TuxMonkey/bf_original_balance_chassis
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更新了CUBEMX配置,添加了所有引脚和外部中断.

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This commit is contained in:
NeoZng
2023-02-02 15:21:22 +08:00
parent 2576befb80
commit 73cdc66de5
57 changed files with 5843 additions and 323 deletions
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26
HAL_N_Middlewares/Src/adc.c
View File

@@ -7,7 +7,7 @@
******************************************************************************
* @attention
*
* Copyright (c) 2022 STMicroelectronics.
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
@@ -25,6 +25,7 @@
/* USER CODE END 0 */
ADC_HandleTypeDef hadc1;
DMA_HandleTypeDef hdma_adc1;
/* ADC1 init function */
void MX_ADC1_Init(void)
@@ -84,6 +85,26 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
/* USER CODE END ADC1_MspInit 0 */
/* ADC1 clock enable */
__HAL_RCC_ADC1_CLK_ENABLE();
/* ADC1 DMA Init */
/* ADC1 Init */
hdma_adc1.Instance = DMA2_Stream4;
hdma_adc1.Init.Channel = DMA_CHANNEL_0;
hdma_adc1.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_adc1.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_adc1.Init.MemInc = DMA_MINC_ENABLE;
hdma_adc1.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
hdma_adc1.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
hdma_adc1.Init.Mode = DMA_NORMAL;
hdma_adc1.Init.Priority = DMA_PRIORITY_LOW;
hdma_adc1.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma_adc1) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(adcHandle,DMA_Handle,hdma_adc1);
/* USER CODE BEGIN ADC1_MspInit 1 */
/* USER CODE END ADC1_MspInit 1 */
@@ -100,6 +121,9 @@ void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
/* USER CODE END ADC1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_ADC1_CLK_DISABLE();
/* ADC1 DMA DeInit */
HAL_DMA_DeInit(adcHandle->DMA_Handle);
/* USER CODE BEGIN ADC1_MspDeInit 1 */
/* USER CODE END ADC1_MspDeInit 1 */

2
HAL_N_Middlewares/Src/can.c
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@@ -7,7 +7,7 @@
******************************************************************************
* @attention
*
* Copyright (c) 2022 STMicroelectronics.
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file

85
HAL_N_Middlewares/Src/crc.c Normal file
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@@ -0,0 +1,85 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file crc.c
* @brief This file provides code for the configuration
* of the CRC instances.
******************************************************************************
* @attention
*
* Copyright (c) 2023 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 "crc.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
CRC_HandleTypeDef hcrc;
/* CRC init function */
void MX_CRC_Init(void)
{
/* USER CODE BEGIN CRC_Init 0 */
/* USER CODE END CRC_Init 0 */
/* USER CODE BEGIN CRC_Init 1 */
/* USER CODE END CRC_Init 1 */
hcrc.Instance = CRC;
if (HAL_CRC_Init(&hcrc) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN CRC_Init 2 */
/* USER CODE END CRC_Init 2 */
}
void HAL_CRC_MspInit(CRC_HandleTypeDef* crcHandle)
{
if(crcHandle->Instance==CRC)
{
/* USER CODE BEGIN CRC_MspInit 0 */
/* USER CODE END CRC_MspInit 0 */
/* CRC clock enable */
__HAL_RCC_CRC_CLK_ENABLE();
/* USER CODE BEGIN CRC_MspInit 1 */
/* USER CODE END CRC_MspInit 1 */
}
}
void HAL_CRC_MspDeInit(CRC_HandleTypeDef* crcHandle)
{
if(crcHandle->Instance==CRC)
{
/* USER CODE BEGIN CRC_MspDeInit 0 */
/* USER CODE END CRC_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_CRC_CLK_DISABLE();
/* USER CODE BEGIN CRC_MspDeInit 1 */
/* USER CODE END CRC_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

