diff --git a/.idea/encodings.xml b/.idea/encodings.xml new file mode 100644 index 0000000..9a2562f --- /dev/null +++ b/.idea/encodings.xml @@ -0,0 +1,7 @@ + + + + + + + \ No newline at end of file diff --git a/.idea/vcs.xml b/.idea/vcs.xml new file mode 100644 index 0000000..94a25f7 --- /dev/null +++ b/.idea/vcs.xml @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/.mxproject b/.mxproject index 949fa73..3a3c50e 100644 --- a/.mxproject +++ b/.mxproject @@ -2,50 +2,52 @@ 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[PreviousUsedCubeIDEFiles] -SourceFiles=Core\Src\main.c;Core\Src\gpio.c;Core\Src\freertos.c;Core\Src\fdcan.c;Core\Src\i2c.c;Core\Src\memorymap.c;Core\Src\spi.c;Core\Src\tim.c;Core\Src\usart.c;USB_DEVICE\App\usb_device.c;USB_DEVICE\Target\usbd_conf.c;USB_DEVICE\App\usbd_desc.c;USB_DEVICE\App\usbd_cdc_if.c;Core\Src\stm32h7xx_it.c;Core\Src\stm32h7xx_hal_msp.c;Core\Src\stm32h7xx_hal_timebase_tim.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pcd.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pcd_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_ll_usb.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_rcc.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_rcc_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_flash.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_flash_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_gpio.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_hsem.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_dma.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_dma_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_mdma.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pwr.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pwr_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_cortex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_i2c.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_i2c_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_exti.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_fdcan.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_spi.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_spi_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_tim.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_tim_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_uart.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_uart_ex.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS\cmsis_os.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_core.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ctlreq.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ioreq.c;Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Src\usbd_cdc.c;Drivers\CMSIS\Device\ST\STM32H7xx\Source\Templates\system_stm32h7xx.c;Core\Src\system_stm32h7xx.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pcd.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pcd_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_ll_usb.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_rcc.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_rcc_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_flash.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_flash_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_gpio.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_hsem.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_dma.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_dma_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_mdma.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pwr.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pwr_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_cortex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_i2c.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_i2c_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_exti.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_fdcan.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_spi.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_spi_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_tim.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_tim_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_uart.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_uart_ex.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS\cmsis_os.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_core.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ctlreq.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ioreq.c;Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Src\usbd_cdc.c;Drivers\CMSIS\Device\ST\STM32H7xx\Source\Templates\system_stm32h7xx.c;Core\Src\system_stm32h7xx.c;;;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS\cmsis_os.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_core.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ctlreq.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ioreq.c;Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Src\usbd_cdc.c; +SourceFiles=Core\Src\main.c;Core\Src\gpio.c;Core\Src\freertos.c;Core\Src\dma.c;Core\Src\fdcan.c;Core\Src\i2c.c;Core\Src\memorymap.c;Core\Src\spi.c;Core\Src\tim.c;Core\Src\usart.c;USB_DEVICE\App\usb_device.c;USB_DEVICE\Target\usbd_conf.c;USB_DEVICE\App\usbd_desc.c;USB_DEVICE\App\usbd_cdc_if.c;Core\Src\stm32h7xx_it.c;Core\Src\stm32h7xx_hal_msp.c;Core\Src\stm32h7xx_hal_timebase_tim.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pcd.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pcd_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_ll_usb.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_rcc.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_rcc_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_flash.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_flash_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_gpio.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_hsem.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_dma.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_dma_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_mdma.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pwr.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pwr_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_cortex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_i2c.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_i2c_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_exti.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_fdcan.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_spi.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_spi_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_tim.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_tim_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_uart.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_uart_ex.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS\cmsis_os.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_core.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ctlreq.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ioreq.c;Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Src\usbd_cdc.c;Drivers\CMSIS\Device\ST\STM32H7xx\Source\Templates\system_stm32h7xx.c;Core\Src\system_stm32h7xx.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pcd.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pcd_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_ll_usb.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_rcc.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_rcc_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_flash.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_flash_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_gpio.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_hsem.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_dma.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_dma_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_mdma.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pwr.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pwr_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_cortex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_i2c.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_i2c_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_exti.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_fdcan.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_spi.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_spi_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_tim.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_tim_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_uart.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_uart_ex.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS\cmsis_os.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_core.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ctlreq.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ioreq.c;Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Src\usbd_cdc.c;Drivers\CMSIS\Device\ST\STM32H7xx\Source\Templates\system_stm32h7xx.c;Core\Src\system_stm32h7xx.c;;;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS\cmsis_os.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_core.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ctlreq.