From a3631a5ca551b54b1e65255d95756d34cdbbef29 Mon Sep 17 00:00:00 2001 From: NeoZng Date: Fri, 30 Dec 2022 23:39:04 +0800 Subject: [PATCH] =?UTF-8?q?=E9=87=8D=E6=9E=84bsp=E5=B1=82=EF=BC=8Cbsp?= =?UTF-8?q?=E5=B1=82=E5=B0=86=E5=92=8CHAL=E7=9A=84=E9=85=8D=E7=BD=AE?= =?UTF-8?q?=E4=B8=80=E8=87=B4=EF=BC=8C=E4=BF=AE=E6=94=B9CubeMX=E4=B9=8B?= =?UTF-8?q?=E5=90=8E=E4=B8=8D=E9=9C=80=E8=A6=81=E4=BF=AE=E6=94=B9bsp?= =?UTF-8?q?=E3=80=82=E9=87=8D=E6=9E=84bmi088=E3=80=82?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Makefile | 24 +- basic_framework.ioc | 427 +++++++++++++++++------------- bsp/{bsp_iic.md => adc/bsp_adc.c} | 0 bsp/{bsp_pwm.c => adc/bsp_adc.h} | 0 bsp/{bsp_pwm.h => adc/bsp_adc.md} | 0 bsp/bsp_iic.c | 4 - bsp/bsp_iic.h | 11 - bsp/{ => can}/bsp_can.c | 31 ++- bsp/{ => can}/bsp_can.h | 6 +- bsp/{ => can}/bsp_can.md | 0 bsp/dac/bsp_dac.c | 0 bsp/dac/bsp_dac.h | 0 bsp/dac/bsp_dac.md | 0 bsp/{ => dwt}/bsp_dwt.c | 0 bsp/{ => dwt}/bsp_dwt.h | 0 bsp/dwt/bsp_dwt.md | 0 bsp/gpio/bsp_gpio.c | 0 bsp/gpio/bsp_gpio.h | 0 bsp/gpio/bsp_gpio.md | 0 bsp/iic/bsp_iic.c | 145 ++++++++++ bsp/iic/bsp_iic.h | 105 ++++++++ bsp/iic/bsp_iic.md | 0 bsp/{ => log}/bsp_log.c | 0 bsp/{ => log}/bsp_log.h | 0 bsp/{ => log}/bsp_log.md | 0 bsp/pwm/bsp_pwm.c | 0 bsp/pwm/bsp_pwm.h | 0 bsp/{ => spi}/bsp_spi.c | 44 +-- bsp/{ => spi}/bsp_spi.h | 21 +- bsp/{ => usart}/bsp_usart.c | 0 bsp/{ => usart}/bsp_usart.h | 0 bsp/{ => usart}/bsp_usart.md | 0 modules/BMI088/bmi088.c | 5 + modules/BMI088/bmi088.h | 17 ++ modules/BMI088/bmi088_regNdef.h | 234 ++++++++++++++++ modules/imu/BMI088driver.c | 1 - modules/motor/motor_def.h | 2 +- modules/motor/motor_task.c | 13 + modules/motor/motor_task.h | 8 +- 39 files changed, 842 insertions(+), 256 deletions(-) rename bsp/{bsp_iic.md => adc/bsp_adc.c} (100%) rename bsp/{bsp_pwm.c => adc/bsp_adc.h} (100%) rename bsp/{bsp_pwm.h => adc/bsp_adc.md} (100%) delete mode 100644 bsp/bsp_iic.c delete mode 100644 bsp/bsp_iic.h rename bsp/{ => can}/bsp_can.c (87%) rename bsp/{ => can}/bsp_can.h (90%) rename bsp/{ => can}/bsp_can.md (100%) create mode 100644 bsp/dac/bsp_dac.c create mode 100644 bsp/dac/bsp_dac.h create mode 100644 bsp/dac/bsp_dac.md rename bsp/{ => dwt}/bsp_dwt.c (100%) rename bsp/{ => dwt}/bsp_dwt.h (100%) create mode 100644 bsp/dwt/bsp_dwt.md create mode 100644 bsp/gpio/bsp_gpio.c create mode 100644 bsp/gpio/bsp_gpio.h create mode 100644 bsp/gpio/bsp_gpio.md create mode 100644 bsp/iic/bsp_iic.c create mode 100644 bsp/iic/bsp_iic.h create mode 100644 bsp/iic/bsp_iic.md rename bsp/{ => log}/bsp_log.c (100%) rename bsp/{ => log}/bsp_log.h (100%) rename bsp/{ => log}/bsp_log.md (100%) create mode 100644 bsp/pwm/bsp_pwm.c create mode 100644 bsp/pwm/bsp_pwm.h rename bsp/{ => spi}/bsp_spi.c (77%) rename bsp/{ => spi}/bsp_spi.h (70%) rename bsp/{ => usart}/bsp_usart.c (100%) rename bsp/{ => usart}/bsp_usart.h (100%) rename bsp/{ => usart}/bsp_usart.md (100%) create mode 100644 modules/BMI088/bmi088.c create mode 100644 modules/BMI088/bmi088.h create mode 100644 modules/BMI088/bmi088_regNdef.h diff --git a/Makefile b/Makefile index 4f243aa..de76c51 100644 --- a/Makefile +++ b/Makefile @@ -101,23 +101,25 @@ HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_ HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c \ HAL_N_Middlewares/Middlewares/Third_Party/SEGGER/RTT/SEGGER_RTT_printf.c \ HAL_N_Middlewares/Middlewares/Third_Party/SEGGER/RTT/SEGGER_RTT.c \ -bsp/bsp_dwt.c \ -bsp/bsp_pwm.c \ +bsp/dwt/bsp_dwt.c \ +bsp/pwm/bsp_pwm.c \ bsp/bsp_temperature.c \ bsp/bsp_led.c \ -bsp/bsp_spi.c \ -bsp/bsp_iic.c \ -bsp/bsp_can.c \ +bsp/spi/bsp_spi.c \ +bsp/iic/bsp_iic.c \ +bsp/can/bsp_can.c \ bsp/bsp_buzzer.c \ -bsp/bsp_usart.c \ -bsp/bsp_log.c \ +bsp/usart/bsp_usart.c \ +bsp/log/bsp_log.c \ bsp/bsp_init.c \ +bsp/gpio/bsp_gpio.c \ modules/algorithm/controller.c \ modules/algorithm/kalman_filter.c \ modules/algorithm/QuaternionEKF.c \ modules/algorithm/crc8.c \ modules/algorithm/crc16.c \ modules/algorithm/user_lib.c \ +modules/BMI088/bmi088.c \ modules/imu/BMI088driver.c \ modules/imu/BMI088Middleware.c \ modules/imu/ins_task.c \ @@ -225,6 +227,14 @@ C_INCLUDES = \ -Iapplication/gimbal \ -Iapplication/cmd \ -Iapplication \ +-Ibsp/dwt \ +-Ibsp/can \ +-Ibsp/gpio \ +-Ibsp/usart \ +-Ibsp/spi \ +-Ibsp/iic \ +-Ibsp/log \ +-Ibsp/pwm \ -Ibsp \ -Imodules/algorithm \ -Imodules/imu \ diff --git a/basic_framework.ioc b/basic_framework.ioc index 1bd1e36..e963cd2 100644 --- a/basic_framework.ioc +++ b/basic_framework.ioc @@ -21,135 +21,171 @@ CAN2.CalculateBaudRate=1000000 CAN2.CalculateTimeQuantum=71.42857142857143 CAN2.IPParameters=CalculateTimeQuantum,BS1,BS2,Prescaler,CalculateBaudRate CAN2.Prescaler=3 -Dma.MEMTOMEM.5.Direction=DMA_MEMORY_TO_MEMORY -Dma.MEMTOMEM.5.FIFOMode=DMA_FIFOMODE_ENABLE -Dma.MEMTOMEM.5.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL -Dma.MEMTOMEM.5.Instance=DMA2_Stream3 -Dma.MEMTOMEM.5.MemBurst=DMA_MBURST_SINGLE -Dma.MEMTOMEM.5.MemDataAlignment=DMA_MDATAALIGN_BYTE -Dma.MEMTOMEM.5.MemInc=DMA_MINC_ENABLE -Dma.MEMTOMEM.5.Mode=DMA_NORMAL -Dma.MEMTOMEM.5.PeriphBurst=DMA_PBURST_SINGLE -Dma.MEMTOMEM.5.PeriphDataAlignment=DMA_PDATAALIGN_BYTE -Dma.MEMTOMEM.5.PeriphInc=DMA_PINC_ENABLE -Dma.MEMTOMEM.5.Priority=DMA_PRIORITY_HIGH -Dma.MEMTOMEM.5.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst -Dma.Request0=USART3_RX -Dma.Request1=USART6_RX -Dma.Request2=USART6_TX -Dma.Request3=USART1_TX -Dma.Request4=USART1_RX -Dma.Request5=MEMTOMEM -Dma.Request6=SPI1_RX -Dma.Request7=SPI1_TX -Dma.Request8=SPI2_RX -Dma.Request9=SPI2_TX -Dma.RequestsNb=10 -Dma.SPI1_RX.6.Direction=DMA_PERIPH_TO_MEMORY -Dma.SPI1_RX.6.FIFOMode=DMA_FIFOMODE_ENABLE -Dma.SPI1_RX.6.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL -Dma.SPI1_RX.6.Instance=DMA2_Stream0 -Dma.SPI1_RX.6.MemBurst=DMA_MBURST_SINGLE -Dma.SPI1_RX.6.MemDataAlignment=DMA_MDATAALIGN_BYTE -Dma.SPI1_RX.6.MemInc=DMA_MINC_ENABLE -Dma.SPI1_RX.6.Mode=DMA_NORMAL -Dma.SPI1_RX.6.PeriphBurst=DMA_PBURST_SINGLE -Dma.SPI1_RX.6.PeriphDataAlignment=DMA_PDATAALIGN_BYTE -Dma.SPI1_RX.6.PeriphInc=DMA_PINC_DISABLE -Dma.SPI1_RX.6.Priority=DMA_PRIORITY_LOW -Dma.SPI1_RX.6.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst -Dma.SPI1_TX.7.Direction=DMA_MEMORY_TO_PERIPH -Dma.SPI1_TX.7.FIFOMode=DMA_FIFOMODE_ENABLE -Dma.SPI1_TX.7.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL -Dma.SPI1_TX.7.Instance=DMA2_Stream5 -Dma.SPI1_TX.7.MemBurst=DMA_MBURST_SINGLE -Dma.SPI1_TX.7.MemDataAlignment=DMA_MDATAALIGN_BYTE -Dma.SPI1_TX.7.MemInc=DMA_MINC_ENABLE -Dma.SPI1_TX.7.Mode=DMA_NORMAL -Dma.SPI1_TX.7.PeriphBurst=DMA_PBURST_SINGLE -Dma.SPI1_TX.7.PeriphDataAlignment=DMA_PDATAALIGN_BYTE -Dma.SPI1_TX.7.PeriphInc=DMA_PINC_DISABLE -Dma.SPI1_TX.7.Priority=DMA_PRIORITY_LOW -Dma.SPI1_TX.7.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst -Dma.SPI2_RX.8.Direction=DMA_PERIPH_TO_MEMORY -Dma.SPI2_RX.8.FIFOMode=DMA_FIFOMODE_ENABLE -Dma.SPI2_RX.8.