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nitiantuhao
2026-04-13 23:30:22 +08:00
commit 350fd830f4
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170
Core/Inc/FreeRTOSConfig.h Normal file
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/* USER CODE BEGIN Header */
/*
* FreeRTOS Kernel V10.3.1
* Portion Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
* Portion Copyright (C) 2019 StMicroelectronics, Inc. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* http://www.FreeRTOS.org
* http://aws.amazon.com/freertos
*
* 1 tab == 4 spaces!
*/
/* USER CODE END Header */
#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H
/*-----------------------------------------------------------
* Application specific definitions.
*
* These definitions should be adjusted for your particular hardware and
* application requirements.
*
* These parameters and more are described within the 'configuration' section of the
* FreeRTOS API documentation available on the FreeRTOS.org web site.
*
* See http://www.freertos.org/a00110.html
*----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* Section where include file can be added */
/* USER CODE END Includes */
/* Ensure definitions are only used by the compiler, and not by the assembler. */
#if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
#include <stdint.h>
extern uint32_t SystemCoreClock;
#endif
#ifndef CMSIS_device_header
#define CMSIS_device_header "stm32h7xx.h"
#endif /* CMSIS_device_header */
#define configENABLE_FPU 0
#define configENABLE_MPU 0
#define configUSE_PREEMPTION 1
#define configSUPPORT_STATIC_ALLOCATION 1
#define configSUPPORT_DYNAMIC_ALLOCATION 1
#define configUSE_IDLE_HOOK 0
#define configUSE_TICK_HOOK 0
#define configCPU_CLOCK_HZ ( SystemCoreClock )
#define configTICK_RATE_HZ ((TickType_t)1000)
#define configMAX_PRIORITIES ( 56 )
#define configMINIMAL_STACK_SIZE ((uint16_t)128)
#define configTOTAL_HEAP_SIZE ((size_t)65536)
#define configMAX_TASK_NAME_LEN ( 16 )
#define configUSE_TRACE_FACILITY 1
#define configUSE_16_BIT_TICKS 0
#define configUSE_MUTEXES 1
#define configQUEUE_REGISTRY_SIZE 8
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_COUNTING_SEMAPHORES 1
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
/* USER CODE BEGIN MESSAGE_BUFFER_LENGTH_TYPE */
/* Defaults to size_t for backward compatibility, but can be changed
if lengths will always be less than the number of bytes in a size_t. */
#define configMESSAGE_BUFFER_LENGTH_TYPE size_t
/* USER CODE END MESSAGE_BUFFER_LENGTH_TYPE */
/* Co-routine definitions. */
#define configUSE_CO_ROUTINES 0
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
/* Software timer definitions. */
#define configUSE_TIMERS 1
#define configTIMER_TASK_PRIORITY ( 2 )
#define configTIMER_QUEUE_LENGTH 10
#define configTIMER_TASK_STACK_DEPTH 256
/* CMSIS-RTOS V2 flags */
#define configUSE_OS2_THREAD_SUSPEND_RESUME 1
#define configUSE_OS2_THREAD_ENUMERATE 1
#define configUSE_OS2_EVENTFLAGS_FROM_ISR 1
#define configUSE_OS2_THREAD_FLAGS 1
#define configUSE_OS2_TIMER 1
#define configUSE_OS2_MUTEX 1
/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */
#define INCLUDE_vTaskPrioritySet 1
#define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskCleanUpResources 0
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
#define INCLUDE_xTaskGetSchedulerState 1
#define INCLUDE_xTimerPendFunctionCall 1
#define INCLUDE_xQueueGetMutexHolder 1
#define INCLUDE_uxTaskGetStackHighWaterMark 1
#define INCLUDE_xTaskGetCurrentTaskHandle 1
#define INCLUDE_eTaskGetState 1
/*
* The CMSIS-RTOS V2 FreeRTOS wrapper is dependent on the heap implementation used
* by the application thus the correct define need to be enabled below
*/
#define USE_FreeRTOS_HEAP_4
/* Cortex-M specific definitions. */
#ifdef __NVIC_PRIO_BITS
/* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
#define configPRIO_BITS __NVIC_PRIO_BITS
#else
#define configPRIO_BITS 4
#endif
/* The lowest interrupt priority that can be used in a call to a "set priority"
function. */
#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 15
/* The highest interrupt priority that can be used by any interrupt service
routine that makes calls to interrupt safe FreeRTOS API functions. DO NOT CALL
INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
PRIORITY THAN THIS! (higher priorities are lower numeric values. */
#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
/* Interrupt priorities used by the kernel port layer itself. These are generic
to all Cortex-M ports, and do not rely on any particular library functions. */
#define configKERNEL_INTERRUPT_PRIORITY ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
#define configMAX_SYSCALL_INTERRUPT_PRIORITY ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
/* Normal assert() semantics without relying on the provision of an assert.h
header file. */
/* USER CODE BEGIN 1 */
#define configASSERT( x ) if ((x) == 0) {taskDISABLE_INTERRUPTS(); for( ;; );}
/* USER CODE END 1 */
/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
standard names. */
#define vPortSVCHandler SVC_Handler
#define xPortPendSVHandler PendSV_Handler
/* IMPORTANT: After 10.3.1 update, Systick_Handler comes from NVIC (if SYS timebase = systick), otherwise from cmsis_os2.c */
#define USE_CUSTOM_SYSTICK_HANDLER_IMPLEMENTATION 0
/* USER CODE BEGIN Defines */
/* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */
/* USER CODE END Defines */
#endif /* FREERTOS_CONFIG_H */

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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__ */

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file fdcan.h
* @brief This file contains all the function prototypes for
* the fdcan.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 __FDCAN_H__
#define __FDCAN_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern FDCAN_HandleTypeDef hfdcan1;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_FDCAN1_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __FDCAN_H__ */

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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__ */

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file i2c.h
* @brief This file contains all the function prototypes for
* the i2c.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 __I2C_H__
#define __I2C_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern I2C_HandleTypeDef hi2c1;
extern I2C_HandleTypeDef hi2c2;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_I2C1_Init(void);
void MX_I2C2_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __I2C_H__ */

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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 "stm32h7xx_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 -----------------------------------------------------------*/
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
#ifdef __cplusplus
}
#endif
#endif /* __MAIN_H */

514
Core/Inc/stm32h7xx_hal_conf.h Normal file
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32h7xx_hal_conf.h
* @author MCD Application Team
* @brief HAL configuration file.
