__HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_1,20000);
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HAL_Delay(1500); //ç‰å¾…达妙电机上电åˆ<C3A5>始åŒ?
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RobotInit(); // 唯一的åˆ<C3A5>始化函数
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LOGINFO("[main] SystemInit() and RobotInit() done");
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/* USER CODE END 2 */
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/* Call init function for freertos objects (in cmsis_os2.c) */
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@ -59,6 +59,23 @@ extern PCD_HandleTypeDef hpcd_USB_OTG_HS;
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extern FDCAN_HandleTypeDef hfdcan1;
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extern FDCAN_HandleTypeDef hfdcan2;
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extern FDCAN_HandleTypeDef hfdcan3;
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extern DMA_HandleTypeDef hdma_uart5_rx;
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extern DMA_HandleTypeDef hdma_uart7_rx;
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extern DMA_HandleTypeDef hdma_uart7_tx;
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extern DMA_HandleTypeDef hdma_usart1_tx;
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extern DMA_HandleTypeDef hdma_usart1_rx;
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extern DMA_HandleTypeDef hdma_usart2_rx;
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extern DMA_HandleTypeDef hdma_usart2_tx;
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extern DMA_HandleTypeDef hdma_usart3_tx;
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extern DMA_HandleTypeDef hdma_usart3_rx;
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extern DMA_HandleTypeDef hdma_usart10_rx;
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extern DMA_HandleTypeDef hdma_usart10_tx;
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extern UART_HandleTypeDef huart5;
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extern UART_HandleTypeDef huart7;
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extern UART_HandleTypeDef huart1;
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extern UART_HandleTypeDef huart2;
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extern UART_HandleTypeDef huart3;
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extern UART_HandleTypeDef huart10;
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extern TIM_HandleTypeDef htim14;
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/* USER CODE BEGIN EV */
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@ -163,6 +180,104 @@ void DebugMon_Handler(void)
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/* please refer to the startup file (startup_stm32h7xx.s). */
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/******************************************************************************/
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/**
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* @brief This function handles DMA1 stream0 global interrupt.
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*/
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void DMA1_Stream0_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA1_Stream0_IRQn 0 */
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/* USER CODE END DMA1_Stream0_IRQn 0 */
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HAL_DMA_IRQHandler(&hdma_uart5_rx);
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/* USER CODE BEGIN DMA1_Stream0_IRQn 1 */
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/* USER CODE END DMA1_Stream0_IRQn 1 */
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}
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/**
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* @brief This function handles DMA1 stream1 global interrupt.
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*/
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void DMA1_Stream1_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA1_Stream1_IRQn 0 */
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/* USER CODE END DMA1_Stream1_IRQn 0 */
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HAL_DMA_IRQHandler(&hdma_usart10_rx);
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/* USER CODE BEGIN DMA1_Stream1_IRQn 1 */
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/* USER CODE END DMA1_Stream1_IRQn 1 */
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}
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/**
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* @brief This function handles DMA1 stream2 global interrupt.
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*/
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void DMA1_Stream2_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA1_Stream2_IRQn 0 */
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/* USER CODE END DMA1_Stream2_IRQn 0 */
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HAL_DMA_IRQHandler(&hdma_usart3_tx);
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/* USER CODE BEGIN DMA1_Stream2_IRQn 1 */
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/* USER CODE END DMA1_Stream2_IRQn 1 */
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}
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/**
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* @brief This function handles DMA1 stream3 global interrupt.
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*/
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void DMA1_Stream3_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA1_Stream3_IRQn 0 */
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/* USER CODE END DMA1_Stream3_IRQn 0 */
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HAL_DMA_IRQHandler(&hdma_usart3_rx);
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/* USER CODE BEGIN DMA1_Stream3_IRQn 1 */
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/* USER CODE END DMA1_Stream3_IRQn 1 */
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}
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/**
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* @brief This function handles DMA1 stream4 global interrupt.
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*/
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void DMA1_Stream4_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA1_Stream4_IRQn 0 */
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/* USER CODE END DMA1_Stream4_IRQn 0 */
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HAL_DMA_IRQHandler(&hdma_usart10_tx);
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/* USER CODE BEGIN DMA1_Stream4_IRQn 1 */
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/* USER CODE END DMA1_Stream4_IRQn 1 */
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}
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/**
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* @brief This function handles DMA1 stream5 global interrupt.
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*/
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void DMA1_Stream5_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA1_Stream5_IRQn 0 */
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/* USER CODE END DMA1_Stream5_IRQn 0 */
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HAL_DMA_IRQHandler(&hdma_usart1_tx);
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/* USER CODE BEGIN DMA1_Stream5_IRQn 1 */
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/* USER CODE END DMA1_Stream5_IRQn 1 */
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}
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/**
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* @brief This function handles DMA1 stream6 global interrupt.
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*/
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void DMA1_Stream6_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA1_Stream6_IRQn 0 */
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/* USER CODE END DMA1_Stream6_IRQn 0 */
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HAL_DMA_IRQHandler(&hdma_usart1_rx);
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/* USER CODE BEGIN DMA1_Stream6_IRQn 1 */
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/* USER CODE END DMA1_Stream6_IRQn 1 */
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}
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/**
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* @brief This function handles FDCAN1 interrupt 0.
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*/
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@ -191,6 +306,76 @@ void FDCAN2_IT0_IRQHandler(void)
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/* USER CODE END FDCAN2_IT0_IRQn 1 */
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}
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/**
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* @brief This function handles FDCAN1 interrupt 1.
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||||
*/
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void FDCAN1_IT1_IRQHandler(void)
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{
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/* USER CODE BEGIN FDCAN1_IT1_IRQn 0 */
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||||
/* USER CODE END FDCAN1_IT1_IRQn 0 */
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HAL_FDCAN_IRQHandler(&hfdcan1);
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/* USER CODE BEGIN FDCAN1_IT1_IRQn 1 */
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/* USER CODE END FDCAN1_IT1_IRQn 1 */
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}
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/**
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* @brief This function handles FDCAN2 interrupt 1.
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*/
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void FDCAN2_IT1_IRQHandler(void)
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{
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/* USER CODE BEGIN FDCAN2_IT1_IRQn 0 */
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/* USER CODE END FDCAN2_IT1_IRQn 0 */
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HAL_FDCAN_IRQHandler(&hfdcan2);
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/* USER CODE BEGIN FDCAN2_IT1_IRQn 1 */
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/* USER CODE END FDCAN2_IT1_IRQn 1 */
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}
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/**
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* @brief This function handles USART1 global interrupt.
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||||
*/
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void USART1_IRQHandler(void)
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{
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/* USER CODE BEGIN USART1_IRQn 0 */
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|
||||
/* USER CODE END USART1_IRQn 0 */
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HAL_UART_IRQHandler(&huart1);
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/* USER CODE BEGIN USART1_IRQn 1 */
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||||
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||||
/* USER CODE END USART1_IRQn 1 */
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}
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/**
|
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* @brief This function handles USART2 global interrupt.
