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Beyond-Stars-ai
2025-12-22 17:06:53 +08:00
parent bc088348bd
commit 0621b4b81b
28 changed files with 5004 additions and 0 deletions
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557
Core/Src/can.c Normal file
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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) 2025 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 */
#include "CToC.h"
#include "GM6020.h"
#include "M2006.h"
#include "M3508.h"
uint8_t CAN_CAN1DeviceNumber = 4; // CAN1总线上设备数量
uint8_t CAN_CAN2DeviceNumber = 2; // CAN2总线上设备数量
uint8_t CAN_DeviceNumber = 6; // CAN总线上设备数量
uint32_t CAN_CAN1IDList[10][2] = {{CAN_GM6020, GM6020_2}, {CAN_M2006, M2006_7}, {CAN_M3508, M3508_1}, {CAN_M3508, M3508_2}, 0}; // CAN1总线上设备ID列表
uint32_t CAN_CAN2IDList[10][2] = {{CAN_GM6020, GM6020_1}, {CAN_RoboMasterC, CToC_MasterID1}, 0}; // CAN2总线上设备ID列表
int8_t CAN_IDSelect = 0; // CAN总线上ID列表选择位
/* 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 = ENABLE;
hcan1.Init.AutoWakeUp = ENABLE;
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 = ENABLE;
hcan2.Init.AutoWakeUp = ENABLE;
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, 5, 0);
HAL_NVIC_EnableIRQ(CAN1_RX0_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_RX1_IRQn, 5, 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);
/* 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_RX1_IRQn);
/* USER CODE BEGIN CAN2_MspDeInit 1 */
/* USER CODE END CAN2_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/*
*函数简介:CAN1总线接收报文
*参数说明:报文存储数组
*返回类型:报文ID
*备注:默认8字节标准数据帧
*备注:没有接收到数据,直接退出,返回0
*/
uint32_t CAN_CAN1Receive(uint8_t *Data)
{
CAN_RxHeaderTypeDef RxHeader;
uint8_t RxData[8];
if (HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)
{
return 0; // 没有接收到数据，直接退出
}
// 复制接收到的数据
for (uint8_t i = 0; i < 8; i++)
{
Data[i] = RxData[i];
}
return RxHeader.StdId; // 返回标准ID
}
/*
*函数简介:CAN2总线接收报文
*参数说明:报文存储数组
*返回类型:报文ID
*备注:默认8字节数据
*备注:没有接收到数据,直接退出,返回0
*/
uint32_t CAN_CAN2Receive(uint8_t *Data)
{
CAN_RxHeaderTypeDef RxHeader;
uint8_t RxData[8];
if (HAL_CAN_GetRxMessage(&hcan2, CAN_RX_FIFO1, &RxHeader, RxData) != HAL_OK)
{
return 0;
}
for (uint8_t i = 0; i < 8; i++)
{
Data[i] = RxData[i];
}
return RxHeader.StdId;
}
/*
*函数简介:CAN1总线更改接收ID
*参数说明:接收ID
*返回类型:无
*备注:无
*/
void CAN_CAN1ChangeID(uint32_t ID)
{
// CAN_FilterTypeDef sFilterConfig;
// // 配置过滤器
// sFilterConfig.FilterBank = 0; // 使用过滤器0
// sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK; // 掩码模式
// sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT; // 32位过滤器
// // ID配置：标准ID左移5位
// sFilterConfig.FilterIdHigh = (ID << 5) >> 16; // ID高16位
// sFilterConfig.FilterIdLow = (ID << 5) & 0xFFFF; // ID低16位
// // 掩码配置：0xFFE3直接赋值
// sFilterConfig.FilterMaskIdHigh = 0xFFE3; // 掩码高16位
// sFilterConfig.FilterMaskIdLow = 0xFFE3; // 掩码低16位
// sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0; // 分配到FIFO0
// sFilterConfig.FilterActivation = ENABLE; // 激活过滤器
// sFilterConfig.SlaveStartFilterBank = 14; // 从CAN2开始使用的过滤器编号
CAN_FilterTypeDef sFilterConfig;
// 配置过滤器
sFilterConfig.FilterBank = 0; // 使用过滤器0
sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK; // 掩码模式
sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT; // 32位过滤器
// ID配置：标准ID左移5位
sFilterConfig.FilterIdHigh = (ID << 5) >> 16; // ID高16位
sFilterConfig.FilterIdLow = (ID << 5) & 0xFFFF; // ID低16位
// 掩码配置：0xFFE3直接赋值
sFilterConfig.FilterMaskIdHigh = 0xFFE3; // 掩码高16位-
sFilterConfig.FilterMaskIdLow = 0xFFE3; // 掩码低16位