116
HAL_N_Middlewares/Src/dac.c Normal file
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@@ -0,0 +1,116 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file dac.c
* @brief This file provides code for the configuration
* of the DAC instances.
******************************************************************************
* @attention
*
* Copyright (c) 2023 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 "dac.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
DAC_HandleTypeDef hdac;
/* DAC init function */
void MX_DAC_Init(void)
{
/* USER CODE BEGIN DAC_Init 0 */
/* USER CODE END DAC_Init 0 */
DAC_ChannelConfTypeDef sConfig = {0};
/* USER CODE BEGIN DAC_Init 1 */
/* USER CODE END DAC_Init 1 */
/** DAC Initialization
*/
hdac.Instance = DAC;
if (HAL_DAC_Init(&hdac) != HAL_OK)
{
Error_Handler();
}
/** DAC channel OUT2 config
*/
sConfig.DAC_Trigger = DAC_TRIGGER_NONE;
sConfig.DAC_OutputBuffer = DAC_OUTPUTBUFFER_ENABLE;
if (HAL_DAC_ConfigChannel(&hdac, &sConfig, DAC_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN DAC_Init 2 */
/* USER CODE END DAC_Init 2 */
}
void HAL_DAC_MspInit(DAC_HandleTypeDef* dacHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(dacHandle->Instance==DAC)
{
/* USER CODE BEGIN DAC_MspInit 0 */
/* USER CODE END DAC_MspInit 0 */
/* DAC clock enable */
__HAL_RCC_DAC_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**DAC GPIO Configuration
PA5 ------> DAC_OUT2
*/
GPIO_InitStruct.Pin = GPIO_PIN_5;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN DAC_MspInit 1 */
/* USER CODE END DAC_MspInit 1 */
}
}
void HAL_DAC_MspDeInit(DAC_HandleTypeDef* dacHandle)
{
if(dacHandle->Instance==DAC)
{
/* USER CODE BEGIN DAC_MspDeInit 0 */
/* USER CODE END DAC_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_DAC_CLK_DISABLE();
/**DAC GPIO Configuration
PA5 ------> DAC_OUT2
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_5);
/* USER CODE BEGIN DAC_MspDeInit 1 */
/* USER CODE END DAC_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

31
HAL_N_Middlewares/Src/dma.c
View File

@@ -7,7 +7,7 @@
******************************************************************************
* @attention
*
* Copyright (c) 2022 STMicroelectronics.
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
@@ -40,19 +40,40 @@ void MX_DMA_Init(void)
{
/* DMA controller clock enable */
__HAL_RCC_DMA1_CLK_ENABLE();
__HAL_RCC_DMA2_CLK_ENABLE();
__HAL_RCC_DMA1_CLK_ENABLE();
/* DMA interrupt init */
/* DMA1_Stream1_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Stream1_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream1_IRQn);
/* DMA2_Stream1_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA2_Stream1_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA2_Stream1_IRQn);
/* DMA1_Stream2_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Stream2_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream2_IRQn);
/* DMA1_Stream3_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Stream3_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream3_IRQn);
/* DMA1_Stream4_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Stream4_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream4_IRQn);
/* DMA1_Stream7_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Stream7_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream7_IRQn);
/* DMA2_Stream0_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA2_Stream0_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA2_Stream0_IRQn);
/* DMA2_Stream2_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn);
/* DMA2_Stream3_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA2_Stream3_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA2_Stream3_IRQn);
/* DMA2_Stream4_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA2_Stream4_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA2_Stream4_IRQn);
/* DMA2_Stream5_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA2_Stream5_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA2_Stream5_IRQn);
/* DMA2_Stream6_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA2_Stream6_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA2_Stream6_IRQn);

21
HAL_N_Middlewares/Src/gpio.c
View File

@@ -7,7 +7,7 @@
******************************************************************************
* @attention
*
* Copyright (c) 2022 STMicroelectronics.
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
@@ -56,7 +56,7 @@ void MX_GPIO_Init(void)
__HAL_RCC_GPIOE_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(MAG_RST_GPIO_Port, MAG_RST_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(MAG_RST_GPIO_Port, MAG_RST_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(CS1_ACCEL_GPIO_Port, CS1_ACCEL_Pin, GPIO_PIN_SET);
@@ -72,10 +72,10 @@ void MX_GPIO_Init(void)
HAL_GPIO_Init(MAG_RST_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = MAG_DR_Pin;
GPIO_InitStruct.Pin = INT_MAG_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(MAG_DR_GPIO_Port, &GPIO_InitStruct);
HAL_GPIO_Init(INT_MAG_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = KEY_Pin;
@@ -90,6 +90,12 @@ void MX_GPIO_Init(void)
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(CS1_ACCEL_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : PCPin PCPin */
GPIO_InitStruct.Pin = INT_ACCEL_Pin|INT_GYRO_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = CS1_GYRO_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
@@ -97,6 +103,13 @@ void MX_GPIO_Init(void)
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(CS1_GYRO_GPIO_Port, &GPIO_InitStruct);
/* EXTI interrupt init*/
HAL_NVIC_SetPriority(EXTI3_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(EXTI3_IRQn);
HAL_NVIC_SetPriority(EXTI4_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(EXTI4_IRQn);
}
/* USER CODE BEGIN 2 */

