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腿部五连杆VMC控制基本完成
2023-12-26 23:54:56 +08:00
#MicroXplorer Configuration settings - do not modify
ADC1.Channel-0\#ChannelRegularConversion=ADC_CHANNEL_TEMPSENSOR
ADC1.ClockPrescaler=ADC_CLOCK_SYNC_PCLK_DIV6
ADC1.IPParameters=Rank-0\#ChannelRegularConversion,master,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,NbrOfConversionFlag,ClockPrescaler
ADC1.NbrOfConversionFlag=1
ADC1.Rank-0\#ChannelRegularConversion=1
ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
ADC1.master=1
CAD.formats=
CAD.pinconfig=
CAD.provider=
CAN1.BS1=CAN_BS1_10TQ
CAN1.BS2=CAN_BS2_3TQ
CAN1.CalculateBaudRate=1000000
CAN1.CalculateTimeQuantum=71.42857142857143
CAN1.IPParameters=CalculateTimeQuantum,BS1,BS2,Prescaler,CalculateBaudRate,TXFP,NART
CAN1.NART=ENABLE
CAN1.Prescaler=3
CAN1.TXFP=ENABLE
CAN2.BS1=CAN_BS1_10TQ
CAN2.BS2=CAN_BS2_3TQ
CAN2.CalculateBaudRate=1000000
CAN2.CalculateTimeQuantum=71.42857142857143
CAN2.IPParameters=CalculateTimeQuantum,BS1,BS2,Prescaler,CalculateBaudRate,TXFP,NART
CAN2.NART=ENABLE
CAN2.Prescaler=3
CAN2.TXFP=ENABLE
Dma.ADC1.8.Direction=DMA_PERIPH_TO_MEMORY
Dma.ADC1.8.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.ADC1.8.Instance=DMA2_Stream4
Dma.ADC1.8.MemDataAlignment=DMA_MDATAALIGN_HALFWORD
Dma.ADC1.8.MemInc=DMA_MINC_ENABLE
Dma.ADC1.8.Mode=DMA_NORMAL
Dma.ADC1.8.PeriphDataAlignment=DMA_PDATAALIGN_HALFWORD
Dma.ADC1.8.PeriphInc=DMA_PINC_DISABLE
Dma.ADC1.8.Priority=DMA_PRIORITY_LOW
Dma.ADC1.8.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
Dma.I2C2_RX.9.Direction=DMA_PERIPH_TO_MEMORY
Dma.I2C2_RX.9.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.I2C2_RX.9.Instance=DMA1_Stream2
Dma.I2C2_RX.9.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.I2C2_RX.9.MemInc=DMA_MINC_ENABLE
Dma.I2C2_RX.9.Mode=DMA_NORMAL
Dma.I2C2_RX.9.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.I2C2_RX.9.PeriphInc=DMA_PINC_DISABLE
Dma.I2C2_RX.9.Priority=DMA_PRIORITY_LOW
Dma.I2C2_RX.9.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
Dma.I2C2_TX.10.Direction=DMA_MEMORY_TO_PERIPH
Dma.I2C2_TX.10.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.I2C2_TX.10.Instance=DMA1_Stream7
Dma.I2C2_TX.10.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.I2C2_TX.10.MemInc=DMA_MINC_ENABLE
Dma.I2C2_TX.10.Mode=DMA_NORMAL
Dma.I2C2_TX.10.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.I2C2_TX.10.PeriphInc=DMA_PINC_DISABLE
Dma.I2C2_TX.10.Priority=DMA_PRIORITY_LOW
Dma.I2C2_TX.10.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
Dma.Request0=USART6_RX
Dma.Request1=USART6_TX
Dma.Request10=I2C2_TX
Dma.Request11=SPI1_TX
Dma.Request2=USART1_TX
Dma.Request3=USART1_RX
Dma.Request4=SPI1_RX
Dma.Request5=SPI2_RX
Dma.Request6=SPI2_TX
Dma.Request7=USART3_RX
Dma.Request8=ADC1
Dma.Request9=I2C2_RX
Dma.RequestsNb=12
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.11.Direction=DMA_MEMORY_TO_PERIPH
Dma.SPI1_TX.11.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.SPI1_TX.11.Instance=DMA2_Stream3
Dma.SPI1_TX.11.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.SPI1_TX.11.MemInc=DMA_MINC_ENABLE
Dma.SPI1_TX.11.Mode=DMA_NORMAL
Dma.SPI1_TX.11.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.SPI1_TX.11.PeriphInc=DMA_PINC_DISABLE
Dma.SPI1_TX.11.Priority=DMA_PRIORITY_LOW
Dma.SPI1_TX.11.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
Dma.SPI2_RX.5.Direction=DMA_PERIPH_TO_MEMORY
Dma.SPI2_RX.5.FIFOMode=DMA_FIFOMODE_ENABLE
Dma.SPI2_RX.5.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
Dma.SPI2_RX.5.Instance=DMA1_Stream3
Dma.SPI2_RX.5.MemBurst=DMA_MBURST_SINGLE
Dma.SPI2_RX.5.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.SPI2_RX.5.MemInc=DMA_MINC_ENABLE
Dma.SPI2_RX.5.Mode=DMA_NORMAL
Dma.SPI2_RX.5.PeriphBurst=DMA_PBURST_SINGLE
Dma.SPI2_RX.5.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.SPI2_RX.5.PeriphInc=DMA_PINC_DISABLE
Dma.SPI2_RX.5.Priority=DMA_PRIORITY_LOW
Dma.SPI2_RX.5.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
Dma.SPI2_TX.6.Direction=DMA_MEMORY_TO_PERIPH
Dma.SPI2_TX.6.FIFOMode=DMA_FIFOMODE_ENABLE
Dma.SPI2_TX.6.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
Dma.SPI2_TX.6.Instance=DMA1_Stream4
Dma.SPI2_TX.6.MemBurst=DMA_MBURST_SINGLE
Dma.SPI2_TX.6.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.SPI2_TX.6.MemInc=DMA_MINC_ENABLE
Dma.SPI2_TX.6.Mode=DMA_NORMAL
Dma.SPI2_TX.6.PeriphBurst=DMA_PBURST_SINGLE
Dma.SPI2_TX.6.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.SPI2_TX.6.PeriphInc=DMA_PINC_DISABLE
Dma.SPI2_TX.6.Priority=DMA_PRIORITY_LOW
Dma.SPI2_TX.6.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_Stream5
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.7.Direction=DMA_PERIPH_TO_MEMORY
Dma.USART3_RX.7.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.USART3_RX.7.Instance=DMA1_Stream1
Dma.USART3_RX.7.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.USART3_RX.7.MemInc=DMA_MINC_ENABLE
Dma.USART3_RX.7.Mode=DMA_NORMAL
Dma.USART3_RX.7.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.USART3_RX.7.PeriphInc=DMA_PINC_DISABLE
Dma.USART3_RX.7.Priority=DMA_PRIORITY_LOW
Dma.USART3_RX.7.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_ENABLE
Dma.USART6_RX.0.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
Dma.USART6_RX.0.Instance=DMA2_Stream2
Dma.USART6_RX.0.MemBurst=DMA_MBURST_SINGLE
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.PeriphBurst=DMA_PBURST_SINGLE
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,FIFOThreshold,MemBurst,PeriphBurst
Dma.USART6_TX.1.Direction=DMA_MEMORY_TO_PERIPH
Dma.USART6_TX.1.FIFOMode=DMA_FIFOMODE_ENABLE
Dma.USART6_TX.1.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
Dma.USART6_TX.1.Instance=DMA2_Stream6
Dma.USART6_TX.1.MemBurst=DMA_MBURST_SINGLE
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.PeriphBurst=DMA_PBURST_SINGLE
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,FIFOThreshold,MemBurst,PeriphBurst
FREERTOS.INCLUDE_vTaskDelayUntil=1
FREERTOS.IPParameters=Tasks01,configENABLE_FPU,configMAX_TASK_NAME_LEN,configUSE_TIMERS,configUSE_POSIX_ERRNO,INCLUDE_vTaskDelayUntil,configTOTAL_HEAP_SIZE,configUSE_COUNTING_SEMAPHORES
FREERTOS.Tasks01=defaultTask,0,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
FREERTOS.configENABLE_FPU=1
FREERTOS.configMAX_TASK_NAME_LEN=32
FREERTOS.configTOTAL_HEAP_SIZE=20000
FREERTOS.configUSE_COUNTING_SEMAPHORES=1
FREERTOS.configUSE_POSIX_ERRNO=0
FREERTOS.configUSE_TIMERS=0
File.Version=6
GPIO.groupedBy=Group By Peripherals
I2C2.I2C_Mode=I2C_Fast
I2C2.IPParameters=I2C_Mode
I2C3.I2C_Mode=I2C_Fast
I2C3.IPParameters=I2C_Mode
KeepUserPlacement=false
Mcu.CPN=STM32F407IGH6
Mcu.Family=STM32F4
Mcu.IP0=ADC1
Mcu.IP1=CAN1
Mcu.IP10=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=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=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=PA10
Mcu.Pin18=PF0
Mcu.Pin19=PA9
Mcu.Pin2=PB4
Mcu.Pin20=PC9
Mcu.Pin21=PA8
Mcu.Pin22=PH0-OSC_IN
Mcu.Pin23=PH1-OSC_OUT
Mcu.Pin24=PF1
Mcu.Pin25=PC6
Mcu.Pin26=PG6
Mcu.Pin27=PF6
Mcu.Pin28=PH12
Mcu.Pin29=PG3
Mcu.Pin3=PB3
Mcu.Pin30=PH11
Mcu.Pin31=PH10
Mcu.Pin32=PD14
Mcu.Pin33=PA0-WKUP
Mcu.Pin34=PA4
Mcu.Pin35=PC4
Mcu.Pin36=PE13
Mcu.Pin37=PA5
Mcu.Pin38=PC5
Mcu.Pin39=PE9
Mcu.Pin4=PA14
Mcu.Pin40=PE11
Mcu.Pin41=PE14
Mcu.Pin42=PB13
Mcu.Pin43=PA7
Mcu.Pin44=PB0
Mcu.Pin45=PB14
Mcu.Pin46=PB15
Mcu.Pin47=VP_ADC1_TempSens_Input
Mcu.Pin48=VP_ADC1_Vref_Input
Mcu.Pin49=VP_CRC_VS_CRC
Mcu.Pin5=PA13
Mcu.Pin50=VP_FREERTOS_VS_CMSIS_V1
Mcu.Pin51=VP_RNG_VS_RNG
Mcu.Pin52=VP_RTC_VS_RTC_Activate
Mcu.Pin53=VP_SYS_VS_tim14
Mcu.Pin54=VP_TIM1_VS_ClockSourceINT
Mcu.Pin55=VP_TIM4_VS_ClockSourceINT
Mcu.Pin56=VP_TIM5_VS_ClockSourceINT
Mcu.Pin57=VP_TIM8_VS_ClockSourceINT
Mcu.Pin58=VP_TIM10_VS_ClockSourceINT
Mcu.Pin59=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
Mcu.Pin6=PB7
Mcu.Pin60=VP_STMicroelectronics.X-CUBE-ALGOBUILD_VS_DSPOoLibraryJjLibrary_1.3.0_1.3.0
Mcu.Pin7=PB6
Mcu.Pin8=PD0
Mcu.Pin9=PC11
Mcu.PinsNb=61
Mcu.ThirdParty0=STMicroelectronics.X-CUBE-ALGOBUILD.1.3.0
Mcu.ThirdPartyNb=1
Mcu.UserConstants=
Mcu.UserName=STM32F407IGHx
MxCube.Version=6.8.1
MxDb.Version=DB.6.0.81
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.CAN1_RX0_IRQn=true\:5\: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\:5\: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\: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_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\: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.EXTI3_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
NVIC.EXTI4_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.EXTI9_5_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.FLASH_IRQn=true\:6\:0\:true\:false\:true\:true\:true\:true\:true
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
NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false\:false
NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
NVIC.SPI1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.SPI2_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false
NVIC.SavedPendsvIrqHandlerGenerated=true
NVIC.SavedSvcallIrqHandlerGenerated=true
NVIC.SavedSystickIrqHandlerGenerated=true
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
NVIC.UsageFault_IRQn=true\:0\:0\:true\:false\:true\:false\:false\:false\:false
PA0-WKUP.GPIOParameters=GPIO_PuPd,GPIO_Label
PA0-WKUP.GPIO_Label=KEY
PA0-WKUP.GPIO_PuPd=GPIO_PULLUP
PA0-WKUP.Locked=true
PA0-WKUP.Signal=GPIO_Input
PA10.Locked=true
PA10.Signal=USB_OTG_FS_ID
PA11.Mode=Device_Only
PA11.Signal=USB_OTG_FS_DM
PA12.Mode=Device_Only
PA12.Signal=USB_OTG_FS_DP
PA13.Mode=Serial_Wire
PA13.Signal=SYS_JTMS-SWDIO
PA14.Mode=Serial_Wire
PA14.Signal=SYS_JTCK-SWCLK
PA4.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label
PA4.GPIO_Label=CS1_ACCEL
PA4.GPIO_PuPd=GPIO_PULLUP
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
PA7.Mode=Full_Duplex_Master
PA7.Signal=SPI1_MOSI
PA8.Locked=true
PA8.Mode=I2C
PA8.Signal=I2C3_SCL
PA9.Locked=true
PA9.Mode=Asynchronous
PA9.Signal=USART1_TX
PB0.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label
PB0.GPIO_Label=CS1_GYRO
PB0.GPIO_PuPd=GPIO_PULLUP
PB0.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PB0.Locked=true
PB0.PinState=GPIO_PIN_SET
PB0.Signal=GPIO_Output
PB13.Locked=true
PB13.Mode=Full_Duplex_Master
PB13.Signal=SPI2_SCK
PB14.Locked=true
PB14.Mode=Full_Duplex_Master
PB14.Signal=SPI2_MISO
PB15.Locked=true
PB15.Mode=Full_Duplex_Master
PB15.Signal=SPI2_MOSI
PB3.GPIOParameters=GPIO_PuPd
PB3.GPIO_PuPd=GPIO_PULLUP
PB3.Locked=true
PB3.Mode=Full_Duplex_Master
PB3.Signal=SPI1_SCK
PB4.GPIOParameters=GPIO_PuPd
PB4.GPIO_PuPd=GPIO_PULLUP
PB4.Locked=true
PB4.Mode=Full_Duplex_Master
PB4.Signal=SPI1_MISO
PB5.Locked=true
PB5.Mode=CAN_Activate
PB5.Signal=CAN2_RX
PB6.Locked=true
PB6.Mode=CAN_Activate
PB6.Signal=CAN2_TX
PB7.Locked=true
PB7.Mode=Asynchronous
PB7.Signal=USART1_RX
PC10.Locked=true
PC10.Mode=Asynchronous
PC10.Signal=USART3_TX
PC11.Locked=true
PC11.Mode=Asynchronous
PC11.Signal=USART3_RX
PC4.GPIOParameters=GPIO_Label,GPIO_ModeDefaultEXTI
PC4.GPIO_Label=INT_ACC
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
PC9.Signal=I2C3_SDA
PD0.Locked=true
PD0.Mode=CAN_Activate
PD0.Signal=CAN1_RX
PD1.Locked=true
PD1.Mode=CAN_Activate
PD1.Signal=CAN1_TX
PD14.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
PD14.GPIO_Label=BUZZER
PD14.GPIO_PuPd=GPIO_PULLUP
PD14.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
PD14.Locked=true
PD14.Signal=S_TIM4_CH3
PE11.Signal=S_TIM1_CH2
PE13.Locked=true
PE13.Signal=S_TIM1_CH3
PE14.Signal=S_TIM1_CH4
PE9.GPIOParameters=GPIO_Label
PE9.GPIO_Label=SERVO
PE9.Locked=true
PE9.Signal=S_TIM1_CH1
PF0.Mode=I2C
PF0.Signal=I2C2_SDA
PF1.Mode=I2C
PF1.Signal=I2C2_SCL
PF6.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
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
PG3.GPIOParameters=GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultEXTI
PG3.GPIO_Label=INT_MAG
PG3.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_FALLING
PG3.GPIO_PuPd=GPIO_PULLUP
PG3.Locked=true
PG3.Signal=GPXTI3
PG6.GPIOParameters=GPIO_Label
PG6.GPIO_Label=MAG_RST
PG6.Locked=true
PG6.Signal=GPIO_Output
PG9.Locked=true
PG9.Mode=Asynchronous
PG9.Signal=USART6_RX
PH0-OSC_IN.Mode=HSE-External-Oscillator
PH0-OSC_IN.Signal=RCC_OSC_IN
PH1-OSC_OUT.Mode=HSE-External-Oscillator
PH1-OSC_OUT.Signal=RCC_OSC_OUT
PH10.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
PH10.GPIO_Label=LED_B
PH10.GPIO_PuPd=GPIO_PULLUP
PH10.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PH10.Locked=true
PH10.Signal=S_TIM5_CH1
PH11.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
PH11.GPIO_Label=LED_G
PH11.GPIO_PuPd=GPIO_PULLUP
PH11.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PH11.Locked=true
PH11.Signal=S_TIM5_CH2
PH12.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
PH12.GPIO_Label=LED_R
PH12.GPIO_PuPd=GPIO_PULLUP
PH12.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PH12.Locked=true
PH12.Signal=S_TIM5_CH3
PI6.Signal=S_TIM8_CH2
PI7.Signal=S_TIM8_CH3
PinOutPanel.CurrentBGAView=Top
PinOutPanel.RotationAngle=0
ProjectManager.AskForMigrate=true
ProjectManager.BackupPrevious=false
ProjectManager.CompilerOptimize=6
ProjectManager.ComputerToolchain=false
ProjectManager.CoupleFile=true
ProjectManager.CustomerFirmwarePackage=
ProjectManager.DefaultFWLocation=true
ProjectManager.DeletePrevious=true
ProjectManager.DeviceId=STM32F407IGHx
ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.27.1
ProjectManager.FreePins=false
ProjectManager.HalAssertFull=false
ProjectManager.HeapSize=0x5000
ProjectManager.KeepUserCode=true
ProjectManager.LastFirmware=true
ProjectManager.LibraryCopy=1
ProjectManager.MainLocation=Src
ProjectManager.NoMain=false
ProjectManager.PreviousToolchain=STM32CubeIDE
ProjectManager.ProjectBuild=false
ProjectManager.ProjectFileName=basic_framework.ioc
ProjectManager.ProjectName=basic_framework
ProjectManager.ProjectStructure=
ProjectManager.RegisterCallBack=
ProjectManager.StackSize=0x5000
ProjectManager.TargetToolchain=STM32CubeIDE
ProjectManager.ToolChainLocation=
ProjectManager.UnderRoot=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_TIM8_Init-TIM8-false-HAL-true,18-MX_I2C2_Init-I2C2-false-HAL-true,19-MX_I2C3_Init-I2C3-false-HAL-true,20-MX_SPI2_Init-SPI2-false-HAL-true,21-MX_CRC_Init-CRC-false-HAL-true,22-MX_DAC_Init-DAC-false-HAL-true,23-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false
RCC.48MHZClocksFreq_Value=48000000
RCC.AHBFreq_Value=168000000
RCC.APB1CLKDivider=RCC_HCLK_DIV4
RCC.APB1Freq_Value=42000000
RCC.APB1TimFreq_Value=84000000
RCC.APB2CLKDivider=RCC_HCLK_DIV2
RCC.APB2Freq_Value=84000000
RCC.APB2TimFreq_Value=168000000
RCC.CortexFreq_Value=168000000
RCC.EthernetFreq_Value=168000000
RCC.FCLKCortexFreq_Value=168000000
RCC.FamilyName=M
RCC.HCLKFreq_Value=168000000
RCC.HSE_VALUE=12000000
RCC.HSI_VALUE=16000000
RCC.I2SClocksFreq_Value=192000000
RCC.IPParameters=48MHZClocksFreq_Value,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2CLKDivider,APB2Freq_Value,APB2TimFreq_Value,CortexFreq_Value,EthernetFreq_Value,FCLKCortexFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI_VALUE,I2SClocksFreq_Value,LSE_VALUE,LSI_VALUE,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLM,PLLN,PLLQ,PLLQCLKFreq_Value,RCC_RTC_Clock_SourceVirtual,RCC_RTC_Clock_Source_FROM_HSE,RTCFreq_Value,RTCHSEDivFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VcooutputI2S
RCC.LSE_VALUE=32768
RCC.LSI_VALUE=32000
RCC.MCO2PinFreq_Value=168000000
RCC.PLLCLKFreq_Value=168000000
RCC.PLLM=6
RCC.PLLN=168
RCC.PLLQ=7
RCC.PLLQCLKFreq_Value=48000000
RCC.RCC_RTC_Clock_SourceVirtual=RCC_RTCCLKSOURCE_HSE_DIV30
RCC.RCC_RTC_Clock_Source_FROM_HSE=RCC_RTCCLKSOURCE_HSE_DIV30
RCC.RTCFreq_Value=400000
RCC.RTCHSEDivFreq_Value=400000
RCC.SYSCLKFreq_VALUE=168000000
RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
RCC.VCOI2SOutputFreq_Value=384000000
RCC.VCOInputFreq_Value=2000000
RCC.VCOOutputFreq_Value=336000000
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
SH.S_TIM1_CH1.ConfNb=1
SH.S_TIM1_CH2.0=TIM1_CH2,PWM Generation2 CH2
SH.S_TIM1_CH2.ConfNb=1
SH.S_TIM1_CH3.0=TIM1_CH3,PWM Generation3 CH3
SH.S_TIM1_CH3.ConfNb=1
SH.S_TIM1_CH4.0=TIM1_CH4,PWM Generation4 CH4
SH.S_TIM1_CH4.ConfNb=1
SH.S_TIM4_CH3.0=TIM4_CH3,PWM Generation3 CH3
SH.S_TIM4_CH3.ConfNb=1
SH.S_TIM5_CH1.0=TIM5_CH1,PWM Generation1 CH1
SH.S_TIM5_CH1.ConfNb=1
SH.S_TIM5_CH2.0=TIM5_CH2,PWM Generation2 CH2
SH.S_TIM5_CH2.ConfNb=1
SH.S_TIM5_CH3.0=TIM5_CH3,PWM Generation3 CH3
SH.S_TIM5_CH3.ConfNb=1
SH.S_TIM8_CH1.0=TIM8_CH1,Output Compare1 CH1
SH.S_TIM8_CH1.ConfNb=1
SH.S_TIM8_CH2.0=TIM8_CH2,Output Compare2 CH2
SH.S_TIM8_CH2.ConfNb=1
SH.S_TIM8_CH3.0=TIM8_CH3,Output Compare3 CH3
SH.S_TIM8_CH3.ConfNb=1
SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_8
SPI1.CLKPhase=SPI_PHASE_2EDGE
SPI1.CLKPolarity=SPI_POLARITY_HIGH
SPI1.CalculateBaudRate=10.5 MBits/s
SPI1.Direction=SPI_DIRECTION_2LINES
SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler,CLKPolarity,CLKPhase
SPI1.Mode=SPI_MODE_MASTER
SPI1.VirtualType=VM_MASTER
SPI2.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_256
SPI2.CLKPhase=SPI_PHASE_2EDGE
SPI2.CLKPolarity=SPI_POLARITY_HIGH
SPI2.CalculateBaudRate=164.062 KBits/s
