Regenerated HAL Drivers to Support Power 5V EN/24V EN,Also fixed FDCAN3 Tx Fifo Queue Elmts Nbr/Baudrate.

2026-07-23 19:25:09 +08:00 · 2026-02-24 15:35:38 +08:00
parent e515c97955
commit ebe9ad087e
8 changed files with 124 additions and 124 deletions
--- a/Core/Inc/main.h
+++ b/Core/Inc/main.h
@@ -57,6 +57,12 @@ void Error_Handler(void);
 /* USER CODE END EFP */

 /* Private defines -----------------------------------------------------------*/
+#define Power2_Pin GPIO_PIN_13
+#define Power2_GPIO_Port GPIOC
+#define Power1_Pin GPIO_PIN_14
+#define Power1_GPIO_Port GPIOC
+#define Power_5V_EN_Pin GPIO_PIN_15
+#define Power_5V_EN_GPIO_Port GPIOC
 #define ACC_CS_Pin GPIO_PIN_0
 #define ACC_CS_GPIO_Port GPIOC
 #define GYRO_CS_Pin GPIO_PIN_3
--- a/Core/Src/fdcan.c
+++ b/Core/Src/fdcan.c
@@ -141,10 +141,10 @@ void MX_FDCAN3_Init(void)
  hfdcan3.Init.AutoRetransmission = ENABLE;
  hfdcan3.Init.TransmitPause = DISABLE;
  hfdcan3.Init.ProtocolException = ENABLE;
-  hfdcan3.Init.NominalPrescaler = 24;
+  hfdcan3.Init.NominalPrescaler = 3;
  hfdcan3.Init.NominalSyncJumpWidth = 10;
-  hfdcan3.Init.NominalTimeSeg1 = 2;
-  hfdcan3.Init.NominalTimeSeg2 = 2;
+  hfdcan3.Init.NominalTimeSeg1 = 29;
+  hfdcan3.Init.NominalTimeSeg2 = 10;
  hfdcan3.Init.DataPrescaler = 3;
  hfdcan3.Init.DataSyncJumpWidth = 10;
  hfdcan3.Init.DataTimeSeg1 = 29;
@@ -160,7 +160,7 @@ void MX_FDCAN3_Init(void)
  hfdcan3.Init.RxBufferSize = FDCAN_DATA_BYTES_8;
  hfdcan3.Init.TxEventsNbr = 0;
  hfdcan3.Init.TxBuffersNbr = 0;
-  hfdcan3.Init.TxFifoQueueElmtsNbr = 6;
+  hfdcan3.Init.TxFifoQueueElmtsNbr = 32;
  hfdcan3.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
  hfdcan3.Init.TxElmtSize = FDCAN_DATA_BYTES_8;
  if (HAL_FDCAN_Init(&hfdcan3) != HAL_OK)
--- a/Core/Src/freertos.c
+++ b/Core/Src/freertos.c
@@ -136,30 +136,20 @@ void StartINSTASK(void const *argument);
 /* USER CODE END FunctionPrototypes */

 void StartDefaultTask(void *argument);
-
 void ShootTask(void *argument);
-
 void GimbalTask(void *argument);
-
 void ChassisTask(void *argument);
-
 void StartInitTask(void *argument);
-
 void VisionTask(void *argument);
-
 void CmdTask(void *argument);
-
 void RefereeTask(void *argument);
-
 extern void ws2812Task(void *argument);

 extern void MX_USB_DEVICE_Init(void);
-
 void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */

 /* Hook prototypes */
 void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName);
-
 void vApplicationMallocFailedHook(void);

 /* USER CODE BEGIN 4 */
@@ -194,8 +184,7 @@ void vApplicationMallocFailedHook(void)
  * @param  None
  * @retval None
  */
-void MX_FREERTOS_Init(void)
-{
+void MX_FREERTOS_Init(void) {
  /* USER CODE BEGIN Init */

  /* USER CODE END Init */
@@ -254,6 +243,7 @@ void MX_FREERTOS_Init(void)
  /* USER CODE BEGIN RTOS_EVENTS */
  /* add events, ... */
  /* USER CODE END RTOS_EVENTS */
+
 }

