mirror of
https://gitee.com/dlmu-cone/tronone-h7-scaffold
synced 2026-07-24 03:27:45 +08:00
math lib failure
This commit is contained in:
TuxMonkey
271
Core/Src/main.c
271
Core/Src/main.c
@@ -34,6 +34,7 @@
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#include "buzzer.h"
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#include "ws2812status.h"
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#include "robot.h"
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/* USER CODE END Includes */
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@@ -60,8 +61,11 @@
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/* Private function prototypes -----------------------------------------------*/
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void SystemClock_Config(void);
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static void MPU_Config(void);
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void MX_FREERTOS_Init(void);
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/* USER CODE BEGIN PFP */
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/* USER CODE END PFP */
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@@ -78,83 +82,84 @@ void MX_FREERTOS_Init(void);
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int main(void)
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{
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/* USER CODE BEGIN 1 */
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/* USER CODE BEGIN 1 */
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/* USER CODE END 1 */
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/* USER CODE END 1 */
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/* MPU Configuration--------------------------------------------------------*/
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MPU_Config();
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/* MPU Configuration--------------------------------------------------------*/
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MPU_Config();
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/* Enable the CPU Cache */
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/* Enable the CPU Cache */
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/* Enable I-Cache---------------------------------------------------------*/
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SCB_EnableICache();
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/* Enable I-Cache---------------------------------------------------------*/
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SCB_EnableICache();
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/* Enable D-Cache---------------------------------------------------------*/
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SCB_EnableDCache();
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/* Enable D-Cache---------------------------------------------------------*/
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SCB_EnableDCache();
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/* MCU Configuration--------------------------------------------------------*/
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/* MCU Configuration--------------------------------------------------------*/
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/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
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HAL_Init();
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/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
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HAL_Init();
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/* USER CODE BEGIN Init */
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/* USER CODE BEGIN Init */
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/* USER CODE END Init */
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/* USER CODE END Init */
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/* Configure the system clock */
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SystemClock_Config();
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/* Configure the system clock */
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SystemClock_Config();
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/* USER CODE BEGIN SysInit */
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/* USER CODE BEGIN SysInit */
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/* USER CODE END SysInit */
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/* USER CODE END SysInit */
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/* Initialize all configured peripherals */
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MX_GPIO_Init();
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MX_DMA_Init();
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MX_FDCAN2_Init();
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MX_FDCAN3_Init();
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MX_CRC_Init();
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MX_FDCAN1_Init();
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MX_USART10_UART_Init();
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MX_SPI2_Init();
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MX_TIM12_Init();
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MX_UART7_Init();
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MX_TIM1_Init();
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MX_USART1_UART_Init();
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MX_ADC3_Init();
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MX_USART2_UART_Init();
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MX_USART3_UART_Init();
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MX_SPI1_Init();
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MX_UART5_Init();
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MX_TIM3_Init();
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MX_SPI6_Init();
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/* USER CODE BEGIN 2 */
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/* Initialize all configured peripherals */
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MX_GPIO_Init();
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MX_DMA_Init();
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MX_FDCAN2_Init();
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MX_FDCAN3_Init();
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MX_CRC_Init();
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MX_FDCAN1_Init();
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MX_USART10_UART_Init();
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MX_SPI2_Init();
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MX_TIM12_Init();
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MX_UART7_Init();
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MX_TIM1_Init();
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MX_USART1_UART_Init();
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MX_ADC3_Init();
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MX_USART2_UART_Init();
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MX_USART3_UART_Init();
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MX_SPI1_Init();
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MX_UART5_Init();
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MX_TIM3_Init();
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MX_SPI6_Init();
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/* USER CODE BEGIN 2 */
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robotSelfCheck(); //自检LED
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RobotInit();
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systemstart_song(); //开机音乐
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/*还没有启动调度器！不允许任何涉及到 Freertos ticks的内容在这里运行！！！*/
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/* USER CODE END 2 */
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/* USER CODE END 2 */
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/* Init scheduler */
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osKernelInitialize(); /* Call init function for freertos objects (in cmsis_os2.c) */
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MX_FREERTOS_Init();
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/* Init scheduler */
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osKernelInitialize(); /* Call init function for freertos objects (in cmsis_os2.c) */
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MX_FREERTOS_Init();
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/* Start scheduler */
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osKernelStart();
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/* Start scheduler */
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osKernelStart();
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/* We should never get here as control is now taken by the scheduler */