// 配置过滤器（使用 16-bit scale，保持与原寄存器行为一致）
sFilterConfig.FilterBank = 0; // 使用过滤器0
sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK; // 掩码模式
sFilterConfig.FilterScale = CAN_FILTERSCALE_16BIT; // 16位过滤器（与原实现一致）
// 16-bit 尺度下，把 (ID << 5) 放入 16 位字段
sFilterConfig.FilterIdHigh = (uint16_t)((ID << 5) & 0xFFFF);
sFilterConfig.FilterIdLow = (uint16_t)((ID << 5) & 0xFFFF);
// 掩码配置（16 位尺度下放到相应字段）
sFilterConfig.FilterMaskIdHigh = 0xFFE3;
sFilterConfig.FilterMaskIdLow = 0xFFE3;
sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0; // 分配到FIFO0
sFilterConfig.FilterActivation = ENABLE; // 激活过滤器
sFilterConfig.SlaveStartFilterBank = 14; // 从CAN2开始使用的过滤器编号
// 配置过滤器
if (HAL_CAN_ConfigFilter(&hcan1, &sFilterConfig) != HAL_OK)
{
Error_Handler();
}
}
/*
*函数简介:CAN2总线更改接收ID
*参数说明:接收ID
*返回类型:无
*备注:无
*/
void CAN_CAN2ChangeID(uint32_t ID)
{
CAN_FilterTypeDef sFilterConfig;
// 配置过滤器（使用 16-bit scale）
sFilterConfig.FilterBank = 15; // 使用过滤器15 (CAN2 区域)
sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK; // 掩码模式
sFilterConfig.FilterScale = CAN_FILTERSCALE_16BIT; // 16位过滤器
sFilterConfig.FilterIdHigh = (uint16_t)((ID << 5) & 0xFFFF);
sFilterConfig.FilterIdLow = (uint16_t)((ID << 5) & 0xFFFF);
sFilterConfig.FilterMaskIdHigh = 0xFFE3;
sFilterConfig.FilterMaskIdLow = 0xFFE3;
sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO1; // 分配到FIFO1
sFilterConfig.FilterActivation = ENABLE; // 激活过滤器
sFilterConfig.SlaveStartFilterBank = 14; // 从CAN2开始使用的过滤器编号
// CAN_FilterTypeDef sFilterConfig;
// // 配置过滤器
// sFilterConfig.FilterBank = 15; // 使用过滤器15
// sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK; // 掩码模式
// sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT; // 32位过滤器
// // ID配置：标准ID左移5位
// sFilterConfig.FilterIdHigh = (ID << 5) >> 16; // ID高16位
// sFilterConfig.FilterIdLow = (ID << 5) & 0xFFFF; // ID低16位
// // 掩码配置：0xFFE3直接赋值
// sFilterConfig.FilterMaskIdHigh = 0xFFE3; // 掩码高16位
// sFilterConfig.FilterMaskIdLow = 0xFFE3; // 掩码低16位
// sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO1; // 分配到FIFO1
// sFilterConfig.FilterActivation = ENABLE; // 激活过滤器
// sFilterConfig.SlaveStartFilterBank = 14; // 从CAN2开始使用的过滤器编号
// 配置过滤器
if (HAL_CAN_ConfigFilter(&hcan2, &sFilterConfig) != HAL_OK)
{
Error_Handler();
}
}
/*
*函数简介:CAN接收ID列表复位
*参数说明:无
*返回类型:无
*备注:复位CAN_IDSelect,重新从CAN1的1号设备开始接收
*/
void CAN_CANIDReset(void)
{
CAN_IDSelect = 0;
CAN_CAN1ChangeID(CAN_CAN1IDList[0][1]);
CAN_CAN2ChangeID(0x000);
}
/*
*函数简介:CAN接收获取裁判系统状态
*参数说明:无
*返回类型:无
*备注:跳转到接收底盘C板的回传数据,主要用于发射机构掉电时的CAN设备隔离
*/
void CAN_CAN_GetRefereeSystemData(void)
{
CAN_IDSelect = 5;
CAN_CAN1ChangeID(0x000);
CAN_CAN2ChangeID(CAN_CAN2IDList[1][1]);
}
/*
*函数简介:CAN1_FIFO0接收中断函数
*参数说明:无
*返回类型:无
*备注:进入中断时关闭连接检测计时,离开中断时重新打开连接检测计时
*备注:某一设备掉线时,CAN_IDSelect会停留在当前设备在ID列表的索引
*备注:从掉线到重新连接时会重启遥控器
*/
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
if (hcan->Instance == CAN1)
{
uint8_t Data[8];
uint32_t ID = CAN_CAN1Receive(Data);
// 暂时注释掉连接检测相关功能
/*
LinkCheck_OFF();
if(LinkCheck_ErrorID >= 0 && LinkCheck_ErrorID < CAN_CAN1DeviceNumber)
{
if(ID == CAN_CAN1IDList[LinkCheck_ErrorID][1])
{
LinkCheck_ErrorID = -1;
LinkCheck_Error = 0;
Warming_BuzzerClean();
}
}
*/
// if(CAN_CAN1IDList[CAN_IDSelect][0] == CAN_M3508)
// M3508_CANDataProcess(ID, Data);
// else if(CAN_CAN1IDList[CAN_IDSelect][0] == CAN_M2006)
// M2006_CANDataProcess(ID, Data);
// else
// GM6020_CANDataProcess(ID, Data);
// 保留ID切换逻辑
CAN_IDSelect = (CAN_IDSelect + 1) % CAN_DeviceNumber;
if (CAN_IDSelect >= 0 && CAN_IDSelect < CAN_CAN1DeviceNumber)
