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This commit is contained in:
Huang Haoyu
2026-05-17 21:07:34 +08:00
commit bc5bd0c72e
1493 changed files with 1059050 additions and 0 deletions
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55
Core/Inc/can.h Normal file
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file can.h
* @brief This file contains all the function prototypes for
* the can.c file
******************************************************************************
* @attention
*
* Copyright (c) 2026 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 */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __CAN_H__
#define __CAN_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern CAN_HandleTypeDef hcan1;
extern CAN_HandleTypeDef hcan2;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_CAN1_Init(void);
void MX_CAN2_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __CAN_H__ */

52
Core/Inc/dma.h Normal file
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file dma.h
* @brief This file contains all the function prototypes for
* the dma.c file
******************************************************************************
* @attention
*
* Copyright (c) 2026 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 */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __DMA_H__
#define __DMA_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* DMA memory to memory transfer handles -------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_DMA_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __DMA_H__ */

49
Core/Inc/gpio.h Normal file
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file gpio.h
* @brief This file contains all the function prototypes for
* the gpio.c file
******************************************************************************
* @attention
*
* Copyright (c) 2026 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 */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __GPIO_H__
#define __GPIO_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_GPIO_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /*__ GPIO_H__ */

52
Core/Inc/iwdg.h Normal file
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file iwdg.h
* @brief This file contains all the function prototypes for
* the iwdg.c file
******************************************************************************
* @attention
*
* Copyright (c) 2026 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 */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __IWDG_H__
#define __IWDG_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern IWDG_HandleTypeDef hiwdg;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_IWDG_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __IWDG_H__ */

79
Core/Inc/main.h Normal file
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.h
* @brief : Header for main.c file.
* This file contains the common defines of the application.
******************************************************************************
* @attention
*
* Copyright (c) 2026 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 */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __MAIN_H
#define __MAIN_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Exported types ------------------------------------------------------------*/
/* USER CODE BEGIN ET */
/* USER CODE END ET */
/* Exported constants --------------------------------------------------------*/
/* USER CODE BEGIN EC */
/* USER CODE END EC */
/* Exported macro ------------------------------------------------------------*/
/* USER CODE BEGIN EM */
/* USER CODE END EM */
/* Exported functions prototypes ---------------------------------------------*/
void Error_Handler(void);
/* USER CODE BEGIN EFP */
/* USER CODE END EFP */
/* Private defines -----------------------------------------------------------*/
#define CS1_ACCEL_Pin GPIO_PIN_4
#define CS1_ACCEL_GPIO_Port GPIOA
#define INT1_ACCEL_Pin GPIO_PIN_4
#define INT1_ACCEL_GPIO_Port GPIOC
#define INT1_ACCEL_EXTI_IRQn EXTI4_IRQn
#define INT1_GRYO_Pin GPIO_PIN_5
#define INT1_GRYO_GPIO_Port GPIOC
#define INT1_GRYO_EXTI_IRQn EXTI9_5_IRQn
#define CS1_GYRO_Pin GPIO_PIN_0
#define CS1_GYRO_GPIO_Port GPIOB
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
#ifdef __cplusplus
}
#endif
#endif /* __MAIN_H */

52
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file spi.h
* @brief This file contains all the function prototypes for
* the spi.c file
******************************************************************************
* @attention
*
* Copyright (c) 2026 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 */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __SPI_H__
#define __SPI_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern SPI_HandleTypeDef hspi1;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_SPI1_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __SPI_H__ */

495
Core/Inc/stm32f4xx_hal_conf.h Normal file
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32f4xx_hal_conf_template.h
* @author MCD Application Team
* @brief HAL configuration template file.
* This file should be copied to the application folder and renamed
* to stm32f4xx_hal_conf.h.
******************************************************************************
* @attention
*
* Copyright (c) 2017 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 */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32F4xx_HAL_CONF_H
#define __STM32F4xx_HAL_CONF_H
#ifdef __cplusplus
extern "C" {
#endif
/* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/
/* ########################## Module Selection ############################## */
/**
* @brief This is the list of modules to be used in the HAL driver
*/
#define HAL_MODULE_ENABLED
/* #define HAL_CRYP_MODULE_ENABLED */
/* #define HAL_ADC_MODULE_ENABLED */
#define HAL_CAN_MODULE_ENABLED
/* #define HAL_CRC_MODULE_ENABLED */
/* #define HAL_CAN_LEGACY_MODULE_ENABLED */
/* #define HAL_DAC_MODULE_ENABLED */
/* #define HAL_DCMI_MODULE_ENABLED */
/* #define HAL_DMA2D_MODULE_ENABLED */
/* #define HAL_ETH_MODULE_ENABLED */
/* #define HAL_ETH_LEGACY_MODULE_ENABLED */
/* #define HAL_NAND_MODULE_ENABLED */
/* #define HAL_NOR_MODULE_ENABLED */
/* #define HAL_PCCARD_MODULE_ENABLED */
/* #define HAL_SRAM_MODULE_ENABLED */
/* #define HAL_SDRAM_MODULE_ENABLED */
/* #define HAL_HASH_MODULE_ENABLED */
/* #define HAL_I2C_MODULE_ENABLED */
/* #define HAL_I2S_MODULE_ENABLED */
#define HAL_IWDG_MODULE_ENABLED
/* #define HAL_LTDC_MODULE_ENABLED */
/* #define HAL_RNG_MODULE_ENABLED */
/* #define HAL_RTC_MODULE_ENABLED */
/* #define HAL_SAI_MODULE_ENABLED */
/* #define HAL_SD_MODULE_ENABLED */
/* #define HAL_MMC_MODULE_ENABLED */
#define HAL_SPI_MODULE_ENABLED
#define HAL_TIM_MODULE_ENABLED
#define HAL_UART_MODULE_ENABLED
/* #define HAL_USART_MODULE_ENABLED */
/* #define HAL_IRDA_MODULE_ENABLED */
/* #define HAL_SMARTCARD_MODULE_ENABLED */
/* #define HAL_SMBUS_MODULE_ENABLED */
/* #define HAL_WWDG_MODULE_ENABLED */
/* #define HAL_PCD_MODULE_ENABLED */
/* #define HAL_HCD_MODULE_ENABLED */
/* #define HAL_DSI_MODULE_ENABLED */
/* #define HAL_QSPI_MODULE_ENABLED */
/* #define HAL_QSPI_MODULE_ENABLED */
/* #define HAL_CEC_MODULE_ENABLED */
/* #define HAL_FMPI2C_MODULE_ENABLED */
/* #define HAL_FMPSMBUS_MODULE_ENABLED */
/* #define HAL_SPDIFRX_MODULE_ENABLED */
/* #define HAL_DFSDM_MODULE_ENABLED */
/* #define HAL_LPTIM_MODULE_ENABLED */
#define HAL_GPIO_MODULE_ENABLED
#define HAL_EXTI_MODULE_ENABLED
#define HAL_DMA_MODULE_ENABLED
#define HAL_RCC_MODULE_ENABLED
#define HAL_FLASH_MODULE_ENABLED
#define HAL_PWR_MODULE_ENABLED
#define HAL_CORTEX_MODULE_ENABLED
/* ########################## HSE/HSI Values adaptation ##################### */
/**
* @brief Adjust the value of External High Speed oscillator (HSE) used in your application.
* This value is used by the RCC HAL module to compute the system frequency
* (when HSE is used as system clock source, directly or through the PLL).
*/
#if !defined (HSE_VALUE)
#define HSE_VALUE 25000000U /*!< Value of the External oscillator in Hz */
#endif /* HSE_VALUE */
#if !defined (HSE_STARTUP_TIMEOUT)
#define HSE_STARTUP_TIMEOUT 100U /*!< Time out for HSE start up, in ms */
#endif /* HSE_STARTUP_TIMEOUT */
/**
* @brief Internal High Speed oscillator (HSI) value.
* This value is used by the RCC HAL module to compute the system frequency
* (when HSI is used as system clock source, directly or through the PLL).
*/
#if !defined (HSI_VALUE)
#define HSI_VALUE ((uint32_t)16000000U) /*!< Value of the Internal oscillator in Hz*/
#endif /* HSI_VALUE */
/**
* @brief Internal Low Speed oscillator (LSI) value.
*/
#if !defined (LSI_VALUE)
#define LSI_VALUE 32000U /*!< LSI Typical Value in Hz*/
#endif /* LSI_VALUE */ /*!< Value of the Internal Low Speed oscillator in Hz
The real value may vary depending on the variations
in voltage and temperature.*/
/**
* @brief External Low Speed oscillator (LSE) value.
*/
#if !defined (LSE_VALUE)
#define LSE_VALUE 32768U /*!< Value of the External Low Speed oscillator in Hz */
#endif /* LSE_VALUE */
#if !defined (LSE_STARTUP_TIMEOUT)
#define LSE_STARTUP_TIMEOUT 5000U /*!< Time out for LSE start up, in ms */
#endif /* LSE_STARTUP_TIMEOUT */
/**
* @brief External clock source for I2S peripheral
* This value is used by the I2S HAL module to compute the I2S clock source
* frequency, this source is inserted directly through I2S_CKIN pad.
