From 9673f060f184fec76216b9647c39b670f2c89c67 Mon Sep 17 00:00:00 2001 From: Meng Date: Mon, 1 Aug 2022 12:21:41 +0800 Subject: [PATCH] =?UTF-8?q?[bsp][stm32]=20=E6=9B=B4=E6=96=B0f407-robomaste?= =?UTF-8?q?r-c=E6=9D=BF=E7=9A=84bsp,=20=E6=B7=BB=E5=8A=A0stm32=E5=AE=9A?= =?UTF-8?q?=E6=97=B6=E5=99=A88=20pwm=E9=BB=98=E8=AE=A4=E9=85=8D=E7=BD=AE?= =?UTF-8?q?=20(#6201)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * [bsp][stm32] f407-robomaster-c板, 添加stm32定时器8pwm默认配置 * tab -> space * 取消DFS选定 Co-authored-by: Meco Man <920369182@qq.com> --- .../HAL_Drivers/config/f4/pwm_config.h | 11 + bsp/stm32/stm32f407-robomaster-c/.config | 52 +- bsp/stm32/stm32f407-robomaster-c/README.md | 35 +- .../applications/main.c | 2 +- .../board/CubeMX_Config/.mxproject | 8 +- .../board/CubeMX_Config/CubeMX_Config.ioc | 169 +++- .../board/CubeMX_Config/Inc/main.h | 4 +- .../CubeMX_Config/Inc/stm32f4xx_hal_conf.h | 57 +- .../board/CubeMX_Config/Inc/stm32f4xx_it.h | 2 - .../board/CubeMX_Config/Src/main.c | 728 ++++++++++++++++ .../CubeMX_Config/Src/stm32f4xx_hal_msp.c | 509 ++++++++++- .../board/CubeMX_Config/Src/stm32f4xx_it.c | 1 - .../CubeMX_Config/Src/system_stm32f4xx.c | 747 ++++++++++++++++ .../stm32f407-robomaster-c/board/Kconfig | 129 ++- .../stm32f407-robomaster-c/project.uvoptx | 815 +++++++++++++++++- .../stm32f407-robomaster-c/project.uvproj | 249 ++++-- .../stm32f407-robomaster-c/project.uvprojx | 367 ++++---- bsp/stm32/stm32f407-robomaster-c/rtconfig.h | 13 +- 18 files changed, 3489 insertions(+), 409 deletions(-) create mode 100644 bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/main.c create mode 100644 bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/system_stm32f4xx.c diff --git a/bsp/stm32/libraries/HAL_Drivers/config/f4/pwm_config.h b/bsp/stm32/libraries/HAL_Drivers/config/f4/pwm_config.h index 5bac51afb8..8ee853c457 100644 --- a/bsp/stm32/libraries/HAL_Drivers/config/f4/pwm_config.h +++ b/bsp/stm32/libraries/HAL_Drivers/config/f4/pwm_config.h @@ -72,6 +72,17 @@ extern "C" { #endif /* PWM5_CONFIG */ #endif /* BSP_USING_PWM5 */ +#ifdef BSP_USING_PWM8 +#ifndef PWM8_CONFIG +#define PWM8_CONFIG \ + { \ + .tim_handle.Instance = TIM8, \ + .name = "pwm8", \ + .channel = 0 \ + } +#endif /* PWM8_CONFIG */ +#endif /* BSP_USING_PWM8 */ + #ifdef BSP_USING_PWM9 #ifndef PWM9_CONFIG #define PWM9_CONFIG \ diff --git a/bsp/stm32/stm32f407-robomaster-c/.config b/bsp/stm32/stm32f407-robomaster-c/.config index 12243a1f10..ec980df839 100644 --- a/bsp/stm32/stm32f407-robomaster-c/.config +++ b/bsp/stm32/stm32f407-robomaster-c/.config @@ -21,17 +21,20 @@ CONFIG_RT_HOOK_USING_FUNC_PTR=y CONFIG_RT_USING_IDLE_HOOK=y CONFIG_RT_IDLE_HOOK_LIST_SIZE=4 CONFIG_IDLE_THREAD_STACK_SIZE=256 -# CONFIG_RT_USING_TIMER_SOFT is not set +CONFIG_RT_USING_TIMER_SOFT=y +CONFIG_RT_TIMER_THREAD_PRIO=4 +CONFIG_RT_TIMER_THREAD_STACK_SIZE=512 # # kservice optimization # -# CONFIG_RT_KSERVICE_USING_STDLIB is not set +CONFIG_RT_KSERVICE_USING_STDLIB=y +# CONFIG_RT_KSERVICE_USING_STDLIB_MEMORY is not set # CONFIG_RT_KSERVICE_USING_TINY_SIZE is not set # CONFIG_RT_USING_TINY_FFS is not set -# CONFIG_RT_PRINTF_LONGLONG is not set +# CONFIG_RT_KPRINTF_USING_LONGLONG is not set CONFIG_RT_DEBUG=y -CONFIG_RT_DEBUG_COLOR=y +# CONFIG_RT_DEBUG_COLOR is not set # CONFIG_RT_DEBUG_INIT_CONFIG is not set # CONFIG_RT_DEBUG_THREAD_CONFIG is not set # CONFIG_RT_DEBUG_SCHEDULER_CONFIG is not set @@ -78,7 +81,7 @@ CONFIG_RT_USING_DEVICE=y CONFIG_RT_USING_CONSOLE=y CONFIG_RT_CONSOLEBUF_SIZE=128 CONFIG_RT_CONSOLE_DEVICE_NAME="uart1" -CONFIG_RT_VER_NUM=0x40100 +CONFIG_RT_VER_NUM=0x40101 CONFIG_ARCH_ARM=y CONFIG_RT_USING_CPU_FFS=y CONFIG_ARCH_ARM_CORTEX_M=y @@ -261,6 +264,7 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8 # CONFIG_PKG_USING_UCLOUD_IOT_SDK is not set # CONFIG_PKG_USING_JOYLINK is not set # CONFIG_PKG_USING_EZ_IOT_OS is not set +# CONFIG_PKG_USING_IOTSHARP_SDK is not set # CONFIG_PKG_USING_NIMBLE is not set # CONFIG_PKG_USING_LLSYNC_SDK_ADAPTER is not set # CONFIG_PKG_USING_OTA_DOWNLOADER is not set @@ -294,12 +298,14 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8 # CONFIG_PKG_USING_HM is not set # CONFIG_PKG_USING_SMALL_MODBUS is not set # CONFIG_PKG_USING_NET_SERVER is not set +# CONFIG_PKG_USING_ZFTP is not set # # security packages # # CONFIG_PKG_USING_MBEDTLS is not set # CONFIG_PKG_USING_LIBSODIUM is not set +# CONFIG_PKG_USING_LIBHYDROGEN is not set # CONFIG_PKG_USING_TINYCRYPT is not set # CONFIG_PKG_USING_TFM is not set # CONFIG_PKG_USING_YD_CRYPTO is not set @@ -317,6 +323,7 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8 # CONFIG_PKG_USING_RAPIDJSON is not set # CONFIG_PKG_USING_JSMN is not set # CONFIG_PKG_USING_AGILE_JSMN is not set +# CONFIG_PKG_USING_PARSON is not set # # XML: Extensible Markup Language @@ -328,6 +335,7 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8 # CONFIG_PKG_USING_JERRYSCRIPT is not set # CONFIG_PKG_USING_MICROPYTHON is not set # CONFIG_PKG_USING_PIKASCRIPT is not set +# CONFIG_PKG_USING_RTT_RUST is not set # # multimedia packages @@ -339,6 +347,7 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8 # CONFIG_PKG_USING_LVGL is not set # CONFIG_PKG_USING_LITTLEVGL2RTT is not set # CONFIG_PKG_USING_LV_MUSIC_DEMO is not set +# CONFIG_PKG_USING_GUI_GUIDER_DEMO is not set # # u8g2: a monochrome graphic library @@ -414,6 +423,9 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8 # CONFIG_PKG_USING_FDT is not set # CONFIG_PKG_USING_CBOX is not set # CONFIG_PKG_USING_SNOWFLAKE is not set +# CONFIG_PKG_USING_HASH_MATCH is not set +# CONFIG_PKG_USING_FIRE_PID_CURVE is not set +# CONFIG_PKG_USING_ARMV7M_DWT_TOOL is not set # # system packages @@ -426,14 +438,6 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8 # CONFIG_PKG_USING_RT_KPRINTF_THREADSAFE is not set # CONFIG_PKG_USING_RT_VSNPRINTF_FULL is not set -# -# POSIX extension functions -# -# CONFIG_PKG_USING_POSIX_GETLINE is not set -# CONFIG_PKG_USING_POSIX_WCWIDTH is not set -# CONFIG_PKG_USING_POSIX_ITOA is not set -# CONFIG_PKG_USING_POSIX_STRINGS is not set - # # acceleration: Assembly language or algorithmic acceleration packages # @@ -445,6 +449,7 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8 # CMSIS: ARM Cortex-M Microcontroller Software Interface Standard # # CONFIG_PKG_USING_CMSIS_5 is not set +# CONFIG_PKG_USING_CMSIS_RTOS1 is not set # CONFIG_PKG_USING_CMSIS_RTOS2 is not set # @@ -457,9 +462,11 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8 # CONFIG_PKG_USING_UC_COMMON is not set # CONFIG_PKG_USING_UC_MODBUS is not set # CONFIG_PKG_USING_RTDUINO is not set +# CONFIG_PKG_USING_FREERTOS_WRAPPER is not set # CONFIG_PKG_USING_CAIRO is not set # CONFIG_PKG_USING_PIXMAN is not set # CONFIG_PKG_USING_PARTITION is not set +# CONFIG_PKG_USING_PERF_COUNTER is not set # CONFIG_PKG_USING_FLASHDB is not set # CONFIG_PKG_USING_SQLITE is not set # CONFIG_PKG_USING_RTI is not set @@ -487,6 +494,8 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8 # CONFIG_PKG_USING_TINYUSB is not set # CONFIG_PKG_USING_CHERRYUSB is not set # CONFIG_PKG_USING_KMULTI_RTIMER is not set +# CONFIG_PKG_USING_TFDB is not set +# CONFIG_PKG_USING_QPC is not set # # peripheral libraries and drivers @@ -495,8 +504,10 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8 # CONFIG_PKG_USING_REALTEK_AMEBA is not set # CONFIG_PKG_USING_SHT2X is not set # CONFIG_PKG_USING_SHT3X is not set +# CONFIG_PKG_USING_ADT74XX is not set # CONFIG_PKG_USING_AS7341 is not set # CONFIG_PKG_USING_STM32_SDIO is not set +# CONFIG_PKG_USING_RTT_ESP_IDF is not set # CONFIG_PKG_USING_ICM20608 is not set # CONFIG_PKG_USING_BUTTON is not set # CONFIG_PKG_USING_PCF8574 is not set @@ -508,6 +519,11 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8 # CONFIG_PKG_USING_NRF5X_SDK is not set # CONFIG_PKG_USING_NRFX is not set # CONFIG_PKG_USING_WM_LIBRARIES is not set + +# +# Kendryte SDK +# +# CONFIG_PKG_USING_K210_SDK is not set # CONFIG_PKG_USING_KENDRYTE_SDK is not set # CONFIG_PKG_USING_INFRARED is not set # CONFIG_PKG_USING_MULTI_INFRARED is not set @@ -568,6 +584,7 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8 # CONFIG_PKG_USING_MB85RS16 is not set # CONFIG_PKG_USING_CW2015 is not set # CONFIG_PKG_USING_RFM300 is not set +# CONFIG_PKG_USING_IO_INPUT_FILTER is not set # # AI packages @@ -641,6 +658,8 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8 # CONFIG_PKG_USING_CONTROLLER is not set # CONFIG_PKG_USING_PHASE_LOCKED_LOOP is not set # CONFIG_PKG_USING_MFBD is not set +# CONFIG_PKG_USING_SLCAN2RTT is not set +# CONFIG_PKG_USING_SOEM is not set CONFIG_SOC_FAMILY_STM32=y CONFIG_SOC_SERIES_STM32F4=y @@ -660,6 +679,13 @@ CONFIG_BSP_USING_GPIO=y CONFIG_BSP_USING_UART=y CONFIG_BSP_USING_UART1=y # CONFIG_BSP_UART1_RX_USING_DMA is not set +# CONFIG_BSP_USING_UART3 is not set +# CONFIG_BSP_USING_UART6 is not set +# CONFIG_BSP_USING_CAN is not set +# CONFIG_BSP_USING_PWM is not set +# CONFIG_BSP_USING_ADC is not set +# CONFIG_BSP_USING_SPI is not set +# CONFIG_BSP_USING_I2C1 is not set # CONFIG_BSP_USING_RNG is not set # CONFIG_BSP_USING_UDID is not set diff --git a/bsp/stm32/stm32f407-robomaster-c/README.md b/bsp/stm32/stm32f407-robomaster-c/README.md index c4f2eceb48..07230ecb4f 100644 --- a/bsp/stm32/stm32f407-robomaster-c/README.md +++ b/bsp/stm32/stm32f407-robomaster-c/README.md @@ -24,10 +24,14 @@ Robomaster 开发板C型 是大疆创新科技有限公司推出的一款基于 该开发板常用 **板载资源** 如下： -- MCU: STM32F407IGH6TR, 168MHz Freq, 1024KB FLASH, 192KB RAM(含64KB CCM RAM)。 +- MCU：STM32F407IGH6TR, 主频 168MHz, 1024KB FLASH, 192KB RAM(含64KB CCM RAM) +- 常用外设 + - 三色 LED：LED_R(PH12), LED_G(PH11), LED_B(PH11), + - 按键：KEY(PA0) + - 电压检测：ADC_BAT(PF10) +- 常用接口：UART 接口、CAN 总线接口、PWM 接口 - 调试接口：SWD -- 常用外设：用户自定义 LED、按键、蜂鸣器、六轴惯性测量单元和磁力计、电压检测 ADC。 -- 常用接口：5V 接口、BOOT 配置接口、micro USB 接口、可配置 I/O 接口、UART 接口、CAN 总线接口、PWM 接口、DBUS接口、数字摄像头 FPC 接口。 + 开发板的用户手册：[RoboMaster 开发板 C 型用户手册.pdf](https://rm-static.djicdn.com/tem/35228/RoboMaster%20%20%E5%BC%80%E5%8F%91%E6%9D%BF%20C%20%E5%9E%8B%E7%94%A8%E6%88%B7%E6%89%8B%E5%86%8C.pdf) @@ -43,14 +47,11 @@ Robomaster 开发板C型 是大疆创新科技有限公司推出的一款基于 | IST8310 | 暂不支持 | 三轴磁力计 | | **片上外设** | **支持情况** | **备注** | | GPIO | 支持 | PA0, PA1... PH1 ---> PIN: 0, 1...144 | -| UART | 支持 | UART1, UART3(DBUS), UART6 | -| CAN | 下阶段支持 | CAN1, CAN2 | -| PWM | 下阶段支持 | | -| SPI | 下阶段支持 | BMI088, 用户SPI接口 | -| I2C | 下阶段支持 | IST8310, 用户 I2C 接口 | -| USB | 暂不支持 | | -| **扩展模块** | **支持情况** | **备注** | -| 无 | | | +| UART | 支持 | UART1(FinSH), UART3(DBUS), UART6 | +| CAN | 支持 | CAN1, CAN2 | +| PWM | 支持 | TIM1(CH1/2/3/4), TIM4(CH3), TIM8(CH1/2/3) | +| SPI | 支持 | SPI2 | +| IIC | 支持 | 模拟IIC(SDA-->PF0, SCL-->PF1) | ## 使用说明 @@ -83,20 +84,20 @@ Robomaster 开发板C型 是大疆创新科技有限公司推出的一款基于 下载程序成功之后，系统会自动运行，观察开发板上 LED 的运行效果，LED 会以蓝光进行周期性闪烁。 -此 BSP 的 FinSH 默认使用串口 1 (C板外壳上标有UART2的4Pin接口)，在终端工具里打开相应的串口（115200-8-1-N），复位设备后，可以看到 RT-Thread 的输出信息: +此 BSP 的 FinSH 默认使用串口 1 ( C 板外壳上标有 UART2 的 4Pin 接口)，在终端工具里打开相应的串口（115200-8-1-N），复位设备后，可以看到 RT-Thread 的输出信息: ```bash \ | / - RT - Thread Operating System - / | \ 4.0.4 build Jun 30 2021 - 2006 - 2021 Copyright by rt-thread team + / | \ 4.1.1 build Jul 29 2022 23:31:38 + 2006 - 2022 Copyright by RT-Thread team msh > ``` > 终端工具推荐使用 [MobaXterm](https://mobaxterm.mobatek.net/) 或 [Xshell](https://www.netsarang.com/en/free-for-home-school/)，均有免费的个人版本 ### 进阶使用 -此 BSP 默认只开启了 GPIO 和 串口 2 的功能，更多高级功能需要利用 ENV 工具对 BSP 进行配置，步骤如下： +此 BSP 默认只开启了 GPIO 和 UART1(丝印为 UART2 4pin 接口) 的功能，更多高级功能需要利用 ENV 工具对 BSP 进行配置，步骤如下： 1. 在 BSP 下打开 env 工具。 @@ -117,4 +118,6 @@ msh > 维护人: -- [crazt](https://github.com/CraztTnspt) ，邮箱： \ No newline at end of file +- [crazt](https://github.com/CraztTnspt) ，邮箱： +- [Meng](https://github.com/Meng2025) ，邮箱： + diff --git a/bsp/stm32/stm32f407-robomaster-c/applications/main.c b/bsp/stm32/stm32f407-robomaster-c/applications/main.c index a4e03550f6..919267ba14 100644 --- a/bsp/stm32/stm32f407-robomaster-c/applications/main.c +++ b/bsp/stm32/stm32f407-robomaster-c/applications/main.c @@ -13,7 +13,7 @@ #include #include -/* defined the LED Blue pin: PB1 */ +/* defined the LED Blue pin: PH10 */ #define LED_B_PIN GET_PIN(H, 10) int main(void) diff --git a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/.mxproject b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/.mxproject index 98680a9f77..dd8c8e6ec2 100644 --- a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/.mxproject +++ b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/.mxproject @@ -1,14 +1,14 @@ [PreviousLibFiles] -LibFiles=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_hal_uart.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_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_hal_dma_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.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_hal_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/Src/stm32f4xx_hal_tim.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.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_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_hal_dma_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.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_hal_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/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Include/cmsis_armclang.h;Drivers/CMSIS/Include/cmsis_compiler.h;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/cmsis_iccarm.h;Drivers/CMSIS/Include/cmsis_version.h;Drivers/CMSIS/Include/core_armv8mbl.h;Drivers/CMSIS/Include/core_armv8mml.h;Drivers/CMSIS/Include/core_cm0.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/core_cm1.h;Drivers/CMSIS/Include/core_cm23.h;Drivers/CMSIS/Include/core_cm3.h;Drivers/CMSIS/Include/core_cm33.h;Drivers/CMSIS/Include/core_cm4.h;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/core_sc300.h;Drivers/CMSIS/Include/mpu_armv7.h;Drivers/CMSIS/Include/mpu_armv8.h;Drivers/CMSIS/Include/tz_context.h; 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[PreviousUsedKeilFiles] -SourceFiles=..