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ioreq.c;Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Src\usbd_cdc.c; HeaderPath=Drivers\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;Core\Inc;USB_DEVICE\App;USB_DEVICE\Target; CDefines=USE_HAL_DRIVER;STM32H723xx;USE_HAL_DRIVER;USE_HAL_DRIVER; [PreviousGenFiles] AdvancedFolderStructure=true -HeaderFileListSize=15 +HeaderFileListSize=16 HeaderFiles#0=..\Core\Inc\gpio.h HeaderFiles#1=..\Core\Inc\FreeRTOSConfig.h -HeaderFiles#2=..\Core\Inc\fdcan.h -HeaderFiles#3=..\Core\Inc\i2c.h -HeaderFiles#4=..\Core\Inc\memorymap.h -HeaderFiles#5=..\Core\Inc\spi.h -HeaderFiles#6=..\Core\Inc\tim.h -HeaderFiles#7=..\Core\Inc\usart.h -HeaderFiles#8=..\USB_DEVICE\App\usb_device.h -HeaderFiles#9=..\USB_DEVICE\Target\usbd_conf.h -HeaderFiles#10=..\USB_DEVICE\App\usbd_desc.h -HeaderFiles#11=..\USB_DEVICE\App\usbd_cdc_if.h -HeaderFiles#12=..\Core\Inc\stm32h7xx_it.h -HeaderFiles#13=..\Core\Inc\stm32h7xx_hal_conf.h -HeaderFiles#14=..\Core\Inc\main.h +HeaderFiles#2=..\Core\Inc\dma.h +HeaderFiles#3=..\Core\Inc\fdcan.h +HeaderFiles#4=..\Core\Inc\i2c.h +HeaderFiles#5=..\Core\Inc\memorymap.h +HeaderFiles#6=..\Core\Inc\spi.h +HeaderFiles#7=..\Core\Inc\tim.h +HeaderFiles#8=..\Core\Inc\usart.h +HeaderFiles#9=..\USB_DEVICE\App\usb_device.h +HeaderFiles#10=..\USB_DEVICE\Target\usbd_conf.h +HeaderFiles#11=..\USB_DEVICE\App\usbd_desc.h +HeaderFiles#12=..\USB_DEVICE\App\usbd_cdc_if.h +HeaderFiles#13=..\Core\Inc\stm32h7xx_it.h +HeaderFiles#14=..\Core\Inc\stm32h7xx_hal_conf.h +HeaderFiles#15=..\Core\Inc\main.h HeaderFolderListSize=3 HeaderPath#0=..\Core\Inc HeaderPath#1=..\USB_DEVICE\App HeaderPath#2=..\USB_DEVICE\Target HeaderFiles=; -SourceFileListSize=16 +SourceFileListSize=17 SourceFiles#0=..\Core\Src\gpio.c SourceFiles#1=..\Core\Src\freertos.c -SourceFiles#2=..\Core\Src\fdcan.c -SourceFiles#3=..\Core\Src\i2c.c -SourceFiles#4=..\Core\Src\memorymap.c -SourceFiles#5=..\Core\Src\spi.c -SourceFiles#6=..\Core\Src\tim.c -SourceFiles#7=..\Core\Src\usart.c -SourceFiles#8=..\USB_DEVICE\App\usb_device.c -SourceFiles#9=..\USB_DEVICE\Target\usbd_conf.c -SourceFiles#10=..\USB_DEVICE\App\usbd_desc.c -SourceFiles#11=..\USB_DEVICE\App\usbd_cdc_if.c -SourceFiles#12=..\Core\Src\stm32h7xx_it.c -SourceFiles#13=..\Core\Src\stm32h7xx_hal_msp.c -SourceFiles#14=..\Core\Src\stm32h7xx_hal_timebase_tim.c -SourceFiles#15=..\Core\Src\main.c +SourceFiles#2=..\Core\Src\dma.c +SourceFiles#3=..\Core\Src\fdcan.c +SourceFiles#4=..\Core\Src\i2c.c +SourceFiles#5=..\Core\Src\memorymap.c +SourceFiles#6=..\Core\Src\spi.c +SourceFiles#7=..\Core\Src\tim.c +SourceFiles#8=..\Core\Src\usart.c +SourceFiles#9=..\USB_DEVICE\App\usb_device.c +SourceFiles#10=..\USB_DEVICE\Target\usbd_conf.c +SourceFiles#11=..\USB_DEVICE\App\usbd_desc.c +SourceFiles#12=..\USB_DEVICE\App\usbd_cdc_if.c +SourceFiles#13=..\Core\Src\stm32h7xx_it.c +SourceFiles#14=..\Core\Src\stm32h7xx_hal_msp.c +SourceFiles#15=..\Core\Src\stm32h7xx_hal_timebase_tim.c +SourceFiles#16=..\Core\Src\main.c SourceFolderListSize=3 SourcePath#0=..\Core\Src SourcePath#1=..\USB_DEVICE\App diff --git a/CMakeLists.txt b/CMakeLists.txt index 97b0af5..a3e9d0c 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -19,9 +19,9 @@ set(CMAKE_CXX_STANDARD 17) set(CMAKE_C_STANDARD 11) #Uncomment for hardware floating point -#add_compile_definitions(ARM_MATH_CM4;ARM_MATH_MATRIX_CHECK;ARM_MATH_ROUNDING) -#add_compile_options(-mfloat-abi=hard -mfpu=fpv4-sp-d16) -#add_link_options(-mfloat-abi=hard -mfpu=fpv4-sp-d16) +add_compile_definitions(ARM_MATH_CM4;ARM_MATH_MATRIX_CHECK;ARM_MATH_ROUNDING) +add_compile_options(-mfloat-abi=hard -mfpu=fpv4-sp-d16) +add_link_options(-mfloat-abi=hard -mfpu=fpv4-sp-d16) #Uncomment for software floating point #add_compile_options(-mfloat-abi=soft) @@ -51,11 +51,20 @@ endif () 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 bsp bsp/adc bsp/can bsp/dwt bsp/flash bsp/gpio bsp/iic bsp/log bsp/pwm bsp/spi bsp/usart bsp/usb + modules modules/alarm modules/algorithm modules/auto_aim modules/BMI088 modules/can_comm modules/daemon modules/encoder modules/imu modules/ist8310 + modules/led modules/master_machine modules/message_center modules/motor modules/oled modules/referee modules/remote modules/standard_cmd + modules/super_cap modules/TFminiPlus modules/unicomm modules/vofa modules/robotics + modules/motor/DJImotor modules/motor/Dmmotor modules/motor/HTmotor modules/motor/LKmotor modules/motor/servo_motor modules/motor/step_motor modules/motor/Air_pump + application application/chassis application/cmd application/arm application/to_stretch Middlewares/Third_Party/SEGGER/RTT Middlewares/Third_Party/SEGGER/Config) +include_directories(Middlewares/ST/ARM/DSP/Inc) + + add_definitions(-DDEBUG -DUSE_HAL_DRIVER -DSTM32H723xx) -file(GLOB_RECURSE SOURCES "Core/*.*" "Middlewares/*.*" "Drivers/*.*" "USB_DEVICE/*.*" "BSP/*.*") +file(GLOB_RECURSE SOURCES "Core/*.*" "Middlewares/*.*" "Drivers/*.*" "USB_DEVICE/*.*" + "bsp/*.*" "application/*.*" "modules/*.*") set(LINKER_SCRIPT ${CMAKE_SOURCE_DIR}/STM32H723VGTX_FLASH.ld) @@ -65,6 +74,8 @@ add_link_options(-T ${LINKER_SCRIPT}) add_executable(${PROJECT_NAME}.elf ${SOURCES} ${LINKER_SCRIPT}) +target_link_libraries(${PROJECT_NAME}.elf ${CMAKE_SOURCE_DIR}/Middlewares/ST/ARM/DSP/Lib/libarm_cortexM4lf_math.a) + set(HEX_FILE ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.hex) set(BIN_FILE ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.bin) diff --git a/Core/Inc/stm32h7xx_it.h b/Core/Inc/stm32h7xx_it.h index 7596810..b2d3e06 100644 --- a/Core/Inc/stm32h7xx_it.h +++ b/Core/Inc/stm32h7xx_it.h @@ -52,11 +52,34 @@ void MemManage_Handler(void); void BusFault_Handler(void); void UsageFault_Handler(void); void DebugMon_Handler(void); +void DMA1_Stream0_IRQHandler(void); +void DMA1_Stream1_IRQHandler(void); +void DMA1_Stream2_IRQHandler(void); +void DMA1_Stream3_IRQHandler(void); +void DMA1_Stream4_IRQHandler(void); +void DMA1_Stream5_IRQHandler(void); +void DMA1_Stream6_IRQHandler(void); void FDCAN1_IT0_IRQHandler(void); void FDCAN2_IT0_IRQHandler(void); +void FDCAN1_IT1_IRQHandler(void); +void FDCAN2_IT1_IRQHandler(void); +void USART1_IRQHandler(void); +void USART2_IRQHandler(void); +void USART3_IRQHandler(void); void TIM8_TRG_COM_TIM14_IRQHandler(void); +void DMA1_Stream7_IRQHandler(void); +void UART5_IRQHandler(void); +void DMA2_Stream0_IRQHandler(void); +void DMA2_Stream1_IRQHandler(void); +void DMA2_Stream2_IRQHandler(void); +void FDCAN_CAL_IRQHandler(void); +void OTG_HS_EP1_OUT_IRQHandler(void); +void OTG_HS_EP1_IN_IRQHandler(void); void OTG_HS_IRQHandler(void); +void UART7_IRQHandler(void); +void USART10_IRQHandler(void); void FDCAN3_IT0_IRQHandler(void); +void FDCAN3_IT1_IRQHandler(void); /* USER CODE BEGIN EFP */ /* USER CODE END EFP */ diff --git a/Core/Src/fdcan.c b/Core/Src/fdcan.c index 9857294..c234624 100644 --- a/Core/Src/fdcan.c +++ b/Core/Src/fdcan.c @@ -216,6 +216,10 @@ void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* fdcanHandle) /* FDCAN1 interrupt Init */ HAL_NVIC_SetPriority(FDCAN1_IT0_IRQn, 5, 0); HAL_NVIC_EnableIRQ(FDCAN1_IT0_IRQn); + HAL_NVIC_SetPriority(FDCAN1_IT1_IRQn, 5, 0); + HAL_NVIC_EnableIRQ(FDCAN1_IT1_IRQn); + HAL_NVIC_SetPriority(FDCAN_CAL_IRQn, 5, 0); + HAL_NVIC_EnableIRQ(FDCAN_CAL_IRQn); /* USER CODE BEGIN FDCAN1_MspInit 1 */ /* USER CODE END FDCAN1_MspInit 1 */ @@ -256,6 +260,10 @@ void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* fdcanHandle) /* FDCAN2 interrupt Init */ HAL_NVIC_SetPriority(FDCAN2_IT0_IRQn, 5, 0); HAL_NVIC_EnableIRQ(FDCAN2_IT0_IRQn); + HAL_NVIC_SetPriority(FDCAN2_IT1_IRQn, 5, 0); + HAL_NVIC_EnableIRQ(FDCAN2_IT1_IRQn); + HAL_NVIC_SetPriority(FDCAN_CAL_IRQn, 5, 0); + HAL_NVIC_EnableIRQ(FDCAN_CAL_IRQn); /* USER CODE BEGIN FDCAN2_MspInit 1 */ /* USER CODE END FDCAN2_MspInit 1 */ @@ -296,6 +304,8 @@ void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* fdcanHandle) /* FDCAN3 interrupt Init */ HAL_NVIC_SetPriority(FDCAN3_IT0_IRQn, 5, 0); HAL_NVIC_EnableIRQ(FDCAN3_IT0_IRQn); + HAL_NVIC_SetPriority(FDCAN3_IT1_IRQn, 5, 0); + HAL_NVIC_EnableIRQ(FDCAN3_IT1_IRQn); /* USER CODE BEGIN FDCAN3_MspInit 1 */ /* USER CODE END FDCAN3_MspInit 1 */ @@ -324,6 +334,15 @@ void HAL_FDCAN_MspDeInit(FDCAN_HandleTypeDef* fdcanHandle) /* FDCAN1 interrupt Deinit */ HAL_NVIC_DisableIRQ(FDCAN1_IT0_IRQn); + HAL_NVIC_DisableIRQ(FDCAN1_IT1_IRQn); + /* USER CODE BEGIN FDCAN1:FDCAN_CAL_IRQn disable */ + /** + * Uncomment the line below to disable the "FDCAN_CAL_IRQn" interrupt + * Be aware, disabling shared interrupt may affect other IPs + */ + /* HAL_NVIC_DisableIRQ(FDCAN_CAL_IRQn); */ + /* USER CODE END FDCAN1:FDCAN_CAL_IRQn disable */ + /* USER CODE BEGIN FDCAN1_MspDeInit 1 */ /* USER CODE END FDCAN1_MspDeInit 1 */ @@ -347,6 +366,15 @@ void HAL_FDCAN_MspDeInit(FDCAN_HandleTypeDef* fdcanHandle) /* FDCAN2 interrupt Deinit */ HAL_NVIC_DisableIRQ(FDCAN2_IT0_IRQn); + HAL_NVIC_DisableIRQ(FDCAN2_IT1_IRQn); + /* USER CODE BEGIN FDCAN2:FDCAN_CAL_IRQn disable */ + /** + * Uncomment the line below to disable the "FDCAN_CAL_IRQn" interrupt + * Be aware, disabling shared interrupt may affect other IPs + */ + /* HAL_NVIC_DisableIRQ(FDCAN_CAL_IRQn); */ + /* USER CODE END FDCAN2:FDCAN_CAL_IRQn disable */ + /* USER CODE BEGIN FDCAN2_MspDeInit 1 */ /* USER CODE END FDCAN2_MspDeInit 1 */ @@ -370,6 +398,7 @@ void HAL_FDCAN_MspDeInit(FDCAN_HandleTypeDef* fdcanHandle) /* FDCAN3 interrupt Deinit */ HAL_NVIC_DisableIRQ(FDCAN3_IT0_IRQn); + HAL_NVIC_DisableIRQ(FDCAN3_IT1_IRQn); /* USER CODE BEGIN FDCAN3_MspDeInit 1 */ /* USER CODE END FDCAN3_MspDeInit 1 */ diff --git a/Core/Src/main.c