*/
#if !defined (EXTERNAL_CLOCK_VALUE)
#define EXTERNAL_CLOCK_VALUE 12288000U /*!< Value of the External audio frequency in Hz*/
#endif /* EXTERNAL_CLOCK_VALUE */
/* Tip: To avoid modifying this file each time you need to use different HSE,
=== you can define the HSE value in your toolchain compiler preprocessor. */
/* ########################### System Configuration ######################### */
/**
* @brief This is the HAL system configuration section
*/
#define VDD_VALUE 3300U /*!< Value of VDD in mv */
#define TICK_INT_PRIORITY 15U /*!< tick interrupt priority */
#define USE_RTOS 0U
#define PREFETCH_ENABLE 1U
#define INSTRUCTION_CACHE_ENABLE 1U
#define DATA_CACHE_ENABLE 1U
#define USE_HAL_ADC_REGISTER_CALLBACKS 0U /* ADC register callback disabled */
#define USE_HAL_CAN_REGISTER_CALLBACKS 0U /* CAN register callback disabled */
#define USE_HAL_CEC_REGISTER_CALLBACKS 0U /* CEC register callback disabled */
#define USE_HAL_CRYP_REGISTER_CALLBACKS 0U /* CRYP register callback disabled */
#define USE_HAL_DAC_REGISTER_CALLBACKS 0U /* DAC register callback disabled */
#define USE_HAL_DCMI_REGISTER_CALLBACKS 0U /* DCMI register callback disabled */
#define USE_HAL_DFSDM_REGISTER_CALLBACKS 0U /* DFSDM register callback disabled */
#define USE_HAL_DMA2D_REGISTER_CALLBACKS 0U /* DMA2D register callback disabled */
#define USE_HAL_DSI_REGISTER_CALLBACKS 0U /* DSI register callback disabled */
#define USE_HAL_ETH_REGISTER_CALLBACKS 0U /* ETH register callback disabled */
#define USE_HAL_HASH_REGISTER_CALLBACKS 0U /* HASH register callback disabled */
#define USE_HAL_HCD_REGISTER_CALLBACKS 0U /* HCD register callback disabled */
#define USE_HAL_I2C_REGISTER_CALLBACKS 0U /* I2C register callback disabled */
#define USE_HAL_FMPI2C_REGISTER_CALLBACKS 0U /* FMPI2C register callback disabled */
#define USE_HAL_FMPSMBUS_REGISTER_CALLBACKS 0U /* FMPSMBUS register callback disabled */
#define USE_HAL_I2S_REGISTER_CALLBACKS 0U /* I2S register callback disabled */
#define USE_HAL_IRDA_REGISTER_CALLBACKS 0U /* IRDA register callback disabled */
#define USE_HAL_LPTIM_REGISTER_CALLBACKS 0U /* LPTIM register callback disabled */
#define USE_HAL_LTDC_REGISTER_CALLBACKS 0U /* LTDC register callback disabled */
#define USE_HAL_MMC_REGISTER_CALLBACKS 0U /* MMC register callback disabled */
#define USE_HAL_NAND_REGISTER_CALLBACKS 0U /* NAND register callback disabled */
#define USE_HAL_NOR_REGISTER_CALLBACKS 0U /* NOR register callback disabled */
#define USE_HAL_PCCARD_REGISTER_CALLBACKS 0U /* PCCARD register callback disabled */
#define USE_HAL_PCD_REGISTER_CALLBACKS 0U /* PCD register callback disabled */
#define USE_HAL_QSPI_REGISTER_CALLBACKS 0U /* QSPI register callback disabled */
#define USE_HAL_RNG_REGISTER_CALLBACKS 0U /* RNG register callback disabled */
#define USE_HAL_RTC_REGISTER_CALLBACKS 0U /* RTC register callback disabled */
#define USE_HAL_SAI_REGISTER_CALLBACKS 0U /* SAI register callback disabled */
#define USE_HAL_SD_REGISTER_CALLBACKS 0U /* SD register callback disabled */
#define USE_HAL_SMARTCARD_REGISTER_CALLBACKS 0U /* SMARTCARD register callback disabled */
#define USE_HAL_SDRAM_REGISTER_CALLBACKS 0U /* SDRAM register callback disabled */
#define USE_HAL_SRAM_REGISTER_CALLBACKS 0U /* SRAM register callback disabled */
#define USE_HAL_SPDIFRX_REGISTER_CALLBACKS 0U /* SPDIFRX register callback disabled */
#define USE_HAL_SMBUS_REGISTER_CALLBACKS 0U /* SMBUS register callback disabled */
#define USE_HAL_SPI_REGISTER_CALLBACKS 0U /* SPI register callback disabled */
#define USE_HAL_TIM_REGISTER_CALLBACKS 0U /* TIM register callback disabled */
#define USE_HAL_UART_REGISTER_CALLBACKS 0U /* UART register callback disabled */
#define USE_HAL_USART_REGISTER_CALLBACKS 0U /* USART register callback disabled */
#define USE_HAL_WWDG_REGISTER_CALLBACKS 0U /* WWDG register callback disabled */
/* ########################## Assert Selection ############################## */
/**
* @brief Uncomment the line below to expanse the "assert_param" macro in the
* HAL drivers code
*/
/* #define USE_FULL_ASSERT 1U */
/* ################## Ethernet peripheral configuration ##################### */
/* Section 1 : Ethernet peripheral configuration */
/* MAC ADDRESS: MAC_ADDR0:MAC_ADDR1:MAC_ADDR2:MAC_ADDR3:MAC_ADDR4:MAC_ADDR5 */
#define MAC_ADDR0 2U
#define MAC_ADDR1 0U
#define MAC_ADDR2 0U
#define MAC_ADDR3 0U
#define MAC_ADDR4 0U
#define MAC_ADDR5 0U
/* Definition of the Ethernet driver buffers size and count */
#define ETH_RX_BUF_SIZE ETH_MAX_PACKET_SIZE /* buffer size for receive */
#define ETH_TX_BUF_SIZE ETH_MAX_PACKET_SIZE /* buffer size for transmit */
#define ETH_RXBUFNB 4U /* 4 Rx buffers of size ETH_RX_BUF_SIZE */
#define ETH_TXBUFNB 4U /* 4 Tx buffers of size ETH_TX_BUF_SIZE */
/* Section 2: PHY configuration section */
/* DP83848_PHY_ADDRESS Address*/
#define DP83848_PHY_ADDRESS
/* PHY Reset delay these values are based on a 1 ms Systick interrupt*/
#define PHY_RESET_DELAY 0x000000FFU
/* PHY Configuration delay */
#define PHY_CONFIG_DELAY 0x00000FFFU
#define PHY_READ_TO 0x0000FFFFU
#define PHY_WRITE_TO 0x0000FFFFU
/* Section 3: Common PHY Registers */
#define PHY_BCR ((uint16_t)0x0000U) /*!< Transceiver Basic Control Register */
#define PHY_BSR ((uint16_t)0x0001U) /*!< Transceiver Basic Status Register */
#define PHY_RESET ((uint16_t)0x8000U) /*!< PHY Reset */
#define PHY_LOOPBACK ((uint16_t)0x4000U) /*!< Select loop-back mode */
#define PHY_FULLDUPLEX_100M ((uint16_t)0x2100U) /*!< Set the full-duplex mode at 100 Mb/s */
#define PHY_HALFDUPLEX_100M ((uint16_t)0x2000U) /*!< Set the half-duplex mode at 100 Mb/s */
#define PHY_FULLDUPLEX_10M ((uint16_t)0x0100U) /*!< Set the full-duplex mode at 10 Mb/s */
#define PHY_HALFDUPLEX_10M ((uint16_t)0x0000U) /*!< Set the half-duplex mode at 10 Mb/s */
#define PHY_AUTONEGOTIATION ((uint16_t)0x1000U) /*!< Enable auto-negotiation function */
#define PHY_RESTART_AUTONEGOTIATION ((uint16_t)0x0200U) /*!< Restart auto-negotiation function */
#define PHY_POWERDOWN ((uint16_t)0x0800U) /*!< Select the power down mode */
#define PHY_ISOLATE ((uint16_t)0x0400U) /*!< Isolate PHY from MII */
#define PHY_AUTONEGO_COMPLETE ((uint16_t)0x0020U) /*!< Auto-Negotiation process completed */
#define PHY_LINKED_STATUS ((uint16_t)0x0004U) /*!< Valid link established */
#define PHY_JABBER_DETECTION ((uint16_t)0x0002U) /*!< Jabber condition detected */
/* Section 4: Extended PHY Registers */
#define PHY_SR ((uint16_t)) /*!< PHY status register Offset */
#define PHY_SPEED_STATUS ((uint16_t)) /*!< PHY Speed mask */
#define PHY_DUPLEX_STATUS ((uint16_t)) /*!< PHY Duplex mask */
/* ################## SPI peripheral configuration ########################## */
/* CRC FEATURE: Use to activate CRC feature inside HAL SPI Driver
* Activated: CRC code is present inside driver
* Deactivated: CRC code cleaned from driver
*/
#define USE_SPI_CRC 0U
/* Includes ------------------------------------------------------------------*/
/**
* @brief Include module's header file
*/
#ifdef HAL_RCC_MODULE_ENABLED
#include "stm32f4xx_hal_rcc.h"
#endif /* HAL_RCC_MODULE_ENABLED */
#ifdef HAL_GPIO_MODULE_ENABLED
#include "stm32f4xx_hal_gpio.h"
#endif /* HAL_GPIO_MODULE_ENABLED */
#ifdef HAL_EXTI_MODULE_ENABLED
#include "stm32f4xx_hal_exti.h"
#endif /* HAL_EXTI_MODULE_ENABLED */
#ifdef HAL_DMA_MODULE_ENABLED
#include "stm32f4xx_hal_dma.h"
#endif /* HAL_DMA_MODULE_ENABLED */
#ifdef HAL_CORTEX_MODULE_ENABLED
#include "stm32f4xx_hal_cortex.h"
#endif /* HAL_CORTEX_MODULE_ENABLED */
#ifdef HAL_ADC_MODULE_ENABLED
#include "stm32f4xx_hal_adc.h"
#endif /* HAL_ADC_MODULE_ENABLED */
#ifdef HAL_CAN_MODULE_ENABLED
#include "stm32f4xx_hal_can.h"
#endif /* HAL_CAN_MODULE_ENABLED */
#ifdef HAL_CAN_LEGACY_MODULE_ENABLED
#include "stm32f4xx_hal_can_legacy.h"
#endif /* HAL_CAN_LEGACY_MODULE_ENABLED */
#ifdef HAL_CRC_MODULE_ENABLED
#include "stm32f4xx_hal_crc.h"
#endif /* HAL_CRC_MODULE_ENABLED */
#ifdef HAL_CRYP_MODULE_ENABLED
#include "stm32f4xx_hal_cryp.h"
#endif /* HAL_CRYP_MODULE_ENABLED */
#ifdef HAL_DMA2D_MODULE_ENABLED
#include "stm32f4xx_hal_dma2d.h"
#endif /* HAL_DMA2D_MODULE_ENABLED */
#ifdef HAL_DAC_MODULE_ENABLED
#include "stm32f4xx_hal_dac.h"
#endif /* HAL_DAC_MODULE_ENABLED */
#ifdef HAL_DCMI_MODULE_ENABLED
#include "stm32f4xx_hal_dcmi.h"
#endif /* HAL_DCMI_MODULE_ENABLED */
#ifdef HAL_ETH_MODULE_ENABLED
#include "stm32f4xx_hal_eth.h"
#endif /* HAL_ETH_MODULE_ENABLED */
#ifdef HAL_ETH_LEGACY_MODULE_ENABLED
#include "stm32f4xx_hal_eth_legacy.h"
#endif /* HAL_ETH_LEGACY_MODULE_ENABLED */
#ifdef HAL_FLASH_MODULE_ENABLED
#include "stm32f4xx_hal_flash.h"
#endif /* HAL_FLASH_MODULE_ENABLED */
#ifdef HAL_SRAM_MODULE_ENABLED
#include "stm32f4xx_hal_sram.h"
#endif /* HAL_SRAM_MODULE_ENABLED */
#ifdef HAL_NOR_MODULE_ENABLED
#include "stm32f4xx_hal_nor.h"
#endif /* HAL_NOR_MODULE_ENABLED */
#ifdef HAL_NAND_MODULE_ENABLED
#include "stm32f4xx_hal_nand.h"
#endif /* HAL_NAND_MODULE_ENABLED */
#ifdef HAL_PCCARD_MODULE_ENABLED
#include "stm32f4xx_hal_pccard.h"
#endif /* HAL_PCCARD_MODULE_ENABLED */
#ifdef HAL_SDRAM_MODULE_ENABLED
#include "stm32f4xx_hal_sdram.h"
#endif /* HAL_SDRAM_MODULE_ENABLED */
#ifdef HAL_HASH_MODULE_ENABLED
#include "stm32f4xx_hal_hash.h"
#endif /* HAL_HASH_MODULE_ENABLED */
#ifdef HAL_I2C_MODULE_ENABLED
#include "stm32f4xx_hal_i2c.h"
#endif /* HAL_I2C_MODULE_ENABLED */
#ifdef HAL_SMBUS_MODULE_ENABLED
#include "stm32f4xx_hal_smbus.h"
#endif /* HAL_SMBUS_MODULE_ENABLED */
#ifdef HAL_I2S_MODULE_ENABLED
#include "stm32f4xx_hal_i2s.h"
#endif /* HAL_I2S_MODULE_ENABLED */
#ifdef HAL_IWDG_MODULE_ENABLED
#include "stm32f4xx_hal_iwdg.h"
#endif /* HAL_IWDG_MODULE_ENABLED */
#ifdef HAL_LTDC_MODULE_ENABLED
#include "stm32f4xx_hal_ltdc.h"
#endif /* HAL_LTDC_MODULE_ENABLED */
#ifdef HAL_PWR_MODULE_ENABLED
#include "stm32f4xx_hal_pwr.h"
#endif /* HAL_PWR_MODULE_ENABLED */
#ifdef HAL_RNG_MODULE_ENABLED
#include "stm32f4xx_hal_rng.h"
#endif /* HAL_RNG_MODULE_ENABLED */
#ifdef HAL_RTC_MODULE_ENABLED
#include "stm32f4xx_hal_rtc.h"
#endif /* HAL_RTC_MODULE_ENABLED */
#ifdef HAL_SAI_MODULE_ENABLED
#include "stm32f4xx_hal_sai.h"
#endif /* HAL_SAI_MODULE_ENABLED */
#ifdef HAL_SD_MODULE_ENABLED
#include "stm32f4xx_hal_sd.h"
#endif /* HAL_SD_MODULE_ENABLED */
#ifdef HAL_SPI_MODULE_ENABLED