******************************************************************************
* @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 STM32H7xx_HAL_CONF_H
#define STM32H7xx_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_ADC_MODULE_ENABLED */
#define HAL_FDCAN_MODULE_ENABLED
/* #define HAL_FMAC_MODULE_ENABLED */
/* #define HAL_CEC_MODULE_ENABLED */
/* #define HAL_COMP_MODULE_ENABLED */
/* #define HAL_CORDIC_MODULE_ENABLED */
/* #define HAL_CRC_MODULE_ENABLED */
/* #define HAL_CRYP_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_OTFDEC_MODULE_ENABLED */
/* #define HAL_SRAM_MODULE_ENABLED */
/* #define HAL_SDRAM_MODULE_ENABLED */
/* #define HAL_HASH_MODULE_ENABLED */
/* #define HAL_HRTIM_MODULE_ENABLED */
/* #define HAL_HSEM_MODULE_ENABLED */
/* #define HAL_GFXMMU_MODULE_ENABLED */
/* #define HAL_JPEG_MODULE_ENABLED */
/* #define HAL_OPAMP_MODULE_ENABLED */
/* #define HAL_OSPI_MODULE_ENABLED */
/* #define HAL_I2S_MODULE_ENABLED */
/* #define HAL_SMBUS_MODULE_ENABLED */
/* #define HAL_IWDG_MODULE_ENABLED */
/* #define HAL_LPTIM_MODULE_ENABLED */
/* #define HAL_LTDC_MODULE_ENABLED */
/* #define HAL_QSPI_MODULE_ENABLED */
/* #define HAL_RAMECC_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_SPDIFRX_MODULE_ENABLED */
/* #define HAL_SPI_MODULE_ENABLED */
/* #define HAL_SWPMI_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_WWDG_MODULE_ENABLED */
#define HAL_PCD_MODULE_ENABLED
/* #define HAL_HCD_MODULE_ENABLED */
/* #define HAL_DFSDM_MODULE_ENABLED */
/* #define HAL_DSI_MODULE_ENABLED */
/* #define HAL_JPEG_MODULE_ENABLED */
/* #define HAL_MDIOS_MODULE_ENABLED */
/* #define HAL_PSSI_MODULE_ENABLED */
/* #define HAL_DTS_MODULE_ENABLED */
#define HAL_GPIO_MODULE_ENABLED
#define HAL_DMA_MODULE_ENABLED
#define HAL_MDMA_MODULE_ENABLED
#define HAL_RCC_MODULE_ENABLED
#define HAL_FLASH_MODULE_ENABLED
#define HAL_EXTI_MODULE_ENABLED
#define HAL_PWR_MODULE_ENABLED
#define HAL_I2C_MODULE_ENABLED
#define HAL_CORTEX_MODULE_ENABLED
#define HAL_HSEM_MODULE_ENABLED
/* ########################## Oscillator 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 (25000000UL) /*!< Value of the External oscillator in Hz : FPGA case fixed to 60MHZ */
#endif /* HSE_VALUE */
#if !defined (HSE_STARTUP_TIMEOUT)
#define HSE_STARTUP_TIMEOUT (100UL) /*!< Time out for HSE start up, in ms */
#endif /* HSE_STARTUP_TIMEOUT */
/**
* @brief Internal oscillator (CSI) default value.
* This value is the default CSI value after Reset.
*/
#if !defined (CSI_VALUE)
#define CSI_VALUE (4000000UL) /*!< Value of the Internal oscillator in Hz*/
#endif /* CSI_VALUE */
/**
* @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 (64000000UL) /*!< Value of the Internal oscillator in Hz*/
#endif /* HSI_VALUE */
/**
* @brief External Low Speed oscillator (LSE) value.
