mirror of
https://gitee.com/dlmu-cone/tronone-h7-scaffold
synced 2026-07-23 19:25:09 +08:00
math lib ok(?) but not linked to lib
This commit is contained in:
TuxMonkey
@@ -58,65 +58,65 @@
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/* Definitions for BeginTask */
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osThreadId_t BeginTaskHandle;
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const osThreadAttr_t BeginTask_attributes = {
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.name = "BeginTask",
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.stack_size = 256 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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.name = "BeginTask",
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.stack_size = 256 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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};
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/* Definitions for shoot */
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osThreadId_t shootHandle;
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const osThreadAttr_t shoot_attributes = {
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.name = "shoot",
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.stack_size = 512 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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.name = "shoot",
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.stack_size = 512 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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};
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/* Definitions for gimbal */
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osThreadId_t gimbalHandle;
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const osThreadAttr_t gimbal_attributes = {
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.name = "gimbal",
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.stack_size = 512 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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.name = "gimbal",
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.stack_size = 512 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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};
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/* Definitions for chassis */
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osThreadId_t chassisHandle;
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const osThreadAttr_t chassis_attributes = {
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.name = "chassis",
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.stack_size = 512 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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.name = "chassis",
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.stack_size = 512 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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};
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/* Definitions for init */
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osThreadId_t initHandle;
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const osThreadAttr_t init_attributes = {
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.name = "init",
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.stack_size = 256 * 4,
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.priority = (osPriority_t) osPriorityHigh,
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.name = "init",
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.stack_size = 256 * 4,
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.priority = (osPriority_t) osPriorityHigh,
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};
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/* Definitions for vision */
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osThreadId_t visionHandle;
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const osThreadAttr_t vision_attributes = {
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.name = "vision",
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.stack_size = 512 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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.name = "vision",
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.stack_size = 512 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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};
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/* Definitions for cmd */
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osThreadId_t cmdHandle;
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const osThreadAttr_t cmd_attributes = {
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.name = "cmd",
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.stack_size = 512 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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.name = "cmd",
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.stack_size = 512 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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};
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/* Definitions for reference */
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osThreadId_t referenceHandle;
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const osThreadAttr_t reference_attributes = {
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.name = "reference",
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.stack_size = 512 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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.name = "reference",
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.stack_size = 512 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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};
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/* Definitions for WS2812Task */
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osThreadId_t WS2812TaskHandle;
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const osThreadAttr_t WS2812Task_attributes = {
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.name = "WS2812Task",
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.stack_size = 256 * 4,
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.priority = (osPriority_t) osPriorityBelowNormal,
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.name = "WS2812Task",