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||||
*/
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||||
void USART2_IRQHandler(void)
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||||
{
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||||
/* USER CODE BEGIN USART2_IRQn 0 */
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||||
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||||
/* USER CODE END USART2_IRQn 0 */
|
||||
HAL_UART_IRQHandler(&huart2);
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||||
/* USER CODE BEGIN USART2_IRQn 1 */
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||||
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||||
/* USER CODE END USART2_IRQn 1 */
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||||
}
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||||
/**
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||||
* @brief This function handles USART3 global interrupt.
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||||
*/
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void USART3_IRQHandler(void)
|
||||
{
|
||||
/* USER CODE BEGIN USART3_IRQn 0 */
|
||||
|
||||
/* USER CODE END USART3_IRQn 0 */
|
||||
HAL_UART_IRQHandler(&huart3);
|
||||
/* USER CODE BEGIN USART3_IRQn 1 */
|
||||
|
||||
/* USER CODE END USART3_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles TIM8 trigger and commutation interrupts and TIM14 global interrupt.
|
||||
*/
|
||||
|
|
@ -205,6 +390,119 @@ void TIM8_TRG_COM_TIM14_IRQHandler(void)
|
|||
/* USER CODE END TIM8_TRG_COM_TIM14_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles DMA1 stream7 global interrupt.
|
||||
*/
|
||||
void DMA1_Stream7_IRQHandler(void)
|
||||
{
|
||||
/* USER CODE BEGIN DMA1_Stream7_IRQn 0 */
|
||||
|
||||
/* USER CODE END DMA1_Stream7_IRQn 0 */
|
||||
HAL_DMA_IRQHandler(&hdma_uart7_rx);
|
||||
/* USER CODE BEGIN DMA1_Stream7_IRQn 1 */
|
||||
|
||||
/* USER CODE END DMA1_Stream7_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles UART5 global interrupt.
|
||||
*/
|
||||
void UART5_IRQHandler(void)
|
||||
{
|
||||
/* USER CODE BEGIN UART5_IRQn 0 */
|
||||
|
||||
/* USER CODE END UART5_IRQn 0 */
|
||||
HAL_UART_IRQHandler(&huart5);
|
||||
/* USER CODE BEGIN UART5_IRQn 1 */
|
||||
|
||||
/* USER CODE END UART5_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles DMA2 stream0 global interrupt.
|
||||
*/
|
||||
void DMA2_Stream0_IRQHandler(void)
|
||||
{
|
||||
/* USER CODE BEGIN DMA2_Stream0_IRQn 0 */
|
||||
|
||||
/* USER CODE END DMA2_Stream0_IRQn 0 */
|
||||
HAL_DMA_IRQHandler(&hdma_uart7_tx);
|
||||
/* USER CODE BEGIN DMA2_Stream0_IRQn 1 */
|
||||
|
||||
/* USER CODE END DMA2_Stream0_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles DMA2 stream1 global interrupt.
|
||||
*/
|
||||
void DMA2_Stream1_IRQHandler(void)
|
||||
{
|
||||
/* USER CODE BEGIN DMA2_Stream1_IRQn 0 */
|
||||
|
||||
/* USER CODE END DMA2_Stream1_IRQn 0 */
|
||||
HAL_DMA_IRQHandler(&hdma_usart2_rx);
|
||||
/* USER CODE BEGIN DMA2_Stream1_IRQn 1 */
|
||||
|
||||
/* USER CODE END DMA2_Stream1_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles DMA2 stream2 global interrupt.
|
||||
*/
|
||||
void DMA2_Stream2_IRQHandler(void)
|
||||
{
|
||||
/* USER CODE BEGIN DMA2_Stream2_IRQn 0 */
|
||||
|
||||
/* USER CODE END DMA2_Stream2_IRQn 0 */
|
||||
HAL_DMA_IRQHandler(&hdma_usart2_tx);
|
||||
/* USER CODE BEGIN DMA2_Stream2_IRQn 1 */
|
||||
|
||||
/* USER CODE END DMA2_Stream2_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles FDCAN calibration unit interrupt.
|
||||
*/
|
||||
void FDCAN_CAL_IRQHandler(void)
|
||||
{
|
||||
/* USER CODE BEGIN FDCAN_CAL_IRQn 0 */
|
||||
|
||||
/* USER CODE END FDCAN_CAL_IRQn 0 */
|
||||
HAL_FDCAN_IRQHandler(&hfdcan1);
|
||||
HAL_FDCAN_IRQHandler(&hfdcan2);
|
||||
/* USER CODE BEGIN FDCAN_CAL_IRQn 1 */
|
||||
|
||||
/* USER CODE END FDCAN_CAL_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles USB On The Go HS End Point 1 Out global interrupt.
|
||||
*/
|
||||
void OTG_HS_EP1_OUT_IRQHandler(void)
|
||||
{
|
||||
/* USER CODE BEGIN OTG_HS_EP1_OUT_IRQn 0 */
|
||||
|
||||
/* USER CODE END OTG_HS_EP1_OUT_IRQn 0 */
|
||||
HAL_PCD_IRQHandler(&hpcd_USB_OTG_HS);
|
||||
/* USER CODE BEGIN OTG_HS_EP1_OUT_IRQn 1 */
|
||||
|
||||
/* USER CODE END OTG_HS_EP1_OUT_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles USB On The Go HS End Point 1 In global interrupt.
|
||||
*/
|
||||
void OTG_HS_EP1_IN_IRQHandler(void)
|
||||
{
|
||||
/* USER CODE BEGIN OTG_HS_EP1_IN_IRQn 0 */
|
||||
|
||||
/* USER CODE END OTG_HS_EP1_IN_IRQn 0 */
|
||||
HAL_PCD_IRQHandler(&hpcd_USB_OTG_HS);
|
||||
/* USER CODE BEGIN OTG_HS_EP1_IN_IRQn 1 */
|
||||
|
||||
/* USER CODE END OTG_HS_EP1_IN_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles USB On The Go HS global interrupt.
|
||||
*/
|
||||
|
|
@ -219,6 +517,34 @@ void OTG_HS_IRQHandler(void)
|
|||
/* USER CODE END OTG_HS_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles UART7 global interrupt.
|
||||
*/
|
||||
void UART7_IRQHandler(void)
|
||||
{
|
||||
/* USER CODE BEGIN UART7_IRQn 0 */
|
||||
|
||||
/* USER CODE END UART7_IRQn 0 */
|
||||
HAL_UART_IRQHandler(&huart7);
|
||||
/* USER CODE BEGIN UART7_IRQn 1 */
|
||||
|
||||
/* USER CODE END UART7_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles USART10 global interrupt.
|
||||
*/
|
||||
void USART10_IRQHandler(void)
|
||||
{
|
||||
/* USER CODE BEGIN USART10_IRQn 0 */
|
||||
|
||||
/* USER CODE END USART10_IRQn 0 */
|
||||
HAL_UART_IRQHandler(&huart10);
|
||||
/* USER CODE BEGIN USART10_IRQn 1 */
|
||||
|
||||
/* USER CODE END USART10_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles FDCAN3 interrupt 0.