* This value is used by the UART, RTC HAL module to compute the system frequency
*/
#if !defined (LSE_VALUE)
#define LSE_VALUE (32768UL) /*!< Value of the External oscillator in Hz*/
#endif /* LSE_VALUE */
#if !defined (LSE_STARTUP_TIMEOUT)
#define LSE_STARTUP_TIMEOUT (5000UL) /*!< Time out for LSE start up, in ms */
#endif /* LSE_STARTUP_TIMEOUT */
#if !defined (LSI_VALUE)
#define LSI_VALUE (32000UL) /*!< 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 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 12288000UL /*!< Value of the External clock 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 (3300UL) /*!< Value of VDD in mv */
#define TICK_INT_PRIORITY (15UL) /*!< tick interrupt priority */
#define USE_RTOS 0
#define USE_SD_TRANSCEIVER 0U /*!< use uSD Transceiver */
#define USE_SPI_CRC 0U /*!< use CRC in SPI */
#define USE_HAL_ADC_REGISTER_CALLBACKS 0U /* ADC register callback disabled */
#define USE_HAL_CEC_REGISTER_CALLBACKS 0U /* CEC register callback disabled */
#define USE_HAL_COMP_REGISTER_CALLBACKS 0U /* COMP register callback disabled */
#define USE_HAL_CORDIC_REGISTER_CALLBACKS 0U /* CORDIC 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_DTS_REGISTER_CALLBACKS 0U /* DTS register callback disabled */
#define USE_HAL_ETH_REGISTER_CALLBACKS 0U /* ETH register callback disabled */
#define USE_HAL_FDCAN_REGISTER_CALLBACKS 0U /* FDCAN register callback disabled */
#define USE_HAL_FMAC_REGISTER_CALLBACKS 0U /* FMAC 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_SDRAM_REGISTER_CALLBACKS 0U /* SDRAM register callback disabled */
#define USE_HAL_SRAM_REGISTER_CALLBACKS 0U /* SRAM 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_GFXMMU_REGISTER_CALLBACKS 0U /* GFXMMU register callback disabled */
#define USE_HAL_HRTIM_REGISTER_CALLBACKS 0U /* HRTIM register callback disabled */
#define USE_HAL_I2C_REGISTER_CALLBACKS 0U /* I2C 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_JPEG_REGISTER_CALLBACKS 0U /* JPEG 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_MDIOS_REGISTER_CALLBACKS 0U /* MDIO register callback disabled */
#define USE_HAL_MMC_REGISTER_CALLBACKS 0U /* MMC register callback disabled */
#define USE_HAL_OPAMP_REGISTER_CALLBACKS 0U /* MDIO register callback disabled */
#define USE_HAL_OSPI_REGISTER_CALLBACKS 0U /* OSPI register callback disabled */
#define USE_HAL_OTFDEC_REGISTER_CALLBACKS 0U /* OTFDEC 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_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_SWPMI_REGISTER_CALLBACKS 0U /* SWPMI 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 */
/* ########################### Ethernet Configuration ######################### */
#define ETH_TX_DESC_CNT 4U /* number of Ethernet Tx DMA descriptors */
#define ETH_RX_DESC_CNT 4U /* number of Ethernet Rx DMA descriptors */
#define ETH_MAC_ADDR0 (0x02UL)
#define ETH_MAC_ADDR1 (0x00UL)
#define ETH_MAC_ADDR2 (0x00UL)
#define ETH_MAC_ADDR3 (0x00UL)
#define ETH_MAC_ADDR4 (0x00UL)
#define ETH_MAC_ADDR5 (0x00UL)
/* ########################## Assert Selection ############################## */
/**
* @brief Uncomment the line below to expanse the "assert_param" macro in the
* HAL drivers code
*/
/* #define USE_FULL_ASSERT 1U */
/* Includes ------------------------------------------------------------------*/
/**
* @brief Include module's header file
*/
#ifdef HAL_RCC_MODULE_ENABLED
#include "stm32h7xx_hal_rcc.h"
#endif /* HAL_RCC_MODULE_ENABLED */
#ifdef HAL_GPIO_MODULE_ENABLED
#include "stm32h7xx_hal_gpio.h"
#endif /* HAL_GPIO_MODULE_ENABLED */
#ifdef HAL_DMA_MODULE_ENABLED
#include "stm32h7xx_hal_dma.h"
#endif /* HAL_DMA_MODULE_ENABLED */
#ifdef HAL_MDMA_MODULE_ENABLED
#include "stm32h7xx_hal_mdma.h"
#endif /* HAL_MDMA_MODULE_ENABLED */
#ifdef HAL_HASH_MODULE_ENABLED
#include "stm32h7xx_hal_hash.h"
#endif /* HAL_HASH_MODULE_ENABLED */
#ifdef HAL_DCMI_MODULE_ENABLED
#include "stm32h7xx_hal_dcmi.h"
#endif /* HAL_DCMI_MODULE_ENABLED */
#ifdef HAL_DMA2D_MODULE_ENABLED
#include "stm32h7xx_hal_dma2d.h"
#endif /* HAL_DMA2D_MODULE_ENABLED */
#ifdef HAL_DSI_MODULE_ENABLED
#include "stm32h7xx_hal_dsi.h"
#endif /* HAL_DSI_MODULE_ENABLED */