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL -Dma.SPI2_RX.8.Instance=DMA1_Stream3 -Dma.SPI2_RX.8.MemBurst=DMA_MBURST_SINGLE -Dma.SPI2_RX.8.MemDataAlignment=DMA_MDATAALIGN_BYTE -Dma.SPI2_RX.8.MemInc=DMA_MINC_ENABLE -Dma.SPI2_RX.8.Mode=DMA_NORMAL -Dma.SPI2_RX.8.PeriphBurst=DMA_PBURST_SINGLE -Dma.SPI2_RX.8.PeriphDataAlignment=DMA_PDATAALIGN_BYTE -Dma.SPI2_RX.8.PeriphInc=DMA_PINC_DISABLE -Dma.SPI2_RX.8.Priority=DMA_PRIORITY_LOW -Dma.SPI2_RX.8.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst -Dma.SPI2_TX.9.Direction=DMA_MEMORY_TO_PERIPH -Dma.SPI2_TX.9.FIFOMode=DMA_FIFOMODE_ENABLE -Dma.SPI2_TX.9.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL -Dma.SPI2_TX.9.Instance=DMA1_Stream4 -Dma.SPI2_TX.9.MemBurst=DMA_MBURST_SINGLE -Dma.SPI2_TX.9.MemDataAlignment=DMA_MDATAALIGN_BYTE -Dma.SPI2_TX.9.MemInc=DMA_MINC_ENABLE -Dma.SPI2_TX.9.Mode=DMA_NORMAL -Dma.SPI2_TX.9.PeriphBurst=DMA_PBURST_SINGLE -Dma.SPI2_TX.9.PeriphDataAlignment=DMA_PDATAALIGN_BYTE -Dma.SPI2_TX.9.PeriphInc=DMA_PINC_DISABLE -Dma.SPI2_TX.9.Priority=DMA_PRIORITY_LOW -Dma.SPI2_TX.9.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst -Dma.USART1_RX.4.Direction=DMA_PERIPH_TO_MEMORY -Dma.USART1_RX.4.FIFOMode=DMA_FIFOMODE_DISABLE -Dma.USART1_RX.4.Instance=DMA2_Stream2 -Dma.USART1_RX.4.MemDataAlignment=DMA_MDATAALIGN_BYTE -Dma.USART1_RX.4.MemInc=DMA_MINC_ENABLE -Dma.USART1_RX.4.Mode=DMA_NORMAL -Dma.USART1_RX.4.PeriphDataAlignment=DMA_PDATAALIGN_BYTE -Dma.USART1_RX.4.PeriphInc=DMA_PINC_DISABLE -Dma.USART1_RX.4.Priority=DMA_PRIORITY_VERY_HIGH -Dma.USART1_RX.4.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode -Dma.USART1_TX.3.Direction=DMA_MEMORY_TO_PERIPH -Dma.USART1_TX.3.FIFOMode=DMA_FIFOMODE_DISABLE -Dma.USART1_TX.3.Instance=DMA2_Stream7 -Dma.USART1_TX.3.MemDataAlignment=DMA_MDATAALIGN_BYTE -Dma.USART1_TX.3.MemInc=DMA_MINC_ENABLE -Dma.USART1_TX.3.Mode=DMA_NORMAL -Dma.USART1_TX.3.PeriphDataAlignment=DMA_PDATAALIGN_BYTE -Dma.USART1_TX.3.PeriphInc=DMA_PINC_DISABLE -Dma.USART1_TX.3.Priority=DMA_PRIORITY_VERY_HIGH -Dma.USART1_TX.3.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode -Dma.USART3_RX.0.Direction=DMA_PERIPH_TO_MEMORY -Dma.USART3_RX.0.FIFOMode=DMA_FIFOMODE_DISABLE -Dma.USART3_RX.0.Instance=DMA1_Stream1 -Dma.USART3_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE -Dma.USART3_RX.0.MemInc=DMA_MINC_ENABLE -Dma.USART3_RX.0.Mode=DMA_NORMAL -Dma.USART3_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE -Dma.USART3_RX.0.PeriphInc=DMA_PINC_DISABLE -Dma.USART3_RX.0.Priority=DMA_PRIORITY_VERY_HIGH -Dma.USART3_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode -Dma.USART6_RX.1.Direction=DMA_PERIPH_TO_MEMORY -Dma.USART6_RX.1.FIFOMode=DMA_FIFOMODE_DISABLE -Dma.USART6_RX.1.Instance=DMA2_Stream1 -Dma.USART6_RX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE -Dma.USART6_RX.1.MemInc=DMA_MINC_ENABLE -Dma.USART6_RX.1.Mode=DMA_NORMAL -Dma.USART6_RX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE -Dma.USART6_RX.1.PeriphInc=DMA_PINC_DISABLE -Dma.USART6_RX.1.Priority=DMA_PRIORITY_HIGH -Dma.USART6_RX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode -Dma.USART6_TX.2.Direction=DMA_MEMORY_TO_PERIPH -Dma.USART6_TX.2.FIFOMode=DMA_FIFOMODE_DISABLE -Dma.USART6_TX.2.Instance=DMA2_Stream6 -Dma.USART6_TX.2.MemDataAlignment=DMA_MDATAALIGN_BYTE -Dma.USART6_TX.2.MemInc=DMA_MINC_ENABLE -Dma.USART6_TX.2.Mode=DMA_NORMAL -Dma.USART6_TX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE -Dma.USART6_TX.2.PeriphInc=DMA_PINC_DISABLE -Dma.USART6_TX.2.Priority=DMA_PRIORITY_HIGH -Dma.USART6_TX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode -FREERTOS.IPParameters=Tasks01,configENABLE_FPU +Dma.ADC1.12.Direction=DMA_PERIPH_TO_MEMORY +Dma.ADC1.12.FIFOMode=DMA_FIFOMODE_DISABLE +Dma.ADC1.12.Instance=DMA2_Stream4 +Dma.ADC1.12.MemDataAlignment=DMA_MDATAALIGN_HALFWORD +Dma.ADC1.12.MemInc=DMA_MINC_ENABLE +Dma.ADC1.12.Mode=DMA_NORMAL +Dma.ADC1.12.PeriphDataAlignment=DMA_PDATAALIGN_HALFWORD +Dma.ADC1.12.PeriphInc=DMA_PINC_DISABLE +Dma.ADC1.12.Priority=DMA_PRIORITY_LOW +Dma.ADC1.12.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode +Dma.I2C2_RX.8.Direction=DMA_PERIPH_TO_MEMORY +Dma.I2C2_RX.8.FIFOMode=DMA_FIFOMODE_DISABLE +Dma.I2C2_RX.8.Instance=DMA1_Stream2 +Dma.I2C2_RX.8.MemDataAlignment=DMA_MDATAALIGN_BYTE +Dma.I2C2_RX.8.MemInc=DMA_MINC_ENABLE +Dma.I2C2_RX.8.Mode=DMA_NORMAL +Dma.I2C2_RX.8.PeriphDataAlignment=DMA_PDATAALIGN_BYTE +Dma.I2C2_RX.8.PeriphInc=DMA_PINC_DISABLE +Dma.I2C2_RX.8.Priority=DMA_PRIORITY_LOW +Dma.I2C2_RX.8.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode +Dma.I2C2_TX.9.Direction=DMA_MEMORY_TO_PERIPH +Dma.I2C2_TX.9.FIFOMode=DMA_FIFOMODE_DISABLE +Dma.I2C2_TX.9.Instance=DMA1_Stream7 +Dma.I2C2_TX.9.MemDataAlignment=DMA_MDATAALIGN_BYTE +Dma.I2C2_TX.9.MemInc=DMA_MINC_ENABLE +Dma.I2C2_TX.9.Mode=DMA_NORMAL +Dma.I2C2_TX.9.PeriphDataAlignment=DMA_PDATAALIGN_BYTE +Dma.I2C2_TX.9.PeriphInc=DMA_PINC_DISABLE +Dma.I2C2_TX.9.Priority=DMA_PRIORITY_LOW +Dma.I2C2_TX.9.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode +Dma.MEMTOMEM.11.Direction=DMA_MEMORY_TO_MEMORY +Dma.MEMTOMEM.11.FIFOMode=DMA_FIFOMODE_ENABLE +Dma.MEMTOMEM.11.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL +Dma.MEMTOMEM.11.Instance=DMA2_Stream5 +Dma.MEMTOMEM.11.MemBurst=DMA_MBURST_SINGLE +Dma.MEMTOMEM.11.MemDataAlignment=DMA_MDATAALIGN_BYTE +Dma.MEMTOMEM.11.MemInc=DMA_MINC_ENABLE +Dma.MEMTOMEM.11.Mode=DMA_NORMAL +Dma.MEMTOMEM.11.PeriphBurst=DMA_PBURST_SINGLE +Dma.MEMTOMEM.11.PeriphDataAlignment=DMA_PDATAALIGN_BYTE +Dma.MEMTOMEM.11.PeriphInc=DMA_PINC_ENABLE +Dma.MEMTOMEM.11.Priority=DMA_PRIORITY_LOW +Dma.MEMTOMEM.11.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst +Dma.Request0=USART6_RX +Dma.Request1=USART6_TX +Dma.Request10=USART3_RX +Dma.Request11=MEMTOMEM +Dma.Request12=ADC1 +Dma.Request2=USART1_TX +Dma.Request3=USART1_RX +Dma.Request4=SPI1_RX +Dma.Request5=SPI1_TX +Dma.Request6=SPI2_RX +Dma.Request7=SPI2_TX +Dma.Request8=I2C2_RX +Dma.Request9=I2C2_TX +Dma.RequestsNb=13 +Dma.SPI1_RX.4.Direction=DMA_PERIPH_TO_MEMORY +Dma.SPI1_RX.4.FIFOMode=DMA_FIFOMODE_ENABLE +Dma.SPI1_RX.4.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL +Dma.SPI1_RX.4.Instance=DMA2_Stream0 +Dma.SPI1_RX.4.MemBurst=DMA_MBURST_SINGLE +Dma.SPI1_RX.4.MemDataAlignment=DMA_MDATAALIGN_BYTE +Dma.SPI1_RX.4.MemInc=DMA_MINC_ENABLE +Dma.SPI1_RX.4.Mode=DMA_NORMAL +Dma.SPI1_RX.4.PeriphBurst=DMA_PBURST_SINGLE +Dma.SPI1_RX.4.PeriphDataAlignment=DMA_PDATAALIGN_BYTE +Dma.SPI1_RX.4.PeriphInc=DMA_PINC_DISABLE +Dma.SPI1_RX.4.Priority=DMA_PRIORITY_LOW +Dma.SPI1_RX.4.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst +Dma.SPI1_TX.5.Direction=DMA_MEMORY_TO_PERIPH +Dma.SPI1_TX.5.FIFOMode=DMA_FIFOMODE_ENABLE +Dma.SPI1_TX.5.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL +Dma.SPI1_TX.5.Instance=DMA2_Stream3 +Dma.SPI1_TX.5.MemBurst=DMA_MBURST_SINGLE +Dma.SPI1_TX.5.MemDataAlignment=DMA_MDATAALIGN_BYTE +Dma.SPI1_TX.5.MemInc=DMA_MINC_ENABLE +Dma.SPI1_TX.5.Mode=DMA_NORMAL +Dma.SPI1_TX.5.PeriphBurst=DMA_PBURST_SINGLE +Dma.SPI1_TX.5.PeriphDataAlignment=DMA_PDATAALIGN_BYTE +Dma.SPI1_TX.5.PeriphInc=DMA_PINC_DISABLE +Dma.SPI1_TX.5.Priority=DMA_PRIORITY_LOW +Dma.SPI1_TX.5.