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.stack_size = 256 * 4,
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.priority = (osPriority_t) osPriorityBelowNormal,
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};
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/* Private function prototypes -----------------------------------------------*/
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@@ -136,28 +136,20 @@ void StartINSTASK(void const *argument);
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/* USER CODE END FunctionPrototypes */
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void StartDefaultTask(void *argument);
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void ShootTask(void *argument);
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void GimbalTask(void *argument);
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void ChassisTask(void *argument);
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void StartInitTask(void *argument);
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void VisionTask(void *argument);
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void CmdTask(void *argument);
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void RefereeTask(void *argument);
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extern void ws2812Task(void *argument);
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extern void MX_USB_DEVICE_Init(void);
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void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
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/* Hook prototypes */
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void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName);
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void vApplicationMallocFailedHook(void);
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/* USER CODE BEGIN 4 */
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@@ -192,66 +184,65 @@ void vApplicationMallocFailedHook(void)
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* @param None
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* @retval None
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*/
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void MX_FREERTOS_Init(void)
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{
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/* USER CODE BEGIN Init */
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void MX_FREERTOS_Init(void) {
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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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/* USER CODE BEGIN RTOS_MUTEX */
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/* USER CODE BEGIN RTOS_MUTEX */
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/* add mutexes, ... */
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/* USER CODE END RTOS_MUTEX */
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/* USER CODE END RTOS_MUTEX */
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/* USER CODE BEGIN RTOS_SEMAPHORES */
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/* USER CODE BEGIN RTOS_SEMAPHORES */
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/* add semaphores, ... */
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/* USER CODE END RTOS_SEMAPHORES */
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/* USER CODE END RTOS_SEMAPHORES */
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/* USER CODE BEGIN RTOS_TIMERS */
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/* USER CODE BEGIN RTOS_TIMERS */
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/* start timers, add new ones, ... */
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/* USER CODE END RTOS_TIMERS */
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/* USER CODE END RTOS_TIMERS */
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/* USER CODE BEGIN RTOS_QUEUES */
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/* USER CODE BEGIN RTOS_QUEUES */
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/* add queues, ... */
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/* USER CODE END RTOS_QUEUES */
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/* USER CODE END RTOS_QUEUES */
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/* Create the thread(s) */
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/* creation of BeginTask */
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BeginTaskHandle = osThreadNew(StartDefaultTask, NULL, &BeginTask_attributes);
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/* Create the thread(s) */
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/* creation of BeginTask */
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BeginTaskHandle = osThreadNew(StartDefaultTask, NULL, &BeginTask_attributes);
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/* creation of shoot */
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shootHandle = osThreadNew(ShootTask, NULL, &shoot_attributes);
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/* creation of shoot */
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shootHandle = osThreadNew(ShootTask, NULL, &shoot_attributes);
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/* creation of gimbal */
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gimbalHandle = osThreadNew(GimbalTask, NULL, &gimbal_attributes);
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/* creation of gimbal */
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gimbalHandle = osThreadNew(GimbalTask, NULL, &gimbal_attributes);
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/* creation of chassis */
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chassisHandle = osThreadNew(ChassisTask, NULL, &chassis_attributes);
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/* creation of chassis */
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chassisHandle = osThreadNew(ChassisTask, NULL, &chassis_attributes);
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/* creation of init */
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initHandle = osThreadNew(StartInitTask, NULL, &init_attributes);
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/* creation of init */
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initHandle = osThreadNew(StartInitTask, NULL, &init_attributes);
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/* creation of vision */
