diff --git a/.mxproject b/.mxproject index 0477ad5..5d69fd2 100644 --- a/.mxproject +++ b/.mxproject @@ -2,7 +2,7 @@ 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32f4xx_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_crc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dac.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dac_ex.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\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_crc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_crc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dac.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dac.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dac_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_i2c.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.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\i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[PreviousUsedMakefileFiles] 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rd_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; @@ -10,7 +10,7 @@ CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;USE_HAL_DRIVER; HeaderPath=..\Inc HeaderFiles=gpio.h;FreeRTOSConfig.h;adc.h;can.h;crc.h;dac.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;crc.c;dac.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; +SourceFiles=gpio.c;freertos.c;adc.c;can.c;crc.c;dac.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;stm32f4xx_hal_timebase_tim.c;main.c; [ThirdPartyIp] ThirdPartyIpNumber=1 diff --git a/HAL_N_Middlewares/Inc/FreeRTOSConfig.h b/HAL_N_Middlewares/Inc/FreeRTOSConfig.h index a31f768..4c31057 100644 --- a/HAL_N_Middlewares/Inc/FreeRTOSConfig.h +++ b/HAL_N_Middlewares/Inc/FreeRTOSConfig.h @@ -51,7 +51,6 @@ #if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__) #include extern uint32_t SystemCoreClock; - void xPortSysTickHandler(void); #endif #define configENABLE_FPU 1 #define configENABLE_MPU 0 @@ -131,7 +130,7 @@ standard names. */ /* IMPORTANT: This define is commented when used with STM32Cube firmware, when the timebase source is SysTick, to prevent overwriting SysTick_Handler defined within STM32Cube HAL */ -/* #define xPortSysTickHandler SysTick_Handler */ +#define xPortSysTickHandler SysTick_Handler /* USER CODE BEGIN Defines */ /* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */ diff --git a/HAL_N_Middlewares/Inc/main.h b/HAL_N_Middlewares/Inc/main.h index 1ceb2a8..20ac85f 100644 --- a/HAL_N_Middlewares/Inc/main.h +++ b/HAL_N_Middlewares/Inc/main.h @@ -57,10 +57,10 @@ void Error_Handler(void); /* USER CODE END EFP */ /* 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 IMU_TEMP_Pin GPIO_PIN_6 +#define IMU_TEMP_GPIO_Port GPIOF #define LED_R_Pin GPIO_PIN_12 #define LED_R_GPIO_Port GPIOH #define INT_MAG_Pin GPIO_PIN_3 @@ -76,11 +76,12 @@ void Error_Handler(void); #define KEY_GPIO_Port GPIOA #define CS1_ACCEL_Pin GPIO_PIN_4 #define CS1_ACCEL_GPIO_Port GPIOA -#define INT_ACCEL_Pin GPIO_PIN_4 -#define INT_ACCEL_GPIO_Port GPIOC -#define INT_ACCEL_EXTI_IRQn EXTI4_IRQn +#define INT_ACC_Pin GPIO_PIN_4 +#define INT_ACC_GPIO_Port GPIOC +#define INT_ACC_EXTI_IRQn EXTI4_IRQn #define INT_GYRO_Pin GPIO_PIN_5 #define INT_GYRO_GPIO_Port GPIOC +#define INT_GYRO_EXTI_IRQn EXTI9_5_IRQn #define SERVO_Pin GPIO_PIN_9 #define SERVO_GPIO_Port GPIOE #define CS1_GYRO_Pin GPIO_PIN_0 diff --git a/HAL_N_Middlewares/Inc/stm32f4xx_it.h b/HAL_N_Middlewares/Inc/stm32f4xx_it.h index db445f8..fdd3cc6 100644 --- a/HAL_N_Middlewares/Inc/stm32f4xx_it.h +++ b/HAL_N_Middlewares/Inc/stm32f4xx_it.h @@ -52,7 +52,6 @@ void MemManage_Handler(void); void BusFault_Handler(void); void UsageFault_Handler(void); void DebugMon_Handler(void); -void SysTick_Handler(void); void EXTI3_IRQHandler(void); void EXTI4_IRQHandler(void); void DMA1_Stream1_IRQHandler(void); @@ -61,12 +60,14 @@ void DMA1_Stream3_IRQHandler(void); void DMA1_Stream4_IRQHandler(void); void CAN1_RX0_IRQHandler(void); void CAN1_RX1_IRQHandler(void); +void EXTI9_5_IRQHandler(void); void I2C2_EV_IRQHandler(void); void I2C2_ER_IRQHandler(void); void SPI1_IRQHandler(void); void SPI2_IRQHandler(void); void USART1_IRQHandler(void); void USART3_IRQHandler(void); +void TIM8_TRG_COM_TIM14_IRQHandler(void); void DMA1_Stream7_IRQHandler(void); void DMA2_Stream0_IRQHandler(void); void DMA2_Stream2_IRQHandler(void); diff --git a/HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOSConfig_template.h b/HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOSConfig_template.h deleted file mode 100644 index e0dff5c..0000000 --- a/HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOSConfig_template.h +++ /dev/null @@ -1,162 +0,0 @@ -/* - * FreeRTOS Kernel V10.2.1 - * Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved. - * - * Permission is hereby granted, free of charge, to any person obtaining a copy of - * this software and associated documentation files (the "Software"), to deal in - * the Software without restriction, including without limitation the rights to - * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of - * the Software, and to permit persons to whom the Software is furnished to do so, - * subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in all - * copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS - * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR - * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER - * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN - * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - * - * http://www.FreeRTOS.org - * http://aws.amazon.com/freertos - * - * 1 tab == 4 spaces! - */ - -#ifndef FREERTOS_CONFIG_H -#define FREERTOS_CONFIG_H - -/*----------------------------------------------------------- - * this is a template configuration files - * - * These definitions should be adjusted for your particular hardware and - * application requirements. - * - * These parameters and more are described within the 'configuration' section of the - * FreeRTOS API documentation available on the FreeRTOS.org web site. - * - * See http://www.freertos.org/a00110.html - *----------------------------------------------------------*/ - -/* Ensure stdint is only used by the compiler, and not the assembler. */ -#if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__) - #include - extern uint32_t SystemCoreClock; -#endif - -/* CMSIS-RTOSv2 defines 56 levels of priorities. To be able to use them - * all and avoid application misbehavior, configUSE_PORT_OPTIMISED_TASK_SELECTION - * must be set to 0 and configMAX_PRIORITIES to 56 - * - */ -/* #define configUSE_PORT_OPTIMISED_TASK_SELECTION 0*/ -/* #define configMAX_PRIORITIES ( 56 ) */ -#define configUSE_PREEMPTION 1 -#define configUSE_IDLE_HOOK 0 -#define configUSE_TICK_HOOK 0 -#define configMAX_PRIORITIES (7) -#define configSUPPORT_STATIC_ALLOCATION 0 -#define configCPU_CLOCK_HZ (SystemCoreClock) -#define configTICK_RATE_HZ ((TickType_t)1000) -#define configMINIMAL_STACK_SIZE ((uint16_t)128) -#define configTOTAL_HEAP_SIZE ((size_t)(15 * 1024)) -#define configMAX_TASK_NAME_LEN (16) -#define configUSE_TRACE_FACILITY 1 -#define configUSE_16_BIT_TICKS 0 -#define configIDLE_SHOULD_YIELD 1 -#define configUSE_MUTEXES 1 -#define configQUEUE_REGISTRY_SIZE 8 -#define configCHECK_FOR_STACK_OVERFLOW 0 -#define configUSE_RECURSIVE_MUTEXES 1 -#define configUSE_MALLOC_FAILED_HOOK 0 -#define configUSE_APPLICATION_TASK_TAG 0 -#define configUSE_COUNTING_SEMAPHORES 1 -#define configGENERATE_RUN_TIME_STATS 0 - -/* Co-routine definitions. */ -#define configUSE_CO_ROUTINES 0 -#define configMAX_CO_ROUTINE_PRIORITIES (2) - -/* Software timer definitions. */ -#define configUSE_TIMERS 0 -#define configTIMER_TASK_PRIORITY (2) -#define configTIMER_QUEUE_LENGTH 10 -#define configTIMER_TASK_STACK_DEPTH (configMINIMAL_STACK_SIZE * 2) - -/* Set the following definitions to 1 to include the API function, or zero -to exclude the API function. */ -#define INCLUDE_vTaskPrioritySet 1 -#define INCLUDE_uxTaskPriorityGet 1 -#define INCLUDE_vTaskDelete 1 -#define INCLUDE_vTaskCleanUpResources 0 -#define INCLUDE_vTaskSuspend 1 -#define INCLUDE_vTaskDelayUntil 0 -#define INCLUDE_vTaskDelay 1 -#define INCLUDE_xTaskGetSchedulerState 1 - -/*------------- CMSIS-RTOS V2 specific defines -----------*/ -/* When using CMSIS-RTOSv2 set configSUPPORT_STATIC_ALLOCATION to 1 - * is mandatory to avoid compile errors. - * CMSIS-RTOS V2 implmentation requires the following defines - * -#define configSUPPORT_STATIC_ALLOCATION 1 <-- cmsis_os threads are created using xTaskCreateStatic() API -#define configMAX_PRIORITIES (56) <-- Priority range in CMSIS-RTOS V2 is [0 .. 56] -#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0 <-- when set to 1, configMAX_PRIORITIES can't be more than 32 which is not suitable for the new CMSIS-RTOS v2 priority range -*/ - -/* the CMSIS-RTOS V2 FreeRTOS wrapper is dependent on the heap implementation used - * by the application thus the correct define need to be enabled from the list - * below - * -//define USE_FreeRTOS_HEAP_1 -//define USE_FreeRTOS_HEAP_2 -//define USE_FreeRTOS_HEAP_3 -//define USE_FreeRTOS_HEAP_4 -//define USE_FreeRTOS_HEAP_5 - -*/ - - -/* Cortex-M specific definitions. */ -#ifdef __NVIC_PRIO_BITS - /* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */ - #define configPRIO_BITS __NVIC_PRIO_BITS -#else - #define configPRIO_BITS 4 /* 15 priority levels */ -#endif - -/* The lowest interrupt priority that can be used in a call to a "set priority" -function. */ -#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 0xf - -/* The highest interrupt priority that can be used by any interrupt service -routine that makes calls to interrupt safe FreeRTOS API functions. DO NOT CALL -INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER -PRIORITY THAN THIS! (higher priorities are lower numeric values. */ -#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5 - -/* Interrupt priorities used by the kernel port layer itself. These are generic -to all Cortex-M ports, and do not rely on any particular library functions. */ -#define configKERNEL_INTERRUPT_PRIORITY ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) ) -/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!! -See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */ -#define configMAX_SYSCALL_INTERRUPT_PRIORITY ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) ) - -/* Normal assert() semantics without relying on the provision of an assert.h -header file. */ -#define configASSERT( x ) if( ( x ) == 0 ) { taskDISABLE_INTERRUPTS(); for( ;; ); } - -/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS - standard names. */ -#define vPortSVCHandler SVC_Handler -#define xPortPendSVHandler PendSV_Handler - -/* IMPORTANT: FreeRTOS is using the SysTick as internal time base, thus make sure the system and peripherials are - using a different time base (TIM based for example). - */ -#define xPortSysTickHandler SysTick_Handler - -#endif /* FREERTOS_CONFIG_H */ - diff --git a/HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_1.c b/HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_1.c deleted file mode 100644 index 0bd40cd..0000000 --- a/HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_1.c +++ /dev/null @@ -1,146 +0,0 @@ -/* - * FreeRTOS Kernel V10.3.1 - * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. - * - * Permission is hereby granted, free of charge, to any person obtaining a copy of - * this software and associated documentation files (the "Software"), to deal in - * the Software without restriction, including without limitation the rights to - * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of - * the Software, and to permit persons to whom the Software is furnished to do so, - * subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in all - * copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS - * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR - * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER - * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN - * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - * - * http://www.FreeRTOS.org - * http://aws.amazon.com/freertos - * - * 1 tab == 4 spaces! - */ - - -/* - * The simplest possible implementation of pvPortMalloc(). Note that this - * implementation does NOT allow allocated memory to be freed again. - * - * See heap_2.c, heap_3.c and heap_4.c for alternative implementations, and the - * memory management pages of http://www.FreeRTOS.org for more information. - */ -#include - -/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining -all the API functions to use the MPU wrappers. That should only be done when -task.h is included from an application file. */ -#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE - -#include "FreeRTOS.h" -#include "task.h" - -#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE - -#if( configSUPPORT_DYNAMIC_ALLOCATION == 0 ) - #error This file must not be used if configSUPPORT_DYNAMIC_ALLOCATION is 0 -#endif - -/* A few bytes might be lost to byte aligning the heap start address. */ -#define configADJUSTED_HEAP_SIZE ( configTOTAL_HEAP_SIZE - portBYTE_ALIGNMENT ) - -/* Allocate the memory for the heap. */ -#if( configAPPLICATION_ALLOCATED_HEAP == 1 ) - /* The application writer has already defined the array used for the RTOS - heap - probably so it can be