b/Core/Src/main.c index 690b60a..1ba68d2 100644 --- a/Core/Src/main.c +++ b/Core/Src/main.c @@ -19,6 +19,7 @@ /* Includes ------------------------------------------------------------------*/ #include "main.h" #include "cmsis_os.h" +#include "dma.h" #include "fdcan.h" #include "i2c.h" #include "memorymap.h" @@ -30,7 +31,8 @@ /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ - +#include "robot.h" +#include "bsp_log.h" /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ @@ -99,6 +101,7 @@ int main(void) /* Initialize all configured peripherals */ MX_GPIO_Init(); + MX_DMA_Init(); MX_FDCAN1_Init(); MX_FDCAN2_Init(); MX_FDCAN3_Init(); @@ -117,6 +120,13 @@ int main(void) MX_SPI1_Init(); /* USER CODE BEGIN 2 */ + // 气泵上电默认关闭 + HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); + __HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_1,20000); + + HAL_Delay(1500); //等待达妙电机上电初始? + RobotInit(); // 唯一的初始化函数 + LOGINFO("[main] SystemInit() and RobotInit() done"); /* USER CODE END 2 */ /* Call init function for freertos objects (in cmsis_os2.c) */ diff --git a/Core/Src/stm32h7xx_it.c b/Core/Src/stm32h7xx_it.c index fac048f..2623638 100644 --- a/Core/Src/stm32h7xx_it.c +++ b/Core/Src/stm32h7xx_it.c @@ -59,6 +59,23 @@ extern PCD_HandleTypeDef hpcd_USB_OTG_HS; extern FDCAN_HandleTypeDef hfdcan1; extern FDCAN_HandleTypeDef hfdcan2; extern FDCAN_HandleTypeDef hfdcan3; +extern DMA_HandleTypeDef hdma_uart5_rx; +extern DMA_HandleTypeDef hdma_uart7_rx; +extern DMA_HandleTypeDef hdma_uart7_tx; +extern DMA_HandleTypeDef hdma_usart1_tx; +extern DMA_HandleTypeDef hdma_usart1_rx; +extern DMA_HandleTypeDef hdma_usart2_rx; +extern DMA_HandleTypeDef hdma_usart2_tx; +extern DMA_HandleTypeDef hdma_usart3_tx; +extern DMA_HandleTypeDef hdma_usart3_rx; +extern DMA_HandleTypeDef hdma_usart10_rx; +extern DMA_HandleTypeDef hdma_usart10_tx; +extern UART_HandleTypeDef huart5; +extern UART_HandleTypeDef huart7; +extern UART_HandleTypeDef huart1; +extern UART_HandleTypeDef huart2; +extern UART_HandleTypeDef huart3; +extern UART_HandleTypeDef huart10; extern TIM_HandleTypeDef htim14; /* USER CODE BEGIN EV */ @@ -163,6 +180,104 @@ void DebugMon_Handler(void) /* please refer to the startup file (startup_stm32h7xx.s). */ /******************************************************************************/ +/** + * @brief This function handles DMA1 stream0 global interrupt. + */ +void DMA1_Stream0_IRQHandler(void) +{ + /* USER CODE BEGIN DMA1_Stream0_IRQn 0 */ + + /* USER CODE END DMA1_Stream0_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_uart5_rx); + /* USER CODE BEGIN DMA1_Stream0_IRQn 1 */ + + /* USER CODE END DMA1_Stream0_IRQn 1 */ +} + +/** + * @brief This function handles DMA1 stream1 global interrupt. + */ +void DMA1_Stream1_IRQHandler(void) +{ + /* USER CODE BEGIN DMA1_Stream1_IRQn 0 */ + + /* USER CODE END DMA1_Stream1_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_usart10_rx); + /* USER CODE BEGIN DMA1_Stream1_IRQn 1 */ + + /* USER CODE END DMA1_Stream1_IRQn 1 */ +} + +/** + * @brief This function handles DMA1 stream2 global interrupt. + */ +void DMA1_Stream2_IRQHandler(void) +{ + /* USER CODE BEGIN DMA1_Stream2_IRQn 0 */ + + /* USER CODE END DMA1_Stream2_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_usart3_tx); + /* USER CODE BEGIN DMA1_Stream2_IRQn 1 */ + + /* USER CODE END DMA1_Stream2_IRQn 1 */ +} + +/** + * @brief This function handles DMA1 stream3 global interrupt. + */ +void DMA1_Stream3_IRQHandler(void) +{ + /* USER CODE BEGIN DMA1_Stream3_IRQn 0 */ + + /* USER CODE END DMA1_Stream3_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_usart3_rx); + /* USER CODE BEGIN DMA1_Stream3_IRQn 1 */ + + /* USER CODE END DMA1_Stream3_IRQn 1 */ +} + +/** + * @brief This function handles DMA1 stream4 global interrupt. + */ +void DMA1_Stream4_IRQHandler(void) +{ + /* USER CODE BEGIN DMA1_Stream4_IRQn 0 */ + + /* USER CODE END DMA1_Stream4_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_usart10_tx); + /* USER CODE BEGIN DMA1_Stream4_IRQn 1 */ + + /* USER CODE END DMA1_Stream4_IRQn 1 */ +} + +/** + * @brief This function handles DMA1 stream5 global interrupt. + */ +void DMA1_Stream5_IRQHandler(void) +{ + /* USER CODE BEGIN DMA1_Stream5_IRQn 0 */ + + /* USER CODE END DMA1_Stream5_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_usart1_tx); + /* USER CODE BEGIN DMA1_Stream5_IRQn 1 */ + + /* USER CODE END DMA1_Stream5_IRQn 1 */ +} + +/** + * @brief This function handles DMA1 stream6 global interrupt. + */ +void DMA1_Stream6_IRQHandler(void) +{ + /* USER CODE BEGIN DMA1_Stream6_IRQn 0 */ + + /* USER CODE END DMA1_Stream6_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_usart1_rx); + /* USER CODE BEGIN DMA1_Stream6_IRQn 1 */ + + /* USER CODE END DMA1_Stream6_IRQn 1 */ +} + /** * @brief This function handles FDCAN1 interrupt 0. */ @@ -191,6 +306,76 @@ void FDCAN2_IT0_IRQHandler(void) /* USER CODE END FDCAN2_IT0_IRQn 1 */ } +/** + * @brief This function handles FDCAN1 interrupt 1. + */ +void FDCAN1_IT1_IRQHandler(void) +{ + /* USER CODE BEGIN FDCAN1_IT1_IRQn 0 */ + + /* USER CODE END FDCAN1_IT1_IRQn 0 */ + HAL_FDCAN_IRQHandler(&hfdcan1); + /* USER CODE BEGIN FDCAN1_IT1_IRQn 1 */ + + /* USER CODE END FDCAN1_IT1_IRQn 1 */ +} + +/** + * @brief This function handles FDCAN2 interrupt 1. + */ +void FDCAN2_IT1_IRQHandler(void) +{ + /* USER CODE BEGIN FDCAN2_IT1_IRQn 0 */ + + /* USER CODE END FDCAN2_IT1_IRQn 0 */ + HAL_FDCAN_IRQHandler(&hfdcan2); + /* USER CODE BEGIN FDCAN2_IT1_IRQn 1 */ + + /* USER CODE END FDCAN2_IT1_IRQn 1 */ +} + +/** + * @brief This function handles USART1 global interrupt. + */ +void USART1_IRQHandler(void) +{ + /* USER CODE BEGIN USART1_IRQn 0 */ + + /* USER CODE END USART1_IRQn 0 */ + HAL_UART_IRQHandler(&huart1); + /* USER CODE BEGIN USART1_IRQn 1 */ + + /* USER CODE END USART1_IRQn 1 */ +} + +/** + * @brief This function handles USART2 global interrupt. + */ +void USART2_IRQHandler(void) +{ + /* USER CODE BEGIN USART2_IRQn 0 */ + + /* USER CODE END USART2_IRQn 0 */ + HAL_UART_IRQHandler(&huart2); + /* USER CODE BEGIN USART2_IRQn 1 */ + + /* USER CODE END USART2_IRQn 1 */ +} + +/** + * @brief This function handles USART3 global interrupt. + */ +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 */ diff --git a/Core/Src/usart.c b/Core/Src/usart.c index 442ce39..5129cbe 100644 --- a/Core/Src/usart.c +++ b/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 */ diff --git a/USB_DEVICE/Target/usbd_conf.c b/USB_DEVICE/Target/usbd_conf.c index 17ddf35..b8b9b97 100644 --- a/USB_DEVICE/Target/usbd_conf.c +++ b/USB_DEVICE/Target/usbd_conf.c @@ -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 */ diff --git a/application/arm/arm.cpp b/application/arm/arm.cpp index c8fc677..56c7807 100644 --- a/application/arm/arm.cpp +++ b/application/arm/arm.cpp @@ -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); diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c index 6ba5ed0..42b1f4f 100644 --- a/application/chassis/chassis.c +++ b/application/chassis/chassis.c @@ -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, diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index 7184cb2..82b223b 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -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)); diff --git a/bsp/flash/bsp_flash.c b/bsp/flash/bsp_flash.c index dfdf9a9..2f839d0 100644 --- a/bsp/flash/bsp_flash.c +++ b/bsp/flash/bsp_flash.c @@ -1,7 +1,7 @@ #include "bsp_flash.h" #include "main.h" #include "string.h" - +//flashдûоԣʹãֻʹûб 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; } diff --git a/bsp/pwm/bsp_pwm.c b/bsp/pwm/bsp_pwm.c index 77abc7a..24c8ad1 100644 --- a/bsp/pwm/bsp_pwm.c +++ b/bsp/pwm/bsp_pwm.c @@ -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; } \ No newline at end of file diff --git a/cmake-build-debug/.cmake/api/v1/reply/codemodel-v2-fcc0734c76c8f0bc0923.json 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c:/mounriver/mounriver_studio/toolchain/arm-none-eabi-gcc/bin/../lib/gcc/arm-none-eabi/9.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libc.a(lib_a-vfiprintf.o) (_fputwc_r) +c:/mounriver/mounriver_studio/toolchain/arm-none-eabi-gcc/bin/../lib/gcc/arm-none-eabi/9.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libc.a(lib_a-wcrtomb.o) + c:/mounriver/mounriver_studio/toolchain/arm-none-eabi-gcc/bin/../lib/gcc/arm-none-eabi/9.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libc.a(lib_a-fputwc.o) (_wcrtomb_r) Allocating common symbols Common symbol size file @@ -36,6 +316,7 @@ __lock___atexit_recursive_mutex 0x1 c:/mounriver/mounriver_studio/toolchain/arm-none-eabi-gcc/bin/../lib/gcc/arm-none-eabi/9.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libc.a(lib_a-lock.o) __lock___arc4random_mutex 0x1 c:/mounriver/mounriver_studio/toolchain/arm-none-eabi-gcc/bin/../lib/gcc/arm-none-eabi/9.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libc.a(lib_a-lock.o) +errno 0x4 c:/mounriver/mounriver_studio/toolchain/arm-none-eabi-gcc/bin/../lib/gcc/arm-none-eabi/9.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libc.a(lib_a-reent.o) __lock___env_recursive_mutex 0x1 c:/mounriver/mounriver_studio/toolchain/arm-none-eabi-gcc/bin/../lib/gcc/arm-none-eabi/9.