添加了大量调试log，新增了dwt计时宏，增加了USB软件复位防止主控复位后上位机无法连接usb

Src/freertos.c

@@ -123,9 +123,9 @@ void MX_FREERTOS_Init(void)
 void StartDefaultTask(void const *argument)
 {
   /* init code for USB_DEVICE */
-  MX_USB_DEVICE_Init(); // USB???
+  MX_USB_DEVICE_Init(); // 默认usb启动任务的位置
   /* USER CODE BEGIN StartDefaultTask */
-  vTaskDelete(NULL); // ??????,????CPU
+  vTaskDelete(NULL); // 避免空置和切换占用cpu
   /* USER CODE END StartDefaultTask */
 }
 

Src/stm32f4xx_hal_msp.c

@@ -73,6 +73,11 @@ void HAL_MspInit(void)
   /* PendSV_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(PendSV_IRQn, 15, 0);
 
+  /* Peripheral interrupt init */
+  /* FLASH_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(FLASH_IRQn, 6, 0);
+  HAL_NVIC_EnableIRQ(FLASH_IRQn);
+
   /* USER CODE BEGIN MspInit 1 */
 
   /* USER CODE END MspInit 1 */

Src/stm32f4xx_it.c

@@ -183,6 +183,20 @@ void DebugMon_Handler(void)
 /* please refer to the startup file (startup_stm32f4xx.s).                    */
 /******************************************************************************/
 
+/**
+  * @brief This function handles Flash global interrupt.
+  */
+void FLASH_IRQHandler(void)
+{
+  /* USER CODE BEGIN FLASH_IRQn 0 */
+
+  /* USER CODE END FLASH_IRQn 0 */
+  HAL_FLASH_IRQHandler();
+  /* USER CODE BEGIN FLASH_IRQn 1 */
+
+  /* USER CODE END FLASH_IRQn 1 */
+}
+
 /**
   * @brief This function handles EXTI line3 interrupt.
   */

Src/usbd_conf.c

@@ -27,7 +27,7 @@
 #include "usbd_cdc.h"
 
 /* USER CODE BEGIN Includes */
-
+#include "bsp_dwt.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -95,7 +95,11 @@ void HAL_PCD_MspInit(PCD_HandleTypeDef* pcdHandle)
     HAL_NVIC_SetPriority(OTG_FS_IRQn, 5, 0);
     HAL_NVIC_EnableIRQ(OTG_FS_IRQn);
   /* USER CODE BEGIN USB_OTG_FS_MspInit 1 */
-
+    // 上电后重新枚举usb设备
+    HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_RESET);
+    DWT_Delay(100);
+    HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_RESET);
+    DWT_Delay(100);
   /* USER CODE END USB_OTG_FS_MspInit 1 */
   }
 }