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/* We should never get here as control is now taken by the scheduler */
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/* Infinite loop */
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/* USER CODE BEGIN WHILE */
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/* Infinite loop */
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/* USER CODE BEGIN WHILE */
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while (1)
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{
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/* USER CODE END WHILE */
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/* USER CODE END WHILE */
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/* USER CODE BEGIN 3 */
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/* USER CODE BEGIN 3 */
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}
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/* USER CODE END 3 */
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/* USER CODE END 3 */
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}
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/**
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@@ -163,93 +168,95 @@ int main(void)
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*/
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void SystemClock_Config(void)
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{
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RCC_OscInitTypeDef RCC_OscInitStruct = {0};
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RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
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RCC_OscInitTypeDef RCC_OscInitStruct = {0};
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RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
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/** Supply configuration update enable
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*/
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HAL_PWREx_ConfigSupply(PWR_LDO_SUPPLY);
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/** Supply configuration update enable
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*/
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HAL_PWREx_ConfigSupply(PWR_LDO_SUPPLY);
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/** Configure the main internal regulator output voltage
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*/
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__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE0);
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/** Configure the main internal regulator output voltage
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*/
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__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE0);
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while(!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {}
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while (!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY))
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{
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}
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/** Initializes the RCC Oscillators according to the specified parameters
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* in the RCC_OscInitTypeDef structure.
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*/
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RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI48|RCC_OSCILLATORTYPE_HSI
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|RCC_OSCILLATORTYPE_HSE;
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RCC_OscInitStruct.HSEState = RCC_HSE_ON;
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RCC_OscInitStruct.HSIState = RCC_HSI_DIV1;
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RCC_OscInitStruct.HSICalibrationValue = 64;
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RCC_OscInitStruct.HSI48State = RCC_HSI48_ON;
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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
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RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
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RCC_OscInitStruct.PLL.PLLM = 2;
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RCC_OscInitStruct.PLL.PLLN = 40;
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RCC_OscInitStruct.PLL.PLLP = 1;
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RCC_OscInitStruct.PLL.PLLQ = 4;
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RCC_OscInitStruct.PLL.PLLR = 2;
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RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3;
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RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
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RCC_OscInitStruct.PLL.PLLFRACN = 0;
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if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
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{
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Error_Handler();
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}
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/** Initializes the RCC Oscillators according to the specified parameters
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* in the RCC_OscInitTypeDef structure.
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*/
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RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI48 | RCC_OSCILLATORTYPE_HSI
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| RCC_OSCILLATORTYPE_HSE;
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RCC_OscInitStruct.HSEState = RCC_HSE_ON;
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RCC_OscInitStruct.HSIState = RCC_HSI_DIV1;
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RCC_OscInitStruct.HSICalibrationValue = 64;
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RCC_OscInitStruct.HSI48State = RCC_HSI48_ON;
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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
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RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
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RCC_OscInitStruct.PLL.PLLM = 2;
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RCC_OscInitStruct.PLL.PLLN = 40;
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RCC_OscInitStruct.PLL.PLLP = 1;
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RCC_OscInitStruct.PLL.PLLQ = 4;
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RCC_OscInitStruct.PLL.PLLR = 2;
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RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3;
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RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
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RCC_OscInitStruct.PLL.PLLFRACN = 0;
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if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
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{
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Error_Handler();
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}
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/** Initializes the CPU, AHB and APB buses clocks
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*/
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RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
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|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2
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|RCC_CLOCKTYPE_D3PCLK1|RCC_CLOCKTYPE_D1PCLK1;
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
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RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
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RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV2;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV2;
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RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV2;
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RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV2;
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/** Initializes the CPU, AHB and APB buses clocks
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*/
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RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK
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| RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2
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| RCC_CLOCKTYPE_D3PCLK1 | RCC_CLOCKTYPE_D1PCLK1;
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
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RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