|
||||
*/
|
||||
|
|
@ -233,6 +559,20 @@ void FDCAN3_IT0_IRQHandler(void)
|
|||
/* USER CODE END FDCAN3_IT0_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles FDCAN3 interrupt 1.
|
||||
*/
|
||||
void FDCAN3_IT1_IRQHandler(void)
|
||||
{
|
||||
/* USER CODE BEGIN FDCAN3_IT1_IRQn 0 */
|
||||
|
||||
/* USER CODE END FDCAN3_IT1_IRQn 0 */
|
||||
HAL_FDCAN_IRQHandler(&hfdcan3);
|
||||
/* USER CODE BEGIN FDCAN3_IT1_IRQn 1 */
|
||||
|
||||
/* USER CODE END FDCAN3_IT1_IRQn 1 */
|
||||
}
|
||||
|
||||
/* USER CODE BEGIN 1 */
|
||||
|
||||
/* USER CODE END 1 */
|
||||
|
|
|
|||
268
Core/Src/usart.c
268
Core/Src/usart.c
|
|
@ -30,6 +30,17 @@ UART_HandleTypeDef huart1;
|
|||
UART_HandleTypeDef huart2;
|
||||
UART_HandleTypeDef huart3;
|
||||
UART_HandleTypeDef huart10;
|
||||
DMA_HandleTypeDef hdma_uart5_rx;
|
||||
DMA_HandleTypeDef hdma_uart7_rx;
|
||||
DMA_HandleTypeDef hdma_uart7_tx;
|
||||
DMA_HandleTypeDef hdma_usart1_tx;
|
||||
DMA_HandleTypeDef hdma_usart1_rx;
|
||||
DMA_HandleTypeDef hdma_usart2_rx;
|
||||
DMA_HandleTypeDef hdma_usart2_tx;
|
||||
DMA_HandleTypeDef hdma_usart3_tx;
|
||||
DMA_HandleTypeDef hdma_usart3_rx;
|
||||
DMA_HandleTypeDef hdma_usart10_rx;
|
||||
DMA_HandleTypeDef hdma_usart10_tx;
|
||||
|
||||
/* UART5 init function */
|
||||
void MX_UART5_Init(void)
|
||||
|
|
@ -337,6 +348,28 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
|
|||
GPIO_InitStruct.Alternate = GPIO_AF8_UART5;
|
||||
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
|
||||
|
||||
/* UART5 DMA Init */
|
||||
/* UART5_RX Init */
|
||||
hdma_uart5_rx.Instance = DMA1_Stream0;
|
||||
hdma_uart5_rx.Init.Request = DMA_REQUEST_UART5_RX;
|
||||
hdma_uart5_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
|
||||
hdma_uart5_rx.Init.PeriphInc = DMA_PINC_DISABLE;
|
||||
hdma_uart5_rx.Init.MemInc = DMA_MINC_ENABLE;
|
||||
hdma_uart5_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
|
||||
hdma_uart5_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
|
||||
hdma_uart5_rx.Init.Mode = DMA_NORMAL;
|
||||
hdma_uart5_rx.Init.Priority = DMA_PRIORITY_LOW;
|
||||
hdma_uart5_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
|
||||
if (HAL_DMA_Init(&hdma_uart5_rx) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
|
||||
__HAL_LINKDMA(uartHandle,hdmarx,hdma_uart5_rx);
|
||||
|
||||
/* UART5 interrupt Init */
|
||||
HAL_NVIC_SetPriority(UART5_IRQn, 5, 0);
|
||||
HAL_NVIC_EnableIRQ(UART5_IRQn);
|
||||
/* USER CODE BEGIN UART5_MspInit 1 */
|
||||
|
||||
/* USER CODE END UART5_MspInit 1 */
|
||||
|
|
@ -371,6 +404,46 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
|
|||
GPIO_InitStruct.Alternate = GPIO_AF7_UART7;
|
||||
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
|
||||
|
||||
/* UART7 DMA Init */
|
||||
/* UART7_RX Init */
|
||||
hdma_uart7_rx.Instance = DMA1_Stream7;
|
||||
hdma_uart7_rx.Init.Request = DMA_REQUEST_UART7_RX;
|
||||
hdma_uart7_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
|
||||
hdma_uart7_rx.Init.PeriphInc = DMA_PINC_DISABLE;
|
||||
hdma_uart7_rx.Init.MemInc = DMA_MINC_ENABLE;
|
||||
hdma_uart7_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
|
||||
hdma_uart7_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
|
||||
hdma_uart7_rx.Init.Mode = DMA_NORMAL;
|
||||
hdma_uart7_rx.Init.Priority = DMA_PRIORITY_LOW;
|
||||
hdma_uart7_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
|
||||
if (HAL_DMA_Init(&hdma_uart7_rx) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
|
||||
__HAL_LINKDMA(uartHandle,hdmarx,hdma_uart7_rx);
|
||||
|
||||
/* UART7_TX Init */
|
||||
hdma_uart7_tx.Instance = DMA2_Stream0;
|
||||
hdma_uart7_tx.Init.Request = DMA_REQUEST_UART7_TX;
|
||||
hdma_uart7_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
|
||||
hdma_uart7_tx.Init.PeriphInc = DMA_PINC_DISABLE;
|
||||
hdma_uart7_tx.Init.MemInc = DMA_MINC_ENABLE;
|
||||
hdma_uart7_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
|
||||
hdma_uart7_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
|
||||
hdma_uart7_tx.Init.Mode = DMA_NORMAL;
|
||||
hdma_uart7_tx.Init.Priority = DMA_PRIORITY_LOW;
|
||||
hdma_uart7_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
|
||||
if (HAL_DMA_Init(&hdma_uart7_tx) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
|
||||
__HAL_LINKDMA(uartHandle,hdmatx,hdma_uart7_tx);
|
||||
|
||||
/* UART7 interrupt Init */
|
||||
HAL_NVIC_SetPriority(UART7_IRQn, 5, 0);
|
||||
HAL_NVIC_EnableIRQ(UART7_IRQn);
|
||||
/* USER CODE BEGIN UART7_MspInit 1 */
|
||||
|
||||
/* USER CODE END UART7_MspInit 1 */
|
||||
|
|
@ -405,6 +478,46 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
|
|||
GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
|
||||
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
|
||||
|
||||
/* USART1 DMA Init */
|
||||
/* USART1_TX Init */
|
||||
hdma_usart1_tx.Instance = DMA1_Stream5;
|
||||