#ifdef HAL_DFSDM_MODULE_ENABLED
#include "stm32h7xx_hal_dfsdm.h"
#endif /* HAL_DFSDM_MODULE_ENABLED */
#ifdef HAL_DTS_MODULE_ENABLED
#include "stm32h7xx_hal_dts.h"
#endif /* HAL_DTS_MODULE_ENABLED */
#ifdef HAL_ETH_MODULE_ENABLED
#include "stm32h7xx_hal_eth.h"
#endif /* HAL_ETH_MODULE_ENABLED */
#ifdef HAL_ETH_LEGACY_MODULE_ENABLED
#include "stm32h7xx_hal_eth_legacy.h"
#endif /* HAL_ETH_LEGACY_MODULE_ENABLED */
#ifdef HAL_EXTI_MODULE_ENABLED
#include "stm32h7xx_hal_exti.h"
#endif /* HAL_EXTI_MODULE_ENABLED */
#ifdef HAL_CORTEX_MODULE_ENABLED
#include "stm32h7xx_hal_cortex.h"
#endif /* HAL_CORTEX_MODULE_ENABLED */
#ifdef HAL_ADC_MODULE_ENABLED
#include "stm32h7xx_hal_adc.h"
#endif /* HAL_ADC_MODULE_ENABLED */
#ifdef HAL_FDCAN_MODULE_ENABLED
#include "stm32h7xx_hal_fdcan.h"
#endif /* HAL_FDCAN_MODULE_ENABLED */
#ifdef HAL_CEC_MODULE_ENABLED
#include "stm32h7xx_hal_cec.h"
#endif /* HAL_CEC_MODULE_ENABLED */
#ifdef HAL_COMP_MODULE_ENABLED
#include "stm32h7xx_hal_comp.h"
#endif /* HAL_COMP_MODULE_ENABLED */
#ifdef HAL_CORDIC_MODULE_ENABLED
#include "stm32h7xx_hal_cordic.h"
#endif /* HAL_CORDIC_MODULE_ENABLED */
#ifdef HAL_CRC_MODULE_ENABLED
#include "stm32h7xx_hal_crc.h"
#endif /* HAL_CRC_MODULE_ENABLED */
#ifdef HAL_CRYP_MODULE_ENABLED
#include "stm32h7xx_hal_cryp.h"
#endif /* HAL_CRYP_MODULE_ENABLED */
#ifdef HAL_DAC_MODULE_ENABLED
#include "stm32h7xx_hal_dac.h"
#endif /* HAL_DAC_MODULE_ENABLED */
#ifdef HAL_FLASH_MODULE_ENABLED
#include "stm32h7xx_hal_flash.h"
#endif /* HAL_FLASH_MODULE_ENABLED */
#ifdef HAL_GFXMMU_MODULE_ENABLED
#include "stm32h7xx_hal_gfxmmu.h"
#endif /* HAL_GFXMMU_MODULE_ENABLED */
#ifdef HAL_FMAC_MODULE_ENABLED
#include "stm32h7xx_hal_fmac.h"
#endif /* HAL_FMAC_MODULE_ENABLED */
#ifdef HAL_HRTIM_MODULE_ENABLED
#include "stm32h7xx_hal_hrtim.h"
#endif /* HAL_HRTIM_MODULE_ENABLED */
#ifdef HAL_HSEM_MODULE_ENABLED
#include "stm32h7xx_hal_hsem.h"
#endif /* HAL_HSEM_MODULE_ENABLED */
#ifdef HAL_SRAM_MODULE_ENABLED
#include "stm32h7xx_hal_sram.h"
#endif /* HAL_SRAM_MODULE_ENABLED */
#ifdef HAL_NOR_MODULE_ENABLED
#include "stm32h7xx_hal_nor.h"
#endif /* HAL_NOR_MODULE_ENABLED */
#ifdef HAL_NAND_MODULE_ENABLED
#include "stm32h7xx_hal_nand.h"
#endif /* HAL_NAND_MODULE_ENABLED */
#ifdef HAL_I2C_MODULE_ENABLED
#include "stm32h7xx_hal_i2c.h"
#endif /* HAL_I2C_MODULE_ENABLED */
#ifdef HAL_I2S_MODULE_ENABLED
#include "stm32h7xx_hal_i2s.h"
#endif /* HAL_I2S_MODULE_ENABLED */
#ifdef HAL_IWDG_MODULE_ENABLED
#include "stm32h7xx_hal_iwdg.h"
#endif /* HAL_IWDG_MODULE_ENABLED */
#ifdef HAL_JPEG_MODULE_ENABLED
#include "stm32h7xx_hal_jpeg.h"
#endif /* HAL_JPEG_MODULE_ENABLED */
#ifdef HAL_MDIOS_MODULE_ENABLED
#include "stm32h7xx_hal_mdios.h"
#endif /* HAL_MDIOS_MODULE_ENABLED */
#ifdef HAL_MMC_MODULE_ENABLED
#include "stm32h7xx_hal_mmc.h"
#endif /* HAL_MMC_MODULE_ENABLED */
#ifdef HAL_LPTIM_MODULE_ENABLED
#include "stm32h7xx_hal_lptim.h"
#endif /* HAL_LPTIM_MODULE_ENABLED */
#ifdef HAL_LTDC_MODULE_ENABLED
#include "stm32h7xx_hal_ltdc.h"
#endif /* HAL_LTDC_MODULE_ENABLED */
#ifdef HAL_OPAMP_MODULE_ENABLED
#include "stm32h7xx_hal_opamp.h"
#endif /* HAL_OPAMP_MODULE_ENABLED */
#ifdef HAL_OSPI_MODULE_ENABLED
#include "stm32h7xx_hal_ospi.h"
#endif /* HAL_OSPI_MODULE_ENABLED */
#ifdef HAL_OTFDEC_MODULE_ENABLED
#include "stm32h7xx_hal_otfdec.h"
#endif /* HAL_OTFDEC_MODULE_ENABLED */
#ifdef HAL_PSSI_MODULE_ENABLED
#include "stm32h7xx_hal_pssi.h"
#endif /* HAL_PSSI_MODULE_ENABLED */
#ifdef HAL_PWR_MODULE_ENABLED
#include "stm32h7xx_hal_pwr.h"
#endif /* HAL_PWR_MODULE_ENABLED */
#ifdef HAL_QSPI_MODULE_ENABLED
#include "stm32h7xx_hal_qspi.h"
#endif /* HAL_QSPI_MODULE_ENABLED */
#ifdef HAL_RAMECC_MODULE_ENABLED
#include "stm32h7xx_hal_ramecc.h"
#endif /* HAL_RAMECC_MODULE_ENABLED */
#ifdef HAL_RNG_MODULE_ENABLED
#include "stm32h7xx_hal_rng.h"
#endif /* HAL_RNG_MODULE_ENABLED */
#ifdef HAL_RTC_MODULE_ENABLED
#include "stm32h7xx_hal_rtc.h"
#endif /* HAL_RTC_MODULE_ENABLED */
#ifdef HAL_SAI_MODULE_ENABLED
#include "stm32h7xx_hal_sai.h"
#endif /* HAL_SAI_MODULE_ENABLED */
#ifdef HAL_SD_MODULE_ENABLED
#include "stm32h7xx_hal_sd.h"
#endif /* HAL_SD_MODULE_ENABLED */