placed in a special segment or address. */ - extern uint8_t ucHeap[ configTOTAL_HEAP_SIZE ]; -#else - static uint8_t ucHeap[ configTOTAL_HEAP_SIZE ]; -#endif /* configAPPLICATION_ALLOCATED_HEAP */ - -/* Index into the ucHeap array. */ -static size_t xNextFreeByte = ( size_t ) 0; - -/*-----------------------------------------------------------*/ - -void *pvPortMalloc( size_t xWantedSize ) -{ -void *pvReturn = NULL; -static uint8_t *pucAlignedHeap = NULL; - - /* Ensure that blocks are always aligned to the required number of bytes. */ - #if( portBYTE_ALIGNMENT != 1 ) - { - if( xWantedSize & portBYTE_ALIGNMENT_MASK ) - { - /* Byte alignment required. */ - xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) ); - } - } - #endif - - vTaskSuspendAll(); - { - if( pucAlignedHeap == NULL ) - { - /* Ensure the heap starts on a correctly aligned boundary. */ - pucAlignedHeap = ( uint8_t * ) ( ( ( portPOINTER_SIZE_TYPE ) &ucHeap[ portBYTE_ALIGNMENT ] ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); - } - - /* Check there is enough room left for the allocation. */ - if( ( ( xNextFreeByte + xWantedSize ) < configADJUSTED_HEAP_SIZE ) && - ( ( xNextFreeByte + xWantedSize ) > xNextFreeByte ) )/* Check for overflow. */ - { - /* Return the next free byte then increment the index past this - block. */ - pvReturn = pucAlignedHeap + xNextFreeByte; - xNextFreeByte += xWantedSize; - } - - traceMALLOC( pvReturn, xWantedSize ); - } - ( void ) xTaskResumeAll(); - - #if( configUSE_MALLOC_FAILED_HOOK == 1 ) - { - if( pvReturn == NULL ) - { - extern void vApplicationMallocFailedHook( void ); - vApplicationMallocFailedHook(); - } - } - #endif - - return pvReturn; -} -/*-----------------------------------------------------------*/ - -void vPortFree( void *pv ) -{ - /* Memory cannot be freed using this scheme. See heap_2.c, heap_3.c and - heap_4.c for alternative implementations, and the memory management pages of - http://www.FreeRTOS.org for more information. */ - ( void ) pv; - - /* Force an assert as it is invalid to call this function. */ - configASSERT( pv == NULL ); -} -/*-----------------------------------------------------------*/ - -void vPortInitialiseBlocks( void ) -{ - /* Only required when static memory is not cleared. */ - xNextFreeByte = ( size_t ) 0; -} -/*-----------------------------------------------------------*/ - -size_t xPortGetFreeHeapSize( void ) -{ - return ( configADJUSTED_HEAP_SIZE - xNextFreeByte ); -} - - - diff --git a/HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_2.c b/HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_2.c deleted file mode 100644 index 33b849d..0000000 --- a/HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_2.c +++ /dev/null @@ -1,272 +0,0 @@ -/* - * FreeRTOS Kernel V10.3.1 - * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. - * - * Permission is hereby granted, free of charge, to any person obtaining a copy of - * this software and associated documentation files (the "Software"), to deal in - * the Software without restriction, including without limitation the rights to - * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of - * the Software, and to permit persons to whom the Software is furnished to do so, - * subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in all - * copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS - * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR - * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER - * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN - * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - * - * http://www.FreeRTOS.org - * http://aws.amazon.com/freertos - * - * 1 tab == 4 spaces! - */ - -/* - * A sample implementation of pvPortMalloc() and vPortFree() that permits - * allocated blocks to be freed, but does not combine adjacent free blocks - * into a single larger block (and so will fragment memory). See heap_4.c for - * an equivalent that does combine adjacent blocks into single larger blocks. - * - * See heap_1.c, heap_3.c and heap_4.c for alternative implementations, and the - * memory management pages of http://www.FreeRTOS.org for more information. - */ -#include - -/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining -all the API functions to use the MPU wrappers. That should only be done when -task.h is included from an application file. */ -#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE - -#include "FreeRTOS.h" -#include "task.h" - -#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE - -#if( configSUPPORT_DYNAMIC_ALLOCATION == 0 ) - #error This file must not be used if configSUPPORT_DYNAMIC_ALLOCATION is 0 -#endif - -/* A few bytes might be lost to byte aligning the heap start address. */ -#define configADJUSTED_HEAP_SIZE ( configTOTAL_HEAP_SIZE - portBYTE_ALIGNMENT ) - -/* - * Initialises the heap structures before their first use. - */ -static void prvHeapInit( void ); - -/* Allocate the memory for the heap. */ -#if( configAPPLICATION_ALLOCATED_HEAP == 1 ) - /* The application writer has already defined the array used for the RTOS - heap - probably so it can be placed in a special segment or address. */ - extern uint8_t ucHeap[ configTOTAL_HEAP_SIZE ]; -#else - static uint8_t ucHeap[ configTOTAL_HEAP_SIZE ]; -#endif /* configAPPLICATION_ALLOCATED_HEAP */ - - -/* Define the linked list structure. This is used to link free blocks in order -of their size. */ -typedef struct A_BLOCK_LINK -{ - struct A_BLOCK_LINK *pxNextFreeBlock; /*<< The next free block in the list. */ - size_t xBlockSize; /*<< The size of the free block. */ -} BlockLink_t; - - -static const uint16_t heapSTRUCT_SIZE = ( ( sizeof ( BlockLink_t ) + ( portBYTE_ALIGNMENT - 1 ) ) & ~portBYTE_ALIGNMENT_MASK ); -#define heapMINIMUM_BLOCK_SIZE ( ( size_t ) ( heapSTRUCT_SIZE * 2 ) ) - -/* Create a couple of list links to mark the start and end of the list. */ -static BlockLink_t xStart, xEnd; - -/* Keeps track of the number of free bytes remaining, but says nothing about -fragmentation. */ -static size_t xFreeBytesRemaining = configADJUSTED_HEAP_SIZE; - -/* STATIC FUNCTIONS ARE DEFINED AS MACROS TO MINIMIZE THE FUNCTION CALL DEPTH. */ - -/* - * Insert a block into the list of free blocks - which is ordered by size of - * the block. Small blocks at the start of the list and large blocks at the end - * of the list. - */ -#define prvInsertBlockIntoFreeList( pxBlockToInsert ) \ -{ \ -BlockLink_t *pxIterator; \ -size_t xBlockSize; \ - \ - xBlockSize = pxBlockToInsert->xBlockSize; \ - \ - /* Iterate through the list until a block is found that has a larger size */ \ - /* than the block we are inserting. */ \ - for( pxIterator = &xStart; pxIterator->pxNextFreeBlock->xBlockSize < xBlockSize; pxIterator = pxIterator->pxNextFreeBlock ) \ - { \ - /* There is nothing to do here - just iterate to the correct position. */ \ - } \ - \ - /* Update the list to include the block being inserted in the correct */ \ - /* position. */ \ - pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock; \ - pxIterator->pxNextFreeBlock = pxBlockToInsert; \ -} -/*-----------------------------------------------------------*/ - -void *pvPortMalloc( size_t xWantedSize ) -{ -BlockLink_t *pxBlock, *pxPreviousBlock, *pxNewBlockLink; -static BaseType_t xHeapHasBeenInitialised = pdFALSE; -void *pvReturn = NULL; - - vTaskSuspendAll(); - { - /* If this is the first call to malloc then the heap will require - initialisation to setup the list of free blocks. */ - if( xHeapHasBeenInitialised == pdFALSE ) - { - prvHeapInit(); - xHeapHasBeenInitialised = pdTRUE; - } - - /* The wanted size is increased so it can contain a BlockLink_t - structure in addition to the requested amount of bytes. */ - if( xWantedSize > 0 ) - { - xWantedSize += heapSTRUCT_SIZE; - - /* Ensure that blocks are always aligned to the required number of bytes. */ - if( ( xWantedSize & portBYTE_ALIGNMENT_MASK ) != 0 ) - { - /* Byte alignment required. */ - xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) ); - } - } - - if( ( xWantedSize > 0 ) && ( xWantedSize < configADJUSTED_HEAP_SIZE ) ) - { - /* Blocks are stored in byte order - traverse the list from the start - (smallest) block until one of adequate size is found. */ - pxPreviousBlock = &xStart; - pxBlock = xStart.pxNextFreeBlock; - while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != NULL ) ) - { - pxPreviousBlock = pxBlock; - pxBlock = pxBlock->pxNextFreeBlock; - } - - /* If we found the end marker then a block of adequate size was not found. */ - if( pxBlock != &xEnd ) - { - /* Return the memory space - jumping over the BlockLink_t structure - at its start. */ - pvReturn = ( void * ) ( ( ( uint8_t * ) pxPreviousBlock->pxNextFreeBlock ) + heapSTRUCT_SIZE ); - - /* This block is being returned for use so must be taken out of the - list of free blocks. */ - pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock; - - /* If the block is larger than required it can be split into two. */ - if( ( pxBlock->xBlockSize - xWantedSize ) > heapMINIMUM_BLOCK_SIZE ) - { - /* This block is to be split into two. Create a new block - following the number of bytes requested. The void cast is - used to prevent byte alignment warnings from the compiler. */ - pxNewBlockLink = ( void * ) ( ( ( uint8_t * ) pxBlock ) + xWantedSize ); - - /* Calculate the sizes of two blocks split from the single - block. */ - pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize; - pxBlock->xBlockSize = xWantedSize; - - /* Insert the new block into the list of free blocks. */ - prvInsertBlockIntoFreeList( ( pxNewBlockLink ) ); - } - - xFreeBytesRemaining -= pxBlock->xBlockSize; - } - } - - traceMALLOC( pvReturn, xWantedSize ); - } - ( void ) xTaskResumeAll(); - - #if( configUSE_MALLOC_FAILED_HOOK == 1 ) - { - if( pvReturn == NULL ) - { - extern void vApplicationMallocFailedHook( void ); - vApplicationMallocFailedHook(); - } - } - #endif - - return pvReturn; -} -/*-----------------------------------------------------------*/ - -void vPortFree( void *pv ) -{ -uint8_t *puc = ( uint8_t * ) pv; -BlockLink_t *pxLink; - - if( pv != NULL ) - { - /* The memory being freed will have an BlockLink_t structure immediately - before it. */ - puc -= heapSTRUCT_SIZE; - - /* This unexpected casting is to keep some compilers from issuing - byte alignment warnings. */ - pxLink = ( void * ) puc; - - vTaskSuspendAll(); - { - /* Add this block to the list of free blocks. */ - prvInsertBlockIntoFreeList( ( ( BlockLink_t * ) pxLink ) ); - xFreeBytesRemaining += pxLink->xBlockSize; - traceFREE( pv, pxLink->xBlockSize ); - } - ( void ) xTaskResumeAll(); - } -} -/*-----------------------------------------------------------*/ - -size_t xPortGetFreeHeapSize( void ) -{ - return xFreeBytesRemaining; -} -/*-----------------------------------------------------------*/ - -void vPortInitialiseBlocks( void ) -{ - /* This just exists to keep the linker quiet. */ -} -/*-----------------------------------------------------------*/ - -static void prvHeapInit( void ) -{ -BlockLink_t *pxFirstFreeBlock; -uint8_t *pucAlignedHeap; - - /* Ensure the heap starts on a correctly aligned boundary. */ - pucAlignedHeap = ( uint8_t * ) ( ( ( portPOINTER_SIZE_TYPE ) &ucHeap[ portBYTE_ALIGNMENT ] ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); - - /* xStart is used to hold a pointer to the first item in the list of free - blocks. The void cast is used to prevent compiler warnings. */ - xStart.pxNextFreeBlock = ( void * ) pucAlignedHeap; - xStart.xBlockSize = ( size_t ) 0; - - /* xEnd is used to mark the end of the list of free blocks. */ - xEnd.xBlockSize = configADJUSTED_HEAP_SIZE; - xEnd.pxNextFreeBlock = NULL; - - /* To start with there is a single free block that is sized to take up the - entire heap space. */ - pxFirstFreeBlock = ( void * ) pucAlignedHeap; - pxFirstFreeBlock->xBlockSize = configADJUSTED_HEAP_SIZE; - pxFirstFreeBlock->pxNextFreeBlock = &xEnd; -} -/*-----------------------------------------------------------*/ diff --git a/HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_3.c b/HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_3.c deleted file mode 100644 index 613611b..0000000 --- a/HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_3.c +++ /dev/null @@ -1,97 +0,0 @@ -/* - * FreeRTOS Kernel V10.3.1 - * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. - * - * Permission is hereby granted, free of charge, to any person obtaining a copy of - * this software and associated documentation files (the "Software"), to deal in - * the Software without restriction, including without limitation the rights to - * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of - * the Software, and to permit persons to whom the Software is furnished to do so, - * subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in all - * copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS - * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR - * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER - * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN - * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - * - * http://www.FreeRTOS.org - * http://aws.amazon.com/freertos - * - * 1 tab == 4 spaces! - */ - - -/* - * Implementation of pvPortMalloc() and vPortFree() that relies on the - * compilers own malloc() and free() implementations. - * - * This