{
CAN_CAN1ChangeID(CAN_CAN1IDList[CAN_IDSelect][1]);
CAN_CAN2ChangeID(0x000);
}
else
{
CAN_CAN1ChangeID(0x000);
CAN_CAN2ChangeID(CAN_CAN2IDList[CAN_IDSelect - CAN_CAN1DeviceNumber][1]);
}
// 暂时注释掉发射机构相关功能
/*
if(RefereeSystem_ShooterOpenFlag == 1)
{
RefereeSystem_ShooterOpenCounter++;
if(RefereeSystem_ShooterOpenCounter >= 5000)
{
RefereeSystem_ShooterOpenCounter = 0;
RefereeSystem_ShooterOpenFlag = 0;
CAN_CAN1DeviceNumber = 4;
CAN_DeviceNumber = 6;
}
}
*/
// 暂时注释掉连接检测
// LinkCheck_ON();
}
}
/*
*函数简介:CAN2_FIFO1接收中断函数
*参数说明:无
*返回类型:无
*备注:进入中断时关闭连接检测计时,离开中断时重新打开连接检测计时
*备注:某一设备掉线时,CAN_IDSelect会停留在当前设备在ID列表的索引
*/
void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
if (hcan->Instance == CAN2)
{
uint8_t Data[8];
uint32_t ID = CAN_CAN2Receive(Data);
// 暂时注释掉连接检测相关功能
/*
LinkCheck_OFF();
if(LinkCheck_ErrorID >= CAN_CAN1DeviceNumber && LinkCheck_ErrorID < CAN_DeviceNumber)
{
if(ID == CAN_CAN2IDList[LinkCheck_ErrorID-CAN_CAN1DeviceNumber][1])
{
LinkCheck_ErrorID = -1;
LinkCheck_Error = 0;
Warming_BuzzerClean();
}
}
*/
// if(CAN_CAN2IDList[CAN_IDSelect-CAN_CAN1DeviceNumber][0] == CAN_GM6020)
// GM6020_CANDataProcess(ID, Data);
// else
if(CAN_CAN2IDList[CAN_IDSelect-CAN_CAN1DeviceNumber][0] == CAN_RoboMasterC){
CToC_CANDataProcess(ID, Data);
}
// 保留ID切换逻辑
CAN_IDSelect = (CAN_IDSelect + 1) % CAN_DeviceNumber;
if (CAN_IDSelect >= 0 && CAN_IDSelect < CAN_CAN1DeviceNumber)
{
CAN_CAN1ChangeID(CAN_CAN1IDList[CAN_IDSelect][1]);
CAN_CAN2ChangeID(0x000);
}
else
{
CAN_CAN1ChangeID(0x000);
CAN_CAN2ChangeID(CAN_CAN2IDList[CAN_IDSelect - CAN_CAN1DeviceNumber][1]);
}
// 暂时注释掉发射机构相关功能
/*
if(RefereeSystem_ShooterOpenFlag == 1)
{
RefereeSystem_ShooterOpenCounter++;
if(RefereeSystem_ShooterOpenCounter >= 5000)
{
RefereeSystem_ShooterOpenCounter = 0;
RefereeSystem_ShooterOpenFlag = 0;
CAN_CAN1DeviceNumber = 4;
CAN_DeviceNumber = 6;
}
}
*/
// 暂时注释掉连接检测
// LinkCheck_ON();
}
}
/* 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) 2025 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 */
DMA_HandleTypeDef hdma_memtomem_dma2_stream0;
/**
* Enable DMA controller clock
* Configure DMA for memory to memory transfers
* hdma_memtomem_dma2_stream0
*/
void MX_DMA_Init(void)
{
/* DMA controller clock enable */
__HAL_RCC_DMA1_CLK_ENABLE();
__HAL_RCC_DMA2_CLK_ENABLE();
/* Configure DMA request hdma_memtomem_dma2_stream0 on DMA2_Stream0 */
hdma_memtomem_dma2_stream0.Instance = DMA2_Stream0;
hdma_memtomem_dma2_stream0.Init.Channel = DMA_CHANNEL_0;
hdma_memtomem_dma2_stream0.Init.Direction = DMA_MEMORY_TO_MEMORY;
hdma_memtomem_dma2_stream0.Init.PeriphInc = DMA_PINC_ENABLE;
hdma_memtomem_dma2_stream0.Init.MemInc = DMA_MINC_ENABLE;
hdma_memtomem_dma2_stream0.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_memtomem_dma2_stream0.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_memtomem_dma2_stream0.Init.Mode = DMA_NORMAL;
hdma_memtomem_dma2_stream0.Init.Priority = DMA_PRIORITY_LOW;
hdma_memtomem_dma2_stream0.Init.FIFOMode = DMA_FIFOMODE_ENABLE;
hdma_memtomem_dma2_stream0.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
hdma_memtomem_dma2_stream0.Init.MemBurst = DMA_MBURST_SINGLE;
hdma_memtomem_dma2_stream0.Init.PeriphBurst = DMA_PBURST_SINGLE;
if (HAL_DMA_Init(&hdma_memtomem_dma2_stream0) != HAL_OK)
{
Error_Handler();
}
/* DMA interrupt init */
/* DMA1_Stream1_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Stream1_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream1_IRQn);