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst +Dma.SPI2_RX.6.Direction=DMA_PERIPH_TO_MEMORY +Dma.SPI2_RX.6.FIFOMode=DMA_FIFOMODE_ENABLE +Dma.SPI2_RX.6.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL +Dma.SPI2_RX.6.Instance=DMA1_Stream3 +Dma.SPI2_RX.6.MemBurst=DMA_MBURST_SINGLE +Dma.SPI2_RX.6.MemDataAlignment=DMA_MDATAALIGN_BYTE +Dma.SPI2_RX.6.MemInc=DMA_MINC_ENABLE +Dma.SPI2_RX.6.Mode=DMA_NORMAL +Dma.SPI2_RX.6.PeriphBurst=DMA_PBURST_SINGLE +Dma.SPI2_RX.6.PeriphDataAlignment=DMA_PDATAALIGN_BYTE +Dma.SPI2_RX.6.PeriphInc=DMA_PINC_DISABLE +Dma.SPI2_RX.6.Priority=DMA_PRIORITY_LOW +Dma.SPI2_RX.6.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst +Dma.SPI2_TX.7.Direction=DMA_MEMORY_TO_PERIPH +Dma.SPI2_TX.7.FIFOMode=DMA_FIFOMODE_ENABLE +Dma.SPI2_TX.7.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL +Dma.SPI2_TX.7.Instance=DMA1_Stream4 +Dma.SPI2_TX.7.MemBurst=DMA_MBURST_SINGLE +Dma.SPI2_TX.7.MemDataAlignment=DMA_MDATAALIGN_BYTE +Dma.SPI2_TX.7.MemInc=DMA_MINC_ENABLE +Dma.SPI2_TX.7.Mode=DMA_NORMAL +Dma.SPI2_TX.7.PeriphBurst=DMA_PBURST_SINGLE +Dma.SPI2_TX.7.PeriphDataAlignment=DMA_PDATAALIGN_BYTE +Dma.SPI2_TX.7.PeriphInc=DMA_PINC_DISABLE +Dma.SPI2_TX.7.Priority=DMA_PRIORITY_LOW +Dma.SPI2_TX.7.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst +Dma.USART1_RX.3.Direction=DMA_PERIPH_TO_MEMORY +Dma.USART1_RX.3.FIFOMode=DMA_FIFOMODE_DISABLE +Dma.USART1_RX.3.Instance=DMA2_Stream2 +Dma.USART1_RX.3.MemDataAlignment=DMA_MDATAALIGN_BYTE +Dma.USART1_RX.3.MemInc=DMA_MINC_ENABLE +Dma.USART1_RX.3.Mode=DMA_NORMAL +Dma.USART1_RX.3.PeriphDataAlignment=DMA_PDATAALIGN_BYTE +Dma.USART1_RX.3.PeriphInc=DMA_PINC_DISABLE +Dma.USART1_RX.3.Priority=DMA_PRIORITY_VERY_HIGH +Dma.USART1_RX.3.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode +Dma.USART1_TX.2.Direction=DMA_MEMORY_TO_PERIPH +Dma.USART1_TX.2.FIFOMode=DMA_FIFOMODE_DISABLE +Dma.USART1_TX.2.Instance=DMA2_Stream7 +Dma.USART1_TX.2.MemDataAlignment=DMA_MDATAALIGN_BYTE +Dma.USART1_TX.2.MemInc=DMA_MINC_ENABLE +Dma.USART1_TX.2.Mode=DMA_NORMAL +Dma.USART1_TX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE +Dma.USART1_TX.2.PeriphInc=DMA_PINC_DISABLE +Dma.USART1_TX.2.Priority=DMA_PRIORITY_VERY_HIGH +Dma.USART1_TX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode +Dma.USART3_RX.10.Direction=DMA_PERIPH_TO_MEMORY +Dma.USART3_RX.10.FIFOMode=DMA_FIFOMODE_DISABLE +Dma.USART3_RX.10.Instance=DMA1_Stream1 +Dma.USART3_RX.10.MemDataAlignment=DMA_MDATAALIGN_BYTE +Dma.USART3_RX.10.MemInc=DMA_MINC_ENABLE +Dma.USART3_RX.10.Mode=DMA_NORMAL +Dma.USART3_RX.10.PeriphDataAlignment=DMA_PDATAALIGN_BYTE +Dma.USART3_RX.10.PeriphInc=DMA_PINC_DISABLE +Dma.USART3_RX.10.Priority=DMA_PRIORITY_LOW +Dma.USART3_RX.10.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode +Dma.USART6_RX.0.Direction=DMA_PERIPH_TO_MEMORY +Dma.USART6_RX.0.FIFOMode=DMA_FIFOMODE_DISABLE +Dma.USART6_RX.0.Instance=DMA2_Stream1 +Dma.USART6_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE +Dma.USART6_RX.0.MemInc=DMA_MINC_ENABLE +Dma.USART6_RX.0.Mode=DMA_NORMAL +Dma.USART6_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE +Dma.USART6_RX.0.PeriphInc=DMA_PINC_DISABLE +Dma.USART6_RX.0.Priority=DMA_PRIORITY_HIGH +Dma.USART6_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode +Dma.USART6_TX.1.Direction=DMA_MEMORY_TO_PERIPH +Dma.USART6_TX.1.FIFOMode=DMA_FIFOMODE_DISABLE +Dma.USART6_TX.1.Instance=DMA2_Stream6 +Dma.USART6_TX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE +Dma.USART6_TX.1.MemInc=DMA_MINC_ENABLE +Dma.USART6_TX.1.Mode=DMA_NORMAL +Dma.USART6_TX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE +Dma.USART6_TX.1.PeriphInc=DMA_PINC_DISABLE +Dma.USART6_TX.1.Priority=DMA_PRIORITY_HIGH +Dma.USART6_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode +FREERTOS.IPParameters=Tasks01,configENABLE_FPU,configMAX_TASK_NAME_LEN,configUSE_TIMERS,configUSE_POSIX_ERRNO FREERTOS.Tasks01=defaultTask,0,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL FREERTOS.configENABLE_FPU=1 +FREERTOS.configMAX_TASK_NAME_LEN=32 +FREERTOS.configUSE_POSIX_ERRNO=0 +FREERTOS.configUSE_TIMERS=0 File.Version=6 GPIO.groupedBy=Group By Peripherals I2C2.I2C_Mode=I2C_Fast @@ -161,29 +197,31 @@ Mcu.CPN=STM32F407IGH6 Mcu.Family=STM32F4 Mcu.IP0=ADC1 Mcu.IP1=CAN1 -Mcu.IP10=RTC -Mcu.IP11=SPI1 -Mcu.IP12=SPI2 -Mcu.IP13=SYS -Mcu.IP14=TIM1 -Mcu.IP15=TIM4 -Mcu.IP16=TIM5 -Mcu.IP17=TIM8 -Mcu.IP18=TIM10 -Mcu.IP19=USART1 +Mcu.IP10=RCC +Mcu.IP11=RNG +Mcu.IP12=RTC +Mcu.IP13=SPI1 +Mcu.IP14=SPI2 +Mcu.IP15=SYS +Mcu.IP16=TIM1 +Mcu.IP17=TIM4 +Mcu.IP18=TIM5 +Mcu.IP19=TIM8 Mcu.IP2=CAN2 -Mcu.IP20=USART3 -Mcu.IP21=USART6 -Mcu.IP22=USB_DEVICE -Mcu.IP23=USB_OTG_FS -Mcu.IP3=DMA -Mcu.IP4=FREERTOS -Mcu.IP5=I2C2 -Mcu.IP6=I2C3 -Mcu.IP7=NVIC -Mcu.IP8=RCC -Mcu.IP9=RNG -Mcu.IPNb=24 +Mcu.IP20=TIM10 +Mcu.IP21=USART1 +Mcu.IP22=USART3 +Mcu.IP23=USART6 +Mcu.IP24=USB_DEVICE +Mcu.IP25=USB_OTG_FS +Mcu.IP3=CRC +Mcu.IP4=DAC +Mcu.IP5=DMA +Mcu.IP6=FREERTOS +Mcu.IP7=I2C2 +Mcu.IP8=I2C3 +Mcu.IP9=NVIC +Mcu.IPNb=26 Mcu.Name=STM32F407I(E-G)Hx Mcu.Package=UFBGA176 Mcu.Pin0=PB8 @@ -214,35 +252,39 @@ Mcu.Pin30=PH10 Mcu.Pin31=PD14 Mcu.Pin32=PA0-WKUP Mcu.Pin33=PA4 -Mcu.Pin34=PE13 -Mcu.Pin35=PE9 -Mcu.Pin36=PE11 -Mcu.Pin37=PE14 -Mcu.Pin38=PB13 -Mcu.Pin39=PA7 +Mcu.Pin34=PC4 +Mcu.Pin35=PE13 +Mcu.Pin36=PA5 +Mcu.Pin37=PC5 +Mcu.Pin38=PE9 +Mcu.Pin39=PE11 Mcu.Pin4=PB3 -Mcu.Pin40=PB0 -Mcu.Pin41=PB14 -Mcu.Pin42=PB15 -Mcu.Pin43=VP_ADC1_TempSens_Input -Mcu.Pin44=VP_ADC1_Vref_Input -Mcu.Pin45=VP_FREERTOS_VS_CMSIS_V1 -Mcu.Pin46=VP_RNG_VS_RNG -Mcu.Pin47=VP_RTC_VS_RTC_Activate -Mcu.Pin48=VP_SYS_VS_Systick -Mcu.Pin49=VP_TIM1_VS_ClockSourceINT +Mcu.Pin40=PE14 +Mcu.Pin41=PB13 +Mcu.Pin42=PA7 +Mcu.Pin43=PB0 +Mcu.Pin44=PB14 +Mcu.Pin45=PB15 +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.Pin50=VP_TIM4_VS_ClockSourceINT -Mcu.Pin51=VP_TIM5_VS_ClockSourceINT -Mcu.Pin52=VP_TIM8_VS_ClockSourceINT -Mcu.Pin53=VP_TIM10_VS_ClockSourceINT -Mcu.Pin54=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS -Mcu.Pin55=VP_STMicroelectronics.X-CUBE-ALGOBUILD_VS_DSPOoLibraryJjLibrary_1.3.0_1.3.0 +Mcu.Pin50=VP_RNG_VS_RNG +Mcu.Pin51=VP_RTC_VS_RTC_Activate +Mcu.Pin52=VP_SYS_VS_Systick +Mcu.Pin53=VP_TIM1_VS_ClockSourceINT +Mcu.Pin54=VP_TIM4_VS_ClockSourceINT +Mcu.Pin55=VP_TIM5_VS_ClockSourceINT +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.PinsNb=56 +Mcu.PinsNb=60 Mcu.ThirdParty0=STMicroelectronics.X-CUBE-ALGOBUILD.1.3.0 Mcu.ThirdPartyNb=1 Mcu.UserConstants= @@ -254,18 +296,26 @@ NVIC.CAN1_RX0_IRQn=true\:6\:0\:true\:false\:true\:true\:true\:true\:true NVIC.CAN1_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.CAN2_RX0_IRQn=true\:6\:0\:true\:false\:true\:true\:true\:true\:true NVIC.CAN2_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true -NVIC.DMA1_Stream1_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true +NVIC.DMA1_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true +NVIC.DMA1_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true NVIC.DMA1_Stream3_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true NVIC.DMA1_Stream4_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true +NVIC.DMA1_Stream7_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true NVIC.DMA2_Stream0_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true -NVIC.DMA2_Stream1_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true +NVIC.DMA2_Stream1_IRQn=true\:5\:0\:false\:false\:true\:false\: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\:false\: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\: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 NVIC.ForceEnableDMAVector=true NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false +NVIC.I2C2_ER_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.I2C2_EV_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.I2C3_ER_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.I2C3_EV_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false NVIC.OTG_FS_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true @@ -302,6 +352,7 @@ PA4.GPIO_Speed=GPIO_SPEED_FREQ_HIGH PA4.Locked=true PA4.PinState=GPIO_PIN_SET PA4.Signal=GPIO_Output +PA5.Signal=COMP_DAC2_group PA7.GPIOParameters=GPIO_PuPd PA7.GPIO_PuPd=GPIO_PULLUP PA7.Locked=true @@ -359,6 +410,16 @@ PC10.Signal=USART3_TX PC11.Locked=true PC11.Mode=Asynchronous PC11.Signal=USART3_RX +PC4.GPIOParameters=GPIO_Label,GPIO_ModeDefaultEXTI +PC4.GPIO_Label=INT_ACCEL +PC4.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_FALLING +PC4.Locked=true +PC4.Signal=GPXTI4 +PC5.GPIOParameters=GPIO_Label,GPIO_ModeDefaultEXTI +PC5.GPIO_Label=INT_GYRO +PC5.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_FALLING +PC5.Locked=true +PC5.Signal=GPXTI5 PC6.Locked=true PC6.Signal=S_TIM8_CH1 PC9.Mode=I2C @@ -379,10 +440,8 @@ PE11.Signal=S_TIM1_CH2 PE13.Locked=true PE13.Signal=S_TIM1_CH3 PE14.Signal=S_TIM1_CH4 -PE9.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label +PE9.GPIOParameters=GPIO_Label PE9.GPIO_Label=SERVO -PE9.GPIO_PuPd=GPIO_PULLUP -PE9.GPIO_Speed=GPIO_SPEED_FREQ_HIGH PE9.Locked=true PE9.Signal=S_TIM1_CH1 PF0.Mode=I2C @@ -393,7 +452,7 @@ PG14.Locked=true PG14.Mode=Asynchronous PG14.Signal=USART6_TX PG3.GPIOParameters=GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultEXTI -PG3.GPIO_Label=MAG_DR +PG3.GPIO_Label=INT_MAG PG3.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_FALLING PG3.GPIO_PuPd=GPIO_PULLUP PG3.Locked=true @@ -460,7 +519,7 @@ ProjectManager.StackSize=0x4000 ProjectManager.TargetToolchain=Makefile ProjectManager.ToolChainLocation= ProjectManager.UnderRoot=false -ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-MX_DMA_Init-DMA-false-HAL-true,3-SystemClock_Config-RCC-false-HAL-false,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_CAN1_Init-CAN1-false-HAL-true,6-MX_CAN2_Init-CAN2-false-HAL-true,7-MX_SPI1_Init-SPI1-false-HAL-true,8-MX_TIM4_Init-TIM4-false-HAL-true,9-MX_TIM5_Init-TIM5-false-HAL-true,10-MX_USART3_UART_Init-USART3-false-HAL-true,11-MX_RNG_Init-RNG-false-HAL-true,12-MX_RTC_Init-RTC-false-HAL-true,13-MX_TIM1_Init-TIM1-false-HAL-true,14-MX_TIM10_Init-TIM10-false-HAL-true,15-MX_USART1_UART_Init-USART1-false-HAL-true,16-MX_USART6_UART_Init-USART6-false-HAL-true,17-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false,18-MX_TIM8_Init-TIM8-false-HAL-true,19-MX_I2C2_Init-I2C2-false-HAL-true,20-MX_I2C3_Init-I2C3-false-HAL-true,21-MX_SPI2_Init-SPI2-false-HAL-true +ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-MX_DMA_Init-DMA-false-HAL-true,3-SystemClock_Config-RCC-false-HAL-false,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_CAN1_Init-CAN1-false-HAL-true,6-MX_CAN2_Init-CAN2-false-HAL-true,7-MX_SPI1_Init-SPI1-false-HAL-true,8-MX_TIM4_Init-TIM4-false-HAL-true,9-MX_TIM5_Init-TIM5-false-HAL-true,10-MX_USART3_UART_Init-USART3-false-HAL-true,11-MX_RNG_Init-RNG-false-HAL-true,12-MX_RTC_Init-RTC-false-HAL-true,13-MX_TIM1_Init-TIM1-false-HAL-true,14-MX_TIM10_Init-TIM10-false-HAL-true,15-MX_USART1_UART_Init-USART1-false-HAL-true,16-MX_USART6_UART_Init-USART6-false-HAL-true,17-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false,18-MX_TIM8_Init-TIM8-false-HAL-true,19-MX_I2C2_Init-I2C2-false-HAL-true,20-MX_I2C3_Init-I2C3-false-HAL-true,21-MX_SPI2_Init-SPI2-false-HAL-true,22-MX_CRC_Init-CRC-false-HAL-true,23-MX_DAC_Init-DAC-false-HAL-true RCC.48MHZClocksFreq_Value=48000000 RCC.AHBFreq_Value=168000000 RCC.APB1CLKDivider=RCC_HCLK_DIV4 @@ -499,8 +558,14 @@ RCC.VcooutputI2S=192000000 RTC.AsynchPrediv=124 RTC.IPParameters=SynchPrediv,AsynchPrediv RTC.SynchPrediv=3199 +SH.COMP_DAC2_group.0=DAC_OUT2,DAC_OUT2 +SH.COMP_DAC2_group.ConfNb=1 SH.GPXTI3.0=GPIO_EXTI3 SH.GPXTI3.ConfNb=1 +SH.GPXTI4.0=GPIO_EXTI4 +SH.GPXTI4.ConfNb=1 +SH.GPXTI5.0=GPIO_EXTI5 +SH.GPXTI5.ConfNb=1 SH.S_TIM10_CH1.0=TIM10_CH1,PWM Generation1 CH1 SH.S_TIM10_CH1.ConfNb=1 SH.S_TIM1_CH1.0=TIM1_CH1,PWM Generation1 CH1 @@ -549,7 +614,7 @@ TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1 TIM1.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2 TIM1.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3 TIM1.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4 -TIM1.IPParameters=Period,Prescaler,Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4 +TIM1.IPParameters=Period,Prescaler,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4,Channel-PWM Generation1 CH1 TIM1.Period=19999 TIM1.Prescaler=167 TIM10.Channel=TIM_CHANNEL_1 @@ -591,6 +656,8 @@ VP_ADC1_TempSens_Input.Mode=IN-TempSens VP_ADC1_TempSens_Input.Signal=ADC1_TempSens_Input VP_ADC1_Vref_Input.Mode=IN-Vrefint VP_ADC1_Vref_Input.Signal=ADC1_Vref_Input +VP_CRC_VS_CRC.Mode=CRC_Activate +VP_CRC_VS_CRC.Signal=CRC_VS_CRC VP_FREERTOS_VS_CMSIS_V1.Mode=CMSIS_V1 VP_FREERTOS_VS_CMSIS_V1.Signal=FREERTOS_VS_CMSIS_V1 VP_RNG_VS_RNG.Mode=RNG_Activate diff --git a/bsp/bsp_iic.md b/bsp/adc/bsp_adc.c similarity index 100% rename from bsp/bsp_iic.md rename to bsp/adc/bsp_adc.c diff --git a/bsp/bsp_pwm.c b/bsp/adc/bsp_adc.h similarity index 100% rename from bsp/bsp_pwm.c rename to bsp/adc/bsp_adc.h diff --git a/bsp/bsp_pwm.h b/bsp/adc/bsp_adc.md similarity index 100% rename from bsp/bsp_pwm.h rename to bsp/adc/bsp_adc.md diff --git a/bsp/bsp_iic.c b/bsp/bsp_iic.c deleted file mode 100644 index 805ffed..0000000 --- a/bsp/bsp_iic.c +++ /dev/null @@ -1,4 +0,0 @@ -#include "bsp_iic.h" -#include "memory.h" -#include "stdlib.h" - diff --git a/bsp/bsp_iic.h b/bsp/bsp_iic.h deleted file mode 100644 index aafc249..0000000 --- a/bsp/bsp_iic.h +++ /dev/null @@ -1,11 +0,0 @@ -#include "i2c.h" -#include "stdint.h" - -#define IIC_DEVICE_CNT () - -typedef struct -{ - I2C_HandleTypeDef* handle; - -}; - diff --git a/bsp/bsp_can.c b/bsp/can/bsp_can.c similarity index 87% rename from bsp/bsp_can.c rename to bsp/can/bsp_can.c index 4549afe..4bb482d 100644 --- a/bsp/bsp_can.c +++ b/bsp/can/bsp_can.c @@ -6,6 +6,7 @@ /* can instance ptrs storage, used for recv callback */ // 在CAN产生接收中断会遍历数组,选出hcan和rxid与发生中断的实例相同的那个,调用其回调函数 static CANInstance *instance[MX_REGISTER_DEVICE_CNT] = {NULL}; +static uint8_t idx; // 全局CAN实例索引,每次有新的模块注册会自增 /* ----------------two static function called by CANRegister()-------------------- */ @@ -62,7 +63,6 @@ static void CANServiceInit() CANInstance *CANRegister(CAN_Init_Config_s *config) { - static uint8_t idx; // 全局CAN实例索引,每次有新的模块注册会自增 if (!idx) { CANServiceInit(); // 第一次注册,先进行硬件初始化 @@ -79,7 +79,7 @@ CANInstance *CANRegister(CAN_Init_Config_s *config) instance[idx]->tx_id = config->tx_id; // 好像没用,可以删掉 instance[idx]->rx_id = config->rx_id; instance[idx]->can_module_callback = config->can_module_callback; - instance[idx]->id=config->id; + instance[idx]->id = config->id; CANAddFilter(instance[idx]); // 添加CAN过滤器规则 return instance[idx++]; // 返回指针 @@ -96,9 +96,9 @@ void CANTransmit(CANInstance *_instance) void CANSetDLC(CANInstance *_instance, uint8_t length) { - if (length > 8) // 安全检查 + if (length > 8 || length < 0) // 安全检查 while (1) - ; + ; // 发送长度错误!