63
HAL_N_Middlewares/Src/i2c.c
View File

@@ -7,7 +7,7 @@
******************************************************************************
* @attention
*
* Copyright (c) 2022 STMicroelectronics.
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
@@ -26,6 +26,8 @@
I2C_HandleTypeDef hi2c2;
I2C_HandleTypeDef hi2c3;
DMA_HandleTypeDef hdma_i2c2_rx;
DMA_HandleTypeDef hdma_i2c2_tx;
/* I2C2 init function */
void MX_I2C2_Init(void)
@@ -110,6 +112,49 @@ void HAL_I2C_MspInit(I2C_HandleTypeDef* i2cHandle)
/* I2C2 clock enable */
__HAL_RCC_I2C2_CLK_ENABLE();
/* I2C2 DMA Init */
/* I2C2_RX Init */
hdma_i2c2_rx.Instance = DMA1_Stream2;
hdma_i2c2_rx.Init.Channel = DMA_CHANNEL_7;
hdma_i2c2_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_i2c2_rx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_i2c2_rx.Init.MemInc = DMA_MINC_ENABLE;
hdma_i2c2_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_i2c2_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_i2c2_rx.Init.Mode = DMA_NORMAL;
hdma_i2c2_rx.Init.Priority = DMA_PRIORITY_LOW;
hdma_i2c2_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma_i2c2_rx) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(i2cHandle,hdmarx,hdma_i2c2_rx);
/* I2C2_TX Init */
hdma_i2c2_tx.Instance = DMA1_Stream7;
hdma_i2c2_tx.Init.Channel = DMA_CHANNEL_7;
hdma_i2c2_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
hdma_i2c2_tx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_i2c2_tx.Init.MemInc = DMA_MINC_ENABLE;
hdma_i2c2_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_i2c2_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_i2c2_tx.Init.Mode = DMA_NORMAL;
hdma_i2c2_tx.Init.Priority = DMA_PRIORITY_LOW;
hdma_i2c2_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma_i2c2_tx) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(i2cHandle,hdmatx,hdma_i2c2_tx);
/* I2C2 interrupt Init */
HAL_NVIC_SetPriority(I2C2_EV_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(I2C2_EV_IRQn);
HAL_NVIC_SetPriority(I2C2_ER_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(I2C2_ER_IRQn);
/* USER CODE BEGIN I2C2_MspInit 1 */
/* USER CODE END I2C2_MspInit 1 */
@@ -142,6 +187,12 @@ void HAL_I2C_MspInit(I2C_HandleTypeDef* i2cHandle)
/* I2C3 clock enable */
__HAL_RCC_I2C3_CLK_ENABLE();
/* I2C3 interrupt Init */
HAL_NVIC_SetPriority(I2C3_EV_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(I2C3_EV_IRQn);
HAL_NVIC_SetPriority(I2C3_ER_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(I2C3_ER_IRQn);
/* USER CODE BEGIN I2C3_MspInit 1 */
/* USER CODE END I2C3_MspInit 1 */
@@ -167,6 +218,13 @@ void HAL_I2C_MspDeInit(I2C_HandleTypeDef* i2cHandle)
HAL_GPIO_DeInit(GPIOF, GPIO_PIN_1);
/* I2C2 DMA DeInit */
HAL_DMA_DeInit(i2cHandle->hdmarx);
HAL_DMA_DeInit(i2cHandle->hdmatx);
/* I2C2 interrupt Deinit */
HAL_NVIC_DisableIRQ(I2C2_EV_IRQn);
HAL_NVIC_DisableIRQ(I2C2_ER_IRQn);
/* USER CODE BEGIN I2C2_MspDeInit 1 */
/* USER CODE END I2C2_MspDeInit 1 */
@@ -187,6 +245,9 @@ void HAL_I2C_MspDeInit(I2C_HandleTypeDef* i2cHandle)
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_8);
/* I2C3 interrupt Deinit */
HAL_NVIC_DisableIRQ(I2C3_EV_IRQn);
HAL_NVIC_DisableIRQ(I2C3_ER_IRQn);
/* USER CODE BEGIN I2C3_MspDeInit 1 */
/* USER CODE END I2C3_MspDeInit 1 */