hdma_usart1_tx.Init.Request = DMA_REQUEST_USART1_TX;
|
||||
hdma_usart1_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
|
||||
hdma_usart1_tx.Init.PeriphInc = DMA_PINC_DISABLE;
|
||||
hdma_usart1_tx.Init.MemInc = DMA_MINC_ENABLE;
|
||||
hdma_usart1_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
|
||||
hdma_usart1_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
|
||||
hdma_usart1_tx.Init.Mode = DMA_NORMAL;
|
||||
hdma_usart1_tx.Init.Priority = DMA_PRIORITY_LOW;
|
||||
hdma_usart1_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
|
||||
if (HAL_DMA_Init(&hdma_usart1_tx) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
|
||||
__HAL_LINKDMA(uartHandle,hdmatx,hdma_usart1_tx);
|
||||
|
||||
/* USART1_RX Init */
|
||||
hdma_usart1_rx.Instance = DMA1_Stream6;
|
||||
hdma_usart1_rx.Init.Request = DMA_REQUEST_USART1_RX;
|
||||
hdma_usart1_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
|
||||
hdma_usart1_rx.Init.PeriphInc = DMA_PINC_DISABLE;
|
||||
hdma_usart1_rx.Init.MemInc = DMA_MINC_ENABLE;
|
||||
hdma_usart1_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
|
||||
hdma_usart1_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
|
||||
hdma_usart1_rx.Init.Mode = DMA_NORMAL;
|
||||
hdma_usart1_rx.Init.Priority = DMA_PRIORITY_LOW;
|
||||
hdma_usart1_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
|
||||
if (HAL_DMA_Init(&hdma_usart1_rx) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
|
||||
__HAL_LINKDMA(uartHandle,hdmarx,hdma_usart1_rx);
|
||||
|
||||
/* USART1 interrupt Init */
|
||||
HAL_NVIC_SetPriority(USART1_IRQn, 5, 0);
|
||||
HAL_NVIC_EnableIRQ(USART1_IRQn);
|
||||
/* USER CODE BEGIN USART1_MspInit 1 */
|
||||
|
||||
/* USER CODE END USART1_MspInit 1 */
|
||||
|
|
@ -440,6 +553,46 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
|
|||
GPIO_InitStruct.Alternate = GPIO_AF7_USART2;
|
||||
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
|
||||
|
||||
/* USART2 DMA Init */
|
||||
/* USART2_RX Init */
|
||||
hdma_usart2_rx.Instance = DMA2_Stream1;
|
||||
hdma_usart2_rx.Init.Request = DMA_REQUEST_USART2_RX;
|
||||
hdma_usart2_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
|
||||
hdma_usart2_rx.Init.PeriphInc = DMA_PINC_DISABLE;
|
||||
hdma_usart2_rx.Init.MemInc = DMA_MINC_ENABLE;
|
||||
hdma_usart2_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
|
||||
hdma_usart2_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
|
||||
hdma_usart2_rx.Init.Mode = DMA_NORMAL;
|
||||
hdma_usart2_rx.Init.Priority = DMA_PRIORITY_LOW;
|
||||
hdma_usart2_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
|
||||
if (HAL_DMA_Init(&hdma_usart2_rx) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
|
||||
__HAL_LINKDMA(uartHandle,hdmarx,hdma_usart2_rx);
|
||||
|
||||
/* USART2_TX Init */
|
||||
hdma_usart2_tx.Instance = DMA2_Stream2;
|
||||
hdma_usart2_tx.Init.Request = DMA_REQUEST_USART2_TX;
|
||||
hdma_usart2_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
|
||||
hdma_usart2_tx.Init.PeriphInc = DMA_PINC_DISABLE;
|
||||
hdma_usart2_tx.Init.MemInc = DMA_MINC_ENABLE;
|
||||
hdma_usart2_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
|
||||
hdma_usart2_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
|
||||
hdma_usart2_tx.Init.Mode = DMA_NORMAL;
|
||||
hdma_usart2_tx.Init.Priority = DMA_PRIORITY_LOW;
|
||||
hdma_usart2_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
|
||||
if (HAL_DMA_Init(&hdma_usart2_tx) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
|
||||
__HAL_LINKDMA(uartHandle,hdmatx,hdma_usart2_tx);
|
||||
|
||||
/* USART2 interrupt Init */
|
||||
HAL_NVIC_SetPriority(USART2_IRQn, 5, 0);
|
||||
HAL_NVIC_EnableIRQ(USART2_IRQn);
|
||||
/* USER CODE BEGIN USART2_MspInit 1 */
|
||||
|
||||
/* USER CODE END USART2_MspInit 1 */
|
||||
|
|
@ -483,6 +636,46 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
|
|||
GPIO_InitStruct.Alternate = GPIO_AF7_USART3;
|
||||
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
|
||||
|
||||
/* USART3 DMA Init */
|
||||
/* USART3_TX Init */
|
||||
hdma_usart3_tx.Instance = DMA1_Stream2;
|
||||
hdma_usart3_tx.Init.Request = DMA_REQUEST_USART3_TX;
|
||||
hdma_usart3_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
|
||||
hdma_usart3_tx.Init.PeriphInc = DMA_PINC_DISABLE;
|
||||
hdma_usart3_tx.Init.MemInc = DMA_MINC_ENABLE;
|
||||
hdma_usart3_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
|
||||
hdma_usart3_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
|
||||
hdma_usart3_tx.Init.Mode = DMA_NORMAL;
|
||||
hdma_usart3_tx.Init.Priority = DMA_PRIORITY_LOW;
|
||||
hdma_usart3_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
|
||||
if (HAL_DMA_Init(&hdma_usart3_tx) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
|
||||
__HAL_LINKDMA(uartHandle,hdmatx,hdma_usart3_tx);
|
||||
|
||||
/* USART3_RX Init */
|
||||
hdma_usart3_rx.Instance = DMA1_Stream3;