 /* USER CODE BEGIN Header_StartDefaultTask */
--- a/Core/Src/gpio.c
+++ b/Core/Src/gpio.c
@@ -56,10 +56,10 @@ void MX_GPIO_Init(void)
  __HAL_RCC_GPIOD_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOC, GPIO_PIN_14|ACC_CS_Pin, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOC, Power2_Pin|Power1_Pin|ACC_CS_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOC, GPIO_PIN_15|GYRO_CS_Pin, GPIO_PIN_SET);
+  HAL_GPIO_WritePin(GPIOC, Power_5V_EN_Pin|GYRO_CS_Pin, GPIO_PIN_SET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOA, power2_Pin|power1_Pin, GPIO_PIN_SET);
@@ -76,8 +76,8 @@ void MX_GPIO_Init(void)
  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(cs3_GPIO_Port, cs3_Pin, GPIO_PIN_SET);

-  /*Configure GPIO pins : PC14 PC15 */
-  GPIO_InitStruct.Pin = GPIO_PIN_14|GPIO_PIN_15;
+  /*Configure GPIO pins : Power2_Pin Power1_Pin Power_5V_EN_Pin */
+  GPIO_InitStruct.Pin = Power2_Pin|Power1_Pin|Power_5V_EN_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
--- a/TronOneH7_Scaffold.ioc
+++ b/TronOneH7_Scaffold.ioc
@@ -369,7 +369,7 @@ FDCAN2.TxFifoQueueElmtsNbr=32
 FDCAN3.AutoRetransmission=ENABLE
 FDCAN3.CalculateBaudRateNominal=1000000
 FDCAN3.CalculateTimeBitNominal=1000
-FDCAN3.CalculateTimeQuantumNominal=200.0
+FDCAN3.CalculateTimeQuantumNominal=25.0
 FDCAN3.ClockCalibrationCCU=DISABLE
 FDCAN3.DataPrescaler=3
 FDCAN3.DataSyncJumpWidth=10
@@ -377,14 +377,14 @@ FDCAN3.DataTimeSeg1=29
 FDCAN3.DataTimeSeg2=10
 FDCAN3.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,DataPrescaler,DataTimeSeg1,DataTimeSeg2,NominalPrescaler,NominalTimeSeg1,NominalTimeSeg2,RxFifo1ElmtsNbr,TxFifoQueueElmtsNbr,MessageRAMOffset,StdFiltersNbr,AutoRetransmission,ProtocolException,NominalSyncJumpWidth,DataSyncJumpWidth,ClockCalibrationCCU
 FDCAN3.MessageRAMOffset=1706
-FDCAN3.NominalPrescaler=24
+FDCAN3.NominalPrescaler=3
 FDCAN3.NominalSyncJumpWidth=10
-FDCAN3.NominalTimeSeg1=2
-FDCAN3.NominalTimeSeg2=2
+FDCAN3.NominalTimeSeg1=29
+FDCAN3.NominalTimeSeg2=10
 FDCAN3.ProtocolException=ENABLE
 FDCAN3.RxFifo1ElmtsNbr=32
 FDCAN3.StdFiltersNbr=1
-FDCAN3.TxFifoQueueElmtsNbr=6
+FDCAN3.TxFifoQueueElmtsNbr=32
 FREERTOS.FootprintOK=true
 FREERTOS.IPParameters=Tasks01,configENABLE_FPU,FootprintOK,configUSE_NEWLIB_REENTRANT,configCHECK_FOR_STACK_OVERFLOW,configUSE_MALLOC_FAILED_HOOK,configTOTAL_HEAP_SIZE,configMINIMAL_STACK_SIZE