#ifdef HAL_SDRAM_MODULE_ENABLED
#include "stm32h7xx_hal_sdram.h"
#endif /* HAL_SDRAM_MODULE_ENABLED */
#ifdef HAL_SPI_MODULE_ENABLED
#include "stm32h7xx_hal_spi.h"
#endif /* HAL_SPI_MODULE_ENABLED */
#ifdef HAL_SPDIFRX_MODULE_ENABLED
#include "stm32h7xx_hal_spdifrx.h"
#endif /* HAL_SPDIFRX_MODULE_ENABLED */
#ifdef HAL_SWPMI_MODULE_ENABLED
#include "stm32h7xx_hal_swpmi.h"
#endif /* HAL_SWPMI_MODULE_ENABLED */
#ifdef HAL_TIM_MODULE_ENABLED
#include "stm32h7xx_hal_tim.h"
#endif /* HAL_TIM_MODULE_ENABLED */
#ifdef HAL_UART_MODULE_ENABLED
#include "stm32h7xx_hal_uart.h"
#endif /* HAL_UART_MODULE_ENABLED */
#ifdef HAL_USART_MODULE_ENABLED
#include "stm32h7xx_hal_usart.h"
#endif /* HAL_USART_MODULE_ENABLED */
#ifdef HAL_IRDA_MODULE_ENABLED
#include "stm32h7xx_hal_irda.h"
#endif /* HAL_IRDA_MODULE_ENABLED */
#ifdef HAL_SMARTCARD_MODULE_ENABLED
#include "stm32h7xx_hal_smartcard.h"
#endif /* HAL_SMARTCARD_MODULE_ENABLED */
#ifdef HAL_SMBUS_MODULE_ENABLED
#include "stm32h7xx_hal_smbus.h"
#endif /* HAL_SMBUS_MODULE_ENABLED */
#ifdef HAL_WWDG_MODULE_ENABLED
#include "stm32h7xx_hal_wwdg.h"
#endif /* HAL_WWDG_MODULE_ENABLED */
#ifdef HAL_PCD_MODULE_ENABLED
#include "stm32h7xx_hal_pcd.h"
#endif /* HAL_PCD_MODULE_ENABLED */
#ifdef HAL_HCD_MODULE_ENABLED
#include "stm32h7xx_hal_hcd.h"
#endif /* HAL_HCD_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 /* STM32H7xx_HAL_CONF_H */

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32h7xx_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 __STM32H7xx_IT_H
#define __STM32H7xx_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 DebugMon_Handler(void);
void DMA1_Stream0_IRQHandler(void);
void DMA1_Stream1_IRQHandler(void);
void DMA1_Stream2_IRQHandler(void);
void DMA1_Stream3_IRQHandler(void);
void DMA1_Stream4_IRQHandler(void);
void FDCAN1_IT0_IRQHandler(void);
void USART2_IRQHandler(void);
void USART3_IRQHandler(void);
void UART4_IRQHandler(void);
void TIM6_DAC_IRQHandler(void);
void TIM7_IRQHandler(void);
void USART6_IRQHandler(void);
void UART7_IRQHandler(void);
void OTG_FS_IRQHandler(void);
/* USER CODE BEGIN EFP */
/* USER CODE END EFP */
#ifdef __cplusplus
}
#endif
#endif /* __STM32H7xx_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;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_TIM6_Init(void);
/* 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 huart4;
extern UART_HandleTypeDef huart5;
extern UART_HandleTypeDef huart7;
extern UART_HandleTypeDef huart1;
extern UART_HandleTypeDef huart2;
extern UART_HandleTypeDef huart3;
extern UART_HandleTypeDef huart6;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_UART4_Init(void);
void MX_UART5_Init(void);
void MX_UART7_Init(void);
void MX_USART1_UART_Init(void);
void MX_USART2_UART_Init(void);
void MX_USART3_UART_Init(void);
void MX_USART6_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 usb_otg.h
* @brief This file contains all the function prototypes for
* the usb_otg.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 __USB_OTG_H__
#define __USB_OTG_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern PCD_HandleTypeDef hpcd_USB_OTG_FS;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_USB_OTG_FS_PCD_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __USB_OTG_H__ */

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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_DMA1_CLK_ENABLE();
/* DMA interrupt init */
/* DMA1_Stream0_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Stream0_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream0_IRQn);
/* DMA1_Stream1_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Stream1_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream1_IRQn);
/* DMA1_Stream2_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Stream2_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream2_IRQn);
/* DMA1_Stream3_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Stream3_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream3_IRQn);
/* DMA1_Stream4_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Stream4_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream4_IRQn);
}
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */

149
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file fdcan.c
* @brief This file provides code for the configuration
* of the FDCAN 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 "fdcan.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
FDCAN_HandleTypeDef hfdcan1;
/* FDCAN1 init function */
void MX_FDCAN1_Init(void)
{
/* USER CODE BEGIN FDCAN1_Init 0 */
/* USER CODE END FDCAN1_Init 0 */
/* USER CODE BEGIN FDCAN1_Init 1 */
/* USER CODE END FDCAN1_Init 1 */
hfdcan1.Instance = FDCAN1;
hfdcan1.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
hfdcan1.Init.AutoRetransmission = ENABLE;
hfdcan1.Init.TransmitPause = DISABLE;
hfdcan1.Init.ProtocolException = DISABLE;
hfdcan1.Init.NominalPrescaler = 4;
hfdcan1.Init.NominalSyncJumpWidth = 1;
hfdcan1.Init.NominalTimeSeg1 = 13;
hfdcan1.Init.NominalTimeSeg2 = 2;
hfdcan1.Init.DataPrescaler = 1;
hfdcan1.Init.DataSyncJumpWidth = 1;
hfdcan1.Init.DataTimeSeg1 = 1;
hfdcan1.Init.DataTimeSeg2 = 1;
hfdcan1.Init.MessageRAMOffset = 0;
hfdcan1.Init.StdFiltersNbr = 5;
hfdcan1.Init.ExtFiltersNbr = 0;
hfdcan1.Init.RxFifo0ElmtsNbr = 16;
hfdcan1.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8;
hfdcan1.Init.RxFifo1ElmtsNbr = 0;
hfdcan1.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_8;
hfdcan1.Init.RxBuffersNbr = 0;
hfdcan1.Init.RxBufferSize = FDCAN_DATA_BYTES_8;
hfdcan1.Init.TxEventsNbr = 0;
hfdcan1.Init.TxBuffersNbr = 0;
hfdcan1.Init.TxFifoQueueElmtsNbr = 8;
hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
hfdcan1.Init.TxElmtSize = FDCAN_DATA_BYTES_8;
if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN FDCAN1_Init 2 */
/* USER CODE END FDCAN1_Init 2 */
}
void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* fdcanHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
if(fdcanHandle->Instance==FDCAN1)
{
/* USER CODE BEGIN FDCAN1_MspInit 0 */
/* USER CODE END FDCAN1_MspInit 0 */
/** Initializes the peripherals clock
*/
PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_FDCAN;
PeriphClkInitStruct.FdcanClockSelection = RCC_FDCANCLKSOURCE_PLL;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
{
Error_Handler();
}
/* FDCAN1 clock enable */
__HAL_RCC_FDCAN_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
/**FDCAN1 GPIO Configuration
PD0 ------> FDCAN1_RX
PD1 ------> FDCAN1_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_FDCAN1;
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
/* FDCAN1 interrupt Init */
HAL_NVIC_SetPriority(FDCAN1_IT0_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(FDCAN1_IT0_IRQn);
/* USER CODE BEGIN FDCAN1_MspInit 1 */
/* USER CODE END FDCAN1_MspInit 1 */
}
}
void HAL_FDCAN_MspDeInit(FDCAN_HandleTypeDef* fdcanHandle)
{
if(fdcanHandle->Instance==FDCAN1)
{
/* USER CODE BEGIN FDCAN1_MspDeInit 0 */
/* USER CODE END FDCAN1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_FDCAN_CLK_DISABLE();
/**FDCAN1 GPIO Configuration
PD0 ------> FDCAN1_RX
PD1 ------> FDCAN1_TX
*/
HAL_GPIO_DeInit(GPIOD, GPIO_PIN_0|GPIO_PIN_1);
/* FDCAN1 interrupt Deinit */
HAL_NVIC_DisableIRQ(FDCAN1_IT0_IRQn);
/* USER CODE BEGIN FDCAN1_MspDeInit 1 */
/* USER CODE END FDCAN1_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

301
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* File Name : freertos.c
* Description : Code for freertos applications
******************************************************************************
* @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 "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "app_tasks.h"
#include "snc_can_app.h"
/* 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 Variables */
/* 导航控制任务 (动态创建，不经 CubeMX 管理) */
static osThreadId_t navTaskHandle;
static const osThreadAttr_t navTask_attributes = {
.name = "navTask",
.stack_size = 1024 * 4,
.priority = (osPriority_t) osPriorityAboveNormal,
};
/* USER CODE END Variables */
/* Definitions for defaultTask */
osThreadId_t defaultTaskHandle;
const osThreadAttr_t defaultTask_attributes = {
.name = "defaultTask",
.stack_size = 128 * 4,
.priority = (osPriority_t) osPriorityNormal,
};
/* Definitions for canTxTask */
osThreadId_t canTxTaskHandle;