|
||||
hdma_usart3_rx.Init.Request = DMA_REQUEST_USART3_RX;
|
||||
hdma_usart3_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
|
||||
hdma_usart3_rx.Init.PeriphInc = DMA_PINC_DISABLE;
|
||||
hdma_usart3_rx.Init.MemInc = DMA_MINC_ENABLE;
|
||||
hdma_usart3_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
|
||||
hdma_usart3_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
|
||||
hdma_usart3_rx.Init.Mode = DMA_NORMAL;
|
||||
hdma_usart3_rx.Init.Priority = DMA_PRIORITY_LOW;
|
||||
hdma_usart3_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
|
||||
if (HAL_DMA_Init(&hdma_usart3_rx) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
|
||||
__HAL_LINKDMA(uartHandle,hdmarx,hdma_usart3_rx);
|
||||
|
||||
/* USART3 interrupt Init */
|
||||
HAL_NVIC_SetPriority(USART3_IRQn, 5, 0);
|
||||
HAL_NVIC_EnableIRQ(USART3_IRQn);
|
||||
/* USER CODE BEGIN USART3_MspInit 1 */
|
||||
|
||||
/* USER CODE END USART3_MspInit 1 */
|
||||
|
|
@ -524,6 +717,46 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
|
|||
GPIO_InitStruct.Alternate = GPIO_AF11_USART10;
|
||||
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
|
||||
|
||||
/* USART10 DMA Init */
|
||||
/* USART10_RX Init */
|
||||
hdma_usart10_rx.Instance = DMA1_Stream1;
|
||||
hdma_usart10_rx.Init.Request = DMA_REQUEST_USART10_RX;
|
||||
hdma_usart10_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
|
||||
hdma_usart10_rx.Init.PeriphInc = DMA_PINC_DISABLE;
|
||||
hdma_usart10_rx.Init.MemInc = DMA_MINC_ENABLE;
|
||||
hdma_usart10_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
|
||||
hdma_usart10_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
|
||||
hdma_usart10_rx.Init.Mode = DMA_NORMAL;
|
||||
hdma_usart10_rx.Init.Priority = DMA_PRIORITY_MEDIUM;
|
||||
hdma_usart10_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
|
||||
if (HAL_DMA_Init(&hdma_usart10_rx) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
|
||||
__HAL_LINKDMA(uartHandle,hdmarx,hdma_usart10_rx);
|
||||
|
||||
/* USART10_TX Init */
|
||||
hdma_usart10_tx.Instance = DMA1_Stream4;
|
||||
hdma_usart10_tx.Init.Request = DMA_REQUEST_USART10_TX;
|
||||
hdma_usart10_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
|
||||
hdma_usart10_tx.Init.PeriphInc = DMA_PINC_DISABLE;
|
||||
hdma_usart10_tx.Init.MemInc = DMA_MINC_ENABLE;
|
||||
hdma_usart10_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
|
||||
hdma_usart10_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
|
||||
hdma_usart10_tx.Init.Mode = DMA_NORMAL;
|
||||
hdma_usart10_tx.Init.Priority = DMA_PRIORITY_MEDIUM;
|
||||
hdma_usart10_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
|
||||
if (HAL_DMA_Init(&hdma_usart10_tx) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
|
||||
__HAL_LINKDMA(uartHandle,hdmatx,hdma_usart10_tx);
|
||||
|
||||
/* USART10 interrupt Init */
|
||||
HAL_NVIC_SetPriority(USART10_IRQn, 5, 0);
|
||||
HAL_NVIC_EnableIRQ(USART10_IRQn);
|
||||
/* USER CODE BEGIN USART10_MspInit 1 */
|
||||
|
||||
/* USER CODE END USART10_MspInit 1 */
|
||||
|
|
@ -549,6 +782,11 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
|
|||
|
||||
HAL_GPIO_DeInit(GPIOD, GPIO_PIN_2);
|
||||
|
||||
/* UART5 DMA DeInit */
|
||||
HAL_DMA_DeInit(uartHandle->hdmarx);
|
||||
|
||||
/* UART5 interrupt Deinit */
|
||||
HAL_NVIC_DisableIRQ(UART5_IRQn);
|
||||
/* USER CODE BEGIN UART5_MspDeInit 1 */
|
||||
|
||||
/* USER CODE END UART5_MspDeInit 1 */
|
||||
|
|
@ -567,6 +805,12 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
|
|||
*/
|
||||
HAL_GPIO_DeInit(GPIOE, GPIO_PIN_7|GPIO_PIN_8);
|
||||
|
||||
/* UART7 DMA DeInit */
|
||||
HAL_DMA_DeInit(uartHandle->hdmarx);
|
||||
HAL_DMA_DeInit(uartHandle->hdmatx);
|
||||
|
||||
/* UART7 interrupt Deinit */
|
||||
HAL_NVIC_DisableIRQ(UART7_IRQn);
|
||||
/* USER CODE BEGIN UART7_MspDeInit 1 */
|
||||
|
||||
/* USER CODE END UART7_MspDeInit 1 */
|
||||
|
|
@ -585,6 +829,12 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
|
|||
*/
|
||||
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10);
|
||||
|
||||
/* USART1 DMA DeInit */
|
||||
HAL_DMA_DeInit(uartHandle->hdmatx);
|
||||
HAL_DMA_DeInit(uartHandle->hdmarx);
|
||||
|
||||
/* USART1 interrupt Deinit */
|
||||
HAL_NVIC_DisableIRQ(USART1_IRQn);
|
||||
/* USER CODE BEGIN USART1_MspDeInit 1 */
|
||||
|
||||
/* USER CODE END USART1_MspDeInit 1 */
|
||||
|
|
@ -604,6 +854,12 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
|
|||
*/
|
||||
HAL_GPIO_DeInit(GPIOD, GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6);
|
||||
|
||||
/* USART2 DMA DeInit */
|
||||
HAL_DMA_DeInit(uartHandle->hdmarx);
|
||||
HAL_DMA_DeInit(uartHandle->hdmatx);
|
||||
|
||||
/* USART2 interrupt Deinit */
|
||||
HAL_NVIC_DisableIRQ(USART2_IRQn);
|
||||
/* USER CODE BEGIN USART2_MspDeInit 1 */
|
||||
|
||||
/* USER CODE END USART2_MspDeInit 1 */
|
||||
|
|
