TuxMonkey/bf_original_balance_chassis
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将默认视觉通信换为usb虚拟串口，修复视觉发送roll错误；增加了attach调试支持

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This commit is contained in:
NeoZng
2023-05-04 21:38:35 +08:00
parent 35ceb50ca7
commit 116b9b78fb
13 changed files with 199 additions and 113 deletions
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16
Src/usbd_cdc_if.c
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@@ -31,7 +31,8 @@
/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
static USBCallback tx_cbk = NULL;
static USBCallback rx_cbk = NULL;
/* USER CODE END PV */
/** @addtogroup STM32_USB_OTG_DEVICE_LIBRARY
@@ -263,6 +264,10 @@ static int8_t CDC_Receive_FS(uint8_t* Buf, uint32_t *Len)
/* USER CODE BEGIN 6 */
USBD_CDC_SetRxBuffer(&hUsbDeviceFS, &Buf[0]);
USBD_CDC_ReceivePacket(&hUsbDeviceFS);
if(rx_cbk)
rx_cbk(*Len);
return (USBD_OK);
/* USER CODE END 6 */
}
@@ -311,12 +316,19 @@ static int8_t CDC_TransmitCplt_FS(uint8_t *Buf, uint32_t *Len, uint8_t epnum)
UNUSED(Buf);
UNUSED(Len);
UNUSED(epnum);
if(tx_cbk)
tx_cbk(*Len);
/* USER CODE END 13 */
return result;
}
/* USER CODE BEGIN PRIVATE_FUNCTIONS_IMPLEMENTATION */
uint8_t* CDCInitRxbufferNcallback(USBCallback transmit_cbk,USBCallback recv_cbk)
{
tx_cbk = transmit_cbk;
rx_cbk = recv_cbk;
return UserRxBufferFS;
}
/* USER CODE END PRIVATE_FUNCTIONS_IMPLEMENTATION */
/**

6
Src/usbd_conf.c
View File

@@ -79,8 +79,9 @@ void HAL_PCD_MspInit(PCD_HandleTypeDef* pcdHandle)
/**USB_OTG_FS GPIO Configuration
PA12 ------> USB_OTG_FS_DP
PA11 ------> USB_OTG_FS_DM
PA10 ------> USB_OTG_FS_ID
*/
GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_11;
GPIO_InitStruct.Pin = GPIO_PIN_12|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;
@@ -112,8 +113,9 @@ void HAL_PCD_MspDeInit(PCD_HandleTypeDef* pcdHandle)
/**USB_OTG_FS GPIO Configuration
PA12 ------> USB_OTG_FS_DP
PA11 ------> USB_OTG_FS_DM
PA10 ------> USB_OTG_FS_ID
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_12|GPIO_PIN_11);
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_12|GPIO_PIN_11|GPIO_PIN_10);
/* Peripheral interrupt Deinit*/
HAL_NVIC_DisableIRQ(OTG_FS_IRQn);

6
Src/usbd_desc.c
View File

@@ -64,9 +64,9 @@
#define USBD_VID 1155
#define USBD_LANGID_STRING 1033
#define USBD_MANUFACTURER_STRING "STMicroelectronics"
#define USBD_PID_FS 22336
#define USBD_PRODUCT_STRING_FS "STM32 Virtual ComPort"
#define USBD_MANUFACTURER_STRING "YueLuEmbedded"
#define USBD_PID_FS 202
#define USBD_PRODUCT_STRING_FS "Vision Comm port"
#define USBD_CONFIGURATION_STRING_FS "CDC Config"
#define USBD_INTERFACE_STRING_FS "CDC Interface"