2
HAL_N_Middlewares/Src/rng.c
View File

@@ -7,7 +7,7 @@
******************************************************************************
* @attention
*
* Copyright (c) 2022 STMicroelectronics.
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file

2
HAL_N_Middlewares/Src/rtc.c
View File

@@ -7,7 +7,7 @@
******************************************************************************
* @attention
*
* Copyright (c) 2022 STMicroelectronics.
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file

107
HAL_N_Middlewares/Src/spi.c
View File

@@ -7,7 +7,7 @@
******************************************************************************
* @attention
*
* Copyright (c) 2022 STMicroelectronics.
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
@@ -26,6 +26,10 @@
SPI_HandleTypeDef hspi1;
SPI_HandleTypeDef hspi2;
DMA_HandleTypeDef hdma_spi1_rx;
DMA_HandleTypeDef hdma_spi1_tx;
DMA_HandleTypeDef hdma_spi2_rx;
DMA_HandleTypeDef hdma_spi2_tx;
/* SPI1 init function */
void MX_SPI1_Init(void)
@@ -125,6 +129,49 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle)
GPIO_InitStruct.Alternate = GPIO_AF5_SPI1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* SPI1 DMA Init */
/* SPI1_RX Init */
hdma_spi1_rx.Instance = DMA2_Stream0;
hdma_spi1_rx.Init.Channel = DMA_CHANNEL_3;
hdma_spi1_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_spi1_rx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_spi1_rx.Init.MemInc = DMA_MINC_ENABLE;
hdma_spi1_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_spi1_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_spi1_rx.Init.Mode = DMA_NORMAL;
hdma_spi1_rx.Init.Priority = DMA_PRIORITY_LOW;
hdma_spi1_rx.Init.FIFOMode = DMA_FIFOMODE_ENABLE;
hdma_spi1_rx.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
hdma_spi1_rx.Init.MemBurst = DMA_MBURST_SINGLE;
hdma_spi1_rx.Init.PeriphBurst = DMA_PBURST_SINGLE;
if (HAL_DMA_Init(&hdma_spi1_rx) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(spiHandle,hdmarx,hdma_spi1_rx);
/* SPI1_TX Init */
hdma_spi1_tx.Instance = DMA2_Stream3;
hdma_spi1_tx.Init.Channel = DMA_CHANNEL_3;
hdma_spi1_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
hdma_spi1_tx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_spi1_tx.Init.MemInc = DMA_MINC_ENABLE;
hdma_spi1_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_spi1_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_spi1_tx.Init.Mode = DMA_NORMAL;
hdma_spi1_tx.Init.Priority = DMA_PRIORITY_LOW;
hdma_spi1_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma_spi1_tx) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(spiHandle,hdmatx,hdma_spi1_tx);
/* SPI1 interrupt Init */
HAL_NVIC_SetPriority(SPI1_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(SPI1_IRQn);
/* USER CODE BEGIN SPI1_MspInit 1 */
/* USER CODE END SPI1_MspInit 1 */
@@ -150,6 +197,52 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle)
GPIO_InitStruct.Alternate = GPIO_AF5_SPI2;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* SPI2 DMA Init */
/* SPI2_RX Init */
hdma_spi2_rx.Instance = DMA1_Stream3;
hdma_spi2_rx.Init.Channel = DMA_CHANNEL_0;
hdma_spi2_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_spi2_rx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_spi2_rx.Init.MemInc = DMA_MINC_ENABLE;
hdma_spi2_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_spi2_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_spi2_rx.Init.Mode = DMA_NORMAL;
hdma_spi2_rx.Init.Priority = DMA_PRIORITY_LOW;
hdma_spi2_rx.Init.FIFOMode = DMA_FIFOMODE_ENABLE;
hdma_spi2_rx.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
hdma_spi2_rx.Init.MemBurst = DMA_MBURST_SINGLE;
hdma_spi2_rx.Init.PeriphBurst = DMA_PBURST_SINGLE;
if (HAL_DMA_Init(&hdma_spi2_rx) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(spiHandle,hdmarx,hdma_spi2_rx);
/* SPI2_TX Init */
hdma_spi2_tx.Instance = DMA1_Stream4;
hdma_spi2_tx.Init.Channel = DMA_CHANNEL_0;
hdma_spi2_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
hdma_spi2_tx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_spi2_tx.Init.MemInc = DMA_MINC_ENABLE;
hdma_spi2_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_spi2_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_spi2_tx.Init.Mode = DMA_NORMAL;
hdma_spi2_tx.Init.Priority = DMA_PRIORITY_LOW;
hdma_spi2_tx.Init.FIFOMode = DMA_FIFOMODE_ENABLE;
hdma_spi2_tx.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
hdma_spi2_tx.Init.MemBurst = DMA_MBURST_SINGLE;
hdma_spi2_tx.Init.PeriphBurst = DMA_PBURST_SINGLE;
if (HAL_DMA_Init(&hdma_spi2_tx) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(spiHandle,hdmatx,hdma_spi2_tx);
/* SPI2 interrupt Init */
HAL_NVIC_SetPriority(SPI2_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(SPI2_IRQn);
/* USER CODE BEGIN SPI2_MspInit 1 */
/* USER CODE END SPI2_MspInit 1 */
@@ -176,6 +269,12 @@ void HAL_SPI_MspDeInit(SPI_HandleTypeDef* spiHandle)
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_7);
/* SPI1 DMA DeInit */
HAL_DMA_DeInit(spiHandle->hdmarx);
HAL_DMA_DeInit(spiHandle->hdmatx);
/* SPI1 interrupt Deinit */
HAL_NVIC_DisableIRQ(SPI1_IRQn);
/* USER CODE BEGIN SPI1_MspDeInit 1 */
/* USER CODE END SPI1_MspDeInit 1 */
@@ -195,6 +294,12 @@ void HAL_SPI_MspDeInit(SPI_HandleTypeDef* spiHandle)
*/
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15);
/* SPI2 DMA DeInit */
HAL_DMA_DeInit(spiHandle->hdmarx);
HAL_DMA_DeInit(spiHandle->hdmatx);
/* SPI2 interrupt Deinit */
HAL_NVIC_DisableIRQ(SPI2_IRQn);
/* USER CODE BEGIN SPI2_MspDeInit 1 */
/* USER CODE END SPI2_MspDeInit 1 */