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RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV2;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV2;
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RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV2;
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RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV2;
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_3) != HAL_OK)
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{
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Error_Handler();
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}
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HAL_RCC_MCOConfig(RCC_MCO1, RCC_MCO1SOURCE_HSI, RCC_MCODIV_1);
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_3) != HAL_OK)
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{
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Error_Handler();
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}
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HAL_RCC_MCOConfig(RCC_MCO1, RCC_MCO1SOURCE_HSI, RCC_MCODIV_1);
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}
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/* USER CODE BEGIN 4 */
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/* USER CODE END 4 */
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/* MPU Configuration */
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/* MPU Configuration */
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void MPU_Config(void)
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{
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MPU_Region_InitTypeDef MPU_InitStruct = {0};
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MPU_Region_InitTypeDef MPU_InitStruct = {0};
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/* Disables the MPU */
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HAL_MPU_Disable();
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/* Disables the MPU */
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HAL_MPU_Disable();
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/** Initializes and configures the Region and the memory to be protected
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*/
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MPU_InitStruct.Enable = MPU_REGION_ENABLE;
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MPU_InitStruct.Number = MPU_REGION_NUMBER0;
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MPU_InitStruct.BaseAddress = 0x24000000;
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MPU_InitStruct.Size = MPU_REGION_SIZE_128KB;
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MPU_InitStruct.SubRegionDisable = 0x0;
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MPU_InitStruct.TypeExtField = MPU_TEX_LEVEL1;
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MPU_InitStruct.AccessPermission = MPU_REGION_FULL_ACCESS;
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MPU_InitStruct.DisableExec = MPU_INSTRUCTION_ACCESS_ENABLE;
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MPU_InitStruct.IsShareable = MPU_ACCESS_NOT_SHAREABLE;
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MPU_InitStruct.IsCacheable = MPU_ACCESS_NOT_CACHEABLE;
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MPU_InitStruct.IsBufferable = MPU_ACCESS_NOT_BUFFERABLE;
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/** Initializes and configures the Region and the memory to be protected
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*/
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MPU_InitStruct.Enable = MPU_REGION_ENABLE;
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MPU_InitStruct.Number = MPU_REGION_NUMBER0;
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MPU_InitStruct.BaseAddress = 0x24000000;
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MPU_InitStruct.Size = MPU_REGION_SIZE_128KB;
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MPU_InitStruct.SubRegionDisable = 0x0;
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MPU_InitStruct.TypeExtField = MPU_TEX_LEVEL1;
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MPU_InitStruct.AccessPermission = MPU_REGION_FULL_ACCESS;
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MPU_InitStruct.DisableExec = MPU_INSTRUCTION_ACCESS_ENABLE;
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MPU_InitStruct.IsShareable = MPU_ACCESS_NOT_SHAREABLE;
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MPU_InitStruct.IsCacheable = MPU_ACCESS_NOT_CACHEABLE;
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MPU_InitStruct.IsBufferable = MPU_ACCESS_NOT_BUFFERABLE;
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HAL_MPU_ConfigRegion(&MPU_InitStruct);
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/* Enables the MPU */
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HAL_MPU_Enable(MPU_HFNMI_PRIVDEF);
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HAL_MPU_ConfigRegion(&MPU_InitStruct);
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/* Enables the MPU */
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HAL_MPU_Enable(MPU_HFNMI_PRIVDEF);
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}
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@@ -263,16 +270,16 @@ void MPU_Config(void)
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*/
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void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
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{
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/* USER CODE BEGIN Callback 0 */
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/* USER CODE BEGIN Callback 0 */
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/* USER CODE END Callback 0 */
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if (htim->Instance == TIM23)
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{
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HAL_IncTick();
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}
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/* USER CODE BEGIN Callback 1 */
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/* USER CODE END Callback 0 */
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if (htim->Instance == TIM23)
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{
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HAL_IncTick();
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}
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/* USER CODE BEGIN Callback 1 */
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/* USER CODE END Callback 1 */
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/* USER CODE END Callback 1 */
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}
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/**
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@@ -281,13 +288,13 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
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*/
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void Error_Handler(void)
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{
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/* USER CODE BEGIN Error_Handler_Debug */
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/* USER CODE BEGIN Error_Handler_Debug */
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/* User can add his own implementation to report the HAL error return state */
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__disable_irq();
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while (1)
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{
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}
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/* USER CODE END Error_Handler_Debug */
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/* USER CODE END Error_Handler_Debug */
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}
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#ifdef USE_FULL_ASSERT
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/**
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@@ -299,9 +306,9 @@ void Error_Handler(void)
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*/
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void assert_failed(uint8_t *file, uint32_t line)
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{
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/* USER CODE BEGIN 6 */
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/* USER CODE BEGIN 6 */
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/* User can add his own implementation to report the file name and line number,
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ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
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/* USER CODE END 6 */
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/* USER CODE END 6 */
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}
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#endif /* USE_FULL_ASSERT */
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