From 390e168b46421443a49735778261957d445d55f8 Mon Sep 17 00:00:00 2001
From: panrui <1016625586@qq.com>
Date: Thu, 29 Dec 2022 16:53:10 +0800
Subject: [PATCH] =?UTF-8?q?=E4=B8=8Emaster=E5=88=86=E6=94=AF=E5=90=8C?=
=?UTF-8?q?=E6=AD=A5=E6=9B=B4=E6=94=B9?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
.gitignore | 1 +
.mxproject | 10 +-
.vscode/settings.json | 55 -----
HAL_N_Middlewares/Inc/main.h | 5 +
HAL_N_Middlewares/Inc/spi.h | 3 +
HAL_N_Middlewares/Inc/stm32f4xx_hal_conf.h | 75 ++++---
HAL_N_Middlewares/Inc/usbd_conf.h | 4 +-
HAL_N_Middlewares/Src/gpio.c | 17 ++
HAL_N_Middlewares/Src/spi.c | 77 +++++++
HAL_N_Middlewares/Src/usbd_desc.c | 4 +-
Makefile | 6 +
application/application.md | 58 ++++-
application/cmd/robot_cmd.c | 4 +-
application/cmd/robot_cmd.h | 2 +-
application/cmd/robot_cmd.md | 28 +++
application/robot.c | 2 +-
basic_framework.ioc | 236 ++++++++++++++++-----
bsp/bsp_can.c | 2 +-
bsp/bsp_iic.c | 4 +
bsp/bsp_iic.h | 11 +
bsp/bsp_spi.c | 143 +++++++++++++
bsp/bsp_spi.h | 82 +++++++
modules/imu/BMI088driver.c | 2 +-
modules/message_center/message_center.md | 2 +-
openocd_dap.cfg | 2 +-
25 files changed, 674 insertions(+), 161 deletions(-)
delete mode 100644 .vscode/settings.json
diff --git a/.gitignore b/.gitignore
index bbb2d53..844cd0c 100644
--- a/.gitignore
+++ b/.gitignore
@@ -52,3 +52,4 @@ build
.vscode/.cortex-debug.peripherals.state.json
.vscode/.cortex-debug.registers.state.json
*.jdebug*
+settings.json
\ No newline at end of file
diff --git a/.mxproject b/.mxproject
index 7284037..a03dc7e 100644
--- a/.mxproject
+++ b/.mxproject
@@ -1,22 +1,22 @@
[PreviousLibFiles]
-LibFiles=Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usb.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_bus.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_system.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_utils.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dmamux.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h;Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_adc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_adc_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_adc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rng.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_rng.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rtc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_rtc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rtc_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_tim.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usart.h;Middlewares\Third_Party\FreeRTOS\Source\include\croutine.h;Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h;Middlewares\Third_Party\FreeRTOS\Source\include\event_groups.h;Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h;Middlewares\Third_Party\FreeRTOS\Source\include\list.h;Middlewares\Third_Party\FreeRTOS\Source\include\message_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_prototypes.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h;Middlewares\Third_Party\FreeRTOS\Source\include\portable.h;Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h;Middlewares\Third_Party\FreeRTOS\Source\include\queue.h;Middlewares\Third_Party\FreeRTOS\Source\include\semphr.h;Middlewares\Third_Party\FreeRTOS\Source\include\stack_macros.h;Middlewares\Third_Party\FreeRTOS\Source\include\StackMacros.h;Middlewares\Third_Party\FreeRTOS\Source\include\stream_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\task.h;Middlewares\Third_Party\FreeRTOS\Source\include\timers.h;Middlewares\Third_Party\FreeRTOS\Source\include\atomic.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS\cmsis_os.h;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\portmacro.h;Middlewares\ST\STM32_USB_Device_Library\Core\Inc\usbd_core.h;Middlewares\ST\STM32_USB_Device_Library\Core\Inc\usbd_ctlreq.h;Middlewares\ST\STM32_USB_Device_Library\Core\Inc\usbd_def.h;Middlewares\ST\STM32_USB_Device_Library\Core\Inc\usbd_ioreq.h;Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Inc\usbd_cdc.h;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pcd.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pcd_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_usb.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_adc.c;Drivers\STM32F4xx_HAL_Driver\Src\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[PreviousUsedMakefileFiles]
-SourceFiles=Src\main.c;Src\gpio.c;Src\freertos.c;Src\adc.c;Src\can.c;Src\dma.c;Src\rng.c;Src\rtc.c;Src\spi.c;Src\tim.c;Src\usart.c;Src\usb_device.c;Src\usbd_conf.c;Src\usbd_desc.c;Src\usbd_cdc_if.c;Src\stm32f4xx_it.c;Src\stm32f4xx_hal_msp.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pcd.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pcd_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_usb.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_adc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rng.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rtc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rtc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS\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\STM32F4xx\Source\Templates\system_stm32f4xx.c;Src\system_stm32f4xx.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pcd.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pcd_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_usb.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_adc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rng.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rtc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rtc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS\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\STM32F4xx\Source\Templates\system_stm32f4xx.c;Src\system_stm32f4xx.c;;;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS\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=Src\main.c;Src\gpio.c;Src\freertos.c;Src\adc.c;Src\can.c;Src\dma.c;Src\i2c.c;Src\rng.c;Src\rtc.c;Src\spi.c;Src\tim.c;Src\usart.c;Src\usb_device.c;Src\usbd_conf.c;Src\usbd_desc.c;Src\usbd_cdc_if.c;Src\stm32f4xx_it.c;Src\stm32f4xx_hal_msp.