#include "stm32f4xx_hal_spi.h"
#endif /* HAL_SPI_MODULE_ENABLED */
#ifdef HAL_TIM_MODULE_ENABLED
#include "stm32f4xx_hal_tim.h"
#endif /* HAL_TIM_MODULE_ENABLED */
#ifdef HAL_UART_MODULE_ENABLED
#include "stm32f4xx_hal_uart.h"
#endif /* HAL_UART_MODULE_ENABLED */
#ifdef HAL_USART_MODULE_ENABLED
#include "stm32f4xx_hal_usart.h"
#endif /* HAL_USART_MODULE_ENABLED */
#ifdef HAL_IRDA_MODULE_ENABLED
#include "stm32f4xx_hal_irda.h"
#endif /* HAL_IRDA_MODULE_ENABLED */
#ifdef HAL_SMARTCARD_MODULE_ENABLED
#include "stm32f4xx_hal_smartcard.h"
#endif /* HAL_SMARTCARD_MODULE_ENABLED */
#ifdef HAL_WWDG_MODULE_ENABLED
#include "stm32f4xx_hal_wwdg.h"
#endif /* HAL_WWDG_MODULE_ENABLED */
#ifdef HAL_PCD_MODULE_ENABLED
#include "stm32f4xx_hal_pcd.h"
#endif /* HAL_PCD_MODULE_ENABLED */
#ifdef HAL_HCD_MODULE_ENABLED
#include "stm32f4xx_hal_hcd.h"
#endif /* HAL_HCD_MODULE_ENABLED */
#ifdef HAL_DSI_MODULE_ENABLED
#include "stm32f4xx_hal_dsi.h"
#endif /* HAL_DSI_MODULE_ENABLED */
#ifdef HAL_QSPI_MODULE_ENABLED
#include "stm32f4xx_hal_qspi.h"
#endif /* HAL_QSPI_MODULE_ENABLED */
#ifdef HAL_CEC_MODULE_ENABLED
#include "stm32f4xx_hal_cec.h"
#endif /* HAL_CEC_MODULE_ENABLED */
#ifdef HAL_FMPI2C_MODULE_ENABLED
#include "stm32f4xx_hal_fmpi2c.h"
#endif /* HAL_FMPI2C_MODULE_ENABLED */
#ifdef HAL_FMPSMBUS_MODULE_ENABLED
#include "stm32f4xx_hal_fmpsmbus.h"
#endif /* HAL_FMPSMBUS_MODULE_ENABLED */
#ifdef HAL_SPDIFRX_MODULE_ENABLED
#include "stm32f4xx_hal_spdifrx.h"
#endif /* HAL_SPDIFRX_MODULE_ENABLED */
#ifdef HAL_DFSDM_MODULE_ENABLED
#include "stm32f4xx_hal_dfsdm.h"
#endif /* HAL_DFSDM_MODULE_ENABLED */
#ifdef HAL_LPTIM_MODULE_ENABLED
#include "stm32f4xx_hal_lptim.h"
#endif /* HAL_LPTIM_MODULE_ENABLED */
#ifdef HAL_MMC_MODULE_ENABLED
#include "stm32f4xx_hal_mmc.h"
#endif /* HAL_MMC_MODULE_ENABLED */
/* Exported macro ------------------------------------------------------------*/
#ifdef USE_FULL_ASSERT
/**
* @brief The assert_param macro is used for function's parameters check.
* @param expr If expr is false, it calls assert_failed function
* which reports the name of the source file and the source
* line number of the call that failed.
* If expr is true, it returns no value.
* @retval None
*/
#define assert_param(expr) ((expr) ? (void)0U : assert_failed((uint8_t *)__FILE__, __LINE__))
/* Exported functions ------------------------------------------------------- */
void assert_failed(uint8_t* file, uint32_t line);
#else
#define assert_param(expr) ((void)0U)
#endif /* USE_FULL_ASSERT */
#ifdef __cplusplus
}
#endif
#endif /* __STM32F4xx_HAL_CONF_H */

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32f4xx_it.h
* @brief This file contains the headers of the interrupt handlers.
******************************************************************************
* @attention
*
* Copyright (c) 2026 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 */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32F4xx_IT_H
#define __STM32F4xx_IT_H
#ifdef __cplusplus
extern "C" {
#endif
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Exported types ------------------------------------------------------------*/
/* USER CODE BEGIN ET */
/* USER CODE END ET */
/* Exported constants --------------------------------------------------------*/
/* USER CODE BEGIN EC */
/* USER CODE END EC */
/* Exported macro ------------------------------------------------------------*/
/* USER CODE BEGIN EM */
/* USER CODE END EM */
/* Exported functions prototypes ---------------------------------------------*/
void NMI_Handler(void);
void HardFault_Handler(void);
void MemManage_Handler(void);
void BusFault_Handler(void);
void UsageFault_Handler(void);
void SVC_Handler(void);
void DebugMon_Handler(void);
void PendSV_Handler(void);
void SysTick_Handler(void);
void EXTI4_IRQHandler(void);
void DMA1_Stream1_IRQHandler(void);
void CAN1_RX0_IRQHandler(void);
void CAN1_RX1_IRQHandler(void);
void EXTI9_5_IRQHandler(void);
void USART1_IRQHandler(void);
void USART3_IRQHandler(void);
void TIM6_DAC_IRQHandler(void);
void DMA2_Stream2_IRQHandler(void);
void DMA2_Stream3_IRQHandler(void);
void CAN2_RX0_IRQHandler(void);
void CAN2_RX1_IRQHandler(void);
void DMA2_Stream7_IRQHandler(void);
/* USER CODE BEGIN EFP */
/* USER CODE END EFP */
#ifdef __cplusplus
}
#endif
#endif /* __STM32F4xx_IT_H */

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file tim.h
* @brief This file contains all the function prototypes for
* the tim.c file
******************************************************************************
* @attention
*
* Copyright (c) 2026 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 */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __TIM_H__
#define __TIM_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern TIM_HandleTypeDef htim6;
extern TIM_HandleTypeDef htim10;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_TIM6_Init(void);
void MX_TIM10_Init(void);
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __TIM_H__ */

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file usart.h
* @brief This file contains all the function prototypes for
* the usart.c file
******************************************************************************
* @attention
*
* Copyright (c) 2026 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 */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __USART_H__
#define __USART_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern UART_HandleTypeDef huart1;
extern UART_HandleTypeDef huart3;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_USART1_UART_Init(void);
void MX_USART3_UART_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __USART_H__ */

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file can.c
* @brief This file provides code for the configuration
* of the CAN instances.
******************************************************************************
* @attention
*
* Copyright (c) 2026 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 "can.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
CAN_HandleTypeDef hcan1;
CAN_HandleTypeDef hcan2;
/* CAN1 init function */
void MX_CAN1_Init(void)
{
/* USER CODE BEGIN CAN1_Init 0 */
/* USER CODE END CAN1_Init 0 */
/* USER CODE BEGIN CAN1_Init 1 */
/* USER CODE END CAN1_Init 1 */
hcan1.Instance = CAN1;
hcan1.Init.Prescaler = 3;
hcan1.Init.Mode = CAN_MODE_NORMAL;
hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan1.Init.TimeSeg1 = CAN_BS1_10TQ;
hcan1.Init.TimeSeg2 = CAN_BS2_3TQ;
hcan1.Init.TimeTriggeredMode = DISABLE;
hcan1.Init.AutoBusOff = DISABLE;
hcan1.Init.AutoWakeUp = DISABLE;
hcan1.Init.AutoRetransmission = DISABLE;
hcan1.Init.ReceiveFifoLocked = DISABLE;
hcan1.Init.TransmitFifoPriority = DISABLE;
if (HAL_CAN_Init(&hcan1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN CAN1_Init 2 */
/* USER CODE END CAN1_Init 2 */
}
/* CAN2 init function */
void MX_CAN2_Init(void)
{
/* USER CODE BEGIN CAN2_Init 0 */
/* USER CODE END CAN2_Init 0 */
/* USER CODE BEGIN CAN2_Init 1 */
/* USER CODE END CAN2_Init 1 */
hcan2.Instance = CAN2;
hcan2.Init.Prescaler = 3;
hcan2.Init.Mode = CAN_MODE_NORMAL;
hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan2.Init.TimeSeg1 = CAN_BS1_10TQ;
hcan2.Init.TimeSeg2 = CAN_BS2_3TQ;
hcan2.Init.TimeTriggeredMode = DISABLE;
hcan2.Init.AutoBusOff = DISABLE;
hcan2.Init.AutoWakeUp = DISABLE;
hcan2.Init.AutoRetransmission = DISABLE;
hcan2.Init.ReceiveFifoLocked = DISABLE;
hcan2.Init.TransmitFifoPriority = DISABLE;
if (HAL_CAN_Init(&hcan2) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN CAN2_Init 2 */
/* USER CODE END CAN2_Init 2 */
}
static uint32_t HAL_RCC_CAN1_CLK_ENABLED=0;
void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(canHandle->Instance==CAN1)
{
/* USER CODE BEGIN CAN1_MspInit 0 */
/* USER CODE END CAN1_MspInit 0 */
/* CAN1 clock enable */
HAL_RCC_CAN1_CLK_ENABLED++;
if(HAL_RCC_CAN1_CLK_ENABLED==1){
__HAL_RCC_CAN1_CLK_ENABLE();
}
__HAL_RCC_GPIOD_CLK_ENABLE();
/**CAN1 GPIO Configuration
PD0 ------> CAN1_RX
PD1 ------> CAN1_TX
*/
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
/* CAN1 interrupt Init */
HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(CAN1_RX1_IRQn);
/* USER CODE BEGIN CAN1_MspInit 1 */
/* USER CODE END CAN1_MspInit 1 */
}
else if(canHandle->Instance==CAN2)
{
/* USER CODE BEGIN CAN2_MspInit 0 */
/* USER CODE END CAN2_MspInit 0 */
/* CAN2 clock enable */
__HAL_RCC_CAN2_CLK_ENABLE();
HAL_RCC_CAN1_CLK_ENABLED++;
if(HAL_RCC_CAN1_CLK_ENABLED==1){
__HAL_RCC_CAN1_CLK_ENABLE();
}
__HAL_RCC_GPIOB_CLK_ENABLE();
/**CAN2 GPIO Configuration
PB5 ------> CAN2_RX
PB6 ------> CAN2_TX
*/
GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF9_CAN2;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* CAN2 interrupt Init */
HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(CAN2_RX1_IRQn);
/* USER CODE BEGIN CAN2_MspInit 1 */
/* USER CODE END CAN2_MspInit 1 */
}
}
void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
{
if(canHandle->Instance==CAN1)
{
/* USER CODE BEGIN CAN1_MspDeInit 0 */
/* USER CODE END CAN1_MspDeInit 0 */
/* Peripheral clock disable */
HAL_RCC_CAN1_CLK_ENABLED--;
if(HAL_RCC_CAN1_CLK_ENABLED==0){
__HAL_RCC_CAN1_CLK_DISABLE();
}
/**CAN1 GPIO Configuration
PD0 ------> CAN1_RX
PD1 ------> CAN1_TX
*/
HAL_GPIO_DeInit(GPIOD, GPIO_PIN_0|GPIO_PIN_1);
/* CAN1 interrupt Deinit */
HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn);
/* USER CODE BEGIN CAN1_MspDeInit 1 */
/* USER CODE END CAN1_MspDeInit 1 */
}
else if(canHandle->Instance==CAN2)
{
/* USER CODE BEGIN CAN2_MspDeInit 0 */
/* USER CODE END CAN2_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_CAN2_CLK_DISABLE();
HAL_RCC_CAN1_CLK_ENABLED--;
if(HAL_RCC_CAN1_CLK_ENABLED==0){
__HAL_RCC_CAN1_CLK_DISABLE();
}
/**CAN2 GPIO Configuration
PB5 ------> CAN2_RX
PB6 ------> CAN2_TX
*/
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_5|GPIO_PIN_6);
/* CAN2 interrupt Deinit */
HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn);
HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn);
/* USER CODE BEGIN CAN2_MspDeInit 1 */
/* USER CODE END CAN2_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file dma.c
* @brief This file provides code for the configuration
* of all the requested memory to memory DMA transfers.