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libc.a(lib_a-lock.o) __lock___sinit_recursive_mutex @@ -55,7 +336,6 @@ Discarded input sections .text 0x00000000 0x0 c:/mounriver/mounriver_studio/toolchain/arm-none-eabi-gcc/bin/../lib/gcc/arm-none-eabi/9.3.1/thumb/v7e-m+fp/hard/crti.o .data 0x00000000 0x0 c:/mounriver/mounriver_studio/toolchain/arm-none-eabi-gcc/bin/../lib/gcc/arm-none-eabi/9.3.1/thumb/v7e-m+fp/hard/crti.o .bss 0x00000000 0x0 c:/mounriver/mounriver_studio/toolchain/arm-none-eabi-gcc/bin/../lib/gcc/arm-none-eabi/9.3.1/thumb/v7e-m+fp/hard/crti.o - .data 0x00000000 0x4 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D:/RM/@RM2025/scara_engineering/Middlewares/ST/ARM/DSP/Lib/libarm_cortexM4lf_math.a(arm_sin_f32.o) + .debug_loc 0x00032a2e 0xfa D:/RM/@RM2025/scara_engineering/Middlewares/ST/ARM/DSP/Lib/libarm_cortexM4lf_math.a(arm_cos_f32.o) diff --git a/modules/alarm/buzzer.c b/modules/alarm/buzzer.c index 3051ee4..c3b08bd 100644 --- a/modules/alarm/buzzer.c +++ b/modules/alarm/buzzer.c @@ -14,8 +14,8 @@ static BuzzzerInstance *buzzer_list[BUZZER_DEVICE_CNT] = {0}; void BuzzerInit() { PWM_Init_Config_s buzzer_config = { - .htim = &htim4, - .channel = TIM_CHANNEL_3, + .htim = &htim12, + .channel = TIM_CHANNEL_2, .dutyratio = 0, .period = 0.001, }; diff --git a/modules/algorithm/kalman_filter.h b/modules/algorithm/kalman_filter.h index dadf1ce..260b027 100644 --- a/modules/algorithm/kalman_filter.h +++ b/modules/algorithm/kalman_filter.h @@ -22,7 +22,7 @@ #define ARM_MATH_DSP // define in arm_math.h */ -#include "stm32f407xx.h" +#include "stm32h723xx.h" #include "arm_math.h" //#include "dsp/matrix_functions.h" #include "math.h" diff --git a/modules/algorithm/user_lib.h b/modules/algorithm/user_lib.h index 627086a..6028a16 100644 --- a/modules/algorithm/user_lib.h +++ b/modules/algorithm/user_lib.h @@ -16,7 +16,7 @@ #include "stdint.h" #include "main.h" #include "cmsis_os.h" -#include "stm32f407xx.h" +#include "stm32h723xx.h" #include "arm_math.h" diff --git a/modules/can_comm/can_comm.md b/modules/can_comm/can_comm.md index 5ebe50e..80db6b7 100644 --- a/modules/can_comm/can_comm.md +++ b/modules/can_comm/can_comm.md @@ -4,7 +4,7 @@ > TODO: > -> 1. 对`CANCommGet()`进行修改，使得其可以返回数据是否更新的相关信息。 +> 1. 对`FDCANCommGet()`进行修改，使得其可以返回数据是否更新的相关信息。 ## 重要提醒 @@ -21,10 +21,10 @@ CAN comm是用于CAN多机通信的模块。你不需要关心实现的协议， ## 外部接口 ```c -CANCommInstance *CANCommInit(CANComm_Init_Config_s* comm_config); -void CANCommSend(CANCommInstance *instance, uint8_t *data); -void *CANCommGet(CANCommInstance *instance); -uint8_t CANCommIsOnline(CANCommInstance *instance); +FDCANCommInstance *FDCANCommInit(CANComm_Init_Config_s* comm_config); +void CANCommSend(FDCANCommInstance *instance, uint8_t *data); +void *FDCANCommGet(FDCANCommInstance *instance); +uint8_t FDCANCommIsOnline(FDCANCommInstance *instance); ``` 第一个函数将会初始化一个CANComm实例，返回其指针。使用CANComm进行通信的应用应该保存返回的指针。初始化需要传入一个初始化结构体。请在应用初始化的时候调用该函数。推荐的结构体配置方式如下： @@ -33,13 +33,13 @@ uint8_t CANCommIsOnline(CANCommInstance *instance); /* 初始化结构体的定义 */ typedef struct { - can_instance_config_s can_config; + can_instance_config_s fdcan_config; uint8_t send_data_len; //发送数据长度 uint8_t recv_data_len; //接收数据长度,两者请用sizeof获取 } CANComm_Init_Config_s; CANComm_Init_Config_s cconfig = { - .can_config = { + .fdcan_config = { .can_handle=&hcan1, .tx_id=0x02, .rx_id=0x03}, @@ -66,22 +66,22 @@ typedef struct > 后期可能更新字节对齐和内存访问相关的教程。 -`CANCommGet()`是获取来自CANComm接收到的数据的接口，返回值为一个void类型指针，你需要通过**强制类型转换**将其变为你设定的接收类型指针，然后就可以访问其数据了。 +`FDCANCommGet()`是获取来自CANComm接收到的数据的接口，返回值为一个void类型指针，你需要通过**强制类型转换**将其变为你设定的接收类型指针，然后就可以访问其数据了。 ## 私有函数和变量 ```c -static CANCommInstance *can_comm_instance[MX_CAN_COMM_COUNT] = {NULL}; +static FDCANCommInstance *can_comm_instance[MX_CAN_COMM_COUNT] = {NULL}; static uint8_t idx; -static void CANCommResetRx(CANCommInstance *ins); -static void CANCommRxCallback(can_instance *_instance); +static void FDCANCommResetRx(FDCANCommInstance *ins); +static void FDCANCommRxCallback(can_instance *_instance); ``` 第一个指针数组保存所有的can comm实例，从而在callback中区分不同实例。idx是初始化使用的索引，用于确定每个can comm实例指针存放的位置。 -`CANCommResetRx()`在`CANCommRxCallback()`中多次被调用，用于清空接收缓冲区。 +`FDCANCommResetRx()`在`FDCANCommRxCallback()`中多次被调用，用于清空接收缓冲区。 -`CANCommRxCallback()`是CAN comm初始化can实例时的回调函数，用于can接收中断，进行协议解析。 +`FDCANCommRxCallback()`是CAN comm初始化can实例时的回调函数，用于can接收中断，进行协议解析。 ## 使用范例 @@ -103,20 +103,20 @@ struct test ```c CANComm_Init_Config_s cconfig = { - .can_config = { + .fdcan_config = { .can_handle=&hcan1, .tx_id=0x02, .rx_id=0x03}, .send_data_len = sizeof(float), .recv_data_len = sizeof(struct test) }; -CANCommInstance* ins = CANCommInit(&cconfig); +FDCANCommInstance* ins = FDCANCommInit(&cconfig); ``` -通过`CANCommGet()`并使用强制类型转换获得接收到的数据指针： +通过`FDCANCommGet()`并使用强制类型转换获得接收到的数据指针： ```c -struct test* data_ptr=(struct test*)CANCommGet(ins) +struct test* data_ptr=(struct test*)FDCANCommGet(ins) ``` 发送通过`CANCommSend()`，建议使用强制类型转换： diff --git a/modules/can_comm/can_comm.c b/modules/can_comm/fdcan_comm.c similarity index 74% rename from modules/can_comm/can_comm.c rename to modules/can_comm/fdcan_comm.c index bb39c59..b6420a3 100644 --- a/modules/can_comm/can_comm.c +++ b/modules/can_comm/fdcan_comm.c @@ -1,4 +1,4 @@ -#include "can_comm.h" +#include "fdcan_comm.h" #include "memory.h" #include "stdlib.h" #include "crc8.h" @@ -10,7 +10,7 @@ * * @param ins 需要重置的实例 */ -static void CANCommResetRx(CANCommInstance *ins) +static void FDCANCommResetRx(FDCANCommInstance *ins) { // 当前已经收到的buffer清零 memset(ins->raw_recvbuf, 0, ins->cur_recv_len); @@ -23,9 +23,9 @@ static void CANCommResetRx(CANCommInstance *ins) * * @param _instance */ -static void CANCommRxCallback(CANInstance *_instance) +static void FDCANCommRxCallback(FDCANInstance *_instance) { - CANCommInstance *comm = (CANCommInstance *)_instance->id; // 注意写法,将can instance的id强制转换为CANCommInstance*类型 + FDCANCommInstance *comm = (FDCANCommInstance *)_instance->id; // 注意写法,将can instance的id强制转换为CANCommInstance*类型 /* 当前接收状态判断 */ if (_instance->rx_buff[0] == CAN_COMM_HEADER && comm->recv_state == 0) // 之前尚未开始接收且此次包里第一个位置是帧头 @@ -43,7 +43,7 @@ static void CANCommRxCallback(CANInstance *_instance) // 如果已经接收到的长度加上当前一包的长度大于总buf len,说明接收错误 if (comm->cur_recv_len + _instance->rx_len > comm->recv_buf_len) { - CANCommResetRx(comm); + FDCANCommResetRx(comm); return; // 重置状态然后返回 } @@ -64,23 +64,23 @@ static void CANCommRxCallback(CANInstance *_instance) DaemonReload(comm->comm_daemon); // 重载daemon,避免数据更新后一直不被读取而导致数据更新不及时 } } - CANCommResetRx(comm); + FDCANCommResetRx(comm); return; // 重置状态然后返回 } } } -static void CANCommLostCallback(void *cancomm) +static void FDCANCommLostCallback(void *cancomm) { - CANCommInstance *comm = (CANCommInstance *)cancomm; - CANCommResetRx(comm); - LOGWARNING("[can_comm] can comm rx[%d] lost, reset rx state.", &comm->can_ins->rx_id); + FDCANCommInstance *comm = (FDCANCommInstance *)cancomm; + FDCANCommResetRx(comm); + LOGWARNING("[fdcan_comm] fdcan comm rx[%d] lost, reset rx state.", &comm->fdcan_ins->rx_id); } -CANCommInstance *CANCommInit(CANComm_Init_Config_s *comm_config) +FDCANCommInstance *FDCANCommInit(CANComm_Init_Config_s *comm_config) { - CANCommInstance *ins = (CANCommInstance *)malloc(sizeof(CANCommInstance)); - memset(ins, 0, sizeof(CANCommInstance)); + FDCANCommInstance *ins = (FDCANCommInstance *)malloc(sizeof(FDCANCommInstance)); + memset(ins, 0, sizeof(FDCANCommInstance)); ins->recv_data_len = comm_config->recv_data_len; ins->recv_buf_len = comm_config->recv_data_len + CAN_COMM_OFFSET_BYTES; // head + datalen + crc8 + tail @@ -90,12 +90,12 @@ CANCommInstance *CANCommInit(CANComm_Init_Config_s *comm_config) ins->raw_sendbuf[1] = comm_config->send_data_len; // datalen ins->raw_sendbuf[comm_config->send_data_len + CAN_COMM_OFFSET_BYTES - 1] = CAN_COMM_TAIL; // can instance的设置 - comm_config->can_config.id = ins; // CANComm的实例指针作为CANInstance的id,回调函数中会用到 - comm_config->can_config.can_module_callback = CANCommRxCallback; - ins->can_ins = CANRegister(&comm_config->can_config); + comm_config->fdcan_config.id = ins; // CANComm的实例指针作为CANInstance的id,回调函数中会用到 + comm_config->fdcan_config.fdcan_module_callback = FDCANCommRxCallback; + ins->fdcan_ins = FDCANRegister(&comm_config->fdcan_config); Daemon_Init_Config_s daemon_config = { - .callback = CANCommLostCallback, + .callback = FDCANCommLostCallback, .owner_id = (void *)ins, .reload_count = comm_config->daemon_count, }; @@ -103,7 +103,7 @@ CANCommInstance *CANCommInit(CANComm_Init_Config_s *comm_config) return ins; } -void CANCommSend(CANCommInstance *instance, uint8_t *data) +void FDCANCommSend(FDCANCommInstance *instance, uint8_t *data) { static uint8_t crc8; static uint8_t send_len; @@ -116,19 +116,19 @@ void CANCommSend(CANCommInstance *instance, uint8_t *data) for (size_t i = 0; i < instance->send_buf_len; i += 8) { // 如果是最后一包,send len将会小于8,要修改CAN的txconf中的DLC位,调用bsp_can提供的接口即可 send_len = instance->send_buf_len - i >= 8 ? 