 FREERTOS.Tasks01=BeginTask,24,256,StartDefaultTask,As weak,NULL,Dynamic,NULL,NULL;shoot,24,512,ShootTask,As weak,NULL,Dynamic,NULL,NULL;gimbal,24,512,GimbalTask,As weak,NULL,Dynamic,NULL,NULL;chassis,24,512,ChassisTask,As weak,NULL,Dynamic,NULL,NULL;init,40,256,StartInitTask,As weak,NULL,Dynamic,NULL,NULL;vision,24,512,VisionTask,As weak,NULL,Dynamic,NULL,NULL;cmd,24,512,CmdTask,As weak,NULL,Dynamic,NULL,NULL;reference,24,512,RefereeTask,As weak,NULL,Dynamic,NULL,NULL;WS2812Task,16,256,ws2812Task,As external,NULL,Dynamic,NULL,NULL
@@ -449,6 +449,7 @@ MMTAppReg6.MEMORYMAP.Size=1048576
 MMTAppReg6.MEMORYMAP.StartAddress=0x08000000
 MMTAppRegionsCount=6
 MMTConfigApplied=false
+MMTSectionSuffix=
 Mcu.CPN=STM32H723VGT6
 Mcu.Family=STM32H7
 Mcu.IP0=ADC1
@@ -483,72 +484,73 @@ Mcu.Name=STM32H723VGTx
 Mcu.Package=LQFP100
 Mcu.Pin0=PE2
 Mcu.Pin1=PE3
-Mcu.Pin10=PA0
-Mcu.Pin11=PA2
-Mcu.Pin12=PA5
-Mcu.Pin13=PA6
-Mcu.Pin14=PA7
-Mcu.Pin15=PC4
-Mcu.Pin16=PB1
-Mcu.Pin17=PE7
-Mcu.Pin18=PE8
-Mcu.Pin19=PE9
-Mcu.Pin2=PC14-OSC32_IN
-Mcu.Pin20=PE10
-Mcu.Pin21=PE12
-Mcu.Pin22=PE13
-Mcu.Pin23=PE15
-Mcu.Pin24=PB10
-Mcu.Pin25=PB11
-Mcu.Pin26=PB13
-Mcu.Pin27=PB15
-Mcu.Pin28=PD8
-Mcu.Pin29=PD9
-Mcu.Pin3=PC15-OSC32_OUT
-Mcu.Pin30=PD10
-Mcu.Pin31=PD12
-Mcu.Pin32=PD13
-Mcu.Pin33=PA8
-Mcu.Pin34=PA9
-Mcu.Pin35=PA10
-Mcu.Pin36=PA11
-Mcu.Pin37=PA12
-Mcu.Pin38=PC10
-Mcu.Pin39=PC11
-Mcu.Pin4=PH0-OSC_IN
-Mcu.Pin40=PC12
-Mcu.Pin41=PD0
-Mcu.Pin42=PD1
-Mcu.Pin43=PD2
-Mcu.Pin44=PD4
-Mcu.Pin45=PD5
-Mcu.Pin46=PD6
-Mcu.Pin47=PD7
-Mcu.Pin48=PB3(JTDO/TRACESWO)
-Mcu.Pin49=PB4(NJTRST)
-Mcu.Pin5=PH1-OSC_OUT
-Mcu.Pin50=PB5
-Mcu.Pin51=PB6
-Mcu.Pin52=VP_ADC3_TempSens_Input
-Mcu.Pin53=VP_CRC_VS_CRC
-Mcu.Pin54=VP_FREERTOS_VS_CMSIS_V2
-Mcu.Pin55=VP_SYS_VS_tim23
-Mcu.Pin56=VP_TIM1_VS_ClockSourceINT
-Mcu.Pin57=VP_TIM1_VS_no_output3
-Mcu.Pin58=VP_USB_DEVICE_VS_USB_DEVICE_CDC_HS
-Mcu.Pin59=VP_MEMORYMAP_VS_MEMORYMAP
-Mcu.Pin6=PC0
-Mcu.Pin60=VP_STMicroelectronics.X-CUBE-ALGOBUILD_VS_DSPOoLibraryJjLibrary_1.4.0_1.4.0
-Mcu.Pin7=PC1
-Mcu.Pin8=PC2_C
-Mcu.Pin9=PC3_C
-Mcu.PinsNb=61
+Mcu.Pin10=PC3_C
+Mcu.Pin11=PA0
+Mcu.Pin12=PA2
+Mcu.Pin13=PA5
+Mcu.Pin14=PA6
+Mcu.Pin15=PA7
+Mcu.Pin16=PC4
+Mcu.Pin17=PB1
+Mcu.Pin18=PE7
+Mcu.Pin19=PE8
+Mcu.Pin2=PC13
+Mcu.Pin20=PE9
+Mcu.Pin21=PE10
+Mcu.Pin22=PE12
+Mcu.Pin23=PE13
+Mcu.Pin24=PE15
+Mcu.Pin25=PB10