******************************************************************************
* @attention
*
* Copyright (c) 2026 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 "dma.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/*----------------------------------------------------------------------------*/
/* Configure DMA */
/*----------------------------------------------------------------------------*/
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/**
* Enable DMA controller clock
*/
void MX_DMA_Init(void)
{
/* DMA controller clock 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, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream1_IRQn);
/* DMA2_Stream2_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn);
/* DMA2_Stream3_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA2_Stream3_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA2_Stream3_IRQn);
/* DMA2_Stream7_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA2_Stream7_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA2_Stream7_IRQn);
}
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file gpio.c
* @brief This file provides code for the configuration
* of all used GPIO pins.
******************************************************************************
* @attention
*
* Copyright (c) 2026 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 "gpio.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/*----------------------------------------------------------------------------*/
/* Configure GPIO */
/*----------------------------------------------------------------------------*/
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/** Configure pins as
* Analog
* Input
* Output
* EVENT_OUT
* EXTI
*/
void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOF_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOH, GPIO_PIN_12|GPIO_PIN_11|GPIO_PIN_10, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(CS1_ACCEL_GPIO_Port, CS1_ACCEL_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(CS1_GYRO_GPIO_Port, CS1_GYRO_Pin, GPIO_PIN_SET);
/*Configure GPIO pins : PH12 PH11 PH10 */
GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_11|GPIO_PIN_10;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(GPIOH, &GPIO_InitStruct);
/*Configure GPIO pin : CS1_ACCEL_Pin */
GPIO_InitStruct.Pin = CS1_ACCEL_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(CS1_ACCEL_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : INT1_ACCEL_Pin INT1_GRYO_Pin */
GPIO_InitStruct.Pin = INT1_ACCEL_Pin|INT1_GRYO_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : CS1_GYRO_Pin */
GPIO_InitStruct.Pin = CS1_GYRO_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(CS1_GYRO_GPIO_Port, &GPIO_InitStruct);
/* EXTI interrupt init*/
HAL_NVIC_SetPriority(EXTI4_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI4_IRQn);
HAL_NVIC_SetPriority(EXTI9_5_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);
}
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file iwdg.c
* @brief This file provides code for the configuration
* of the IWDG instances.
******************************************************************************
* @attention
*
* Copyright (c) 2026 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 "iwdg.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
IWDG_HandleTypeDef hiwdg;
/* IWDG init function */
void MX_IWDG_Init(void)
{
/* USER CODE BEGIN IWDG_Init 0 */
/* USER CODE END IWDG_Init 0 */
/* USER CODE BEGIN IWDG_Init 1 */
/* USER CODE END IWDG_Init 1 */
hiwdg.Instance = IWDG;
hiwdg.Init.Prescaler = IWDG_PRESCALER_16;
hiwdg.Init.Reload = 500;
if (HAL_IWDG_Init(&hiwdg) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN IWDG_Init 2 */
/* USER CODE END IWDG_Init 2 */
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2026 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 "main.h"
#include "can.h"
#include "dma.h"
#include "iwdg.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <stdint.h>
#include <math.h>
#include "BSP_USART.h"
#include "Remote.h"
//===============临时测试用
#include "Classis_Wheels.h"
#include "BMI088.h"
#include "BMI088driver.h"
#include "BSP_CAN.h"
#include "Motor.h"
//===============临时测试用
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
extern PID_PositionInitTypedef Wheels_SpeedPID[4];
extern M3508_Motor Can1_M3508_MotorStatus[8];
extern M3508_Motor Can2_M3508_MotorStatus[8];
extern M6020_Motor Can1_M6020_MotorStatus[7];//GM6020电机状态数组
extern M6020_Motor Can2_M6020_MotorStatus[7];//GM6020电机状态数组
extern Remote_Data Remote_RxData;//遥控器接收数据
extern RC_ctrl_t *local_rc_ctrl;
extern BMI088_Init_typedef BMI088_Data;
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_TIM6_Init();
MX_CAN1_Init();
MX_CAN2_Init();
MX_USART1_UART_Init();
MX_USART3_UART_Init();
// MX_IWDG_Init();
MX_SPI1_Init();
MX_TIM10_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_Base_Start_IT(&htim6);
Can_Filter_Init();
while(BMI088_init());
Remote_Init();
Classis_Wheels_Init();
UART2_SendString ("RM GOOOO!!!");
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
// UART2_SendFloat_Sign(-123.456f, 3); // 输出: "-123.456"
// UART2_SendNumber(Remote_RxData.Remote_R_UD+1024,4);//右摇杆左右
// UART2_SendByte(',');
// UART2_SendNumber(Remote_RxData.Remote_R_RL+1024,4);//右摇杆上下
// UART2_SendByte(',');
// UART2_SendByte(',');
// UART2_SendNumber(local_rc_ctrl->rc.ch[2]+1024,4);//左摇杆左右
// UART2_SendByte(',');
// UART2_SendNumber(local_rc_ctrl->rc.ch[3]+1024,4);//左摇杆上下
// UART2_SendByte(',');
// UART2_SendNumber(local_rc_ctrl->rc.ch[4]+1024,4);
// UART2_SendByte(',');
// UART2_SendNumber(local_rc_ctrl->rc.s[0],4);
// UART2_SendByte(',');
// UART2_SendNumber(local_rc_ctrl->rc.s[1],4);
// UART2_SendByte(',');
// ============陀螺仪数据============
BMI088_GetData(&BMI088_Data);
// UART2_SendFloat_Sign(BMI088_Data.Yaw,4);
// UART2_SendByte(',');
// UART2_SendFloat_Sign(BMI088_Data.Pitch,4);
// UART2_SendByte(',');
// UART2_SendFloat_Sign(BMI088_Data.Roll,4);
// UART2_SendByte(',');
// UART2_SendFloat_Sign(BMI088_Data.Accel[0],4);
// UART2_SendByte(',');
// UART2_SendFloat_Sign(BMI088_Data.Accel[1],4);
// UART2_SendByte(',');
// UART2_SendFloat_Sign(BMI088_Data.Accel[2],4);
// UART2_SendByte(',');
// UART2_SendFloat_Sign(BMI088_Data.Gyro[0],4);
// UART2_SendByte(',');
// UART2_SendFloat_Sign(BMI088_Data.Gyro[1],4);
// UART2_SendByte(',');
// UART2_SendFloat_Sign(BMI088_Data.Gyro[2],4);
// UART2_SendByte(',');
// UART2_SendFloat_Sign(atan2(1,1)/3.1415926535897932384626f*180,4);
// ============电机数据============
UART2_SendFloat_Sign(Can2_M6020_MotorStatus[0].ANgle,4);
//===============测试区
//===============测试区
//
UART2_SendByte('\n');
// HAL_Delay(10);
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Configure the main internal regulator output voltage
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_LSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
RCC_OscInitStruct.LSIState = RCC_LSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
RCC_OscInitStruct.PLL.PLLM = 8;
RCC_OscInitStruct.PLL.PLLN = 168;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 4;
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_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
{
Error_Handler();
}
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* 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 */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* 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 */
}
#endif /* USE_FULL_ASSERT */

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file spi.c
* @brief This file provides code for the configuration
* of the SPI instances.
******************************************************************************
* @attention
*
* Copyright (c) 2026 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 "spi.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
SPI_HandleTypeDef hspi1;
DMA_HandleTypeDef hdma_spi1_rx;
DMA_HandleTypeDef hdma_spi1_tx;
/* SPI1 init function */
void MX_SPI1_Init(void)
{
/* USER CODE BEGIN SPI1_Init 0 */
/* USER CODE END SPI1_Init 0 */
/* USER CODE BEGIN SPI1_Init 1 */
/* USER CODE END SPI1_Init 1 */
hspi1.Instance = SPI1;
hspi1.Init.Mode = SPI_MODE_MASTER;
hspi1.Init.Direction = SPI_DIRECTION_2LINES;
hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
hspi1.Init.CLKPolarity = SPI_POLARITY_HIGH;
hspi1.Init.CLKPhase = SPI_PHASE_2EDGE;
hspi1.Init.NSS = SPI_NSS_SOFT;
hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_256;
hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
hspi1.Init.CRCPolynomial = 10;
if (HAL_SPI_Init(&hspi1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN SPI1_Init 2 */
/* USER CODE END SPI1_Init 2 */
}
void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(spiHandle->Instance==SPI1)
{
/* USER CODE BEGIN SPI1_MspInit 0 */
/* USER CODE END SPI1_MspInit 0 */
/* SPI1 clock enable */
__HAL_RCC_SPI1_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**SPI1 GPIO Configuration
PB4 ------> SPI1_MISO
PB3 ------> SPI1_SCK
PA7 ------> SPI1_MOSI
*/
GPIO_InitStruct.Pin = GPIO_PIN_4|GPIO_PIN_3;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF5_SPI1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF5_SPI1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* SPI1 DMA Init */
/* SPI1_RX Init */
hdma_spi1_rx.Instance = DMA2_Stream2;
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_VERY_HIGH;
hdma_spi1_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
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_HIGH;
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);
/* USER CODE BEGIN SPI1_MspInit 1 */
/* USER CODE END SPI1_MspInit 1 */
}
}
void HAL_SPI_MspDeInit(SPI_HandleTypeDef* spiHandle)
{
if(spiHandle->Instance==SPI1)
{
/* USER CODE BEGIN SPI1_MspDeInit 0 */
/* USER CODE END SPI1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_SPI1_CLK_DISABLE();
/**SPI1 GPIO Configuration
PB4 ------> SPI1_MISO
PB3 ------> SPI1_SCK
PA7 ------> SPI1_MOSI
*/
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_4|GPIO_PIN_3);
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_7);
/* SPI1 DMA DeInit */
HAL_DMA_DeInit(spiHandle->hdmarx);
HAL_DMA_DeInit(spiHandle->hdmatx);
/* USER CODE BEGIN SPI1_MspDeInit 1 */
/* USER CODE END SPI1_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32f4xx_hal_msp.c
* @brief This file provides code for the MSP Initialization
* and de-Initialization codes.
******************************************************************************
* @attention
*
* Copyright (c) 2026 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 "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */
/* USER CODE END TD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN Define */
/* USER CODE END Define */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN Macro */
/* USER CODE END Macro */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* External functions --------------------------------------------------------*/
/* USER CODE BEGIN ExternalFunctions */
/* USER CODE END ExternalFunctions */
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* Initializes the Global MSP.