file can only be used if the linker is configured to to generate - * a heap memory area. - * - * See heap_1.c, heap_2.c and heap_4.c for alternative implementations, and the - * memory management pages of http://www.FreeRTOS.org for more information. - */ - -#include - -/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining -all the API functions to use the MPU wrappers. That should only be done when -task.h is included from an application file. */ -#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE - -#include "FreeRTOS.h" -#include "task.h" - -#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE - -#if( configSUPPORT_DYNAMIC_ALLOCATION == 0 ) - #error This file must not be used if configSUPPORT_DYNAMIC_ALLOCATION is 0 -#endif - -/*-----------------------------------------------------------*/ - -void *pvPortMalloc( size_t xWantedSize ) -{ -void *pvReturn; - - vTaskSuspendAll(); - { - pvReturn = malloc( xWantedSize ); - traceMALLOC( pvReturn, xWantedSize ); - } - ( void ) xTaskResumeAll(); - - #if( configUSE_MALLOC_FAILED_HOOK == 1 ) - { - if( pvReturn == NULL ) - { - extern void vApplicationMallocFailedHook( void ); - vApplicationMallocFailedHook(); - } - } - #endif - - return pvReturn; -} -/*-----------------------------------------------------------*/ - -void vPortFree( void *pv ) -{ - if( pv ) - { - vTaskSuspendAll(); - { - free( pv ); - traceFREE( pv, 0 ); - } - ( void ) xTaskResumeAll(); - } -} - - - diff --git a/HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_5.c b/HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_5.c deleted file mode 100644 index 56abb78..0000000 --- a/HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_5.c +++ /dev/null @@ -1,547 +0,0 @@ -/* - * FreeRTOS Kernel V10.3.1 - * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. - * - * Permission is hereby granted, free of charge, to any person obtaining a copy of - * this software and associated documentation files (the "Software"), to deal in - * the Software without restriction, including without limitation the rights to - * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of - * the Software, and to permit persons to whom the Software is furnished to do so, - * subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in all - * copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS - * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR - * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER - * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN - * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - * - * http://www.FreeRTOS.org - * http://aws.amazon.com/freertos - * - * 1 tab == 4 spaces! - */ - -/* - * A sample implementation of pvPortMalloc() that allows the heap to be defined - * across multiple non-contigous blocks and combines (coalescences) adjacent - * memory blocks as they are freed. - * - * See heap_1.c, heap_2.c, heap_3.c and heap_4.c for alternative - * implementations, and the memory management pages of http://www.FreeRTOS.org - * for more information. - * - * Usage notes: - * - * vPortDefineHeapRegions() ***must*** be called before pvPortMalloc(). - * pvPortMalloc() will be called if any task objects (tasks, queues, event - * groups, etc.) are created, therefore vPortDefineHeapRegions() ***must*** be - * called before any other objects are defined. - * - * vPortDefineHeapRegions() takes a single parameter. The parameter is an array - * of HeapRegion_t structures. HeapRegion_t is defined in portable.h as - * - * typedef struct HeapRegion - * { - * uint8_t *pucStartAddress; << Start address of a block of memory that will be part of the heap. - * size_t xSizeInBytes; << Size of the block of memory. - * } HeapRegion_t; - * - * The array is terminated using a NULL zero sized region definition, and the - * memory regions defined in the array ***must*** appear in address order from - * low address to high address. So the following is a valid example of how - * to use the function. - * - * HeapRegion_t xHeapRegions[] = - * { - * { ( uint8_t * ) 0x80000000UL, 0x10000 }, << Defines a block of 0x10000 bytes starting at address 0x80000000 - * { ( uint8_t * ) 0x90000000UL, 0xa0000 }, << Defines a block of 0xa0000 bytes starting at address of 0x90000000 - * { NULL, 0 } << Terminates the array. - * }; - * - * vPortDefineHeapRegions( xHeapRegions ); << Pass the array into vPortDefineHeapRegions(). - * - * Note 0x80000000 is the lower address so appears in the array first. - * - */ -#include - -/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining -all the API functions to use the MPU wrappers. That should only be done when -task.h is included from an application file. */ -#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE - -#include "FreeRTOS.h" -#include "task.h" - -#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE - -#if( configSUPPORT_DYNAMIC_ALLOCATION == 0 ) - #error This file must not be used if configSUPPORT_DYNAMIC_ALLOCATION is 0 -#endif - -/* Block sizes must not get too small. */ -#define heapMINIMUM_BLOCK_SIZE ( ( size_t ) ( xHeapStructSize << 1 ) ) - -/* Assumes 8bit bytes! */ -#define heapBITS_PER_BYTE ( ( size_t ) 8 ) - -/* Define the linked list structure. This is used to link free blocks in order -of their memory address. */ -typedef struct A_BLOCK_LINK -{ - struct A_BLOCK_LINK *pxNextFreeBlock; /*<< The next free block in the list. */ - size_t xBlockSize; /*<< The size of the free block. */ -} BlockLink_t; - -/*-----------------------------------------------------------*/ - -/* - * Inserts a block of memory that is being freed into the correct position in - * the list of free memory blocks. The block being freed will be merged with - * the block in front it and/or the block behind it if the memory blocks are - * adjacent to each other. - */ -static void prvInsertBlockIntoFreeList( BlockLink_t *pxBlockToInsert ); - -/*-----------------------------------------------------------*/ - -/* The size of the structure placed at the beginning of each allocated memory -block must by correctly byte aligned. */ -static const size_t xHeapStructSize = ( sizeof( BlockLink_t ) + ( ( size_t ) ( portBYTE_ALIGNMENT - 1 ) ) ) & ~( ( size_t ) portBYTE_ALIGNMENT_MASK ); - -/* Create a couple of list links to mark the start and end of the list. */ -static BlockLink_t xStart, *pxEnd = NULL; - -/* Keeps track of the number of calls to allocate and free memory as well as the -number of free bytes remaining, but says nothing about fragmentation. */ -static size_t xFreeBytesRemaining = 0U; -static size_t xMinimumEverFreeBytesRemaining = 0U; -static size_t xNumberOfSuccessfulAllocations = 0; -static size_t xNumberOfSuccessfulFrees = 0; - -/* Gets set to the top bit of an size_t type. When this bit in the xBlockSize -member of an BlockLink_t structure is set then the block belongs to the -application. When the bit is free the block is still part of the free heap -space. */ -static size_t xBlockAllocatedBit = 0; - -/*-----------------------------------------------------------*/ - -void *pvPortMalloc( size_t xWantedSize ) -{ -BlockLink_t *pxBlock, *pxPreviousBlock, *pxNewBlockLink; -void *pvReturn = NULL; - - /* The heap must be initialised before the first call to - prvPortMalloc(). */ - configASSERT( pxEnd ); - - vTaskSuspendAll(); - { - /* Check the requested block size is not so large that the top bit is - set. The top bit of the block size member of the BlockLink_t structure - is used to determine who owns the block - the application or the - kernel, so it must be free. */ - if( ( xWantedSize & xBlockAllocatedBit ) == 0 ) - { - /* The wanted size is increased so it can contain a BlockLink_t - structure in addition to the requested amount of bytes. */ - if( xWantedSize > 0 ) - { - xWantedSize += xHeapStructSize; - - /* Ensure that blocks are always aligned to the required number - of bytes. */ - if( ( xWantedSize & portBYTE_ALIGNMENT_MASK ) != 0x00 ) - { - /* Byte alignment required. */ - xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - if( ( xWantedSize > 0 ) && ( xWantedSize <= xFreeBytesRemaining ) ) - { - /* Traverse the list from the start (lowest address) block until - one of adequate size is found. */ - pxPreviousBlock = &xStart; - pxBlock = xStart.pxNextFreeBlock; - while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != NULL ) ) - { - pxPreviousBlock = pxBlock; - pxBlock = pxBlock->pxNextFreeBlock; - } - - /* If the end marker was reached then a block of adequate size - was not found. */ - if( pxBlock != pxEnd ) - { - /* Return the memory space pointed to - jumping over the - BlockLink_t structure at its start. */ - pvReturn = ( void * ) ( ( ( uint8_t * ) pxPreviousBlock->pxNextFreeBlock ) + xHeapStructSize ); - - /* This block is being returned for use so must be taken out - of the list of free blocks. */ - pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock; - - /* If the block is larger than required it can be split into - two. */ - if( ( pxBlock->xBlockSize - xWantedSize ) > heapMINIMUM_BLOCK_SIZE ) - { - /* This block is to be split into two. Create a new - block following the number of bytes requested. The void - cast is used to prevent byte alignment warnings from the - compiler. */ - pxNewBlockLink = ( void * ) ( ( ( uint8_t * ) pxBlock ) + xWantedSize ); - - /* Calculate the sizes of two blocks split from the - single block. */ - pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize; - pxBlock->xBlockSize = xWantedSize; - - /* Insert the new block into the list of free blocks. */ - prvInsertBlockIntoFreeList( ( pxNewBlockLink ) ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - xFreeBytesRemaining -= pxBlock->xBlockSize; - - if( xFreeBytesRemaining < xMinimumEverFreeBytesRemaining ) - { - xMinimumEverFreeBytesRemaining = xFreeBytesRemaining; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* The block is being returned - it is allocated and owned - by the application and has no "next" block. */ - pxBlock->xBlockSize |= xBlockAllocatedBit; - pxBlock->pxNextFreeBlock = NULL; - xNumberOfSuccessfulAllocations++; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - traceMALLOC( pvReturn, xWantedSize ); - } - ( void ) xTaskResumeAll(); - - #if( configUSE_MALLOC_FAILED_HOOK == 1 ) - { - if( pvReturn == NULL ) - { - extern void vApplicationMallocFailedHook( void ); - vApplicationMallocFailedHook(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - #endif - - return pvReturn; -} -/*-----------------------------------------------------------*/ - -void vPortFree( void *pv ) -{ -uint8_t *puc = ( uint8_t * ) pv; -BlockLink_t *pxLink; - - if( pv != NULL ) - { - /* The memory being freed will have an BlockLink_t structure immediately - before it. */ - puc -= xHeapStructSize; - - /* This casting is to keep the compiler from issuing warnings. */ - pxLink = ( void * ) puc; - - /* Check the block is actually allocated. */ - configASSERT( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 ); - configASSERT( pxLink->pxNextFreeBlock == NULL ); - - if( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 ) - { - if( pxLink->pxNextFreeBlock == NULL ) - { - /* The block is being returned to the heap - it is no longer - allocated. */ - pxLink->xBlockSize &= ~xBlockAllocatedBit; - - vTaskSuspendAll(); - { - /* Add this block to the list of free blocks. */ - xFreeBytesRemaining += pxLink->xBlockSize; - traceFREE( pv, pxLink->xBlockSize ); - prvInsertBlockIntoFreeList( ( ( BlockLink_t * ) pxLink ) ); - xNumberOfSuccessfulFrees++; - } - ( void ) xTaskResumeAll(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } -} -/*-----------------------------------------------------------*/ - -size_t xPortGetFreeHeapSize( void ) -{ - return xFreeBytesRemaining; -} -/*-----------------------------------------------------------*/ - -size_t xPortGetMinimumEverFreeHeapSize( void ) -{ - return xMinimumEverFreeBytesRemaining; -} -/*-----------------------------------------------------------*/ - -static void prvInsertBlockIntoFreeList( BlockLink_t *pxBlockToInsert ) -{ -BlockLink_t *pxIterator; -uint8_t *puc; - - /* Iterate through the list until a block is found that has a higher address - than the block being inserted. */ - for( pxIterator = &xStart; pxIterator->pxNextFreeBlock < pxBlockToInsert; pxIterator = pxIterator->pxNextFreeBlock ) - { - /* Nothing to do here, just iterate to the right position. */ - } - - /* Do the block being inserted, and the block it is being inserted after - make a contiguous block of memory? */ - puc = ( uint8_t * ) pxIterator; - if( ( puc + pxIterator->xBlockSize ) == ( uint8_t * ) pxBlockToInsert ) - { - pxIterator->xBlockSize += pxBlockToInsert->xBlockSize; - pxBlockToInsert = pxIterator; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - - /* Do the block being inserted, and the block it is being inserted before - make a contiguous block of memory? */ - puc = ( uint8_t * ) pxBlockToInsert; - if( ( puc + pxBlockToInsert->xBlockSize ) == ( uint8_t * ) pxIterator->pxNextFreeBlock ) - { - if( pxIterator->pxNextFreeBlock != pxEnd ) - { - /* Form one big block from the two blocks. */ - pxBlockToInsert->xBlockSize += pxIterator->pxNextFreeBlock->xBlockSize; - pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock->pxNextFreeBlock; - } - else - { - pxBlockToInsert->pxNextFreeBlock = pxEnd; - } - } - else - { - pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock; - } - - /* If the block being inserted plugged a gab, so was merged with the block - before and the block after, then it's pxNextFreeBlock pointer will have - already been set, and should not be set here as that would make it point - to itself. */ - if( pxIterator != pxBlockToInsert ) - { - pxIterator->pxNextFreeBlock = pxBlockToInsert; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } -} -/*-----------------------------------------------------------*/ - -void vPortDefineHeapRegions( const HeapRegion_t * const pxHeapRegions ) -{ -BlockLink_t *pxFirstFreeBlockInRegion = NULL, *pxPreviousFreeBlock; -size_t xAlignedHeap; -size_t xTotalRegionSize, xTotalHeapSize = 0; -BaseType_t xDefinedRegions = 0; -size_t xAddress; -const HeapRegion_t *pxHeapRegion; - - /* Can only call once! */ - configASSERT( pxEnd == NULL ); - - pxHeapRegion = &( pxHeapRegions[ xDefinedRegions ] ); - - while( pxHeapRegion->xSizeInBytes > 0 ) - { - xTotalRegionSize = pxHeapRegion->xSizeInBytes; - - /* Ensure the heap region starts on a correctly aligned boundary. */ - xAddress = ( size_t ) pxHeapRegion->pucStartAddress; - if( ( xAddress & portBYTE_ALIGNMENT_MASK ) != 0 ) - { - xAddress += ( portBYTE_ALIGNMENT - 1 ); - xAddress &= ~portBYTE_ALIGNMENT_MASK; - - /* Adjust the size for the bytes lost to alignment. */ - xTotalRegionSize -= xAddress - ( size_t ) pxHeapRegion->pucStartAddress; - } - - xAlignedHeap = xAddress; - - /* Set xStart if it has not already been set. */ - if( xDefinedRegions == 0 ) - { - /* xStart is used to hold a pointer to the first item in the list of - free blocks. The void cast is used to prevent compiler warnings. */ - xStart.pxNextFreeBlock = ( BlockLink_t * ) xAlignedHeap; - xStart.xBlockSize = ( size_t ) 0; - } - else - { - /* Should only get here if one region has already been added to the - heap. */ - configASSERT( pxEnd != NULL ); - - /* Check blocks are passed in with increasing start addresses. */ - configASSERT( xAddress > ( size_t ) pxEnd ); - } - - /* Remember the location of the end marker in the previous region, if - any. */ - pxPreviousFreeBlock = pxEnd; - - /* pxEnd is used to mark the end of the list of free blocks and is - inserted at the end of the region space. */ - xAddress = xAlignedHeap + xTotalRegionSize; - xAddress -= xHeapStructSize; - xAddress &= ~portBYTE_ALIGNMENT_MASK; - pxEnd = ( BlockLink_t * ) xAddress; - pxEnd->xBlockSize = 0; - pxEnd->pxNextFreeBlock = NULL; - - /* To start with there is a single free block in this region that is - sized to take up the entire heap region minus the space taken by the - free block structure. */ - pxFirstFreeBlockInRegion = ( BlockLink_t * ) xAlignedHeap; - pxFirstFreeBlockInRegion->xBlockSize = xAddress - ( size_t ) pxFirstFreeBlockInRegion; - pxFirstFreeBlockInRegion->pxNextFreeBlock = pxEnd; - - /* If this is not the first region that makes up the entire heap space - then link the previous region to this region. */ - if( pxPreviousFreeBlock != NULL ) - { - pxPreviousFreeBlock->pxNextFreeBlock = pxFirstFreeBlockInRegion; - } - - xTotalHeapSize += pxFirstFreeBlockInRegion->xBlockSize; - - /* Move onto the next HeapRegion_t structure. */ - xDefinedRegions++; - pxHeapRegion = &( pxHeapRegions[ xDefinedRegions ] ); - } - - xMinimumEverFreeBytesRemaining = xTotalHeapSize; - xFreeBytesRemaining = xTotalHeapSize; - - /* Check something was actually defined before it is accessed. */ - configASSERT( xTotalHeapSize ); - - /* Work out the position of the top bit in a size_t variable. */ - xBlockAllocatedBit = ( ( size_t ) 1 ) << ( ( sizeof( size_t ) * heapBITS_PER_BYTE ) - 1 ); -} -/*-----------------------------------------------------------*/ - -void vPortGetHeapStats( HeapStats_t *pxHeapStats ) -{ -BlockLink_t *pxBlock; -size_t xBlocks = 0, xMaxSize = 0, xMinSize = portMAX_DELAY; /* portMAX_DELAY used as a portable way of getting the maximum value. */ - - vTaskSuspendAll(); - { - pxBlock = xStart.pxNextFreeBlock; - - /* pxBlock will be NULL if the heap has not been initialised. The heap - is initialised automatically when the first allocation is made. */ - if( pxBlock != NULL ) - { - do - { - /* Increment the number of blocks and record the largest block seen - so far. */ - xBlocks++; - - if( pxBlock->xBlockSize > xMaxSize ) - { - xMaxSize = pxBlock->xBlockSize; - } - - /* Heap five will have a zero sized block at the end of each - each region - the block is only used to link to the next - heap region so it not a real block. */ - if( pxBlock->xBlockSize != 0 ) - { - if( pxBlock->xBlockSize < xMinSize ) - { - xMinSize = pxBlock->xBlockSize; - } - } - - /* Move to the next block in the chain until the last block is - reached. */ - pxBlock = pxBlock->pxNextFreeBlock; - } while( pxBlock != pxEnd ); - } - } - xTaskResumeAll(); - - pxHeapStats->xSizeOfLargestFreeBlockInBytes = xMaxSize; - pxHeapStats->xSizeOfSmallestFreeBlockInBytes = xMinSize; - pxHeapStats->xNumberOfFreeBlocks = xBlocks; - - taskENTER_CRITICAL(); - { - pxHeapStats->xAvailableHeapSpaceInBytes = xFreeBytesRemaining; - pxHeapStats->xNumberOfSuccessfulAllocations = xNumberOfSuccessfulAllocations; - pxHeapStats->xNumberOfSuccessfulFrees = xNumberOfSuccessfulFrees; - pxHeapStats->xMinimumEverFreeBytesRemaining = xMinimumEverFreeBytesRemaining; - } - taskEXIT_CRITICAL(); -} - diff --git a/HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/readme.txt b/HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/readme.txt deleted file mode 100644 index 58480c5..0000000 --- a/HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/readme.txt +++ /dev/null @@ -1,17 +0,0 @@ -Each real time kernel port consists of three files that contain the core kernel -components and are common to every port, and one or more files that are -specific to a particular microcontroller and or compiler. - -+ The FreeRTOS/Source directory contains the three files that are common to -every port - list.c, queue.c and tasks.c. The kernel is contained within these -three files. croutine.c implements the optional co-routine functionality - which -is normally only used on very memory limited systems. - -+ The FreeRTOS/Source/Portable directory contains the files that are specific to -a particular microcontroller and or compiler. - -+ The FreeRTOS/Source/include directory contains the real time kernel header -files. - -See the readme file in the FreeRTOS/Source/Portable directory for more -information. \ No newline at end of file diff --git a/HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/st_readme.txt b/HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/st_readme.txt deleted file mode 100644 index 4f679b0..0000000 --- a/HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/st_readme.txt +++ /dev/null @@ -1,422 +0,0 @@ - - @verbatim - ****************************************************************************** - * - * Portions Copyright 2019 STMicroelectronics International N.V. All rights reserved. - * Portions Copyright (C) 2016 Real Time Engineers Ltd, All rights reserved - * - * @file st_readme.txt - * @author MCD Application Team - * @brief This file lists the main modification done by STMicroelectronics on - * FreeRTOS for integration with STM32Cube solution. - * For more details on FreeRTOS implementation on STM32Cube, please refer - * to UM1722 "Developing Applications on STM32Cube with FreeRTOS" - ****************************************************************************** - * - * Copyright (c) 2019 STMicroelectronics. All rights reserved. - * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - @endverbatim - -======= - -### 31-August-2020 ### -========================= - + Bug fix for G0 compilation error due to IRQn_Type mismatch between G0 and other families - - Source/CMSIS_RTOS_V2/cmsis_os2.c - + Bug fix when using systick as timebasse for HAL - - Source/CMSIS_RTOS_V2/cmsis_os2.c - -### 20-July-2020 ### -========================= - + FreeRTOS: Update to FreeRTOS v10.3.1 - - + CMSIS_RTOS_V2: update against the latest CMSIS-FreeRTOS v10.3.0 release - - CMSIS_RTOS_V2/cmsis_os2.c - - CMSIS_RTOS_V2/freertos_mpool.h - - CMSIS_RTOS_V2/freertos_os2.h - - CMSIS_RTOS_V2/os_systick.c - - + Add Tickless Idle support for CM23/CM33 - - GCC/ARM_CM23/non_secure/port.c - - GCC/ARM_CM23/non_secure/portmacro.h - - GCC/ARM_CM23_NTZ/non_secure/port.c - - GCC/ARM_CM23_NTZ/non_secure/portmacro.h - - GCC/ARM_CM33/non_secure/port.c - - GCC/ARM_CM33/non_secure/portmacro.h - - GCC/ARM_CM33_NTZ/non_secure/port.c - - GCC/ARM_CM33_NTZ/non_secure/portmacro.h - - IAR/ARM_CM23/non_secure/port.c - - IAR/ARM_CM23/non_secure/portmacro.h - - IAR/ARM_CM23_NTZ/non_secure/port.c - - IAR/ARM_CM23_NTZ/non_secure/portmacro.h - - IAR/ARM_CM33/non_secure/port.c - - IAR/ARM_CM33/non_secure/portmacro.h - - IAR/ARM_CM33_NTZ/non_secure/port.c - - IAR/ARM_CM33_NTZ/non_secure/portmacro.h - - + Fix MPU hardfault bug for Cortex-M4 MPU - - GCC\ARM_CM4_MPU\port.c - - IAR\ARM_CM4_MPU\port.c - - RVDS\ARM_CM4_MPU\port.c - - + Add support for 16 MPU regions to Cortex-M4 MPU ports - - GCC/ARM_CM4_MPU/portmacro.h - - IAR/ARM_CM4_MPU/portmacro.h - - RVDS/ARM_CM4_MPU/portmacro.h - - + Update ARM_CM7_MPU source files for all compilers - - GCC/ARM_CM7_MPU/r0p1/port.c - - GCC/ARM_CM7_MPU/r0p1/portmacro.h - - IAR/ARM_CM7_MPU/r0p1/port.c - - IAR/ARM_CM7_MPU/r0p1/portasm.s - - IAR/ARM_CM7_MPU/r0p1/portmacro.h - - RVDS/ARM_CM7_MPU/r0p1/port.c - - RVDS/ARM_CM7_MPU/r0p1/portmacro.h - -### 17-January-2020 ### -========================= - + Fix compile error in the GCC CM7_MPU port caused by a duplicated variable declaration - - Source/portable/GCC/ARM_CM7_MPU/r0p1/port.c - -### 13-December-2019 ### -========================= - + Remove warnings thrown by EWARM for CM33/CM23 ports - - IAR/ARM_CM23/non_secure/portmacro.h - - IAR/ARM_CM23_NTZ/non_secure/portmacro.h - - IAR/ARM_CM33/non_secure/portmacro.h - - IAR/ARM_CM33_NTZ/non_secure/portmacro.h - -### 19-July-2019 ### -========================= - + Fix runtime error in the IAR/CM4_MPU port - - IAR/ARM_CM4_MPU/port.c - -### 12-July-2019 ### -========================= - + FreeRTOS: Update against the FreeRTOS v10.2.1 release - - support for the CM33 and CM23 cores - - + CMSIS_RTOS_V2: update against the latest CMSIS-FreeRTOS v10.2.0 release - - + Add MPU support for the CM7/r0p1: - - GCC/ARM_CM7_MPU/r0p1/port.c - - GCC/ARM_CM7_MPU/r0p1/portmacro.h - - IAR/ARM_CM7_MPU/r0p1/port.c - - IAR/ARM_CM7_MPU/r0p1/portasm.s - - IAR/ARM_CM7_MPU/r0p1/portmacro.h - - RVDS/ARM_CM7_MPU/r0p1/port.c - - RVDS/ARM_CM7_MPU/r0p1/portmacro.h - - + cmsis_os.c: Fix compile errors by using the correct TimerCallbackFunction_t type for timer creation - -### 29-Mars-2019 ### -========================= - + cmsis_os.c : Fix bug in osPoolAlloc(): memory blocks can't be reused after being free'd - + Source/CMSIS_RTOS_V2/cmsis_os, Source/CMSIS_RTOS_V2/cmsis_os1.c, Source/CMSIS_RTOS_V2/cmsis_os2.c, Source/CMSIS_RTOS_V2/cmsis_os2.h: restore original Apache license terms - + st_readme.txt: update license terms to BSD-3-Clause - - -### 13-August-2018 ### -========================= - + Add empty implementation for the missing function osThreadGetStackSize() - to avoid link errors when using CMSIS-RTOS V2. - - + Update the FreeRTOSConfig_template.h with specific defines for the - CMSIS-RTOS V2. - - + Rename the "RTE_RTOS_FreeRTOS_XXXX" macros to "USE_FreeRTOS_XXXX" in - cmsis_os2.c. - -### 30-July-2018 ### -========================= - + Update License.txt file to MIT license instead of GPLv2 - -### 23-July-2018 ### -========================= - + Fix compiler warnings thrown by IAR compiler 8.20 - - + Add MPU support for the CM7/r0p1: - - GCC/ARM_CM7_MPU/r0p1/port.c - - GCC/ARM_CM7_MPU/r0p1/portmacro.h - - IAR/ARM_CM7_MPU/r0p1/port.c - - IAR/ARM_CM7_MPU/r0p1/portasm.s - - IAR/ARM_CM7_MPU/r0p1/portmacro.h - - RVDS/ARM_CM7_MPU/r0p1/port.c - - RVDS/ARM_CM7_MPU/r0p1/portmacro.h - -### 09-April-2018 ### -========================= - Update the FreeRTOS against the latest release 10.0.1 - more details are available in: https://www.freertos.org/History.txt - - + Integrate support for tickless mode for ARM_CM0 core: - - GCC/ARM_CM0/port.c - - GCC/ARM_CM0/portmacro.h - - IAR/ARM_CM0/port.c - - IAR/ARM_CM0/portmacro.h - - RVDS/ARM_CM0/port.c - - Integrate CMSIS-RTOSv2 wrapper based on: https://github.com/ARM-software/CMSIS-FreeRTOS/releases/tag/10.0.1 - + Add new files: - - CMSIS_RTOS_V2/cmsis_os.h - - CMSIS_RTOS_V2/cmsis_os1.c - - CMSIS_RTOS_V2/cmsis_os2.c - - CMSIS_RTOS_V2/cmsis_os2.h - "cmsis_os1.c" and "cmsis_os1.h" contains the reference implementation of - CMSIS-RTOSv1,i.e as released by ARM, using the CMSIS-RTOSV2 API. - - + The ST customized CMSIS-RTOSv1 is maintained under: - - CMSIS_RTOS/cmsis_os.c - - CMSIS_RTOS/cmsis_os.h - - + When using CMSIS-RTOSv2 APIs, the following FreeRTOS defines are required: - - #define configMAX_PRIORITIES 56 - - #define configSUPPORT_STATIC_ALLOCATION 0 - - #define configUSE_PORT_OPTIMISED_TASK_SELECTION 0 - - -### 10-August-2017 ### -========================= - Update FreeRTOS to support MPU feature with IAR compiler. - - + Add the following ports: - - IAR/ARM_CM4_MPU - - IAR/ARM_CM7_MPU - - RVDS/ARM_CM7_MPU - - -### 03-March-2017 ### -========================= - Update CMSIS-RTOS drivers to support both CMSIS Core V4.x and V5.x - - Bug fixes: - + CMSIS-RTOS: Wrong return value