@ -625,6 +881,12 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
|
|||
|
||||
HAL_GPIO_DeInit(GPIOD, GPIO_PIN_8|GPIO_PIN_9);
|
||||
|
||||
/* USART3 DMA DeInit */
|
||||
HAL_DMA_DeInit(uartHandle->hdmatx);
|
||||
HAL_DMA_DeInit(uartHandle->hdmarx);
|
||||
|
||||
/* USART3 interrupt Deinit */
|
||||
HAL_NVIC_DisableIRQ(USART3_IRQn);
|
||||
/* USER CODE BEGIN USART3_MspDeInit 1 */
|
||||
|
||||
/* USER CODE END USART3_MspDeInit 1 */
|
||||
|
|
@ -643,6 +905,12 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
|
|||
*/
|
||||
HAL_GPIO_DeInit(GPIOE, GPIO_PIN_2|GPIO_PIN_3);
|
||||
|
||||
/* USART10 DMA DeInit */
|
||||
HAL_DMA_DeInit(uartHandle->hdmarx);
|
||||
HAL_DMA_DeInit(uartHandle->hdmatx);
|
||||
|
||||
/* USART10 interrupt Deinit */
|
||||
HAL_NVIC_DisableIRQ(USART10_IRQn);
|
||||
/* USER CODE BEGIN USART10_MspDeInit 1 */
|
||||
|
||||
/* USER CODE END USART10_MspDeInit 1 */
|
||||
|
|
|
|||
|
|
@ -89,6 +89,10 @@ void HAL_PCD_MspInit(PCD_HandleTypeDef* pcdHandle)
|
|||
__HAL_RCC_USB_OTG_HS_CLK_ENABLE();
|
||||
|
||||
/* Peripheral interrupt init */
|
||||
HAL_NVIC_SetPriority(OTG_HS_EP1_OUT_IRQn, 5, 0);
|
||||
HAL_NVIC_EnableIRQ(OTG_HS_EP1_OUT_IRQn);
|
||||
HAL_NVIC_SetPriority(OTG_HS_EP1_IN_IRQn, 5, 0);
|
||||
HAL_NVIC_EnableIRQ(OTG_HS_EP1_IN_IRQn);
|
||||
HAL_NVIC_SetPriority(OTG_HS_IRQn, 5, 0);
|
||||
HAL_NVIC_EnableIRQ(OTG_HS_IRQn);
|
||||
/* USER CODE BEGIN USB_OTG_HS_MspInit 1 */
|
||||
|
|
@ -108,6 +112,10 @@ void HAL_PCD_MspDeInit(PCD_HandleTypeDef* pcdHandle)
|
|||
__HAL_RCC_USB_OTG_HS_CLK_DISABLE();
|
||||
|
||||
/* Peripheral interrupt Deinit*/
|
||||
HAL_NVIC_DisableIRQ(OTG_HS_EP1_OUT_IRQn);
|
||||
|
||||
HAL_NVIC_DisableIRQ(OTG_HS_EP1_IN_IRQn);
|
||||
|
||||
HAL_NVIC_DisableIRQ(OTG_HS_IRQn);
|
||||
|
||||
/* USER CODE BEGIN USB_OTG_HS_MspDeInit 1 */
|
||||
|
|
|
|||
|
|
@ -235,32 +235,32 @@ void ArmInit()
|
|||
.motor_type = M2006,
|
||||
};
|
||||
|
||||
Joint1LeftMotor_Config.can_init_config.can_handle = &hcan1;
|
||||
Joint1LeftMotor_Config.can_init_config.fdcan_handle = &hfdcan1;
|
||||
Joint1LeftMotor_Config.can_init_config.tx_id = 1;
|
||||
Joint1LeftMotor = DJIMotorInit(&Joint1LeftMotor_Config);
|
||||
|
||||
Joint1RightMotor_Config.can_init_config.can_handle = &hcan1;
|
||||
Joint1RightMotor_Config.can_init_config.fdcan_handle = &hfdcan1;
|
||||
Joint1RightMotor_Config.can_init_config.tx_id = 2;
|
||||
Joint1RightMotor = DJIMotorInit(&Joint1RightMotor_Config);
|
||||
|
||||
Joint2Motor_Config.can_init_config.can_handle = &hcan1;
|
||||
Joint2Motor_Config.can_init_config.fdcan_handle = &hfdcan1;
|
||||
Joint2Motor_Config.can_init_config.tx_id = 3;
|
||||
Joint2Motor = DJIMotorInit(&Joint2Motor_Config);
|
||||
|
||||
Joint56Motor_Config.can_init_config.can_handle = &hcan1;
|
||||
Joint56Motor_Config.can_init_config.fdcan_handle = &hfdcan1;
|
||||
Joint56Motor_Config.can_init_config.tx_id = 4;
|
||||
Joint56Motor = DJIMotorInit(&Joint56Motor_Config);
|
||||
|
||||
Joint65Motor_Config.can_init_config.can_handle = &hcan1;
|
||||
Joint65Motor_Config.can_init_config.fdcan_handle = &hfdcan1;
|
||||
Joint65Motor_Config.can_init_config.tx_id = 5;
|
||||
Joint65Motor = DJIMotorInit(&Joint65Motor_Config);
|
||||
|
||||
Joint3Motor_Config.can_init_config.can_handle = &hcan1;
|
||||
Joint3Motor_Config.can_init_config.fdcan_handle = &hfdcan1;
|
||||
Joint3Motor_Config.can_init_config.tx_id = 6;
|
||||
Joint3Motor_Config.can_init_config.rx_id = 7;
|
||||
Joint3Motor = DMMotorInit(&Joint3Motor_Config);
|
||||
|
||||
Joint4Motor_Config.can_init_config.can_handle = &hcan1;
|
||||
Joint4Motor_Config.can_init_config.fdcan_handle = &hfdcan1;
|
||||
Joint4Motor_Config.can_init_config.tx_id = 8;
|
||||
Joint4Motor_Config.can_init_config.rx_id = 9;
|
||||
Joint4Motor = DMMotorInit(&Joint4Motor_Config);
|
||||
|
|
|
|||
|
|
@ -64,7 +64,7 @@ void ChassisInit()
|
|||
{
|
||||
// 四个轮子的参数一样,改tx_id和反转标志位即可
|
||||
Motor_Init_Config_s chassis_motor_config = {
|
||||
.can_init_config.can_handle = &hcan1,
|
||||
.can_init_config.fdcan_handle = &hfdcan1,
|
||||
.controller_param_init_config = {
|
||||
.speed_PID = {
|
||||
.Kp = 3,
|
||||
|
|
|
|||
|
|
@ -67,13 +67,13 @@ VT_info_t *referee_VT_data; //图传链路数据
|
|||
custom_control_t CustomControl; //自定义控制器数据
|
||||
|
||||
void RobotCMDInit() {
|
||||
rc_data = RemoteControlInit(&huart3); // 修改为对应串口,注意如果是自研板dbus协议串口需选用添加了反相器的那个
|
||||
rc_data = RemoteControlInit(&huart5); // 修改为对应串口,注意如果是自研板dbus协议串口需选用添加了反相器的那个
|
||||
// vision_recv_data = VisionInit(&huart1); // 视觉通信串口
|
||||
|
||||
//@TODO:注意注意！！！！！！！，为调试自定义控制器方便，把裁判系统和图传的串口换了一下
|
||||
referee_data = UITaskInit(&huart1, &ui_data); // 裁判系统初始化,会同时初始化UI
|
||||
referee_VT_data = VTInit(&huart6);
|
||||
referee_data = UITaskInit(&huart3, &ui_data); // 裁判系统初始化,会同时初始化UI
|
||||
referee_VT_data = VTInit(&huart10);
|
||||
|
||||
//这里需要改一下气泵的控制电路
|
||||
air_pump = PumpInit(&htim1,TIM_CHANNEL_1);