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visionHandle = osThreadNew(VisionTask, NULL, &vision_attributes);
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/* creation of vision */
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visionHandle = osThreadNew(VisionTask, NULL, &vision_attributes);
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/* creation of cmd */
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cmdHandle = osThreadNew(CmdTask, NULL, &cmd_attributes);
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/* creation of cmd */
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cmdHandle = osThreadNew(CmdTask, NULL, &cmd_attributes);
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/* creation of reference */
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referenceHandle = osThreadNew(RefereeTask, NULL, &reference_attributes);
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/* creation of reference */
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referenceHandle = osThreadNew(RefereeTask, NULL, &reference_attributes);
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/* creation of WS2812Task */
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WS2812TaskHandle = osThreadNew(ws2812Task, NULL, &WS2812Task_attributes);
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/* creation of WS2812Task */
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WS2812TaskHandle = osThreadNew(ws2812Task, NULL, &WS2812Task_attributes);
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/* USER CODE BEGIN RTOS_THREADS */
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/* USER CODE BEGIN RTOS_THREADS */
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/* add threads, ... */
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//Todo：INS_Task是测试版本
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// 创建线程
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insTaskHandle = osThreadNew(StartINSTASK, NULL, &instask_attributes);
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/* USER CODE END RTOS_THREADS */
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/* USER CODE END RTOS_THREADS */
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/* USER CODE BEGIN RTOS_EVENTS */
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/* USER CODE BEGIN RTOS_EVENTS */
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/* add events, ... */
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/* USER CODE END RTOS_EVENTS */
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/* USER CODE END RTOS_EVENTS */
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}
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@@ -264,15 +255,15 @@ void MX_FREERTOS_Init(void)
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/* USER CODE END Header_StartDefaultTask */
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__weak void StartDefaultTask(void *argument)
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{
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/* init code for USB_DEVICE */
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MX_USB_DEVICE_Init();
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/* USER CODE BEGIN StartDefaultTask */
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/* init code for USB_DEVICE */
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MX_USB_DEVICE_Init();
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/* USER CODE BEGIN StartDefaultTask */
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/* Infinite loop */
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for (;;)
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{
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osDelay(1);
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}
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/* USER CODE END StartDefaultTask */
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/* USER CODE END StartDefaultTask */
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}
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/* USER CODE BEGIN Header_ShootTask */
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@@ -284,13 +275,13 @@ __weak void StartDefaultTask(void *argument)
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/* USER CODE END Header_ShootTask */
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__weak void ShootTask(void *argument)
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{
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/* USER CODE BEGIN ShootTask */
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/* USER CODE BEGIN ShootTask */
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/* Infinite loop */
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for (;;)
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{
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osDelay(1);
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}
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/* USER CODE END ShootTask */
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/* USER CODE END ShootTask */
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}
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/* USER CODE BEGIN Header_GimbalTask */
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@@ -302,13 +293,13 @@ __weak void ShootTask(void *argument)
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/* USER CODE END Header_GimbalTask */
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__weak void GimbalTask(void *argument)
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{
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/* USER CODE BEGIN GimbalTask */
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/* USER CODE BEGIN GimbalTask */
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/* Infinite loop */
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for (;;)
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{
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osDelay(1);
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}
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/* USER CODE END GimbalTask */
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/* USER CODE END GimbalTask */
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}
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/* USER CODE BEGIN Header_ChassisTask */