8 : instance->send_buf_len - i; - CANSetDLC(instance->can_ins, send_len); - memcpy(instance->can_ins->tx_buff, instance->raw_sendbuf + i, send_len); - CANTransmit(instance->can_ins, 1); + FDCANSetDLC(instance->fdcan_ins, send_len); + memcpy(instance->fdcan_ins->tx_buff, instance->raw_sendbuf + i, send_len); + FDCANTransmit(instance->fdcan_ins, 1); } } -void *CANCommGet(CANCommInstance *instance) +void *FDCANCommGet(FDCANCommInstance *instance) { instance->update_flag = 0; // 读取后将更新flag置为0 return instance->unpacked_recv_data; } -uint8_t CANCommIsOnline(CANCommInstance *instance) +uint8_t FDCANCommIsOnline(FDCANCommInstance *instance) { return DaemonIsOnline(instance->comm_daemon); } diff --git a/modules/can_comm/can_comm.h b/modules/can_comm/fdcan_comm.h similarity index 88% rename from modules/can_comm/can_comm.h rename to modules/can_comm/fdcan_comm.h index 28bdc19..ed01720 100644 --- a/modules/can_comm/can_comm.h +++ b/modules/can_comm/fdcan_comm.h @@ -25,7 +25,7 @@ /* CAN comm 结构体, 拥有CAN comm的app应该包含一个CAN comm指针 */ typedef struct { - CANInstance *can_ins; + FDCANInstance *fdcan_ins; /* 发送部分 */ uint8_t send_data_len; // 发送数据长度 uint8_t send_buf_len; // 发送缓冲区长度,为发送数据长度+帧头单包数据长度帧尾以及校验和(4) @@ -41,13 +41,13 @@ typedef struct uint8_t update_flag; // 数据更新标志位,当接收到新数据时,会将此标志位置1,调用CANCommGet()后会将此标志位置0 DaemonInstance* comm_daemon; -} CANCommInstance; +} FDCANCommInstance; #pragma pack() /* CAN comm 初始化结构体 */ typedef struct { - CAN_Init_Config_s can_config; // CAN初始化结构体 + FDCAN_Init_Config_s fdcan_config; // CAN初始化结构体 uint8_t send_data_len; // 发送数据长度 uint8_t recv_data_len; // 接收数据长度 @@ -58,9 +58,9 @@ typedef struct * @brief 初始化CANComm * * @param config CANComm初始化结构体 - * @return CANCommInstance* + * @return FDCANCommInstance* */ -CANCommInstance *CANCommInit(CANComm_Init_Config_s *comm_config); +FDCANCommInstance *FDCANCommInit(CANComm_Init_Config_s *comm_config); /** * @brief 通过CANComm发送数据 @@ -68,7 +68,7 @@ CANCommInstance *CANCommInit(CANComm_Init_Config_s *comm_config); * @param instance cancomm实例 * @param data 注意此地址的有效数据长度需要和初始化时传入的datalen相同 */ -void CANCommSend(CANCommInstance *instance, uint8_t *data); +void CANCommSend(FDCANCommInstance *instance, uint8_t *data); /** * @brief 获取CANComm接收的数据,需要自己使用强制类型转换将返回的void指针转换成指定类型 @@ -79,7 +79,7 @@ void CANCommSend(CANCommInstance *instance, uint8_t *data); * 如果使用了pack(n)可能会导致数据错乱,并且无法使用强制类型转换通过memcpy直接访问,转而需要手动解包. * 强烈建议通过CANComm传输的数据使用pack(1) */ -void *CANCommGet(CANCommInstance *instance); +void *FDCANCommGet(FDCANCommInstance *instance); /** * @brief 检查CANComm是否在线 @@ -87,6 +87,6 @@ void *CANCommGet(CANCommInstance *instance); * @param instance * @return uint8_t */ -uint8_t CANCommIsOnline(CANCommInstance *instance); +uint8_t FDCANCommIsOnline(FDCANCommInstance *instance); #endif // !CAN_COMM_H \ No newline at end of file diff --git a/modules/imu/BMI088Middleware.c b/modules/imu/BMI088Middleware.c index b942e34..47a2e59 100644 --- a/modules/imu/BMI088Middleware.c +++ b/modules/imu/BMI088Middleware.c @@ -5,20 +5,20 @@ SPI_HandleTypeDef *BMI088_SPI; void BMI088_ACCEL_NS_L(void) { - HAL_GPIO_WritePin(CS1_ACCEL_GPIO_Port, CS1_ACCEL_Pin, GPIO_PIN_RESET); + HAL_GPIO_WritePin(ACC_CS_GPIO_Port, ACC_CS_Pin, GPIO_PIN_RESET); } void BMI088_ACCEL_NS_H(void) { - HAL_GPIO_WritePin(CS1_ACCEL_GPIO_Port, CS1_ACCEL_Pin, GPIO_PIN_SET); + HAL_GPIO_WritePin(ACC_CS_GPIO_Port, ACC_CS_Pin, GPIO_PIN_SET); } void BMI088_GYRO_NS_L(void) { - HAL_GPIO_WritePin(CS1_GYRO_GPIO_Port, CS1_GYRO_Pin, GPIO_PIN_RESET); + HAL_GPIO_WritePin(GYRO_CS_GPIO_Port, GYRO_CS_Pin, GPIO_PIN_RESET); } void BMI088_GYRO_NS_H(void) { - HAL_GPIO_WritePin(CS1_GYRO_GPIO_Port, CS1_GYRO_Pin, GPIO_PIN_SET); + HAL_GPIO_WritePin(GYRO_CS_GPIO_Port, GYRO_CS_Pin, GPIO_PIN_SET); } uint8_t BMI088_read_write_byte(uint8_t txdata) diff --git a/modules/imu/ins_task.c b/modules/imu/ins_task.c index e5b9120..9db92d7 100644 --- a/modules/imu/ins_task.c +++ b/modules/imu/ins_task.c @@ -37,7 +37,7 @@ static float RefTemp = 40; // 恒温设定温度 static void IMU_Param_Correction(IMU_Param_t *param, float gyro[3], float accel[3]); static void IMUPWMSet(uint16_t pwm) { - __HAL_TIM_SetCompare(&htim10, TIM_CHANNEL_1, pwm); + __HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_4, pwm); } /** @@ -80,7 +80,7 @@ attitude_t *INS_Init(void) { else return (attitude_t *) &INS.Gyro; - HAL_TIM_PWM_Start(&htim10, TIM_CHANNEL_1); + HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_4); while (BMI088Init(&hspi1, 1) != BMI088_NO_ERROR); IMU_Param.scale[X] = 1; diff --git a/modules/motor/DJImotor/dji_motor.c b/modules/motor/DJImotor/dji_motor.c index 0895c0d..555deef 100644 --- a/modules/motor/DJImotor/dji_motor.c +++ b/modules/motor/DJImotor/dji_motor.c @@ -20,40 +20,40 @@ static DJIMotorInstance *dji_motor_instance[DJI_MOTOR_CNT] = {NULL}; // 会在co * can1: [0]:0x1FF,[1]:0x200,[2]:0x2FF * can2: [3]:0x1FF,[4]:0x200,[5]:0x2FF */ -static CANInstance sender_assignment[10] = { - [0] = {.can_handle = &hcan1, .txconf.StdId = 0x1ff, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = { +static FDCANInstance sender_assignment[10] = { + [0] = {.fdcan_handle = &hfdcan1, .txconf.Identifier = 0x1ff, .txconf.IdType = FDCAN_STANDARD_ID, .txconf.TxFrameType = FDCAN_DATA_FRAME, .txconf.DataLength = 0x08, .tx_buff = { 0}}, - [1] = {.can_handle = &hcan1, .txconf.StdId = 0x200, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = { + [1] = {.fdcan_handle = &hfdcan1, .txconf.Identifier = 0x200, .txconf.IdType = FDCAN_STANDARD_ID, .txconf.TxFrameType = FDCAN_DATA_FRAME, .txconf.DataLength = 0x08, .tx_buff = { 0}}, - [2] = {.can_handle = &hcan1, .txconf.StdId = 0x2ff, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = { + [2] = {.fdcan_handle = &hfdcan1, .txconf.Identifier = 0x2ff, .txconf.IdType = FDCAN_STANDARD_ID, .txconf.TxFrameType = FDCAN_DATA_FRAME, .txconf.DataLength = 0x08, .tx_buff = { 0}}, - [3] = {.can_handle = &hcan2, .txconf.StdId = 0x1ff, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = { + [3] = {.fdcan_handle = &hfdcan2, .txconf.Identifier = 0x1ff, .txconf.IdType = FDCAN_STANDARD_ID, .txconf.TxFrameType = FDCAN_DATA_FRAME, .txconf.DataLength = 0x08, .tx_buff = { 0}}, - [4] = {.can_handle = &hcan2, .txconf.StdId = 0x200, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = { + [4] = {.fdcan_handle = &hfdcan2, .txconf.Identifier = 0x200, .txconf.IdType = FDCAN_STANDARD_ID, .txconf.TxFrameType = FDCAN_DATA_FRAME, .txconf.DataLength = 0x08, .tx_buff = { 0}}, - [5] = {.can_handle = &hcan2, .txconf.StdId = 0x2ff, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = { + [5] = {.fdcan_handle = &hfdcan2, .txconf.Identifier = 0x2ff, .txconf.IdType = FDCAN_STANDARD_ID, .txconf.TxFrameType = FDCAN_DATA_FRAME, .txconf.DataLength = 0x08, .tx_buff = { 0}}, - [6] = {.can_handle = &hcan1, .txconf.StdId = 0x1fe, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = { + [6] = {.fdcan_handle = &hfdcan1, .txconf.Identifier = 0x1fe, .txconf.IdType = FDCAN_STANDARD_ID, .txconf.TxFrameType = FDCAN_DATA_FRAME, .txconf.DataLength = 0x08, .tx_buff = { 0}}, - [7] = {.can_handle = &hcan1, .txconf.StdId = 0x2fe, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = { + [7] = {.fdcan_handle = &hfdcan1, .txconf.Identifier = 0x2fe, .txconf.IdType = FDCAN_STANDARD_ID, .txconf.TxFrameType = FDCAN_DATA_FRAME, .txconf.DataLength = 0x08, .tx_buff = { 0}}, - [8] = {.can_handle = &hcan2, .txconf.StdId = 0x1fe, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = { + [8] = {.fdcan_handle = &hfdcan2, .txconf.Identifier = 0x1fe, .txconf.IdType = FDCAN_STANDARD_ID, .txconf.TxFrameType = FDCAN_DATA_FRAME, .txconf.DataLength = 0x08, .tx_buff = { + 0}}, + [9] = {.fdcan_handle = &hfdcan2, .txconf.Identifier = 0x2fe, .txconf.IdType = FDCAN_STANDARD_ID, .txconf.TxFrameType = FDCAN_DATA_FRAME, .txconf.DataLength = 0x08, .tx_buff = { 0}}, - [9] = {.can_handle = &hcan2, .txconf.StdId = 0x2fe, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = { - 0}} }; /** - * @brief 6个用于确认是否有电机注册到sender_assignment中的标志位,防止发送空帧,此变量将在DJIMotorControl()使用 + * @brief 10个用于确认是否有电机注册到sender_assignment中的标志位,防止发送空帧,此变量将在DJIMotorControl()使用 * flag的初始化在 MotorSenderGrouping()中进行 */ -static uint8_t sender_enable_flag[6] = {0}; +static uint8_t sender_enable_flag[10] = {0}; /** * @brief 根据电调/拨码开关上的ID,根据说明书的默认id分配方式计算发送ID和接收ID, * 并对电机进行分组以便处理多电机控制命令 */ -static void MotorSenderGrouping(DJIMotorInstance *motor, CAN_Init_Config_s *config) { +static void MotorSenderGrouping(DJIMotorInstance *motor, FDCAN_Init_Config_s *config) { uint8_t motor_id = config->tx_id - 1; // 下标从零开始,先减一方便赋值 uint8_t motor_send_num; uint8_t motor_grouping; @@ -64,10 +64,10 @@ static void MotorSenderGrouping(DJIMotorInstance *motor, CAN_Init_Config_s *conf if (motor_id < 4) // 根据ID分组 { motor_send_num = motor_id; - motor_grouping = config->can_handle == &hcan1 ? 1 : 4; + motor_grouping = config->fdcan_handle == &hfdcan1 ? 1 : 4; } else { motor_send_num = motor_id - 4; - motor_grouping = config->can_handle == &hcan1 ? 0 : 3; + motor_grouping = config->fdcan_handle == &hfdcan1 ? 0 : 3; } // 计算接收id并设置分组发送id @@ -78,11 +78,11 @@ static void MotorSenderGrouping(DJIMotorInstance *motor, CAN_Init_Config_s *conf // 检查是否发生id冲突 for (size_t i = 0; i < idx; ++i) { - if (dji_motor_instance[i]->motor_can_instance->can_handle == config->can_handle && + if (dji_motor_instance[i]->motor_can_instance->fdcan_handle == config->fdcan_handle && dji_motor_instance[i]->motor_can_instance->rx_id == config->rx_id) { LOGERROR( "[dji_motor] ID crash. Check in debug mode, add dji_motor_instance to watch to get more information."); - uint16_t can_bus = config->can_handle == &hcan1 ? 1 : 2; + uint16_t can_bus = config->fdcan_handle == &hfdcan1 ? 1 : 2; while (1) // 6020的id 1-4和2006/3508的id 5-8会发生冲突(若有注册,即1!5,2!6,3!7,4!8) (1!5!,LTC! (((不是) LOGERROR("[dji_motor] id [%d], can_bus [%d]", config->rx_id, can_bus); } @@ -95,23 +95,23 @@ static void MotorSenderGrouping(DJIMotorInstance *motor, CAN_Init_Config_s *conf if (motor_id < 4) { motor_send_num = motor_id; - motor_grouping = config->can_handle == &hcan1 ? 6 : 8; + motor_grouping = config->fdcan_handle == &hfdcan1 ? 6 : 8; } else { motor_send_num = motor_id - 4; - motor_grouping = config->can_handle == &hcan1 ? 7 : 9; + motor_grouping = config->fdcan_handle == &hfdcan1 ? 