2
HAL_N_Middlewares/Src/stm32f4xx_hal_msp.c
View File

@@ -7,7 +7,7 @@
******************************************************************************
* @attention
*
* Copyright (c) 2022 STMicroelectronics.
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file

241
HAL_N_Middlewares/Src/stm32f4xx_it.c
View File

@@ -6,7 +6,7 @@
******************************************************************************
* @attention
*
* Copyright (c) 2022 STMicroelectronics.
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
@@ -58,8 +58,19 @@
/* External variables --------------------------------------------------------*/
extern PCD_HandleTypeDef hpcd_USB_OTG_FS;
extern DMA_HandleTypeDef hdma_adc1;
extern CAN_HandleTypeDef hcan1;
extern CAN_HandleTypeDef hcan2;
extern DMA_HandleTypeDef hdma_i2c2_rx;
extern DMA_HandleTypeDef hdma_i2c2_tx;
extern I2C_HandleTypeDef hi2c2;
extern I2C_HandleTypeDef hi2c3;
extern DMA_HandleTypeDef hdma_spi1_rx;
extern DMA_HandleTypeDef hdma_spi1_tx;
extern DMA_HandleTypeDef hdma_spi2_rx;
extern DMA_HandleTypeDef hdma_spi2_tx;
extern SPI_HandleTypeDef hspi1;
extern SPI_HandleTypeDef hspi2;
extern DMA_HandleTypeDef hdma_usart1_tx;
extern DMA_HandleTypeDef hdma_usart1_rx;
extern DMA_HandleTypeDef hdma_usart3_rx;
@@ -100,9 +111,9 @@ void HardFault_Handler(void)
/* USER CODE END HardFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_HardFault_IRQn 0 */
// 发生hardfault,点击step over会自动跳转回出错的指令,方便调试
asm("bx lr");
/* USER CODE BEGIN W1_HardFault_IRQn 0 */
/* USER CODE END W1_HardFault_IRQn 0 */
}
}
@@ -194,6 +205,34 @@ void SysTick_Handler(void)
/* please refer to the startup file (startup_stm32f4xx.s). */
/******************************************************************************/
/**
* @brief This function handles EXTI line3 interrupt.
*/
void EXTI3_IRQHandler(void)
{
/* USER CODE BEGIN EXTI3_IRQn 0 */
/* USER CODE END EXTI3_IRQn 0 */
HAL_GPIO_EXTI_IRQHandler(INT_MAG_Pin);
/* USER CODE BEGIN EXTI3_IRQn 1 */
/* USER CODE END EXTI3_IRQn 1 */
}
/**
* @brief This function handles EXTI line4 interrupt.
*/
void EXTI4_IRQHandler(void)
{
/* USER CODE BEGIN EXTI4_IRQn 0 */
/* USER CODE END EXTI4_IRQn 0 */
HAL_GPIO_EXTI_IRQHandler(INT_ACCEL_Pin);
/* USER CODE BEGIN EXTI4_IRQn 1 */
/* USER CODE END EXTI4_IRQn 1 */
}
/**
* @brief This function handles DMA1 stream1 global interrupt.
*/
@@ -208,6 +247,48 @@ void DMA1_Stream1_IRQHandler(void)
/* USER CODE END DMA1_Stream1_IRQn 1 */
}
/**
* @brief This function handles DMA1 stream2 global interrupt.
*/
void DMA1_Stream2_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Stream2_IRQn 0 */