检查调用参数是否出错,或出现野指针/越界访问 _instance->txconf.DLC = length; } @@ -113,23 +113,22 @@ void CANSetDLC(CANInstance *_instance, uint8_t length) */ static void CANFIFOxCallback(CAN_HandleTypeDef *_hcan, uint32_t fifox) { - uint8_t can_rx_buff[8]; - CAN_RxHeaderTypeDef rxconf; + static uint8_t can_rx_buff[8]; + static CAN_RxHeaderTypeDef rxconf; HAL_CAN_GetRxMessage(_hcan, fifox, &rxconf, can_rx_buff); - for (size_t i = 0; i < MX_REGISTER_DEVICE_CNT; ++i) + for (size_t i = 0; i < idx; ++i) { - if (instance[i] != NULL) // 碰到NULL说明已经遍历完所有实例 - { // 两者相等说明这是要找的实例 - if (_hcan == instance[i]->can_handle && rxconf.StdId == instance[i]->rx_id) + // 两者相等说明这是要找的实例 + if (_hcan == instance[i]->can_handle && rxconf.StdId == instance[i]->rx_id) + { + instance[i]->rx_len = rxconf.DLC; + memcpy(instance[i]->rx_buff, can_rx_buff, rxconf.DLC); // 消息拷贝到对应实例 + if (instance[i]->can_module_callback != NULL) { - instance[i]->rx_len = rxconf.DLC; - memcpy(instance[i]->rx_buff, can_rx_buff, rxconf.DLC); // 消息拷贝到对应实例 - instance[i]->can_module_callback(instance[i]); // 触发回调进行数据解析和处理 - break; + instance[i]->can_module_callback(instance[i]); // 触发回调进行数据解析和处理 } - } - else break; + } } } diff --git a/bsp/bsp_can.h b/bsp/can/bsp_can.h similarity index 90% rename from bsp/bsp_can.h rename to bsp/can/bsp_can.h index 977c6c1..9f9c450 100644 --- a/bsp/bsp_can.h +++ b/bsp/can/bsp_can.h @@ -17,13 +17,13 @@ typedef struct _ CAN_TxHeaderTypeDef txconf; // CAN报文发送配置 uint32_t tx_id; // 发送id uint32_t tx_mailbox; // CAN消息填入的邮箱号 - uint8_t tx_buff[8]; // 发送缓存,最大为8 - uint8_t rx_buff[8]; // 接收缓存 + uint8_t tx_buff[8]; // 发送缓存,发送消息长度可以通过CANSetDLC()设定,最大为8 + uint8_t rx_buff[8]; // 接收缓存,最大消息长度为8 uint32_t rx_id; // 接收id 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; + void* id; // 使用can外设的 } CANInstance; #pragma pack() diff --git a/bsp/bsp_can.md b/bsp/can/bsp_can.md similarity index 100% rename from bsp/bsp_can.md rename to bsp/can/bsp_can.md diff --git a/bsp/dac/bsp_dac.c b/bsp/dac/bsp_dac.c new file mode 100644 index 0000000..e69de29 diff --git a/bsp/dac/bsp_dac.h b/bsp/dac/bsp_dac.h new file mode 100644 index 0000000..e69de29 diff --git a/bsp/dac/bsp_dac.md b/bsp/dac/bsp_dac.md new file mode 100644 index 0000000..e69de29 diff --git a/bsp/bsp_dwt.c b/bsp/dwt/bsp_dwt.c similarity index 100% rename from bsp/bsp_dwt.c rename to bsp/dwt/bsp_dwt.c diff --git a/bsp/bsp_dwt.h b/bsp/dwt/bsp_dwt.h similarity index 100% rename from bsp/bsp_dwt.h rename to bsp/dwt/bsp_dwt.h diff --git a/bsp/dwt/bsp_dwt.md b/bsp/dwt/bsp_dwt.md new file mode 100644 index 0000000..e69de29 diff --git a/bsp/gpio/bsp_gpio.c b/bsp/gpio/bsp_gpio.c new file mode 100644 index 0000000..e69de29 diff --git a/bsp/gpio/bsp_gpio.h b/bsp/gpio/bsp_gpio.h new file mode 100644 index 0000000..e69de29 diff --git a/bsp/gpio/bsp_gpio.md b/bsp/gpio/bsp_gpio.md new file mode 100644 index 0000000..e69de29 diff --git a/bsp/iic/bsp_iic.c b/bsp/iic/bsp_iic.c new file mode 100644 index 0000000..88420cf --- /dev/null +++ b/bsp/iic/bsp_iic.c @@ -0,0 +1,145 @@ +#include "bsp_iic.h" +#include "memory.h" +#include "stdlib.h" + +static uint8_t idx = 0; // 配合中断以及初始化 +static IICInstance *iic_instance[IIC_DEVICE_CNT] = {NULL}; + +/** + * @brief 接收完成回调函数 + * + * @param hi2c handle + */ +void HAL_I2C_MasterRxCpltCallback(I2C_HandleTypeDef *hi2c) +{ + // 如果是当前i2c硬件发出的complete,且dev_address和之前发起接收的地址相同,同时回到函数不为空, 则调用回调函数 + for (uint8_t i = 0; i < idx; i++) + { + if (iic_instance[i]->handle == hi2c && hi2c->Devaddress == iic_instance[i]->dev_address) + { + if (iic_instance[i]->callback != NULL) + iic_instance[i]->callback(iic_instance[i]); + return; + } + } +} + +/** + * @brief 仅做形式上的封装,仍然使用HAL_I2C_MasterRxCpltCallback + * + * @param hi2c handle + */ +void HAL_I2C_MemRxCpltCallback(I2C_HandleTypeDef *hi2c) +{ + HAL_I2C_MasterRxCpltCallback(hi2c); +} + +IICInstance *IICRegister(IIC_Init_Config_s *conf) +{ + // 申请到的空间未必是0, 所以需要手动初始化 + iic_instance[idx] = (IICInstance *)malloc(sizeof(IICInstance)); + memset(iic_instance[idx], 0, sizeof(IICInstance)); + + iic_instance[idx]->dev_address = conf->dev_address; + iic_instance[idx]->callback = conf->callback; + iic_instance[idx]->work_mode = conf->work_mode; + iic_instance[idx]->handle = conf->handle; + iic_instance[idx]->id = conf->id; + + return iic_instance[idx++]; +} + +void IICSetMode(IICInstance *iic, IIC_Work_Mode_e mode) +{ // HAL自带重入保护,不需要手动终止或等待传输完成 + if (iic->work_mode != mode) // 如果不同才需要修改 + { + iic->work_mode = mode; + } +} + +void IICTransmit(IICInstance *iic, uint8_t *data, uint16_t size, IIC_Seq_Mode_e seq_mode) +{ + if (seq_mode != IIC_RELEASE && seq_mode != IIC_HOLD_ON) + while (1) + ; // 未知传输模式, 程序停止 + + switch (iic->work_mode) + { + case IIC_BLOCK_MODE: + if (seq_mode != IIC_RELEASE) + while (1) + ; // 阻塞模式下不支持HOLD ON模式!!! + HAL_I2C_Master_Transmit(iic->handle, iic->dev_address, data, size, 100); + break; + case IIC_IT_MODE: + if (seq_mode == IIC_RELEASE) + HAL_I2C_Master_Seq_Transmit_IT(iic->handle, iic->dev_address, data, size, I2C_OTHER_AND_LAST_FRAME); + else if (seq_mode == IIC_HOLD_ON) + HAL_I2C_Master_Seq_Transmit_IT(iic->handle, iic->dev_address, data, size, I2C_OTHER_FRAME); + break; + case IIC_DMA_MODE: + if (seq_mode == IIC_RELEASE) + HAL_I2C_Master_Seq_Transmit_DMA(iic->handle, iic->dev_address, data, size, I2C_OTHER_AND_LAST_FRAME); + else if (seq_mode == IIC_HOLD_ON) + HAL_I2C_Master_Seq_Transmit_DMA(iic->handle, iic->dev_address, data, size, I2C_OTHER_FRAME); + break; + default: + while (1) + ; // 未知传输模式, 程序停止 + break; + } +} + +void IICReceive(IICInstance *iic, uint8_t *data, uint16_t size, IIC_Seq_Mode_e seq_mode) +{ + if (seq_mode != IIC_RELEASE && seq_mode != IIC_HOLD_ON) + while (1) + ; // 未知传输模式, 程序停止 + + // 初始化接收缓冲区地址以及接受长度, 用于中断回调函数 + iic->rx_buffer = data; + iic->rx_len = size; + + switch (iic->work_mode) + { + case IIC_BLOCK_MODE: + if (seq_mode != IIC_RELEASE) + while (1) + ; // 阻塞模式下不支持HOLD ON模式!!! + HAL_I2C_Master_Receive(iic->handle, iic->dev_address, data, size, 