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pcd.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pcd_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_usb.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_adc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rng.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rtc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rtc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS\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\STM32F4xx\Source\Templates\system_stm32f4xx.c;Src\system_stm32f4xx.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pcd.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pcd_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_usb.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_adc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rng.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rtc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rtc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS\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\STM32F4xx\Source\Templates\system_stm32f4xx.c;Src\system_stm32f4xx.c;;;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS\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\STM32F4xx_HAL_Driver\Inc;Drivers\STM32F4xx_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\STM32F4xx\Include;Drivers\CMSIS\Include;Middlewares\ST\ARM\DSP\Inc;Inc;
CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;USE_HAL_DRIVER;
[PreviousGenFiles]
HeaderPath=..\Inc
-HeaderFiles=gpio.h;FreeRTOSConfig.h;adc.h;can.h;dma.h;rng.h;rtc.h;spi.h;tim.h;usart.h;usb_device.h;usbd_conf.h;usbd_desc.h;usbd_cdc_if.h;stm32f4xx_it.h;stm32f4xx_hal_conf.h;main.h;
+HeaderFiles=gpio.h;FreeRTOSConfig.h;adc.h;can.h;dma.h;i2c.h;rng.h;rtc.h;spi.h;tim.h;usart.h;usb_device.h;usbd_conf.h;usbd_desc.h;usbd_cdc_if.h;stm32f4xx_it.h;stm32f4xx_hal_conf.h;main.h;
SourcePath=..\Src
-SourceFiles=gpio.c;freertos.c;adc.c;can.c;dma.c;rng.c;rtc.c;spi.c;tim.c;usart.c;usb_device.c;usbd_conf.c;usbd_desc.c;usbd_cdc_if.c;stm32f4xx_it.c;stm32f4xx_hal_msp.c;main.c;
+SourceFiles=gpio.c;freertos.c;adc.c;can.c;dma.c;i2c.c;rng.c;rtc.c;spi.c;tim.c;usart.c;usb_device.c;usbd_conf.c;usbd_desc.c;usbd_cdc_if.c;stm32f4xx_it.c;stm32f4xx_hal_msp.c;main.c;
[ThirdPartyIp]
ThirdPartyIpNumber=1
ThirdPartyIpName#0=STMicroelectronics.X-CUBE-ALGOBUILD.1.3.0
[ThirdPartyIp#STMicroelectronics.X-CUBE-ALGOBUILD.1.3.0]
-library=..\Middlewares\ST\ARM\DSP\Lib\iar_cortexM4lf_math.a;
+library=..\Middlewares\ST\ARM\DSP\Lib\libarm_cortexM4lf_math.a;
header=..\Middlewares\ST\ARM\DSP\Inc\arm_math.h;
diff --git a/.vscode/settings.json b/.vscode/settings.json
deleted file mode 100644
index 10ac569..0000000
--- a/.vscode/settings.json
+++ /dev/null
@@ -1,55 +0,0 @@
-{
- "files.associations": {
- "memory.h": "c",
- "stdint.h": "c",
- "led_task.h": "c",
- "stdinf.h": "c",
- "usart.h": "c",
- "controller.h": "c",
- "ins_task.h": "c",
- "task.h": "c",
- "user_lib.h": "c",
- "chassis.h": "c",
- "can_comm.h": "c",
- "string.h": "c",
- "stdlib.h": "c",
- "crc8.h": "c",
- "main.h": "c",
- "can.h": "c",
- "bsp_can.h": "c",
- "dji_motor.h": "c",
- "master_process.h": "c",
- "seasky_protocol.h": "c",
- "bsp_usart.h": "c",
- "message_center.h": "c",
- "stddef.h": "c",
- "stm32_hal_legacy.h": "c",
- "message_buffer.h": "c",
- "robot_def.h": "c",
- "remote_control.h": "c",
- "robot_cmd.h": "c",
- "chassis_cmd.h": "c",
- "referee.h": "c",
- "arm_math.h": "c",
- "bsp_dwt.h": "c",
- "compare": "c",
- "*.tcc": "c",
- "type_traits": "c",
- "typeinfo": "c",
- "general_def.h": "c",
- "super_cap.h": "c",
- "motor_def.h": "c",
- "quaternionekf.h": "c",
- "shoot.h": "c",
- "lk9025.h": "c",
- "ht04.h": "c",
- "rtc.h": "c",
- "tim.h": "c",
- "usb_device.h": "c",
- "gpio.h": "c",
- "rng.h": "c",
- "cmsis_os.h": "c"
- },
- "C_Cpp.default.configurationProvider": "ms-vscode.makefile-tools",
- "C_Cpp.intelliSenseEngineFallback": "enabled",
-}
\ No newline at end of file
diff --git a/HAL_N_Middlewares/Inc/main.h b/HAL_N_Middlewares/Inc/main.h
index ce98080..554637b 100644
--- a/HAL_N_Middlewares/Inc/main.h
+++ b/HAL_N_Middlewares/Inc/main.h
@@ -59,8 +59,12 @@ void Error_Handler(void);
/* Private defines -----------------------------------------------------------*/
#define IMU_TEMP_Pin GPIO_PIN_8
#define IMU_TEMP_GPIO_Port GPIOB
+#define MAG_RST_Pin GPIO_PIN_6
+#define MAG_RST_GPIO_Port GPIOG
#define LED_R_Pin GPIO_PIN_12
#define LED_R_GPIO_Port GPIOH
+#define MAG_DR_Pin GPIO_PIN_3
+#define MAG_DR_GPIO_Port GPIOG
#define LED_G_Pin GPIO_PIN_11
#define LED_G_GPIO_Port GPIOH
#define LED_B_Pin GPIO_PIN_10
@@ -75,6 +79,7 @@ void Error_Handler(void);
#define SERVO_GPIO_Port GPIOE
#define CS1_GYRO_Pin GPIO_PIN_0
#define CS1_GYRO_GPIO_Port GPIOB
+
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
diff --git a/HAL_N_Middlewares/Inc/spi.h b/HAL_N_Middlewares/Inc/spi.h
index a5dbefc..5c35683 100644
--- a/HAL_N_Middlewares/Inc/spi.h
+++ b/HAL_N_Middlewares/Inc/spi.h
@@ -34,11 +34,14 @@ extern "C" {
extern SPI_HandleTypeDef hspi1;
+extern SPI_HandleTypeDef hspi2;
+
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_SPI1_Init(void);
+void MX_SPI2_Init(void);
/* USER CODE BEGIN Prototypes */
diff --git a/HAL_N_Middlewares/Inc/stm32f4xx_hal_conf.h b/HAL_N_Middlewares/Inc/stm32f4xx_hal_conf.h
index 305e248..264135c 100644
--- a/HAL_N_Middlewares/Inc/stm32f4xx_hal_conf.h
+++ b/HAL_N_Middlewares/Inc/stm32f4xx_hal_conf.h
@@ -37,50 +37,49 @@
*/
#define HAL_MODULE_ENABLED
- #define HAL_ADC_MODULE_ENABLED
-/* #define HAL_CRYP_MODULE_ENABLED */
+ /* #define HAL_CRYP_MODULE_ENABLED */
+#define HAL_ADC_MODULE_ENABLED
#define HAL_CAN_MODULE_ENABLED