/* USER CODE END DMA1_Stream2_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_i2c2_rx);
/* USER CODE BEGIN DMA1_Stream2_IRQn 1 */
/* USER CODE END DMA1_Stream2_IRQn 1 */
}
/**
* @brief This function handles DMA1 stream3 global interrupt.
*/
void DMA1_Stream3_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Stream3_IRQn 0 */
/* USER CODE END DMA1_Stream3_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_spi2_rx);
/* USER CODE BEGIN DMA1_Stream3_IRQn 1 */
/* USER CODE END DMA1_Stream3_IRQn 1 */
}
/**
* @brief This function handles DMA1 stream4 global interrupt.
*/
void DMA1_Stream4_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Stream4_IRQn 0 */
/* USER CODE END DMA1_Stream4_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_spi2_tx);
/* USER CODE BEGIN DMA1_Stream4_IRQn 1 */
/* USER CODE END DMA1_Stream4_IRQn 1 */
}
/**
* @brief This function handles CAN1 RX0 interrupts.
*/
@@ -236,6 +317,62 @@ void CAN1_RX1_IRQHandler(void)
/* USER CODE END CAN1_RX1_IRQn 1 */
}
/**
* @brief This function handles I2C2 event interrupt.
*/
void I2C2_EV_IRQHandler(void)
{
/* USER CODE BEGIN I2C2_EV_IRQn 0 */
/* USER CODE END I2C2_EV_IRQn 0 */
HAL_I2C_EV_IRQHandler(&hi2c2);
/* USER CODE BEGIN I2C2_EV_IRQn 1 */
/* USER CODE END I2C2_EV_IRQn 1 */
}
/**
* @brief This function handles I2C2 error interrupt.
*/
void I2C2_ER_IRQHandler(void)
{
/* USER CODE BEGIN I2C2_ER_IRQn 0 */
/* USER CODE END I2C2_ER_IRQn 0 */
HAL_I2C_ER_IRQHandler(&hi2c2);
/* USER CODE BEGIN I2C2_ER_IRQn 1 */
/* USER CODE END I2C2_ER_IRQn 1 */
}
/**
* @brief This function handles SPI1 global interrupt.
*/
void SPI1_IRQHandler(void)
{
/* USER CODE BEGIN SPI1_IRQn 0 */
/* USER CODE END SPI1_IRQn 0 */
HAL_SPI_IRQHandler(&hspi1);
/* USER CODE BEGIN SPI1_IRQn 1 */
/* USER CODE END SPI1_IRQn 1 */
}
/**
* @brief This function handles SPI2 global interrupt.
*/
void SPI2_IRQHandler(void)
{
/* USER CODE BEGIN SPI2_IRQn 0 */
/* USER CODE END SPI2_IRQn 0 */
HAL_SPI_IRQHandler(&hspi2);
/* USER CODE BEGIN SPI2_IRQn 1 */
/* USER CODE END SPI2_IRQn 1 */
}
/**
* @brief This function handles USART1 global interrupt.
*/
@@ -265,17 +402,31 @@ void USART3_IRQHandler(void)
}
/**
* @brief This function handles DMA2 stream1 global interrupt.
* @brief This function handles DMA1 stream7 global interrupt.
*/
void DMA2_Stream1_IRQHandler(void)
void DMA1_Stream7_IRQHandler(void)
{
/* USER CODE BEGIN DMA2_Stream1_IRQn 0 */
/* USER CODE BEGIN DMA1_Stream7_IRQn 0 */
/* USER CODE END DMA2_Stream1_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart6_rx);
/* USER CODE BEGIN DMA2_Stream1_IRQn 1 */
/* USER CODE END DMA1_Stream7_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_i2c2_tx);