/* DMA2_Stream7_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA2_Stream7_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA2_Stream7_IRQn);
}
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* File Name : freertos.c
* Description : Code for freertos applications
******************************************************************************
* @attention
*
* Copyright (c) 2025 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 "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "stdio.h"
#include "stdlib.h"
#include "string.h"
// #include "usart.h"
#include "remote_control.h"
#include "CToC.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
extern CAN_HandleTypeDef hcan1;
extern CAN_HandleTypeDef hcan2;
extern DMA_HandleTypeDef hdma_usart1_tx;
extern DMA_HandleTypeDef hdma_usart3_rx;
extern UART_HandleTypeDef huart1;
extern UART_HandleTypeDef huart3;
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
uint8_t receiveData[18];
// RC_ctrl_t rc_control = {0};
uint8_t num = 0;
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN Variables */
/* USER CODE END Variables */
/* Definitions for DebugTask */
osThreadId_t DebugTaskHandle;
const osThreadAttr_t DebugTask_attributes = {
.name = "DebugTask",
.stack_size = 128 * 4,
.priority = (osPriority_t) osPriorityNormal,
};
/* Definitions for MoveTask */
osThreadId_t MoveTaskHandle;
const osThreadAttr_t MoveTask_attributes = {
.name = "MoveTask",
.stack_size = 128 * 4,
.priority = (osPriority_t) osPriorityHigh,
};
/* Definitions for TurnTask */
osThreadId_t TurnTaskHandle;
const osThreadAttr_t TurnTask_attributes = {
.name = "TurnTask",
.stack_size = 128 * 4,
.priority = (osPriority_t) osPriorityLow,
};
/* Definitions for StatuTask */
osThreadId_t StatuTaskHandle;
const osThreadAttr_t StatuTask_attributes = {
.name = "StatuTask",
.stack_size = 128 * 4,
.priority = (osPriority_t) osPriorityLow,
};
/* Definitions for Move_R_Queue */
osMessageQueueId_t Move_R_QueueHandle;
const osMessageQueueAttr_t Move_R_Queue_attributes = {
.name = "Move_R_Queue"
};
/* Definitions for Turn_Queue */
osMessageQueueId_t Turn_QueueHandle;
const osMessageQueueAttr_t Turn_Queue_attributes = {
.name = "Turn_Queue"
};
/* Definitions for Statu_Queue */
osMessageQueueId_t Statu_QueueHandle;
const osMessageQueueAttr_t Statu_Queue_attributes = {
.name = "Statu_Queue"
};
/* Definitions for Move_L_Queue */
osMessageQueueId_t Move_L_QueueHandle;
const osMessageQueueAttr_t Move_L_Queue_attributes = {
.name = "Move_L_Queue"
};
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
/* USER CODE END FunctionPrototypes */
void StartDebugTask(void *argument);
void StartMoveTask(void *argument);
void StartTurnTask(void *argument);
void StartStatuTask(void *argument);
void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
/**
* @brief FreeRTOS initialization
* @param None
* @retval None
*/
void MX_FREERTOS_Init(void) {
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* USER CODE BEGIN RTOS_MUTEX */
/* add mutexes, ... */
/* USER CODE END RTOS_MUTEX */
/* USER CODE BEGIN RTOS_SEMAPHORES */
/* add semaphores, ... */
/* USER CODE END RTOS_SEMAPHORES */
/* USER CODE BEGIN RTOS_TIMERS */
/* start timers, add new ones, ... */
/* USER CODE END RTOS_TIMERS */
/* Create the queue(s) */
/* creation of Move_R_Queue */
Move_R_QueueHandle = osMessageQueueNew (16, sizeof(MOVE_BUFFER_SIZE), &Move_R_Queue_attributes);
/* creation of Turn_Queue */
Turn_QueueHandle = osMessageQueueNew (16, sizeof(TURN_BUFFER_SIZE), &Turn_Queue_attributes);
/* creation of Statu_Queue */
Statu_QueueHandle = osMessageQueueNew (16, sizeof(STATUS_BUFFER_SIZE), &Statu_Queue_attributes);
/* creation of Move_L_Queue */
Move_L_QueueHandle = osMessageQueueNew (16, sizeof(uint16_t), &Move_L_Queue_attributes);
/* USER CODE BEGIN RTOS_QUEUES */
/* add queues, ... */
/* USER CODE END RTOS_QUEUES */
/* Create the thread(s) */
/* creation of DebugTask */
DebugTaskHandle = osThreadNew(StartDebugTask, NULL, &DebugTask_attributes);
/* creation of MoveTask */
MoveTaskHandle = osThreadNew(StartMoveTask, NULL, &MoveTask_attributes);
/* creation of TurnTask */
TurnTaskHandle = osThreadNew(StartTurnTask, NULL, &TurnTask_attributes);
/* creation of StatuTask */
StatuTaskHandle = osThreadNew(StartStatuTask, NULL, &StatuTask_attributes);
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
/* USER CODE END RTOS_THREADS */
/* USER CODE BEGIN RTOS_EVENTS */
/* add events, ... */
/* USER CODE END RTOS_EVENTS */
}
/* USER CODE BEGIN Header_StartDebugTask */
/**
* @brief Function implementing the DebugTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartDebugTask */
void StartDebugTask(void *argument)
{
/* USER CODE BEGIN StartDebugTask */
osDelay(10);
printf("Start Remote Task\r\n");
HAL_UARTEx_ReceiveToIdle_DMA(&huart3, receiveData, sizeof(receiveData));
/* Infinite loop */
for (;;)
{
printf("hello world\r\n");
HAL_GPIO_TogglePin(LED_R_GPIO_Port, LED_R_Pin);
osDelay(750);
HAL_GPIO_TogglePin(LED_B_GPIO_Port, LED_B_Pin);
osDelay(750);
HAL_GPIO_TogglePin(LED_G_GPIO_Port, LED_G_Pin);
osDelay(750);
}
/* USER CODE END StartDebugTask */
}
/* USER CODE BEGIN Header_StartMoveTask */
/**
* @brief Function implementing the MoveTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartMoveTask */
__weak void StartMoveTask(void *argument)
{
/* USER CODE BEGIN StartMoveTask */
uint8_t moveBuffer[MOVE_BUFFER_SIZE];
uint8_t turnBuffer[TURN_BUFFER_SIZE];
int16_t moveData[4];
/* Infinite loop */
for (;;)
{
if (osMessageQueueGet(Move_R_QueueHandle, moveBuffer, NULL, osWaitForever) == osOK)
{
memcpy(&moveData[0], moveBuffer, sizeof(int16_t));
memcpy(&moveData[1], moveBuffer + sizeof(int16_t), sizeof(int16_t));
};
if (osMessageQueueGet(Move_L_QueueHandle, turnBuffer, NULL, osWaitForever) == osOK)
{
memcpy(&moveData[2], turnBuffer, sizeof(int16_t));
memcpy(&moveData[3], turnBuffer + sizeof(int16_t), sizeof(int16_t));
};
CToC_MasterSendData(moveData[0], moveData[1], moveData[2], moveData[3]);
}
/* USER CODE END StartMoveTask */
}
/* USER CODE BEGIN Header_StartTurnTask */
/**
* @brief Function implementing the TurnTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartTurnTask */
__weak void StartTurnTask(void *argument)
{
/* USER CODE BEGIN StartTurnTask */
uint8_t turnBuffer[TURN_BUFFER_SIZE];
int16_t turnData[2];
/* Infinite loop */
for (;;)
{
if (osMessageQueueGet(Turn_QueueHandle, turnBuffer, NULL, osWaitForever) == osOK)
{
memcpy(&turnData[0], turnBuffer, sizeof(int16_t));
memcpy(&turnData[1], turnBuffer + sizeof(int16_t), sizeof(int16_t));
// 处理转向数据
// printf("Turn Data: %d, %d\r\n", turnData[0], turnData[1]);
};
osDelay(10);
}
/* USER CODE END StartTurnTask */
}
/* USER CODE BEGIN Header_StartStatuTask */
/**
* @brief Function implementing the StatuTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartStatuTask */
__weak void StartStatuTask(void *argument)
{
/* USER CODE BEGIN StartStatuTask */
uint8_t statusBuffer[STATUS_BUFFER_SIZE];
uint8_t statusData[2];
/* Infinite loop */
for (;;)
{