for osSignalWait() - + CMSIS-RTOS: Not all queue size is 0 initialized with osMailCAlloc() - - Limitation: - + CMSIS-RTOS: osSignalWAit() function is not fully compliant with the specification - - -### 30-September-2016 ### -========================= - The purpose of this release is to Upgrade to use FreeRTOS V9.0.0, this version - is a drop-in compatible replacement for FreeRTOS V8.2.3. - For more details please refer to http://www.freertos.org/History.txt - - + Add support to tickless mode for MPU ports: - - GCC/ARM_CM3_MPU/port.c - - GCC/ARM_CM4_MPU/port.c - - RVDS/ARM_CM4_MPU/port.c - - + Update CM0 ports, add possibility to use a timebase different than Systick: - - IAR/ARM_CM0/port.c - - RVDS/ARM_CM0/port.c - - GCC/ARM_CM0/port.c - - + Fix compilation error in CM3_MPU and CM4_MPU ports: - - GCC/ARM_CM3_MPU/portmacro.h - - GCC/ARM_CM4_MPU/portmacro.h - - RVDS/ARM_CM4_MPU/portmacro.h - - Add "Source\portable\Common\" directory - - + cmsis_os.c - - Add support of Statically Allocated Systems introduced with FreeRTOS V9.0.0 - - Add new wrappers CMSIS-RTOS APIs - - FreeRTOS APIs | CMSIS-RTOS APIs | Description - ================================================================================================================== - uxQueueMessagesWaiting() | osMessageWaiting() | Return the number of messages stored in a queue - ------------------------------------------------------------------------------------------------------------------ - xTaskAbortDelay() | osAbortDelay() | Force a thread to get out the blocked state immediately - ------------------------------------------------------------------------------------------------------------------ - uxSemaphoreGetCount() | osSemaphoreGetCount() | Return the current count of a semaphore - ------------------------------------------------------------------------------------------------------------------ - uxQueueSpacesAvailable() | osMessageAvailableSpace() | Return the available space in a message queue - ------------------------------------------------------------------------------------------------------------------ - vQueueDelete() | osMessageDelete() | Delete a message Queue - ------------------------------------------------------------------------------------------------------------------ - - -### 22-January-2016 ### -======================= - The purpose of this release is to Upgrade to use FreeRTOS V8.2.3. - It also provides fixes for minor issues. - - + cmsis_os.c - - Implementation of functions "osSignalSet" and "osSignalWait" are now delimited by - #define configUSE_TASK_NOTIFICATIONS. - - Function "osTimerStart" : fix for an assert issue when called from an ISR. - - Function "osMailCreate" : internal variables initialization. - - Function "osSignalWait" : signals value is now compared versus integer zero for error checking. - - + freeRTOS sources - - FreeRTOS.h file : Add configuration sanity check in case of configUSE_RECURSIVE_MUTEXES set - and configUSE_MUTEXES not set. - - + STMicroelectronics license simplifications, see license disclaimer within this file's header - - -### 27-March-2015 ### -===================== - The purpose of this release is to Upgrade to use FreeRTOS V8.2.1. - - + Major change of the version 8.2.1 is the support of CM7 core. - For STM32F746xx/STM32F756xx devices, need to use port files under Source/Portable/XXX/ARM_CM7/r0p1, - where XXX refers to the compiler used. - - + It also provides implementation of osSignal management APIs, osSignalSet() and osSignalWait(), - fixes osMassage queue size, osMailQDef macro and osDelayUntil parameters. - - + In this release an alignment has been done in ARM_CM4 and ARM_CM3 port.c versus ARM_CM0 port.c - regarding the use of macros configPRE_SLEEP_PROCESSING and configPOST_SLEEP_PROCESSING, these tow macros - are now taking as parameter as pointer to TickType_t. - - + cmsis_os.c - - Add implementation of osSignalSet() and osSignalWait() APIs - - Fix massage queue size in osMessageCreate API - - osDelayUntil: parameter PreviousWakeTime is now passed as a pointer. - - Enabling Mail queue management APIs (temporary removed in previous version). - - Function "osThreadGetPriority" uses now uxTaskPriorityGetFromISR if called from an interrupt handler, if not use uxTaskPriorityGet. - - + cmsis_os.h - - osFeature_Wait is defined to 0 to indicate that osWait function is not available (as specified by cmsis_os template by ARM) - - Fix compilation issue with osMailQDef macro. - - Enabling Mail queue management APIs (temporary removed in previous version) - - + freeRTOS sources - - ARM_CM3 port.c and ARM_CM4 port.c: - function vPortSuppressTicksAndSleep : configPRE_SLEEP_PROCESSING and configPOST_SLEEP_PROCESSING are now taking - as parameter as pointer to TickType_t. - The purpose of this change is to align the CM3 and CM4 implementation with CM0 one. - - + Note - - osSignalSet returns an int32_t value which is a a status (osOK or osError) - instead of the previous signal value as specified in cmsis_os template by ARM. - This is mainly due to freeRTOS implementation, the return value will be aligned (with the cmsis os template by ARM) as soon as the freeRTOS next version will allow it. - - - osThreadDef() macro is defined in the freeRTOS cmsis_os.h wrapper as follow : - osThreadDef(name, thread, priority, instances, stacksz) - the macro osThreadDef() as defined in ARM cmsis_os.h is defined with 4 parameters : - name : name of the thread function. - priority : initial priority of the thread function. - instances : number of possible thread instances. - stacksz : stack size (in bytes) requirements for the thread function. - - - osThreadDef as defined in the ARM template file cmsis_os.h assumes that the thread name is the same as the thread function name. - where the freeRTOS implementation gives separate parameters for the thread name and the thread function name. - - care must be taken when porting an application from/to another OS to/from freeRTOS cmsis_os regarding this macro. - - the macro osThreadDef() as defined in ARM cmsis_os.h template is defined with 4 parameters : - name : name of the thread function. - priority : initial priority of the thread function. - instances : number of possible thread instances. - stacksz : stack size (in bytes) requirements for the thread function. - - the macro osThreadDef() as defined in freeRTOS cmsis_os.h is defined with 5 parameters : - name : name of the thread (used for debugging and trace). - thread : name of the thread function - priority : initial priority of the thread function. - instances : number of possible thread instances. - stacksz : stack size (in bytes) requirements for the thread function. - - -### 25-December-2014 ### -======================== - The purpose of this release is to remove compilation errors and warning. It also reintroduces - the function osThreadIsSuspended() which has been removed in the version V1.2.0. - - + cmsis_os.c - - osThreadGetPriority() and makeCmsisPriority(): replace INCLUDE_vTaskPriorityGet by the correct - freeRTOS constant uxTaskPriorityGet. - The version 1.2.2 is using a wrong constant INCLUDE_vTaskPriorityGet, while the correct freeRTOS - constant is uxTaskPriorityGet. - This fix ensure a safe use of osThreadGetPriority() function. - - - osThreadIsSuspended(): this function has been removed in version V1.2.0, it is now available gain. - User can either use this function to check if a Thread is suspended either use function osThreadGetState, - which is more generic, to check the exact state of a thread. - - - osThreadList(): this function is now taking as argument a pointer to uint8_t instead of a pointer to int8_t. - The change is made to remove a compilation warning. - - - osRecursiveMutexCreate(): the prototype has been changed to osMutexId osRecursiveMutexCreate (const osMutexDef_t *mutex_def) - This change is made to make osRecursiveMutexCreate() compatible with function MutexCreate(). - It also allow the better use of the function in conjunction with the macro osMutex, note that osMutex return a - "const osMutexDef_t *mutex_def". - example : osMutex1Id = osRecursiveMutexCreate (osMutex(Mutex1)); - - - Fix implementation of functions osSemaphoreWait(), osMutexRelease() and osMutexWait() by using the appropriate - freeRTOS FromISR APIs when called from an interrupt. - - - Fix compilation warning when the constant INCLUDE_eTaskGetState is not defined - - + cmsis_os.h - - osThreadIsSuspended(): add function prototype. - - osThreadList(): function prototype modified as described in cmsis_os.c section. - - osRecursiveMutexCreate(): function modified as described in cmsis_os.c section. - - + Important note: - Mail Queue Management Functions are not supported in this cmsis_os version, will be added in the next release. - - -### 04-December-2014 ### -======================== - + cmsis_os.c, osSemaphoreCreate(): use vSemaphoreCreateBinary() instead of xSemaphoreCreateBinary(), - to keep compatibility with application code developed on FreeRTOS V7.6.0. - - -### 07-November-2014 ### -======================== - + cmsis_os.h: modify the osThreadState enum to fix warning generated by ARMCC compiler - + task.c: add preprocessor compilation condition for prvTaskIsTaskSuspended() function - (it's build only when INCLUDE_vTaskSuspend option is enabled in FreeRTOSConfig.h file) - - -### 04-November-2014 ### -======================== - + Upgrade to use FreeRTOS V8.1.2 and CMSIS-RTOS V1.02. - + cmsis_os.c - - Almost of CMSIS-RTOS APIs are implemented for FreeRTOS - - Additional wrapper APIs created for FreeRTOS - - + Important note: - When upgrading existing application code to use this last version, the following - update should be considered: - - osThreadIsSuspended() is no longer public API in FreeRTOS and it should - be replaced by the wrapping of eTaskGetState() - - osKernelStart() API changed, must be updated - - update FreeRTOSConfig.h file, taking FreeRTOSConfig_template.h file as reference - - -### 13-June-2014 ### -==================== - + FreeRTOSConfig_template.h: add this definition #define INCLUDE_xTaskGetSchedulerState 1 - to enable the use of xTaskGetSchedulerState() API in the - application code. - - -### 30-April-2014 ### -===================== - + cmsis_os.c: add preprocessor compilation condition when calling some FreeRTOS APIs, to avoid link - errors with MDK-ARM when some FreeRTOS features are not enabled in FreeRTOSConfig.h - - -### 22-April-2014 ### -===================== - + Add Tickles mode for CM0 port (IAR, GCC, RVDS). - - -### 18-February-2014 ### -======================== - + FreeRTOS V7.6.0 customized version for STM32Cube solution. - - - *

© COPYRIGHT STMicroelectronics

- */ diff --git a/HAL_N_Middlewares/Src/freertos.c b/HAL_N_Middlewares/Src/freertos.c index 391e140..76c1b60 100644 --- a/HAL_N_Middlewares/Src/freertos.c +++ b/HAL_N_Middlewares/Src/freertos.c @@ -6,7 +6,7 @@ ****************************************************************************** * @attention * - * Copyright (c) 2022 STMicroelectronics. + * Copyright (c) 2023 STMicroelectronics. * All rights reserved. * * This software is licensed under terms that can be found in the LICENSE file @@ -118,7 +118,6 @@ void MX_FREERTOS_Init(void) { /* definition and creation of defaultTask */ osThreadDef(defaultTask, StartDefaultTask, osPriorityNormal, 0, 128); defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL); - osThreadDef(instask, StartINSTASK, osPriorityNormal, 0, 1024); defaultTaskHandle = osThreadCreate(osThread(instask), NULL); @@ -130,7 +129,6 @@ void MX_FREERTOS_Init(void) { osThreadDef(robottask, StartROBOTTASK, osPriorityNormal, 0, 1024); defaultTaskHandle = osThreadCreate(osThread(robottask), NULL); - /* USER CODE BEGIN RTOS_THREADS */ /* add threads, ... */ /* USER CODE END RTOS_THREADS */ @@ -152,8 +150,6 @@ void StartDefaultTask(void const * argument) /* Infinite loop */ for(;;) { - //1kHz - led_RGB_flow_task(); osDelay(1); } /* USER CODE END StartDefaultTask */ @@ -161,6 +157,7 @@ void StartDefaultTask(void const * argument) /* Private application code --------------------------------------------------*/ /* USER CODE BEGIN Application */ + void StartINSTASK(void const * argument) { while (1) @@ -202,6 +199,4 @@ void StartROBOTTASK(void const * argument) } } - - /* USER CODE END Application */ diff --git a/HAL_N_Middlewares/Src/gpio.c b/HAL_N_Middlewares/Src/gpio.c index 922dbfc..52d965f 100644 --- a/HAL_N_Middlewares/Src/gpio.c +++ b/HAL_N_Middlewares/Src/gpio.c @@ -56,7 +56,7 @@ void MX_GPIO_Init(void) __HAL_RCC_GPIOE_CLK_ENABLE(); /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(MAG_RST_GPIO_Port, MAG_RST_Pin, GPIO_PIN_SET); + 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); @@ -67,8 +67,8 @@ void MX_GPIO_Init(void) /*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; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; HAL_GPIO_Init(MAG_RST_GPIO_Port, &GPIO_InitStruct); /*Configure GPIO pin : PtPin */ @@ -91,7 +91,7 @@ void MX_GPIO_Init(void) HAL_GPIO_Init(CS1_ACCEL_GPIO_Port, &GPIO_InitStruct); /*Configure GPIO pins : PCPin PCPin */ - GPIO_InitStruct.Pin = INT_ACCEL_Pin|INT_GYRO_Pin; + GPIO_InitStruct.Pin = INT_ACC_Pin|INT_GYRO_Pin; GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING; GPIO_InitStruct.Pull = GPIO_NOPULL; HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); @@ -110,6 +110,9 @@ void MX_GPIO_Init(void) HAL_NVIC_SetPriority(EXTI4_IRQn, 5, 0); HAL_NVIC_EnableIRQ(EXTI4_IRQn); + HAL_NVIC_SetPriority(EXTI9_5_IRQn, 5, 0); + HAL_NVIC_EnableIRQ(EXTI9_5_IRQn); + } /* USER CODE BEGIN 2 */ diff --git a/HAL_N_Middlewares/Src/main.c b/HAL_N_Middlewares/Src/main.c index 3abe357..535e8c4 100644 --- a/HAL_N_Middlewares/Src/main.c +++ b/HAL_N_Middlewares/Src/main.c @@ -6,7 +6,7 @@ ****************************************************************************** * @attention * - * Copyright (c) 2022 STMicroelectronics. + * Copyright (c) 2023 STMicroelectronics. * All rights reserved. * * This software is licensed under terms that can be found in the LICENSE file @@ -21,13 +21,15 @@ #include "cmsis_os.h" #include "adc.h" #include "can.h" +#include "crc.h" +#include "dac.h" #include "dma.h" +#include "i2c.h" #include "rng.h" #include "rtc.h" #include "spi.h" #include "tim.h" #include "usart.h" -#include "i2c.h" #include "usb_device.h" #include "gpio.h" @@ -110,11 +112,14 @@ int main(void) MX_TIM10_Init(); MX_USART1_UART_Init(); MX_USART6_UART_Init(); + MX_TIM8_Init(); MX_I2C2_Init(); MX_I2C3_Init(); + MX_SPI2_Init(); + MX_CRC_Init(); + MX_DAC_Init(); /* USER CODE BEGIN 2 */ RobotInit(); - /* USER CODE END 2 */ /* Call init function for freertos objects (in freertos.c) */ @@ -183,6 +188,28 @@ void SystemClock_Config(void) /* USER CODE END 4 */ +/** + * @brief Period elapsed callback in non blocking mode + * @note This function is called when TIM14 interrupt took place, inside + * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment + * a global variable "uwTick" used as application time base. + * @param htim : TIM handle + * @retval None + */ +void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) +{ + /* USER CODE BEGIN Callback 0 */ + + /* USER CODE END Callback 0 */ + if (htim->Instance == TIM14) + { + HAL_IncTick(); + } + /* USER CODE BEGIN Callback 1 */ + + /* USER CODE END Callback 1 */ +} + /** * @brief This function is executed in case of error occurrence. * @retval None diff --git a/HAL_N_Middlewares/Src/stm32f4xx_hal_timebase_tim.c b/HAL_N_Middlewares/Src/stm32f4xx_hal_timebase_tim.c new file mode 100644 index 0000000..bc0c39e --- /dev/null +++ b/HAL_N_Middlewares/Src/stm32f4xx_hal_timebase_tim.c @@ -0,0 +1,136 @@ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * @file stm32f4xx_hal_timebase_TIM.c + * @brief HAL time base based on the hardware TIM. + ****************************************************************************** + * @attention + * + * Copyright (c) 2023 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ +/* USER CODE END Header */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f4xx_hal.h" +#include "stm32f4xx_hal_tim.h" + +/* Private typedef -----------------------------------------------------------*/ +/* Private define ------------------------------------------------------------*/ +/* Private macro -------------------------------------------------------------*/ +/* Private variables ---------------------------------------------------------*/ +TIM_HandleTypeDef htim14; +/* Private function prototypes -----------------------------------------------*/ +/* Private functions ---------------------------------------------------------*/ + +/** + * @brief This function configures the TIM14 as a time base source. + * The time source is configured to have 1ms time base with a dedicated + * Tick interrupt priority. + * @note This function is called automatically at the beginning of program after + * reset by HAL_Init() or at any time when clock is configured, by HAL_RCC_ClockConfig(). + * @param TickPriority: Tick interrupt priority. + * @retval HAL status + */ +HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority) +{ + RCC_ClkInitTypeDef clkconfig; + uint32_t uwTimclock, uwAPB1Prescaler = 0U; + + uint32_t uwPrescalerValue = 0U; + uint32_t pFLatency; + HAL_StatusTypeDef status; + + /* Enable TIM14 clock */ + __HAL_RCC_TIM14_CLK_ENABLE(); + + /* Get clock configuration */ + HAL_RCC_GetClockConfig(&clkconfig, &pFLatency); + + /* Get APB1 prescaler */ + uwAPB1Prescaler = clkconfig.APB1CLKDivider; + /* Compute TIM14 clock */ + if (uwAPB1Prescaler == RCC_HCLK_DIV1) + { + uwTimclock = HAL_RCC_GetPCLK1Freq(); + } + else + { + uwTimclock = 2UL * HAL_RCC_GetPCLK1Freq(); + } + + /* Compute the prescaler value to have TIM14 counter clock equal to 1MHz */ + uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000U) - 1U); + + /* Initialize TIM14 */ + htim14.Instance = TIM14; + + /* Initialize TIMx peripheral as follow: + + Period = [(TIM14CLK/1000) - 1]. to have a (1/1000) s time base. + + Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock. + + ClockDivision = 0 + + Counter direction = Up + */ + htim14.Init.Period = (1000000U / 1000U) - 1U; + htim14.Init.Prescaler = uwPrescalerValue; + htim14.Init.ClockDivision = 0; + htim14.Init.CounterMode = TIM_COUNTERMODE_UP; + htim14.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; + + status = HAL_TIM_Base_Init(&htim14); + if (status == HAL_OK) + { + /* Start the TIM time Base generation in interrupt mode */ + status = HAL_TIM_Base_Start_IT(&htim14); + if (status == HAL_OK) + { + /* Enable the TIM14 global Interrupt */ + HAL_NVIC_EnableIRQ(TIM8_TRG_COM_TIM14_IRQn); + /* Configure the SysTick IRQ priority */ + if (TickPriority < (1UL << __NVIC_PRIO_BITS)) + { + /* Configure the TIM IRQ priority */ + HAL_NVIC_SetPriority(TIM8_TRG_COM_TIM14_IRQn, TickPriority, 0U); + uwTickPrio = TickPriority; + } + else + { + status = HAL_ERROR; + } + } + } + + /* Return function status */ + return status; +} + +/** + * @brief Suspend Tick increment. + * @note Disable the tick increment by disabling TIM14 update interrupt. + * @param None + * @retval None + */ +void HAL_SuspendTick(void) +{ + /* Disable TIM14 update Interrupt */ + __HAL_TIM_DISABLE_IT(&htim14, TIM_IT_UPDATE); +} + +/** + * @brief Resume Tick increment. + * @note Enable the tick increment by Enabling TIM14 update interrupt. + * @param None + * @retval None + */ +void HAL_ResumeTick(void) +{ + /* Enable TIM14 Update interrupt */ + __HAL_TIM_ENABLE_IT(&htim14, TIM_IT_UPDATE); +} + diff --git a/HAL_N_Middlewares/Src/stm32f4xx_it.c b/HAL_N_Middlewares/Src/stm32f4xx_it.c index b1f1195..4678211 100644 --- a/HAL_N_Middlewares/Src/stm32f4xx_it.c +++ b/HAL_N_Middlewares/Src/stm32f4xx_it.c @@ -20,8 +20,6 @@ /* Includes ------------------------------------------------------------------*/ #include "main.h" #include "stm32f4xx_it.h" -#include "FreeRTOS.h" -#include "task.h" /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ /* USER CODE END Includes */ @@ -71,6 +69,7 @@ extern DMA_HandleTypeDef hdma_spi2_rx; extern DMA_HandleTypeDef hdma_spi2_tx; extern SPI_HandleTypeDef hspi1; extern SPI_HandleTypeDef hspi2; +extern TIM_HandleTypeDef htim8; extern DMA_HandleTypeDef hdma_usart1_tx; extern DMA_HandleTypeDef hdma_usart1_rx; extern DMA_HandleTypeDef hdma_usart3_rx; @@ -79,6 +78,8 @@ extern DMA_HandleTypeDef hdma_usart6_tx; extern UART_HandleTypeDef huart1; extern UART_HandleTypeDef huart3; extern UART_HandleTypeDef huart6; +extern TIM_HandleTypeDef htim14; + /* USER CODE BEGIN EV */ /* USER CODE END EV */ @@ -107,14 +108,11 @@ void NMI_Handler(void) void HardFault_Handler(void) { /* USER CODE BEGIN HardFault_IRQn 0 */ - // 发生hardfault,点击step over会自动跳转回出错的指令,方便调试 asm("bx lr"); /* USER CODE END HardFault_IRQn 0 */ while (1) { - asm("bx lr"); /* USER CODE BEGIN W1_HardFault_IRQn 0 */ - /* USER CODE END W1_HardFault_IRQn 0 */ } } @@ -177,28 +175,6 @@ void DebugMon_Handler(void) /* USER CODE END DebugMonitor_IRQn 1 */ } -/** - * @brief This function handles System tick timer. - */ -void SysTick_Handler(void) -{ - /* USER CODE BEGIN SysTick_IRQn 0 */ - - /* USER CODE END SysTick_IRQn 0 */ - HAL_IncTick(); -#if (INCLUDE_xTaskGetSchedulerState == 1) - if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) - { -#endif /* INCLUDE_xTaskGetSchedulerState */ - xPortSysTickHandler(); -#if (INCLUDE_xTaskGetSchedulerState == 1) - } -#endif /* INCLUDE_xTaskGetSchedulerState */ - /* USER CODE BEGIN SysTick_IRQn 1 */ - - /* USER CODE END SysTick_IRQn 1 */ -} - /******************************************************************************/ /* STM32F4xx Peripheral Interrupt Handlers */ /* Add here the Interrupt Handlers for the used peripherals. */ @@ -228,7 +204,7 @@ void EXTI4_IRQHandler(void) /* USER CODE BEGIN EXTI4_IRQn 0 */ /* USER CODE END EXTI4_IRQn 0 */ - HAL_GPIO_EXTI_IRQHandler(INT_ACCEL_Pin); + HAL_GPIO_EXTI_IRQHandler(INT_ACC_Pin); /* USER CODE BEGIN EXTI4_IRQn 1 */ /* USER CODE END EXTI4_IRQn 1 */ @@ -318,6 +294,20 @@ void CAN1_RX1_IRQHandler(void) /* USER CODE END CAN1_RX1_IRQn 1 */ } +/** + * @brief This function handles EXTI line[9:5] interrupts. + */ +void EXTI9_5_IRQHandler(void) +{ + /* USER CODE BEGIN EXTI9_5_IRQn 0 */ + + /* USER CODE END EXTI9_5_IRQn 0 */ + HAL_GPIO_EXTI_IRQHandler(INT_GYRO_Pin); + /* USER CODE BEGIN EXTI9_5_IRQn 1 */ + + /* USER CODE END EXTI9_5_IRQn 1 */ +} + /** * @brief This function handles I2C2 event interrupt. */ @@ -402,6 +392,21 @@ void USART3_IRQHandler(void) /* USER CODE END USART3_IRQn 1 */ } +/** + * @brief This function handles TIM8 trigger and commutation interrupts and TIM14 global interrupt. + */ +void TIM8_TRG_COM_TIM14_IRQHandler(void) +{ + /* USER CODE BEGIN TIM8_TRG_COM_TIM14_IRQn 0 */ + + /* USER CODE END TIM8_TRG_COM_TIM14_IRQn 0 */ + HAL_TIM_IRQHandler(&htim8); + HAL_TIM_IRQHandler(&htim14); + /* USER CODE BEGIN TIM8_TRG_COM_TIM14_IRQn 1 */ + + /* USER CODE END TIM8_TRG_COM_TIM14_IRQn 1 */ +} + /** * @brief This function handles DMA1 stream7 global interrupt. */ diff --git a/HAL_N_Middlewares/Src/tim.c b/HAL_N_Middlewares/Src/tim.c index 004b62f..648464f 100644 --- a/HAL_N_Middlewares/Src/tim.c +++ b/HAL_N_Middlewares/Src/tim.c @@ -320,9 +320,9 @@ void MX_TIM10_Init(void) /* USER CODE END TIM10_Init 1 */ htim10.Instance = TIM10; - htim10.Init.Prescaler = 0; + htim10.Init.Prescaler = 167; htim10.Init.CounterMode = TIM_COUNTERMODE_UP; - htim10.Init.Period = 4999; + htim10.Init.Period = 5000-1; htim10.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim10.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; if (HAL_TIM_Base_Init(&htim10) != HAL_OK) @@ -391,6 +391,10 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle) /* USER CODE END TIM8_MspInit 0 */ /* TIM8 clock enable */ __HAL_RCC_TIM8_CLK_ENABLE(); + + /* TIM8 interrupt Init */ + HAL_NVIC_SetPriority(TIM8_TRG_COM_TIM14_IRQn, 15, 0); + HAL_NVIC_EnableIRQ(TIM8_TRG_COM_TIM14_IRQn); /* USER CODE BEGIN TIM8_MspInit 1 */ /* USER CODE END TIM8_MspInit 1 */ @@ -515,9 +519,9 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle) /* USER CODE END TIM10_MspPostInit 0 */ - __HAL_RCC_GPIOB_CLK_ENABLE(); + __HAL_RCC_GPIOF_CLK_ENABLE(); /**TIM10 GPIO Configuration - PB8 ------> TIM10_CH1 + PF6 ------> TIM10_CH1 */ GPIO_InitStruct.Pin = IMU_TEMP_Pin; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; @@ -576,6 +580,9 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle) /* USER CODE END TIM8_MspDeInit 0 */ /* Peripheral clock disable */ __HAL_RCC_TIM8_CLK_DISABLE(); + + /* TIM8 interrupt Deinit */ + HAL_NVIC_DisableIRQ(TIM8_TRG_COM_TIM14_IRQn); /* USER CODE BEGIN TIM8_MspDeInit 1 */ /* USER CODE END TIM8_MspDeInit 1 */ diff --git a/Makefile b/Makefile index 4691fd1..2353934 100644 --- a/Makefile +++ b/Makefile @@ -39,10 +39,13 @@ 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/freertos.c \ HAL_N_Middlewares/Src/adc.c \ HAL_N_Middlewares/Src/can.c \ +HAL_N_Middlewares/Src/crc.c \ +HAL_N_Middlewares/Src/dac.c \ HAL_N_Middlewares/Src/dma.c \ +HAL_N_Middlewares/Src/i2c.c \ HAL_N_Middlewares/Src/rng.c \ HAL_N_Middlewares/Src/rtc.c \ HAL_N_Middlewares/Src/spi.c \ @@ -54,8 +57,10 @@ HAL_N_Middlewares/Src/usbd_desc.c \ HAL_N_Middlewares/Src/usbd_cdc_if.c \ HAL_N_Middlewares/Src/stm32f4xx_it.c \ HAL_N_Middlewares/Src/stm32f4xx_hal_msp.c \ +HAL_N_Middlewares/Src/stm32f4xx_hal_timebase_tim.c \ HAL_N_Middlewares/Src/system_stm32f4xx.c \ -HAL_N_Middlewares/Src/freertos.c \ +HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dac.c \ +HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_crc.c \ HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd.c \ HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd_ex.c \ HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c \ diff --git a/application/robot.c b/application/robot.c index 1cfe403..74151ff 100644 --- a/application/robot.c +++ b/application/robot.c @@ -15,8 +15,10 @@ void RobotInit() { // 关闭中断,防止在初始化过程中发生中断 - // 请不要在初始化过程中使用中断!!! + // 请不要在初始化过程中使用中断和延时函数！ + // 若必须,则只允许使用DWT_Delay() __disable_irq(); + BSPInit(); #if defined(ONE_BOARD) || defined(GIMBAL_BOARD) diff --git a/basic_framework.ioc b/basic_framework.ioc index d5de61e..6c9ab7e 100644 --- a/basic_framework.ioc +++ b/basic_framework.ioc @@ -208,30 +208,30 @@ Mcu.IP9=NVIC Mcu.IPNb=26 Mcu.Name=STM32F407I(E-G)Hx Mcu.Package=UFBGA176 -Mcu.Pin0=PB8 -Mcu.Pin1=PB5 -Mcu.Pin10=PC11 -Mcu.Pin11=PC10 -Mcu.Pin12=PA12 -Mcu.Pin13=PI7 -Mcu.Pin14=PI6 -Mcu.Pin15=PG9 -Mcu.Pin16=PD1 -Mcu.Pin17=PA11 -Mcu.Pin18=PF0 -Mcu.Pin19=PA9 -Mcu.Pin2=PG14 -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.Pin0=PB5 +Mcu.Pin1=PG14 +Mcu.Pin10=PC10 +Mcu.Pin11=PA12 +Mcu.Pin12=PI7 +Mcu.Pin13=PI6 +Mcu.Pin14=PG9 +Mcu.Pin15=PD1 +Mcu.Pin16=PA11 +Mcu.Pin17=PF0 +Mcu.Pin18=PA9 +Mcu.Pin19=PC9 +Mcu.Pin2=PB4 +Mcu.Pin20=PA8 +Mcu.Pin21=PH0-OSC_IN +Mcu.Pin22=PH1-OSC_OUT +Mcu.Pin23=PF1 +Mcu.Pin24=PC6 +Mcu.Pin25=PG6 +Mcu.Pin26=PF6 Mcu.Pin27=PH12 Mcu.Pin28=PG3 Mcu.Pin29=PH11 -Mcu.Pin3=PB4 +Mcu.Pin3=PB3 Mcu.Pin30=PH10 Mcu.Pin31=PD14 Mcu.Pin32=PA0-WKUP @@ -242,7 +242,7 @@ Mcu.Pin36=PA5 Mcu.Pin37=PC5 Mcu.Pin38=PE9 Mcu.Pin39=PE11 -Mcu.Pin4=PB3 +Mcu.Pin4=PA14 Mcu.Pin40=PE14 Mcu.Pin41=PB13 Mcu.Pin42=PA7 @@ -253,10 +253,10 @@ Mcu.Pin46=VP_ADC1_TempSens_Input Mcu.Pin47=VP_ADC1_Vref_Input Mcu.Pin48=VP_CRC_VS_CRC Mcu.Pin49=VP_FREERTOS_VS_CMSIS_V1 -Mcu.Pin5=PA14 +Mcu.Pin5=PA13 Mcu.Pin50=VP_RNG_VS_RNG Mcu.Pin51=VP_RTC_VS_RTC_Activate -Mcu.Pin52=VP_SYS_VS_Systick +Mcu.Pin52=VP_SYS_VS_tim14 Mcu.Pin53=VP_TIM1_VS_ClockSourceINT Mcu.Pin54=VP_TIM4_VS_ClockSourceINT Mcu.Pin55=VP_TIM5_VS_ClockSourceINT @@ -264,10 +264,10 @@ Mcu.Pin56=VP_TIM8_VS_ClockSourceINT Mcu.Pin57=VP_TIM10_VS_ClockSourceINT Mcu.Pin58=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS Mcu.Pin59=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.Pin6=PB7 +Mcu.Pin7=PB6 +Mcu.Pin8=PD0 +Mcu.Pin9=PC11 Mcu.PinsNb=60 Mcu.ThirdParty0=STMicroelectronics.X-CUBE-ALGOBUILD.1.3.0 Mcu.ThirdPartyNb=1 @@ -289,7 +289,7 @@ NVIC.DMA2_Stream0_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.DMA2_Stream3_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true NVIC.DMA2_Stream4_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true -NVIC.DMA2_Stream5_IRQn=true\:5\:0\:false\:false\:true\:false\: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 @@ -313,7 +313,10 @@ NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false NVIC.SavedPendsvIrqHandlerGenerated=true NVIC.SavedSvcallIrqHandlerGenerated=true NVIC.SavedSystickIrqHandlerGenerated=true -NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:true\:false\:true\:false +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.USART1_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.USART6_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true @@ -344,6 +347,7 @@ PA7.GPIO_PuPd=GPIO_PULLUP PA7.Locked=true PA7.Mode=Full_Duplex_Master PA7.Signal=SPI1_MOSI +PA8.Locked=true PA8.Mode=I2C PA8.Signal=I2C3_SCL PA9.Locked=true @@ -384,12 +388,6 @@ PB6.Signal=CAN2_TX PB7.Locked=true PB7.Mode=Asynchronous PB7.Signal=USART1_RX -PB8.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label -PB8.GPIO_Label=IMU_TEMP -PB8.GPIO_PuPd=GPIO_PULLUP -PB8.GPIO_Speed=GPIO_SPEED_FREQ_HIGH -PB8.Locked=true -PB8.Signal=S_TIM10_CH1 PC10.Locked=true PC10.Mode=Asynchronous PC10.Signal=USART3_TX @@ -434,6 +432,12 @@ PF0.Mode=I2C PF0.Signal=I2C2_SDA PF1.Mode=I2C PF1.Signal=I2C2_SCL +PF6.GPIOParameters=GPIO_Label,GPIO_Speed,GPIO_PuPd +PF6.GPIO_Label=IMU_TEMP +PF6.GPIO_PuPd=GPIO_PULLUP +PF6.GPIO_Speed=GPIO_SPEED_FREQ_HIGH +PF6.Locked=true +PF6.Signal=S_TIM10_CH1 PG14.Locked=true PG14.Mode=Asynchronous PG14.Signal=USART6_TX @@ -443,12 +447,9 @@ PG3.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_FALLING PG3.GPIO_PuPd=GPIO_PULLUP PG3.Locked=true PG3.Signal=GPXTI3 -PG6.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label +PG6.GPIOParameters=GPIO_Label PG6.GPIO_Label=MAG_RST -PG6.GPIO_PuPd=GPIO_PULLUP -PG6.GPIO_Speed=GPIO_SPEED_FREQ_MEDIUM PG6.Locked=true -PG6.PinState=GPIO_PIN_SET PG6.Signal=GPIO_Output PG9.Locked=true PG9.Mode=Asynchronous @@ -606,8 +607,8 @@ TIM1.Period=19999 TIM1.Prescaler=167 TIM10.Channel=TIM_CHANNEL_1 TIM10.IPParameters=Period,Channel,Prescaler -TIM10.Period=4999 -TIM10.Prescaler=0 +TIM10.Period=5000-1 +TIM10.Prescaler=167 TIM4.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3 TIM4.IPParameters=Channel-PWM Generation3 CH3,Prescaler,Period TIM4.Period=65535 @@ -653,8 +654,8 @@ VP_RTC_VS_RTC_Activate.Mode=RTC_Enabled VP_RTC_VS_RTC_Activate.Signal=RTC_VS_RTC_Activate VP_STMicroelectronics.X-CUBE-ALGOBUILD_VS_DSPOoLibraryJjLibrary_1.3.0_1.3.0.Mode=DSPOoLibraryJjLibrary VP_STMicroelectronics.X-CUBE-ALGOBUILD_VS_DSPOoLibraryJjLibrary_1.3.0_1.3.0.Signal=STMicroelectronics.X-CUBE-ALGOBUILD_VS_DSPOoLibraryJjLibrary_1.3.0_1.3.0 -VP_SYS_VS_Systick.Mode=SysTick -VP_SYS_VS_Systick.Signal=SYS_VS_Systick +VP_SYS_VS_tim14.Mode=TIM14 +VP_SYS_VS_tim14.Signal=SYS_VS_tim14 VP_TIM10_VS_ClockSourceINT.Mode=Enable_Timer VP_TIM10_VS_ClockSourceINT.Signal=TIM10_VS_ClockSourceINT VP_TIM1_VS_ClockSourceINT.Mode=Internal diff --git a/bsp/can/bsp_can.h b/bsp/can/bsp_can.h index 7391fc2..c9fdc92 100644 --- a/bsp/can/bsp_can.h +++ b/bsp/can/bsp_can.h @@ -23,7 +23,7 @@ typedef struct _ uint8_t rx_len; // 接收长度,可能为0-8 // 接收的回调函数,用于解析接收到的数据 void (*can_module_callback)(struct _ *); // callback needs an instance to tell among registered ones - void *id; // 使用can外设的 + void *id; // 使用can外设的模块指针(即id指向的模块拥有此can实例,是父子关系) } CANInstance; #pragma pack() diff --git a/bsp/spi/bsp_spi.c b/bsp/spi/bsp_spi.c index dec6fd6..97c2ec4 100644 --- a/bsp/spi/bsp_spi.c +++ b/bsp/spi/bsp_spi.c @@ -128,10 +128,11 @@ void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef *hspi) if (spi_instance[i]->spi_handle == hspi && // 显然同一时间一条总线只能有一个从机在接收数据 HAL_GPIO_ReadPin(spi_instance[i]->GPIO_cs, spi_instance[i]->cs_pin) == GPIO_PIN_RESET) { + // 先拉高片选,结束传输,在判断是否有回调函数,如果有则调用回调函数 + HAL_GPIO_WritePin(spi_instance[i]->GPIO_cs, spi_instance[i]->cs_pin, GPIO_PIN_SET); if (spi_instance[i]->callback != NULL) // 回调函数不为空, 则调用回调函数 { - // 先拉高片选,结束传输 - HAL_GPIO_WritePin(spi_instance[i]->GPIO_cs, spi_instance[i]->cs_pin, GPIO_PIN_SET); + spi_instance[i]->callback(spi_instance[i]); } return; diff --git a/bsp/usb/bsp_usb.c b/bsp/usb/bsp_usb.c new file mode 100644 index 0000000..cb7eb20 --- /dev/null +++ b/bsp/usb/bsp_usb.c @@ -0,0 +1 @@ +#include "bsp_usb.h" \ No newline at end of file diff --git a/bsp/usb/bsp_usb.h b/bsp/usb/bsp_usb.h new file mode 100644 index 0000000..2d7ad03 --- /dev/null +++ b/bsp/usb/bsp_usb.h @@ -0,0 +1,5 @@ +#include "usb_device.h" +#include "usbd_cdc.h" +#include "usbd_conf.h" +#include "usbd_desc.h" + diff --git a/modules/BMI088/bmi088.c b/modules/BMI088/bmi088.c index b478e26..7ba8639 100644 --- a/modules/BMI088/bmi088.c +++ b/modules/BMI088/bmi088.c @@ -3,3 +3,170 @@ #include "stdlib.h" #include "memory.h" +#define REG 0 +#define DATA 1 +#define ERROR 2 +// BMI088初始化配置数组for accel,第一列为reg地址,第二列为写入的配置值,第三列为错误码(如果出错) +static uint8_t BMI088_Accel_Init_Table[BMI088_WRITE_ACCEL_REG_NUM][3] = + { + {BMI088_ACC_PWR_CTRL, BMI088_ACC_ENABLE_ACC_ON, BMI088_ACC_PWR_CTRL_ERROR}, + {BMI088_ACC_PWR_CONF, BMI088_ACC_PWR_ACTIVE_MODE, BMI088_ACC_PWR_CONF_ERROR}, + {BMI088_ACC_CONF, BMI088_ACC_NORMAL | BMI088_ACC_800_HZ | BMI088_ACC_CONF_MUST_Set, BMI088_ACC_CONF_ERROR}, + {BMI088_ACC_RANGE, BMI088_ACC_RANGE_6G, BMI088_ACC_RANGE_ERROR}, + {BMI088_INT1_IO_CTRL, BMI088_ACC_INT1_IO_ENABLE | BMI088_ACC_INT1_GPIO_PP | BMI088_ACC_INT1_GPIO_LOW, BMI088_INT1_IO_CTRL_ERROR}, + {BMI088_INT_MAP_DATA, BMI088_ACC_INT1_DRDY_INTERRUPT, BMI088_INT_MAP_DATA_ERROR}}; +// BMI088初始化配置数组for gyro,第一列为reg地址,第二列为写入的配置值,第三列为错误码(如果出错) +static uint8_t BMI088_Gyro_Init_Table[BMI088_WRITE_GYRO_REG_NUM][3] = + { + {BMI088_GYRO_RANGE, BMI088_GYRO_2000, BMI088_GYRO_RANGE_ERROR}, + {BMI088_GYRO_BANDWIDTH, BMI088_GYRO_2000_230_HZ | BMI088_GYRO_BANDWIDTH_MUST_Set, BMI088_GYRO_BANDWIDTH_ERROR}, + {BMI088_GYRO_LPM1, BMI088_GYRO_NORMAL_MODE, BMI088_GYRO_LPM1_ERROR}, + {BMI088_GYRO_CTRL, BMI088_DRDY_ON, BMI088_GYRO_CTRL_ERROR}, + {BMI088_GYRO_INT3_INT4_IO_CONF, BMI088_GYRO_INT3_GPIO_PP | BMI088_GYRO_INT3_GPIO_LOW, BMI088_GYRO_INT3_INT4_IO_CONF_ERROR}, + {BMI088_GYRO_INT3_INT4_IO_MAP, BMI088_GYRO_DRDY_IO_INT3, BMI088_GYRO_INT3_INT4_IO_MAP_ERROR}}; +// @attention : 以上两个数组配合各自的初始化函数使用. 若要修改请参照BMI088 datasheet + +// ---------------------------以下私有函数,用于读写BMI088寄存器--------------------------------// +/** + * @brief 读取BMI088寄存器Accel + * + * @param bmi088 待读取的BMI088实例 + * @param reg 待读取的寄存器地址 + * @param dataptr 读取到的数据存放的指针 + * @param len 读取长度 + */ +static void BMI088AccelRead(BMI088Instance *bmi088, uint8_t reg, uint8_t *dataptr, uint8_t len) +{ + static uint8_t tx[8] = {0x80, 0}; // 读取,第一个字节为0x80 | reg,第二个是dummy data + tx[0] |= reg; + SPITransRecv(bmi088->spi_acc, dataptr, tx, 2); // 第一个先发送reg地址,第二个发送dummy data + SPIRecv(bmi088->spi_acc, dataptr, len); // 第三个开始发送数据,别担心,会覆盖掉前面的数据(2个字节) +} + +/** + * @brief 读取BMI088寄存器Gyro + * + * @param bmi088 待读取的BMI088实例 + * @param reg 待读取的寄存器地址 + * @param dataptr 读取到的数据存放的指针 + * @param len 读取长度 + */ +static void BMI088GyroRead(BMI088Instance *bmi088, uint8_t reg, uint8_t *dataptr, uint8_t len) +{ + static uint8_t tx = 0x80; // 读取,第一个字节为0x80 | reg + tx |= reg; + SPITransRecv(bmi088->spi_gyro, dataptr, &tx, 1); // 发送reg地址 + SPIRecv(bmi088->spi_gyro, dataptr, len); // 别担心,会覆盖掉前面的数据(1个字节) +} + +/** + * @brief 写accel寄存器.对spitransmit形式上的封装 + * @attention 只会向目标reg写入一个字节,因为只有1个字节所以直接传值(指针是32位反而浪费) + * + * @param bmi088 待写入的BMI088实例 + * @param reg 待写入的寄存器地址 + * @param data 待写入的数据(注意不是指针) + */ +static void BMI088AccelWrite(BMI088Instance *bmi088, uint8_t reg, uint8_t data) +{ + SPITransmit(bmi088->spi_acc, &data, 1); +} + +/** + * @brief 写gyro寄存器.形式上的封装 + * @attention 只会向目标reg写入一个字节,因为只有1个字节所以直接传值(指针是32位反而浪费) + * + * @param bmi088 待写入的BMI088实例 + * @param reg 待写入的寄存器地址 + * @param data 待写入的数据(注意不是指针) + */ +static void BMI088GyroWrite(BMI088Instance *bmi088, uint8_t reg, uint8_t data) +{ + SPITransmit(bmi088->spi_gyro, &data, 1); +} + +// -------------------------以上为私有函数,用于读写BMI088寄存器--------------------------------// + +// -------------------------以下为私有函数,用于初始化BMI088acc和gyro--------------------------------// + +/** + * @brief 初始化BMI088加速度计,提高可读性分拆功能 + * + * @param bmi088 待初始化的BMI088实例 + * @return uint8_t ERROR CODE if any problems here + */ +static uint8_t BMI088AccelInit(BMI088Instance *bmi088) +{ + // 后续添加reset和通信检查 + // code to go here ... + + // 检查ID,如果不是0x1E(bmi088 whoami寄存器值),则返回错误 + uint8_t whoami_check = 0; + BMI088AccelRead(bmi088, BMI088_ACC_CHIP_ID, &whoami_check, 1); + if (whoami_check != BMI088_ACC_CHIP_ID_VALUE) + return BMI088_NO_SENSOR; + + // 初始化寄存器,提高可读性 + uint8_t reg = 0; + uint8_t data = 1; + uint8_t error = 2; + // 使用sizeof而不是magic number,这样如果修改了数组大小,不用修改这里的代码;或者使用宏定义 + for (uint8_t i = 0; i < sizeof(BMI088_Accel_Init_Table) / sizeof(BMI088_Accel_Init_Table[0]); i++) + { + reg = BMI088_Accel_Init_Table[i][REG]; + data = BMI088_Accel_Init_Table[i][DATA]; + BMI088AccelWrite(bmi088, reg, data); // 写入寄存器 + BMI088AccelRead(bmi088, reg, &data, 1); // 写完之后立刻读回检查 + if (data != BMI088_Accel_Init_Table[i][DATA]) + error |= BMI088_Accel_Init_Table[i][ERROR]; + //{i--;} 可以设置retry次数,如果retry次数用完了,则返回error + } + return error; +} + +/** + * @brief 初始化BMI088陀螺仪,提高可读性分拆功能 + * + * @param bmi088 待初始化的BMI088实例 + * @return uint8_t ERROR CODE + */ +static uint8_t BMI088GyroInit(BMI088Instance *bmi088) +{ + // 后续添加reset和通信检查 + // code to go here ... + + // 检查ID,如果不是0x0F(bmi088 whoami寄存器值),则返回错误 + uint8_t whoami_check = 0; + BMI088GyroRead(bmi088, BMI088_GYRO_CHIP_ID, &whoami_check, 1); + if (whoami_check != BMI088_GYRO_CHIP_ID_VALUE) + return BMI088_NO_SENSOR; + + // 初始化寄存器,提高可读性 + uint8_t reg = 0; + uint8_t data = 1; + uint8_t error = 2; + // 使用sizeof而不是magic number,这样如果修改了数组大小,不用修改这里的代码;或者使用宏定义 + for (uint8_t i = 0; i < sizeof(BMI088_Gyro_Init_Table) / sizeof(BMI088_Gyro_Init_Table[0]); i++) + { + reg = BMI088_Gyro_Init_Table[i][REG]; + data = BMI088_Gyro_Init_Table[i][DATA]; + BMI088GyroWrite(bmi088, reg, data); // 写入寄存器 + BMI088GyroRead(bmi088, reg, &data, 1); // 写完之后立刻读回检查 + if (data != BMI088_Gyro_Init_Table[i][DATA]) + error |= BMI088_Gyro_Init_Table[i][ERROR]; + //{i--;} 可以设置retry次数,如果retry次数用完了,则返回error + } + return error; +} +// -------------------------以上为私有函数,用于初始化BMI088acc和gyro--------------------------------// + +// 考虑阻塞模式和非阻塞模式的兼容性,通过条件编译(则需要在编译前修改宏定义)或runtime参数判断 +// runtime的开销不大(一次性判断),但是需要修改函数原型,增加参数,代码长度增加(但不多) +// runtime如何修改callback?根据参数选择是否给spi传入callback,如果是阻塞模式,则不传入callback,如果是非阻塞模式,则传入callback(bsp会检查是否NULL) +// 条件编译的开销小,但是需要修改宏定义,增加编译时间,同时人力介入 +// 根据实际情况选择(说了和没说一样!) + +BMI088Instance *BMI088Register(BMI088_Init_Config_s *config) +{ + +} diff --git a/modules/BMI088/bmi088.h b/modules/BMI088/bmi088.h index 3e9184c..7425f61 100644 --- a/modules/BMI088/bmi088.h +++ b/modules/BMI088/bmi088.h @@ -1,4 +1,4 @@ -#ifndef __BMI088_H__ +#ifndef __BMI088_H__ // 防止重复包含 #define __BMI088_H__ #include "bsp_spi.h" @@ -7,17 +7,30 @@ #include "bsp_pwm.h" #include "stdint.h" +#define BMI088_PRE_CALI_ACC_X_OFFSET 0.0f +#define BMI088_PRE_CALI_ACC_Y_OFFSET 0.0f +// macro to go here... 预设标定参数 + +// bmi088工作模式枚举 +typedef enum +{ + BMI088_BLOCK_PERIODIC_MODE = 0, // 阻塞模式,周期性读取 + BMI088_BLOCK_TRIGGER_MODE, // 阻塞模式,触发读取(中断) +} BMI088_Work_Mode_e; + +// bmi088标定方式枚举,若使用预设标定参数,注意修改预设参数 typedef enum { BMI088_CALIBRATE_MODE = 0, // 初始化时进行标定 - BMI088_LOAD_PRE_CALI_MODE, // 使用预设标定参数 -} BMI088_Work_Mode_e; + BMI088_LOAD_PRE_CALI_MODE, // 使用预设标定参数, +} BMI088_Calibrate_Mode_e; /* BMI088实例结构体定义 */ typedef struct { // 传输模式和工作模式控制 - BMI088_Work_Mode_e mode; + BMI088_Work_Mode_e work_mode; + BMI088_Calibrate_Mode_e cali_mode; // SPI接口 SPIInstance *spi_gyro; // 注意,SPIInstnace内部也有一个GPIOInstance,用于控制片选CS SPIInstance *spi_acc; // 注意,SPIInstnace内部也有一个GPIOInstance,用于控制片选CS @@ -35,6 +48,9 @@ typedef struct float gyro_offset[3]; // 陀螺仪零偏 float gNorm; // 重力加速度模长,从标定获取 float acc_coef; // 加速度计原始数据转换系数 + // 传感器灵敏度,用于计算实际值(regNdef.h中定义) + float BMI088_ACCELL_SEN; + float BMI088_GYRO_SEN; // 用于计算两次采样的时间间隔 uint32_t bias_dwt_cnt; } BMI088Instance; @@ -46,11 +62,20 @@ typedef struct SPI_Init_Config_s spi_acc_config; GPIO_Init_Config_s gyro_int_config; GPIO_Init_Config_s acc_int_config; - BMI088_Work_Mode_e mode; + BMI088_Work_Mode_e work_mode; + BMI088_Calibrate_Mode_e cali_mode; PID_Init_Config_s heat_pid_config; PWM_Init_Config_s heat_pwm_config; } BMI088_Init_Config_s; +/** + * @brief 初始化BMI088,返回BMI088实例指针 + * @note 一般一个开发板只有一个BMI088,所以这里就叫BMI088Init而不是Register + * + * @param config bmi088初始化配置 + * @return BMI088Instance* 实例指针 + */ +BMI088Instance *BMI088Register(BMI088_Init_Config_s *config); #endif // !