+Mcu.Pin26=PB11
+Mcu.Pin27=PB13
+Mcu.Pin28=PB15
+Mcu.Pin29=PD8
+Mcu.Pin3=PC14-OSC32_IN
+Mcu.Pin30=PD9
+Mcu.Pin31=PD10
+Mcu.Pin32=PD12
+Mcu.Pin33=PD13
+Mcu.Pin34=PA8
+Mcu.Pin35=PA9
+Mcu.Pin36=PA10
+Mcu.Pin37=PA11
+Mcu.Pin38=PA12
+Mcu.Pin39=PC10
+Mcu.Pin4=PC15-OSC32_OUT
+Mcu.Pin40=PC11
+Mcu.Pin41=PC12
+Mcu.Pin42=PD0
+Mcu.Pin43=PD1
+Mcu.Pin44=PD2
+Mcu.Pin45=PD4
+Mcu.Pin46=PD5
+Mcu.Pin47=PD6
+Mcu.Pin48=PD7
+Mcu.Pin49=PB3(JTDO/TRACESWO)
+Mcu.Pin5=PH0-OSC_IN
+Mcu.Pin50=PB4(NJTRST)
+Mcu.Pin51=PB5
+Mcu.Pin52=PB6
+Mcu.Pin53=VP_ADC3_TempSens_Input
+Mcu.Pin54=VP_CRC_VS_CRC
+Mcu.Pin55=VP_FREERTOS_VS_CMSIS_V2
+Mcu.Pin56=VP_SYS_VS_tim23
+Mcu.Pin57=VP_TIM1_VS_ClockSourceINT
+Mcu.Pin58=VP_TIM1_VS_no_output3
+Mcu.Pin59=VP_USB_DEVICE_VS_USB_DEVICE_CDC_HS
+Mcu.Pin6=PH1-OSC_OUT
+Mcu.Pin60=VP_MEMORYMAP_VS_MEMORYMAP
+Mcu.Pin61=VP_STMicroelectronics.X-CUBE-ALGOBUILD_VS_DSPOoLibraryJjLibrary_1.4.0_1.4.0
+Mcu.Pin7=PC0
+Mcu.Pin8=PC1
+Mcu.Pin9=PC2_C
+Mcu.PinsNb=62
 Mcu.ThirdParty0=STMicroelectronics.X-CUBE-ALGOBUILD.1.4.0
 Mcu.ThirdPartyNb=1
 Mcu.UserConstants=
 Mcu.UserName=STM32H723VGTx
-MxCube.Version=6.15.0
-MxDb.Version=DB.6.0.150
+MxCube.Version=6.16.0
+MxDb.Version=DB.6.0.160
 NVIC.ADC_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.DMA1_Stream0_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
@@ -676,9 +678,16 @@ PC11.Signal=SPI3_MISO
 PC12.Locked=true
 PC12.Signal=SharedStack_PC12
 PC12.Stacked=true
+PC13.GPIOParameters=GPIO_Label
+PC13.GPIO_Label=Power2
+PC13.Locked=true
+PC13.Signal=GPIO_Output
+PC14-OSC32_IN.GPIOParameters=GPIO_Label
+PC14-OSC32_IN.GPIO_Label=Power1
 PC14-OSC32_IN.Locked=true
 PC14-OSC32_IN.Signal=GPIO_Output
-PC15-OSC32_OUT.GPIOParameters=PinState
+PC15-OSC32_OUT.GPIOParameters=PinState,GPIO_Label
+PC15-OSC32_OUT.GPIO_Label=Power_5V_EN
 PC15-OSC32_OUT.Locked=true
 PC15-OSC32_OUT.PinState=GPIO_PIN_SET
 PC15-OSC32_OUT.Signal=GPIO_Output
@@ -780,6 +789,7 @@ ProjectManager.DeletePrevious=true
 ProjectManager.DeviceId=STM32H723VGTx
 ProjectManager.FirmwarePackage=STM32Cube FW_H7 V1.12.1
 ProjectManager.FreePins=false
+ProjectManager.FreePinsContext=
 ProjectManager.HalAssertFull=false
 ProjectManager.HeapSize=0x4000
 ProjectManager.KeepUserCode=true
--- a/USB_DEVICE/App/usbd_cdc_if.c
+++ b/USB_DEVICE/App/usbd_cdc_if.c
@@ -124,13 +124,9 @@ extern USBD_HandleTypeDef hUsbDeviceHS;
  */