/* USER CODE BEGIN DMA1_Stream7_IRQn 1 */
/* USER CODE END DMA2_Stream1_IRQn 1 */
/* USER CODE END DMA1_Stream7_IRQn 1 */
}
/**
* @brief This function handles DMA2 stream0 global interrupt.
*/
void DMA2_Stream0_IRQHandler(void)
{
/* USER CODE BEGIN DMA2_Stream0_IRQn 0 */
/* USER CODE END DMA2_Stream0_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_spi1_rx);
/* USER CODE BEGIN DMA2_Stream0_IRQn 1 */
/* USER CODE END DMA2_Stream0_IRQn 1 */
}
/**
@@ -286,12 +437,40 @@ void DMA2_Stream2_IRQHandler(void)
/* USER CODE BEGIN DMA2_Stream2_IRQn 0 */
/* USER CODE END DMA2_Stream2_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart1_rx);
HAL_DMA_IRQHandler(&hdma_usart6_rx);
/* USER CODE BEGIN DMA2_Stream2_IRQn 1 */
/* USER CODE END DMA2_Stream2_IRQn 1 */
}
/**
* @brief This function handles DMA2 stream3 global interrupt.
*/
void DMA2_Stream3_IRQHandler(void)
{
/* USER CODE BEGIN DMA2_Stream3_IRQn 0 */
/* USER CODE END DMA2_Stream3_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_spi1_tx);
/* USER CODE BEGIN DMA2_Stream3_IRQn 1 */
/* USER CODE END DMA2_Stream3_IRQn 1 */
}
/**
* @brief This function handles DMA2 stream4 global interrupt.
*/
void DMA2_Stream4_IRQHandler(void)
{
/* USER CODE BEGIN DMA2_Stream4_IRQn 0 */
/* USER CODE END DMA2_Stream4_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_adc1);
/* USER CODE BEGIN DMA2_Stream4_IRQn 1 */
/* USER CODE END DMA2_Stream4_IRQn 1 */
}
/**
* @brief This function handles CAN2 RX0 interrupts.
*/
@@ -334,6 +513,20 @@ void OTG_FS_IRQHandler(void)
/* USER CODE END OTG_FS_IRQn 1 */
}
/**
* @brief This function handles DMA2 stream5 global interrupt.
*/
void DMA2_Stream5_IRQHandler(void)
{
/* USER CODE BEGIN DMA2_Stream5_IRQn 0 */
/* USER CODE END DMA2_Stream5_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart1_rx);
/* USER CODE BEGIN DMA2_Stream5_IRQn 1 */
/* USER CODE END DMA2_Stream5_IRQn 1 */
}
/**
* @brief This function handles DMA2 stream6 global interrupt.
*/
@@ -376,6 +569,34 @@ void USART6_IRQHandler(void)
/* USER CODE END USART6_IRQn 1 */
}
/**
* @brief This function handles I2C3 event interrupt.
*/
void I2C3_EV_IRQHandler(void)
{
/* USER CODE BEGIN I2C3_EV_IRQn 0 */
/* USER CODE END I2C3_EV_IRQn 0 */
HAL_I2C_EV_IRQHandler(&hi2c3);
/* USER CODE BEGIN I2C3_EV_IRQn 1 */
/* USER CODE END I2C3_EV_IRQn 1 */
}
/**
* @brief This function handles I2C3 error interrupt.
*/
void I2C3_ER_IRQHandler(void)
{
/* USER CODE BEGIN I2C3_ER_IRQn 0 */
/* USER CODE END I2C3_ER_IRQn 0 */
HAL_I2C_ER_IRQHandler(&hi2c3);
/* USER CODE BEGIN I2C3_ER_IRQn 1 */
/* USER CODE END I2C3_ER_IRQn 1 */
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