*/
void HAL_MspInit(void)
{
/* USER CODE BEGIN MspInit 0 */
/* USER CODE END MspInit 0 */
__HAL_RCC_SYSCFG_CLK_ENABLE();
__HAL_RCC_PWR_CLK_ENABLE();
/* System interrupt init*/
/* USER CODE BEGIN MspInit 1 */
/* USER CODE END MspInit 1 */
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32f4xx_it.c
* @brief Interrupt Service Routines.
******************************************************************************
* @attention
*
* Copyright (c) 2026 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 "main.h"
#include "stm32f4xx_it.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "Remote.h"
#include "Classis_Wheels.h"
#include "Chassis_Yaw_Big.h"
#include "Chassis_CtoC.h"
#include "iwdg.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */
/* USER CODE END TD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/* External variables --------------------------------------------------------*/
extern CAN_HandleTypeDef hcan1;
extern CAN_HandleTypeDef hcan2;
extern DMA_HandleTypeDef hdma_spi1_rx;
extern DMA_HandleTypeDef hdma_spi1_tx;
extern TIM_HandleTypeDef htim6;
extern DMA_HandleTypeDef hdma_usart1_tx;
extern DMA_HandleTypeDef hdma_usart3_rx;
extern UART_HandleTypeDef huart1;
extern UART_HandleTypeDef huart3;
extern BMI088_Init_typedef BMI088_Data;
/* USER CODE BEGIN EV */
/* USER CODE END EV */
/******************************************************************************/
/* Cortex-M4 Processor Interruption and Exception Handlers */
/******************************************************************************/
/**
* @brief This function handles Non maskable interrupt.
*/
void NMI_Handler(void)
{
/* USER CODE BEGIN NonMaskableInt_IRQn 0 */
/* USER CODE END NonMaskableInt_IRQn 0 */
/* USER CODE BEGIN NonMaskableInt_IRQn 1 */
while (1)
{
}
/* USER CODE END NonMaskableInt_IRQn 1 */
}
/**
* @brief This function handles Hard fault interrupt.
*/
void HardFault_Handler(void)
{
/* USER CODE BEGIN HardFault_IRQn 0 */
/* USER CODE END HardFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_HardFault_IRQn 0 */
/* USER CODE END W1_HardFault_IRQn 0 */
}
}
/**
* @brief This function handles Memory management fault.
*/
void MemManage_Handler(void)
{
/* USER CODE BEGIN MemoryManagement_IRQn 0 */
/* USER CODE END MemoryManagement_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */
/* USER CODE END W1_MemoryManagement_IRQn 0 */
}
}
/**
* @brief This function handles Pre-fetch fault, memory access fault.
*/
void BusFault_Handler(void)
{
/* USER CODE BEGIN BusFault_IRQn 0 */
/* USER CODE END BusFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_BusFault_IRQn 0 */
/* USER CODE END W1_BusFault_IRQn 0 */
}
}
/**
* @brief This function handles Undefined instruction or illegal state.
*/
void UsageFault_Handler(void)
{
/* USER CODE BEGIN UsageFault_IRQn 0 */
/* USER CODE END UsageFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_UsageFault_IRQn 0 */
/* USER CODE END W1_UsageFault_IRQn 0 */
}
}
/**
* @brief This function handles System service call via SWI instruction.
*/
void SVC_Handler(void)
{
/* USER CODE BEGIN SVCall_IRQn 0 */
/* USER CODE END SVCall_IRQn 0 */
/* USER CODE BEGIN SVCall_IRQn 1 */
/* USER CODE END SVCall_IRQn 1 */
}
/**
* @brief This function handles Debug monitor.
*/
void DebugMon_Handler(void)
{
/* USER CODE BEGIN DebugMonitor_IRQn 0 */
/* USER CODE END DebugMonitor_IRQn 0 */
/* USER CODE BEGIN DebugMonitor_IRQn 1 */
/* USER CODE END DebugMonitor_IRQn 1 */
}
/**
* @brief This function handles Pendable request for system service.
*/
void PendSV_Handler(void)
{
/* USER CODE BEGIN PendSV_IRQn 0 */
/* USER CODE END PendSV_IRQn 0 */
/* USER CODE BEGIN PendSV_IRQn 1 */
/* USER CODE END PendSV_IRQn 1 */
}
/**
* @brief This function handles System tick timer.
*/
void SysTick_Handler(void)
{
/* USER CODE BEGIN SysTick_IRQn 0 */
/* USER CODE END SysTick_IRQn 0 */
HAL_IncTick();
/* USER CODE BEGIN SysTick_IRQn 1 */
/* USER CODE END SysTick_IRQn 1 */
}
/******************************************************************************/
/* STM32F4xx Peripheral Interrupt Handlers */
/* Add here the Interrupt Handlers for the used peripherals. */
/* For the available peripheral interrupt handler names, */
/* please refer to the startup file (startup_stm32f4xx.s). */
/******************************************************************************/
/**
* @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(INT1_ACCEL_Pin);
/* USER CODE BEGIN EXTI4_IRQn 1 */
/* USER CODE END EXTI4_IRQn 1 */
}
/**
* @brief This function handles DMA1 stream1 global interrupt.
*/
void DMA1_Stream1_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Stream1_IRQn 0 */
/* USER CODE END DMA1_Stream1_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart3_rx);
/* USER CODE BEGIN DMA1_Stream1_IRQn 1 */
/* USER CODE END DMA1_Stream1_IRQn 1 */
}
/**
* @brief This function handles CAN1 RX0 interrupts.
*/
void CAN1_RX0_IRQHandler(void)
{
/* USER CODE BEGIN CAN1_RX0_IRQn 0 */
/* USER CODE END CAN1_RX0_IRQn 0 */
HAL_CAN_IRQHandler(&hcan1);
/* USER CODE BEGIN CAN1_RX0_IRQn 1 */
/* USER CODE END CAN1_RX0_IRQn 1 */
}
/**
* @brief This function handles CAN1 RX1 interrupt.
*/
void CAN1_RX1_IRQHandler(void)
{
/* USER CODE BEGIN CAN1_RX1_IRQn 0 */
/* USER CODE END CAN1_RX1_IRQn 0 */
HAL_CAN_IRQHandler(&hcan1);
/* USER CODE BEGIN CAN1_RX1_IRQn 1 */
/* USER CODE END CAN1_RX1_IRQn 1 */
}
/**
* @brief This function handles EXTI line[9:5] interrupts.
*/
void EXTI9_5_IRQHandler(void)
{
/* USER CODE BEGIN EXTI9_5_IRQn 0 */
/* USER CODE END EXTI9_5_IRQn 0 */
HAL_GPIO_EXTI_IRQHandler(INT1_GRYO_Pin);
/* USER CODE BEGIN EXTI9_5_IRQn 1 */
/* USER CODE END EXTI9_5_IRQn 1 */
}
/**
* @brief This function handles USART1 global interrupt.
*/
void USART1_IRQHandler(void)
{
/* USER CODE BEGIN USART1_IRQn 0 */
/* USER CODE END USART1_IRQn 0 */
HAL_UART_IRQHandler(&huart1);
/* USER CODE BEGIN USART1_IRQn 1 */
/* USER CODE END USART1_IRQn 1 */
}
/**
* @brief This function handles USART3 global interrupt.
*/
void USART3_IRQHandler(void)
{
/* USER CODE BEGIN USART3_IRQn 0 */
//中断接收遥控器数据
if (__HAL_UART_GET_FLAG(&huart3, UART_FLAG_IDLE))
{
Remote_UART_IDLE_Callback();
}
HAL_IWDG_Refresh(&hiwdg);
/* USER CODE END USART3_IRQn 0 */
HAL_UART_IRQHandler(&huart3);
/* USER CODE BEGIN USART3_IRQn 1 */
/* USER CODE END USART3_IRQn 1 */
}
/**
* @brief This function handles TIM6 global interrupt, DAC1 and DAC2 underrun error interrupts.
*/
void TIM6_DAC_IRQHandler(void)
{
/* USER CODE BEGIN TIM6_DAC_IRQn 0 */
Classis_Wheels_Control();
Chassis_CtoC_BMI088(&BMI088_Data);
// Classis_YawBig_Control();
/* USER CODE END TIM6_DAC_IRQn 0 */
HAL_TIM_IRQHandler(&htim6);
/* USER CODE BEGIN TIM6_DAC_IRQn 1 */
/* USER CODE END TIM6_DAC_IRQn 1 */
}
/**
* @brief This function handles DMA2 stream2 global interrupt.
*/
void DMA2_Stream2_IRQHandler(void)
{
/* USER CODE BEGIN DMA2_Stream2_IRQn 0 */
/* USER CODE END DMA2_Stream2_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_spi1_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 CAN2 RX0 interrupts.
*/
void CAN2_RX0_IRQHandler(void)
{
/* USER CODE BEGIN CAN2_RX0_IRQn 0 */
/* USER CODE END CAN2_RX0_IRQn 0 */
HAL_CAN_IRQHandler(&hcan2);
/* USER CODE BEGIN CAN2_RX0_IRQn 1 */
/* USER CODE END CAN2_RX0_IRQn 1 */
}
/**
* @brief This function handles CAN2 RX1 interrupt.
*/
void CAN2_RX1_IRQHandler(void)
{
/* USER CODE BEGIN CAN2_RX1_IRQn 0 */
/* USER CODE END CAN2_RX1_IRQn 0 */
HAL_CAN_IRQHandler(&hcan2);
/* USER CODE BEGIN CAN2_RX1_IRQn 1 */
/* USER CODE END CAN2_RX1_IRQn 1 */
}
/**
* @brief This function handles DMA2 stream7 global interrupt.
*/
void DMA2_Stream7_IRQHandler(void)
{
/* USER CODE BEGIN DMA2_Stream7_IRQn 0 */
/* USER CODE END DMA2_Stream7_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart1_tx);
/* USER CODE BEGIN DMA2_Stream7_IRQn 1 */
/* USER CODE END DMA2_Stream7_IRQn 1 */
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

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/**
******************************************************************************
* @file system_stm32f4xx.c
* @author MCD Application Team
* @brief CMSIS Cortex-M4 Device Peripheral Access Layer System Source File.
*
* This file provides two functions and one global variable to be called from
* user application:
* - SystemInit(): This function is called at startup just after reset and
* before branch to main program. This call is made inside
* the "startup_stm32f4xx.s" file.
*
* - SystemCoreClock variable: Contains the core clock (HCLK), it can be used
* by the user application to setup the SysTick
* timer or configure other parameters.
*
* - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must
* be called whenever the core clock is changed
* during program execution.
*
*
******************************************************************************
* @attention
*
* Copyright (c) 2017 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.