100); + break; + case IIC_IT_MODE: + if (seq_mode == IIC_RELEASE) + HAL_I2C_Master_Seq_Receive_IT(iic->handle, iic->dev_address, data, size, I2C_OTHER_AND_LAST_FRAME); + else if (seq_mode == IIC_HOLD_ON) + HAL_I2C_Master_Seq_Receive_IT(iic->handle, iic->dev_address, data, size, I2C_OTHER_FRAME); + break; + case IIC_DMA_MODE: + if (seq_mode == IIC_RELEASE) + HAL_I2C_Master_Seq_Receive_DMA(iic->handle, iic->dev_address, data, size, I2C_OTHER_AND_LAST_FRAME); + else if (seq_mode == IIC_HOLD_ON) + HAL_I2C_Master_Seq_Receive_DMA(iic->handle, iic->dev_address, data, size, I2C_OTHER_FRAME); + break; + default: + while (1) + ; // 未知传输模式, 程序停止 + break; + } +} + +void IICAcessMem(IICInstance *iic, uint8_t mem_addr, uint8_t *data, uint16_t size, IIC_Mem_Mode_e mem_mode) +{ + if (mem_mode == IIC_WRITE_MEM) + { + HAL_I2C_Mem_Write(iic->handle, iic->dev_address, mem_addr, I2C_MEMADD_SIZE_8BIT, data, size, 1000); + } + else if (mem_mode == IIC_READ_MEM) + { + HAL_I2C_Mem_Read(iic->handle, iic->dev_address, mem_addr, I2C_MEMADD_SIZE_8BIT, data, size, 1000); + } + else + { + while (1) + ; // 未知模式, 程序停止 + } +} diff --git a/bsp/iic/bsp_iic.h b/bsp/iic/bsp_iic.h new file mode 100644 index 0000000..5b85330 --- /dev/null +++ b/bsp/iic/bsp_iic.h @@ -0,0 +1,105 @@ +#include "i2c.h" +#include "stdint.h" + +#define IIC_DEVICE_CNT 2 // C板引出了I2C2和I2C3 +#define MX_IIC_SLAVE_CNT 8 // 最大从机数目,根据需要修改 + +/* i2c 工作模式枚举 */ +typedef enum +{ + // 基本工作模式 + IIC_BLOCK_MODE = 0, // 阻塞模式 + IIC_IT_MODE, // 中断模式 + IIC_DMA_MODE, // DMA模式 + +} IIC_Work_Mode_e; + +/* I2C MEM工作模式枚举,这两种方法都是阻塞 */ +typedef enum +{ + IIC_READ_MEM = 0, // 读取从机内部的寄存器or内存 + IIC_WRITE_MEM, // 写入从机内部的寄存器or内存 +} IIC_Mem_Mode_e; + +/* Seq传输工作模式枚举,注意HOLD_ON要在IT或DMA下使用 */ +// 必须以IIC_RELEASE为最后一次传输,否则会导致总线占有权无法释放 +typedef enum +{ + IIC_RELEASE, // 完成传输后释放总线占有权,这是默认的传输方式 + IIC_HOLD_ON = 0, // 保持总线占有权不释放,只支持IT和DMA模式 +} IIC_Seq_Mode_e; + +/* i2c实例 */ +typedef struct iic_temp_s +{ + I2C_HandleTypeDef *handle; // i2c handle + uint8_t dev_address; // 暂时只支持7位地址(还有一位是读写位) + + IIC_Work_Mode_e work_mode; // 工作模式 + uint8_t *rx_buffer; // 接收缓冲区指针 + uint8_t rx_len; // 接收长度 + void (*callback)(struct iic_temp_s *); // 接收完成后的回调函数 + + void *id; // 用于标识i2c instance +} IICInstance; + +/* I2C 初始化结构体配置 */ +typedef struct +{ + I2C_HandleTypeDef *handle; // i2c handle + uint8_t dev_address; // 暂时只支持7位地址(还有一位是读写位),注意不需要左移 + IIC_Work_Mode_e work_mode; // 工作模式 + void (*callback)(IICInstance *); // 接收完成后的回调函数 + void *id; // 用于标识i2c instance +} IIC_Init_Config_s; + +/** + * @brief IIC初始化 + * + * @param conf 初始化配置 + * @return IICInstance* + */ +IICInstance *IICRegister(IIC_Init_Config_s *conf); + +/** + * @brief IIC设置工作模式 + * + * @param iic 要设置的iic实例 + * @param mode 工作模式 + */ +void IICSetMode(IICInstance *iic, IIC_Work_Mode_e mode); + +/** + * @brief IIC发送数据 + * + * @param iic iic实例 + * @param data 待发送的数据首地址指针 + * @param size 发送长度 + * @param mode 序列传输模式 + * @note 注意,如果发送结构体,那么该结构体在声明时务必使用#pragma pack(1)进行对齐,并在声明结束后使用#pragma pack()恢复对齐 + * + */ +void IICTransmit(IICInstance *iic, uint8_t *data, uint16_t size, IIC_Seq_Mode_e mode); + +/** + * @brief IIC接收数据 + * + * @param iic iic实例 + * @param data 接收数据的首地址指针 + * @param size 接收长度 + * @param mode 序列传输模式 + * @note 注意,如果直接将接收数据memcpy到目标结构体或通过强制类型转换进行逐字节写入, + * 那么该结构体在声明时务必使用#pragma pack(1)进行对齐,并在声明结束后使用#pragma pack()恢复对齐 + */ +void IICReceive(IICInstance *iic, uint8_t *data, uint16_t size,IIC_Seq_Mode_e mode); + +/** + * @brief IIC读取从机寄存器(内存),只支持阻塞模式,超时默认为1ms + * + * @param iic iic实例 + * @param mem_addr 要读取的从机内存地址,目前只支持8位地址 + * @param data 要读取或写入的数据首地址指针 + * @param size 要读取或写入的数据长度 + * @param mode 写入或读取模式: IIC_READ_MEM or IIC_WRITE_MEM + */ +void IICAcessMem(IICInstance *iic, uint8_t mem_addr, uint8_t *data, uint16_t size, IIC_Mem_Mode_e mode); diff --git a/bsp/iic/bsp_iic.md b/bsp/iic/bsp_iic.md new file mode 100644 index 0000000..e69de29 diff --git a/bsp/bsp_log.c b/bsp/log/bsp_log.c similarity index 100% rename from bsp/bsp_log.c rename to bsp/log/bsp_log.c diff --git a/bsp/bsp_log.h b/bsp/log/bsp_log.h similarity index 100% rename from bsp/bsp_log.h rename to bsp/log/bsp_log.h diff --git a/bsp/bsp_log.md b/bsp/log/bsp_log.md similarity index 100% rename from bsp/bsp_log.md rename to bsp/log/bsp_log.md diff --git a/bsp/pwm/bsp_pwm.c b/bsp/pwm/bsp_pwm.c new file mode 100644 index 0000000..e69de29 diff --git a/bsp/pwm/bsp_pwm.h b/bsp/pwm/bsp_pwm.h new file mode 100644 index 0000000..e69de29 diff --git a/bsp/bsp_spi.c b/bsp/spi/bsp_spi.c similarity index 77% rename from bsp/bsp_spi.c rename to bsp/spi/bsp_spi.c index 184a89c..4e5ad15 100644 --- a/bsp/bsp_spi.c +++ b/bsp/spi/bsp_spi.c @@ -15,11 +15,16 @@ void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef *hspi) { for (size_t i = 0; i < idx; i++) { - if (spi_instance[i]->spi_handle == hspi && spi_instance[i]->callback) + // 如果是当前spi硬件发出的complete,且cs_pin为低电平(说明正在传输),则尝试调用回调函数 + if (spi_instance[i]->spi_handle == hspi && + HAL_GPIO_ReadPin(spi_instance[i]->GPIO_cs, spi_instance[i]->cs_pin) == GPIO_PIN_RESET) { - // 拉高片选(关闭传输),调用解析回调函数 - HAL_GPIO_WritePin(spi_instance[i]->GPIO_cs, spi_instance[i]->cs_pin, GPIO_PIN_SET); - spi_instance[i]->callback(spi_instance[i]); + if (spi_instance[i]->callback) // 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]); + } break; } } @@ -41,6 +46,9 @@ SPIInstance *SPIRegister(SPI_Init_Config_s *conf) spi_instance[idx]->callback = conf->callback; spi_instance[idx]->spi_work_mode = conf->spi_work_mode; spi_instance[idx]->spi_handle = conf->spi_handle; + spi_instance[idx]->GPIO_cs = conf->GPIO_cs; + spi_instance[idx]->cs_pin = conf->cs_pin; + spi_instance[idx]->id = conf->id; return spi_instance[idx++]; } @@ -70,6 +78,9 @@ void SPITransmit(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len) void SPIRecv(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len) { + // 用于稍后回调使用 + spi_ins->rx_size = len; + spi_ins->rx_buffer = ptr_data; // 拉低片选,开始传输 HAL_GPIO_WritePin(spi_ins->GPIO_cs, spi_ins->cs_pin, GPIO_PIN_RESET); switch (spi_ins->spi_work_mode) @@ -94,6 +105,9 @@ void SPIRecv(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len) void SPITransRecv(SPIInstance *spi_ins, uint8_t *ptr_data_rx, uint8_t *ptr_data_tx, uint8_t len) { + // 用于稍后回调使用 + spi_ins->rx_size = len; + spi_ins->rx_buffer = ptr_data_rx; // 拉低片选,开始传输 HAL_GPIO_WritePin(spi_ins->GPIO_cs, spi_ins->cs_pin, GPIO_PIN_RESET); switch (spi_ins->spi_work_mode) @@ -118,26 +132,12 @@ void SPITransRecv(SPIInstance *spi_ins, uint8_t *ptr_data_rx, uint8_t *ptr_data_ void SPISetMode(SPIInstance *spi_ins, SPI_TXRX_MODE_e spi_mode) { + if (spi_mode != SPI_DMA_MODE && spi_mode != SPI_IT_MODE && spi_mode != SPI_BLOCK_MODE) + while (1) + ; // error mode! 请查看是否正确设置模式，或出现指针越界导致模式被异常修改的情况 + if (spi_ins->spi_work_mode != spi_mode) { - switch (spi_ins->spi_work_mode) - { - case SPI_IT_MODE: - case SPI_DMA_MODE: - // IT和DMA处理相同,都是先终止传输,防止传输未完成直接切换导致spi死机 - HAL_SPI_Abort_IT(spi_ins->spi_handle); - HAL_GPIO_WritePin(spi_ins->GPIO_cs, spi_ins->cs_pin, GPIO_PIN_SET); // 关闭后拉高片选 - break; - case SPI_BLOCK_MODE: - // 阻塞模式仍然有可能在多线程的情况下出现传输到一半切换,因此先终止 - HAL_SPI_Abort(spi_ins->spi_handle); - HAL_GPIO_WritePin(spi_ins->GPIO_cs, spi_ins->cs_pin, GPIO_PIN_SET); // 关闭后拉高片选 - break; - default: - while (1) - ; // error mode! 