-/* #define HAL_CRC_MODULE_ENABLED */
-/* #define HAL_CAN_LEGACY_MODULE_ENABLED */
-/* #define HAL_CRYP_MODULE_ENABLED */
-/* #define HAL_DAC_MODULE_ENABLED */
-/* #define HAL_DCMI_MODULE_ENABLED */
-/* #define HAL_DMA2D_MODULE_ENABLED */
-/* #define HAL_ETH_MODULE_ENABLED */
-/* #define HAL_NAND_MODULE_ENABLED */
-/* #define HAL_NOR_MODULE_ENABLED */
-/* #define HAL_PCCARD_MODULE_ENABLED */
-/* #define HAL_SRAM_MODULE_ENABLED */
-/* #define HAL_SDRAM_MODULE_ENABLED */
-/* #define HAL_HASH_MODULE_ENABLED */
-/* #define HAL_I2C_MODULE_ENABLED */
-/* #define HAL_I2S_MODULE_ENABLED */
-/* #define HAL_IWDG_MODULE_ENABLED */
-/* #define HAL_LTDC_MODULE_ENABLED */
+/* #define HAL_CRC_MODULE_ENABLED */
+/* #define HAL_CAN_LEGACY_MODULE_ENABLED */
+/* #define HAL_DAC_MODULE_ENABLED */
+/* #define HAL_DCMI_MODULE_ENABLED */
+/* #define HAL_DMA2D_MODULE_ENABLED */
+/* #define HAL_ETH_MODULE_ENABLED */
+/* #define HAL_NAND_MODULE_ENABLED */
+/* #define HAL_NOR_MODULE_ENABLED */
+/* #define HAL_PCCARD_MODULE_ENABLED */
+/* #define HAL_SRAM_MODULE_ENABLED */
+/* #define HAL_SDRAM_MODULE_ENABLED */
+/* #define HAL_HASH_MODULE_ENABLED */
+#define HAL_I2C_MODULE_ENABLED
+/* #define HAL_I2S_MODULE_ENABLED */
+/* #define HAL_IWDG_MODULE_ENABLED */
+/* #define HAL_LTDC_MODULE_ENABLED */
#define HAL_RNG_MODULE_ENABLED
#define HAL_RTC_MODULE_ENABLED
-/* #define HAL_SAI_MODULE_ENABLED */
-/* #define HAL_SD_MODULE_ENABLED */
-/* #define HAL_MMC_MODULE_ENABLED */
+/* #define HAL_SAI_MODULE_ENABLED */
+/* #define HAL_SD_MODULE_ENABLED */
+/* #define HAL_MMC_MODULE_ENABLED */
#define HAL_SPI_MODULE_ENABLED
#define HAL_TIM_MODULE_ENABLED
#define HAL_UART_MODULE_ENABLED
-/* #define HAL_USART_MODULE_ENABLED */
-/* #define HAL_IRDA_MODULE_ENABLED */
-/* #define HAL_SMARTCARD_MODULE_ENABLED */
-/* #define HAL_SMBUS_MODULE_ENABLED */
-/* #define HAL_WWDG_MODULE_ENABLED */
+/* #define HAL_USART_MODULE_ENABLED */
+/* #define HAL_IRDA_MODULE_ENABLED */
+/* #define HAL_SMARTCARD_MODULE_ENABLED */
+/* #define HAL_SMBUS_MODULE_ENABLED */
+/* #define HAL_WWDG_MODULE_ENABLED */
#define HAL_PCD_MODULE_ENABLED
-/* #define HAL_HCD_MODULE_ENABLED */
-/* #define HAL_DSI_MODULE_ENABLED */
-/* #define HAL_QSPI_MODULE_ENABLED */
-/* #define HAL_QSPI_MODULE_ENABLED */
-/* #define HAL_CEC_MODULE_ENABLED */
-/* #define HAL_FMPI2C_MODULE_ENABLED */
-/* #define HAL_FMPSMBUS_MODULE_ENABLED */
-/* #define HAL_SPDIFRX_MODULE_ENABLED */
-/* #define HAL_DFSDM_MODULE_ENABLED */
-/* #define HAL_LPTIM_MODULE_ENABLED */
+/* #define HAL_HCD_MODULE_ENABLED */
+/* #define HAL_DSI_MODULE_ENABLED */
+/* #define HAL_QSPI_MODULE_ENABLED */
+/* #define HAL_QSPI_MODULE_ENABLED */
+/* #define HAL_CEC_MODULE_ENABLED */
+/* #define HAL_FMPI2C_MODULE_ENABLED */
+/* #define HAL_FMPSMBUS_MODULE_ENABLED */
+/* #define HAL_SPDIFRX_MODULE_ENABLED */
+/* #define HAL_DFSDM_MODULE_ENABLED */
+/* #define HAL_LPTIM_MODULE_ENABLED */
#define HAL_GPIO_MODULE_ENABLED
#define HAL_EXTI_MODULE_ENABLED
#define HAL_DMA_MODULE_ENABLED
@@ -214,7 +213,7 @@
#define MAC_ADDR5 0U
/* Definition of the Ethernet driver buffers size and count */
-#define ETH_RX_BUF_SIZE ETH_MAX_PACKET_SIZE /* buffer size for receive */
+#define ETH_RX_BUF_SIZE /* buffer size for receive */
#define ETH_TX_BUF_SIZE ETH_MAX_PACKET_SIZE /* buffer size for transmit */
#define ETH_RXBUFNB 4U /* 4 Rx buffers of size ETH_RX_BUF_SIZE */
#define ETH_TXBUFNB 4U /* 4 Tx buffers of size ETH_TX_BUF_SIZE */
diff --git a/HAL_N_Middlewares/Inc/usbd_conf.h b/HAL_N_Middlewares/Inc/usbd_conf.h
index db51286..4c39852 100644
--- a/HAL_N_Middlewares/Inc/usbd_conf.h
+++ b/HAL_N_Middlewares/Inc/usbd_conf.h
@@ -116,7 +116,7 @@
#if (USBD_DEBUG_LEVEL > 1)
-#define USBD_ErrLog(...) printf("ERROR: ") ;\
+#define USBD_ErrLog(...) printf("ERROR: ");\
printf(__VA_ARGS__);\
printf("\n");
#else
@@ -124,7 +124,7 @@
#endif /* (USBD_DEBUG_LEVEL > 1U) */
#if (USBD_DEBUG_LEVEL > 2)
-#define USBD_DbgLog(...) printf("DEBUG : ") ;\
+#define USBD_DbgLog(...) printf("DEBUG : ");\
printf(__VA_ARGS__);\
printf("\n");
#else
diff --git a/HAL_N_Middlewares/Src/gpio.c b/HAL_N_Middlewares/Src/gpio.c
index b7dc222..a27349e 100644
--- a/HAL_N_Middlewares/Src/gpio.c
+++ b/HAL_N_Middlewares/Src/gpio.c
@@ -51,15 +51,32 @@ void MX_GPIO_Init(void)
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOI_CLK_ENABLE();
+ __HAL_RCC_GPIOF_CLK_ENABLE();
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOE_CLK_ENABLE();
+ /*Configure GPIO pin Output Level */
+ HAL_GPIO_WritePin(MAG_RST_GPIO_Port, MAG_RST_Pin, GPIO_PIN_RESET);
+
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(CS1_ACCEL_GPIO_Port, CS1_ACCEL_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(CS1_GYRO_GPIO_Port, CS1_GYRO_Pin, GPIO_PIN_SET);
+ /*Configure GPIO pin : PtPin */
+ GPIO_InitStruct.Pin = MAG_RST_Pin;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+ GPIO_InitStruct.Pull = GPIO_PULLUP;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
+ HAL_GPIO_Init(MAG_RST_GPIO_Port, &GPIO_InitStruct);
+
+ /*Configure GPIO pin : PtPin */
+ GPIO_InitStruct.Pin = MAG_DR_Pin;
+ GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
+ GPIO_InitStruct.Pull = GPIO_PULLUP;
+ HAL_GPIO_Init(MAG_DR_GPIO_Port, &GPIO_InitStruct);
+
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = KEY_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
diff --git a/HAL_N_Middlewares/Src/spi.c b/HAL_N_Middlewares/Src/spi.c
index 043f842..4586ed9 100644
--- a/HAL_N_Middlewares/Src/spi.c
+++ b/HAL_N_Middlewares/Src/spi.c
@@ -25,6 +25,7 @@
/* USER CODE END 0 */
SPI_HandleTypeDef hspi1;
+SPI_HandleTypeDef hspi2;
/* SPI1 init function */
void MX_SPI1_Init(void)
@@ -57,6 +58,38 @@ void MX_SPI1_Init(void)
/* USER CODE END SPI1_Init 2 */
+}
+/* SPI2 init function */
+void MX_SPI2_Init(void)
+{
+
+ /* USER CODE BEGIN SPI2_Init 0 */
+
+ /* USER CODE END SPI2_Init 0 */
+
+ /* USER CODE BEGIN SPI2_Init 1 */
+
+ /* USER CODE END SPI2_Init 1 */