11
HAL_N_Middlewares/Src/tim.c
View File

@@ -7,7 +7,7 @@
******************************************************************************
* @attention
*
* Copyright (c) 2022 STMicroelectronics.
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
@@ -423,20 +423,13 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
PE11 ------> TIM1_CH2
PE14 ------> TIM1_CH4
*/
GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_11|GPIO_PIN_14;
GPIO_InitStruct.Pin = GPIO_PIN_13|SERVO_Pin|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);
GPIO_InitStruct.Pin = SERVO_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
HAL_GPIO_Init(SERVO_GPIO_Port, &GPIO_InitStruct);
/* USER CODE BEGIN TIM1_MspPostInit 1 */
/* USER CODE END TIM1_MspPostInit 1 */

8
HAL_N_Middlewares/Src/usart.c
View File

@@ -7,7 +7,7 @@
******************************************************************************
* @attention
*
* Copyright (c) 2022 STMicroelectronics.
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
@@ -173,7 +173,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
__HAL_LINKDMA(uartHandle,hdmatx,hdma_usart1_tx);
/* USART1_RX Init */
hdma_usart1_rx.Instance = DMA2_Stream2;
hdma_usart1_rx.Instance = DMA2_Stream5;
hdma_usart1_rx.Init.Channel = DMA_CHANNEL_4;
hdma_usart1_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_usart1_rx.Init.PeriphInc = DMA_PINC_DISABLE;
@@ -227,7 +227,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
hdma_usart3_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_usart3_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_usart3_rx.Init.Mode = DMA_NORMAL;
hdma_usart3_rx.Init.Priority = DMA_PRIORITY_VERY_HIGH;
hdma_usart3_rx.Init.Priority = DMA_PRIORITY_LOW;
hdma_usart3_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma_usart3_rx) != HAL_OK)
{
@@ -265,7 +265,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
/* USART6 DMA Init */
/* USART6_RX Init */
hdma_usart6_rx.Instance = DMA2_Stream1;
hdma_usart6_rx.Instance = DMA2_Stream2;
hdma_usart6_rx.Init.Channel = DMA_CHANNEL_5;
hdma_usart6_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_usart6_rx.Init.PeriphInc = DMA_PINC_DISABLE;

2
HAL_N_Middlewares/Src/usb_device.c
View File

@@ -7,7 +7,7 @@
******************************************************************************
* @attention
*
* Copyright (c) 2022 STMicroelectronics.
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file

2
HAL_N_Middlewares/Src/usbd_cdc_if.c
View File

@@ -7,7 +7,7 @@
******************************************************************************
* @attention
*
* Copyright (c) 2022 STMicroelectronics.
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file

2
HAL_N_Middlewares/Src/usbd_conf.c
View File

@@ -7,7 +7,7 @@
******************************************************************************
* @attention
*
* Copyright (c) 2022 STMicroelectronics.
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file

2
HAL_N_Middlewares/Src/usbd_desc.c
View File

@@ -7,7 +7,7 @@
******************************************************************************
* @attention
*
* Copyright (c) 2022 STMicroelectronics.
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file