const osThreadAttr_t canTxTask_attributes = {
.name = "canTxTask",
.stack_size = 512 * 4,
.priority = (osPriority_t) osPriorityAboveNormal,
};
/* Definitions for monitorTask */
osThreadId_t monitorTaskHandle;
const osThreadAttr_t monitorTask_attributes = {
.name = "monitorTask",
.stack_size = 1024 * 4,
.priority = (osPriority_t) osPriorityNormal,
};
/* Definitions for laserTestTask */
osThreadId_t laserTestTaskHandle;
const osThreadAttr_t laserTestTask_attributes = {
.name = "laserTestTask",
.stack_size = 4096 * 4,
.priority = (osPriority_t) osPriorityNormal,
};
/* Definitions for vl53Task */
osThreadId_t vl53TaskHandle;
const osThreadAttr_t vl53Task_attributes = {
.name = "vl53Task",
.stack_size = 1024 * 4,
.priority = (osPriority_t) osPriorityNormal,
};
/* Definitions for imuTask */
osThreadId_t imuTaskHandle;
const osThreadAttr_t imuTask_attributes = {
.name = "imuTask",
.stack_size = 512 * 4,
.priority = (osPriority_t) osPriorityBelowNormal,
};
/* Definitions for logMutex */
osMutexId_t logMutexHandle;
const osMutexAttr_t logMutex_attributes = {
.name = "logMutex"
};
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
/* USER CODE END FunctionPrototypes */
void StartDefaultTask(void *argument);
void StartCanTxTask(void *argument);
void StartMonitorTask(void *argument);
void AppTasks_RunLaserTestTask(void *argument);
void StartVl53Task(void *argument);
void StartImuTask(void *argument);
extern void MX_USB_DEVICE_Init(void);
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 */
AppTasks_Init();
/* USER CODE END Init */
/* Create the mutex(es) */
/* creation of logMutex */
logMutexHandle = osMutexNew(&logMutex_attributes);
/* 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 */
/* USER CODE BEGIN RTOS_QUEUES */
/* add queues, ... */
/* USER CODE END RTOS_QUEUES */
/* Create the thread(s) */
/* creation of defaultTask */
defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
/* creation of canTxTask */
canTxTaskHandle = osThreadNew(StartCanTxTask, NULL, &canTxTask_attributes);
/* creation of monitorTask */
monitorTaskHandle = osThreadNew(StartMonitorTask, NULL, &monitorTask_attributes);
/* creation of laserTestTask */
laserTestTaskHandle = osThreadNew(AppTasks_RunLaserTestTask, NULL, &laserTestTask_attributes);
/* creation of vl53Task */
vl53TaskHandle = osThreadNew(StartVl53Task, NULL, &vl53Task_attributes);
/* creation of imuTask */
imuTaskHandle = osThreadNew(StartImuTask, NULL, &imuTask_attributes);
/* USER CODE BEGIN RTOS_THREADS */
/* 动态孵化导航控制任务，不需要在 CubeMX 中添加 */
navTaskHandle = osThreadNew(AppTasks_RunNavTask_Impl, NULL, &navTask_attributes);
/* USER CODE END RTOS_THREADS */
/* USER CODE BEGIN RTOS_EVENTS */
/* add events, ... */
/* USER CODE END RTOS_EVENTS */
}
/* USER CODE BEGIN Header_StartDefaultTask */
/**
* @brief Function implementing the defaultTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void *argument)
{
/* init code for USB_DEVICE */
MX_USB_DEVICE_Init();
/* USER CODE BEGIN StartDefaultTask */
/* Infinite loop */
for(;;)
{
osDelay(1);
}
/* USER CODE END StartDefaultTask */
}
/* USER CODE BEGIN Header_StartCanTxTask */
/**
* @brief Function implementing the canTxTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartCanTxTask */
void StartCanTxTask(void *argument)
{
/* USER CODE BEGIN StartCanTxTask */
/*
* 保持 CubeMX 生成的任务壳不变：
* 20ms 发送节拍与具体业务逻辑统一放在 app_tasks.c 中维护，
* 降低后续重新生成代码时的冲突风险。
*/
AppTasks_RunCanTxTask(argument);
/* USER CODE END StartCanTxTask */
}
/* USER CODE BEGIN Header_StartMonitorTask */
/**
* @brief Function implementing the monitorTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartMonitorTask */
void StartMonitorTask(void *argument)
{
/* USER CODE BEGIN StartMonitorTask */
/*
* 保持 CubeMX 生成的任务壳不变：
* 100ms 监控任务逻辑下沉到 app_tasks.c，
* 这里仅做入口转发，便于与自动生成框架解耦。
*/
AppTasks_RunMonitorTask(argument);
// (void)argument;
// for (;;)
// {
// osDelay(1000);
// }
/* USER CODE END StartMonitorTask */
}
/* USER CODE BEGIN Header_AppTasks_RunLaserTestTask */
/**
* @brief Function implementing the laserTestTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_AppTasks_RunLaserTestTask */
void AppTasks_RunLaserTestTask(void *argument)
{