__BMI088_H__ \ No newline at end of file diff --git a/modules/BMI088/bmi088.md b/modules/BMI088/bmi088.md index e69de29..bcfb641 100644 --- a/modules/BMI088/bmi088.md +++ b/modules/BMI088/bmi088.md @@ -0,0 +1,52 @@ +# BMI088 + +## 数据读写规则(so called 16-bit protocol) + +加速度计读取read: +1. bit 0 :1 bit 1-7: reg address +2. dummy read,加速度计此时返回的数据无效 +3. 真正的数据从第三个字节开始. + +通过SPI传输三个字节(分三次) +byte1: 1(读)+7位寄存器地址 +byte2: 没用 +byte3: 读取到的数据 + +write写入: +1. bit 0: 0 bit1-7: reg address +2. 要写入寄存器的数据(注意没有dummy byte) + +--- + +**注意,陀螺仪和加速度计的读取不同** + +陀螺仪gyro读取read: +1. bit 0 :1 bit1-7: reg address +2. 读回的数据 + +通过SPI传输两个字节(分两次) +byte1: 1(读)+7位寄存器地址 +byte2: 读取到的数据 + +write写入: +1. bit0 : 0 bit1-7 : reg address +2. 写入的数据 + + +## IT非阻塞模式下BMI088读取流程 + +数据准备完成标志位:`uint8_t BMI088_READY_FLAG` 总共8个位 也可以用位域可读性更高 + +1. 当accel int中断发生,开启DMA SPI传输,完成后将acc ready置位 +2. 当gyro int中断发生,开启DMA SPI传输,完成后将gyro ready置位 +3. 当温度数据中断发生,开启DMA传输,完成后将温度标志位置位 + +> 由于DMA传输非阻塞,启动传输后只有到传输完成时才会拉高片选结束SPI transfer,因此需要在callback中加入标志位置位的操作. +这可以通过条件编译完成. + +温度数据不需要和accel和gyro同步,它不参与姿态解算,可以不用管. + +当加速度数据和陀螺仪数据都准备完成之后,唤醒姿态解算任务INs_taSk,进行一次解算.唤醒可以通过软件开启EXTI中断,在中断中调用实时系统的vTaskNotifyFromISR()完成,也可以将任务ready标志位置位,当运行到对应位置时检查标志位判断是否要进行任务.时间间隔不是大问题,inS_TAsK中有dwt用于计算两次任务执行的间隔,它将会自动处理好bias的大小 +`__HAL_GPIO_EXTI_GENERATE_SWIT()` `HAL_EXTI_GENERATE_SWI()` + +of course,两者的数据更新实际上可以异步进行,这里为了方便起见当两者数据都准备好以后再行融合 diff --git a/modules/BMI088/bmi088_regNdef.h b/modules/BMI088/bmi088_regNdef.h index 407d043..b548a9f 100644 --- a/modules/BMI088/bmi088_regNdef.h +++ b/modules/BMI088/bmi088_regNdef.h @@ -209,7 +209,7 @@ #define BMI088_GYRO_125_SEN 0.000066579027251980956150958662738366f /* BMI088错误码枚举 */ -enum +typedef enum { BMI088_NO_ERROR = 0x00, BMI088_ACC_PWR_CTRL_ERROR = 0x01, @@ -229,6 +229,6 @@ enum BMI088_SELF_TEST_ACCEL_ERROR = 0x80, BMI088_SELF_TEST_GYRO_ERROR = 0x40, BMI088_NO_SENSOR = 0xFF, -}; +} BMI088_ERORR_CODE_e; #endif diff --git a/modules/imu/BMI088driver.c b/modules/imu/BMI088driver.c index 17366e7..5f7fe08 100644 --- a/modules/imu/BMI088driver.c +++ b/modules/imu/BMI088driver.c @@ -69,7 +69,7 @@ static void BMI088_read_muli_reg(uint8_t reg, uint8_t *buf, uint8_t len); #elif defined(BMI088_USE_IIC) #endif -static uint8_t write_BMI088_accel_reg_data_error[BMI088_WRITE_ACCEL_REG_NUM][3] = +static uint8_t BMI088_Accel_Init_Table[BMI088_WRITE_ACCEL_REG_NUM][3] = { {BMI088_ACC_PWR_CTRL, BMI088_ACC_ENABLE_ACC_ON, BMI088_ACC_PWR_CTRL_ERROR}, {BMI088_ACC_PWR_CONF, BMI088_ACC_PWR_ACTIVE_MODE, BMI088_ACC_PWR_CONF_ERROR}, @@ -80,7 +80,7 @@ static uint8_t write_BMI088_accel_reg_data_error[BMI088_WRITE_ACCEL_REG_NUM][3] }; -static uint8_t write_BMI088_gyro_reg_data_error[BMI088_WRITE_GYRO_REG_NUM][3] = +static uint8_t BMI088_Gyro_Init_Table[BMI088_WRITE_GYRO_REG_NUM][3] = { {BMI088_GYRO_RANGE, BMI088_GYRO_2000, BMI088_GYRO_RANGE_ERROR}, {BMI088_GYRO_BANDWIDTH, BMI088_GYRO_2000_230_HZ | BMI088_GYRO_BANDWIDTH_MUST_Set, BMI088_GYRO_BANDWIDTH_ERROR}, @@ -235,19 +235,18 @@ uint8_t bmi088_accel_init(void) { // check commiunication BMI088_accel_read_single_reg(BMI088_ACC_CHIP_ID, res); - HAL_Delay(1); + DWT_Delay(0.001); BMI088_accel_read_single_reg(BMI088_ACC_CHIP_ID, res); - HAL_Delay(1); - + DWT_Delay(0.001); // accel software reset BMI088_accel_write_single_reg(BMI088_ACC_SOFTRESET, BMI088_ACC_SOFTRESET_VALUE); - HAL_Delay(BMI088_LONG_DELAY_TIME); - + // HAL_Delay(BMI088_LONG_DELAY_TIME); + DWT_Delay(0.08); // check commiunication is normal after reset BMI088_accel_read_single_reg(BMI088_ACC_CHIP_ID, res); - HAL_Delay(1); + DWT_Delay(0.001); BMI088_accel_read_single_reg(BMI088_ACC_CHIP_ID, res); - HAL_Delay(1); + DWT_Delay(0.001); // check the "who am I" if (res != BMI088_ACC_CHIP_ID_VALUE) @@ -257,17 +256,17 @@ uint8_t bmi088_accel_init(void) for (write_reg_num = 0; write_reg_num < BMI088_WRITE_ACCEL_REG_NUM; write_reg_num++) { - BMI088_accel_write_single_reg(write_BMI088_accel_reg_data_error[write_reg_num][0], write_BMI088_accel_reg_data_error[write_reg_num][1]); - HAL_Delay(1); + BMI088_accel_write_single_reg(BMI088_Accel_Init_Table[write_reg_num][0], BMI088_Accel_Init_Table[write_reg_num][1]); + DWT_Delay(0.001); - BMI088_accel_read_single_reg(write_BMI088_accel_reg_data_error[write_reg_num][0], res); - HAL_Delay(1); + BMI088_accel_read_single_reg(BMI088_Accel_Init_Table[write_reg_num][0], res); + DWT_Delay(0.001); - if (res != write_BMI088_accel_reg_data_error[write_reg_num][1]) + if (res != BMI088_Accel_Init_Table[write_reg_num][1]) { // write_reg_num--; - // return write_BMI088_accel_reg_data_error[write_reg_num][2]; - error |= write_BMI088_accel_reg_data_error[write_reg_num][2]; + // return BMI088_Accel_Init_Table[write_reg_num][2]; + error |= BMI088_Accel_Init_Table[write_reg_num][2]; } } return BMI088_NO_ERROR; @@ -277,18 +276,19 @@ uint8_t bmi088_gyro_init(void) { // check commiunication BMI088_gyro_read_single_reg(BMI088_GYRO_CHIP_ID, res); - HAL_Delay(1); + DWT_Delay(0.001); BMI088_gyro_read_single_reg(BMI088_GYRO_CHIP_ID, res); - HAL_Delay(1); + DWT_Delay(0.001); // reset the gyro sensor BMI088_gyro_write_single_reg(BMI088_GYRO_SOFTRESET, BMI088_GYRO_SOFTRESET_VALUE); - HAL_Delay(BMI088_LONG_DELAY_TIME); + // HAL_Delay(BMI088_LONG_DELAY_TIME); + DWT_Delay(0.08); // check commiunication is normal after reset BMI088_gyro_read_single_reg(BMI088_GYRO_CHIP_ID, res); - HAL_Delay(1); + DWT_Delay(0.001); BMI088_gyro_read_single_reg(BMI088_GYRO_CHIP_ID, res); - HAL_Delay(1); + DWT_Delay(0.001); // check the "who am I" if (res != BMI088_GYRO_CHIP_ID_VALUE) @@ -298,17 +298,17 @@ uint8_t bmi088_gyro_init(void) for (write_reg_num = 0; write_reg_num < BMI088_WRITE_GYRO_REG_NUM; write_reg_num++) { - BMI088_gyro_write_single_reg(write_BMI088_gyro_reg_data_error[write_reg_num][0], write_BMI088_gyro_reg_data_error[write_reg_num][1]); - HAL_Delay(1); + BMI088_gyro_write_single_reg(BMI088_Gyro_Init_Table[write_reg_num][0], BMI088_Gyro_Init_Table[write_reg_num][1]); + DWT_Delay(0.001); - BMI088_gyro_read_single_reg(write_BMI088_gyro_reg_data_error[write_reg_num][0], res); - HAL_Delay(1); + BMI088_gyro_read_single_reg(BMI088_Gyro_Init_Table[write_reg_num][0], res); + DWT_Delay(0.001); - if (res != write_BMI088_gyro_reg_data_error[write_reg_num][1]) + if (res != BMI088_Gyro_Init_Table[write_reg_num][1]) { write_reg_num--; - // return write_BMI088_gyro_reg_data_error[write_reg_num][2]; - error |= write_BMI088_accel_reg_data_error[write_reg_num][2]; + // return BMI088_Gyro_Init_Table[write_reg_num][2]; + error |= BMI088_Accel_Init_Table[write_reg_num][2]; } } diff --git a/modules/ist8310/ist8310.c b/modules/ist8310/ist8310.c index 653fd36..851416f 100644 --- a/modules/ist8310/ist8310.c +++ b/modules/ist8310/ist8310.c @@ -3,16 +3,18 @@ #include "memory.h" #include "stdlib.h" -static IST8310Instance *ist8310_instance = NULL; +// 一般这个模块只有一个实例,所以直接保存在这里,实际上不保存也可以,application可以自己保存 +static IST8310Instance *ist8310_instance = NULL; // 用于存储IST8310实例的指针 + +#define IST8310_WRITE_REG_NUM 4 // 方便阅读 +#define IST8310_DATA_REG 0x03 // ist8310的数据寄存器 +#define IST8310_WHO_AM_I 0x00 // ist8310 id 寄存器值 +#define IST8310_WHO_AM_I_VALUE 0x10 // 用于检测是否连接成功,读取ist8310的whoami会返回该值 // -------------------初始化写入数组,只使用一次,详见datasheet------------------------- // the first column:the registers of IST8310. 第一列:IST8310的寄存器 // the second column: the value to be writed to the registers.第二列:需要写入的寄存器值 // the third column: return error value.第三列:返回的错误码 -#define IST8310_WRITE_REG_NUM 4 -#define IST8310_DATA_REG 0x03 // 数据寄存器 -#define IST8310_WHO_AM_I 0x00 // ist8310 id 寄存器值 -#define IST8310_WHO_AM_I_VALUE 0x10 // ist8310 id 寄存器值,用于检测是否连接成功 static uint8_t ist8310_write_reg_data_error[IST8310_WRITE_REG_NUM][3] = { {0x0B, 0x08, 0x01}, // enalbe interrupt and low pin polarity.开启中断，并且设置低电平 {0x41, 0x09, 0x02}, // average 2 times.平均采样两次 @@ -27,64 +29,72 @@ static uint8_t ist8310_write_reg_data_error[IST8310_WRITE_REG_NUM][3] = { */ static void IST8310Decode(IICInstance *iic) { - static int16_t temp[3]; - static IST8310Instance *ist; - ist = (IST8310Instance *)(iic->id); + static int16_t temp[3]; // 用于存储解码后的数据 + static IST8310Instance *ist; // 用于存储IST8310实例的指针 + ist = (IST8310Instance *)(iic->id); // iic的id保存了IST8310实例的指针(父指针) - memcpy(temp, ist->iic_buffer, 6 * sizeof(uint8_t)); + memcpy(temp, ist->iic_buffer, 6 * sizeof(uint8_t)); // 不要强制转换,直接cpy for (uint8_t i = 0; i < 3; i++) - ist->mag[i] = (float)temp[i] * MAG_SEN; + ist->mag[i] = (float)temp[i] * MAG_SEN; // 乘以灵敏度转换成uT(微特斯拉) } -// EXTI中断回调函数,说明DRDY拉低.主机启动传输并在结束后调用IST8310Decode进行数据解析 -// 注意IICAccessMem是阻塞的 +/** + * @brief EXTI中断回调函数,说明DRDY拉低.主机启动传输并在结束后调用IST8310Decode进行数据解析 + * @note 注意IICAccessMem是阻塞的 + * + * @param gpio 发生中断的GPIO实例 + */ static void IST8310StartTransfer(GPIOInstance *gpio) { + // 先获取IST8310实例的指针(通过gpio实例的父指针id) IST8310Instance *ist_for_transfer = (IST8310Instance *)gpio->id; + // 中断说明ist已经准备好读取数据寄存器;6个字节,读取后会进入IST8310Decode函数 IICAccessMem(ist_for_transfer->iic, IST8310_DATA_REG, ist_for_transfer->iic_buffer, 6, IIC_READ_MEM); + // 传输完成后会进入IST8310Decode函数进行数据解析 IST8310Decode(ist_for_transfer->iic); } IST8310Instance *IST8310Init(IST8310_Init_Config_s *config) { - static const uint8_t sleepTime = 50; - uint8_t check_who_i_am = 0; + static const uint8_t sleepTime = 50; // 50ms,ist8310的复位时间 + uint8_t check_who_i_am = 0; // 用于检测ist8310是否连接成功 + // 这个变量只会用到一次,出了这个函数就没用了,所以不用分配空间,直接定义在栈上(因为多看一眼就会爆炸) - // 分配空间,清除flash + // 分配空间,清除flash防止已经填充的垃圾值 IST8310Instance *ist = (IST8310Instance *)malloc(sizeof(IST8310Instance)); memset(ist, 0, sizeof(IST8310Instance)); - // c语言赋值从右到左 + // c语言赋值从右到左,全部指向同一个地址(这些bspinstnace的父节点都是ist,即ist拥有这些instances) config->iic_config.id = config->gpio_conf_exti.id = config->gpio_conf_rst.id = ist; // 传入回调函数 config->iic_config.callback = IST8310Decode; config->gpio_conf_exti.gpio_model_callback = IST8310StartTransfer; - // 注册两个GPIO和IIC + // 分别注册两个GPIO和IIC ist->iic = IICRegister(&config->iic_config); ist->gpio_exti = GPIORegister(&config->gpio_conf_exti); ist->gpio_rst = GPIORegister(&config->gpio_conf_rst); - // 重置IST8310,需要HAL_Delay等待完成Reset + // 重置IST8310,需要HAL_Delay()等待传感器完成Reset GPIOReset(ist->gpio_rst); HAL_Delay(sleepTime); GPIOSet(ist->gpio_rst); HAL_Delay(sleepTime); - // 读取IST8310的ID,如果不是0x10,则返回错误 + // 读取IST8310的ID,如果不是0x10(whoami macro的值),则返回错误 IICAccessMem(ist->iic, IST8310_WHO_AM_I, &check_who_i_am, 1, IIC_READ_MEM); if (check_who_i_am != IST8310_WHO_AM_I_VALUE) return NULL; // while(1) - // 进行初始化配置写入并检查是否写入成功 + // 进行初始化配置写入并检查是否写入成功,这里用循环把最上面初始化数组的东西都写进去 for (uint8_t i = 0; i < IST8310_WRITE_REG_NUM; i++) - { // 写入配置 + { // 写入配置,写一句就读一下看看ist8310是否仍然在线 IICAccessMem(ist->iic, ist8310_write_reg_data_error[i][0], &ist8310_write_reg_data_error[i][1], 1, IIC_WRITE_MEM); IICAccessMem(ist->iic, ist8310_write_reg_data_error[i][0], &check_who_i_am, 1, IIC_READ_MEM); // 读回自身id if (check_who_i_am != ist8310_write_reg_data_error[i][1]) while (1) - ist8310_write_reg_data_error[i][2]; // 掉线/写入失败/未知错误,返回对应的错误码 + ist8310_write_reg_data_error[i][2]; // 掉线/写入失败/未知错误,会返回对应的错误码 } - ist8310_instance = ist; + ist8310_instance = ist; // 保存ist8310实例的指针 return ist; } diff --git a/modules/ist8310/ist8310.h b/modules/ist8310/ist8310.h index 64cf28d..30ab6b6 100644 --- a/modules/ist8310/ist8310.h +++ b/modules/ist8310/ist8310.h @@ -1,4 +1,4 @@ -#pragma once +#pragma once // 防止头文件重复包含,也可以用header guard #include "bsp_iic.h" #include "bsp_gpio.h" @@ -14,15 +14,16 @@ /** * @brief IST8310 实例定义 + * @attention 配置GPIO Pin的时候注意使用GPIO_PIN_x(1,2,3,...,这是一个宏),而不是1,2,3的整形! * */ typedef struct tempist8310 { - IICInstance *iic; // iic实例 - GPIOInstance* gpio_rst; // gpio实例,用于复位 - GPIOInstance* gpio_exti; // gpio实例,用于获取MAG_DRDY引脚状态,判断数据是否准备好(EXTI外部中断) - uint8_t iic_buffer[8]; // iic接收缓冲区 - float mag[3]; // 三轴磁力计数据,[x,y,z] + IICInstance *iic; // iic实例 + GPIOInstance *gpio_rst; // gpio实例,用于复位 + GPIOInstance *gpio_exti; // gpio实例,用于获取MAG_DRDY引脚状态,判断数据是否准备好(EXTI外部中断) + uint8_t iic_buffer[8]; // iic接收缓冲区 + float mag[3]; // 三轴磁力计数据,[x,y,z] void (*ist_module_callback)(IICInstance *); // 模块回调函数 // 后续有需要再添加 @@ -31,22 +32,19 @@ typedef struct tempist8310 /** * @brief IST8310 初始化配置结构体 + * @attention 配置GPIO Pin的时候注意使用GPIO_PIN_x(1,2,3,...,这是一个宏),而不是1,2,3的整形! * */ typedef struct { - IIC_Init_Config_s iic_config; // iic初始化配置 - GPIO_Init_Config_s gpio_conf_rst; // gpio初始化配置,用于复位 + IIC_Init_Config_s iic_config; // iic初始化配置 + GPIO_Init_Config_s gpio_conf_rst; // gpio初始化配置,用于复位ist8310,看数据手册 GPIO_Init_Config_s gpio_conf_exti; // gpio初始化配置,用于获取MAG_DRDY引脚状态,判断数据是否准备好(EXTI外部中断) } IST8310_Init_Config_s; /** * @brief IST8310 初始化. - * @note 一条i2c总线只能挂载一个IST8310 + * @note 注意一条i2c总线只能挂载一个IST8310,他们的地址是固定的,不能改变. * */ IST8310Instance *IST8310Init(IST8310_Init_Config_s *config); - -void rest(int aa); - -int nit(int bb); diff --git a/必须做&禁止做.md b/必须做&禁止做.md new file mode 100644 index 0000000..ba8458a --- /dev/null +++ b/必须做&禁止做.md @@ -0,0 +1,3 @@ +# 禁止在临界区使用延时，这会导致因中断关闭定时器无法进入中断更新时间，进而卡死系统 + +# 禁止摸鱼