if (osMessageQueueGet(Statu_QueueHandle, statusBuffer, NULL, osWaitForever) == osOK)
{
memcpy(&statusData[0], statusBuffer, sizeof(uint8_t));
memcpy(&statusData[1], statusBuffer + sizeof(uint8_t), sizeof(uint8_t));
// 处理状态数据
// printf("Status Data: %d, %d\r\n", statusData[0], statusData[1]);
};
}
/* USER CODE END StartStatuTask */
}
/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */
void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
{
uint8_t Message_Remote[18] = {0};
RC_ctrl_t rc_control = {0};
if (huart->Instance == USART3 && Size > 0 && Size <= sizeof(receiveData))
{
memcpy(Message_Remote, receiveData, Size);
Message_Remote_to_rc(Message_Remote, &rc_control);
// 调试显示
// num++;
// if (num >= 25)
// {
// printf("Raw data: ");
// for (int i = 0; i < Size; i++)
// {
// printf("%02X ", receiveData[i]);
// }
// printf("\r\n");
// printf("RC Channels: %d,%d,%d,%d,%d\n",
// rc_control.rc.ch[0], rc_control.rc.ch[1],
// rc_control.rc.ch[2], rc_control.rc.ch[3], rc_control.rc.ch[4]);
// printf("Switch: %d,%d\n",
// rc_control.rc.s[0], rc_control.rc.s[1]);
// num = 0;
// }
// 创建三个独立的缓冲区
uint8_t moveBuffer[MOVE_BUFFER_SIZE];
uint8_t turnBuffer[TURN_BUFFER_SIZE];
uint8_t statusBuffer[STATUS_BUFFER_SIZE];
// 移动数据
memcpy(moveBuffer, &rc_control.rc.ch[0], sizeof(int16_t));
memcpy(moveBuffer + sizeof(int16_t), &rc_control.rc.ch[1], sizeof(int16_t));
osMessageQueuePut(Move_R_QueueHandle, moveBuffer, 0, 0);
// 转向数据
memcpy(turnBuffer, &rc_control.rc.ch[2], sizeof(int16_t));
memcpy(turnBuffer + sizeof(int16_t), &rc_control.rc.ch[3], sizeof(int16_t));
osMessageQueuePut(Turn_QueueHandle, turnBuffer, 0, 0);
osMessageQueuePut(Move_L_QueueHandle, turnBuffer, 0, 0);
// 状态数据
memcpy(statusBuffer, &rc_control.rc.s[0], sizeof(uint8_t));
memcpy(statusBuffer + sizeof(uint8_t), &rc_control.rc.s[1], sizeof(uint8_t));
osMessageQueuePut(Statu_QueueHandle, statusBuffer, 0, 0);
// 清除 IDLE 中断标志
__HAL_UART_CLEAR_IDLEFLAG(huart);
// 重新启动IT接收
HAL_UARTEx_ReceiveToIdle_DMA(&huart3, receiveData, sizeof(receiveData));
// 禁止半传送中断
__HAL_DMA_DISABLE_IT(&hdma_usart3_rx, DMA_IT_HT);
}
}
int _write(int fd, char *ptr, int len)
{
HAL_UART_Transmit(&huart1, (uint8_t *)ptr, len, HAL_MAX_DELAY);
return len;
}
/* USER CODE END Application */

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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) 2025 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();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_8, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOH, LED_R_Pin|LED_G_Pin|LED_B_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : PC8 */
GPIO_InitStruct.Pin = GPIO_PIN_8;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pins : LED_R_Pin LED_G_Pin LED_B_Pin */
GPIO_InitStruct.Pin = LED_R_Pin|LED_G_Pin|LED_B_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOH, &GPIO_InitStruct);
}
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2025 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 "cmsis_os.h"
#include "can.h"
#include "dma.h"
#include "usart.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* 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);
void MX_FREERTOS_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* 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_USART1_UART_Init();
MX_USART3_UART_Init();
MX_CAN1_Init();
MX_CAN2_Init();
/* USER CODE BEGIN 2 */
// 启动CAN
HAL_CAN_Start(&hcan1);
HAL_CAN_Start(&hcan2);
// 激活接收CAN中断
HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);
HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING);
/* USER CODE END 2 */
/* Init scheduler */
osKernelInitialize(); /* Call init function for freertos objects (in cmsis_os2.c) */
MX_FREERTOS_Init();
/* Start scheduler */
osKernelStart();
/* We should never get here as control is now taken by the scheduler */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* 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_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 6;
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();
}
/** Enables the Clock Security System
*/
HAL_RCC_EnableCSS();
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
/**
* @brief Period elapsed callback in non blocking mode
* @note This function is called when TIM6 interrupt took place, inside
* HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
* a global variable "uwTick" used as application time base.
* @param htim : TIM handle
* @retval None
*/
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
/* USER CODE BEGIN Callback 0 */
/* USER CODE END Callback 0 */
if (htim->Instance == TIM6)
{
HAL_IncTick();
}
/* USER CODE BEGIN Callback 1 */
/* USER CODE END Callback 1 */
}
/**
* @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 stm32f4xx_hal_msp.c
* @brief This file provides code for the MSP Initialization
* and de-Initialization codes.
******************************************************************************
* @attention
*
* Copyright (c) 2025 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*/
/* PendSV_IRQn interrupt configuration */
HAL_NVIC_SetPriority(PendSV_IRQn, 15, 0);
/* 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_hal_timebase_tim.c
* @brief HAL time base based on the hardware TIM.
******************************************************************************
* @attention
*
* Copyright (c) 2025 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 "stm32f4xx_hal.h"
#include "stm32f4xx_hal_tim.h"
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
TIM_HandleTypeDef htim6;
/* Private function prototypes -----------------------------------------------*/
/* Private functions ---------------------------------------------------------*/
/**
* @brief This function configures the TIM6 as a time base source.
* The time source is configured to have 1ms time base with a dedicated
* Tick interrupt priority.
* @note This function is called automatically at the beginning of program after
* reset by HAL_Init() or at any time when clock is configured, by HAL_RCC_ClockConfig().
* @param TickPriority: Tick interrupt priority.
* @retval HAL status
*/
HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
{
RCC_ClkInitTypeDef clkconfig;
uint32_t uwTimclock, uwAPB1Prescaler = 0U;
uint32_t uwPrescalerValue = 0U;
uint32_t pFLatency;
HAL_StatusTypeDef status;
/* Enable TIM6 clock */
__HAL_RCC_TIM6_CLK_ENABLE();
/* Get clock configuration */
HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);
/* Get APB1 prescaler */
uwAPB1Prescaler = clkconfig.APB1CLKDivider;
/* Compute TIM6 clock */
if (uwAPB1Prescaler == RCC_HCLK_DIV1)
{
uwTimclock = HAL_RCC_GetPCLK1Freq();
}
else
{
uwTimclock = 2UL * HAL_RCC_GetPCLK1Freq();
}
/* Compute the prescaler value to have TIM6 counter clock equal to 1MHz */
uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000U) - 1U);
/* Initialize TIM6 */
htim6.Instance = TIM6;
/* Initialize TIMx peripheral as follow:
* Period = [(TIM6CLK/1000) - 1]. to have a (1/1000) s time base.
* Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock.
* ClockDivision = 0
* Counter direction = Up
*/
htim6.Init.Period = (1000000U / 1000U) - 1U;
htim6.Init.Prescaler = uwPrescalerValue;
htim6.Init.ClockDivision = 0;
htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
htim6.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
status = HAL_TIM_Base_Init(&htim6);
if (status == HAL_OK)
{
/* Start the TIM time Base generation in interrupt mode */
status = HAL_TIM_Base_Start_IT(&htim6);
if (status == HAL_OK)
{
/* Enable the TIM6 global Interrupt */
HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
/* Configure the SysTick IRQ priority */
if (TickPriority < (1UL << __NVIC_PRIO_BITS))
{
/* Configure the TIM IRQ priority */
HAL_NVIC_SetPriority(TIM6_DAC_IRQn, TickPriority, 0U);
uwTickPrio = TickPriority;
}
else
{
status = HAL_ERROR;
}
}
}
/* Return function status */
return status;
}
/**
* @brief Suspend Tick increment.
* @note Disable the tick increment by disabling TIM6 update interrupt.
* @param None
* @retval None
*/
void HAL_SuspendTick(void)
{
/* Disable TIM6 update Interrupt */
__HAL_TIM_DISABLE_IT(&htim6, TIM_IT_UPDATE);
}
/**
* @brief Resume Tick increment.
* @note Enable the tick increment by Enabling TIM6 update interrupt.
* @param None
* @retval None
*/
void HAL_ResumeTick(void)
{
/* Enable TIM6 Update interrupt */
__HAL_TIM_ENABLE_IT(&htim6, TIM_IT_UPDATE);
}

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32f4xx_it.c
* @brief Interrupt Service Routines.
******************************************************************************
* @attention
*
* Copyright (c) 2025 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 "usart.h"
#include "can.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_usart1_tx;
extern DMA_HandleTypeDef hdma_usart3_rx;
extern UART_HandleTypeDef huart1;
extern UART_HandleTypeDef huart3;
extern TIM_HandleTypeDef htim6;
/* 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 */
HAL_RCC_NMI_IRQHandler();
/* 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 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 */
}
/******************************************************************************/
/* 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 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 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 */
/* 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 */
/* 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 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 */

747
Core/Src/system_stm32f4xx.c Normal file
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@@ -0,0 +1,747 @@
/**
******************************************************************************
* @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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Core/Src/usart.c Normal file
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@@ -0,0 +1,284 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file usart.c
* @brief This file provides code for the configuration
* of the USART instances.
******************************************************************************
* @attention
*
* Copyright (c) 2025 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 */
// #include "main.h"
// #include "string.h"
// #include "stdio.h"
// #include "stdlib.h"
/* 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_9B;
huart3.Init.StopBits = UART_STOPBITS_1;
huart3.Init.Parity = UART_PARITY_EVEN;
huart3.Init.Mode = UART_MODE_TX_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_VERY_HIGH;
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, 5, 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_NORMAL;
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, 5, 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 */
// uint8_t receiveData[18];
// void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
// {
// uint8_t Message_Remote[18] = {0};
// if (huart->Instance == USART3 && Size > 0 && Size <= sizeof(receiveData))
// {
// // 复制接收到的数据
// memcpy(Message_Remote, receiveData, Size);
// // printf("第一次处理 %c\n", Message_Remote[0]);
// // 将消息放入队列
// osMessageQueuePut(RemoteQueueHandle, &Message_Remote, 0, 0);
// // printf("第二次处理 %c\n", Message_Remote[0]);
// // 清除 IDLE 中断标志
// __HAL_UART_CLEAR_IDLEFLAG(huart);
// // 重新启动IT接收
// // HAL_UART_Transmit_DMA(&huart2, receiveData, sizeof(receiveData));
// HAL_UARTEx_ReceiveToIdle_DMA(&huart3, receiveData, sizeof(receiveData));
// __HAL_DMA_DISABLE_IT(&hdma_usart3_rx, DMA_IT_HT); // 禁止半传送中断
// }
// }
// void StartRemoteUART()
// {
// HAL_UARTEx_ReceiveToIdle_DMA(&huart3, receiveData, sizeof(receiveData));
// }
/* USER CODE END 1 */