+ hspi2.Instance = SPI2;
+ hspi2.Init.Mode = SPI_MODE_MASTER;
+ hspi2.Init.Direction = SPI_DIRECTION_2LINES;
+ hspi2.Init.DataSize = SPI_DATASIZE_8BIT;
+ hspi2.Init.CLKPolarity = SPI_POLARITY_HIGH;
+ hspi2.Init.CLKPhase = SPI_PHASE_2EDGE;
+ hspi2.Init.NSS = SPI_NSS_SOFT;
+ hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_256;
+ hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB;
+ hspi2.Init.TIMode = SPI_TIMODE_DISABLE;
+ hspi2.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
+ hspi2.Init.CRCPolynomial = 10;
+ if (HAL_SPI_Init(&hspi2) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ /* USER CODE BEGIN SPI2_Init 2 */
+
+ /* USER CODE END SPI2_Init 2 */
+
}
void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle)
@@ -96,6 +129,31 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle)
/* USER CODE END SPI1_MspInit 1 */
}
+ else if(spiHandle->Instance==SPI2)
+ {
+ /* USER CODE BEGIN SPI2_MspInit 0 */
+
+ /* USER CODE END SPI2_MspInit 0 */
+ /* SPI2 clock enable */
+ __HAL_RCC_SPI2_CLK_ENABLE();
+
+ __HAL_RCC_GPIOB_CLK_ENABLE();
+ /**SPI2 GPIO Configuration
+ PB13 ------> SPI2_SCK
+ PB14 ------> SPI2_MISO
+ PB15 ------> SPI2_MOSI
+ */
+ GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15;
+ GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+ GPIO_InitStruct.Alternate = GPIO_AF5_SPI2;
+ HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+ /* USER CODE BEGIN SPI2_MspInit 1 */
+
+ /* USER CODE END SPI2_MspInit 1 */
+ }
}
void HAL_SPI_MspDeInit(SPI_HandleTypeDef* spiHandle)
@@ -122,6 +180,25 @@ void HAL_SPI_MspDeInit(SPI_HandleTypeDef* spiHandle)
/* USER CODE END SPI1_MspDeInit 1 */
}
+ else if(spiHandle->Instance==SPI2)
+ {
+ /* USER CODE BEGIN SPI2_MspDeInit 0 */
+
+ /* USER CODE END SPI2_MspDeInit 0 */
+ /* Peripheral clock disable */
+ __HAL_RCC_SPI2_CLK_DISABLE();
+
+ /**SPI2 GPIO Configuration
+ PB13 ------> SPI2_SCK
+ PB14 ------> SPI2_MISO
+ PB15 ------> SPI2_MOSI
+ */
+ HAL_GPIO_DeInit(GPIOB, GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15);
+
+ /* USER CODE BEGIN SPI2_MspDeInit 1 */
+
+ /* USER CODE END SPI2_MspDeInit 1 */
+ }
}
/* USER CODE BEGIN 1 */
diff --git a/HAL_N_Middlewares/Src/usbd_desc.c b/HAL_N_Middlewares/Src/usbd_desc.c
index 04f958b..89ab7d4 100644
--- a/HAL_N_Middlewares/Src/usbd_desc.c
+++ b/HAL_N_Middlewares/Src/usbd_desc.c
@@ -387,7 +387,9 @@ uint8_t * USBD_FS_USR_BOSDescriptor(USBD_SpeedTypeDef speed, uint16_t *length)
*/
static void Get_SerialNum(void)
{
- uint32_t deviceserial0, deviceserial1, deviceserial2;
+ uint32_t deviceserial0;
+ uint32_t deviceserial1;
+ uint32_t deviceserial2;
deviceserial0 = *(uint32_t *) DEVICE_ID1;
deviceserial1 = *(uint32_t *) DEVICE_ID2;
diff --git a/Makefile b/Makefile
index 3fa9f3b..4f243aa 100644
--- a/Makefile
+++ b/Makefile
@@ -39,6 +39,7 @@ BUILD_DIR = build
C_SOURCES = \
HAL_N_Middlewares/Src/main.c \
HAL_N_Middlewares/Src/gpio.c \
+HAL_N_Middlewares/Src/i2c.c \
HAL_N_Middlewares/Src/adc.c \
HAL_N_Middlewares/Src/can.c \
HAL_N_Middlewares/Src/dma.c \
@@ -64,6 +65,8 @@ HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c \
+HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c \
+HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c \
@@ -99,8 +102,11 @@ HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/
HAL_N_Middlewares/Middlewares/Third_Party/SEGGER/RTT/SEGGER_RTT_printf.c \
HAL_N_Middlewares/Middlewares/Third_Party/SEGGER/RTT/SEGGER_RTT.c \
bsp/bsp_dwt.c \
+bsp/bsp_pwm.c \
bsp/bsp_temperature.c \
bsp/bsp_led.c \
+bsp/bsp_spi.c \
+bsp/bsp_iic.c \
bsp/bsp_can.c \
bsp/bsp_buzzer.c \
bsp/bsp_usart.c \
diff --git a/application/application.md b/application/application.md
index d314406..a68e948 100644
--- a/application/application.md
+++ b/application/application.md
@@ -1,3 +1,59 @@
# application
-这是application层的说明
\ No newline at end of file
+neozng1@hnu.edu.cn
+
+这是application层的说明。
+
+
+
+## 使用说明
+
+在main函数中包含`robot.h`头文件，这是对整车的抽象。将`INStask`，`motortask`，`ledtask`，`monitortask`这四个task加入`freertos.c`中，创建对应的任务，设置合适的任务运行间隔；然后将`robottask`放入freertos.c中，同样以一定的频率运行。 在初始化实时系统之前，在`main()`中调用`RobotInit()`进行整车的初始化。
+
+INStask的运行频率为1kHz，motortask推荐的运行频率为200Hz\~500Hz，对于高实时性要求的电机可以提升到1kHz，不过要注意CAN总线的负载。ledtask的运行频率推荐为1kHz，monitortask的运行频率推荐为50\~100Hz；robottask的运行频率推荐为150Hz以上，应当高于视觉发送的频率，若后续使用插帧，应该保证不低过motortask太多。
+
+若使用双板，则在`robot_def.h`中给对应的开发板设定宏定义，如底盘板使用`#define CHASSIS_BOARD`，云台板使用`#define GIMBAL_BOARD`；单个开发板控制整车，则定义`#define ONE_BOARD`。在每个应用中，都已经使用编译预处理指令完成条件编译，会自动根据设定的宏切换功能。使用双板的时候，目前板间通信通过CAN完成，因此两个开发板会挂载在一条总线上，在两个开发板对这条总线的其他使用CAN的设备进行配置时注意**不要发生ID冲突**，还要注意**防止负载过大**。
+
+**同样，在该文件中你需要修改一些关于机器人的参数**。比如底盘和云台对齐时yaw电机编码器的值，拨盘的单圈载弹量、底盘的轴距等等。
+
+
+
+## 封装总览
+
+Robot.c是整个机器人的抽象，其下有4个应用：robot_cmd，gimbal，chassis，shoot。此框架当前是针对步兵/英雄/哨兵设计的，其他机器人只需要根据各自的特殊机构进行修改即可。robot_cmd是整个机器人的核心应用，其负责接受遥控器/上位机发来的指令，并将指令转化为实际的运动控制目标，发送给其他三个应用。后者会根据robot_cmd发来的命令，设定电机和其他执行单元的参考值等。
+
+为了进一步解耦应用之间的关系，这里并没有采用层级结构（或设计模式中所谓的**工厂模式**，即robot_cmd包含其他三个模块），而采用了应用并列的**发布-订阅**机制，四个应用之间没有任何相互包含关系，他们之间的通信通过module层提供的`message_center`实现。每个应用会通过该模块向一些话题（事件）发布一些消息，同时从一些话题订阅消息。如robot_cmd应用会发布其他三个模块的控制信息，同时订阅其他三个模块的反馈信息。其他三个模块会订阅robot_cmd发布的控制信息，同时发布反馈给robot_cmd的信息，他们不需要知道彼此的存在，只是从`message_center`处获取其他应用发布的消息或向自己发布的话题推送消息。
+
+
+
+## 整车程序流程
+
+```mermaid
+graph TD
+main调用RobotInit进行初始化 --> RobotInit调用基础bsp初始化以及各个app的初始化 --> 各个app进行消息订阅初始化和自有模块的初始化 --> 启动实时系统 --> 各任务开始运行
+
+```
+
+任务开始之后，每个app之间的交互关系如下：
+
+```mermaid
+graph TD
+robot_cmd获取遥控器/上位机指令以及各个应用发布的回传信息 --> 将指令转化为具体的控制信息 --> 发布指令到对应话题
+```
+
+gimbal/chassis/shoot则根据订阅的robot_cmd发布的消息，将具体的控制信息根据当前模式转化为执行单元的目标值，通过自己拥有的模块完成这些指令，然后把回传的信息发布到对应话题。
+
+每个应用的具体流程和实现，参见它们各自的说明文档。
+
+
+
+## 开发要点
+
+各个应用之间务必通过`message_center`以发布-订阅的方式进行消息交换，不要出现包含关系，这可以大大减小耦合度并提高合作开发的效率。
+
+
+
+
+
+
+
diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c
index a50da6a..7949f62 100644
--- a/application/cmd/robot_cmd.c
+++ b/application/cmd/robot_cmd.c
@@ -176,11 +176,11 @@ static void EmergencyHandler()
}
}