*
******************************************************************************
*/
/** @addtogroup CMSIS
* @{
*/
/** @addtogroup stm32f4xx_system
* @{
*/
/** @addtogroup STM32F4xx_System_Private_Includes
* @{
*/
#include "stm32f4xx.h"
#if !defined (HSE_VALUE)
#define HSE_VALUE ((uint32_t)25000000) /*!< Default value of the External oscillator in Hz */
#endif /* HSE_VALUE */
#if !defined (HSI_VALUE)
#define HSI_VALUE ((uint32_t)16000000) /*!< Value of the Internal oscillator in Hz*/
#endif /* HSI_VALUE */
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Private_TypesDefinitions
* @{
*/
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Private_Defines
* @{
*/
/************************* Miscellaneous Configuration ************************/
/*!< Uncomment the following line if you need to use external SRAM or SDRAM as data memory */
#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx)\
|| defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)\
|| defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) || defined(STM32F412Vx)
/* #define DATA_IN_ExtSRAM */
#endif /* STM32F40xxx || STM32F41xxx || STM32F42xxx || STM32F43xxx || STM32F469xx || STM32F479xx ||\
STM32F412Zx || STM32F412Vx */
#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)\
|| defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx)
/* #define DATA_IN_ExtSDRAM */
#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx ||\
STM32F479xx */
/* Note: Following vector table addresses must be defined in line with linker
configuration. */
/*!< Uncomment the following line if you need to relocate the vector table
anywhere in Flash or Sram, else the vector table is kept at the automatic
remap of boot address selected */
/* #define USER_VECT_TAB_ADDRESS */
#if defined(USER_VECT_TAB_ADDRESS)
/*!< Uncomment the following line if you need to relocate your vector Table
in Sram else user remap will be done in Flash. */
/* #define VECT_TAB_SRAM */
#if defined(VECT_TAB_SRAM)
#define VECT_TAB_BASE_ADDRESS SRAM_BASE /*!< Vector Table base address field.
This value must be a multiple of 0x200. */
#else
#define VECT_TAB_BASE_ADDRESS FLASH_BASE /*!< Vector Table base address field.
This value must be a multiple of 0x200. */
#endif /* VECT_TAB_SRAM */
#if !defined(VECT_TAB_OFFSET)
#define VECT_TAB_OFFSET 0x00000000U /*!< Vector Table offset field.
This value must be a multiple of 0x200. */
#endif /* VECT_TAB_OFFSET */
#endif /* USER_VECT_TAB_ADDRESS */
/******************************************************************************/
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Private_Macros
* @{
*/
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Private_Variables
* @{
*/
/* This variable is updated in three ways:
1) by calling CMSIS function SystemCoreClockUpdate()
2) by calling HAL API function HAL_RCC_GetHCLKFreq()
3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency
Note: If you use this function to configure the system clock; then there
is no need to call the 2 first functions listed above, since SystemCoreClock
variable is updated automatically.
*/
uint32_t SystemCoreClock = 16000000;
const uint8_t AHBPrescTable[16] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9};
const uint8_t APBPrescTable[8] = {0, 0, 0, 0, 1, 2, 3, 4};
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Private_FunctionPrototypes
* @{
*/
#if defined (DATA_IN_ExtSRAM) || defined (DATA_IN_ExtSDRAM)
static void SystemInit_ExtMemCtl(void);
#endif /* DATA_IN_ExtSRAM || DATA_IN_ExtSDRAM */
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Private_Functions
* @{
*/
/**
* @brief Setup the microcontroller system
* Initialize the FPU setting, vector table location and External memory
* configuration.
* @param None
* @retval None
*/
void SystemInit(void)
{
/* FPU settings ------------------------------------------------------------*/
#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
SCB->CPACR |= ((3UL << 10*2)|(3UL << 11*2)); /* set CP10 and CP11 Full Access */
#endif
#if defined (DATA_IN_ExtSRAM) || defined (DATA_IN_ExtSDRAM)
SystemInit_ExtMemCtl();
#endif /* DATA_IN_ExtSRAM || DATA_IN_ExtSDRAM */
/* Configure the Vector Table location -------------------------------------*/
#if defined(USER_VECT_TAB_ADDRESS)
SCB->VTOR = VECT_TAB_BASE_ADDRESS | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM */
#endif /* USER_VECT_TAB_ADDRESS */
}
/**
* @brief Update SystemCoreClock variable according to Clock Register Values.
* The SystemCoreClock variable contains the core clock (HCLK), it can
* be used by the user application to setup the SysTick timer or configure
* other parameters.
*
* @note Each time the core clock (HCLK) changes, this function must be called
* to update SystemCoreClock variable value. Otherwise, any configuration
* based on this variable will be incorrect.
*
* @note - The system frequency computed by this function is not the real
* frequency in the chip. It is calculated based on the predefined
* constant and the selected clock source:
*
* - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(*)
*
* - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(**)
*
* - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(**)
* or HSI_VALUE(*) multiplied/divided by the PLL factors.
*
* (*) HSI_VALUE is a constant defined in stm32f4xx_hal_conf.h file (default value
* 16 MHz) but the real value may vary depending on the variations
* in voltage and temperature.
*
* (**) HSE_VALUE is a constant defined in stm32f4xx_hal_conf.h file (its value
* depends on the application requirements), user has to ensure that HSE_VALUE
* is same as the real frequency of the crystal used. Otherwise, this function
* may have wrong result.
*
* - The result of this function could be not correct when using fractional
* value for HSE crystal.
*
* @param None
* @retval None
*/
void SystemCoreClockUpdate(void)
{
uint32_t tmp, pllvco, pllp, pllsource, pllm;
/* Get SYSCLK source -------------------------------------------------------*/
tmp = RCC->CFGR & RCC_CFGR_SWS;
switch (tmp)
{
case 0x00: /* HSI used as system clock source */
SystemCoreClock = HSI_VALUE;
break;
case 0x04: /* HSE used as system clock source */
SystemCoreClock = HSE_VALUE;
break;
case 0x08: /* PLL used as system clock source */
/* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLL_M) * PLL_N
SYSCLK = PLL_VCO / PLL_P
*/
pllsource = (RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) >> 22;
pllm = RCC->PLLCFGR & RCC_PLLCFGR_PLLM;
if (pllsource != 0)
{
/* HSE used as PLL clock source */
pllvco = (HSE_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6);
}
else
{
/* HSI used as PLL clock source */
pllvco = (HSI_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6);
}
pllp = (((RCC->PLLCFGR & RCC_PLLCFGR_PLLP) >>16) + 1 ) *2;
SystemCoreClock = pllvco/pllp;
break;
default:
SystemCoreClock = HSI_VALUE;
break;
}
/* Compute HCLK frequency --------------------------------------------------*/
/* Get HCLK prescaler */
tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4)];
/* HCLK frequency */
SystemCoreClock >>= tmp;
}
#if defined (DATA_IN_ExtSRAM) && defined (DATA_IN_ExtSDRAM)
#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)\
|| defined(STM32F469xx) || defined(STM32F479xx)
/**
* @brief Setup the external memory controller.
* Called in startup_stm32f4xx.s before jump to main.
* This function configures the external memories (SRAM/SDRAM)
* This SRAM/SDRAM will be used as program data memory (including heap and stack).
* @param None
* @retval None
*/
void SystemInit_ExtMemCtl(void)
{
__IO uint32_t tmp = 0x00;
register uint32_t tmpreg = 0, timeout = 0xFFFF;
register __IO uint32_t index;
/* Enable GPIOC, GPIOD, GPIOE, GPIOF, GPIOG, GPIOH and GPIOI interface clock */
RCC->AHB1ENR |= 0x000001F8;
/* Delay after an RCC peripheral clock enabling */
tmp = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOCEN);
/* Connect PDx pins to FMC Alternate function */
GPIOD->AFR[0] = 0x00CCC0CC;
GPIOD->AFR[1] = 0xCCCCCCCC;
/* Configure PDx pins in Alternate function mode */
GPIOD->MODER = 0xAAAA0A8A;
/* Configure PDx pins speed to 100 MHz */
GPIOD->OSPEEDR = 0xFFFF0FCF;
/* Configure PDx pins Output type to push-pull */
GPIOD->OTYPER = 0x00000000;
/* No pull-up, pull-down for PDx pins */
GPIOD->PUPDR = 0x00000000;
/* Connect PEx pins to FMC Alternate function */
GPIOE->AFR[0] = 0xC00CC0CC;
GPIOE->AFR[1] = 0xCCCCCCCC;
/* Configure PEx pins in Alternate function mode */
GPIOE->MODER = 0xAAAA828A;
/* Configure PEx pins speed to 100 MHz */
GPIOE->OSPEEDR = 0xFFFFC3CF;
/* Configure PEx pins Output type to push-pull */
GPIOE->OTYPER = 0x00000000;
/* No pull-up, pull-down for PEx pins */
GPIOE->PUPDR = 0x00000000;
/* Connect PFx pins to FMC Alternate function */
GPIOF->AFR[0] = 0xCCCCCCCC;
GPIOF->AFR[1] = 0xCCCCCCCC;
/* Configure PFx pins in Alternate function mode */
GPIOF->MODER = 0xAA800AAA;
/* Configure PFx pins speed to 50 MHz */
GPIOF->OSPEEDR = 0xAA800AAA;
/* Configure PFx pins Output type to push-pull */
GPIOF->OTYPER = 0x00000000;
/* No pull-up, pull-down for PFx pins */
GPIOF->PUPDR = 0x00000000;
/* Connect PGx pins to FMC Alternate function */
GPIOG->AFR[0] = 0xCCCCCCCC;
GPIOG->AFR[1] = 0xCCCCCCCC;
/* Configure PGx pins in Alternate function mode */
GPIOG->MODER = 0xAAAAAAAA;
/* Configure PGx pins speed to 50 MHz */
GPIOG->OSPEEDR = 0xAAAAAAAA;
/* Configure PGx pins Output type to push-pull */
GPIOG->OTYPER = 0x00000000;
/* No pull-up, pull-down for PGx pins */
GPIOG->PUPDR = 0x00000000;
/* Connect PHx pins to FMC Alternate function */
GPIOH->AFR[0] = 0x00C0CC00;
GPIOH->AFR[1] = 0xCCCCCCCC;
/* Configure PHx pins in Alternate function mode */
GPIOH->MODER = 0xAAAA08A0;
/* Configure PHx pins speed to 50 MHz */
GPIOH->OSPEEDR = 0xAAAA08A0;
/* Configure PHx pins Output type to push-pull */
GPIOH->OTYPER = 0x00000000;
/* No pull-up, pull-down for PHx pins */
GPIOH->PUPDR = 0x00000000;
/* Connect PIx pins to FMC Alternate function */
GPIOI->AFR[0] = 0xCCCCCCCC;
GPIOI->AFR[1] = 0x00000CC0;
/* Configure PIx pins in Alternate function mode */
GPIOI->MODER = 0x0028AAAA;
/* Configure PIx pins speed to 50 MHz */
GPIOI->OSPEEDR = 0x0028AAAA;
/* Configure PIx pins Output type to push-pull */
GPIOI->OTYPER = 0x00000000;
/* No pull-up, pull-down for PIx pins */
GPIOI->PUPDR = 0x00000000;
/*-- FMC Configuration -------------------------------------------------------*/
/* Enable the FMC interface clock */
RCC->AHB3ENR |= 0x00000001;
/* Delay after an RCC peripheral clock enabling */
tmp = READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FMCEN);
FMC_Bank5_6->SDCR[0] = 0x000019E4;
FMC_Bank5_6->SDTR[0] = 0x01115351;
/* SDRAM initialization sequence */
/* Clock enable command */
FMC_Bank5_6->SDCMR = 0x00000011;
tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
while((tmpreg != 0) && (timeout-- > 0))
{
tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
}
/* Delay */
for (index = 0; index<1000; index++);
/* PALL command */
FMC_Bank5_6->SDCMR = 0x00000012;
tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
timeout = 0xFFFF;
while((tmpreg != 0) && (timeout-- > 0))
{
tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
}
/* Auto refresh command */
FMC_Bank5_6->SDCMR = 0x00000073;
tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
timeout = 0xFFFF;
while((tmpreg != 0) && (timeout-- > 0))
{
tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
}
/* MRD register program */
FMC_Bank5_6->SDCMR = 0x00046014;
tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
timeout = 0xFFFF;
while((tmpreg != 0) && (timeout-- > 0))
{
tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
}
/* Set refresh count */
tmpreg = FMC_Bank5_6->SDRTR;
FMC_Bank5_6->SDRTR = (tmpreg | (0x0000027C<<1));
/* Disable write protection */
tmpreg = FMC_Bank5_6->SDCR[0];
FMC_Bank5_6->SDCR[0] = (tmpreg & 0xFFFFFDFF);
#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)
/* Configure and enable Bank1_SRAM2 */
FMC_Bank1->BTCR[2] = 0x00001011;
FMC_Bank1->BTCR[3] = 0x00000201;
FMC_Bank1E->BWTR[2] = 0x0fffffff;
#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx */
#if defined(STM32F469xx) || defined(STM32F479xx)
/* Configure and enable Bank1_SRAM2 */
FMC_Bank1->BTCR[2] = 0x00001091;
FMC_Bank1->BTCR[3] = 0x00110212;
FMC_Bank1E->BWTR[2] = 0x0fffffff;
#endif /* STM32F469xx || STM32F479xx */
(void)(tmp);
}
#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */
#elif defined (DATA_IN_ExtSRAM) || defined (DATA_IN_ExtSDRAM)
/**
* @brief Setup the external memory controller.