请查看是否正确设置模式，或出现指针越界导致模式被异常修改的情况 - break; - } spi_ins->spi_work_mode = spi_mode; } } diff --git a/bsp/bsp_spi.h b/bsp/spi/bsp_spi.h similarity index 70% rename from bsp/bsp_spi.h rename to bsp/spi/bsp_spi.h index c428333..eea6a51 100644 --- a/bsp/bsp_spi.h +++ b/bsp/spi/bsp_spi.h @@ -17,24 +17,32 @@ typedef enum /* SPI实例结构体定义 */ typedef struct spi_ins_temp { - SPI_HandleTypeDef *spi_handle; // SPI外设handle - GPIO_TypeDef *GPIO_cs; // 片选信号对应的GPIO,如GPIOA,GPIOB等等 - uint16_t cs_pin; // 片选信号对应的引脚号,GPIO_PIN_1,GPIO_PIN_2等等 + SPI_HandleTypeDef *spi_handle; // SPI外设handle + GPIO_TypeDef *GPIO_cs; // 片选信号对应的GPIO,如GPIOA,GPIOB等等 + uint16_t cs_pin; // 片选信号对应的引脚号,GPIO_PIN_1,GPIO_PIN_2等等 + SPI_TXRX_MODE_e spi_work_mode; // 传输工作模式 + uint8_t rx_size; // 本次接收的数据长度 + uint8_t *rx_buffer; // 本次接收的数据缓冲区 void (*callback)(struct spi_ins_temp *); // 接收回调函数 + + void *id; // 模块指针 } SPIInstance; /* rx data resolve callback*/ typedef void (*spi_rx_callback)(SPIInstance *); -/* SPI初始化配置,其实和SPIIstance一模一样,为了代码风格统一因此再次定义 */ +/* SPI初始化配置,其实基本和SPIIstance一模一样,为了代码风格统一因此再次定义 */ typedef struct { SPI_HandleTypeDef *spi_handle; // SPI外设handle GPIO_TypeDef *GPIO_cs; // 片选信号对应的GPIO,如GPIOA,GPIOB等等 uint16_t cs_pin; // 片选信号对应的引脚号,GPIO_PIN_1,GPIO_PIN_2等等 + SPI_TXRX_MODE_e spi_work_mode; // 传输工作模式 - spi_rx_callback callback; // 接收回调函数 + + spi_rx_callback callback; // 接收回调函数 + void *id; // 模块指针 } SPI_Init_Config_s; /** @@ -78,5 +86,8 @@ void SPITransRecv(SPIInstance *spi_ins, uint8_t *ptr_data_rx, uint8_t *ptr_data_ * * @param spi_ins spi实例指针 * @param spi_mode 工作模式,包括阻塞模式(block),中断模式(IT),DMA模式.详见SPI_TXRX_MODE_e的定义 + * @param force_set_flag 强制设置标志,当该标志为1时,强制停止当前spi的收发,并切换到新的工作模式; + * 当该标志为0时,如果当前spi正在收发,则不会切换工作模式,等待传输完成后切换. + * @todo HAL已经提供了防止重入的机制,因此强制设置标志可以去掉,也不需要再判断spi是否正在收发 */ void SPISetMode(SPIInstance *spi_ins, SPI_TXRX_MODE_e spi_mode); diff --git a/bsp/bsp_usart.c b/bsp/usart/bsp_usart.c similarity index 100% rename from bsp/bsp_usart.c rename to bsp/usart/bsp_usart.c diff --git a/bsp/bsp_usart.h b/bsp/usart/bsp_usart.h similarity index 100% rename from bsp/bsp_usart.h rename to bsp/usart/bsp_usart.h diff --git a/bsp/bsp_usart.md b/bsp/usart/bsp_usart.md similarity index 100% rename from bsp/bsp_usart.md rename to bsp/usart/bsp_usart.md diff --git a/modules/BMI088/bmi088.c b/modules/BMI088/bmi088.c new file mode 100644 index 0000000..6a4ca8b --- /dev/null +++ b/modules/BMI088/bmi088.c @@ -0,0 +1,5 @@ +#include "bmi088.h" +#include "bmi088_regNdef.h" +#include "stdlib.h" +#include "memory.h" + diff --git a/modules/BMI088/bmi088.h b/modules/BMI088/bmi088.h new file mode 100644 index 0000000..5d307da --- /dev/null +++ b/modules/BMI088/bmi088.h @@ -0,0 +1,17 @@ +#include "bsp_spi.h" + +/* BMI088实例结构体定义 */ +typedef struct +{ + SPIInstance *spi_gyro; + SPIInstance *spi_acc; + + +} BMI088Instance; + +/* BMI088初始化配置 */ +typedef struct +{ + +}BMI088_Init_Config_s; + diff --git a/modules/BMI088/bmi088_regNdef.h b/modules/BMI088/bmi088_regNdef.h new file mode 100644 index 0000000..407d043 --- /dev/null +++ b/modules/BMI088/bmi088_regNdef.h @@ -0,0 +1,234 @@ +#ifndef BMI088REG_H +#define BMI088REG_H + +/*------- BMI088寄存器地址和内容-------*/ + +#define BMI088_ACC_CHIP_ID 0x00 // the register is " Who am I " +#define BMI088_ACC_CHIP_ID_VALUE 0x1E + +#define BMI088_ACC_ERR_REG 0x02 +#define BMI088_ACCEL_CONGIF_ERROR_SHFITS 0x2 +#define BMI088_ACCEL_CONGIF_ERROR (1 << BMI088_ACCEL_CONGIF_ERROR_SHFITS) +#define BMI088_FATAL_ERROR_SHFITS 0x0 +#define BMI088_FATAL_ERROR (1 << BMI088_FATAL_ERROR) + +#define BMI088_ACC_STATUS 0x03 +#define BMI088_ACCEL_DRDY_SHFITS 0x7 +#define BMI088_ACCEL_DRDY (1 << BMI088_ACCEL_DRDY_SHFITS) + +#define BMI088_ACCEL_XOUT_L 0x12 +#define BMI088_ACCEL_XOUT_M 0x13 +#define BMI088_ACCEL_YOUT_L 0x14 +#define BMI088_ACCEL_YOUT_M 0x15 +#define BMI088_ACCEL_ZOUT_L 0x16 +#define BMI088_ACCEL_ZOUT_M 0x17 + +#define BMI088_SENSORTIME_DATA_L 0x18 +#define BMI088_SENSORTIME_DATA_M 0x19 +#define BMI088_SENSORTIME_DATA_H 0x1A + +#define BMI088_ACC_INT_STAT_1 0x1D +#define BMI088_ACCEL_DRDY_INTERRUPT_SHFITS 0x7 +#define BMI088_ACCEL_DRDY_INTERRUPT (1 << BMI088_ACCEL_DRDY_INTERRUPT_SHFITS) + +#define BMI088_TEMP_M 0x22 + +#define BMI088_TEMP_L 0x23 + +#define BMI088_ACC_CONF 0x40 +#define BMI088_ACC_CONF_MUST_Set 0x80 +#define BMI088_ACC_BWP_SHFITS 0x4 +#define BMI088_ACC_OSR4 (0x0 << BMI088_ACC_BWP_SHFITS) +#define BMI088_ACC_OSR2 (0x1 << BMI088_ACC_BWP_SHFITS) +#define BMI088_ACC_NORMAL (0x2 << BMI088_ACC_BWP_SHFITS) + +#define BMI088_ACC_ODR_SHFITS 0x0 +#define BMI088_ACC_12_5_HZ (0x5 << BMI088_ACC_ODR_SHFITS) +#define BMI088_ACC_25_HZ (0x6 << BMI088_ACC_ODR_SHFITS) +#define BMI088_ACC_50_HZ (0x7 << BMI088_ACC_ODR_SHFITS) +#define BMI088_ACC_100_HZ (0x8 << BMI088_ACC_ODR_SHFITS) +#define BMI088_ACC_200_HZ (0x9 << BMI088_ACC_ODR_SHFITS) +#define BMI088_ACC_400_HZ (0xA << BMI088_ACC_ODR_SHFITS) +#define BMI088_ACC_800_HZ (0xB << BMI088_ACC_ODR_SHFITS) +#define BMI088_ACC_1600_HZ (0xC << BMI088_ACC_ODR_SHFITS) + +#define BMI088_ACC_RANGE 0x41 + +#define BMI088_ACC_RANGE_SHFITS 0x0 +#define BMI088_ACC_RANGE_3G (0x0 << BMI088_ACC_RANGE_SHFITS) +#define BMI088_ACC_RANGE_6G (0x1 << BMI088_ACC_RANGE_SHFITS) +#define BMI088_ACC_RANGE_12G (0x2 << BMI088_ACC_RANGE_SHFITS) +#define BMI088_ACC_RANGE_24G (0x3 << BMI088_ACC_RANGE_SHFITS) + +#define BMI088_INT1_IO_CTRL 0x53 +#define BMI088_ACC_INT1_IO_ENABLE_SHFITS 0x3 +#define BMI088_ACC_INT1_IO_ENABLE (0x1 << BMI088_ACC_INT1_IO_ENABLE_SHFITS) +#define BMI088_ACC_INT1_GPIO_MODE_SHFITS 0x2 +#define BMI088_ACC_INT1_GPIO_PP (0x0 << BMI088_ACC_INT1_GPIO_MODE_SHFITS) +#define BMI088_ACC_INT1_GPIO_OD (0x1 << BMI088_ACC_INT1_GPIO_MODE_SHFITS) +#define BMI088_ACC_INT1_GPIO_LVL_SHFITS 0x1 +#define BMI088_ACC_INT1_GPIO_LOW (0x0 << BMI088_ACC_INT1_GPIO_LVL_SHFITS) +#define BMI088_ACC_INT1_GPIO_HIGH (0x1 << BMI088_ACC_INT1_GPIO_LVL_SHFITS) + +#define BMI088_INT2_IO_CTRL 0x54 +#define BMI088_ACC_INT2_IO_ENABLE_SHFITS 0x3 +#define BMI088_ACC_INT2_IO_ENABLE (0x1 << BMI088_ACC_INT2_IO_ENABLE_SHFITS) +#define BMI088_ACC_INT2_GPIO_MODE_SHFITS 0x2 +#define BMI088_ACC_INT2_GPIO_PP (0x0 << BMI088_ACC_INT2_GPIO_MODE_SHFITS) +#define BMI088_ACC_INT2_GPIO_OD (0x1 << BMI088_ACC_INT2_GPIO_MODE_SHFITS) +#define BMI088_ACC_INT2_GPIO_LVL_SHFITS 0x1 +#define BMI088_ACC_INT2_GPIO_LOW (0x0 << BMI088_ACC_INT2_GPIO_LVL_SHFITS) +#define BMI088_ACC_INT2_GPIO_HIGH (0x1 << BMI088_ACC_INT2_GPIO_LVL_SHFITS) + +#define BMI088_INT_MAP_DATA 0x58 +#define BMI088_ACC_INT2_DRDY_INTERRUPT_SHFITS 0x6 +#define BMI088_ACC_INT2_DRDY_INTERRUPT (0x1 << BMI088_ACC_INT2_DRDY_INTERRUPT_SHFITS) +#define BMI088_ACC_INT1_DRDY_INTERRUPT_SHFITS 0x2 +#define BMI088_ACC_INT1_DRDY_INTERRUPT (0x1 << BMI088_ACC_INT1_DRDY_INTERRUPT_SHFITS) + +#define