|
||||
|
||||
arm_cmd_pub = PubRegister("arm_cmd", sizeof(Arm_Ctrl_Cmd_s));
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
#include "bsp_flash.h"
|
||||
#include "main.h"
|
||||
#include "string.h"
|
||||
|
||||
//flash读写没有经过测试，谨慎使用，只是使得其没有报错
|
||||
static uint32_t ger_sector(uint32_t address);
|
||||
|
||||
/**
|
||||
|
|
@ -62,7 +62,7 @@ int8_t flash_write_single_address(uint32_t start_address, uint32_t *buf, uint32_
|
|||
while (uw_address <= end_address)
|
||||
{
|
||||
|
||||
if (HAL_FLASH_Program(FLASH_TYPEPROGRAM_WORD,uw_address, *data_buf) == HAL_OK)
|
||||
if (HAL_FLASH_Program(FLASH_TYPEPROGRAM_FLASHWORD,uw_address, *data_buf) == HAL_OK)
|
||||
{
|
||||
uw_address += 4;
|
||||
data_buf++;
|
||||
|
|
@ -112,7 +112,7 @@ int8_t flash_write_muli_address(uint32_t start_address, uint32_t end_address, ui
|
|||
data_len = 0;
|
||||
while (uw_address <= end_address)
|
||||
{
|
||||
if (HAL_FLASH_Program(FLASH_TYPEPROGRAM_WORD,uw_address, *data_buf) == HAL_OK)
|
||||
if (HAL_FLASH_Program(FLASH_TYPEPROGRAM_FLASHWORD,uw_address, *data_buf) == HAL_OK)
|
||||
{
|
||||
uw_address += 4;
|
||||
data_buf++;
|
||||
|
|
@ -199,27 +199,6 @@ static uint32_t ger_sector(uint32_t address)
|
|||
{
|
||||
sector = FLASH_SECTOR_7;
|
||||
}
|
||||
else if ((address < ADDR_FLASH_SECTOR_9) && (address >= ADDR_FLASH_SECTOR_8))
|
||||
{
|
||||
sector = FLASH_SECTOR_8;
|
||||
}
|
||||
else if ((address < ADDR_FLASH_SECTOR_10) && (address >= ADDR_FLASH_SECTOR_9))
|
||||
{
|
||||
sector = FLASH_SECTOR_9;
|
||||
}
|
||||
else if ((address < ADDR_FLASH_SECTOR_11) && (address >= ADDR_FLASH_SECTOR_10))
|
||||
{
|
||||
sector = FLASH_SECTOR_10;
|
||||
}
|
||||
else if ((address < ADDR_FLASH_SECTOR_12) && (address >= ADDR_FLASH_SECTOR_11))
|
||||
{
|
||||
sector = FLASH_SECTOR_11;
|
||||
}
|
||||
else
|
||||
{
|
||||
sector = FLASH_SECTOR_11;
|
||||
}
|
||||
|
||||
return sector;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -88,22 +88,25 @@ void PWMStartDMA(PWMInstance *pwm, uint32_t *pData, uint32_t Size)
|
|||
|
||||
// 设置pwm对应定时器时钟源频率
|
||||
//tim2~7,12~14,23、24:APB1 tim1,8,15~17:APB2
|
||||
//不确定：这里的时钟源频率可能会有问题
|
||||
static uint32_t PWMSelectTclk(TIM_HandleTypeDef *htim )
|
||||
{
|
||||
uintptr_t tclk_temp = ((uintptr_t)((htim)->Instance));
|
||||
if (
|
||||
(tclk_temp <= (APB1PERIPH_BASE + 0x2000UL)) &&
|
||||
(tclk_temp >= (APB1PERIPH_BASE + 0x0000UL)))
|
||||
((tclk_temp <= (D2_APB1PERIPH_BASE + 0x2000UL)) &&
|
||||
(tclk_temp >= (D2_APB1PERIPH_BASE + 0x0000UL))) ||
|
||||
(tclk_temp <= (D2_APB1PERIPH_BASE + 0xE400UL)) &&
|
||||
(tclk_temp >= (D2_APB1PERIPH_BASE + 0xE000UL)))
|
||||
{
|
||||
return (HAL_RCC_GetPCLK1Freq() * (APBPrescTable[(RCC->CFGR & RCC_CFGR_PPRE1)>> RCC_CFGR_PPRE1_Pos] == 0 ? 1 : 2));
|
||||
return (HAL_RCC_GetPCLK1Freq());
|
||||
}
|
||||
else if (
|
||||
((tclk_temp <= (APB2PERIPH_BASE + 0x0400UL)) &&
|
||||
(tclk_temp >= (APB2PERIPH_BASE + 0x0000UL))) ||
|
||||
((tclk_temp <= (APB2PERIPH_BASE + 0x4800UL)) &&
|
||||
(tclk_temp >= (APB2PERIPH_BASE + 0x4000UL))))
|
||||
((tclk_temp <= (D2_APB2PERIPH_BASE + 0x0400UL)) &&
|
||||
(tclk_temp >= (D2_APB2PERIPH_BASE + 0x0000UL))) ||
|
||||
((tclk_temp <= (D2_APB2PERIPH_BASE + 0x4800UL)) &&
|
||||
(tclk_temp >= (D2_APB2PERIPH_BASE + 0x4000UL))))
|
||||
{
|
||||
return (HAL_RCC_GetPCLK2Freq() * (APBPrescTable[(RCC->CFGR & RCC_CFGR_PPRE1)>> RCC_CFGR_PPRE1_Pos] == 0 ? 1 : 2));
|
||||
return (HAL_RCC_GetPCLK2Freq());
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
|
@ -1,60 +0,0 @@
|
|||
{
|
||||
"configurations" :
|
||||
[
|
||||
{
|
||||
"directories" :
|
||||
[
|
||||
{
|
||||
"build" : ".",
|
||||
"jsonFile" : "directory-.-d0094a50bb2071803777.json",
|
||||
"minimumCMakeVersion" :
|
||||
{
|
||||
"string" : "3.26"
|
||||
},
|
||||
"projectIndex" : 0,
|
||||
"source" : ".",
|
||||
"targetIndexes" :
|
||||
[
|
||||
0
|
||||
]
|
||||
}
|
||||
],
|
||||
"name" : "",
|
||||
"projects" :
|
||||
[
|
||||
{
|
||||
"directoryIndexes" :
|
||||
[
|
||||
0
|
||||
],
|
||||
"name" : "scara_engineering",
|
||||
"targetIndexes" :
|
||||
[
|
||||
0
|
||||
]
|
||||
}
|
||||
],
|
||||
"targets" :
|
||||
[
|
||||
{
|
||||
"directoryIndex" : 0,
|
||||
"id" : "scara_engineering.elf::@6890427a1f51a3e7e1df",
|
||||
"jsonFile" : "target-scara_engineering.elf-385f57d6446567432e4e.json",
|
||||
"name" : "scara_engineering.elf",
|
||||
"projectIndex" : 0
|
||||
}
|
||||
]
|
||||
}
|
||||
],
|
||||
"kind" : "codemodel",
|
||||
"paths" :
|
||||
{
|
||||
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|
||||
ignore line: [GGC heuristics: --param ggc-min-expand=100 --param ggc-min-heapsize=131072]
|
||||
ignore line: [Compiler executable checksum: 7a1ab17ae8404f635d46188cccacd8be]
|
||||
ignore line: [COLLECT_GCC_OPTIONS='-fdiagnostics-color=always' '-v' '-o' 'CMakeFiles/cmTC_3e19a.dir/CMakeCXXCompilerABI.cpp.obj' '-c' '-mcpu=arm7tdmi' '-mfloat-abi=soft' '-marm' '-march=armv4t']