7 : 9; } }else{ if (motor_id < 4) { motor_send_num = motor_id; - motor_grouping = config->can_handle == &hcan1 ? 0 : 3; + motor_grouping = config->fdcan_handle == &hfdcan1 ? 0 : 3; } else { motor_send_num = motor_id - 4; - motor_grouping = config->can_handle == &hcan1 ? 2 : 5; + motor_grouping = config->fdcan_handle == &hfdcan1 ? 2 : 5; } } @@ -121,11 +121,11 @@ static void MotorSenderGrouping(DJIMotorInstance *motor, CAN_Init_Config_s *conf motor->sender_group = motor_grouping; for (size_t i = 0; i < idx; ++i) { - if (dji_motor_instance[i]->motor_can_instance->can_handle == config->can_handle && + if (dji_motor_instance[i]->motor_can_instance->fdcan_handle == config->fdcan_handle && dji_motor_instance[i]->motor_can_instance->rx_id == config->rx_id) { LOGERROR( "[dji_motor] ID crash. Check in debug mode, add dji_motor_instance to watch to get more information."); - uint16_t can_bus = config->can_handle == &hcan1 ? 1 : 2; + uint16_t can_bus = config->fdcan_handle == &hfdcan1 ? 1 : 2; while (1) // 6020的id 1-4和2006/3508的id 5-8会发生冲突(若有注册,即1!5,2!6,3!7,4!8) (1!5!,LTC! (((不是) LOGERROR("[dji_motor] id [%d], can_bus [%d]", config->rx_id, can_bus); } @@ -144,7 +144,7 @@ static void MotorSenderGrouping(DJIMotorInstance *motor, CAN_Init_Config_s *conf * * @param _instance 收到数据的instance,通过遍历与所有电机进行对比以选择正确的实例 */ -static void DecodeDJIMotor(CANInstance *_instance) { +static void DecodeDJIMotor(FDCANInstance *_instance) { // 这里对can instance的id进行了强制转换,从而获得电机的instance实例地址 // _instance指针指向的id是对应电机instance的地址,通过强制转换为电机instance的指针,再通过->运算符访问电机的成员motor_measure,最后取地址获得指针 uint8_t *rxbuff = _instance->rx_buff; @@ -174,7 +174,7 @@ static void DecodeDJIMotor(CANInstance *_instance) { static void DJIMotorLostCallback(void *motor_ptr) { DJIMotorInstance *motor = (DJIMotorInstance *) motor_ptr; - uint16_t can_bus = motor->motor_can_instance->can_handle == &hcan1 ? 1 : 2; + uint16_t can_bus = motor->motor_can_instance->fdcan_handle == &hfdcan1 ? 1 : 2; LOGWARNING("[dji_motor] Motor lost, can bus [%d] , id [%d]", can_bus, motor->motor_can_instance->tx_id); } @@ -202,9 +202,9 @@ DJIMotorInstance *DJIMotorInit(Motor_Init_Config_s *config) { MotorSenderGrouping(instance, &config->can_init_config); // 注册电机到CAN总线 - config->can_init_config.can_module_callback = DecodeDJIMotor; // set callback + config->can_init_config.fdcan_module_callback = DecodeDJIMotor; // set callback config->can_init_config.id = instance; // set id,eq to address(it is identity) - instance->motor_can_instance = CANRegister(&config->can_init_config); + instance->motor_can_instance = FDCANRegister(&config->can_init_config); // 注册守护线程 Daemon_Init_Config_s daemon_config = { @@ -371,7 +371,7 @@ void DJIMotorControl() { // 遍历flag,检查是否要发送这一帧报文 for (size_t i = 0; i < 10; ++i) { if (sender_enable_flag[i]) { - CANTransmit(&sender_assignment[i], 1); + FDCANTransmit(&sender_assignment[i], 1); } } } diff --git a/modules/motor/DJImotor/dji_motor.h b/modules/motor/DJImotor/dji_motor.h index ef0fccd..73d5d95 100644 --- a/modules/motor/DJImotor/dji_motor.h +++ b/modules/motor/DJImotor/dji_motor.h @@ -52,7 +52,7 @@ typedef struct Motor_Control_Setting_s motor_settings; // 电机设置 Motor_Controller_s motor_controller; // 电机控制器 - CANInstance *motor_can_instance; // 电机CAN实例 + FDCANInstance *motor_can_instance; // 电机CAN实例 // 分组发送设置 uint8_t sender_group; uint8_t message_num; diff --git a/modules/motor/DMmotor/dmmotor.c b/modules/motor/DMmotor/dmmotor.c index 75919f2..c4d1302 100644 --- a/modules/motor/DMmotor/dmmotor.c +++ b/modules/motor/DMmotor/dmmotor.c @@ -18,10 +18,10 @@ void DMMotorSetMode(DMMotor_Mode_e cmd, DMMotorInstance *motor) { memset(motor->motor_can_instance->tx_buff, 0xff, 7); // 发送电机指令的时候前面7bytes都是0xff motor->motor_can_instance->tx_buff[7] = (uint8_t)cmd; // 最后一位是命令id - CANTransmit(motor->motor_can_instance, 1); + FDCANTransmit(motor->motor_can_instance, 1); } -static void DMMotorDecode(CANInstance *motor_can) +static void DMMotorDecode(FDCANInstance *motor_can) { uint16_t tmp; // 用于暂存解析值,稍后转换成float数据,避免多次创建临时变量 uint8_t *rxbuff = motor_can->rx_buff; @@ -66,7 +66,7 @@ static void DMMotorDecode(CANInstance *motor_can) static void DMMotorLostCallback(void *motor_ptr) { DMMotorInstance *motor = (DMMotorInstance *)motor_ptr; - uint16_t can_bus = motor->motor_can_instance->can_handle == &hcan1 ? 1 : 2; + uint16_t can_bus = motor->motor_can_instance->fdcan_handle == &hfdcan1 ? 1 : 2; LOGWARNING("[dm_motor] Motor lost, can bus [%d] , id [%d]", can_bus, motor->motor_can_instance->tx_id); DMMotorEnable(motor); @@ -101,9 +101,9 @@ DMMotorInstance *DMMotorInit(Motor_Init_Config_s *config) motor->motor_controller.current_feedforward_ptr = config->controller_param_init_config.current_feedforward_ptr; motor->motor_controller.speed_feedforward_ptr = config->controller_param_init_config.speed_feedforward_ptr; - config->can_init_config.can_module_callback = DMMotorDecode; + config->can_init_config.fdcan_module_callback = DMMotorDecode; config->can_init_config.id = motor; - motor->motor_can_instance = CANRegister(&config->can_init_config); + motor->motor_can_instance = FDCANRegister(&config->can_init_config); Daemon_Init_Config_s conf = { .callback = DMMotorLostCallback, @@ -218,7 +218,7 @@ void DMMotorTask(void const *argument) motor->motor_can_instance->tx_buff[7] = (uint8_t)(motor_send_mailbox.torque_des); - CANTransmit(motor->motor_can_instance, 1); + FDCANTransmit(motor->motor_can_instance, 1); //osDelay(2); osDelay(5); @@ -304,7 +304,7 @@ void DMMotorControl(){ motor->motor_can_instance->tx_buff[7] = (uint8_t)(motor_send_mailbox.torque_des); - CANTransmit(motor->motor_can_instance, 1); + FDCANTransmit(motor->motor_can_instance, 1); } } diff --git a/modules/motor/DMmotor/dmmotor.h b/modules/motor/DMmotor/dmmotor.h index 4326a5d..de360dd 100644 --- a/modules/motor/DMmotor/dmmotor.h +++ b/modules/motor/DMmotor/dmmotor.h @@ -44,7 +44,7 @@ typedef struct Motor_Control_Setting_s motor_settings; Motor_Controller_s motor_controller;//电机控制器 - CANInstance *motor_can_instance;//电机can实例 + FDCANInstance *motor_can_instance;//电机can实例 Motor_Type_e motor_type;//电机类型 Motor_Working_Type_e stop_flag; diff --git a/modules/motor/HTmotor/HT04.c b/modules/motor/HTmotor/HT04.c index 27af0a8..ffcf698 100644 --- a/modules/motor/HTmotor/HT04.c +++ b/modules/motor/HTmotor/HT04.c @@ -23,7 +23,7 @@ static void HTMotorSetMode(HTMotor_Mode_t cmd, HTMotorInstance *motor) { memset(motor->motor_can_instace->tx_buff, 0xff, 7); // 发送电机指令的时候前面7bytes都是0xff motor->motor_can_instace->tx_buff[7] = (uint8_t)cmd; // 最后一位是命令id - CANTransmit(motor->motor_can_instace, 1); + FDCANTransmit(motor->motor_can_instace, 1); memcpy(motor->motor_can_instace->tx_buff, zero_buff, 6); } /** @@ -31,7 +31,7 @@ static void HTMotorSetMode(HTMotor_Mode_t cmd, HTMotorInstance *motor) * * @param motor_can 收到 */ -static void HTMotorDecode(CANInstance *motor_can) +static void HTMotorDecode(FDCANInstance *motor_can) { uint16_t tmp; // 用于暂存解析值,稍后转换成float数据,避免多次创建临时变量 uint8_t const *rxbuff = motor_can->rx_buff; @@ -100,9 +100,9 @@ HTMotorInstance *HTMotorInit(Motor_Init_Config_s *config) motor->other_angle_feedback_ptr = config->controller_param_init_config.other_angle_feedback_ptr; motor->other_speed_feedback_ptr = config->controller_param_init_config.other_speed_feedback_ptr; - config->can_init_config.can_module_callback = HTMotorDecode; + config->can_init_config.fdcan_module_callback = HTMotorDecode; config->can_init_config.id = motor; - motor->motor_can_instace = CANRegister(&config->can_init_config); + motor->motor_can_instace = FDCANRegister(&config->can_init_config); Daemon_Init_Config_s conf = { .callback = HTMotorLostCallback, @@ -135,7 +135,7 @@ __attribute__((noreturn)) void HTMotorTask(void const *argument) HTMotorInstance *motor = (HTMotorInstance *)argument; HTMotor_Measure_t *measure = &motor->measure; Motor_Control_Setting_s *setting = &motor->motor_settings; - CANInstance *motor_can = motor->motor_can_instace; + FDCANInstance *motor_can = motor->motor_can_instace; uint16_t tmp; while (1) @@ -182,7 +182,7 @@ __attribute__((noreturn)) void HTMotorTask(void const *argument) motor_can->tx_buff[6] = (tmp >> 8); motor_can->tx_buff[7] = tmp & 0xff; - CANTransmit(motor_can, 0.5); + FDCANTransmit(motor_can, 0.5); osDelay(1); } diff --git a/modules/motor/HTmotor/HT04.h b/modules/motor/HTmotor/HT04.h index ae0b438..2e5e9e8 100644 --- a/modules/motor/HTmotor/HT04.h +++ b/modules/motor/HTmotor/HT04.h @@ -55,7 +55,7 @@ typedef struct Motor_Working_Type_e stop_flag; // 启停标志 - CANInstance *motor_can_instace; + FDCANInstance *motor_can_instace; DaemonInstance *motor_daemon; uint32_t lost_cnt; diff --git a/modules/motor/LKmotor/LK9025.c b/modules/motor/LKmotor/LK9025.c index c9fadbc..b610d04 100644 --- a/modules/motor/LKmotor/LK9025.c +++ b/modules/motor/LKmotor/LK9025.c @@ -7,7 +7,7 @@ static uint8_t idx; static LKMotorInstance *lkmotor_instance[LK_MOTOR_MX_CNT] = {NULL}; -static CANInstance *sender_instance; // 多电机发送时使用的caninstance(当前保存的是注册的第一个电机的caninstance) +static FDCANInstance *sender_instance; // 多电机发送时使用的caninstance(当前保存的是注册的第一个电机的caninstance) // 后续考虑兼容单电机和多电机指令. /** @@ -15,7 +15,7 @@ static CANInstance *sender_instance; // 多电机发送时使用的caninstance( * * @param _instance 发生中断的caninstance */ -static void LKMotorDecode(CANInstance *_instance) +static void LKMotorDecode(FDCANInstance *_instance) { LKMotorInstance *motor = (LKMotorInstance *)_instance->id; // 通过caninstance保存的father id获取对应的motorinstance LKMotor_Measure_t *measure = &motor->measure; @@ -64,10 +64,10 @@ LKMotorInstance *LKMotorInit(Motor_Init_Config_s *config) motor->other_speed_feedback_ptr = config->controller_param_init_config.other_speed_feedback_ptr; config->can_init_config.id = motor; - config->can_init_config.can_module_callback = LKMotorDecode; + config->can_init_config.fdcan_module_callback = LKMotorDecode; config->can_init_config.rx_id = 0x140 + config->can_init_config.tx_id; config->can_init_config.tx_id = config->can_init_config.tx_id + 0x280 - 1; // 这样在发送写入buffer的时候更方便,因为下标从0开始,LK多电机发送id为0x280 - motor->motor_can_ins = CANRegister(&config->can_init_config); + motor->motor_can_ins = FDCANRegister(&config->can_init_config); if (idx == 0) // 用第一个电机的can instance发送数据 { @@ -145,7 +145,7 @@ void LKMotorControl() } if (idx) // 如果有电机注册了 - CANTransmit(sender_instance, 0.2); + FDCANTransmit(sender_instance, 0.2); } void LKMotorStop(LKMotorInstance *motor) diff --git a/modules/motor/LKmotor/LK9025.h b/modules/motor/LKmotor/LK9025.h index fc2f0dd..ad6cff4 100644 --- a/modules/motor/LKmotor/LK9025.h +++ b/modules/motor/LKmotor/LK9025.h @@ -50,7 +50,7 @@ typedef struct Motor_Working_Type_e stop_flag; // 启停标志 - CANInstance *motor_can_ins; + FDCANInstance *motor_can_ins; DaemonInstance *daemon; diff --git a/modules/motor/motor_def.h b/modules/motor/motor_def.h index c4af172..1cc59a6 100644 --- a/modules/motor/motor_def.h +++ b/modules/motor/motor_def.h @@ -155,7 +155,7 @@ typedef struct Motor_Controller_Init_s controller_param_init_config; Motor_Control_Setting_s controller_setting_init_config; Motor_Type_e motor_type; - CAN_Init_Config_s can_init_config; + FDCAN_Init_Config_s can_init_config; Motor_Control_Type_e motor_control_type; } Motor_Init_Config_s; diff --git a/modules/robotics/matrix.h b/modules/robotics/matrix.h index f6d07f7..d5f22ca 100644 --- a/modules/robotics/matrix.h +++ b/modules/robotics/matrix.h @@ -12,6 +12,7 @@ #ifndef MATRIX_H #define MATRIX_H + //#include "arm_math.h" #include "user_lib.h" // Matrix class diff --git a/modules/super_cap/super_cap.c b/modules/super_cap/super_cap.c index a75d507..b907ced 100644 --- a/modules/super_cap/super_cap.c +++ b/modules/super_cap/super_cap.c @@ -5,7 +5,7 @@ static SuperCapInstance *super_cap_instance = NULL; // 可以由app保存此指针 -static void SuperCapRxCallback(CANInstance *_instance) +static void SuperCapRxCallback(FDCANInstance *_instance) { uint8_t *rxbuff; SuperCap_Msg_s *Msg; @@ -22,15 +22,15 @@ SuperCapInstance *SuperCapInit(SuperCap_Init_Config_s *supercap_config) super_cap_instance = (SuperCapInstance *)malloc(sizeof(SuperCapInstance)); memset(super_cap_instance, 0, sizeof(SuperCapInstance)); - supercap_config->can_config.can_module_callback = SuperCapRxCallback; - super_cap_instance->can_ins = CANRegister(&supercap_config->can_config); + supercap_config->can_config.fdcan_module_callback = SuperCapRxCallback; + super_cap_instance->can_ins = FDCANRegister(&supercap_config->can_config); return super_cap_instance; } void SuperCapSend(SuperCapInstance *instance, uint8_t *data) { memcpy(instance->can_ins->tx_buff, data, 8); - CANTransmit(instance->can_ins,1); + FDCANTransmit(instance->can_ins,1); } void SuperCapSetPower(SuperCapInstance *instance, float power_set) diff --git a/modules/super_cap/super_cap.h b/modules/super_cap/super_cap.h index 87f91f6..2ac8408 100644 --- a/modules/super_cap/super_cap.h +++ b/modules/super_cap/super_cap.h @@ -16,14 +16,14 @@ typedef struct /* 超级电容实例 */ typedef struct { - CANInstance *can_ins; // CAN实例 + FDCANInstance *can_ins; // CAN实例 SuperCap_Msg_s cap_msg; // 超级电容信息 } SuperCapInstance; /* 超级电容初始化配置 */ typedef struct { - CAN_Init_Config_s can_config; + FDCAN_Init_Config_s can_config; } SuperCap_Init_Config_s; /** diff --git a/modules/super_cap/super_cap.md b/modules/super_cap/super_cap.md index 5f70f63..7c72b90 100644 --- a/modules/super_cap/super_cap.md +++ b/modules/super_cap/super_cap.md @@ -33,7 +33,7 @@ static void SuperCapRxCallback(can_instance *_instance) ```c SuperCap_Init_Config_s capconfig = { - .can_config = { + .fdcan_config = { .can_handle = &hcan1, .rx_id = 0x301, .tx_id = 0x302 diff --git a/scara_engineering.ioc b/scara_engineering.ioc index a0914df..19c4685 100644 --- a/scara_engineering.ioc +++ b/scara_engineering.ioc @@ -4,6 +4,216 @@ CAD.pinconfig= CAD.provider= CORTEX_M7.IPParameters=default_mode_Activation CORTEX_M7.default_mode_Activation=1 +Dma.Request0=UART5_RX +Dma.Request1=USART3_TX +Dma.Request10=USART2_TX +Dma.Request2=USART3_RX +Dma.Request3=USART10_RX +Dma.Request4=USART10_TX +Dma.Request5=USART1_TX +Dma.Request6=USART1_RX +Dma.Request7=UART7_RX +Dma.Request8=UART7_TX +Dma.Request9=USART2_RX +Dma.RequestsNb=11 +Dma.UART5_RX.0.Direction=DMA_PERIPH_TO_MEMORY +Dma.UART5_RX.0.EventEnable=DISABLE +Dma.UART5_RX.0.FIFOMode=DMA_FIFOMODE_DISABLE +Dma.UART5_RX.0.Instance=DMA1_Stream0 +Dma.UART5_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE +Dma.UART5_RX.0.MemInc=DMA_MINC_ENABLE +Dma.UART5_RX.0.Mode=DMA_NORMAL +Dma.UART5_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE +Dma.UART5_RX.0.PeriphInc=DMA_PINC_DISABLE +Dma.UART5_RX.0.Polarity=HAL_DMAMUX_REQ_GEN_RISING +Dma.UART5_RX.0.Priority=DMA_PRIORITY_LOW +Dma.UART5_RX.0.RequestNumber=1 +Dma.UART5_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber +Dma.UART5_RX.0.SignalID=NONE +Dma.UART5_RX.0.SyncEnable=DISABLE +Dma.UART5_RX.0.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT +Dma.UART5_RX.0.SyncRequestNumber=1 +Dma.UART5_RX.0.SyncSignalID=NONE +Dma.UART7_RX.7.Direction=DMA_PERIPH_TO_MEMORY +Dma.UART7_RX.7.EventEnable=DISABLE +Dma.UART7_RX.7.FIFOMode=DMA_FIFOMODE_DISABLE +Dma.UART7_RX.7.Instance=DMA1_Stream7 +Dma.UART7_RX.7.MemDataAlignment=DMA_MDATAALIGN_BYTE +Dma.UART7_RX.7.MemInc=DMA_MINC_ENABLE +Dma.UART7_RX.7.Mode=DMA_NORMAL +Dma.UART7_RX.7.PeriphDataAlignment=DMA_PDATAALIGN_BYTE +Dma.UART7_RX.7.PeriphInc=DMA_PINC_DISABLE +Dma.UART7_RX.7.Polarity=HAL_DMAMUX_REQ_GEN_RISING +Dma.UART7_RX.7.Priority=DMA_PRIORITY_LOW +Dma.UART7_RX.7.RequestNumber=1 +Dma.UART7_RX.7.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber +Dma.UART7_RX.7.SignalID=NONE +Dma.UART7_RX.7.SyncEnable=DISABLE +Dma.UART7_RX.7.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT +Dma.UART7_RX.7.SyncRequestNumber=1 +Dma.UART7_RX.7.SyncSignalID=NONE +Dma.UART7_TX.8.Direction=DMA_MEMORY_TO_PERIPH +Dma.UART7_TX.8.EventEnable=DISABLE +Dma.UART7_TX.8.FIFOMode=DMA_FIFOMODE_DISABLE +Dma.UART7_TX.8.Instance=DMA2_Stream0 +Dma.UART7_TX.8.MemDataAlignment=DMA_MDATAALIGN_BYTE +Dma.UART7_TX.8.MemInc=DMA_MINC_ENABLE +Dma.UART7_TX.8.Mode=DMA_NORMAL +Dma.UART7_TX.8.PeriphDataAlignment=DMA_PDATAALIGN_BYTE +Dma.UART7_TX.8.PeriphInc=DMA_PINC_DISABLE +Dma.UART7_TX.8.Polarity=HAL_DMAMUX_REQ_GEN_RISING +Dma.UART7_TX.8.Priority=DMA_PRIORITY_LOW +Dma.UART7_TX.8.RequestNumber=1 +Dma.UART7_TX.8.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber +Dma.UART7_TX.8.SignalID=NONE +Dma.UART7_TX.8.SyncEnable=DISABLE +Dma.UART7_TX.8.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT +Dma.UART7_TX.8.SyncRequestNumber=1 +Dma.UART7_TX.8.SyncSignalID=NONE +Dma.USART10_RX.3.Direction=DMA_PERIPH_TO_MEMORY +Dma.USART10_RX.3.EventEnable=DISABLE +Dma.USART10_RX.3.FIFOMode=DMA_FIFOMODE_DISABLE +Dma.USART10_RX.3.Instance=DMA1_Stream1 +Dma.USART10_RX.3.MemDataAlignment=DMA_MDATAALIGN_BYTE +Dma.USART10_RX.3.MemInc=DMA_MINC_ENABLE +Dma.USART10_RX.3.Mode=DMA_NORMAL +Dma.USART10_RX.3.PeriphDataAlignment=DMA_PDATAALIGN_BYTE +Dma.USART10_RX.3.PeriphInc=DMA_PINC_DISABLE +Dma.USART10_RX.3.Polarity=HAL_DMAMUX_REQ_GEN_RISING +Dma.USART10_RX.3.Priority=DMA_PRIORITY_MEDIUM +Dma.USART10_RX.3.RequestNumber=1 +Dma.USART10_RX.3.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber +Dma.USART10_RX.3.SignalID=NONE +Dma.USART10_RX.3.SyncEnable=DISABLE +Dma.USART10_RX.3.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT +Dma.USART10_RX.3.SyncRequestNumber=1 +Dma.USART10_RX.3.SyncSignalID=NONE +Dma.USART10_TX.4.Direction=DMA_MEMORY_TO_PERIPH +Dma.USART10_TX.4.EventEnable=DISABLE +Dma.USART10_TX.4.FIFOMode=DMA_FIFOMODE_DISABLE +Dma.USART10_TX.4.Instance=DMA1_Stream4 +Dma.USART10_TX.4.MemDataAlignment=DMA_MDATAALIGN_BYTE +Dma.USART10_TX.4.MemInc=DMA_MINC_ENABLE +Dma.USART10_TX.4.Mode=DMA_NORMAL +Dma.USART10_TX.4.PeriphDataAlignment=DMA_PDATAALIGN_BYTE +Dma.USART10_TX.4.PeriphInc=DMA_PINC_DISABLE +Dma.USART10_TX.4.Polarity=HAL_DMAMUX_REQ_GEN_RISING +Dma.USART10_TX.4.Priority=DMA_PRIORITY_MEDIUM +Dma.USART10_TX.4.RequestNumber=1 +Dma.USART10_TX.4.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber +Dma.USART10_TX.4.SignalID=NONE +Dma.USART10_TX.4.SyncEnable=DISABLE +Dma.USART10_TX.4.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT +Dma.USART10_TX.4.SyncRequestNumber=1 +Dma.USART10_TX.4.SyncSignalID=NONE +Dma.USART1_RX.6.Direction=DMA_PERIPH_TO_MEMORY +Dma.USART1_RX.6.EventEnable=DISABLE +Dma.USART1_RX.6.FIFOMode=DMA_FIFOMODE_DISABLE +Dma.USART1_RX.6.Instance=DMA1_Stream6 +Dma.USART1_RX.6.MemDataAlignment=DMA_MDATAALIGN_BYTE +Dma.USART1_RX.6.MemInc=DMA_MINC_ENABLE +Dma.USART1_RX.6.Mode=DMA_NORMAL +Dma.USART1_RX.6.PeriphDataAlignment=DMA_PDATAALIGN_BYTE +Dma.USART1_RX.6.PeriphInc=DMA_PINC_DISABLE +Dma.USART1_RX.6.Polarity=HAL_DMAMUX_REQ_GEN_RISING +Dma.USART1_RX.6.Priority=DMA_PRIORITY_LOW +Dma.USART1_RX.6.RequestNumber=1 +Dma.USART1_RX.6.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber +Dma.USART1_RX.6.SignalID=NONE +Dma.USART1_RX.6.SyncEnable=DISABLE +Dma.USART1_RX.6.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT +Dma.USART1_RX.6.SyncRequestNumber=1 +Dma.USART1_RX.6.SyncSignalID=NONE +Dma.USART1_TX.5.Direction=DMA_MEMORY_TO_PERIPH +Dma.USART1_TX.5.EventEnable=DISABLE +Dma.USART1_TX.5.FIFOMode=DMA_FIFOMODE_DISABLE +Dma.USART1_TX.5.Instance=DMA1_Stream5 +Dma.USART1_TX.5.MemDataAlignment=DMA_MDATAALIGN_BYTE +Dma.USART1_TX.5.MemInc=DMA_MINC_ENABLE +Dma.USART1_TX.5.Mode=DMA_NORMAL +Dma.USART1_TX.5.PeriphDataAlignment=DMA_PDATAALIGN_BYTE +Dma.USART1_TX.5.PeriphInc=DMA_PINC_DISABLE +Dma.USART1_TX.5.Polarity=HAL_DMAMUX_REQ_GEN_RISING +Dma.USART1_TX.5.Priority=DMA_PRIORITY_LOW +Dma.USART1_TX.5.RequestNumber=1 +Dma.USART1_TX.5.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber +Dma.USART1_TX.5.SignalID=NONE +Dma.USART1_TX.5.SyncEnable=DISABLE +Dma.USART1_TX.5.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT +Dma.USART1_TX.5.SyncRequestNumber=1 +Dma.USART1_TX.5.SyncSignalID=NONE +Dma.USART2_RX.9.Direction=DMA_PERIPH_TO_MEMORY +Dma.USART2_RX.9.EventEnable=DISABLE +Dma.USART2_RX.9.FIFOMode=DMA_FIFOMODE_DISABLE +Dma.USART2_RX.9.Instance=DMA2_Stream1 +Dma.USART2_RX.9.MemDataAlignment=DMA_MDATAALIGN_BYTE +Dma.USART2_RX.9.MemInc=DMA_MINC_ENABLE +Dma.USART2_RX.9.Mode=DMA_NORMAL +Dma.USART2_RX.9.PeriphDataAlignment=DMA_PDATAALIGN_BYTE +Dma.USART2_RX.9.PeriphInc=DMA_PINC_DISABLE +Dma.USART2_RX.9.Polarity=HAL_DMAMUX_REQ_GEN_RISING +Dma.USART2_RX.9.Priority=DMA_PRIORITY_LOW +Dma.USART2_RX.9.RequestNumber=1 +Dma.USART2_RX.9.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber +Dma.USART2_RX.9.SignalID=NONE +Dma.USART2_RX.9.SyncEnable=DISABLE +Dma.USART2_RX.9.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT +Dma.USART2_RX.9.SyncRequestNumber=1 +Dma.USART2_RX.9.SyncSignalID=NONE +Dma.USART2_TX.10.Direction=DMA_MEMORY_TO_PERIPH +Dma.USART2_TX.10.EventEnable=DISABLE +Dma.USART2_TX.10.FIFOMode=DMA_FIFOMODE_DISABLE +Dma.USART2_TX.10.Instance=DMA2_Stream2 +Dma.USART2_TX.10.MemDataAlignment=DMA_MDATAALIGN_BYTE +Dma.USART2_TX.10.MemInc=DMA_MINC_ENABLE +Dma.USART2_TX.10.Mode=DMA_NORMAL +Dma.USART2_TX.10.PeriphDataAlignment=DMA_PDATAALIGN_BYTE +Dma.USART2_TX.10.PeriphInc=DMA_PINC_DISABLE +Dma.USART2_TX.10.Polarity=HAL_DMAMUX_REQ_GEN_RISING +Dma.USART2_TX.10.Priority=DMA_PRIORITY_LOW +Dma.USART2_TX.10.RequestNumber=1 +Dma.USART2_TX.10.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber +Dma.USART2_TX.10.SignalID=NONE +Dma.USART2_TX.10.SyncEnable=DISABLE +Dma.USART2_TX.10.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT +Dma.USART2_TX.10.SyncRequestNumber=1 +Dma.USART2_TX.10.SyncSignalID=NONE +Dma.USART3_RX.2.Direction=DMA_PERIPH_TO_MEMORY +Dma.USART3_RX.2.EventEnable=DISABLE +Dma.USART3_RX.2.FIFOMode=DMA_FIFOMODE_DISABLE +Dma.USART3_RX.2.Instance=DMA1_Stream3 +Dma.USART3_RX.2.MemDataAlignment=DMA_MDATAALIGN_BYTE +Dma.USART3_RX.2.MemInc=DMA_MINC_ENABLE +Dma.USART3_RX.2.Mode=DMA_NORMAL +Dma.USART3_RX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE +Dma.USART3_RX.2.PeriphInc=DMA_PINC_DISABLE +Dma.USART3_RX.2.Polarity=HAL_DMAMUX_REQ_GEN_RISING +Dma.USART3_RX.2.Priority=DMA_PRIORITY_LOW +Dma.USART3_RX.2.RequestNumber=1 +Dma.USART3_RX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber +Dma.USART3_RX.2.SignalID=NONE +Dma.USART3_RX.2.SyncEnable=DISABLE +Dma.USART3_RX.2.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT +Dma.USART3_RX.2.SyncRequestNumber=1 +Dma.USART3_RX.2.SyncSignalID=NONE +Dma.USART3_TX.1.Direction=DMA_MEMORY_TO_PERIPH +Dma.USART3_TX.1.EventEnable=DISABLE +Dma.USART3_TX.1.FIFOMode=DMA_FIFOMODE_DISABLE +Dma.USART3_TX.1.Instance=DMA1_Stream2 +Dma.USART3_TX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE +Dma.USART3_TX.1.MemInc=DMA_MINC_ENABLE +Dma.USART3_TX.1.Mode=DMA_NORMAL +Dma.USART3_TX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE +Dma.USART3_TX.1.PeriphInc=DMA_PINC_DISABLE +Dma.USART3_TX.1.Polarity=HAL_DMAMUX_REQ_GEN_RISING +Dma.USART3_TX.1.Priority=DMA_PRIORITY_LOW +Dma.USART3_TX.1.RequestNumber=1 +Dma.USART3_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber +Dma.USART3_TX.1.SignalID=NONE +Dma.USART3_TX.1.SyncEnable=DISABLE +Dma.USART3_TX.1.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT +Dma.USART3_TX.1.SyncRequestNumber=1 +Dma.USART3_TX.1.SyncSignalID=NONE FDCAN1.CalculateBaudRateNominal=1000000 FDCAN1.CalculateTimeBitNominal=1000 FDCAN1.CalculateTimeQuantumNominal=25.0 @@ -118,30 +328,31 @@ Mcu.CPN=STM32H723VGT6 Mcu.Family=STM32H7 Mcu.IP0=CORTEX_M7 Mcu.IP1=DEBUG -Mcu.IP10=SPI1 -Mcu.IP11=SPI2 -Mcu.IP12=SYS -Mcu.IP13=TIM1 -Mcu.IP14=TIM2 -Mcu.IP15=TIM3 -Mcu.IP16=TIM12 -Mcu.IP17=UART5 -Mcu.IP18=UART7 -Mcu.IP19=USART1 -Mcu.IP2=FDCAN1 -Mcu.IP20=USART2 -Mcu.IP21=USART3 -Mcu.IP22=USART10 -Mcu.IP23=USB_DEVICE -Mcu.IP24=USB_OTG_HS -Mcu.IP3=FDCAN2 -Mcu.IP4=FDCAN3 -Mcu.IP5=FREERTOS -Mcu.IP6=I2C2 -Mcu.IP7=MEMORYMAP -Mcu.IP8=NVIC -Mcu.IP9=RCC -Mcu.IPNb=25 +Mcu.IP10=RCC +Mcu.IP11=SPI1 +Mcu.IP12=SPI2 +Mcu.IP13=SYS +Mcu.IP14=TIM1 +Mcu.IP15=TIM2 +Mcu.IP16=TIM3 +Mcu.IP17=TIM12 +Mcu.IP18=UART5 +Mcu.IP19=UART7 +Mcu.IP2=DMA +Mcu.IP20=USART1 +Mcu.IP21=USART2 +Mcu.IP22=USART3 +Mcu.IP23=USART10 +Mcu.IP24=USB_DEVICE +Mcu.IP25=USB_OTG_HS +Mcu.IP3=FDCAN1 +Mcu.IP4=FDCAN2 +Mcu.IP5=FDCAN3 +Mcu.IP6=FREERTOS +Mcu.IP7=I2C2 +Mcu.IP8=MEMORYMAP +Mcu.IP9=NVIC +Mcu.IPNb=26 Mcu.Name=STM32H723VGTx Mcu.Package=LQFP100 Mcu.Pin0=PE2 @@ -215,14 +426,31 @@ Mcu.UserName=STM32H723VGTx MxCube.Version=6.12.1 MxDb.Version=DB.6.0.121 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false +NVIC.DMA1_Stream0_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true +NVIC.DMA1_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true +NVIC.DMA1_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true +NVIC.DMA1_Stream3_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true +NVIC.DMA1_Stream4_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true +NVIC.DMA1_Stream5_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true +NVIC.DMA1_Stream6_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true +NVIC.DMA1_Stream7_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true +NVIC.DMA2_Stream0_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true +NVIC.DMA2_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true +NVIC.DMA2_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false NVIC.FDCAN1_IT0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.FDCAN1_IT1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.FDCAN2_IT0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.FDCAN2_IT1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.FDCAN3_IT0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.FDCAN3_IT1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.FDCAN_CAL_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.ForceEnableDMAVector=true NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false +NVIC.OTG_HS_EP1_IN_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.OTG_HS_EP1_OUT_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.OTG_HS_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false\:false NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4 @@ -234,6 +462,12 @@ NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false NVIC.TIM8_TRG_COM_TIM14_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true NVIC.TimeBase=TIM8_TRG_COM_TIM14_IRQn NVIC.TimeBaseIP=TIM14 +NVIC.UART5_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.UART7_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.USART10_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.USART1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.USART2_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.USART3_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false PA0.Signal=S_TIM2_CH1_ETR PA10.Locked=true @@ -397,7 +631,7 @@ ProjectManager.ToolChainLocation= ProjectManager.UAScriptAfterPath= ProjectManager.UAScriptBeforePath= ProjectManager.UnderRoot=true -ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_FDCAN1_Init-FDCAN1-false-HAL-true,4-MX_FDCAN2_Init-FDCAN2-false-HAL-true,5-MX_FDCAN3_Init-FDCAN3-false-HAL-true,6-MX_SPI2_Init-SPI2-false-HAL-true,7-MX_SPI6_Init-SPI6-false-HAL-true,7-MX_TIM1_Init-TIM1-false-HAL-true,8-MX_TIM2_Init-TIM2-false-HAL-true,9-MX_TIM3_Init-TIM3-false-HAL-true,10-MX_TIM12_Init-TIM12-false-HAL-true,11-MX_UART5_Init-UART5-false-HAL-true,12-MX_UART7_Init-UART7-false-HAL-true,13-MX_USART1_UART_Init-USART1-false-HAL-true,14-MX_USART2_UART_Init-USART2-false-HAL-true,15-MX_USART3_UART_Init-USART3-false-HAL-true,16-MX_USART10_UART_Init-USART10-false-HAL-true,17-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false,0-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true +ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_FDCAN1_Init-FDCAN1-false-HAL-true,5-MX_FDCAN2_Init-FDCAN2-false-HAL-true,6-MX_FDCAN3_Init-FDCAN3-false-HAL-true,7-MX_SPI2_Init-SPI2-false-HAL-true,8-MX_TIM1_Init-TIM1-false-HAL-true,9-MX_TIM2_Init-TIM2-false-HAL-true,10-MX_TIM3_Init-TIM3-false-HAL-true,11-MX_TIM12_Init-TIM12-false-HAL-true,12-MX_UART5_Init-UART5-false-HAL-true,13-MX_UART7_Init-UART7-false-HAL-true,14-MX_USART1_UART_Init-USART1-false-HAL-true,15-MX_USART2_UART_Init-USART2-false-HAL-true,16-MX_USART3_UART_Init-USART3-false-HAL-true,17-MX_USART10_UART_Init-USART10-false-HAL-true,18-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false,19-MX_I2C2_Init-I2C2-false-HAL-true,20-MX_SPI1_Init-SPI1-false-HAL-true,0-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true RCC.ADCFreq_Value=50390625 RCC.AHB12Freq_Value=240000000 RCC.AHB4Freq_Value=240000000