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@@ -320,13 +311,13 @@ __weak void GimbalTask(void *argument)
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/* USER CODE END Header_ChassisTask */
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__weak void ChassisTask(void *argument)
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{
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/* USER CODE BEGIN ChassisTask */
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/* USER CODE BEGIN ChassisTask */
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/* Infinite loop */
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for (;;)
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{
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osDelay(1);
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}
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/* USER CODE END ChassisTask */
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/* USER CODE END ChassisTask */
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}
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/* USER CODE BEGIN Header_StartInitTask */
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@@ -338,13 +329,13 @@ __weak void ChassisTask(void *argument)
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/* USER CODE END Header_StartInitTask */
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__weak void StartInitTask(void *argument)
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{
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/* USER CODE BEGIN StartInitTask */
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/* USER CODE BEGIN StartInitTask */
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/* Infinite loop */
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for (;;)
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{
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osDelay(1);
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}
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/* USER CODE END StartInitTask */
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/* USER CODE END StartInitTask */
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}
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/* USER CODE BEGIN Header_VisionTask */
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@@ -356,13 +347,13 @@ __weak void StartInitTask(void *argument)
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/* USER CODE END Header_VisionTask */
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__weak void VisionTask(void *argument)
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{
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/* USER CODE BEGIN VisionTask */
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/* USER CODE BEGIN VisionTask */
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/* Infinite loop */
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for (;;)
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{
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osDelay(1);
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}
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/* USER CODE END VisionTask */
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/* USER CODE END VisionTask */
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}
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/* USER CODE BEGIN Header_CmdTask */
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@@ -374,13 +365,13 @@ __weak void VisionTask(void *argument)
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/* USER CODE END Header_CmdTask */
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__weak void CmdTask(void *argument)
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{
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/* USER CODE BEGIN CmdTask */
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/* USER CODE BEGIN CmdTask */
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/* Infinite loop */
|
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for (;;)
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{
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osDelay(1);
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}
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/* USER CODE END CmdTask */
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/* USER CODE END CmdTask */
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}
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/* USER CODE BEGIN Header_RefereeTask */
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@@ -392,13 +383,13 @@ __weak void CmdTask(void *argument)
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/* USER CODE END Header_RefereeTask */
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__weak void RefereeTask(void *argument)
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{
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/* USER CODE BEGIN RefereeTask */
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/* USER CODE BEGIN RefereeTask */
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/* Infinite loop */
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for (;;)
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{
|
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osDelay(1);
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}
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/* USER CODE END RefereeTask */
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/* USER CODE END RefereeTask */
|
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}
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|
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/* Private application code --------------------------------------------------*/
|
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|
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269
Core/Src/main.c
269
Core/Src/main.c
@@ -61,11 +61,8 @@
|
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|
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/* Private function prototypes -----------------------------------------------*/
|
||||
void SystemClock_Config(void);
|
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|
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static void MPU_Config(void);
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|
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void MX_FREERTOS_Init(void);
|
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|
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/* USER CODE BEGIN PFP */
|
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|
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/* USER CODE END PFP */
|
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@@ -82,84 +79,84 @@ void MX_FREERTOS_Init(void);
|
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int main(void)
|
||||
{
|
||||
|
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/* USER CODE BEGIN 1 */
|
||||
/* USER CODE BEGIN 1 */
|
||||
|
||||
/* USER CODE END 1 */
|
||||
/* USER CODE END 1 */
|
||||
|
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/* MPU Configuration--------------------------------------------------------*/
|
||||
MPU_Config();
|
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/* MPU Configuration--------------------------------------------------------*/
|
||||
MPU_Config();
|
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|
||||
/* Enable the CPU Cache */
|
||||
/* Enable the CPU Cache */
|
||||
|
||||
/* Enable I-Cache---------------------------------------------------------*/
|
||||
SCB_EnableICache();
|
||||
/* Enable I-Cache---------------------------------------------------------*/
|
||||
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--------------------------------------------------------*/
|
||||
/* MCU Configuration--------------------------------------------------------*/
|
||||
|
||||
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
|
||||
HAL_Init();
|
||||
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
|
||||
HAL_Init();
|
||||
|
||||
/* USER CODE BEGIN Init */
|
||||
/* USER CODE BEGIN Init */
|
||||
|
||||
/* USER CODE END Init */
|
||||
/* USER CODE END Init */
|
||||
|
||||
/* Configure the system clock */
|
||||
SystemClock_Config();
|
||||
/* Configure the system clock */
|
||||
SystemClock_Config();
|
||||
|
||||
/* USER CODE BEGIN SysInit */
|
||||
/* USER CODE BEGIN SysInit */
|
||||
|
||||
/* USER CODE END SysInit */
|
||||
/* USER CODE END SysInit */
|
||||
|
||||
/* Initialize all configured peripherals */
|
||||
MX_GPIO_Init();
|
||||
MX_DMA_Init();
|
||||
MX_FDCAN2_Init();
|
||||
MX_FDCAN3_Init();
|
||||
MX_CRC_Init();
|
||||
MX_FDCAN1_Init();
|
||||
MX_USART10_UART_Init();
|
||||
MX_SPI2_Init();
|
||||
MX_TIM12_Init();
|
||||
MX_UART7_Init();
|
||||
MX_TIM1_Init();
|
||||
MX_USART1_UART_Init();
|
||||
MX_ADC3_Init();
|
||||
MX_USART2_UART_Init();
|
||||
MX_USART3_UART_Init();
|
||||
MX_SPI1_Init();
|
||||
MX_UART5_Init();
|
||||
MX_TIM3_Init();
|
||||
MX_SPI6_Init();
|
||||
/* USER CODE BEGIN 2 */
|
||||
/* Initialize all configured peripherals */
|
||||
MX_GPIO_Init();
|
||||
MX_DMA_Init();
|
||||
MX_FDCAN2_Init();
|
||||
MX_FDCAN3_Init();
|
||||
MX_CRC_Init();
|
||||
MX_FDCAN1_Init();
|
||||
MX_USART10_UART_Init();
|
||||
MX_SPI2_Init();
|
||||
MX_TIM12_Init();
|
||||
MX_UART7_Init();
|
||||
MX_TIM1_Init();
|
||||
MX_USART1_UART_Init();
|
||||
MX_ADC3_Init();
|
||||
MX_USART2_UART_Init();
|
||||
MX_USART3_UART_Init();
|
||||
MX_SPI1_Init();
|
||||
MX_UART5_Init();
|
||||
MX_TIM3_Init();
|
||||
MX_SPI6_Init();
|
||||
/* USER CODE BEGIN 2 */
|
||||
|
||||
robotSelfCheck(); //自检LED
|
||||
RobotInit();
|
||||
systemstart_song(); //开机音乐
|
||||
|
||||
/*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！！！*/
|
||||
/* USER CODE END 2 */
|
||||
/* USER CODE END 2 */
|
||||
|
||||
/* Init scheduler */
|
||||
osKernelInitialize(); /* Call init function for freertos objects (in cmsis_os2.c) */
|
||||
MX_FREERTOS_Init();
|
||||
/* Init scheduler */
|
||||
osKernelInitialize(); /* Call init function for freertos objects (in cmsis_os2.c) */
|
||||
MX_FREERTOS_Init();
|
||||
|
||||
/* Start scheduler */
|
||||
osKernelStart();
|
||||
/* Start scheduler */
|
||||
osKernelStart();
|
||||
|
||||
/* We should never get here as control is now taken by the scheduler */
|
||||
/* We should never get here as control is now taken by the scheduler */
|
||||
|
||||
/* Infinite loop */
|
||||
/* USER CODE BEGIN WHILE */
|
||||
/* Infinite loop */
|
||||
/* USER CODE BEGIN WHILE */
|
||||
while (1)
|
||||
{
|
||||
/* USER CODE END WHILE */
|
||||
/* USER CODE END WHILE */
|
||||
|
||||
/* USER CODE BEGIN 3 */
|
||||
/* USER CODE BEGIN 3 */
|
||||
}
|
||||
/* USER CODE END 3 */
|
||||
/* USER CODE END 3 */
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -168,95 +165,93 @@ int main(void)
|
||||
*/
|
||||
void SystemClock_Config(void)
|
||||
{
|
||||
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
|
||||
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
|
||||
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
|
||||
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
|
||||
|
||||
/** Supply configuration update enable
|
||||
*/
|
||||
HAL_PWREx_ConfigSupply(PWR_LDO_SUPPLY);
|
||||
/** Supply configuration update enable
|
||||
*/
|
||||
HAL_PWREx_ConfigSupply(PWR_LDO_SUPPLY);
|
||||
|
||||
/** Configure the main internal regulator output voltage
|
||||
*/
|
||||
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE0);
|
||||
/** Configure the main internal regulator output voltage
|
||||
*/
|
||||
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE0);
|
||||
|
||||
while (!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY))
|
||||
{
|
||||
}
|
||||
while(!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {}
|
||||
|
||||
/** Initializes the RCC Oscillators according to the specified parameters
|
||||
* in the RCC_OscInitTypeDef structure.
|
||||
*/
|
||||
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI48 | RCC_OSCILLATORTYPE_HSI
|
||||
| RCC_OSCILLATORTYPE_HSE;
|
||||
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
|
||||
RCC_OscInitStruct.HSIState = RCC_HSI_DIV1;
|
||||
RCC_OscInitStruct.HSICalibrationValue = 64;
|
||||
RCC_OscInitStruct.HSI48State = RCC_HSI48_ON;
|
||||
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
|
||||
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
|
||||
RCC_OscInitStruct.PLL.PLLM = 2;
|
||||
RCC_OscInitStruct.PLL.PLLN = 40;
|
||||
RCC_OscInitStruct.PLL.PLLP = 1;
|
||||
RCC_OscInitStruct.PLL.PLLQ = 4;
|
||||
RCC_OscInitStruct.PLL.PLLR = 2;
|
||||
RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3;
|
||||
RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
|
||||
RCC_OscInitStruct.PLL.PLLFRACN = 0;
|
||||
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
/** Initializes the RCC Oscillators according to the specified parameters
|
||||
* in the RCC_OscInitTypeDef structure.