-void GimbalCMDTask()
+void RobotCMDTask()
{
// 从其他应用获取回传数据
#ifdef ONE_BOARD
- SubGetMessage(chassis_feed_sub, (void*)&chassis_fetch_data);
+ SubGetMessage(chassis_feed_sub, (void *)&chassis_fetch_data);
#endif // ONE_BOARD
#ifdef GIMBAL_BOARD
chassis_fetch_data = *(Chassis_Upload_Data_s *)CANCommGet(cmd_can_comm);
diff --git a/application/cmd/robot_cmd.h b/application/cmd/robot_cmd.h
index 8f0931d..faa8d80 100644
--- a/application/cmd/robot_cmd.h
+++ b/application/cmd/robot_cmd.h
@@ -3,6 +3,6 @@
void GimbalCMDInit();
-void GimbalCMDTask();
+void RobotCMDTask();
#endif // !GIMBAL_CMD_H
\ No newline at end of file
diff --git a/application/cmd/robot_cmd.md b/application/cmd/robot_cmd.md
index e69de29..1a9075d 100644
--- a/application/cmd/robot_cmd.md
+++ b/application/cmd/robot_cmd.md
@@ -0,0 +1,28 @@
+# robot_cmd
+
+neozng1@hnu.edu.cn
+
+## 运行流程
+
+运行流程可以很直观的从`RobotCMDTask()`中看出。首先通过消息订阅机制，获取其他应用的反馈信息，然后使用`CalcOffsetAngle()`计算底盘和云台的offset angle（使得底盘始终获知当前的正方向），接着根据当前是通过键鼠or遥控器控制，调用对应的函数，将控制指令量化为具体的控制信息；得到控制信息之后，先不急着发布，而是检测重要的模块和应用是否掉线或出现异常，以及遥控器是否进入紧急停止模式，如果以上情况发生，那么将所有的控制信息都置零，即让电机和其他执行单元保持静止。最后还是通过pubsub机制，把具体的控制信息发布到对应话题，让其他应用获取。
+
+
+
+## 外部接口
+
+
+
+
+
+
+
+
+
+## 私有函数和变量
+
+
+
+
+
+
+
diff --git a/application/robot.c b/application/robot.c
index 3fbbc92..7610866 100644
--- a/application/robot.c
+++ b/application/robot.c
@@ -29,7 +29,7 @@ void RobotInit()
void RobotTask()
{
#if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
- GimbalCMDTask();
+ RobotCMDTask();
GimbalTask();
ShootTask();
#endif
diff --git a/basic_framework.ioc b/basic_framework.ioc
index 851ff09..1bd1e36 100644
--- a/basic_framework.ioc
+++ b/basic_framework.ioc
@@ -6,6 +6,9 @@ ADC1.NbrOfConversionFlag=1
ADC1.Rank-0\#ChannelRegularConversion=1
ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
ADC1.master=1
+CAD.formats=
+CAD.pinconfig=
+CAD.provider=
CAN1.BS1=CAN_BS1_10TQ
CAN1.BS2=CAN_BS2_3TQ
CAN1.CalculateBaudRate=1000000
@@ -18,12 +21,82 @@ CAN2.CalculateBaudRate=1000000
CAN2.CalculateTimeQuantum=71.42857142857143
CAN2.IPParameters=CalculateTimeQuantum,BS1,BS2,Prescaler,CalculateBaudRate
CAN2.Prescaler=3
+Dma.MEMTOMEM.5.Direction=DMA_MEMORY_TO_MEMORY
+Dma.MEMTOMEM.5.FIFOMode=DMA_FIFOMODE_ENABLE
+Dma.MEMTOMEM.5.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
+Dma.MEMTOMEM.5.Instance=DMA2_Stream3
+Dma.MEMTOMEM.5.MemBurst=DMA_MBURST_SINGLE
+Dma.MEMTOMEM.5.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.MEMTOMEM.5.MemInc=DMA_MINC_ENABLE
+Dma.MEMTOMEM.5.Mode=DMA_NORMAL
+Dma.MEMTOMEM.5.PeriphBurst=DMA_PBURST_SINGLE
+Dma.MEMTOMEM.5.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.MEMTOMEM.5.PeriphInc=DMA_PINC_ENABLE
+Dma.MEMTOMEM.5.Priority=DMA_PRIORITY_HIGH
+Dma.MEMTOMEM.5.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
Dma.Request0=USART3_RX
Dma.Request1=USART6_RX
Dma.Request2=USART6_TX
Dma.Request3=USART1_TX
Dma.Request4=USART1_RX
-Dma.RequestsNb=5
+Dma.Request5=MEMTOMEM
+Dma.Request6=SPI1_RX
+Dma.Request7=SPI1_TX
+Dma.Request8=SPI2_RX
+Dma.Request9=SPI2_TX
+Dma.RequestsNb=10
+Dma.SPI1_RX.6.Direction=DMA_PERIPH_TO_MEMORY
+Dma.SPI1_RX.6.FIFOMode=DMA_FIFOMODE_ENABLE
+Dma.SPI1_RX.6.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
+Dma.SPI1_RX.6.Instance=DMA2_Stream0
+Dma.SPI1_RX.6.MemBurst=DMA_MBURST_SINGLE
+Dma.SPI1_RX.6.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.SPI1_RX.6.MemInc=DMA_MINC_ENABLE
+Dma.SPI1_RX.6.Mode=DMA_NORMAL
+Dma.SPI1_RX.6.PeriphBurst=DMA_PBURST_SINGLE
+Dma.SPI1_RX.6.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.SPI1_RX.6.PeriphInc=DMA_PINC_DISABLE
+Dma.SPI1_RX.6.Priority=DMA_PRIORITY_LOW
+Dma.SPI1_RX.6.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
+Dma.SPI1_TX.7.Direction=DMA_MEMORY_TO_PERIPH
+Dma.SPI1_TX.7.FIFOMode=DMA_FIFOMODE_ENABLE
+Dma.SPI1_TX.7.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
+Dma.SPI1_TX.7.Instance=DMA2_Stream5
+Dma.SPI1_TX.7.MemBurst=DMA_MBURST_SINGLE
+Dma.SPI1_TX.7.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.SPI1_TX.7.MemInc=DMA_MINC_ENABLE
+Dma.SPI1_TX.7.Mode=DMA_NORMAL
+Dma.SPI1_TX.7.PeriphBurst=DMA_PBURST_SINGLE
+Dma.SPI1_TX.7.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.SPI1_TX.7.PeriphInc=DMA_PINC_DISABLE
+Dma.SPI1_TX.7.Priority=DMA_PRIORITY_LOW
+Dma.SPI1_TX.7.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
+Dma.SPI2_RX.8.Direction=DMA_PERIPH_TO_MEMORY
+Dma.SPI2_RX.8.FIFOMode=DMA_FIFOMODE_ENABLE
+Dma.SPI2_RX.8.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
+Dma.SPI2_RX.8.Instance=DMA1_Stream3
+Dma.SPI2_RX.8.MemBurst=DMA_MBURST_SINGLE
+Dma.SPI2_RX.8.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.SPI2_RX.8.MemInc=DMA_MINC_ENABLE
+Dma.SPI2_RX.8.Mode=DMA_NORMAL
+Dma.SPI2_RX.8.PeriphBurst=DMA_PBURST_SINGLE
+Dma.SPI2_RX.8.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.SPI2_RX.8.PeriphInc=DMA_PINC_DISABLE
+Dma.SPI2_RX.8.Priority=DMA_PRIORITY_LOW
+Dma.SPI2_RX.8.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
+Dma.SPI2_TX.9.Direction=DMA_MEMORY_TO_PERIPH
+Dma.SPI2_TX.9.FIFOMode=DMA_FIFOMODE_ENABLE
+Dma.SPI2_TX.9.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
+Dma.SPI2_TX.9.Instance=DMA1_Stream4
+Dma.SPI2_TX.9.MemBurst=DMA_MBURST_SINGLE
+Dma.SPI2_TX.9.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.SPI2_TX.9.MemInc=DMA_MINC_ENABLE
+Dma.SPI2_TX.9.Mode=DMA_NORMAL
+Dma.SPI2_TX.9.PeriphBurst=DMA_PBURST_SINGLE
+Dma.SPI2_TX.9.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.SPI2_TX.9.PeriphInc=DMA_PINC_DISABLE
+Dma.SPI2_TX.9.Priority=DMA_PRIORITY_LOW
+Dma.SPI2_TX.9.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
Dma.USART1_RX.4.Direction=DMA_PERIPH_TO_MEMORY
Dma.USART1_RX.4.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.USART1_RX.4.Instance=DMA2_Stream2
@@ -79,31 +152,38 @@ FREERTOS.Tasks01=defaultTask,0,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NU
FREERTOS.configENABLE_FPU=1
File.Version=6
GPIO.groupedBy=Group By Peripherals