 static int8_t CDC_Init_HS(void);
-
 static int8_t CDC_DeInit_HS(void);
-
-static int8_t CDC_Control_HS(uint8_t cmd, uint8_t *pbuf, uint16_t length);
-
-static int8_t CDC_Receive_HS(uint8_t *pbuf, uint32_t *Len);
-
+static int8_t CDC_Control_HS(uint8_t cmd, uint8_t* pbuf, uint16_t length);
+static int8_t CDC_Receive_HS(uint8_t* pbuf, uint32_t *Len);
 static int8_t CDC_TransmitCplt_HS(uint8_t *pbuf, uint32_t *Len, uint8_t epnum);

 /* USER CODE BEGIN PRIVATE_FUNCTIONS_DECLARATION */
@@ -185,7 +181,7 @@ static int8_t CDC_DeInit_HS(void)
  * @param  length: Number of data to be sent (in bytes)
  * @retval Result of the operation: USBD_OK if all operations are OK else USBD_FAIL
  */
-static int8_t CDC_Control_HS(uint8_t cmd, uint8_t *pbuf, uint16_t length)
+static int8_t CDC_Control_HS(uint8_t cmd, uint8_t* pbuf, uint16_t length)
 {
  /* USER CODE BEGIN 10 */
    switch (cmd)
@@ -266,7 +262,7 @@ static int8_t CDC_Control_HS(uint8_t cmd, uint8_t *pbuf, uint16_t length)
  * @param  Len: Number of data received (in bytes)
  * @retval Result of the operation: USBD_OK if all operations are OK else USBD_FAILL
  */
-static int8_t CDC_Receive_HS(uint8_t *Buf, uint32_t *Len)
+static int8_t CDC_Receive_HS(uint8_t* Buf, uint32_t *Len)
 {
  /* USER CODE BEGIN 11 */
    USBD_CDC_SetRxBuffer(&hUsbDeviceHS, &Buf[0]);
@@ -282,7 +278,7 @@ static int8_t CDC_Receive_HS(uint8_t *Buf, uint32_t *Len)
  * @param  Len: Number of data to be sent (in bytes)
  * @retval Result of the operation: USBD_OK if all operations are OK else USBD_FAIL or USBD_BUSY
  */
-uint8_t CDC_Transmit_HS(uint8_t *Buf, uint16_t Len)
+uint8_t CDC_Transmit_HS(uint8_t* Buf, uint16_t Len)
 {
  uint8_t result = USBD_OK;
  /* USER CODE BEGIN 12 */
--- a/USB_DEVICE/App/usbd_cdc_if.h
+++ b/USB_DEVICE/App/usbd_cdc_if.h
@@ -24,11 +24,7 @@
 #define __USBD_CDC_IF_H__

 #ifdef __cplusplus
-extern "C"
-{
-
-
-
+ extern "C" {
 #endif

 /* Includes ------------------------------------------------------------------*/
@@ -111,7 +107,7 @@ extern USBD_CDC_ItfTypeDef USBD_Interface_fops_HS;
  * @{
  */

-uint8_t CDC_Transmit_HS(uint8_t *Buf, uint16_t Len);
+uint8_t CDC_Transmit_HS(uint8_t* Buf, uint16_t Len);

 /* USER CODE BEGIN EXPORTED_FUNCTIONS */
 uint8_t *CDCInitRxbufferNcallback(USBCallback transmit_cbk, USBCallback recv_cbk);
--- a/readme.md
+++ b/readme.md
@@ -122,6 +122,8 @@

 华师佛山-VANGUARD [电控弹道解算例程](https://github.com/CodeAlanqian/SolveTrajectory)

+达妙科技H7(MC02)开发板说明书及例程 ：[达妙H7(MC02)开发板官方资料](https://gitee.com/kit-miao/dm-mc02)
+
 ---

 还要非常感谢愿意与我队电控一起交流，并无私提供帮助的这些队伍，他们是（以下排名不分先后）：