|
||||
*/
|
||||
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI48|RCC_OSCILLATORTYPE_HSI
|
||||
|RCC_OSCILLATORTYPE_HSE;
|
||||
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
|
||||
RCC_OscInitStruct.HSIState = RCC_HSI_DIV1;
|
||||
RCC_OscInitStruct.HSICalibrationValue = 64;
|
||||
RCC_OscInitStruct.HSI48State = RCC_HSI48_ON;
|
||||
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
|
||||
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
|
||||
RCC_OscInitStruct.PLL.PLLM = 2;
|
||||
RCC_OscInitStruct.PLL.PLLN = 40;
|
||||
RCC_OscInitStruct.PLL.PLLP = 1;
|
||||
RCC_OscInitStruct.PLL.PLLQ = 4;
|
||||
RCC_OscInitStruct.PLL.PLLR = 2;
|
||||
RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3;
|
||||
RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
|
||||
RCC_OscInitStruct.PLL.PLLFRACN = 0;
|
||||
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
|
||||
/** Initializes the CPU, AHB and APB buses clocks
|
||||
*/
|
||||
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK
|
||||
| RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2
|
||||
| RCC_CLOCKTYPE_D3PCLK1 | RCC_CLOCKTYPE_D1PCLK1;
|
||||
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
|
||||
RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
|
||||
RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
|
||||
RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV2;
|
||||
RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV2;
|
||||
RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV2;
|
||||
RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV2;
|
||||
/** Initializes the CPU, AHB and APB buses clocks
|
||||
*/
|
||||
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|
||||
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2
|
||||
|RCC_CLOCKTYPE_D3PCLK1|RCC_CLOCKTYPE_D1PCLK1;
|
||||
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
|
||||
RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
|
||||
RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
|
||||
RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV2;
|
||||
RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV2;
|
||||
RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV2;
|
||||
RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV2;
|
||||
|
||||
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_3) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
HAL_RCC_MCOConfig(RCC_MCO1, RCC_MCO1SOURCE_HSI, RCC_MCODIV_1);
|
||||
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_3) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
HAL_RCC_MCOConfig(RCC_MCO1, RCC_MCO1SOURCE_HSI, RCC_MCODIV_1);
|
||||
}
|
||||
|
||||
/* USER CODE BEGIN 4 */
|
||||
|
||||
/* USER CODE END 4 */
|
||||
|
||||
/* MPU Configuration */
|
||||
/* MPU Configuration */
|
||||
|
||||
void MPU_Config(void)
|
||||
{
|
||||
MPU_Region_InitTypeDef MPU_InitStruct = {0};
|
||||
MPU_Region_InitTypeDef MPU_InitStruct = {0};
|
||||
|
||||
/* Disables the MPU */
|
||||
HAL_MPU_Disable();
|
||||
/* Disables the MPU */
|
||||
HAL_MPU_Disable();
|
||||
|
||||
/** Initializes and configures the Region and the memory to be protected
|
||||
*/
|
||||
MPU_InitStruct.Enable = MPU_REGION_ENABLE;