\Src\main.c;..\Src\stm32f4xx_it.c;..\Src\stm32f4xx_hal_msp.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;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;..\\Src/system_stm32f4xx.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;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;..\\Src/system_stm32f4xx.c;..\Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;; +SourceFiles=..\Src\main.c;..\Src\stm32f4xx_it.c;..\Src\stm32f4xx_hal_msp.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_rcc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.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;..\Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;..\\Src\system_stm32f4xx.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_rcc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.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;..\Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;..\\Src\system_stm32f4xx.c;;; HeaderPath=..\Drivers\STM32F4xx_HAL_Driver\Inc;..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy;..\Drivers\CMSIS\Device\ST\STM32F4xx\Include;..\Drivers\CMSIS\Include;..\Inc; CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;USE_HAL_DRIVER; [PreviousGenFiles] -HeaderPath=C:/CraztDoc/RTT/github_repo/rt-thread/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Inc +HeaderPath=..\Inc HeaderFiles=stm32f4xx_it.h;stm32f4xx_hal_conf.h;main.h; -SourcePath=C:/CraztDoc/RTT/github_repo/rt-thread/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src +SourcePath=..\Src SourceFiles=stm32f4xx_it.c;stm32f4xx_hal_msp.c;main.c; diff --git a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/CubeMX_Config.ioc b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/CubeMX_Config.ioc index f7c753af0a..94d5e8e3fa 100644 --- a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/CubeMX_Config.ioc +++ b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/CubeMX_Config.ioc @@ -1,39 +1,85 @@ #MicroXplorer Configuration settings - do not modify +ADC3.Channel-1\#ChannelRegularConversion=ADC_CHANNEL_8 +ADC3.IPParameters=Rank-1\#ChannelRegularConversion,Channel-1\#ChannelRegularConversion,SamplingTime-1\#ChannelRegularConversion,NbrOfConversionFlag +ADC3.NbrOfConversionFlag=1 +ADC3.Rank-1\#ChannelRegularConversion=1 +ADC3.SamplingTime-1\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES +CAN1.BS1=CAN_BS1_1TQ +CAN1.BS2=CAN_BS2_1TQ +CAN1.CalculateBaudRate=875000 +CAN1.CalculateTimeBit=1142 +CAN1.CalculateTimeQuantum=380.95238095238096 +CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,BS1,BS2 +CAN2.BS1=CAN_BS1_1TQ +CAN2.BS2=CAN_BS2_1TQ +CAN2.CalculateBaudRate=875000 +CAN2.CalculateTimeBit=1142 +CAN2.CalculateTimeQuantum=380.95238095238096 +CAN2.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,BS1,BS2 File.Version=6 GPIO.groupedBy= KeepUserPlacement=false +Mcu.CPN=STM32F407IGH6 Mcu.Family=STM32F4 -Mcu.IP0=NVIC -Mcu.IP1=RCC -Mcu.IP2=SYS -Mcu.IP3=USART1 -Mcu.IPNb=4 +Mcu.IP0=ADC3 +Mcu.IP1=CAN1 +Mcu.IP10=USART3 +Mcu.IP11=USART6 +Mcu.IP2=CAN2 +Mcu.IP3=NVIC +Mcu.IP4=RCC +Mcu.IP5=SYS +Mcu.IP6=TIM1 +Mcu.IP7=TIM4 +Mcu.IP8=TIM8 +Mcu.IP9=USART1 +Mcu.IPNb=12 Mcu.Name=STM32F407I(E-G)Hx Mcu.Package=UFBGA176 -Mcu.Pin0=PA14 -Mcu.Pin1=PA13 -Mcu.Pin2=PB7 -Mcu.Pin3=PA9 -Mcu.Pin4=PH0-OSC_IN -Mcu.Pin5=PH1-OSC_OUT -Mcu.Pin6=VP_SYS_VS_Systick -Mcu.PinsNb=7 +Mcu.Pin0=PB5 +Mcu.Pin1=PG14 +Mcu.Pin10=PI6 +Mcu.Pin11=PG9 +Mcu.Pin12=PD1 +Mcu.Pin13=PA9 +Mcu.Pin14=PH0-OSC_IN +Mcu.Pin15=PH1-OSC_OUT +Mcu.Pin16=PC6 +Mcu.Pin17=PF10 +Mcu.Pin18=PD14 +Mcu.Pin19=PE13 +Mcu.Pin2=PA14 +Mcu.Pin20=PE9 +Mcu.Pin21=PE11 +Mcu.Pin22=PE14 +Mcu.Pin23=VP_SYS_VS_Systick +Mcu.Pin24=VP_TIM1_VS_ClockSourceINT +Mcu.Pin25=VP_TIM4_VS_ClockSourceINT +Mcu.Pin26=VP_TIM8_VS_ClockSourceINT +Mcu.Pin3=PA13 +Mcu.Pin4=PB7 +Mcu.Pin5=PB6 +Mcu.Pin6=PD0 +Mcu.Pin7=PC11 +Mcu.Pin8=PC10 +Mcu.Pin9=PI7 +Mcu.PinsNb=27 Mcu.ThirdPartyNb=0 Mcu.UserConstants= Mcu.UserName=STM32F407IGHx -MxCube.Version=6.1.2 -MxDb.Version=DB.6.0.10 -NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false -NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false +MxCube.Version=6.6.1 +MxDb.Version=DB.6.0.60 +NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false +NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false NVIC.ForceEnableDMAVector=true -NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false -NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false -NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false -NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false +NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false +NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false +NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false +NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4 -NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false -NVIC.SysTick_IRQn=true\:0\:0\:false\:false\:true\:false\:true -NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false +NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false +NVIC.SysTick_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:false +NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false PA13.Mode=Serial_Wire PA13.Signal=SYS_JTMS-SWDIO PA14.Mode=Serial_Wire @@ -42,14 +88,48 @@ PA9.GPIOParameters=GPIO_PuPd PA9.GPIO_PuPd=GPIO_PULLUP PA9.Mode=Asynchronous PA9.Signal=USART1_TX +PB5.Mode=CAN_Activate +PB5.Signal=CAN2_RX +PB6.Mode=CAN_Activate +PB6.Signal=CAN2_TX PB7.GPIOParameters=GPIO_PuPd PB7.GPIO_PuPd=GPIO_PULLUP PB7.Mode=Asynchronous PB7.Signal=USART1_RX +PC10.Mode=Asynchronous +PC10.Signal=USART3_TX +PC11.Mode=Asynchronous +PC11.Signal=USART3_RX +PC6.Locked=true +PC6.Signal=S_TIM8_CH1 +PD0.Locked=true +PD0.Mode=CAN_Activate +PD0.Signal=CAN1_RX +PD1.Locked=true +PD1.Mode=CAN_Activate +PD1.Signal=CAN1_TX +PD14.Locked=true +PD14.Signal=S_TIM4_CH3 +PE11.Signal=S_TIM1_CH2 +PE13.Locked=true +PE13.Signal=S_TIM1_CH3 +PE14.Locked=true +PE14.Signal=S_TIM1_CH4 +PE9.Locked=true +PE9.Signal=S_TIM1_CH1 +PF10.Locked=true +PF10.Mode=IN8 +PF10.Signal=ADC3_IN8 +PG14.Mode=Asynchronous +PG14.Signal=USART6_TX +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 +PI6.Signal=S_TIM8_CH2 +PI7.Signal=S_TIM8_CH3 PinOutPanel.CurrentBGAView=Top PinOutPanel.RotationAngle=0 ProjectManager.AskForMigrate=true @@ -61,7 +141,7 @@ ProjectManager.CustomerFirmwarePackage= ProjectManager.DefaultFWLocation=true ProjectManager.DeletePrevious=true ProjectManager.DeviceId=STM32F407IGHx -ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.25.2 +ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.27.1 ProjectManager.FreePins=false ProjectManager.HalAssertFull=false ProjectManager.HeapSize=0x200 @@ -79,7 +159,7 @@ ProjectManager.StackSize=0x400 ProjectManager.TargetToolchain=MDK-ARM V5 ProjectManager.ToolChainLocation= ProjectManager.UnderRoot=false -ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false +ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_USART1_UART_Init-USART1-false-HAL-true,4-MX_ADC3_Init-ADC3-false-HAL-true,5-MX_CAN1_Init-CAN1-false-HAL-true,6-MX_CAN2_Init-CAN2-false-HAL-true,7-MX_TIM1_Init-TIM1-false-HAL-true,8-MX_TIM4_Init-TIM4-false-HAL-true,9-MX_TIM8_Init-TIM8-false-HAL-true,10-MX_USART3_UART_Init-USART3-false-HAL-true,11-MX_USART6_UART_Init-USART6-false-HAL-true RCC.48MHZClocksFreq_Value=84000000 RCC.AHBFreq_Value=168000000 RCC.APB1CLKDivider=RCC_HCLK_DIV4 @@ -113,8 +193,45 @@ RCC.VCOI2SOutputFreq_Value=384000000 RCC.VCOInputFreq_Value=2000000 RCC.VCOOutputFreq_Value=336000000 RCC.VcooutputI2S=192000000 +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_TIM8_CH1.0=TIM8_CH1,PWM Generation1 CH1 +SH.S_TIM8_CH1.ConfNb=1 +SH.S_TIM8_CH2.0=TIM8_CH2,PWM Generation2 CH2 +SH.S_TIM8_CH2.ConfNb=1 +SH.S_TIM8_CH3.0=TIM8_CH3,PWM Generation3 CH3 +SH.S_TIM8_CH3.ConfNb=1 +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=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4 +TIM4.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3 +TIM4.IPParameters=Channel-PWM Generation3 CH3 +TIM8.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1 +TIM8.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2 +TIM8.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3 +TIM8.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3 USART1.IPParameters=VirtualMode USART1.VirtualMode=VM_ASYNC +USART3.IPParameters=VirtualMode +USART3.VirtualMode=VM_ASYNC +USART6.IPParameters=VirtualMode +USART6.VirtualMode=VM_ASYNC VP_SYS_VS_Systick.Mode=SysTick VP_SYS_VS_Systick.Signal=SYS_VS_Systick +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_TIM8_VS_ClockSourceINT.Mode=Internal +VP_TIM8_VS_ClockSourceINT.Signal=TIM8_VS_ClockSourceINT board=custom diff --git a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Inc/main.h b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Inc/main.h index b905d54bd5..2ce5e7d447 100644 --- a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Inc/main.h +++ b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Inc/main.h @@ -50,6 +50,8 @@ extern "C" { /* USER CODE END EM */ +void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim); + /* Exported functions prototypes ---------------------------------------------*/ void Error_Handler(void); @@ -67,5 +69,3 @@ void Error_Handler(void); #endif #endif /* __MAIN_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h index 5986f8f9c9..9a4f205a70 100644 --- a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h +++ b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h @@ -1,3 +1,4 @@ +/* USER CODE BEGIN Header */ /** ****************************************************************************** * @file stm32f4xx_hal_conf_template.h @@ -8,16 +9,16 @@ ****************************************************************************** * @attention * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

+ * Copyright (c) 2017 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 + * 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 */ /* Define to prevent recursive inclusion -------------------------------------*/ #ifndef __STM32F4xx_HAL_CONF_H @@ -36,9 +37,9 @@ */ #define HAL_MODULE_ENABLED - /* #define HAL_ADC_MODULE_ENABLED */ + #define HAL_ADC_MODULE_ENABLED /* #define HAL_CRYP_MODULE_ENABLED */ -/* #define HAL_CAN_MODULE_ENABLED */ +#define HAL_CAN_MODULE_ENABLED /* #define HAL_CRC_MODULE_ENABLED */ /* #define HAL_CAN_LEGACY_MODULE_ENABLED */ /* #define HAL_CRYP_MODULE_ENABLED */ @@ -61,8 +62,8 @@ /* #define HAL_SAI_MODULE_ENABLED */ /* #define HAL_SD_MODULE_ENABLED */ /* #define HAL_MMC_MODULE_ENABLED */ -/* #define HAL_SPI_MODULE_ENABLED */ -/* #define HAL_TIM_MODULE_ENABLED */ +#define HAL_SPI_MODULE_ENABLED +#define HAL_TIM_MODULE_ENABLED #define HAL_UART_MODULE_ENABLED /* #define HAL_USART_MODULE_ENABLED */ /* #define HAL_IRDA_MODULE_ENABLED */ @@ -76,6 +77,7 @@ /* #define HAL_QSPI_MODULE_ENABLED */ /* #define HAL_CEC_MODULE_ENABLED */ /* #define HAL_FMPI2C_MODULE_ENABLED */ +/* #define HAL_FMPSMBUS_MODULE_ENABLED */ /* #define HAL_SPDIFRX_MODULE_ENABLED */ /* #define HAL_DFSDM_MODULE_ENABLED */ /* #define HAL_LPTIM_MODULE_ENABLED */ @@ -94,11 +96,11 @@ * (when HSE is used as system clock source, directly or through the PLL). */ #if !defined (HSE_VALUE) - #define HSE_VALUE ((uint32_t)12000000U) /*!< Value of the External oscillator in Hz */ + #define HSE_VALUE 12000000U /*!< Value of the External oscillator in Hz */ #endif /* HSE_VALUE */ #if !defined (HSE_STARTUP_TIMEOUT) - #define HSE_STARTUP_TIMEOUT ((uint32_t)100U) /*!< Time out for HSE start up, in ms */ + #define HSE_STARTUP_TIMEOUT 100U /*!< Time out for HSE start up, in ms */ #endif /* HSE_STARTUP_TIMEOUT */ /** @@ -114,7 +116,7 @@ * @brief Internal Low Speed oscillator (LSI) value. */ #if !defined (LSI_VALUE) - #define LSI_VALUE ((uint32_t)32000U) /*!< LSI Typical Value in Hz*/ + #define LSI_VALUE 32000U /*!< LSI Typical Value in Hz*/ #endif /* LSI_VALUE */ /*!< Value of the Internal Low Speed oscillator in Hz The real value may vary depending on the variations in voltage and temperature.*/ @@ -122,11 +124,11 @@ * @brief External Low Speed oscillator (LSE) value. */ #if !defined (LSE_VALUE) - #define LSE_VALUE ((uint32_t)32768U) /*!< Value of the External Low Speed oscillator in Hz */ + #define LSE_VALUE 32768U /*!< Value of the External Low Speed oscillator in Hz */ #endif /* LSE_VALUE */ #if !defined (LSE_STARTUP_TIMEOUT) - #define LSE_STARTUP_TIMEOUT ((uint32_t)5000U) /*!< Time out for LSE start up, in ms */ + #define LSE_STARTUP_TIMEOUT 5000U /*!< Time out for LSE start up, in ms */ #endif /* LSE_STARTUP_TIMEOUT */ /** @@ -135,7 +137,7 @@ * frequency, this source is inserted directly through I2S_CKIN pad. */ #if !defined (EXTERNAL_CLOCK_VALUE) - #define EXTERNAL_CLOCK_VALUE ((uint32_t)12288000U) /*!< Value of the External audio frequency in Hz*/ + #define EXTERNAL_CLOCK_VALUE 12288000U /*!< Value of the External audio frequency in Hz*/ #endif /* EXTERNAL_CLOCK_VALUE */ /* Tip: To avoid modifying this file each time you need to use different HSE, @@ -145,8 +147,8 @@ /** * @brief This is the HAL system configuration section */ -#define VDD_VALUE ((uint32_t)3300U) /*!< Value of VDD in mv */ -#define TICK_INT_PRIORITY ((uint32_t)0U) /*!< tick interrupt priority */ +#define VDD_VALUE 3300U /*!< Value of VDD in mv */ +#define TICK_INT_PRIORITY 0U /*!< tick interrupt priority */ #define USE_RTOS 0U #define PREFETCH_ENABLE 1U #define INSTRUCTION_CACHE_ENABLE 1U @@ -166,6 +168,7 @@ #define USE_HAL_HCD_REGISTER_CALLBACKS 0U /* HCD register callback disabled */ #define USE_HAL_I2C_REGISTER_CALLBACKS 0U /* I2C register callback disabled */ #define USE_HAL_FMPI2C_REGISTER_CALLBACKS 0U /* FMPI2C register callback disabled */ +#define USE_HAL_FMPSMBUS_REGISTER_CALLBACKS 0U /* FMPSMBUS register callback disabled */ #define USE_HAL_I2S_REGISTER_CALLBACKS 0U /* I2S register callback disabled */ #define USE_HAL_IRDA_REGISTER_CALLBACKS 0U /* IRDA register callback disabled */ #define USE_HAL_LPTIM_REGISTER_CALLBACKS 0U /* LPTIM register callback disabled */ @@ -213,20 +216,20 @@ /* Definition of the Ethernet driver buffers size and count */ #define ETH_RX_BUF_SIZE ETH_MAX_PACKET_SIZE /* buffer size for receive */ #define ETH_TX_BUF_SIZE ETH_MAX_PACKET_SIZE /* buffer size for transmit */ -#define ETH_RXBUFNB ((uint32_t)4U) /* 4 Rx buffers of size ETH_RX_BUF_SIZE */ -#define ETH_TXBUFNB ((uint32_t)4U) /* 4 Tx buffers of size ETH_TX_BUF_SIZE */ +#define ETH_RXBUFNB 4U /* 4 Rx buffers of size ETH_RX_BUF_SIZE */ +#define ETH_TXBUFNB 4U /* 4 Tx buffers of size ETH_TX_BUF_SIZE */ /* Section 2: PHY configuration section */ /* DP83848_PHY_ADDRESS Address*/ #define DP83848_PHY_ADDRESS 0x01U /* PHY Reset delay these values are based on a 1 ms Systick interrupt*/ -#define PHY_RESET_DELAY ((uint32_t)0x000000FFU) +#define PHY_RESET_DELAY 0x000000FFU /* PHY Configuration delay */ -#define PHY_CONFIG_DELAY ((uint32_t)0x00000FFFU) +#define PHY_CONFIG_DELAY 0x00000FFFU -#define PHY_READ_TO ((uint32_t)0x0000FFFFU) -#define PHY_WRITE_TO ((uint32_t)0x0000FFFFU) +#define PHY_READ_TO 0x0000FFFFU +#define PHY_WRITE_TO 0x0000FFFFU /* Section 3: Common PHY Registers */ @@ -444,6 +447,10 @@ #include "stm32f4xx_hal_fmpi2c.h" #endif /* HAL_FMPI2C_MODULE_ENABLED */ +#ifdef HAL_FMPSMBUS_MODULE_ENABLED + #include "stm32f4xx_hal_fmpsmbus.h" +#endif /* HAL_FMPSMBUS_MODULE_ENABLED */ + #ifdef HAL_SPDIFRX_MODULE_ENABLED #include "stm32f4xx_hal_spdifrx.h" #endif /* HAL_SPDIFRX_MODULE_ENABLED */ @@ -482,5 +489,3 @@ #endif #endif /* __STM32F4xx_HAL_CONF_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Inc/stm32f4xx_it.h b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Inc/stm32f4xx_it.h index e80dbbd8c1..9db1c49bc6 100644 --- a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Inc/stm32f4xx_it.h +++ b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Inc/stm32f4xx_it.h @@ -65,5 +65,3 @@ void SysTick_Handler(void); #endif #endif /* __STM32F4xx_IT_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/main.c b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/main.c new file mode 100644 index 0000000000..abadb990b8 --- /dev/null +++ b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/main.c @@ -0,0 +1,728 @@ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * @file : main.c + * @brief : Main program body + ****************************************************************************** + * @attention + * + * Copyright (c) 2022 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 "main.h" + +/* Private includes ----------------------------------------------------------*/ +/* USER CODE BEGIN Includes */ + +/* USER CODE END Includes */ + +/* Private typedef -----------------------------------------------------------*/ +/* USER CODE BEGIN PTD */ + +/* USER CODE END PTD */ + +/* Private define ------------------------------------------------------------*/ +/* USER CODE BEGIN PD */ +/* USER CODE END PD */ + +/* Private macro -------------------------------------------------------------*/ +/* USER CODE BEGIN PM */ + +/* USER CODE END PM */ + +/* Private variables ---------------------------------------------------------*/ +ADC_HandleTypeDef hadc3; + +CAN_HandleTypeDef hcan1; +CAN_HandleTypeDef hcan2; + +SPI_HandleTypeDef hspi2; + +TIM_HandleTypeDef htim1; +TIM_HandleTypeDef htim4; +TIM_HandleTypeDef htim8; + +UART_HandleTypeDef huart1; +UART_HandleTypeDef huart3; +UART_HandleTypeDef huart6; + +/* USER CODE BEGIN PV */ + +/* USER CODE END PV */ + +/* Private function prototypes -----------------------------------------------*/ +void SystemClock_Config(void); +static void MX_GPIO_Init(void); +static void MX_USART1_UART_Init(void); +static void MX_ADC3_Init(void); +static void MX_CAN1_Init(void); +static void MX_CAN2_Init(void); +static void MX_TIM1_Init(void); +static void MX_TIM4_Init(void); +static void MX_TIM8_Init(void); +static void MX_USART3_UART_Init(void); +static void MX_USART6_UART_Init(void); +static void MX_SPI2_Init(void); +/* USER CODE BEGIN PFP */ + +/* USER CODE END PFP */ + +/* Private user code ---------------------------------------------------------*/ +/* USER CODE BEGIN 0 */ + +/* USER CODE END 0 */ + +/** + * @brief The application entry point. + * @retval int + */ +int main(void) +{ + /* USER CODE BEGIN 1 */ + + /* USER CODE END 1 */ + + /* MCU Configuration--------------------------------------------------------*/ + + /* Reset of all peripherals, Initializes the Flash interface and the Systick. */ + HAL_Init(); + + /* USER CODE BEGIN Init */ + + /* USER CODE END Init */ + + /* Configure the system clock */ + SystemClock_Config(); + + /* USER CODE BEGIN SysInit */ + + /* USER CODE END SysInit */ + + /* Initialize all configured peripherals */ + MX_GPIO_Init(); + MX_USART1_UART_Init(); + MX_ADC3_Init(); + MX_CAN1_Init(); + MX_CAN2_Init(); + MX_TIM1_Init(); + MX_TIM4_Init(); + MX_TIM8_Init(); + MX_USART3_UART_Init(); + MX_USART6_UART_Init(); + MX_SPI2_Init(); + /* USER CODE BEGIN 2 */ + + /* USER CODE END 2 */ + + /* Infinite loop */ + /* USER CODE BEGIN WHILE */ + while (1) + { + /* USER CODE END WHILE */ + + /* USER CODE BEGIN 3 */ + } + /* USER CODE END 3 */ +} + +/** + * @brief System Clock Configuration + * @retval None + */ +void SystemClock_Config(void) +{ + RCC_OscInitTypeDef RCC_OscInitStruct = {0}; + RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; + + /** Configure the main internal regulator output voltage + */ + __HAL_RCC_PWR_CLK_ENABLE(); + __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); + + /** Initializes the RCC Oscillators according to the specified parameters + * in the RCC_OscInitTypeDef structure. + */ + RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; + RCC_OscInitStruct.HSEState = RCC_HSE_ON; + RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; + RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; + RCC_OscInitStruct.PLL.PLLM = 6; + RCC_OscInitStruct.PLL.PLLN = 168; + RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; + RCC_OscInitStruct.PLL.PLLQ = 4; + if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) + { + Error_Handler(); + } + + /** Initializes the CPU, AHB and APB buses clocks + */ + RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK + |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; + RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; + RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; + RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4; + RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; + + if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) + { + Error_Handler(); + } +} + +/** + * @brief ADC3 Initialization Function + * @param None + * @retval None + */ +static void MX_ADC3_Init(void) +{ + + /* USER CODE BEGIN ADC3_Init 0 */ + + /* USER CODE END ADC3_Init 0 */ + + ADC_ChannelConfTypeDef sConfig = {0}; + + /* USER CODE BEGIN ADC3_Init 1 */ + + /* USER CODE END ADC3_Init 1 */ + + /** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion) + */ + hadc3.Instance = ADC3; + hadc3.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4; + hadc3.Init.Resolution = ADC_RESOLUTION_12B; + hadc3.Init.ScanConvMode = DISABLE; + hadc3.Init.ContinuousConvMode = DISABLE; + hadc3.Init.DiscontinuousConvMode = DISABLE; + hadc3.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE; + hadc3.Init.ExternalTrigConv = ADC_SOFTWARE_START; + hadc3.Init.DataAlign = ADC_DATAALIGN_RIGHT; + hadc3.Init.NbrOfConversion = 1; + hadc3.Init.DMAContinuousRequests = DISABLE; + hadc3.Init.EOCSelection = ADC_EOC_SINGLE_CONV; + if (HAL_ADC_Init(&hadc3) != HAL_OK) + { + Error_Handler(); + } + + /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. + */ + sConfig.Channel = ADC_CHANNEL_8; + sConfig.Rank = 1; + sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES; + if (HAL_ADC_ConfigChannel(&hadc3, &sConfig) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN ADC3_Init 2 */ + + /* USER CODE END ADC3_Init 2 */ + +} + +/** + * @brief CAN1 Initialization Function + * @param None + * @retval None + */ +static void MX_CAN1_Init(void) +{ + + /* USER CODE BEGIN CAN1_Init 0 */ + + /* USER CODE END CAN1_Init 0 */ + + /* USER CODE BEGIN CAN1_Init 1 */ + + /* USER CODE END CAN1_Init 1 */ + hcan1.Instance = CAN1; + hcan1.Init.Prescaler = 16; + hcan1.Init.Mode = CAN_MODE_NORMAL; + hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ; + hcan1.Init.TimeSeg1 = CAN_BS1_1TQ; + hcan1.Init.TimeSeg2 = CAN_BS2_1TQ; + hcan1.Init.TimeTriggeredMode = DISABLE; + hcan1.Init.AutoBusOff = DISABLE; + hcan1.Init.AutoWakeUp = DISABLE; + hcan1.Init.AutoRetransmission = DISABLE; + hcan1.Init.ReceiveFifoLocked = DISABLE; + hcan1.Init.TransmitFifoPriority = DISABLE; + if (HAL_CAN_Init(&hcan1) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN CAN1_Init 2 */ + + /* USER CODE END CAN1_Init 2 */ + +} + +/** + * @brief CAN2 Initialization Function + * @param None + * @retval None + */ +static void MX_CAN2_Init(void) +{ + + /* USER CODE BEGIN CAN2_Init 0 */ + + /* USER CODE END CAN2_Init 0 */ + + /* USER CODE BEGIN CAN2_Init 1 */ + + /* USER CODE END CAN2_Init 1 */ + hcan2.Instance = CAN2; + hcan2.Init.Prescaler = 16; + hcan2.Init.Mode = CAN_MODE_NORMAL; + hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ; + hcan2.Init.TimeSeg1 = CAN_BS1_1TQ; + hcan2.Init.TimeSeg2 = CAN_BS2_1TQ; + hcan2.Init.TimeTriggeredMode = DISABLE; + hcan2.Init.AutoBusOff = DISABLE; + hcan2.Init.AutoWakeUp = DISABLE; + hcan2.Init.AutoRetransmission = DISABLE; + hcan2.Init.ReceiveFifoLocked = DISABLE; + hcan2.Init.TransmitFifoPriority = DISABLE; + if (HAL_CAN_Init(&hcan2) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN CAN2_Init 2 */ + + /* USER CODE END CAN2_Init 2 */ + +} + +/** + * @brief SPI2 Initialization Function + * @param None + * @retval None + */ +static void MX_SPI2_Init(void) +{ + + /* USER CODE BEGIN SPI2_Init 0 */ + + /* USER CODE END SPI2_Init 0 */ + + /* USER CODE BEGIN SPI2_Init 1 */ + + /* USER CODE END SPI2_Init 1 */ + /* SPI2 parameter configuration*/ + hspi2.Instance = SPI2; + hspi2.Init.Mode = SPI_MODE_MASTER; + hspi2.Init.Direction = SPI_DIRECTION_2LINES; + hspi2.Init.DataSize = SPI_DATASIZE_8BIT; + hspi2.Init.CLKPolarity = SPI_POLARITY_LOW; + hspi2.Init.CLKPhase = SPI_PHASE_1EDGE; + hspi2.Init.NSS = SPI_NSS_SOFT; + hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2; + hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB; + hspi2.Init.TIMode = SPI_TIMODE_DISABLE; + hspi2.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; + hspi2.Init.CRCPolynomial = 10; + if (HAL_SPI_Init(&hspi2) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN SPI2_Init 2 */ + + /* USER CODE END SPI2_Init 2 */ + +} + +/** + * @brief TIM1 Initialization Function + * @param None + * @retval None + */ +static void MX_TIM1_Init(void) +{ + + /* USER CODE BEGIN TIM1_Init 0 */ + + /* USER CODE END TIM1_Init 0 */ + + TIM_ClockConfigTypeDef sClockSourceConfig = {0}; + TIM_MasterConfigTypeDef sMasterConfig = {0}; + TIM_OC_InitTypeDef sConfigOC = {0}; + TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; + + /* USER CODE BEGIN TIM1_Init 1 */ + + /* USER CODE END TIM1_Init 1 */ + htim1.Instance = TIM1; + htim1.Init.Prescaler = 0; + htim1.Init.CounterMode = TIM_COUNTERMODE_UP; + htim1.Init.Period = 65535; + htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; + htim1.Init.RepetitionCounter = 0; + htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; + if (HAL_TIM_Base_Init(&htim1) != HAL_OK) + { + Error_Handler(); + } + sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; + if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) + { + Error_Handler(); + } + if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) + { + Error_Handler(); + } + sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; + sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; + if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) + { + Error_Handler(); + } + sConfigOC.OCMode = TIM_OCMODE_PWM1; + sConfigOC.Pulse = 0; + sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; + sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; + sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; + sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; + sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; + if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) + { + Error_Handler(); + } + if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) + { + Error_Handler(); + } + if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) + { + Error_Handler(); + } + if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4) != HAL_OK) + { + Error_Handler(); + } + sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; + sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; + sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; + sBreakDeadTimeConfig.DeadTime = 0; + sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; + sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; + sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; + if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN TIM1_Init 2 */ + + /* USER CODE END TIM1_Init 2 */ + HAL_TIM_MspPostInit(&htim1); + +} + +/** + * @brief TIM4 Initialization Function + * @param None + * @retval None + */ +static void MX_TIM4_Init(void) +{ + + /* USER CODE BEGIN TIM4_Init 0 */ + + /* USER CODE END TIM4_Init 0 */ + + TIM_ClockConfigTypeDef sClockSourceConfig = {0}; + TIM_MasterConfigTypeDef sMasterConfig = {0}; + TIM_OC_InitTypeDef sConfigOC = {0}; + + /* USER CODE BEGIN TIM4_Init 1 */ + + /* USER CODE END TIM4_Init 1 */ + htim4.Instance = TIM4; + htim4.Init.Prescaler = 0; + htim4.Init.CounterMode = TIM_COUNTERMODE_UP; + htim4.Init.Period = 65535; + htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; + htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; + if (HAL_TIM_Base_Init(&htim4) != HAL_OK) + { + Error_Handler(); + } + sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; + if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK) + { + Error_Handler(); + } + if (HAL_TIM_PWM_Init(&htim4) != HAL_OK) + { + Error_Handler(); + } + sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; + sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; + if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK) + { + Error_Handler(); + } + sConfigOC.OCMode = TIM_OCMODE_PWM1; + sConfigOC.Pulse = 0; + sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; + sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; + if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN TIM4_Init 2 */ + + /* USER CODE END TIM4_Init 2 */ + HAL_TIM_MspPostInit(&htim4); + +} + +/** + * @brief TIM8 Initialization Function + * @param None + * @retval None + */ +static void MX_TIM8_Init(void) +{ + + /* USER CODE BEGIN TIM8_Init 0 */ + + /* USER CODE END TIM8_Init 0 */ + + TIM_ClockConfigTypeDef sClockSourceConfig = {0}; + TIM_MasterConfigTypeDef sMasterConfig = {0}; + TIM_OC_InitTypeDef sConfigOC = {0}; + TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; + + /* USER CODE BEGIN TIM8_Init 1 */ + + /* USER CODE END TIM8_Init 1 */ + htim8.Instance = TIM8; + htim8.Init.Prescaler = 0; + htim8.Init.CounterMode = TIM_COUNTERMODE_UP; + htim8.Init.Period = 65535; + htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; + htim8.Init.RepetitionCounter = 0; + htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; + if (HAL_TIM_Base_Init(&htim8) != HAL_OK) + { + Error_Handler(); + } + sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; + if (HAL_TIM_ConfigClockSource(&htim8, &sClockSourceConfig) != HAL_OK) + { + Error_Handler(); + } + if (HAL_TIM_PWM_Init(&htim8) != HAL_OK) + { + Error_Handler(); + } + sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; + sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; + if (HAL_TIMEx_MasterConfigSynchronization(&htim8, &sMasterConfig) != HAL_OK) + { + Error_Handler(); + } + sConfigOC.OCMode = TIM_OCMODE_PWM1; + sConfigOC.Pulse = 0; + sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; + sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; + sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; + sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; + sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; + if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) + { + Error_Handler(); + } + if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) + { + Error_Handler(); + } + if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) + { + Error_Handler(); + } + sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; + sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; + sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; + sBreakDeadTimeConfig.DeadTime = 0; + sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; + sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; + sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; + if (HAL_TIMEx_ConfigBreakDeadTime(&htim8, &sBreakDeadTimeConfig) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN TIM8_Init 2 */ + + /* USER CODE END TIM8_Init 2 */ + HAL_TIM_MspPostInit(&htim8); + +} + +/** + * @brief USART1 Initialization Function + * @param None + * @retval None + */ +static void MX_USART1_UART_Init(void) +{ + + /* USER CODE BEGIN USART1_Init 0 */ + + /* USER CODE END USART1_Init 0 */ + + /* USER CODE BEGIN USART1_Init 1 */ + + /* USER CODE END USART1_Init 1 */ + huart1.Instance = USART1; + huart1.Init.BaudRate = 115200; + huart1.Init.WordLength = UART_WORDLENGTH_8B; + huart1.Init.StopBits = UART_STOPBITS_1; + huart1.Init.Parity = UART_PARITY_NONE; + huart1.Init.Mode = UART_MODE_TX_RX; + huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE; + huart1.Init.OverSampling = UART_OVERSAMPLING_16; + if (HAL_UART_Init(&huart1) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN USART1_Init 2 */ + + /* USER CODE END USART1_Init 2 */ + +} + +/** + * @brief USART3 Initialization Function + * @param None + * @retval None + */ +static void MX_USART3_UART_Init(void) +{ + + /* USER CODE BEGIN USART3_Init 0 */ + + /* USER CODE END USART3_Init 0 */ + + /* USER CODE BEGIN USART3_Init 1 */ + + /* USER CODE END USART3_Init 1 */ + huart3.Instance = USART3; + huart3.Init.BaudRate = 115200; + huart3.Init.WordLength = UART_WORDLENGTH_8B; + huart3.Init.StopBits = UART_STOPBITS_1; + huart3.Init.Parity = UART_PARITY_NONE; + huart3.Init.Mode = UART_MODE_TX_RX; + huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE; + huart3.Init.OverSampling = UART_OVERSAMPLING_16; + if (HAL_UART_Init(&huart3) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN USART3_Init 2 */ + + /* USER CODE END USART3_Init 2 */ + +} + +/** + * @brief USART6 Initialization Function + * @param None + * @retval None + */ +static void MX_USART6_UART_Init(void) +{ + + /* USER CODE BEGIN USART6_Init 0 */ + + /* USER CODE END USART6_Init 0 */ + + /* USER CODE BEGIN USART6_Init 1 */ + + /* USER CODE END USART6_Init 1 */ + huart6.Instance = USART6; + huart6.Init.BaudRate = 115200; + huart6.Init.WordLength = UART_WORDLENGTH_8B; + huart6.Init.StopBits = UART_STOPBITS_1; + huart6.Init.Parity = UART_PARITY_NONE; + huart6.Init.Mode = UART_MODE_TX_RX; + huart6.Init.HwFlowCtl = UART_HWCONTROL_NONE; + huart6.Init.OverSampling = UART_OVERSAMPLING_16; + if (HAL_UART_Init(&huart6) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN USART6_Init 2 */ + + /* USER CODE END USART6_Init 2 */ + +} + +/** + * @brief GPIO Initialization Function + * @param None + * @retval None + */ +static void MX_GPIO_Init(void) +{ + + /* GPIO Ports Clock Enable */ + __HAL_RCC_GPIOB_CLK_ENABLE(); + __HAL_RCC_GPIOG_CLK_ENABLE(); + __HAL_RCC_GPIOA_CLK_ENABLE(); + __HAL_RCC_GPIOD_CLK_ENABLE(); + __HAL_RCC_GPIOC_CLK_ENABLE(); + __HAL_RCC_GPIOI_CLK_ENABLE(); + __HAL_RCC_GPIOH_CLK_ENABLE(); + __HAL_RCC_GPIOF_CLK_ENABLE(); + __HAL_RCC_GPIOE_CLK_ENABLE(); + +} + +/* USER CODE BEGIN 4 */ + +/* USER CODE END 4 */ + +/** + * @brief This function is executed in case of error occurrence. + * @retval None + */ +void Error_Handler(void) +{ + /* USER CODE BEGIN Error_Handler_Debug */ + /* User can add his own implementation to report the HAL error return state */ + __disable_irq(); + while (1) + { + } + /* USER CODE END Error_Handler_Debug */ +} + +#ifdef USE_FULL_ASSERT +/** + * @brief Reports the name of the source file and the source line number + * where the assert_param error has occurred. + * @param file: pointer to the source file name + * @param line: assert_param error line source number + * @retval None + */ +void assert_failed(uint8_t *file, uint32_t line) +{ + /* USER CODE BEGIN 6 */ + /* User can add his own implementation to report the file name and line number, + ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */ + /* USER CODE END 6 */ +} +#endif /* USE_FULL_ASSERT */ diff --git a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c index f2ac99095c..5db89730b2 100644 --- a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c +++ b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c @@ -58,7 +58,9 @@ /* USER CODE BEGIN 0 */ /* USER CODE END 0 */ -/** + +void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim); + /** * Initializes the Global MSP. */ void HAL_MspInit(void) @@ -77,6 +79,425 @@ void HAL_MspInit(void) /* USER CODE END MspInit 1 */ } +/** +* @brief ADC MSP Initialization +* This function configures the hardware resources used in this example +* @param hadc: ADC handle pointer +* @retval None +*/ +void HAL_ADC_MspInit(ADC_HandleTypeDef* hadc) +{ + GPIO_InitTypeDef GPIO_InitStruct = {0}; + if(hadc->Instance==ADC3) + { + /* USER CODE BEGIN ADC3_MspInit 0 */ + + /* USER CODE END ADC3_MspInit 0 */ + /* Peripheral clock enable */ + __HAL_RCC_ADC3_CLK_ENABLE(); + + __HAL_RCC_GPIOF_CLK_ENABLE(); + /**ADC3 GPIO Configuration + PF10 ------> ADC3_IN8 + */ + GPIO_InitStruct.Pin = GPIO_PIN_10; + GPIO_InitStruct.Mode = GPIO_MODE_ANALOG; + GPIO_InitStruct.Pull = GPIO_NOPULL; + HAL_GPIO_Init(GPIOF, &GPIO_InitStruct); + + /* USER CODE BEGIN ADC3_MspInit 1 */ + + /* USER CODE END ADC3_MspInit 1 */ + } + +} + +/** +* @brief ADC MSP De-Initialization +* This function freeze the hardware resources used in this example +* @param hadc: ADC handle pointer +* @retval None +*/ +void HAL_ADC_MspDeInit(ADC_HandleTypeDef* hadc) +{ + if(hadc->Instance==ADC3) + { + /* USER CODE BEGIN ADC3_MspDeInit 0 */ + + /* USER CODE END ADC3_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_ADC3_CLK_DISABLE(); + + /**ADC3 GPIO Configuration + PF10 ------> ADC3_IN8 + */ + HAL_GPIO_DeInit(GPIOF, GPIO_PIN_10); + + /* USER CODE BEGIN ADC3_MspDeInit 1 */ + + /* USER CODE END ADC3_MspDeInit 1 */ + } + +} + +static uint32_t HAL_RCC_CAN1_CLK_ENABLED=0; + +/** +* @brief CAN MSP Initialization +* This function configures the hardware resources used in this example +* @param hcan: CAN handle pointer +* @retval None +*/ +void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan) +{ + GPIO_InitTypeDef GPIO_InitStruct = {0}; + if(hcan->Instance==CAN1) + { + /* USER CODE BEGIN CAN1_MspInit 0 */ + + /* USER CODE END CAN1_MspInit 0 */ + /* Peripheral clock enable */ + HAL_RCC_CAN1_CLK_ENABLED++; + if(HAL_RCC_CAN1_CLK_ENABLED==1){ + __HAL_RCC_CAN1_CLK_ENABLE(); + } + + __HAL_RCC_GPIOD_CLK_ENABLE(); + /**CAN1 GPIO Configuration + PD0 ------> CAN1_RX + PD1 ------> CAN1_TX + */ + GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; + GPIO_InitStruct.Alternate = GPIO_AF9_CAN1; + HAL_GPIO_Init(GPIOD, &GPIO_InitStruct); + + /* USER CODE BEGIN CAN1_MspInit 1 */ + + /* USER CODE END CAN1_MspInit 1 */ + } + else if(hcan->Instance==CAN2) + { + /* USER CODE BEGIN CAN2_MspInit 0 */ + + /* USER CODE END CAN2_MspInit 0 */ + /* Peripheral clock enable */ + __HAL_RCC_CAN2_CLK_ENABLE(); + HAL_RCC_CAN1_CLK_ENABLED++; + if(HAL_RCC_CAN1_CLK_ENABLED==1){ + __HAL_RCC_CAN1_CLK_ENABLE(); + } + + __HAL_RCC_GPIOB_CLK_ENABLE(); + /**CAN2 GPIO Configuration + PB5 ------> CAN2_RX + PB6 ------> CAN2_TX + */ + GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; + GPIO_InitStruct.Alternate = GPIO_AF9_CAN2; + HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); + + /* USER CODE BEGIN CAN2_MspInit 1 */ + + /* USER CODE END CAN2_MspInit 1 */ + } + +} + +/** +* @brief CAN MSP De-Initialization +* This function freeze the hardware resources used in this example +* @param hcan: CAN handle pointer +* @retval None +*/ +void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan) +{ + if(hcan->Instance==CAN1) + { + /* USER CODE BEGIN CAN1_MspDeInit 0 */ + + /* USER CODE END CAN1_MspDeInit 0 */ + /* Peripheral clock disable */ + HAL_RCC_CAN1_CLK_ENABLED--; + if(HAL_RCC_CAN1_CLK_ENABLED==0){ + __HAL_RCC_CAN1_CLK_DISABLE(); + } + + /**CAN1 GPIO Configuration + PD0 ------> CAN1_RX + PD1 ------> CAN1_TX + */ + HAL_GPIO_DeInit(GPIOD, GPIO_PIN_0|GPIO_PIN_1); + + /* USER CODE BEGIN CAN1_MspDeInit 1 */ + + /* USER CODE END CAN1_MspDeInit 1 */ + } + else if(hcan->Instance==CAN2) + { + /* USER CODE BEGIN CAN2_MspDeInit 0 */ + + /* USER CODE END CAN2_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_CAN2_CLK_DISABLE(); + HAL_RCC_CAN1_CLK_ENABLED--; + if(HAL_RCC_CAN1_CLK_ENABLED==0){ + __HAL_RCC_CAN1_CLK_DISABLE(); + } + + /**CAN2 GPIO Configuration + PB5 ------> CAN2_RX + PB6 ------> CAN2_TX + */ + HAL_GPIO_DeInit(GPIOB, GPIO_PIN_5|GPIO_PIN_6); + + /* USER CODE BEGIN CAN2_MspDeInit 1 */ + + /* USER CODE END CAN2_MspDeInit 1 */ + } + +} + +/** +* @brief SPI MSP Initialization +* This function configures the hardware resources used in this example +* @param hspi: SPI handle pointer +* @retval None +*/ +void HAL_SPI_MspInit(SPI_HandleTypeDef* hspi) +{ + GPIO_InitTypeDef GPIO_InitStruct = {0}; + if(hspi->Instance==SPI2) + { + /* USER CODE BEGIN SPI2_MspInit 0 */ + + /* USER CODE END SPI2_MspInit 0 */ + /* Peripheral clock enable */ + __HAL_RCC_SPI2_CLK_ENABLE(); + + __HAL_RCC_GPIOB_CLK_ENABLE(); + /**SPI2 GPIO Configuration + PB13 ------> SPI2_SCK + PB14 ------> SPI2_MISO + PB15 ------> SPI2_MOSI + */ + GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; + GPIO_InitStruct.Alternate = GPIO_AF5_SPI2; + HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); + + /* USER CODE BEGIN SPI2_MspInit 1 */ + + /* USER CODE END SPI2_MspInit 1 */ + } + +} + +/** +* @brief SPI MSP De-Initialization +* This function freeze the hardware resources used in this example +* @param hspi: SPI handle pointer +* @retval None +*/ +void HAL_SPI_MspDeInit(SPI_HandleTypeDef* hspi) +{ + if(hspi->Instance==SPI2) + { + /* USER CODE BEGIN SPI2_MspDeInit 0 */ + + /* USER CODE END SPI2_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_SPI2_CLK_DISABLE(); + + /**SPI2 GPIO Configuration + PB13 ------> SPI2_SCK + PB14 ------> SPI2_MISO + PB15 ------> SPI2_MOSI + */ + HAL_GPIO_DeInit(GPIOB, GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15); + + /* USER CODE BEGIN SPI2_MspDeInit 1 */ + + /* USER CODE END SPI2_MspDeInit 1 */ + } + +} + +/** +* @brief TIM_Base MSP Initialization +* This function configures the hardware resources used in this example +* @param htim_base: TIM_Base handle pointer +* @retval None +*/ +void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base) +{ + if(htim_base->Instance==TIM1) + { + /* USER CODE BEGIN TIM1_MspInit 0 */ + + /* USER CODE END TIM1_MspInit 0 */ + /* Peripheral clock enable */ + __HAL_RCC_TIM1_CLK_ENABLE(); + /* USER CODE BEGIN TIM1_MspInit 1 */ + + /* USER CODE END TIM1_MspInit 1 */ + } + else if(htim_base->Instance==TIM4) + { + /* USER CODE BEGIN TIM4_MspInit 0 */ + + /* USER CODE END TIM4_MspInit 0 */ + /* Peripheral clock enable */ + __HAL_RCC_TIM4_CLK_ENABLE(); + /* USER CODE BEGIN TIM4_MspInit 1 */ + + /* USER CODE END TIM4_MspInit 1 */ + } + else if(htim_base->Instance==TIM8) + { + /* USER CODE BEGIN TIM8_MspInit 0 */ + + /* USER CODE END TIM8_MspInit 0 */ + /* Peripheral clock enable */ + __HAL_RCC_TIM8_CLK_ENABLE(); + /* USER CODE BEGIN TIM8_MspInit 1 */ + + /* USER CODE END TIM8_MspInit 1 */ + } + +} + +void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim) +{ + GPIO_InitTypeDef GPIO_InitStruct = {0}; + if(htim->Instance==TIM1) + { + /* USER CODE BEGIN TIM1_MspPostInit 0 */ + + /* USER CODE END TIM1_MspPostInit 0 */ + __HAL_RCC_GPIOE_CLK_ENABLE(); + /**TIM1 GPIO Configuration + PE13 ------> TIM1_CH3 + PE9 ------> TIM1_CH1 + PE11 ------> TIM1_CH2 + PE14 ------> TIM1_CH4 + */ + GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_9|GPIO_PIN_11|GPIO_PIN_14; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; + GPIO_InitStruct.Alternate = GPIO_AF1_TIM1; + HAL_GPIO_Init(GPIOE, &GPIO_InitStruct); + + /* USER CODE BEGIN TIM1_MspPostInit 1 */ + + /* USER CODE END TIM1_MspPostInit 1 */ + } + else if(htim->Instance==TIM4) + { + /* USER CODE BEGIN TIM4_MspPostInit 0 */ + + /* USER CODE END TIM4_MspPostInit 0 */ + + __HAL_RCC_GPIOD_CLK_ENABLE(); + /**TIM4 GPIO Configuration + PD14 ------> TIM4_CH3 + */ + GPIO_InitStruct.Pin = GPIO_PIN_14; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; + GPIO_InitStruct.Alternate = GPIO_AF2_TIM4; + HAL_GPIO_Init(GPIOD, &GPIO_InitStruct); + + /* USER CODE BEGIN TIM4_MspPostInit 1 */ + + /* USER CODE END TIM4_MspPostInit 1 */ + } + else if(htim->Instance==TIM8) + { + /* USER CODE BEGIN TIM8_MspPostInit 0 */ + + /* USER CODE END TIM8_MspPostInit 0 */ + + __HAL_RCC_GPIOI_CLK_ENABLE(); + __HAL_RCC_GPIOC_CLK_ENABLE(); + /**TIM8 GPIO Configuration + PI7 ------> TIM8_CH3 + PI6 ------> TIM8_CH2 + PC6 ------> TIM8_CH1 + */ + GPIO_InitStruct.Pin = GPIO_PIN_7|GPIO_PIN_6; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; + GPIO_InitStruct.Alternate = GPIO_AF3_TIM8; + HAL_GPIO_Init(GPIOI, &GPIO_InitStruct); + + GPIO_InitStruct.Pin = GPIO_PIN_6; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; + GPIO_InitStruct.Alternate = GPIO_AF3_TIM8; + HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); + + /* USER CODE BEGIN TIM8_MspPostInit 1 */ + + /* USER CODE END TIM8_MspPostInit 1 */ + } + +} +/** +* @brief TIM_Base MSP De-Initialization +* This function freeze the hardware resources used in this example +* @param htim_base: TIM_Base handle pointer +* @retval None +*/ +void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base) +{ + if(htim_base->Instance==TIM1) + { + /* USER CODE BEGIN TIM1_MspDeInit 0 */ + + /* USER CODE END TIM1_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_TIM1_CLK_DISABLE(); + /* USER CODE BEGIN TIM1_MspDeInit 1 */ + + /* USER CODE END TIM1_MspDeInit 1 */ + } + else if(htim_base->Instance==TIM4) + { + /* USER CODE BEGIN TIM4_MspDeInit 0 */ + + /* USER CODE END TIM4_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_TIM4_CLK_DISABLE(); + /* USER CODE BEGIN TIM4_MspDeInit 1 */ + + /* USER CODE END TIM4_MspDeInit 1 */ + } + else if(htim_base->Instance==TIM8) + { + /* USER CODE BEGIN TIM8_MspDeInit 0 */ + + /* USER CODE END TIM8_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_TIM8_CLK_DISABLE(); + /* USER CODE BEGIN TIM8_MspDeInit 1 */ + + /* USER CODE END TIM8_MspDeInit 1 */ + } + +} + /** * @brief UART MSP Initialization * This function configures the hardware resources used in this example @@ -118,6 +539,54 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart) /* USER CODE END USART1_MspInit 1 */ } + else if(huart->Instance==USART3) + { + /* USER CODE BEGIN USART3_MspInit 0 */ + + /* USER CODE END USART3_MspInit 0 */ + /* Peripheral clock enable */ + __HAL_RCC_USART3_CLK_ENABLE(); + + __HAL_RCC_GPIOC_CLK_ENABLE(); + /**USART3 GPIO Configuration + PC11 ------> USART3_RX + PC10 ------> USART3_TX + */ + GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_10; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; + GPIO_InitStruct.Alternate = GPIO_AF7_USART3; + HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); + + /* USER CODE BEGIN USART3_MspInit 1 */ + + /* USER CODE END USART3_MspInit 1 */ + } + else if(huart->Instance==USART6) + { + /* USER CODE BEGIN USART6_MspInit 0 */ + + /* USER CODE END USART6_MspInit 0 */ + /* Peripheral clock enable */ + __HAL_RCC_USART6_CLK_ENABLE(); + + __HAL_RCC_GPIOG_CLK_ENABLE(); + /**USART6 GPIO Configuration + PG14 ------> USART6_TX + PG9 ------> USART6_RX + */ + GPIO_InitStruct.Pin = GPIO_PIN_14|GPIO_PIN_9; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; + GPIO_InitStruct.Alternate = GPIO_AF8_USART6; + HAL_GPIO_Init(GPIOG, &GPIO_InitStruct); + + /* USER CODE BEGIN USART6_MspInit 1 */ + + /* USER CODE END USART6_MspInit 1 */ + } } @@ -149,11 +618,45 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* huart) /* USER CODE END USART1_MspDeInit 1 */ } + else if(huart->Instance==USART3) + { + /* USER CODE BEGIN USART3_MspDeInit 0 */ + + /* USER CODE END USART3_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_USART3_CLK_DISABLE(); + + /**USART3 GPIO Configuration + PC11 ------> USART3_RX + PC10 ------> USART3_TX + */ + HAL_GPIO_DeInit(GPIOC, GPIO_PIN_11|GPIO_PIN_10); + + /* USER CODE BEGIN USART3_MspDeInit 1 */ + + /* USER CODE END USART3_MspDeInit 1 */ + } + else if(huart->Instance==USART6) + { + /* USER CODE BEGIN USART6_MspDeInit 0 */ + + /* USER CODE END USART6_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_USART6_CLK_DISABLE(); + + /**USART6 GPIO Configuration + PG14 ------> USART6_TX + PG9 ------> USART6_RX + */ + HAL_GPIO_DeInit(GPIOG, GPIO_PIN_14|GPIO_PIN_9); + + /* USER CODE BEGIN USART6_MspDeInit 1 */ + + /* USER CODE END USART6_MspDeInit 1 */ + } } /* USER CODE BEGIN 1 */ /* USER CODE END 1 */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/stm32f4xx_it.c b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/stm32f4xx_it.c index fe4ffc9dbf..70102cb543 100644 --- a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/stm32f4xx_it.c +++ b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/stm32f4xx_it.c @@ -202,4 +202,3 @@ void SysTick_Handler(void) /* USER CODE BEGIN 1 */ /* USER CODE END 1 */ -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/system_stm32f4xx.c b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/system_stm32f4xx.c new file mode 100644 index 0000000000..3bd40f7788 --- /dev/null +++ b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/system_stm32f4xx.c @@ -0,0 +1,747 @@ +/** + ****************************************************************************** + * @file system_stm32f4xx.c + * @author MCD Application Team + * @brief CMSIS Cortex-M4 Device Peripheral Access Layer System Source File. + * + * This file provides two functions and one global variable to be called from + * user application: + * - SystemInit(): This function is called at startup just after reset and + * before branch to main program. This call is made inside + * the "startup_stm32f4xx.s" file. + * + * - SystemCoreClock variable: Contains the core clock (HCLK), it can be used + * by the user application to setup the SysTick + * timer or configure other parameters. + * + * - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must + * be called whenever the core clock is changed + * during program execution. + * + * + ****************************************************************************** + * @attention + * + * Copyright (c) 2017 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. + * + ****************************************************************************** + */ + +/** @addtogroup CMSIS + * @{ + */ + +/** @addtogroup stm32f4xx_system + * @{ + */ + +/** @addtogroup STM32F4xx_System_Private_Includes + * @{ + */ + + +#include "stm32f4xx.h" + +#if !defined (HSE_VALUE) + #define HSE_VALUE ((uint32_t)25000000) /*!< Default value of the External oscillator in Hz */ +#endif /* HSE_VALUE */ + +#if !defined (HSI_VALUE) + #define HSI_VALUE ((uint32_t)16000000) /*!< Value of the Internal oscillator in Hz*/ +#endif /* HSI_VALUE */ + +/** + * @} + */ + +/** @addtogroup STM32F4xx_System_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @addtogroup STM32F4xx_System_Private_Defines + * @{ + */ + +/************************* Miscellaneous Configuration ************************/ +/*!< Uncomment the following line if you need to use external SRAM or SDRAM as data memory */ +#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx)\ + || defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)\ + || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) || defined(STM32F412Vx) +/* #define DATA_IN_ExtSRAM */ +#endif /* STM32F40xxx || STM32F41xxx || STM32F42xxx || STM32F43xxx || STM32F469xx || STM32F479xx ||\ + STM32F412Zx || STM32F412Vx */ + +#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)\ + || defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) +/* #define DATA_IN_ExtSDRAM */ +#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx ||\ + STM32F479xx */ + +/* Note: Following vector table addresses must be defined in line with linker + configuration. */ +/*!< Uncomment the following line if you need to relocate the vector table + anywhere in Flash or Sram, else the vector table is kept at the automatic + remap of boot address selected */ +/* #define USER_VECT_TAB_ADDRESS */ + +#if defined(USER_VECT_TAB_ADDRESS) +/*!< Uncomment the following line if you need to relocate your vector Table + in Sram else user remap will be done in Flash. */ +/* #define VECT_TAB_SRAM */ +#if defined(VECT_TAB_SRAM) +#define VECT_TAB_BASE_ADDRESS SRAM_BASE /*!< Vector Table base address field. + This value must be a multiple of 0x200. */ +#define VECT_TAB_OFFSET 0x00000000U /*!< Vector Table base offset field. + This value must be a multiple of 0x200. */ +#else +#define VECT_TAB_BASE_ADDRESS FLASH_BASE /*!< Vector Table base address field. + This value must be a multiple of 0x200. */ +#define VECT_TAB_OFFSET 0x00000000U /*!< Vector Table base offset field. + This value must be a multiple of 0x200. */ +#endif /* VECT_TAB_SRAM */ +#endif /* USER_VECT_TAB_ADDRESS */ +/******************************************************************************/ + +/** + * @} + */ + +/** @addtogroup STM32F4xx_System_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @addtogroup STM32F4xx_System_Private_Variables + * @{ + */ + /* This variable is updated in three ways: + 1) by calling CMSIS function SystemCoreClockUpdate() + 2) by calling HAL API function HAL_RCC_GetHCLKFreq() + 3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency + Note: If you use this function to configure the system clock; then there + is no need to call the 2 first functions listed above, since SystemCoreClock + variable is updated automatically. + */ +uint32_t SystemCoreClock = 16000000; +const uint8_t AHBPrescTable[16] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9}; +const uint8_t APBPrescTable[8] = {0, 0, 0, 0, 1, 2, 3, 4}; +/** + * @} + */ + +/** @addtogroup STM32F4xx_System_Private_FunctionPrototypes + * @{ + */ + +#if defined (DATA_IN_ExtSRAM) || defined (DATA_IN_ExtSDRAM) + static void SystemInit_ExtMemCtl(void); +#endif /* DATA_IN_ExtSRAM || DATA_IN_ExtSDRAM */ + +/** + * @} + */ + +/** @addtogroup STM32F4xx_System_Private_Functions + * @{ + */ + +/** + * @brief Setup the microcontroller system + * Initialize the FPU setting, vector table location and External memory + * configuration. + * @param None + * @retval None + */ +void SystemInit(void) +{ + /* FPU settings ------------------------------------------------------------*/ + #if (__FPU_PRESENT == 1) && (__FPU_USED == 1) + SCB->CPACR |= ((3UL << 10*2)|(3UL << 11*2)); /* set CP10 and CP11 Full Access */ + #endif + +#if defined (DATA_IN_ExtSRAM) || defined (DATA_IN_ExtSDRAM) + SystemInit_ExtMemCtl(); +#endif /* DATA_IN_ExtSRAM || DATA_IN_ExtSDRAM */ + + /* Configure the Vector Table location -------------------------------------*/ +#if defined(USER_VECT_TAB_ADDRESS) + SCB->VTOR = VECT_TAB_BASE_ADDRESS | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM */ +#endif /* USER_VECT_TAB_ADDRESS */ +} + +/** + * @brief Update SystemCoreClock variable according to Clock Register Values. + * The SystemCoreClock variable contains the core clock (HCLK), it can + * be used by the user application to setup the SysTick timer or configure + * other parameters. + * + * @note Each time the core clock (HCLK) changes, this function must be called + * to update SystemCoreClock variable value. Otherwise, any configuration + * based on this variable will be incorrect. + * + * @note - The system frequency computed by this function is not the real + * frequency in the chip. It is calculated based on the predefined + * constant and the selected clock source: + * + * - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(*) + * + * - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(**) + * + * - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(**) + * or HSI_VALUE(*) multiplied/divided by the PLL factors. + * + * (*) HSI_VALUE is a constant defined in stm32f4xx_hal_conf.h file (default value + * 16 MHz) but the real value may vary depending on the variations + * in voltage and temperature. + * + * (**) HSE_VALUE is a constant defined in stm32f4xx_hal_conf.h file (its value + * depends on the application requirements), user has to ensure that HSE_VALUE + * is same as the real frequency of the crystal used. Otherwise, this function + * may have wrong result. + * + * - The result of this function could be not correct when using fractional + * value for HSE crystal. + * + * @param None + * @retval None + */ +void SystemCoreClockUpdate(void) +{ + uint32_t tmp = 0, pllvco = 0, pllp = 2, pllsource = 0, pllm = 2; + + /* Get SYSCLK source -------------------------------------------------------*/ + tmp = RCC->CFGR & RCC_CFGR_SWS; + + switch (tmp) + { + case 0x00: /* HSI used as system clock source */ + SystemCoreClock = HSI_VALUE; + break; + case 0x04: /* HSE used as system clock source */ + SystemCoreClock = HSE_VALUE; + break; + case 0x08: /* PLL used as system clock source */ + + /* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLL_M) * PLL_N + SYSCLK = PLL_VCO / PLL_P + */ + pllsource = (RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) >> 22; + pllm = RCC->PLLCFGR & RCC_PLLCFGR_PLLM; + + if (pllsource != 0) + { + /* HSE used as PLL clock source */ + pllvco = (HSE_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6); + } + else + { + /* HSI used as PLL clock source */ + pllvco = (HSI_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6); + } + + pllp = (((RCC->PLLCFGR & RCC_PLLCFGR_PLLP) >>16) + 1 ) *2; + SystemCoreClock = pllvco/pllp; + break; + default: + SystemCoreClock = HSI_VALUE; + break; + } + /* Compute HCLK frequency --------------------------------------------------*/ + /* Get HCLK prescaler */ + tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4)]; + /* HCLK frequency */ + SystemCoreClock >>= tmp; +} + +#if defined (DATA_IN_ExtSRAM) && defined (DATA_IN_ExtSDRAM) +#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)\ + || defined(STM32F469xx) || defined(STM32F479xx) +/** + * @brief Setup the external memory controller. + * Called in startup_stm32f4xx.s before jump to main. + * This function configures the external memories (SRAM/SDRAM) + * This SRAM/SDRAM will be used as program data memory (including heap and stack). + * @param None + * @retval None + */ +void SystemInit_ExtMemCtl(void) +{ + __IO uint32_t tmp = 0x00; + + register uint32_t tmpreg = 0, timeout = 0xFFFF; + register __IO uint32_t index; + + /* Enable GPIOC, GPIOD, GPIOE, GPIOF, GPIOG, GPIOH and GPIOI interface clock */ + RCC->AHB1ENR |= 0x000001F8; + + /* Delay after an RCC peripheral clock enabling */ + tmp = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOCEN); + + /* Connect PDx pins to FMC Alternate function */ + GPIOD->AFR[0] = 0x00CCC0CC; + GPIOD->AFR[1] = 0xCCCCCCCC; + /* Configure PDx pins in Alternate function mode */ + GPIOD->MODER = 0xAAAA0A8A; + /* Configure PDx pins speed to 100 MHz */ + GPIOD->OSPEEDR = 0xFFFF0FCF; + /* Configure PDx pins Output type to push-pull */ + GPIOD->OTYPER = 0x00000000; + /* No pull-up, pull-down for PDx pins */ + GPIOD->PUPDR = 0x00000000; + + /* Connect PEx pins to FMC Alternate function */ + GPIOE->AFR[0] = 0xC00CC0CC; + GPIOE->AFR[1] = 0xCCCCCCCC; + /* Configure PEx pins in Alternate function mode */ + GPIOE->MODER = 0xAAAA828A; + /* Configure PEx pins speed to 100 MHz */ + GPIOE->OSPEEDR = 0xFFFFC3CF; + /* Configure PEx pins Output type to push-pull */ + GPIOE->OTYPER = 0x00000000; + /* No pull-up, pull-down for PEx pins */ + GPIOE->PUPDR = 0x00000000; + + /* Connect PFx pins to FMC Alternate function */ + GPIOF->AFR[0] = 0xCCCCCCCC; + GPIOF->AFR[1] = 0xCCCCCCCC; + /* Configure PFx pins in Alternate function mode */ + GPIOF->MODER = 0xAA800AAA; + /* Configure PFx pins speed to 50 MHz */ + GPIOF->OSPEEDR = 0xAA800AAA; + /* Configure PFx pins Output type to push-pull */ + GPIOF->OTYPER = 0x00000000; + /* No pull-up, pull-down for PFx pins */ + GPIOF->PUPDR = 0x00000000; + + /* Connect PGx pins to FMC Alternate function */ + GPIOG->AFR[0] = 0xCCCCCCCC; + GPIOG->AFR[1] = 0xCCCCCCCC; + /* Configure PGx pins in Alternate function mode */ + GPIOG->MODER = 0xAAAAAAAA; + /* Configure PGx pins speed to 50 MHz */ + GPIOG->OSPEEDR = 0xAAAAAAAA; + /* Configure PGx pins Output type to push-pull */ + GPIOG->OTYPER = 0x00000000; + /* No pull-up, pull-down for PGx pins */ + GPIOG->PUPDR = 0x00000000; + + /* Connect PHx pins to FMC Alternate function */ + GPIOH->AFR[0] = 0x00C0CC00; + GPIOH->AFR[1] = 0xCCCCCCCC; + /* Configure PHx pins in Alternate function mode */ + GPIOH->MODER = 0xAAAA08A0; + /* Configure PHx pins speed to 50 MHz */ + GPIOH->OSPEEDR = 0xAAAA08A0; + /* Configure PHx pins Output type to push-pull */ + GPIOH->OTYPER = 0x00000000; + /* No pull-up, pull-down for PHx pins */ + GPIOH->PUPDR = 0x00000000; + + /* Connect PIx pins to FMC Alternate function */ + GPIOI->AFR[0] = 0xCCCCCCCC; + GPIOI->AFR[1] = 0x00000CC0; + /* Configure PIx pins in Alternate function mode */ + GPIOI->MODER = 0x0028AAAA; + /* Configure PIx pins speed to 50 MHz */ + GPIOI->OSPEEDR = 0x0028AAAA; + /* Configure PIx pins Output type to push-pull */ + GPIOI->OTYPER = 0x00000000; + /* No pull-up, pull-down for PIx pins */ + GPIOI->PUPDR = 0x00000000; + +/*-- FMC Configuration -------------------------------------------------------*/ + /* Enable the FMC interface clock */ + RCC->AHB3ENR |= 0x00000001; + /* Delay after an RCC peripheral clock enabling */ + tmp = READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FMCEN); + + FMC_Bank5_6->SDCR[0] = 0x000019E4; + FMC_Bank5_6->SDTR[0] = 0x01115351; + + /* SDRAM initialization sequence */ + /* Clock enable command */ + FMC_Bank5_6->SDCMR = 0x00000011; + tmpreg = FMC_Bank5_6->SDSR & 0x00000020; + while((tmpreg != 0) && (timeout-- > 0)) + { + tmpreg = FMC_Bank5_6->SDSR & 0x00000020; + } + + /* Delay */ + for (index = 0; index<1000; index++); + + /* PALL command */ + FMC_Bank5_6->SDCMR = 0x00000012; + tmpreg = FMC_Bank5_6->SDSR & 0x00000020; + timeout = 0xFFFF; + while((tmpreg != 0) && (timeout-- > 0)) + { + tmpreg = FMC_Bank5_6->SDSR & 0x00000020; + } + + /* Auto refresh command */ + FMC_Bank5_6->SDCMR = 0x00000073; + tmpreg = FMC_Bank5_6->SDSR & 0x00000020; + timeout = 0xFFFF; + while((tmpreg != 0) && (timeout-- > 0)) + { + tmpreg = FMC_Bank5_6->SDSR & 0x00000020; + } + + /* MRD register program */ + FMC_Bank5_6->SDCMR = 0x00046014; + tmpreg = FMC_Bank5_6->SDSR & 0x00000020; + timeout = 0xFFFF; + while((tmpreg != 0) && (timeout-- > 0)) + { + tmpreg = FMC_Bank5_6->SDSR & 0x00000020; + } + + /* Set refresh count */ + tmpreg = FMC_Bank5_6->SDRTR; + FMC_Bank5_6->SDRTR = (tmpreg | (0x0000027C<<1)); + + /* Disable write protection */ + tmpreg = FMC_Bank5_6->SDCR[0]; + FMC_Bank5_6->SDCR[0] = (tmpreg & 0xFFFFFDFF); + +#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) + /* Configure and enable Bank1_SRAM2 */ + FMC_Bank1->BTCR[2] = 0x00001011; + FMC_Bank1->BTCR[3] = 0x00000201; + FMC_Bank1E->BWTR[2] = 0x0fffffff; +#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx */ +#if defined(STM32F469xx) || defined(STM32F479xx) + /* Configure and enable Bank1_SRAM2 */ + FMC_Bank1->BTCR[2] = 0x00001091; + FMC_Bank1->BTCR[3] = 0x00110212; + FMC_Bank1E->BWTR[2] = 0x0fffffff; +#endif /* STM32F469xx || STM32F479xx */ + + (void)(tmp); +} +#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */ +#elif defined (DATA_IN_ExtSRAM) || defined (DATA_IN_ExtSDRAM) +/** + * @brief Setup the external memory controller. + * Called in startup_stm32f4xx.s before jump to main. + * This function configures the external memories (SRAM/SDRAM) + * This SRAM/SDRAM will be used as program data memory (including heap and stack). + * @param None + * @retval None + */ +void SystemInit_ExtMemCtl(void) +{ + __IO uint32_t tmp = 0x00; +#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)\ + || defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) +#if defined (DATA_IN_ExtSDRAM) + register uint32_t tmpreg = 0, timeout = 0xFFFF; + register __IO uint32_t index; + +#if defined(STM32F446xx) + /* Enable GPIOA, GPIOC, GPIOD, GPIOE, GPIOF, GPIOG interface + clock */ + RCC->AHB1ENR |= 0x0000007D; +#else + /* Enable GPIOC, GPIOD, GPIOE, GPIOF, GPIOG, GPIOH and GPIOI interface + clock */ + RCC->AHB1ENR |= 0x000001F8; +#endif /* STM32F446xx */ + /* Delay after an RCC peripheral clock enabling */ + tmp = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOCEN); + +#if defined(STM32F446xx) + /* Connect PAx pins to FMC Alternate function */ + GPIOA->AFR[0] |= 0xC0000000; + GPIOA->AFR[1] |= 0x00000000; + /* Configure PDx pins in Alternate function mode */ + GPIOA->MODER |= 0x00008000; + /* Configure PDx pins speed to 50 MHz */ + GPIOA->OSPEEDR |= 0x00008000; + /* Configure PDx pins Output type to push-pull */ + GPIOA->OTYPER |= 0x00000000; + /* No pull-up, pull-down for PDx pins */ + GPIOA->PUPDR |= 0x00000000; + + /* Connect PCx pins to FMC Alternate function */ + GPIOC->AFR[0] |= 0x00CC0000; + GPIOC->AFR[1] |= 0x00000000; + /* Configure PDx pins in Alternate function mode */ + GPIOC->MODER |= 0x00000A00; + /* Configure PDx pins speed to 50 MHz */ + GPIOC->OSPEEDR |= 0x00000A00; + /* Configure PDx pins Output type to push-pull */ + GPIOC->OTYPER |= 0x00000000; + /* No pull-up, pull-down for PDx pins */ + GPIOC->PUPDR |= 0x00000000; +#endif /* STM32F446xx */ + + /* Connect PDx pins to FMC Alternate function */ + GPIOD->AFR[0] = 0x000000CC; + GPIOD->AFR[1] = 0xCC000CCC; + /* Configure PDx pins in Alternate function mode */ + GPIOD->MODER = 0xA02A000A; + /* Configure PDx pins speed to 50 MHz */ + GPIOD->OSPEEDR = 0xA02A000A; + /* Configure PDx pins Output type to push-pull */ + GPIOD->OTYPER = 0x00000000; + /* No pull-up, pull-down for PDx pins */ + GPIOD->PUPDR = 0x00000000; + + /* Connect PEx pins to FMC Alternate function */ + GPIOE->AFR[0] = 0xC00000CC; + GPIOE->AFR[1] = 0xCCCCCCCC; + /* Configure PEx pins in Alternate function mode */ + GPIOE->MODER = 0xAAAA800A; + /* Configure PEx pins speed to 50 MHz */ + GPIOE->OSPEEDR = 0xAAAA800A; + /* Configure PEx pins Output type to push-pull */ + GPIOE->OTYPER = 0x00000000; + /* No pull-up, pull-down for PEx pins */ + GPIOE->PUPDR = 0x00000000; + + /* Connect PFx pins to FMC Alternate function */ + GPIOF->AFR[0] = 0xCCCCCCCC; + GPIOF->AFR[1] = 0xCCCCCCCC; + /* Configure PFx pins in Alternate function mode */ + GPIOF->MODER = 0xAA800AAA; + /* Configure PFx pins speed to 50 MHz */ + GPIOF->OSPEEDR = 0xAA800AAA; + /* Configure PFx pins Output type to push-pull */ + GPIOF->OTYPER = 0x00000000; + /* No pull-up, pull-down for PFx pins */ + GPIOF->PUPDR = 0x00000000; + + /* Connect PGx pins to FMC Alternate function */ + GPIOG->AFR[0] = 0xCCCCCCCC; + GPIOG->AFR[1] = 0xCCCCCCCC; + /* Configure PGx pins in Alternate function mode */ + GPIOG->MODER = 0xAAAAAAAA; + /* Configure PGx pins speed to 50 MHz */ + GPIOG->OSPEEDR = 0xAAAAAAAA; + /* Configure PGx pins Output type to push-pull */ + GPIOG->OTYPER = 0x00000000; + /* No pull-up, pull-down for PGx pins */ + GPIOG->PUPDR = 0x00000000; + +#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)\ + || defined(STM32F469xx) || defined(STM32F479xx) + /* Connect PHx pins to FMC Alternate function */ + GPIOH->AFR[0] = 0x00C0CC00; + GPIOH->AFR[1] = 0xCCCCCCCC; + /* Configure PHx pins in Alternate function mode */ + GPIOH->MODER = 0xAAAA08A0; + /* Configure PHx pins speed to 50 MHz */ + GPIOH->OSPEEDR = 0xAAAA08A0; + /* Configure PHx pins Output type to push-pull */ + GPIOH->OTYPER = 0x00000000; + /* No pull-up, pull-down for PHx pins */ + GPIOH->PUPDR = 0x00000000; + + /* Connect PIx pins to FMC Alternate function */ + GPIOI->AFR[0] = 0xCCCCCCCC; + GPIOI->AFR[1] = 0x00000CC0; + /* Configure PIx pins in Alternate function mode */ + GPIOI->MODER = 0x0028AAAA; + /* Configure PIx pins speed to 50 MHz */ + GPIOI->OSPEEDR = 0x0028AAAA; + /* Configure PIx pins Output type to push-pull */ + GPIOI->OTYPER = 0x00000000; + /* No pull-up, pull-down for PIx pins */ + GPIOI->PUPDR = 0x00000000; +#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */ + +/*-- FMC Configuration -------------------------------------------------------*/ + /* Enable the FMC interface clock */ + RCC->AHB3ENR |= 0x00000001; + /* Delay after an RCC peripheral clock enabling */ + tmp = READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FMCEN); + + /* Configure and enable SDRAM bank1 */ +#if defined(STM32F446xx) + FMC_Bank5_6->SDCR[0] = 0x00001954; +#else + FMC_Bank5_6->SDCR[0] = 0x000019E4; +#endif /* STM32F446xx */ + FMC_Bank5_6->SDTR[0] = 0x01115351; + + /* SDRAM initialization sequence */ + /* Clock enable command */ + FMC_Bank5_6->SDCMR = 0x00000011; + tmpreg = FMC_Bank5_6->SDSR & 0x00000020; + while((tmpreg != 0) && (timeout-- > 0)) + { + tmpreg = FMC_Bank5_6->SDSR & 0x00000020; + } + + /* Delay */ + for (index = 0; index<1000; index++); + + /* PALL command */ + FMC_Bank5_6->SDCMR = 0x00000012; + tmpreg = FMC_Bank5_6->SDSR & 0x00000020; + timeout = 0xFFFF; + while((tmpreg != 0) && (timeout-- > 0)) + { + tmpreg = FMC_Bank5_6->SDSR & 0x00000020; + } + + /* Auto refresh command */ +#if defined(STM32F446xx) + FMC_Bank5_6->SDCMR = 0x000000F3; +#else + FMC_Bank5_6->SDCMR = 0x00000073; +#endif /* STM32F446xx */ + tmpreg = FMC_Bank5_6->SDSR & 0x00000020; + timeout = 0xFFFF; + while((tmpreg != 0) && (timeout-- > 0)) + { + tmpreg = FMC_Bank5_6->SDSR & 0x00000020; + } + + /* MRD register program */ +#if defined(STM32F446xx) + FMC_Bank5_6->SDCMR = 0x00044014; +#else + FMC_Bank5_6->SDCMR = 0x00046014; +#endif /* STM32F446xx */ + tmpreg = FMC_Bank5_6->SDSR & 0x00000020; + timeout = 0xFFFF; + while((tmpreg != 0) && (timeout-- > 0)) + { + tmpreg = FMC_Bank5_6->SDSR & 0x00000020; + } + + /* Set refresh count */ + tmpreg = FMC_Bank5_6->SDRTR; +#if defined(STM32F446xx) + FMC_Bank5_6->SDRTR = (tmpreg | (0x0000050C<<1)); +#else + FMC_Bank5_6->SDRTR = (tmpreg | (0x0000027C<<1)); +#endif /* STM32F446xx */ + + /* Disable write protection */ + tmpreg = FMC_Bank5_6->SDCR[0]; + FMC_Bank5_6->SDCR[0] = (tmpreg & 0xFFFFFDFF); +#endif /* DATA_IN_ExtSDRAM */ +#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx */ + +#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx)\ + || defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)\ + || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) || defined(STM32F412Vx) + +#if defined(DATA_IN_ExtSRAM) +/*-- GPIOs Configuration -----------------------------------------------------*/ + /* Enable GPIOD, GPIOE, GPIOF and GPIOG interface clock */ + RCC->AHB1ENR |= 0x00000078; + /* Delay after an RCC peripheral clock enabling */ + tmp = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIODEN); + + /* Connect PDx pins to FMC Alternate function */ + GPIOD->AFR[0] = 0x00CCC0CC; + GPIOD->AFR[1] = 0xCCCCCCCC; + /* Configure PDx pins in Alternate function mode */ + GPIOD->MODER = 0xAAAA0A8A; + /* Configure PDx pins speed to 100 MHz */ + GPIOD->OSPEEDR = 0xFFFF0FCF; + /* Configure PDx pins Output type to push-pull */ + GPIOD->OTYPER = 0x00000000; + /* No pull-up, pull-down for PDx pins */ + GPIOD->PUPDR = 0x00000000; + + /* Connect PEx pins to FMC Alternate function */ + GPIOE->AFR[0] = 0xC00CC0CC; + GPIOE->AFR[1] = 0xCCCCCCCC; + /* Configure PEx pins in Alternate function mode */ + GPIOE->MODER = 0xAAAA828A; + /* Configure PEx pins speed to 100 MHz */ + GPIOE->OSPEEDR = 0xFFFFC3CF; + /* Configure PEx pins Output type to push-pull */ + GPIOE->OTYPER = 0x00000000; + /* No pull-up, pull-down for PEx pins */ + GPIOE->PUPDR = 0x00000000; + + /* Connect PFx pins to FMC Alternate function */ + GPIOF->AFR[0] = 0x00CCCCCC; + GPIOF->AFR[1] = 0xCCCC0000; + /* Configure PFx pins in Alternate function mode */ + GPIOF->MODER = 0xAA000AAA; + /* Configure PFx pins speed to 100 MHz */ + GPIOF->OSPEEDR = 0xFF000FFF; + /* Configure PFx pins Output type to push-pull */ + GPIOF->OTYPER = 0x00000000; + /* No pull-up, pull-down for PFx pins */ + GPIOF->PUPDR = 0x00000000; + + /* Connect PGx pins to FMC Alternate function */ + GPIOG->AFR[0] = 0x00CCCCCC; + GPIOG->AFR[1] = 0x000000C0; + /* Configure PGx pins in Alternate function mode */ + GPIOG->MODER = 0x00085AAA; + /* Configure PGx pins speed to 100 MHz */ + GPIOG->OSPEEDR = 0x000CAFFF; + /* Configure PGx pins Output type to push-pull */ + GPIOG->OTYPER = 0x00000000; + /* No pull-up, pull-down for PGx pins */ + GPIOG->PUPDR = 0x00000000; + +/*-- FMC/FSMC Configuration --------------------------------------------------*/ + /* Enable the FMC/FSMC interface clock */ + RCC->AHB3ENR |= 0x00000001; + +#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) + /* Delay after an RCC peripheral clock enabling */ + tmp = READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FMCEN); + /* Configure and enable Bank1_SRAM2 */ + FMC_Bank1->BTCR[2] = 0x00001011; + FMC_Bank1->BTCR[3] = 0x00000201; + FMC_Bank1E->BWTR[2] = 0x0fffffff; +#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx */ +#if defined(STM32F469xx) || defined(STM32F479xx) + /* Delay after an RCC peripheral clock enabling */ + tmp = READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FMCEN); + /* Configure and enable Bank1_SRAM2 */ + FMC_Bank1->BTCR[2] = 0x00001091; + FMC_Bank1->BTCR[3] = 0x00110212; + FMC_Bank1E->BWTR[2] = 0x0fffffff; +#endif /* STM32F469xx || STM32F479xx */ +#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx)|| defined(STM32F417xx)\ + || defined(STM32F412Zx) || defined(STM32F412Vx) + /* Delay after an RCC peripheral clock enabling */ + tmp = READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FSMCEN); + /* Configure and enable Bank1_SRAM2 */ + FSMC_Bank1->BTCR[2] = 0x00001011; + FSMC_Bank1->BTCR[3] = 0x00000201; + FSMC_Bank1E->BWTR[2] = 0x0FFFFFFF; +#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F412Zx || STM32F412Vx */ + +#endif /* DATA_IN_ExtSRAM */ +#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F427xx || STM32F437xx ||\ + STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx || STM32F412Zx || STM32F412Vx */ + (void)(tmp); +} +#endif /* DATA_IN_ExtSRAM && DATA_IN_ExtSDRAM */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ diff --git a/bsp/stm32/stm32f407-robomaster-c/board/Kconfig b/bsp/stm32/stm32f407-robomaster-c/board/Kconfig index cf0200cbaa..f12e8878c1 100644 --- a/bsp/stm32/stm32f407-robomaster-c/board/Kconfig +++ b/bsp/stm32/stm32f407-robomaster-c/board/Kconfig @@ -24,14 +24,141 @@ menu "On-chip Peripheral Drivers" select RT_USING_SERIAL if BSP_USING_UART config BSP_USING_UART1 - bool "Enable UART1" + bool "Enable UART1 (FinSH , symbol UART2 on board)" default y config BSP_UART1_RX_USING_DMA bool "Enable UART1 RX DMA" depends on BSP_USING_UART1 && RT_SERIAL_USING_DMA default n + + config BSP_USING_UART3 + bool "Enable UART3 (DBUS)" + default n + config BSP_UART3_RX_USING_DMA + bool "Enable UART3 RX DMA" + depends on BSP_USING_UART3 && RT_SERIAL_USING_DMA + default n + + config BSP_USING_UART6 + bool "Enable UART6" + default n + config BSP_UART6_RX_USING_DMA + bool "Enable UART6 RX DMA" + depends on BSP_USING_UART6 && RT_SERIAL_USING_DMA + default n + endif + + menuconfig BSP_USING_CAN + bool "Enable CAN" + default n + select RT_USING_CAN + if BSP_USING_CAN + config BSP_USING_CAN1 + bool "using CAN1 (2pin)" + default n + config BSP_USING_CAN2 + bool "using CAN2 (4pin)" + default n + endif + + menuconfig BSP_USING_PWM + bool "Enable PWM" + default n + select RT_USING_PWM + if BSP_USING_PWM + + menuconfig BSP_USING_PWM1 + bool "Enable timer1 output PWM" + default n + if BSP_USING_PWM1 + config BSP_USING_PWM1_CH1 + bool "Enable PWM1 channel1" + default n + config BSP_USING_PWM1_CH2 + bool "Enable PWM1 channel2" + default n + config BSP_USING_PWM1_CH3 + bool "Enable PWM1 channel3" + default n + config BSP_USING_PWM1_CH4 + bool "Enable PWM1 channel4" + default n + endif + + menuconfig BSP_USING_PWM4 + bool "Enable timer4 output PWM" + default n + if BSP_USING_PWM4 + config BSP_USING_PWM4_CH3 + bool "Enable PWM4 channel3 (buzzer)" + default n + endif + + menuconfig BSP_USING_PWM8 + bool "Enable timer8 output PWM" + default n + if BSP_USING_PWM8 + config BSP_USING_PWM8_CH1 + bool "Enable PWM8 channel1" + default n + config BSP_USING_PWM8_CH2 + bool "Enable PWM8 channel2" + default n + config BSP_USING_PWM8_CH3 + bool "Enable PWM8 channel3" + default n + endif + + endif + + menuconfig BSP_USING_ADC + bool "Enable ADC" + default n + select RT_USING_ADC + if BSP_USING_ADC + config BSP_USING_ADC3 + bool "Enable ADC3" + default n + endif + + menuconfig BSP_USING_SPI + bool "Enable SPI BUS" + default n + select RT_USING_SPI + if BSP_USING_SPI + config BSP_USING_SPI2 + bool "Enable SPI2 BUS" + default n + + config BSP_SPI2_TX_USING_DMA + bool "Enable SPI2 TX DMA" + depends on BSP_USING_SPI2 + default n + + config BSP_SPI2_RX_USING_DMA + bool "Enable SPI2 RX DMA" + depends on BSP_USING_SPI2 + select BSP_SPI2_TX_USING_DMA + default n + endif + + menuconfig BSP_USING_I2C1 + bool "Enable I2C1 BUS (software simulation)" + default n + select RT_USING_I2C + select RT_USING_I2C_BITOPS + select RT_USING_PIN + if BSP_USING_I2C1 + config BSP_I2C1_SCL_PIN + int "i2c1 scl pin number" + default 81 + config BSP_I2C1_SDA_PIN + int "I2C1 sda pin number" + default 80 + endif + source "../libraries/HAL_Drivers/Kconfig" diff --git a/bsp/stm32/stm32f407-robomaster-c/project.uvoptx b/bsp/stm32/stm32f407-robomaster-c/project.uvoptx index ab07607d4a..72d36903c5 100644 --- a/bsp/stm32/stm32f407-robomaster-c/project.uvoptx +++ b/bsp/stm32/stm32f407-robomaster-c/project.uvoptx @@ -178,7 +178,6 @@ 1 - 0 0 2 10000000 @@ -187,11 +186,823 @@ - Source Group 1 + Applications 0 0 0 0 + + 1 + 1 + 1 + 0 + 0 + 0 + applications\main.c + main.c + 0 + 0 + + + + + Compiler + 0 + 0 + 0 + 0 + + 2 + 2 + 1 + 0 + 0 + 0 + ..\..\..\components\libc\compilers\armlibc\syscall_mem.c + syscall_mem.c + 0 + 0 + + + 2 + 3 + 1 + 0 + 0 + 0 + ..\..\..\components\libc\compilers\armlibc\syscalls.c + syscalls.c + 0 + 0 + + + 2 + 4 + 1 + 0 + 0 + 0 + ..\..\..\components\libc\compilers\common\cctype.c + cctype.c + 0 + 0 + + + 2 + 5 + 1 + 0 + 0 + 0 + ..\..\..\components\libc\compilers\common\cstdio.c + cstdio.c + 0 + 0 + + + 2 + 6 + 1 + 0 + 0 + 0 + ..\..\..\components\libc\compilers\common\cstdlib.c + cstdlib.c + 0 + 0 + + + 2 + 7 + 1 + 0 + 0 + 0 + ..\..\..\components\libc\compilers\common\cstring.c + cstring.c + 0 + 0 + + + 2 + 8 + 1 + 0 + 0 + 0 + ..\..\..\components\libc\compilers\common\ctime.c + ctime.c + 0 + 0 + + + 2 + 9 + 1 + 0 + 0 + 0 + ..\..\..\components\libc\compilers\common\cwchar.c + cwchar.c + 0 + 0 + + + + + CPU + 0 + 0 + 0 + 0 + + 3 + 10 + 1 + 0 + 0 + 0 + ..\..\..\libcpu\arm\common\backtrace.c + backtrace.c + 0 + 0 + + + 3 + 11 + 1 + 0 + 0 + 0 + ..\..\..\libcpu\arm\common\div0.c + div0.c + 0 + 0 + + + 3 + 12 + 1 + 0 + 0 + 0 + ..\..\..\libcpu\arm\common\showmem.c + showmem.c + 0 + 0 + + + 3 + 13 + 2 + 0 + 0 + 0 + ..\..\..\libcpu\arm\cortex-m4\context_rvds.S + context_rvds.S + 0 + 0 + + + 3 + 14 + 1 + 0 + 0 + 0 + ..\..\..\libcpu\arm\cortex-m4\cpuport.c + cpuport.c + 0 + 0 + + + + + DeviceDrivers + 0 + 0 + 0 + 0 + + 4 + 15 + 1 + 0 + 0 + 0 + ..\..\..\components\drivers\ipc\completion.c + completion.c + 0 + 0 + + + 4 + 16 + 1 + 0 + 0 + 0 + ..\..\..\components\drivers\ipc\dataqueue.c + dataqueue.c + 0 + 0 + + + 4 + 17 + 1 + 0 + 0 + 0 + ..\..\..\components\drivers\ipc\pipe.c + pipe.c + 0 + 0 + + + 4 + 18 + 1 + 0 + 0 + 0 + ..\..\..\components\drivers\ipc\ringblk_buf.c + ringblk_buf.c + 0 + 0 + + + 4 + 19 + 1 + 0 + 0 + 0 + ..\..\..\components\drivers\ipc\ringbuffer.c + ringbuffer.c + 0 + 0 + + + 4 + 20 + 1 + 0 + 0 + 0 + ..\..\..\components\drivers\ipc\waitqueue.c + waitqueue.c + 0 + 0 + + + 4 + 21 + 1 + 0 + 0 + 0 + ..\..\..\components\drivers\ipc\workqueue.c + workqueue.c + 0 + 0 + + + 4 + 22 + 1 + 0 + 0 + 0 + ..\..\..\components\drivers\misc\pin.c + pin.c + 0 + 0 + + + 4 + 23 + 1 + 0 + 0 + 0 + ..\..\..\components\drivers\serial\serial.c + serial.c + 0 + 0 + + + + + Drivers + 0 + 0 + 0 + 0 + + 5 + 24 + 2 + 0 + 0 + 0 + ..\libraries\STM32F4xx_HAL\CMSIS\Device\ST\STM32F4xx\Source\Templates\arm\startup_stm32f407xx.s + startup_stm32f407xx.s + 0 + 0 + + + 5 + 25 + 1 + 0 + 0 + 0 + board\CubeMX_Config\Src\stm32f4xx_hal_msp.c + stm32f4xx_hal_msp.c + 0 + 0 + + + 5 + 26 + 1 + 0 + 0 + 0 + board\board.c + board.c + 0 + 0 + + + 5 + 27 + 1 + 0 + 0 + 0 + ..\libraries\HAL_Drivers\drv_common.c + drv_common.c + 0 + 0 + + + 5 + 28 + 1 + 0 + 0 + 0 + ..\libraries\HAL_Drivers\drv_gpio.c + drv_gpio.c + 0 + 0 + + + 5 + 29 + 1 + 0 + 0 + 0 + ..\libraries\HAL_Drivers\drv_usart.c + drv_usart.c + 0 + 0 + + + + + Finsh + 0 + 0 + 0 + 0 + + 6 + 30 + 1 + 0 + 0 + 0 + ..\..\..\components\finsh\shell.c + shell.c + 0 + 0 + + + 6 + 31 + 1 + 0 + 0 + 0 + ..\..\..\components\finsh\msh.c + msh.c + 0 + 0 + + + 6 + 32 + 1 + 0 + 0 + 0 + ..\..\..\components\finsh\msh_parse.c + msh_parse.c + 0 + 0 + + + 6 + 33 + 1 + 0 + 0 + 0 + ..\..\..\components\finsh\cmd.c + cmd.c + 0 + 0 + + + + + Kernel + 0 + 0 + 0 + 0 + + 7 + 34 + 1 + 0 + 0 + 0 + ..\..\..\src\clock.c + clock.c + 0 + 0 + + + 7 + 35 + 1 + 0 + 0 + 0 + ..\..\..\src\components.c + components.c + 0 + 0 + + + 7 + 36 + 1 + 0 + 0 + 0 + ..\..\..\src\device.c + device.c + 0 + 0 + + + 7 + 37 + 1 + 0 + 0 + 0 + ..\..\..\src\idle.c + idle.c + 0 + 0 + + + 7 + 38 + 1 + 0 + 0 + 0 + ..\..\..\src\ipc.c + ipc.c + 0 + 0 + + + 7 + 39 + 1 + 0 + 0 + 0 + ..\..\..\src\irq.c + irq.c + 0 + 0 + + + 7 + 40 + 1 + 0 + 0 + 0 + ..\..\..\src\kservice.c + kservice.c + 0 + 0 + + + 7 + 41 + 1 + 0 + 0 + 0 + ..\..\..\src\mem.c + mem.c + 0 + 0 + + + 7 + 42 + 1 + 0 + 0 + 0 + ..\..\..\src\mempool.c + mempool.c + 0 + 0 + + + 7 + 43 + 1 + 0 + 0 + 0 + ..\..\..\src\object.c + object.c + 0 + 0 + + + 7 + 44 + 1 + 0 + 0 + 0 + ..\..\..\src\scheduler.c + scheduler.c + 0 + 0 + + + 7 + 45 + 1 + 0 + 0 + 0 + ..\..\..\src\thread.c + thread.c + 0 + 0 + + + 7 + 46 + 1 + 0 + 0 + 0 + ..\..\..\src\timer.c + timer.c + 0 + 0 + + + + + Libraries + 0 + 0 + 0 + 0 + + 8 + 47 + 1 + 0 + 0 + 0 + ..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c + stm32f4xx_hal_uart.c + 0 + 0 + + + 8 + 48 + 1 + 0 + 0 + 0 + ..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cryp_ex.c + stm32f4xx_hal_cryp_ex.c + 0 + 0 + + + 8 + 49 + 1 + 0 + 0 + 0 + ..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c + stm32f4xx_hal_pwr_ex.c + 0 + 0 + + + 8 + 50 + 1 + 0 + 0 + 0 + ..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rng.c + stm32f4xx_hal_rng.c + 0 + 0 + + + 8 + 51 + 1 + 0 + 0 + 0 + ..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c + stm32f4xx_hal_dma.c + 0 + 0 + + + 8 + 52 + 1 + 0 + 0 + 0 + ..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c + stm32f4xx_hal.c + 0 + 0 + + + 8 + 53 + 1 + 0 + 0 + 0 + ..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c + stm32f4xx_hal_rcc_ex.c + 0 + 0 + + + 8 + 54 + 1 + 0 + 0 + 0 + ..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_usart.c + stm32f4xx_hal_usart.c + 0 + 0 + + + 8 + 55 + 1 + 0 + 0 + 0 + ..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cec.c + stm32f4xx_hal_cec.c + 0 + 0 + + + 8 + 56 + 1 + 0 + 0 + 0 + ..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c + stm32f4xx_hal_rcc.c + 0 + 0 + + + 8 + 57 + 1 + 0 + 0 + 0 + ..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c + stm32f4xx_hal_dma_ex.c + 0 + 0 + + + 8 + 58 + 1 + 0 + 0 + 0 + ..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c + stm32f4xx_hal_pwr.c + 0 + 0 + + + 8 + 59 + 1 + 0 + 0 + 0 + ..\libraries\STM32F4xx_HAL\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c + system_stm32f4xx.c + 0 + 0 + + + 8 + 60 + 1 + 0 + 0 + 0 + ..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_crc.c + stm32f4xx_hal_crc.c + 0 + 0 + + + 8 + 61 + 1 + 0 + 0 + 0 + ..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c + stm32f4xx_hal_cortex.c + 0 + 0 + + + 8 + 62 + 1 + 0 + 0 + 0 + ..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cryp.c + stm32f4xx_hal_cryp.c + 0 + 0 + + + 8 + 63 + 1 + 0 + 0 + 0 + ..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c + stm32f4xx_hal_gpio.c + 0 + 0 + diff --git a/bsp/stm32/stm32f407-robomaster-c/project.uvproj b/bsp/stm32/stm32f407-robomaster-c/project.uvproj index 4f2d22441b..8ab7e28b99 100644 --- a/bsp/stm32/stm32f407-robomaster-c/project.uvproj +++ b/bsp/stm32/stm32f407-robomaster-c/project.uvproj @@ -357,9 +357,9 @@ 0 - USE_HAL_DRIVER, STM32F407xx, __RTTHREAD__, RT_USING_ARM_LIBC, __CLK_TCK=RT_TICK_PER_SECOND + RT_USING_LIBC, USE_HAL_DRIVER, STM32F407xx, __CLK_TCK=RT_TICK_PER_SECOND, __STDC_LIMIT_MACROS, __RTTHREAD__, RT_USING_ARM_LIBC - applications;.;..\..\..\components\libc\compilers\common;..\..\..\components\libc\compilers\common\extension;..\..\..\libcpu\arm\common;..\..\..\libcpu\arm\cortex-m4;..\..\..\components\drivers\include;..\..\..\components\drivers\include;..\..\..\components\drivers\include;board;board\CubeMX_Config\Inc;..