* Called in startup_stm32f4xx.s before jump to main.
* This function configures the external memories (SRAM/SDRAM)
* This SRAM/SDRAM will be used as program data memory (including heap and stack).
* @param None
* @retval None
*/
void SystemInit_ExtMemCtl(void)
{
__IO uint32_t tmp = 0x00;
#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)\
|| defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx)
#if defined (DATA_IN_ExtSDRAM)
register uint32_t tmpreg = 0, timeout = 0xFFFF;
register __IO uint32_t index;
#if defined(STM32F446xx)
/* Enable GPIOA, GPIOC, GPIOD, GPIOE, GPIOF, GPIOG interface
clock */
RCC->AHB1ENR |= 0x0000007D;
#else
/* Enable GPIOC, GPIOD, GPIOE, GPIOF, GPIOG, GPIOH and GPIOI interface
clock */
RCC->AHB1ENR |= 0x000001F8;
#endif /* STM32F446xx */
/* Delay after an RCC peripheral clock enabling */
tmp = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOCEN);
#if defined(STM32F446xx)
/* Connect PAx pins to FMC Alternate function */
GPIOA->AFR[0] |= 0xC0000000;
GPIOA->AFR[1] |= 0x00000000;
/* Configure PDx pins in Alternate function mode */
GPIOA->MODER |= 0x00008000;
/* Configure PDx pins speed to 50 MHz */
GPIOA->OSPEEDR |= 0x00008000;
/* Configure PDx pins Output type to push-pull */
GPIOA->OTYPER |= 0x00000000;
/* No pull-up, pull-down for PDx pins */
GPIOA->PUPDR |= 0x00000000;
/* Connect PCx pins to FMC Alternate function */
GPIOC->AFR[0] |= 0x00CC0000;
GPIOC->AFR[1] |= 0x00000000;
/* Configure PDx pins in Alternate function mode */
GPIOC->MODER |= 0x00000A00;
/* Configure PDx pins speed to 50 MHz */
GPIOC->OSPEEDR |= 0x00000A00;
/* Configure PDx pins Output type to push-pull */
GPIOC->OTYPER |= 0x00000000;
/* No pull-up, pull-down for PDx pins */
GPIOC->PUPDR |= 0x00000000;
#endif /* STM32F446xx */
/* Connect PDx pins to FMC Alternate function */
GPIOD->AFR[0] = 0x000000CC;
GPIOD->AFR[1] = 0xCC000CCC;
/* Configure PDx pins in Alternate function mode */
GPIOD->MODER = 0xA02A000A;
/* Configure PDx pins speed to 50 MHz */
GPIOD->OSPEEDR = 0xA02A000A;
/* Configure PDx pins Output type to push-pull */
GPIOD->OTYPER = 0x00000000;
/* No pull-up, pull-down for PDx pins */
GPIOD->PUPDR = 0x00000000;
/* Connect PEx pins to FMC Alternate function */
GPIOE->AFR[0] = 0xC00000CC;
GPIOE->AFR[1] = 0xCCCCCCCC;
/* Configure PEx pins in Alternate function mode */
GPIOE->MODER = 0xAAAA800A;
/* Configure PEx pins speed to 50 MHz */
GPIOE->OSPEEDR = 0xAAAA800A;
/* Configure PEx pins Output type to push-pull */
GPIOE->OTYPER = 0x00000000;
/* No pull-up, pull-down for PEx pins */
GPIOE->PUPDR = 0x00000000;
/* Connect PFx pins to FMC Alternate function */
GPIOF->AFR[0] = 0xCCCCCCCC;
GPIOF->AFR[1] = 0xCCCCCCCC;
/* Configure PFx pins in Alternate function mode */
GPIOF->MODER = 0xAA800AAA;
/* Configure PFx pins speed to 50 MHz */
GPIOF->OSPEEDR = 0xAA800AAA;
/* Configure PFx pins Output type to push-pull */
GPIOF->OTYPER = 0x00000000;
/* No pull-up, pull-down for PFx pins */
GPIOF->PUPDR = 0x00000000;
/* Connect PGx pins to FMC Alternate function */
GPIOG->AFR[0] = 0xCCCCCCCC;
GPIOG->AFR[1] = 0xCCCCCCCC;
/* Configure PGx pins in Alternate function mode */
GPIOG->MODER = 0xAAAAAAAA;
/* Configure PGx pins speed to 50 MHz */
GPIOG->OSPEEDR = 0xAAAAAAAA;
/* Configure PGx pins Output type to push-pull */
GPIOG->OTYPER = 0x00000000;
/* No pull-up, pull-down for PGx pins */
GPIOG->PUPDR = 0x00000000;
#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)\
|| defined(STM32F469xx) || defined(STM32F479xx)
/* Connect PHx pins to FMC Alternate function */
GPIOH->AFR[0] = 0x00C0CC00;
GPIOH->AFR[1] = 0xCCCCCCCC;
/* Configure PHx pins in Alternate function mode */
GPIOH->MODER = 0xAAAA08A0;
/* Configure PHx pins speed to 50 MHz */
GPIOH->OSPEEDR = 0xAAAA08A0;
/* Configure PHx pins Output type to push-pull */
GPIOH->OTYPER = 0x00000000;
/* No pull-up, pull-down for PHx pins */
GPIOH->PUPDR = 0x00000000;
/* Connect PIx pins to FMC Alternate function */
GPIOI->AFR[0] = 0xCCCCCCCC;
GPIOI->AFR[1] = 0x00000CC0;
/* Configure PIx pins in Alternate function mode */
GPIOI->MODER = 0x0028AAAA;
/* Configure PIx pins speed to 50 MHz */
GPIOI->OSPEEDR = 0x0028AAAA;
/* Configure PIx pins Output type to push-pull */
GPIOI->OTYPER = 0x00000000;
/* No pull-up, pull-down for PIx pins */
GPIOI->PUPDR = 0x00000000;
#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */
/*-- FMC Configuration -------------------------------------------------------*/
/* Enable the FMC interface clock */
RCC->AHB3ENR |= 0x00000001;
/* Delay after an RCC peripheral clock enabling */
tmp = READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FMCEN);
/* Configure and enable SDRAM bank1 */
#if defined(STM32F446xx)
FMC_Bank5_6->SDCR[0] = 0x00001954;
#else
FMC_Bank5_6->SDCR[0] = 0x000019E4;
#endif /* STM32F446xx */
FMC_Bank5_6->SDTR[0] = 0x01115351;
/* SDRAM initialization sequence */
/* Clock enable command */
FMC_Bank5_6->SDCMR = 0x00000011;
tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
while((tmpreg != 0) && (timeout-- > 0))
{
tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
}
/* Delay */
for (index = 0; index<1000; index++);
/* PALL command */
FMC_Bank5_6->SDCMR = 0x00000012;
tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
timeout = 0xFFFF;
while((tmpreg != 0) && (timeout-- > 0))
{
tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
}
/* Auto refresh command */
#if defined(STM32F446xx)
FMC_Bank5_6->SDCMR = 0x000000F3;
#else
FMC_Bank5_6->SDCMR = 0x00000073;
#endif /* STM32F446xx */
tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
timeout = 0xFFFF;
while((tmpreg != 0) && (timeout-- > 0))
{
tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
}
/* MRD register program */
#if defined(STM32F446xx)
FMC_Bank5_6->SDCMR = 0x00044014;
#else
FMC_Bank5_6->SDCMR = 0x00046014;
#endif /* STM32F446xx */
tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
timeout = 0xFFFF;
while((tmpreg != 0) && (timeout-- > 0))
{
tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
}
/* Set refresh count */
tmpreg = FMC_Bank5_6->SDRTR;
#if defined(STM32F446xx)
FMC_Bank5_6->SDRTR = (tmpreg | (0x0000050C<<1));
#else
FMC_Bank5_6->SDRTR = (tmpreg | (0x0000027C<<1));
#endif /* STM32F446xx */
/* Disable write protection */
tmpreg = FMC_Bank5_6->SDCR[0];
FMC_Bank5_6->SDCR[0] = (tmpreg & 0xFFFFFDFF);
#endif /* DATA_IN_ExtSDRAM */
#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx */
#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx)\
|| defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)\
|| defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) || defined(STM32F412Vx)
#if defined(DATA_IN_ExtSRAM)
/*-- GPIOs Configuration -----------------------------------------------------*/
/* Enable GPIOD, GPIOE, GPIOF and GPIOG interface clock */
RCC->AHB1ENR |= 0x00000078;
/* Delay after an RCC peripheral clock enabling */
tmp = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIODEN);
/* Connect PDx pins to FMC Alternate function */
GPIOD->AFR[0] = 0x00CCC0CC;
GPIOD->AFR[1] = 0xCCCCCCCC;
/* Configure PDx pins in Alternate function mode */
GPIOD->MODER = 0xAAAA0A8A;
/* Configure PDx pins speed to 100 MHz */
GPIOD->OSPEEDR = 0xFFFF0FCF;
/* Configure PDx pins Output type to push-pull */
GPIOD->OTYPER = 0x00000000;
/* No pull-up, pull-down for PDx pins */
GPIOD->PUPDR = 0x00000000;
/* Connect PEx pins to FMC Alternate function */
GPIOE->AFR[0] = 0xC00CC0CC;
GPIOE->AFR[1] = 0xCCCCCCCC;
/* Configure PEx pins in Alternate function mode */
GPIOE->MODER = 0xAAAA828A;
/* Configure PEx pins speed to 100 MHz */
GPIOE->OSPEEDR = 0xFFFFC3CF;
/* Configure PEx pins Output type to push-pull */
GPIOE->OTYPER = 0x00000000;
/* No pull-up, pull-down for PEx pins */
GPIOE->PUPDR = 0x00000000;
/* Connect PFx pins to FMC Alternate function */
GPIOF->AFR[0] = 0x00CCCCCC;
GPIOF->AFR[1] = 0xCCCC0000;
/* Configure PFx pins in Alternate function mode */
GPIOF->MODER = 0xAA000AAA;
/* Configure PFx pins speed to 100 MHz */
GPIOF->OSPEEDR = 0xFF000FFF;
/* Configure PFx pins Output type to push-pull */
GPIOF->OTYPER = 0x00000000;
/* No pull-up, pull-down for PFx pins */
GPIOF->PUPDR = 0x00000000;
/* Connect PGx pins to FMC Alternate function */
GPIOG->AFR[0] = 0x00CCCCCC;
GPIOG->AFR[1] = 0x000000C0;
/* Configure PGx pins in Alternate function mode */
GPIOG->MODER = 0x00085AAA;
/* Configure PGx pins speed to 100 MHz */
GPIOG->OSPEEDR = 0x000CAFFF;
/* Configure PGx pins Output type to push-pull */
GPIOG->OTYPER = 0x00000000;
/* No pull-up, pull-down for PGx pins */
GPIOG->PUPDR = 0x00000000;
/*-- FMC/FSMC Configuration --------------------------------------------------*/
/* Enable the FMC/FSMC interface clock */
RCC->AHB3ENR |= 0x00000001;
#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)
/* Delay after an RCC peripheral clock enabling */
tmp = READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FMCEN);
/* Configure and enable Bank1_SRAM2 */
FMC_Bank1->BTCR[2] = 0x00001011;
FMC_Bank1->BTCR[3] = 0x00000201;
FMC_Bank1E->BWTR[2] = 0x0fffffff;
#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx */
#if defined(STM32F469xx) || defined(STM32F479xx)
/* Delay after an RCC peripheral clock enabling */
tmp = READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FMCEN);
/* Configure and enable Bank1_SRAM2 */
FMC_Bank1->BTCR[2] = 0x00001091;
FMC_Bank1->BTCR[3] = 0x00110212;
FMC_Bank1E->BWTR[2] = 0x0fffffff;
#endif /* STM32F469xx || STM32F479xx */
#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx)|| defined(STM32F417xx)\
|| defined(STM32F412Zx) || defined(STM32F412Vx)
/* Delay after an RCC peripheral clock enabling */
tmp = READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FSMCEN);
/* Configure and enable Bank1_SRAM2 */
FSMC_Bank1->BTCR[2] = 0x00001011;
FSMC_Bank1->BTCR[3] = 0x00000201;
FSMC_Bank1E->BWTR[2] = 0x0FFFFFFF;
#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F412Zx || STM32F412Vx */
#endif /* DATA_IN_ExtSRAM */
#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F427xx || STM32F437xx ||\
STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx || STM32F412Zx || STM32F412Vx */
(void)(tmp);
}
#endif /* DATA_IN_ExtSRAM && DATA_IN_ExtSDRAM */
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file tim.c
* @brief This file provides code for the configuration
* of the TIM instances.