+I2C2.I2C_Mode=I2C_Fast
+I2C2.IPParameters=I2C_Mode
+I2C3.I2C_Mode=I2C_Fast
+I2C3.IPParameters=I2C_Mode
KeepUserPlacement=false
Mcu.CPN=STM32F407IGH6
Mcu.Family=STM32F4
Mcu.IP0=ADC1
Mcu.IP1=CAN1
-Mcu.IP10=SYS
-Mcu.IP11=TIM1
-Mcu.IP12=TIM4
-Mcu.IP13=TIM5
-Mcu.IP14=TIM8
-Mcu.IP15=TIM10
-Mcu.IP16=USART1
-Mcu.IP17=USART3
-Mcu.IP18=USART6
-Mcu.IP19=USB_DEVICE
+Mcu.IP10=RTC
+Mcu.IP11=SPI1
+Mcu.IP12=SPI2
+Mcu.IP13=SYS
+Mcu.IP14=TIM1
+Mcu.IP15=TIM4
+Mcu.IP16=TIM5
+Mcu.IP17=TIM8
+Mcu.IP18=TIM10
+Mcu.IP19=USART1
Mcu.IP2=CAN2
-Mcu.IP20=USB_OTG_FS
+Mcu.IP20=USART3
+Mcu.IP21=USART6
+Mcu.IP22=USB_DEVICE
+Mcu.IP23=USB_OTG_FS
Mcu.IP3=DMA
Mcu.IP4=FREERTOS
-Mcu.IP5=NVIC
-Mcu.IP6=RCC
-Mcu.IP7=RNG
-Mcu.IP8=RTC
-Mcu.IP9=SPI1
-Mcu.IPNb=21
+Mcu.IP5=I2C2
+Mcu.IP6=I2C3
+Mcu.IP7=NVIC
+Mcu.IP8=RCC
+Mcu.IP9=RNG
+Mcu.IPNb=24
Mcu.Name=STM32F407I(E-G)Hx
Mcu.Package=UFBGA176
Mcu.Pin0=PB8
@@ -116,58 +196,71 @@ Mcu.Pin14=PI6
Mcu.Pin15=PG9
Mcu.Pin16=PD1
Mcu.Pin17=PA11
-Mcu.Pin18=PA9
-Mcu.Pin19=PH0-OSC_IN
+Mcu.Pin18=PF0
+Mcu.Pin19=PA9
Mcu.Pin2=PG14
-Mcu.Pin20=PH1-OSC_OUT
-Mcu.Pin21=PC6
-Mcu.Pin22=PH12
-Mcu.Pin23=PH11
-Mcu.Pin24=PH10
-Mcu.Pin25=PD14
-Mcu.Pin26=PA0-WKUP
-Mcu.Pin27=PA4
-Mcu.Pin28=PE13
-Mcu.Pin29=PE9
+Mcu.Pin20=PC9
+Mcu.Pin21=PA8
+Mcu.Pin22=PH0-OSC_IN
+Mcu.Pin23=PH1-OSC_OUT
+Mcu.Pin24=PF1
+Mcu.Pin25=PC6
+Mcu.Pin26=PG6
+Mcu.Pin27=PH12
+Mcu.Pin28=PG3
+Mcu.Pin29=PH11
Mcu.Pin3=PB4
-Mcu.Pin30=PE11
-Mcu.Pin31=PE14
-Mcu.Pin32=PA7
-Mcu.Pin33=PB0
-Mcu.Pin34=VP_ADC1_TempSens_Input
-Mcu.Pin35=VP_ADC1_Vref_Input
-Mcu.Pin36=VP_FREERTOS_VS_CMSIS_V1
-Mcu.Pin37=VP_RNG_VS_RNG
-Mcu.Pin38=VP_RTC_VS_RTC_Activate
-Mcu.Pin39=VP_SYS_VS_Systick
+Mcu.Pin30=PH10
+Mcu.Pin31=PD14
+Mcu.Pin32=PA0-WKUP
+Mcu.Pin33=PA4
+Mcu.Pin34=PE13
+Mcu.Pin35=PE9
+Mcu.Pin36=PE11
+Mcu.Pin37=PE14
+Mcu.Pin38=PB13
+Mcu.Pin39=PA7
Mcu.Pin4=PB3
-Mcu.Pin40=VP_TIM1_VS_ClockSourceINT
-Mcu.Pin41=VP_TIM4_VS_ClockSourceINT
-Mcu.Pin42=VP_TIM5_VS_ClockSourceINT
-Mcu.Pin43=VP_TIM8_VS_ClockSourceINT
-Mcu.Pin44=VP_TIM10_VS_ClockSourceINT
-Mcu.Pin45=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
-Mcu.Pin46=VP_STMicroelectronics.X-CUBE-ALGOBUILD_VS_DSPOoLibraryJjLibrary_1.3.0_1.3.0
+Mcu.Pin40=PB0
+Mcu.Pin41=PB14
+Mcu.Pin42=PB15
+Mcu.Pin43=VP_ADC1_TempSens_Input
+Mcu.Pin44=VP_ADC1_Vref_Input
+Mcu.Pin45=VP_FREERTOS_VS_CMSIS_V1
+Mcu.Pin46=VP_RNG_VS_RNG
+Mcu.Pin47=VP_RTC_VS_RTC_Activate
+Mcu.Pin48=VP_SYS_VS_Systick
+Mcu.Pin49=VP_TIM1_VS_ClockSourceINT
Mcu.Pin5=PA14
+Mcu.Pin50=VP_TIM4_VS_ClockSourceINT
+Mcu.Pin51=VP_TIM5_VS_ClockSourceINT
+Mcu.Pin52=VP_TIM8_VS_ClockSourceINT
+Mcu.Pin53=VP_TIM10_VS_ClockSourceINT
+Mcu.Pin54=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
+Mcu.Pin55=VP_STMicroelectronics.X-CUBE-ALGOBUILD_VS_DSPOoLibraryJjLibrary_1.3.0_1.3.0
Mcu.Pin6=PA13
Mcu.Pin7=PB7
Mcu.Pin8=PB6
Mcu.Pin9=PD0
-Mcu.PinsNb=47
+Mcu.PinsNb=56
Mcu.ThirdParty0=STMicroelectronics.X-CUBE-ALGOBUILD.1.3.0
Mcu.ThirdPartyNb=1
Mcu.UserConstants=
Mcu.UserName=STM32F407IGHx
-MxCube.Version=6.6.1
-MxDb.Version=DB.6.0.60
+MxCube.Version=6.7.0
+MxDb.Version=DB.6.0.70
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.CAN1_RX0_IRQn=true\:6\:0\:true\:false\:true\:true\:true\:true\:true
NVIC.CAN1_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.CAN2_RX0_IRQn=true\:6\:0\:true\:false\:true\:true\:true\:true\:true
NVIC.CAN2_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.DMA1_Stream1_IRQn=true\:5\:0\:true\: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.DMA2_Stream0_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA2_Stream1_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
NVIC.DMA2_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
+NVIC.DMA2_Stream5_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA2_Stream6_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
NVIC.DMA2_Stream7_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
@@ -178,6 +271,8 @@ NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:fa
NVIC.OTG_FS_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
+NVIC.SPI1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.SPI2_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false
NVIC.SavedPendsvIrqHandlerGenerated=true
NVIC.SavedSvcallIrqHandlerGenerated=true
@@ -212,6 +307,8 @@ PA7.GPIO_PuPd=GPIO_PULLUP
PA7.Locked=true
PA7.Mode=Full_Duplex_Master
PA7.Signal=SPI1_MOSI
+PA8.Mode=I2C
+PA8.Signal=I2C3_SCL
PA9.Locked=true
PA9.Mode=Asynchronous
PA9.Signal=USART1_TX
@@ -222,6 +319,15 @@ PB0.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PB0.Locked=true
PB0.PinState=GPIO_PIN_SET
PB0.Signal=GPIO_Output
+PB13.Locked=true
+PB13.Mode=Full_Duplex_Master
+PB13.Signal=SPI2_SCK
+PB14.Locked=true
+PB14.Mode=Full_Duplex_Master
+PB14.Signal=SPI2_MISO
+PB15.Locked=true
+PB15.Mode=Full_Duplex_Master
+PB15.Signal=SPI2_MOSI
PB3.GPIOParameters=GPIO_PuPd
PB3.GPIO_PuPd=GPIO_PULLUP
PB3.Locked=true
@@ -255,6 +361,8 @@ PC11.Mode=Asynchronous
PC11.Signal=USART3_RX
PC6.Locked=true
PC6.Signal=S_TIM8_CH1
+PC9.Mode=I2C
+PC9.Signal=I2C3_SDA
PD0.Locked=true
PD0.Mode=CAN_Activate
PD0.Signal=CAN1_RX
@@ -277,9 +385,25 @@ PE9.GPIO_PuPd=GPIO_PULLUP
PE9.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PE9.Locked=true
PE9.Signal=S_TIM1_CH1
+PF0.Mode=I2C
+PF0.Signal=I2C2_SDA
+PF1.Mode=I2C
+PF1.Signal=I2C2_SCL
PG14.Locked=true
PG14.Mode=Asynchronous
PG14.Signal=USART6_TX
+PG3.GPIOParameters=GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultEXTI
+PG3.GPIO_Label=MAG_DR
+PG3.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_FALLING
+PG3.GPIO_PuPd=GPIO_PULLUP
+PG3.Locked=true
+PG3.Signal=GPXTI3
+PG6.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
+PG6.GPIO_Label=MAG_RST
+PG6.GPIO_PuPd=GPIO_PULLUP
+PG6.GPIO_Speed=GPIO_SPEED_FREQ_MEDIUM
+PG6.Locked=true
+PG6.Signal=GPIO_Output
PG9.Locked=true
PG9.Mode=Asynchronous
PG9.Signal=USART6_RX
@@ -336,7 +460,7 @@ ProjectManager.StackSize=0x4000
ProjectManager.TargetToolchain=Makefile
ProjectManager.ToolChainLocation=
ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-MX_DMA_Init-DMA-false-HAL-true,3-SystemClock_Config-RCC-false-HAL-false,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_CAN1_Init-CAN1-false-HAL-true,6-MX_CAN2_Init-CAN2-false-HAL-true,7-MX_SPI1_Init-SPI1-false-HAL-true,8-MX_TIM4_Init-TIM4-false-HAL-true,9-MX_TIM5_Init-TIM5-false-HAL-true,10-MX_USART3_UART_Init-USART3-false-HAL-true,11-MX_RNG_Init-RNG-false-HAL-true,12-MX_RTC_Init-RTC-false-HAL-true,13-MX_TIM1_Init-TIM1-false-HAL-true,14-MX_TIM10_Init-TIM10-false-HAL-true,15-MX_USART1_UART_Init-USART1-false-HAL-true,16-MX_USART6_UART_Init-USART6-false-HAL-true,17-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false,18-MX_TIM8_Init-TIM8-false-HAL-true
+ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-MX_DMA_Init-DMA-false-HAL-true,3-SystemClock_Config-RCC-false-HAL-false,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_CAN1_Init-CAN1-false-HAL-true,6-MX_CAN2_Init-CAN2-false-HAL-true,7-MX_SPI1_Init-SPI1-false-HAL-true,8-MX_TIM4_Init-TIM4-false-HAL-true,9-MX_TIM5_Init-TIM5-false-HAL-true,10-MX_USART3_UART_Init-USART3-false-HAL-true,11-MX_RNG_Init-RNG-false-HAL-true,12-MX_RTC_Init-RTC-false-HAL-true,13-MX_TIM1_Init-TIM1-false-HAL-true,14-MX_TIM10_Init-TIM10-false-HAL-true,15-MX_USART1_UART_Init-USART1-false-HAL-true,16-MX_USART6_UART_Init-USART6-false-HAL-true,17-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false,18-MX_TIM8_Init-TIM8-false-HAL-true,19-MX_I2C2_Init-I2C2-false-HAL-true,20-MX_I2C3_Init-I2C3-false-HAL-true,21-MX_SPI2_Init-SPI2-false-HAL-true
RCC.48MHZClocksFreq_Value=48000000
RCC.AHBFreq_Value=168000000
RCC.APB1CLKDivider=RCC_HCLK_DIV4
@@ -375,6 +499,8 @@ RCC.VcooutputI2S=192000000
RTC.AsynchPrediv=124
RTC.IPParameters=SynchPrediv,AsynchPrediv
RTC.SynchPrediv=3199
+SH.GPXTI3.0=GPIO_EXTI3
+SH.GPXTI3.ConfNb=1
SH.S_TIM10_CH1.0=TIM10_CH1,PWM Generation1 CH1
SH.S_TIM10_CH1.ConfNb=1
SH.S_TIM1_CH1.0=TIM1_CH1,PWM Generation1 CH1
@@ -407,6 +533,14 @@ SPI1.Direction=SPI_DIRECTION_2LINES
SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler,CLKPolarity,CLKPhase
SPI1.Mode=SPI_MODE_MASTER
SPI1.VirtualType=VM_MASTER
+SPI2.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_256
+SPI2.CLKPhase=SPI_PHASE_2EDGE
+SPI2.CLKPolarity=SPI_POLARITY_HIGH
+SPI2.CalculateBaudRate=164.062 KBits/s
+SPI2.Direction=SPI_DIRECTION_2LINES
+SPI2.IPParameters=VirtualType,Mode,Direction,CLKPhase,CLKPolarity,CalculateBaudRate,BaudRatePrescaler
+SPI2.Mode=SPI_MODE_MASTER
+SPI2.VirtualType=VM_MASTER
STMicroelectronics.X-CUBE-ALGOBUILD.1.3.0.DSPOoLibraryJjLibrary_Checked=true
STMicroelectronics.X-CUBE-ALGOBUILD.1.3.0.IPParameters=LibraryCcDSPOoLibraryJjDSPOoLibrary
STMicroelectronics.X-CUBE-ALGOBUILD.1.3.0.LibraryCcDSPOoLibraryJjDSPOoLibrary=true
diff --git a/bsp/bsp_can.c b/bsp/bsp_can.c
index 930cf47..4549afe 100644
--- a/bsp/bsp_can.c
+++ b/bsp/bsp_can.c
@@ -1,7 +1,7 @@
#include "bsp_can.h"
#include "main.h"
-#include
#include "memory.h"
+#include "stdlib.h"
/* can instance ptrs storage, used for recv callback */
// 在CAN产生接收中断会遍历数组,选出hcan和rxid与发生中断的实例相同的那个,调用其回调函数
diff --git a/bsp/bsp_iic.c b/bsp/bsp_iic.c
index e69de29..805ffed 100644
--- a/bsp/bsp_iic.c
+++ b/bsp/bsp_iic.c
@@ -0,0 +1,4 @@
+#include "bsp_iic.h"
+#include "memory.h"
+#include "stdlib.h"
+
diff --git a/bsp/bsp_iic.h b/bsp/bsp_iic.h
index e69de29..aafc249 100644
--- a/bsp/bsp_iic.h
+++ b/bsp/bsp_iic.h
@@ -0,0 +1,11 @@
+#include "i2c.h"
+#include "stdint.h"
+
+#define IIC_DEVICE_CNT ()
+
+typedef struct
+{
+ I2C_HandleTypeDef* handle;
+
+};
+
diff --git a/bsp/bsp_spi.c b/bsp/bsp_spi.c
index e69de29..184a89c 100644
--- a/bsp/bsp_spi.c
+++ b/bsp/bsp_spi.c
@@ -0,0 +1,143 @@
+#include "bsp_spi.h"
+#include "memory.h"
+#include "stdlib.h"
+
+/* 所有的spi instance保存于此,用于callback时判断中断来源*/
+static SPIInstance *spi_instance[SPI_DEVICE_CNT] = {NULL};
+static uint8_t idx = 0; // 配合中断以及初始化
+
+/**
+ * @brief 当SPI接收完成,将会调用此回调函数,可以进行协议解析或其他必须的数据处理等
+ *
+ * @param hspi spi handle
+ */
+void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef *hspi)
+{
+ for (size_t i = 0; i < idx; i++)
+ {
+ if (spi_instance[i]->spi_handle == hspi && spi_instance[i]->callback)
+ {
+ // 拉高片选(关闭传输),调用解析回调函数
+ HAL_GPIO_WritePin(spi_instance[i]->GPIO_cs, spi_instance[i]->cs_pin, GPIO_PIN_SET);
+ spi_instance[i]->callback(spi_instance[i]);
+ break;
+ }
+ }
+}
+
+/**
+ * @brief 和RxCpltCallback共用解析即可,这里只是形式上封装一下,不用重复写
+ *
+ * @param hspi spi handle
+ */
+void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi)
+{
+ HAL_SPI_RxCpltCallback(hspi);
+}
+
+SPIInstance *SPIRegister(SPI_Init_Config_s *conf)
+{
+ spi_instance[idx] = (SPIInstance *)malloc(sizeof(SPIInstance));
+ spi_instance[idx]->callback = conf->callback;
+ spi_instance[idx]->spi_work_mode = conf->spi_work_mode;
+ spi_instance[idx]->spi_handle = conf->spi_handle;
+ return spi_instance[idx++];
+}
+
+void SPITransmit(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len)
+{
+ // 拉低片选,开始传输
+ HAL_GPIO_WritePin(spi_ins->GPIO_cs, spi_ins->cs_pin, GPIO_PIN_RESET);
+ switch (spi_ins->spi_work_mode)
+ {
+ case SPI_DMA_MODE:
+ HAL_SPI_Transmit_DMA(spi_ins->spi_handle, ptr_data, len);
+ break;
+ case SPI_IT_MODE:
+ HAL_SPI_Transmit_IT(spi_ins->spi_handle, ptr_data, len);
+ break;
+ case SPI_BLOCK_MODE:
+ HAL_SPI_Transmit(spi_ins->spi_handle, ptr_data, len, 10);
+ // 阻塞模式不会调用回调函数,传输完成后直接拉高片选结束
+ HAL_GPIO_WritePin(spi_ins->GPIO_cs, spi_ins->cs_pin, GPIO_PIN_SET);
+ break;
+ default:
+ while (1)
+ ; // error mode! 请查看是否正确设置模式，或出现指针越界导致模式被异常修改的情况
+ break;
+ }
+}
+
+void SPIRecv(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len)
+{
+ // 拉低片选,开始传输
+ HAL_GPIO_WritePin(spi_ins->GPIO_cs, spi_ins->cs_pin, GPIO_PIN_RESET);
+ switch (spi_ins->spi_work_mode)
+ {
+ case SPI_DMA_MODE:
+ HAL_SPI_Receive_DMA(spi_ins->spi_handle, ptr_data, len);
+ break;
+ case SPI_IT_MODE:
+ HAL_SPI_Receive_IT(spi_ins->spi_handle, ptr_data, len);
+ break;
+ case SPI_BLOCK_MODE:
+ HAL_SPI_Receive(spi_ins->spi_handle, ptr_data, len, 10);
+ // 阻塞模式不会调用回调函数,传输完成后直接拉高片选结束
+ HAL_GPIO_WritePin(spi_ins->GPIO_cs, spi_ins->cs_pin, GPIO_PIN_SET);
+ break;
+ default:
+ while (1)
+ ; // error mode! 请查看是否正确设置模式，或出现指针越界导致模式被异常修改的情况
+ break;
+ }
+}
+
+void SPITransRecv(SPIInstance *spi_ins, uint8_t *ptr_data_rx, uint8_t *ptr_data_tx, uint8_t len)
+{
+ // 拉低片选,开始传输
+ HAL_GPIO_WritePin(spi_ins->GPIO_cs, spi_ins->cs_pin, GPIO_PIN_RESET);
+ switch (spi_ins->spi_work_mode)
+ {
+ case SPI_DMA_MODE:
+ HAL_SPI_TransmitReceive_DMA(spi_ins->spi_handle, ptr_data_tx, ptr_data_rx, len);
+ break;
+ case SPI_IT_MODE:
+ HAL_SPI_TransmitReceive_IT(spi_ins->spi_handle, ptr_data_tx, ptr_data_rx, len);
+ break;
+ case SPI_BLOCK_MODE:
+ HAL_SPI_TransmitReceive(spi_ins->spi_handle, ptr_data_tx, ptr_data_rx, len, 10);
+ // 阻塞模式不会调用回调函数,传输完成后直接拉高片选结束
+ HAL_GPIO_WritePin(spi_ins->GPIO_cs, spi_ins->cs_pin, GPIO_PIN_SET);
+ break;
+ default:
+ while (1)
+ ; // error mode! 请查看是否正确设置模式，或出现指针越界导致模式被异常修改的情况
+ break;
+ }
+}
+
+void SPISetMode(SPIInstance *spi_ins, SPI_TXRX_MODE_e spi_mode)
+{
+ if (spi_ins->spi_work_mode != spi_mode)
+ {
+ switch (spi_ins->spi_work_mode)
+ {
+ case SPI_IT_MODE:
+ case SPI_DMA_MODE:
+ // IT和DMA处理相同,都是先终止传输,防止传输未完成直接切换导致spi死机
+ HAL_SPI_Abort_IT(spi_ins->spi_handle);
+ HAL_GPIO_WritePin(spi_ins->GPIO_cs, spi_ins->cs_pin, GPIO_PIN_SET); // 关闭后拉高片选
+ break;
+ case SPI_BLOCK_MODE:
+ // 阻塞模式仍然有可能在多线程的情况下出现传输到一半切换,因此先终止
+ HAL_SPI_Abort(spi_ins->spi_handle);
+ HAL_GPIO_WritePin(spi_ins->GPIO_cs, spi_ins->cs_pin, GPIO_PIN_SET); // 关闭后拉高片选
+ break;
+ default:
+ while (1)
+ ; // error mode! 请查看是否正确设置模式，或出现指针越界导致模式被异常修改的情况
+ break;
+ }
+ spi_ins->spi_work_mode = spi_mode;
+ }
+}
diff --git a/bsp/bsp_spi.h b/bsp/bsp_spi.h
index e69de29..c428333 100644
--- a/bsp/bsp_spi.h
+++ b/bsp/bsp_spi.h
@@ -0,0 +1,82 @@
+#include "spi.h"
+#include "stdint.h"
+#include "gpio.h"
+
+/* 根据开发板引出的spi引脚以及CubeMX中的初始化配置设定 */
+#define SPI_DEVICE_CNT 2 // C型开发板引出两路spi,分别连接BMI088/作为扩展IO在8pin牛角座引出
+#define MX_SPI_BUS_SLAVE_CNT 4 // 单个spi总线上挂载的从机数目
+
+/* spi transmit recv mode enumerate*/
+typedef enum
+{
+ SPI_BLOCK_MODE = 0, // 默认使用阻塞模式
+ SPI_IT_MODE,
+ SPI_DMA_MODE,
+} SPI_TXRX_MODE_e;
+
+/* SPI实例结构体定义 */
+typedef struct spi_ins_temp
+{
+ SPI_HandleTypeDef *spi_handle; // SPI外设handle
+ GPIO_TypeDef *GPIO_cs; // 片选信号对应的GPIO,如GPIOA,GPIOB等等
+ uint16_t cs_pin; // 片选信号对应的引脚号,GPIO_PIN_1,GPIO_PIN_2等等
+ SPI_TXRX_MODE_e spi_work_mode; // 传输工作模式
+ void (*callback)(struct spi_ins_temp *); // 接收回调函数
+} SPIInstance;
+
+/* rx data resolve callback*/
+typedef void (*spi_rx_callback)(SPIInstance *);
+
+/* SPI初始化配置,其实和SPIIstance一模一样,为了代码风格统一因此再次定义 */
+typedef struct
+{
+ SPI_HandleTypeDef *spi_handle; // SPI外设handle
+ GPIO_TypeDef *GPIO_cs; // 片选信号对应的GPIO,如GPIOA,GPIOB等等
+ uint16_t cs_pin; // 片选信号对应的引脚号,GPIO_PIN_1,GPIO_PIN_2等等
+ SPI_TXRX_MODE_e spi_work_mode; // 传输工作模式
+ spi_rx_callback callback; // 接收回调函数
+} SPI_Init_Config_s;
+
+/**
+ * @brief 注册一个spi instance
+ *
+ * @param conf 传入spi配置
+ * @return SPIInstance* 返回一个spi实例指针,之后通过该指针操作spi外设
+ */
+SPIInstance *SPIRegister(SPI_Init_Config_s *conf);
+
+/**
+ * @brief 通过spi向对应从机发送数据
+ *
+ * @param spi_ins spi实例指针
+ * @param ptr_data 要发送的数据
+ * @param len 待发送的数据长度
+ */
+void SPITransmit(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len);
+
+/**
+ * @brief 通过spi从从机获取数据
+ *
+ * @param spi_ins spi实例指针
+ * @param ptr_data 接受数据buffer的首地址
+ * @param len 待接收的长度
+ */
+void SPIRecv(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len);
+
+/**
+ * @brief 通过spi利用移位寄存器同时收发数据
+ *
+ * @param spi_ins spi实例指针
+ * @param ptr_data_rx 接收数据地址
+ * @param ptr_data_tx 发送数据地址
+ * @param len 接收&发送的长度
+ */
+void SPITransRecv(SPIInstance *spi_ins, uint8_t *ptr_data_rx, uint8_t *ptr_data_tx, uint8_t len);
+
+/**
+ * @brief 设定spi收发的工作模式
+ *
+ * @param spi_ins spi实例指针
+ * @param spi_mode 工作模式,包括阻塞模式(block),中断模式(IT),DMA模式.详见SPI_TXRX_MODE_e的定义
+ */
+void SPISetMode(SPIInstance *spi_ins, SPI_TXRX_MODE_e spi_mode);
diff --git a/modules/imu/BMI088driver.c b/modules/imu/BMI088driver.c
index 787a304..db2d2eb 100644
--- a/modules/imu/BMI088driver.c
+++ b/modules/imu/BMI088driver.c
@@ -317,7 +317,7 @@ uint8_t bmi088_gyro_init(void)
void BMI088_Read(IMU_Data_t *bmi088)
{
- static uint8_t buf[8] = {0, 0, 0, 0, 0, 0};
+ static uint8_t buf[8] = {0};
static int16_t bmi088_raw_temp;
static float dt = 1.0;
static uint8_t first_read_flag = 0;
diff --git a/modules/message_center/message_center.md b/modules/message_center/message_center.md
index 183a02d..9db777f 100644
--- a/modules/message_center/message_center.md
+++ b/modules/message_center/message_center.md
@@ -24,7 +24,7 @@
- 订阅者：获取消息的对象。订阅者在订阅了某个事件之后，可以通过接口获得该事件的消息。
- 事件（event / topic）：用于区分消息来源的对象。可以将一个事件看作一刊杂志，不同的发布者会将文章汇集到杂志上，而订阅者选择订阅一种杂志，然后就可以获取所有写在杂志上的文章。
-Message Center不同应用间进行消息传递的中介，它的存在可以在相当大的程度上解耦不同的app，使得不同的应用之间**不存在包含关系**，让代码的自由度更大，将不同模块之间的关系降为**松耦合**。在以往，如果一个.c文件中的数据需要被其他任务/源文件共享，那么其他模块应该要包含前者的头文件，或头文件中应当存在获取该模块数据的接口（即函数，一般是返回数据指针或直接返回数据）；但现在，不同的应用之间完全隔离，他们不需要了解彼此的存在，而是只能看见一个**消息中心**。
+Message Center不同应用间进行消息传递的中介，它的存在可以在相当大的程度上解耦不同的app，使得不同的应用之间**不存在包含关系**，让代码的自由度更大，将不同模块之间的关系降为**松耦合**。在以往，如果一个.c文件中的数据需要被其他任务/源文件共享，那么其他模块应该要包含前者的头文件，且头文件中应当存在获取该模块数据的接口（即函数，一般是返回数据指针或直接返回数据，**强烈建议不要使用全局变量**）；但现在，不同的应用之间完全隔离，他们不需要了解彼此的存在，而是只能看见一个**消息中心**以及一些事件（有些地方也称**话题**）。
需要被共享的消息，将会被**发布者**（publisher）发送到消息中心；要获取消息，则由**订阅者**（subscriber）从消息中心根据订阅的消息名（事件）获取。在这之前，发布者要在消息中心完成**注册**，将自己要发布的消息类型和消息名称提交到消息中心；订阅者同样要先在消息中心完成订阅，将自己要接收的消息类型和消息名称提交到订阅中心。消息中心会根据**消息名称**，把订阅者绑定到发布相同名称的发布者上。
diff --git a/openocd_dap.cfg b/openocd_dap.cfg
index 8710b89..2ff8684 100644
--- a/openocd_dap.cfg
+++ b/openocd_dap.cfg
@@ -1,7 +1,7 @@
# 选择调试器为jlink
source [find interface/cmsis-dap.cfg]
-# source [find interface/jlink.cfg] #使用jlink硬件进行调试,注意其他地方也要更改
+# source [find interface/jlink.cfg] #使用cmsis-dap硬件进行调试,注意其他地方也要更改
# OpenOCD作为GDB和硬件调试器的桥梁(为硬件提供抽象,把接口给GDB),支持多种硬件调试器.
# OpenOCD会自动在其根目录的share/openocd/scripts/interface里面寻找对应的配置文件