BMI088_ACC_SELF_TEST 0x6D +#define BMI088_ACC_SELF_TEST_OFF 0x00 +#define BMI088_ACC_SELF_TEST_POSITIVE_SIGNAL 0x0D +#define BMI088_ACC_SELF_TEST_NEGATIVE_SIGNAL 0x09 + +#define BMI088_ACC_PWR_CONF 0x7C +#define BMI088_ACC_PWR_SUSPEND_MODE 0x03 +#define BMI088_ACC_PWR_ACTIVE_MODE 0x00 + +#define BMI088_ACC_PWR_CTRL 0x7D +#define BMI088_ACC_ENABLE_ACC_OFF 0x00 +#define BMI088_ACC_ENABLE_ACC_ON 0x04 + +#define BMI088_ACC_SOFTRESET 0x7E +#define BMI088_ACC_SOFTRESET_VALUE 0xB6 + +#define BMI088_GYRO_CHIP_ID 0x00 +#define BMI088_GYRO_CHIP_ID_VALUE 0x0F + +#define BMI088_GYRO_X_L 0x02 +#define BMI088_GYRO_X_H 0x03 +#define BMI088_GYRO_Y_L 0x04 +#define BMI088_GYRO_Y_H 0x05 +#define BMI088_GYRO_Z_L 0x06 +#define BMI088_GYRO_Z_H 0x07 + +#define BMI088_GYRO_INT_STAT_1 0x0A +#define BMI088_GYRO_DYDR_SHFITS 0x7 +#define BMI088_GYRO_DYDR (0x1 << BMI088_GYRO_DYDR_SHFITS) + +#define BMI088_GYRO_RANGE 0x0F +#define BMI088_GYRO_RANGE_SHFITS 0x0 +#define BMI088_GYRO_2000 (0x0 << BMI088_GYRO_RANGE_SHFITS) +#define BMI088_GYRO_1000 (0x1 << BMI088_GYRO_RANGE_SHFITS) +#define BMI088_GYRO_500 (0x2 << BMI088_GYRO_RANGE_SHFITS) +#define BMI088_GYRO_250 (0x3 << BMI088_GYRO_RANGE_SHFITS) +#define BMI088_GYRO_125 (0x4 << BMI088_GYRO_RANGE_SHFITS) + +#define BMI088_GYRO_BANDWIDTH 0x10 +// the first num means Output data rate, the second num means bandwidth +#define BMI088_GYRO_BANDWIDTH_MUST_Set 0x80 +#define BMI088_GYRO_2000_532_HZ 0x00 +#define BMI088_GYRO_2000_230_HZ 0x01 +#define BMI088_GYRO_1000_116_HZ 0x02 +#define BMI088_GYRO_400_47_HZ 0x03 +#define BMI088_GYRO_200_23_HZ 0x04 +#define BMI088_GYRO_100_12_HZ 0x05 +#define BMI088_GYRO_200_64_HZ 0x06 +#define BMI088_GYRO_100_32_HZ 0x07 + +#define BMI088_GYRO_LPM1 0x11 +#define BMI088_GYRO_NORMAL_MODE 0x00 +#define BMI088_GYRO_SUSPEND_MODE 0x80 +#define BMI088_GYRO_DEEP_SUSPEND_MODE 0x20 + +#define BMI088_GYRO_SOFTRESET 0x14 +#define BMI088_GYRO_SOFTRESET_VALUE 0xB6 + +#define BMI088_GYRO_CTRL 0x15 +#define BMI088_DRDY_OFF 0x00 +#define BMI088_DRDY_ON 0x80 + +#define BMI088_GYRO_INT3_INT4_IO_CONF 0x16 +#define BMI088_GYRO_INT4_GPIO_MODE_SHFITS 0x3 +#define BMI088_GYRO_INT4_GPIO_PP (0x0 << BMI088_GYRO_INT4_GPIO_MODE_SHFITS) +#define BMI088_GYRO_INT4_GPIO_OD (0x1 << BMI088_GYRO_INT4_GPIO_MODE_SHFITS) +#define BMI088_GYRO_INT4_GPIO_LVL_SHFITS 0x2 +#define BMI088_GYRO_INT4_GPIO_LOW (0x0 << BMI088_GYRO_INT4_GPIO_LVL_SHFITS) +#define BMI088_GYRO_INT4_GPIO_HIGH (0x1 << BMI088_GYRO_INT4_GPIO_LVL_SHFITS) +#define BMI088_GYRO_INT3_GPIO_MODE_SHFITS 0x1 +#define BMI088_GYRO_INT3_GPIO_PP (0x0 << BMI088_GYRO_INT3_GPIO_MODE_SHFITS) +#define BMI088_GYRO_INT3_GPIO_OD (0x1 << BMI088_GYRO_INT3_GPIO_MODE_SHFITS) +#define BMI088_GYRO_INT3_GPIO_LVL_SHFITS 0x0 +#define BMI088_GYRO_INT3_GPIO_LOW (0x0 << BMI088_GYRO_INT3_GPIO_LVL_SHFITS) +#define BMI088_GYRO_INT3_GPIO_HIGH (0x1 << BMI088_GYRO_INT3_GPIO_LVL_SHFITS) + +#define BMI088_GYRO_INT3_INT4_IO_MAP 0x18 + +#define BMI088_GYRO_DRDY_IO_OFF 0x00 +#define BMI088_GYRO_DRDY_IO_INT3 0x01 +#define BMI088_GYRO_DRDY_IO_INT4 0x80 +#define BMI088_GYRO_DRDY_IO_BOTH (BMI088_GYRO_DRDY_IO_INT3 | BMI088_GYRO_DRDY_IO_INT4) + +#define BMI088_GYRO_SELF_TEST 0x3C +#define BMI088_GYRO_RATE_OK_SHFITS 0x4 +#define BMI088_GYRO_RATE_OK (0x1 << BMI088_GYRO_RATE_OK_SHFITS) +#define BMI088_GYRO_BIST_FAIL_SHFITS 0x2 +#define BMI088_GYRO_BIST_FAIL (0x1 << BMI088_GYRO_BIST_FAIL_SHFITS) +#define BMI088_GYRO_BIST_RDY_SHFITS 0x1 +#define BMI088_GYRO_BIST_RDY (0x1 << BMI088_GYRO_BIST_RDY_SHFITS) +#define BMI088_GYRO_TRIG_BIST_SHFITS 0x0 +#define BMI088_GYRO_TRIG_BIST (0x1 << BMI088_GYRO_TRIG_BIST_SHFITS) + +/* -------BMI088 配置和传感器灵敏度换算系数等------- */ + +#define BMI088_TEMP_FACTOR 0.125f +#define BMI088_TEMP_OFFSET 23.0f + +#define BMI088_WRITE_ACCEL_REG_NUM 6 +#define BMI088_WRITE_GYRO_REG_NUM 6 + +#define BMI088_GYRO_DATA_READY_BIT 0 +#define BMI088_ACCEL_DATA_READY_BIT 1 +#define BMI088_ACCEL_TEMP_DATA_READY_BIT 2 + +#define BMI088_LONG_DELAY_TIME 80 +#define BMI088_COM_WAIT_SENSOR_TIME 150 + +#define BMI088_ACCEL_IIC_ADDRESSE (0x18 << 1) +#define BMI088_GYRO_IIC_ADDRESSE (0x68 << 1) + +#define BMI088_ACCEL_3G_SEN 0.0008974358974f +#define BMI088_ACCEL_6G_SEN 0.00179443359375f +#define BMI088_ACCEL_12G_SEN 0.0035888671875f +#define BMI088_ACCEL_24G_SEN 0.007177734375f + +#define BMI088_GYRO_2000_SEN 0.00106526443603169529841533860381f +#define BMI088_GYRO_1000_SEN 0.00053263221801584764920766930190693f +#define BMI088_GYRO_500_SEN 0.00026631610900792382460383465095346f +#define BMI088_GYRO_250_SEN 0.00013315805450396191230191732547673f +#define BMI088_GYRO_125_SEN 0.000066579027251980956150958662738366f + +/* BMI088错误码枚举 */ +enum +{ + BMI088_NO_ERROR = 0x00, + BMI088_ACC_PWR_CTRL_ERROR = 0x01, + BMI088_ACC_PWR_CONF_ERROR = 0x02, + BMI088_ACC_CONF_ERROR = 0x03, + BMI088_ACC_SELF_TEST_ERROR = 0x04, + BMI088_ACC_RANGE_ERROR = 0x05, + BMI088_INT1_IO_CTRL_ERROR = 0x06, + BMI088_INT_MAP_DATA_ERROR = 0x07, + BMI088_GYRO_RANGE_ERROR = 0x08, + BMI088_GYRO_BANDWIDTH_ERROR = 0x09, + BMI088_GYRO_LPM1_ERROR = 0x0A, + BMI088_GYRO_CTRL_ERROR = 0x0B, + BMI088_GYRO_INT3_INT4_IO_CONF_ERROR = 0x0C, + BMI088_GYRO_INT3_INT4_IO_MAP_ERROR = 0x0D, + + BMI088_SELF_TEST_ACCEL_ERROR = 0x80, + BMI088_SELF_TEST_GYRO_ERROR = 0x40, + BMI088_NO_SENSOR = 0xFF, +}; + +#endif diff --git a/modules/imu/BMI088driver.c b/modules/imu/BMI088driver.c index db2d2eb..17366e7 100644 --- a/modules/imu/BMI088driver.c +++ b/modules/imu/BMI088driver.c @@ -393,7 +393,6 @@ static void BMI088_read_muli_reg(uint8_t reg, uint8_t *buf, uint8_t len) while (len != 0) { - *buf = BMI088_read_write_byte(0x55); buf++; len--; diff --git a/modules/motor/motor_def.h b/modules/motor/motor_def.h index bbe4ea2..2c8903c 100644 --- a/modules/motor/motor_def.h +++ b/modules/motor/motor_def.h @@ -13,7 +13,7 @@ #define MOTOR_DEF_H #include "controller.h" -#include +#include "stdint.h" #define LIMIT_MIN_MAX(x, min, max) (x) = (((x) <= (min)) ? (min) : (((x) >= (max)) ? (max) : (x))) diff --git a/modules/motor/motor_task.c b/modules/motor/motor_task.c index df9261e..1431d9c 100644 --- a/modules/motor/motor_task.c +++ b/modules/motor/motor_task.c @@ -1,12 +1,25 @@ #include "motor_task.h" +#include "LK9025.h" +#include "HT04.h" +#include "dji_motor.h" +#include "step_motor.h" +#include "servo_motor.h" void MotorControlTask() { + // static uint8_t cnt = 0; 设定任务频率 + // if(cnt%5==0) //200hz + // if(cnt%10==0) //100hz + DJIMotorControl(); //LKMotorControl(); //HTMotorControl(); + + //ServeoMotorControl(); + + //StepMotorControl(); } diff --git a/modules/motor/motor_task.h b/modules/motor/motor_task.h index 56d8510..94bdf77 100644 --- a/modules/motor/motor_task.h +++ b/modules/motor/motor_task.h @@ -11,14 +11,10 @@ #ifndef MOTOR_TASK_H #define MOTOR_TASK_H -#include "LK9025.h" -#include "HT04.h" -#include "dji_motor.h" -// 舵机控制任务的频率设定为20Hz或更低 -// 开关式的舵机控制不应该放在该函数中 /** - * @brief + * @brief 电机控制闭环任务,在RTOS中应该设定为1Khz运行 + * 舵机控制任务的频率设定为20Hz或更低 * */ void MotorControlTask();