|
||||
MPU_InitStruct.Number = MPU_REGION_NUMBER0;
|
||||
MPU_InitStruct.BaseAddress = 0x24000000;
|
||||
MPU_InitStruct.Size = MPU_REGION_SIZE_128KB;
|
||||
MPU_InitStruct.SubRegionDisable = 0x0;
|
||||
MPU_InitStruct.TypeExtField = MPU_TEX_LEVEL1;
|
||||
MPU_InitStruct.AccessPermission = MPU_REGION_FULL_ACCESS;
|
||||
MPU_InitStruct.DisableExec = MPU_INSTRUCTION_ACCESS_ENABLE;
|
||||
MPU_InitStruct.IsShareable = MPU_ACCESS_NOT_SHAREABLE;
|
||||
MPU_InitStruct.IsCacheable = MPU_ACCESS_NOT_CACHEABLE;
|
||||
MPU_InitStruct.IsBufferable = MPU_ACCESS_NOT_BUFFERABLE;
|
||||
/** Initializes and configures the Region and the memory to be protected
|
||||
*/
|
||||
MPU_InitStruct.Enable = MPU_REGION_ENABLE;
|
||||
MPU_InitStruct.Number = MPU_REGION_NUMBER0;
|
||||
MPU_InitStruct.BaseAddress = 0x24000000;
|
||||
MPU_InitStruct.Size = MPU_REGION_SIZE_128KB;
|
||||
MPU_InitStruct.SubRegionDisable = 0x0;
|
||||
MPU_InitStruct.TypeExtField = MPU_TEX_LEVEL1;
|
||||
MPU_InitStruct.AccessPermission = MPU_REGION_FULL_ACCESS;
|
||||
MPU_InitStruct.DisableExec = MPU_INSTRUCTION_ACCESS_ENABLE;
|
||||
MPU_InitStruct.IsShareable = MPU_ACCESS_NOT_SHAREABLE;
|
||||
MPU_InitStruct.IsCacheable = MPU_ACCESS_NOT_CACHEABLE;
|
||||
MPU_InitStruct.IsBufferable = MPU_ACCESS_NOT_BUFFERABLE;
|
||||
|
||||
HAL_MPU_ConfigRegion(&MPU_InitStruct);
|
||||
/* Enables the MPU */
|
||||
HAL_MPU_Enable(MPU_HFNMI_PRIVDEF);
|
||||
HAL_MPU_ConfigRegion(&MPU_InitStruct);
|
||||
/* Enables the MPU */
|
||||
HAL_MPU_Enable(MPU_HFNMI_PRIVDEF);
|
||||
|
||||
}
|
||||
|
||||
@@ -270,16 +265,16 @@ void MPU_Config(void)
|
||||
*/
|
||||
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
|
||||
{
|
||||
/* USER CODE BEGIN Callback 0 */
|
||||
/* USER CODE BEGIN Callback 0 */
|
||||
|
||||
/* USER CODE END Callback 0 */
|
||||
if (htim->Instance == TIM23)
|
||||
{
|
||||
HAL_IncTick();
|
||||
}
|
||||
/* USER CODE BEGIN Callback 1 */
|
||||
/* USER CODE END Callback 0 */
|
||||
if (htim->Instance == TIM23)
|
||||
{
|
||||
HAL_IncTick();
|
||||
}
|
||||
/* USER CODE BEGIN Callback 1 */
|
||||
|
||||
/* USER CODE END Callback 1 */
|
||||
/* USER CODE END Callback 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -288,13 +283,13 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
|
||||
*/
|
||||
void Error_Handler(void)
|
||||
{
|
||||
/* USER CODE BEGIN Error_Handler_Debug */
|
||||
/* USER CODE BEGIN Error_Handler_Debug */
|
||||
/* User can add his own implementation to report the HAL error return state */
|
||||
__disable_irq();
|
||||
while (1)
|
||||
{
|
||||
}
|
||||
/* USER CODE END Error_Handler_Debug */
|
||||
/* USER CODE END Error_Handler_Debug */
|
||||
}
|
||||
#ifdef USE_FULL_ASSERT
|
||||
/**
|
||||
@@ -306,9 +301,9 @@ void Error_Handler(void)
|
||||
*/
|
||||
void assert_failed(uint8_t *file, uint32_t line)
|
||||
{
|
||||
/* USER CODE BEGIN 6 */
|
||||
/* USER CODE BEGIN 6 */
|
||||
/* User can add his own implementation to report the file name and line number,
|
||||
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
|
||||
/* USER CODE END 6 */
|
||||
/* USER CODE END 6 */
|
||||
}
|
||||
#endif /* USE_FULL_ASSERT */
|
||||
|
||||
Reference in New Issue
Block a user