|
||||
ignore line: [ c:/mounriver/mounriver_studio/toolchain/arm-none-eabi-gcc/bin/../lib/gcc/arm-none-eabi/9.3.1/../../../../arm-none-eabi/bin/as.exe -v -march=armv4t -mfloat-abi=soft -meabi=5 -o CMakeFiles/cmTC_3e19a.dir/CMakeCXXCompilerABI.cpp.obj C:\\Users\\24871\\AppData\\Local\\Temp\\ccU7rwya.s]
|
||||
ignore line: [COLLECT_GCC_OPTIONS='-fdiagnostics-color=always' '-v' '-o' 'CMakeFiles/cmTC_7526a.dir/CMakeCXXCompilerABI.cpp.obj' '-c' '-mcpu=arm7tdmi' '-mfloat-abi=soft' '-marm' '-march=armv4t']
|
||||
ignore line: [ c:/mounriver/mounriver_studio/toolchain/arm-none-eabi-gcc/bin/../lib/gcc/arm-none-eabi/9.3.1/../../../../arm-none-eabi/bin/as.exe -v -march=armv4t -mfloat-abi=soft -meabi=5 -o CMakeFiles/cmTC_7526a.dir/CMakeCXXCompilerABI.cpp.obj C:\\Users\\24871\\AppData\\Local\\Temp\\ccwbo0Pn.s]
|
||||
ignore line: [GNU assembler version 2.34.0 (arm-none-eabi) using BFD version (GNU Arm Embedded Toolchain 9-2020-q2-update) 2.34.0.20200428]
|
||||
ignore line: [COMPILER_PATH=c:/mounriver/mounriver_studio/toolchain/arm-none-eabi-gcc/bin/../lib/gcc/arm-none-eabi/9.3.1/]
|
||||
ignore line: [c:/mounriver/mounriver_studio/toolchain/arm-none-eabi-gcc/bin/../lib/gcc/]
|
||||
|
|
@ -392,8 +392,8 @@ events:
|
|||
ignore line: [c:/mounriver/mounriver_studio/toolchain/arm-none-eabi-gcc/bin/../lib/gcc/]
|
||||
ignore line: [c:/mounriver/mounriver_studio/toolchain/arm-none-eabi-gcc/bin/../lib/gcc/arm-none-eabi/9.3.1/../../../../arm-none-eabi/lib/]
|
||||
ignore line: [c:/mounriver/mounriver_studio/toolchain/arm-none-eabi-gcc/bin/../arm-none-eabi/lib/]
|
||||
ignore line: [COLLECT_GCC_OPTIONS='-fdiagnostics-color=always' '-v' '-o' 'CMakeFiles/cmTC_3e19a.dir/CMakeCXXCompilerABI.cpp.obj' '-c' '-mcpu=arm7tdmi' '-mfloat-abi=soft' '-marm' '-march=armv4t']
|
||||
ignore line: [[2/2] cmd.exe /C "cd . && "C:\\Program Files\\JetBrains\\CLion 2023.2.2\\bin\\cmake\\win\\x64\\bin\\cmake.exe" -E rm -f libcmTC_3e19a.a && arm-none-eabi-ar qc libcmTC_3e19a.a CMakeFiles/cmTC_3e19a.dir/CMakeCXXCompilerABI.cpp.obj && C:\\MounRiver\\MounRiver_Studio\\toolchain\\arm-none-eabi-gcc\\bin\\arm-none-eabi-ranlib.exe libcmTC_3e19a.a && cd ."]
|
||||
ignore line: [COLLECT_GCC_OPTIONS='-fdiagnostics-color=always' '-v' '-o' 'CMakeFiles/cmTC_7526a.dir/CMakeCXXCompilerABI.cpp.obj' '-c' '-mcpu=arm7tdmi' '-mfloat-abi=soft' '-marm' '-march=armv4t']
|
||||
ignore line: [[2/2] cmd.exe /C "cd . && "C:\\Program Files\\JetBrains\\CLion 2023.2.2\\bin\\cmake\\win\\x64\\bin\\cmake.exe" -E rm -f libcmTC_7526a.a && arm-none-eabi-ar qc libcmTC_7526a.a CMakeFiles/cmTC_7526a.dir/CMakeCXXCompilerABI.cpp.obj && C:\\MounRiver\\MounRiver_Studio\\toolchain\\arm-none-eabi-gcc\\bin\\arm-none-eabi-ranlib.exe libcmTC_7526a.a && cd ."]
|
||||
ignore line: []
|
||||
ignore line: []
|
||||
implicit libs: []
|
||||
|
|
|
|||
|
|
@ -22,6 +22,6 @@ CMAKE_CXX_COMPILER= C:/Arm-GNU-Toolchian/bin/arm-none-eabi-c++.exe
|
|||
-- Detecting CXX compile features
|
||||
-- Detecting CXX compile features - done
|
||||
-- Minimal optimization, debug info included
|
||||
-- Configuring done (6.4s)
|
||||
-- Generating done (0.0s)
|
||||
-- Configuring done (4.8s)
|
||||
-- Generating done (0.1s)
|
||||
-- Build files have been written to: D:/RM/@RM2025/scara_engineering/cmake-build-debug
|
||||
|
|
|
|||
|
|
@ -32,11 +32,23 @@ rule C_COMPILER__scara_engineering.2eelf_unscanned_
|
|||
|
||||
|
||||
#############################################
|
||||
# Rule for linking C executable.
|
||||
# Rule for compiling CXX files.
|
||||
|
||||
rule C_EXECUTABLE_LINKER__scara_engineering.2eelf_
|
||||
command = cmd.exe /C "$PRE_LINK && C:\MounRiver\MounRiver_Studio\toolchain\arm-none-eabi-gcc\bin\arm-none-eabi-gcc.exe $FLAGS $LINK_FLAGS $in -o $TARGET_FILE $LINK_PATH $LINK_LIBRARIES && $POST_BUILD"
|
||||
description = Linking C executable $TARGET_FILE
|
||||
rule CXX_COMPILER__scara_engineering.2eelf_unscanned_
|
||||
depfile = $DEP_FILE
|
||||
deps = gcc
|
||||
command = C:\MounRiver\MounRiver_Studio\toolchain\arm-none-eabi-gcc\bin\arm-none-eabi-g++.exe $DEFINES $INCLUDES $FLAGS -MD -MT $out -MF $DEP_FILE -o $out -c $in
|
||||
description = Building CXX object $out
|
||||
|
||||
|
||||
#############################################
|
||||
# Rule for linking CXX executable.
|
||||
|
||||
rule CXX_EXECUTABLE_LINKER__scara_engineering.2eelf_
|
||||
command = cmd.exe /C "$PRE_LINK && C:\MounRiver\MounRiver_Studio\toolchain\arm-none-eabi-gcc\bin\arm-none-eabi-g++.exe $FLAGS $LINK_FLAGS @$RSP_FILE -o $TARGET_FILE && $POST_BUILD"
|
||||
description = Linking CXX executable $TARGET_FILE
|
||||
rspfile = $RSP_FILE
|
||||
rspfile_content = $in $LINK_PATH $LINK_LIBRARIES
|
||||
restat = $RESTAT
|
||||
|
||||
|
||||
|
|
|
|||
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Reference in New Issue