******************************************************************************
* @attention
*
* Copyright (c) 2026 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 "tim.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
TIM_HandleTypeDef htim6;
TIM_HandleTypeDef htim10;
/* TIM6 init function */
void MX_TIM6_Init(void)
{
/* USER CODE BEGIN TIM6_Init 0 */
/* USER CODE END TIM6_Init 0 */
TIM_MasterConfigTypeDef sMasterConfig = {0};
/* USER CODE BEGIN TIM6_Init 1 */
/* USER CODE END TIM6_Init 1 */
htim6.Instance = TIM6;
htim6.Init.Prescaler = 84-1;
htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
htim6.Init.Period = 1000-1;
htim6.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim6) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim6, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM6_Init 2 */
/* USER CODE END TIM6_Init 2 */
}
/* TIM10 init function */
void MX_TIM10_Init(void)
{
/* USER CODE BEGIN TIM10_Init 0 */
/* USER CODE END TIM10_Init 0 */
TIM_OC_InitTypeDef sConfigOC = {0};
/* USER CODE BEGIN TIM10_Init 1 */
/* USER CODE END TIM10_Init 1 */
htim10.Instance = TIM10;
htim10.Init.Prescaler = 0;
htim10.Init.CounterMode = TIM_COUNTERMODE_UP;
htim10.Init.Period = 4999;
htim10.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim10.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim10) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_Init(&htim10) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim10, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM10_Init 2 */
/* USER CODE END TIM10_Init 2 */
HAL_TIM_MspPostInit(&htim10);
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
{
if(tim_baseHandle->Instance==TIM6)
{
/* USER CODE BEGIN TIM6_MspInit 0 */
/* USER CODE END TIM6_MspInit 0 */
/* TIM6 clock enable */
__HAL_RCC_TIM6_CLK_ENABLE();
/* TIM6 interrupt Init */
HAL_NVIC_SetPriority(TIM6_DAC_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
/* USER CODE BEGIN TIM6_MspInit 1 */
/* USER CODE END TIM6_MspInit 1 */
}
else if(tim_baseHandle->Instance==TIM10)
{
/* USER CODE BEGIN TIM10_MspInit 0 */
/* USER CODE END TIM10_MspInit 0 */
/* TIM10 clock enable */
__HAL_RCC_TIM10_CLK_ENABLE();
/* USER CODE BEGIN TIM10_MspInit 1 */
/* USER CODE END TIM10_MspInit 1 */
}
}
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(timHandle->Instance==TIM10)
{
/* USER CODE BEGIN TIM10_MspPostInit 0 */
/* USER CODE END TIM10_MspPostInit 0 */
__HAL_RCC_GPIOF_CLK_ENABLE();
/**TIM10 GPIO Configuration
PF6 ------> TIM10_CH1
*/
GPIO_InitStruct.Pin = GPIO_PIN_6;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF3_TIM10;
HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
/* USER CODE BEGIN TIM10_MspPostInit 1 */
/* USER CODE END TIM10_MspPostInit 1 */
}
}
void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
{
if(tim_baseHandle->Instance==TIM6)
{
/* USER CODE BEGIN TIM6_MspDeInit 0 */
/* USER CODE END TIM6_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM6_CLK_DISABLE();
/* TIM6 interrupt Deinit */
HAL_NVIC_DisableIRQ(TIM6_DAC_IRQn);
/* USER CODE BEGIN TIM6_MspDeInit 1 */
/* USER CODE END TIM6_MspDeInit 1 */
}
else if(tim_baseHandle->Instance==TIM10)
{
/* USER CODE BEGIN TIM10_MspDeInit 0 */
/* USER CODE END TIM10_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM10_CLK_DISABLE();
/* USER CODE BEGIN TIM10_MspDeInit 1 */
/* USER CODE END TIM10_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file usart.c
* @brief This file provides code for the configuration
* of the USART instances.
******************************************************************************
* @attention
*
* Copyright (c) 2026 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 "usart.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
UART_HandleTypeDef huart1;
UART_HandleTypeDef huart3;
DMA_HandleTypeDef hdma_usart1_tx;
DMA_HandleTypeDef hdma_usart3_rx;
/* USART1 init function */
void MX_USART1_UART_Init(void)
{
/* USER CODE BEGIN USART1_Init 0 */
/* USER CODE END USART1_Init 0 */
/* USER CODE BEGIN USART1_Init 1 */
/* USER CODE END USART1_Init 1 */
huart1.Instance = USART1;
huart1.Init.BaudRate = 115200;
huart1.Init.WordLength = UART_WORDLENGTH_8B;
huart1.Init.StopBits = UART_STOPBITS_1;
huart1.Init.Parity = UART_PARITY_NONE;
huart1.Init.Mode = UART_MODE_TX_RX;
huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart1.Init.OverSampling = UART_OVERSAMPLING_16;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
/* USER CODE END USART1_Init 2 */
}
/* USART3 init function */
void MX_USART3_UART_Init(void)
{
/* USER CODE BEGIN USART3_Init 0 */
/* USER CODE END USART3_Init 0 */
/* USER CODE BEGIN USART3_Init 1 */
/* USER CODE END USART3_Init 1 */
huart3.Instance = USART3;
huart3.Init.BaudRate = 100000;
huart3.Init.WordLength = UART_WORDLENGTH_8B;
huart3.Init.StopBits = UART_STOPBITS_1;
huart3.Init.Parity = UART_PARITY_EVEN;
huart3.Init.Mode = UART_MODE_RX;
huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart3.Init.OverSampling = UART_OVERSAMPLING_16;
if (HAL_UART_Init(&huart3) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART3_Init 2 */
/* USER CODE END USART3_Init 2 */
}
void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(uartHandle->Instance==USART1)
{
/* USER CODE BEGIN USART1_MspInit 0 */
/* USER CODE END USART1_MspInit 0 */
/* USART1 clock enable */
__HAL_RCC_USART1_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**USART1 GPIO Configuration
PB7 ------> USART1_RX
PA9 ------> USART1_TX
*/
GPIO_InitStruct.Pin = GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USART1 DMA Init */
/* USART1_TX Init */
hdma_usart1_tx.Instance = DMA2_Stream7;
hdma_usart1_tx.Init.Channel = DMA_CHANNEL_4;
hdma_usart1_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
hdma_usart1_tx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_usart1_tx.Init.MemInc = DMA_MINC_ENABLE;
hdma_usart1_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_usart1_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_usart1_tx.Init.Mode = DMA_NORMAL;
hdma_usart1_tx.Init.Priority = DMA_PRIORITY_LOW;
hdma_usart1_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma_usart1_tx) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(uartHandle,hdmatx,hdma_usart1_tx);
/* USART1 interrupt Init */
HAL_NVIC_SetPriority(USART1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(USART1_IRQn);
/* USER CODE BEGIN USART1_MspInit 1 */
/* USER CODE END USART1_MspInit 1 */
}
else if(uartHandle->Instance==USART3)
{
/* USER CODE BEGIN USART3_MspInit 0 */
/* USER CODE END USART3_MspInit 0 */
/* USART3 clock enable */
__HAL_RCC_USART3_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
/**USART3 GPIO Configuration
PC11 ------> USART3_RX
PC10 ------> USART3_TX
*/
GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_10;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF7_USART3;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/* USART3 DMA Init */
/* USART3_RX Init */
hdma_usart3_rx.Instance = DMA1_Stream1;
hdma_usart3_rx.Init.Channel = DMA_CHANNEL_4;
hdma_usart3_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_usart3_rx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_usart3_rx.Init.MemInc = DMA_MINC_ENABLE;
hdma_usart3_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_usart3_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_usart3_rx.Init.Mode = DMA_CIRCULAR;
hdma_usart3_rx.Init.Priority = DMA_PRIORITY_VERY_HIGH;
hdma_usart3_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma_usart3_rx) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(uartHandle,hdmarx,hdma_usart3_rx);
/* USART3 interrupt Init */
HAL_NVIC_SetPriority(USART3_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(USART3_IRQn);
/* USER CODE BEGIN USART3_MspInit 1 */
/* USER CODE END USART3_MspInit 1 */
}
}
void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
{
if(uartHandle->Instance==USART1)
{
/* USER CODE BEGIN USART1_MspDeInit 0 */
/* USER CODE END USART1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_USART1_CLK_DISABLE();
/**USART1 GPIO Configuration
PB7 ------> USART1_RX
PA9 ------> USART1_TX
*/
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_7);
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9);
/* USART1 DMA DeInit */
HAL_DMA_DeInit(uartHandle->hdmatx);
/* USART1 interrupt Deinit */
HAL_NVIC_DisableIRQ(USART1_IRQn);
/* USER CODE BEGIN USART1_MspDeInit 1 */
/* USER CODE END USART1_MspDeInit 1 */
}
else if(uartHandle->Instance==USART3)
{
/* USER CODE BEGIN USART3_MspDeInit 0 */
/* USER CODE END USART3_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_USART3_CLK_DISABLE();
/**USART3 GPIO Configuration
PC11 ------> USART3_RX
PC10 ------> USART3_TX
*/
HAL_GPIO_DeInit(GPIOC, GPIO_PIN_11|GPIO_PIN_10);
/* USART3 DMA DeInit */
HAL_DMA_DeInit(uartHandle->hdmarx);
/* USART3 interrupt Deinit */
HAL_NVIC_DisableIRQ(USART3_IRQn);
/* USER CODE BEGIN USART3_MspDeInit 1 */
/* USER CODE END USART3_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */