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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6
Src/usbd_conf.c
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@@ -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);