SPI2.Direction=SPI_DIRECTION_2LINES
SPI2.IPParameters=VirtualType,Mode,Direction,CLKPhase,CLKPolarity,CalculateBaudRate,BaudRatePrescaler
SPI2.Mode=SPI_MODE_MASTER
SPI2.VirtualType=VM_MASTER
STMicroelectronics.X-CUBE-ALGOBUILD.1.3.0.DSPOoLibraryJjLibrary_Checked=true
STMicroelectronics.X-CUBE-ALGOBUILD.1.3.0.IPParameters=LibraryCcDSPOoLibraryJjDSPOoLibrary
STMicroelectronics.X-CUBE-ALGOBUILD.1.3.0.LibraryCcDSPOoLibraryJjDSPOoLibrary=true
STMicroelectronics.X-CUBE-ALGOBUILD.1.3.0_SwParameter=LibraryCcDSPOoLibraryJjDSPOoLibrary\:true;
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 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
TIM10.IPParameters=Period,Channel,Prescaler
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
TIM4.Prescaler=167
TIM5.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
TIM5.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
TIM5.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
TIM5.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Prescaler,Period
TIM5.Period=65535
TIM5.Prescaler=0
TIM8.Channel-Output\ Compare1\ CH1=TIM_CHANNEL_1
TIM8.Channel-Output\ Compare2\ CH2=TIM_CHANNEL_2
TIM8.Channel-Output\ Compare3\ CH3=TIM_CHANNEL_3
TIM8.IPParameters=Channel-Output Compare1 CH1,Channel-Output Compare2 CH2,Channel-Output Compare3 CH3,Prescaler,Period
TIM8.Period=19999
TIM8.Prescaler=167
USART1.BaudRate=921600
USART1.IPParameters=VirtualMode,BaudRate
USART1.VirtualMode=VM_ASYNC
USART3.BaudRate=100000
USART3.IPParameters=VirtualMode,BaudRate,Parity,WordLength
USART3.Parity=PARITY_EVEN
USART3.VirtualMode=VM_ASYNC
USART3.WordLength=WORDLENGTH_9B
USART6.IPParameters=VirtualMode
USART6.VirtualMode=VM_ASYNC
USB_DEVICE.CLASS_NAME_FS=CDC
USB_DEVICE.IPParameters=VirtualMode-CDC_FS,VirtualModeFS,CLASS_NAME_FS,MANUFACTURER_STRING-CDC_FS,PID_CDC_FS,PRODUCT_STRING_CDC_FS
USB_DEVICE.MANUFACTURER_STRING-CDC_FS=YueLuEmbedded
USB_DEVICE.PID_CDC_FS=202
USB_DEVICE.PRODUCT_STRING_CDC_FS=Vision Comm port
USB_DEVICE.VirtualMode-CDC_FS=Cdc
USB_DEVICE.VirtualModeFS=Cdc_FS
USB_OTG_FS.IPParameters=VirtualMode
USB_OTG_FS.VirtualMode=Device_Only
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
VP_RNG_VS_RNG.Signal=RNG_VS_RNG
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_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
VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT
VP_TIM4_VS_ClockSourceINT.Mode=Internal
VP_TIM4_VS_ClockSourceINT.Signal=TIM4_VS_ClockSourceINT
VP_TIM5_VS_ClockSourceINT.Mode=Internal
VP_TIM5_VS_ClockSourceINT.Signal=TIM5_VS_ClockSourceINT
VP_TIM8_VS_ClockSourceINT.Mode=Internal
VP_TIM8_VS_ClockSourceINT.Signal=TIM8_VS_ClockSourceINT
VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS.Mode=CDC_FS
VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS.Signal=USB_DEVICE_VS_USB_DEVICE_CDC_FS
board=custom
rtos.0.ip=FREERTOS