\libraries\HAL_Drivers;..\libraries\HAL_Drivers\config;..\..\..\components\finsh;.;..\..\..\include;..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Inc;..\libraries\STM32F4xx_HAL\CMSIS\Device\ST\STM32F4xx\Include;..\libraries\STM32F4xx_HAL\CMSIS\Include;..\..\..\components\libc\posix\io\poll;..\..\..\components\libc\posix\io\stdio;..\..\..\components\libc\posix\ipc + applications;.;..\..\..\components\libc\compilers\common\include;..\..\..\components\libc\compilers\common\extension;..\..\..\components\libc\compilers\common\extension\fcntl\octal;..\..\..\libcpu\arm\common;..\..\..\libcpu\arm\cortex-m4;..\..\..\components\drivers\include;..\..\..\components\drivers\include;..\..\..\components\drivers\include;board;board\CubeMX_Config\Inc;..\libraries\HAL_Drivers;..\libraries\HAL_Drivers\config;..\libraries\HAL_Drivers\CMSIS\Include;..\..\..\components\dfs\include;..\..\..\components\finsh;.;..\..\..\include;..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Inc;..\libraries\STM32F4xx_HAL\CMSIS\Device\ST\STM32F4xx\Include;..\..\..\components\libc\posix\io\poll;..\..\..\components\libc\posix\io\stdio;..\..\..\components\libc\posix\ipc @@ -427,21 +427,56 @@ - time.c + cctype.c 1 - ..\..\..\components\libc\compilers\common\time.c + ..\..\..\components\libc\compilers\common\cctype.c - stdlib.c + cstdio.c 1 - ..\..\..\components\libc\compilers\common\stdlib.c + ..\..\..\components\libc\compilers\common\cstdio.c + + + + + cstdlib.c + 1 + ..\..\..\components\libc\compilers\common\cstdlib.c + + + + + cstring.c + 1 + ..\..\..\components\libc\compilers\common\cstring.c + + + + + ctime.c + 1 + ..\..\..\components\libc\compilers\common\ctime.c + + + + + cwchar.c + 1 + ..\..\..\components\libc\compilers\common\cwchar.c CPU + + + backtrace.c + 1 + ..\..\..\libcpu\arm\common\backtrace.c + + div0.c @@ -456,13 +491,6 @@ ..\..\..\libcpu\arm\common\showmem.c - - - backtrace.c - 1 - ..\..\..\libcpu\arm\common\backtrace.c - - context_rvds.S @@ -482,9 +510,9 @@ DeviceDrivers - waitqueue.c + completion.c 1 - ..\..\..\components\drivers\ipc\waitqueue.c + ..\..\..\components\drivers\ipc\completion.c @@ -494,20 +522,6 @@ ..\..\..\components\drivers\ipc\dataqueue.c - - - ringblk_buf.c - 1 - ..\..\..\components\drivers\ipc\ringblk_buf.c - - - - - completion.c - 1 - ..\..\..\components\drivers\ipc\completion.c - - pipe.c @@ -517,9 +531,9 @@ - workqueue.c + ringblk_buf.c 1 - ..\..\..\components\drivers\ipc\workqueue.c + ..\..\..\components\drivers\ipc\ringblk_buf.c @@ -529,6 +543,20 @@ ..\..\..\components\drivers\ipc\ringbuffer.c + + + waitqueue.c + 1 + ..\..\..\components\drivers\ipc\waitqueue.c + + + + + workqueue.c + 1 + ..\..\..\components\drivers\ipc\workqueue.c + + pin.c @@ -546,13 +574,6 @@ Drivers - - - stm32f4xx_hal_msp.c - 1 - board\CubeMX_Config\Src\stm32f4xx_hal_msp.c - - startup_stm32f407xx.s @@ -560,6 +581,13 @@ ..\libraries\STM32F4xx_HAL\CMSIS\Device\ST\STM32F4xx\Source\Templates\arm\startup_stm32f407xx.s + + + stm32f4xx_hal_msp.c + 1 + board\CubeMX_Config\Src\stm32f4xx_hal_msp.c + + board.c @@ -567,6 +595,13 @@ board\board.c + + + drv_common.c + 1 + ..\libraries\HAL_Drivers\drv_common.c + + drv_gpio.c @@ -581,11 +616,35 @@ ..\libraries\HAL_Drivers\drv_usart.c + + + Filesystem - drv_common.c + dfs_posix.c 1 - ..\libraries\HAL_Drivers\drv_common.c + ..\..\..\components\dfs\src\dfs_posix.c + + + + + dfs_fs.c + 1 + ..\..\..\components\dfs\src\dfs_fs.c + + + + + dfs.c + 1 + ..\..\..\components\dfs\src\dfs.c + + + + + dfs_file.c + 1 + ..\..\..\components\dfs\src\dfs_file.c @@ -605,6 +664,13 @@ ..\..\..\components\finsh\msh.c + + + msh_parse.c + 1 + ..\..\..\components\finsh\msh_parse.c + + cmd.c @@ -612,9 +678,44 @@ ..\..\..\components\finsh\cmd.c + + + msh_file.c + 1 + ..\..\..\components\finsh\msh_file.c + + Kernel + + + clock.c + 1 + ..\..\..\src\clock.c + + + + + components.c + 1 + ..\..\..\src\components.c + + + + + device.c + 1 + ..\..\..\src\device.c + + + + + idle.c + 1 + ..\..\..\src\idle.c + + ipc.c @@ -629,13 +730,6 @@ ..\..\..\src\irq.c - - - thread.c - 1 - ..\..\..\src\thread.c - - kservice.c @@ -645,44 +739,9 @@ - device.c + mem.c 1 - ..\..\..\src\device.c - - - - - object.c - 1 - ..\..\..\src\object.c - - - - - timer.c - 1 - ..\..\..\src\timer.c - - - - - clock.c - 1 - ..\..\..\src\clock.c - - - - - idle.c - 1 - ..\..\..\src\idle.c - - - - - scheduler.c - 1 - ..\..\..\src\scheduler.c + ..\..\..\src\mem.c @@ -694,16 +753,30 @@ - components.c + object.c 1 - ..\..\..\src\components.c + ..\..\..\src\object.c - mem.c + scheduler.c 1 - ..\..\..\src\mem.c + ..\..\..\src\scheduler.c + + + + + thread.c + 1 + ..\..\..\src\thread.c + + + + + timer.c + 1 + ..\..\..\src\timer.c diff --git a/bsp/stm32/stm32f407-robomaster-c/project.uvprojx b/bsp/stm32/stm32f407-robomaster-c/project.uvprojx index 076cbe58d9..51987e53e7 100644 --- a/bsp/stm32/stm32f407-robomaster-c/project.uvprojx +++ b/bsp/stm32/stm32f407-robomaster-c/project.uvprojx @@ -1,7 +1,10 @@ + 2.1 +
### uVision Project, (C) Keil Software
+ rt-thread @@ -13,31 +16,31 @@ STM32F407IGHx STMicroelectronics - Keil.STM32F4xx_DFP.2.15.0 + Keil.STM32F4xx_DFP.2.16.0 http://www.keil.com/pack/ IRAM(0x20000000,0x00020000) IRAM2(0x10000000,0x00010000) IROM(0x08000000,0x00100000) CPUTYPE("Cortex-M4") FPU2 CLOCK(12000000) ELITTLE - - + + UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024 -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)) 0 $$Device:STM32F407IGHx$Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h - - - - - - - - - + + + + + + + + + $$Device:STM32F407IGHx$CMSIS\SVD\STM32F40x.svd 0 0 - - - - - + + + + + 0 0 @@ -59,8 +62,8 @@ 0 0 - - + + 0 0 0 @@ -69,8 +72,8 @@ 0 0 - - + + 0 0 0 @@ -80,14 +83,14 @@ 1 0 fromelf --bin !L --output rtthread.bin - + 0 0 0 0 0 - + 0 @@ -101,8 +104,8 @@ 0 0 3 - - + + 1 @@ -135,11 +138,11 @@ 1 BIN\UL2CM3.DLL - - - - - + + + + + 0 @@ -172,7 +175,7 @@ 0 0 "Cortex-M4" - + 0 0 0 @@ -181,7 +184,6 @@ 0 0 2 - 0 1 0 8 @@ -305,7 +307,7 @@ 0x10000 - + 1 @@ -332,10 +334,10 @@ 0 0 - - USE_HAL_DRIVER, STM32F407xx, __RTTHREAD__, RT_USING_ARM_LIBC, __CLK_TCK=RT_TICK_PER_SECOND - - applications;.;..\..\..\components\libc\compilers\common;..\..\..\components\libc\compilers\common\extension;..\..\..\libcpu\arm\common;..\..\..\libcpu\arm\cortex-m4;..\..\..\components\drivers\include;..\..\..\components\drivers\include;..\..\..\components\drivers\include;board;board\CubeMX_Config\Inc;..\libraries\HAL_Drivers;..\libraries\HAL_Drivers\config;..\..\..\components\finsh;.;..\..\..\include;..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Inc;..\libraries\STM32F4xx_HAL\CMSIS\Device\ST\STM32F4xx\Include;..\libraries\STM32F4xx_HAL\CMSIS\Include;..\..\..\components\libc\posix\io\poll;..\..\..\components\libc\posix\io\stdio;..\..\..\components\libc\posix\ipc + + RT_USING_LIBC, USE_HAL_DRIVER, STM32F407xx, __CLK_TCK=RT_TICK_PER_SECOND, __STDC_LIMIT_MACROS, __RTTHREAD__, RT_USING_ARM_LIBC + + applications;.;..\..\..\components\libc\compilers\common\include;..\..\..\components\libc\compilers\common\extension;..\..\..\components\libc\compilers\common\extension\fcntl\octal;..\..\..\libcpu\arm\common;..\..\..\libcpu\arm\cortex-m4;..\..\..\components\drivers\include;..\..\..\components\drivers\include;..\..\..\components\drivers\include;board;board\CubeMX_Config\Inc;..\libraries\HAL_Drivers;..\libraries\HAL_Drivers\config;..\libraries\HAL_Drivers\CMSIS\Include;..\..\..\components\finsh;.;..\..\..\include;..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Inc;..\libraries\STM32F4xx_HAL\CMSIS\Device\ST\STM32F4xx\Include;..\..\..\components\libc\posix\io\poll;..\..\..\components\libc\posix\io\stdio;..\..\..\components\libc\posix\ipc @@ -350,10 +352,10 @@ 0 0 - - - - + + + + @@ -365,13 +367,13 @@ 0 0x08000000 0x20000000 - + .\board\linker_scripts\link.sct - - - - - + + + + + @@ -388,66 +390,72 @@ Compiler - - - syscalls.c - 1 - ..\..\..\components\libc\compilers\armlibc\syscalls.c - - syscall_mem.c 1 ..\..\..\components\libc\compilers\armlibc\syscall_mem.c - - - stdlib.c + syscalls.c 1 - ..\..\..\components\libc\compilers\common\stdlib.c + ..\..\..\components\libc\compilers\armlibc\syscalls.c - - - time.c + cctype.c 1 - ..\..\..\components\libc\compilers\common\time.c + ..\..\..\components\libc\compilers\common\cctype.c + + + cstdio.c + 1 + ..\..\..\components\libc\compilers\common\cstdio.c + + + cstdlib.c + 1 + ..\..\..\components\libc\compilers\common\cstdlib.c + + + cstring.c + 1 + ..\..\..\components\libc\compilers\common\cstring.c + + + ctime.c + 1 + ..\..\..\components\libc\compilers\common\ctime.c + + + cwchar.c + 1 + ..\..\..\components\libc\compilers\common\cwchar.c CPU + + backtrace.c + 1 + ..\..\..\libcpu\arm\common\backtrace.c + div0.c 1 ..\..\..\libcpu\arm\common\div0.c - - showmem.c 1 ..\..\..\libcpu\arm\common\showmem.c - - - - backtrace.c - 1 - ..\..\..\libcpu\arm\common\backtrace.c - - - context_rvds.S 2 ..\..\..\libcpu\arm\cortex-m4\context_rvds.S - - cpuport.c 1 @@ -457,63 +465,47 @@ DeviceDrivers - - - dataqueue.c - 1 - ..\..\..\components\drivers\ipc\dataqueue.c - - - - - workqueue.c - 1 - ..\..\..\components\drivers\ipc\workqueue.c - - completion.c 1 ..\..\..\components\drivers\ipc\completion.c - - - waitqueue.c + dataqueue.c 1 - ..\..\..\components\drivers\ipc\waitqueue.c + ..\..\..\components\drivers\ipc\dataqueue.c - - pipe.c 1 ..\..\..\components\drivers\ipc\pipe.c - - ringblk_buf.c 1 ..\..\..\components\drivers\ipc\ringblk_buf.c - - ringbuffer.c 1 ..\..\..\components\drivers\ipc\ringbuffer.c - - + + waitqueue.c + 1 + ..\..\..\components\drivers\ipc\waitqueue.c + + + workqueue.c + 1 + ..\..\..\components\drivers\ipc\workqueue.c + pin.c 1 ..\..\..\components\drivers\misc\pin.c - - serial.c 1 @@ -523,48 +515,38 @@ Drivers - - - stm32f4xx_hal_msp.c - 1 - board\CubeMX_Config\Src\stm32f4xx_hal_msp.c - - startup_stm32f407xx.s 2 ..\libraries\STM32F4xx_HAL\CMSIS\Device\ST\STM32F4xx\Source\Templates\arm\startup_stm32f407xx.s - - + + stm32f4xx_hal_msp.c + 1 + board\CubeMX_Config\Src\stm32f4xx_hal_msp.c + board.c 1 board\board.c - - + + drv_common.c + 1 + ..\libraries\HAL_Drivers\drv_common.c + drv_gpio.c 1 ..\libraries\HAL_Drivers\drv_gpio.c - - drv_usart.c 1 ..\libraries\HAL_Drivers\drv_usart.c - - - drv_common.c - 1 - ..\libraries\HAL_Drivers\drv_common.c - - Finsh @@ -574,15 +556,16 @@ 1 ..\..\..\components\finsh\shell.c - - msh.c 1 ..\..\..\components\finsh\msh.c - - + + msh_parse.c + 1 + ..\..\..\components\finsh\msh_parse.c + cmd.c 1 @@ -592,95 +575,71 @@ Kernel - - - device.c - 1 - ..\..\..\src\device.c - - - - - object.c - 1 - ..\..\..\src\object.c - - - - - timer.c - 1 - ..\..\..\src\timer.c - - - - - irq.c - 1 - ..\..\..\src\irq.c - - - - - scheduler.c - 1 - ..\..\..\src\scheduler.c - - clock.c 1 ..\..\..\src\clock.c - - components.c 1 ..\..\..\src\components.c - - - thread.c + device.c 1 - ..\..\..\src\thread.c + ..\..\..\src\device.c - - idle.c 1 ..\..\..\src\idle.c - - - mem.c + ipc.c 1 - ..\..\..\src\mem.c + ..\..\..\src\ipc.c - - - mempool.c + irq.c 1 - ..\..\..\src\mempool.c + ..\..\..\src\irq.c - - kservice.c 1 ..\..\..\src\kservice.c - - - ipc.c + mem.c 1 - ..\..\..\src\ipc.c + ..\..\..\src\mem.c + + + mempool.c + 1 + ..\..\..\src\mempool.c + + + object.c + 1 + ..\..\..\src\object.c + + + scheduler.c + 1 + ..\..\..\src\scheduler.c + + + thread.c + 1 + ..\..\..\src\thread.c + + + timer.c + 1 + ..\..\..\src\timer.c @@ -692,113 +651,81 @@ 1 ..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c - - stm32f4xx_hal_cryp_ex.c 1 ..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cryp_ex.c - - stm32f4xx_hal_pwr_ex.c 1 ..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c - - stm32f4xx_hal_rng.c 1 ..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rng.c - - stm32f4xx_hal_dma.c 1 ..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c - - stm32f4xx_hal.c 1 ..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c - - stm32f4xx_hal_rcc_ex.c 1 ..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c - - stm32f4xx_hal_usart.c 1 ..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_usart.c - - stm32f4xx_hal_cec.c 1 ..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cec.c - - stm32f4xx_hal_rcc.c 1 ..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c - - stm32f4xx_hal_dma_ex.c 1 ..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c - - stm32f4xx_hal_pwr.c 1 ..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c - - system_stm32f4xx.c 1 ..\libraries\STM32F4xx_HAL\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c - - stm32f4xx_hal_crc.c 1 ..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_crc.c - - stm32f4xx_hal_cortex.c 1 ..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c - - stm32f4xx_hal_cryp.c 1 ..\libraries\STM32F4xx_HAL\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cryp.c - - stm32f4xx_hal_gpio.c 1 @@ -809,9 +736,11 @@ + - - - + + + + diff --git a/bsp/stm32/stm32f407-robomaster-c/rtconfig.h b/bsp/stm32/stm32f407-robomaster-c/rtconfig.h index ae1dcf9a30..12ee56a490 100644 --- a/bsp/stm32/stm32f407-robomaster-c/rtconfig.h +++ b/bsp/stm32/stm32f407-robomaster-c/rtconfig.h @@ -17,11 +17,14 @@ #define RT_USING_IDLE_HOOK #define RT_IDLE_HOOK_LIST_SIZE 4 #define IDLE_THREAD_STACK_SIZE 256 +#define RT_USING_TIMER_SOFT +#define RT_TIMER_THREAD_PRIO 4 +#define RT_TIMER_THREAD_STACK_SIZE 512 /* kservice optimization */ +#define RT_KSERVICE_USING_STDLIB #define RT_DEBUG -#define RT_DEBUG_COLOR /* Inter-Thread communication */ @@ -44,7 +47,7 @@ #define RT_USING_CONSOLE #define RT_CONSOLEBUF_SIZE 128 #define RT_CONSOLE_DEVICE_NAME "uart1" -#define RT_VER_NUM 0x40100 +#define RT_VER_NUM 0x40101 #define ARCH_ARM #define RT_USING_CPU_FFS #define ARCH_ARM_CORTEX_M @@ -150,9 +153,6 @@ /* enhanced kernel services */ -/* POSIX extension functions */ - - /* acceleration: Assembly language or algorithmic acceleration packages */ @@ -165,6 +165,9 @@ /* peripheral libraries and drivers */ +/* Kendryte SDK */ + + /* AI packages */