/* USER CODE BEGIN AppTasks_RunLaserTestTask */
/* Infinite loop */
// AppTasks_RunLaserTestTask_Impl(argument);
AppTasks_RunLaserTestTask_Impl(argument);
// (void)argument;
// for (;;)
// {
// osDelay(1000);
// }
/* USER CODE END AppTasks_RunLaserTestTask */
}
/* USER CODE BEGIN Header_StartVl53Task */
/**
* @brief Function implementing the vl53Task thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartVl53Task */
void StartVl53Task(void *argument)
{
/* USER CODE BEGIN StartVl53Task */
/* Infinite loop */
AppTasks_RunVl53Task_Impl(argument);
/* USER CODE END StartVl53Task */
}
/* USER CODE BEGIN Header_StartImuTask */
/**
* @brief Function implementing the imuTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartImuTask */
void StartImuTask(void *argument)
{
/* USER CODE BEGIN StartImuTask */
/* Infinite loop */
AppTasks_RunImuTask_Impl(argument);
/* USER CODE END StartImuTask */
}
/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */
/* 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) 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
PC14-OSC32_IN (OSC32_IN) ------> RCC_OSC32_IN
PC15-OSC32_OUT (OSC32_OUT) ------> RCC_OSC32_OUT
PH0-OSC_IN (PH0) ------> RCC_OSC_IN
PH1-OSC_OUT (PH1) ------> RCC_OSC_OUT
PA13 (JTMS/SWDIO) ------> DEBUG_JTMS-SWDIO
PA14 (JTCK/SWCLK) ------> DEBUG_JTCK-SWCLK
*/
void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOE_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOE, GPIO_PIN_3|GPIO_PIN_4, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_5, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1|GPIO_PIN_2, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_11|GPIO_PIN_12|GPIO_PIN_13|GPIO_PIN_14, GPIO_PIN_RESET);
/*Configure GPIO pins : PE3 PE4 */
GPIO_InitStruct.Pin = GPIO_PIN_3|GPIO_PIN_4;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
/*Configure GPIO pin : PC5 */
GPIO_InitStruct.Pin = GPIO_PIN_5;
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 : PB1 PB2 */
GPIO_InitStruct.Pin = GPIO_PIN_1|GPIO_PIN_2;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : PD11 PD12 PD13 PD14 */
GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_12|GPIO_PIN_13|GPIO_PIN_14;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
}
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file i2c.c
* @brief This file provides code for the configuration
* of the I2C 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 "i2c.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
I2C_HandleTypeDef hi2c1;
I2C_HandleTypeDef hi2c2;
/* I2C1 init function */
void MX_I2C1_Init(void)
{
/* USER CODE BEGIN I2C1_Init 0 */
/* USER CODE END I2C1_Init 0 */
/* USER CODE BEGIN I2C1_Init 1 */
/* USER CODE END I2C1_Init 1 */
hi2c1.Instance = I2C1;
hi2c1.Init.Timing = 0x307075B1;
hi2c1.Init.OwnAddress1 = 0;
hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
hi2c1.Init.OwnAddress2 = 0;
hi2c1.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
if (HAL_I2C_Init(&hi2c1) != HAL_OK)
{
Error_Handler();
}
/** Configure Analogue filter
*/
if (HAL_I2CEx_ConfigAnalogFilter(&hi2c1, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
{
Error_Handler();
}
/** Configure Digital filter
*/
if (HAL_I2CEx_ConfigDigitalFilter(&hi2c1, 0) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN I2C1_Init 2 */
/* USER CODE END I2C1_Init 2 */
}
/* I2C2 init function */
void MX_I2C2_Init(void)
{
/* USER CODE BEGIN I2C2_Init 0 */
/* USER CODE END I2C2_Init 0 */
/* USER CODE BEGIN I2C2_Init 1 */
/* USER CODE END I2C2_Init 1 */
hi2c2.Instance = I2C2;
hi2c2.Init.Timing = 0x307075B1;
hi2c2.Init.OwnAddress1 = 0;
hi2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c2.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
hi2c2.Init.OwnAddress2 = 0;
hi2c2.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
hi2c2.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
hi2c2.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
if (HAL_I2C_Init(&hi2c2) != HAL_OK)
{
Error_Handler();
}
/** Configure Analogue filter
*/
if (HAL_I2CEx_ConfigAnalogFilter(&hi2c2, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
{
Error_Handler();
}
/** Configure Digital filter
*/
if (HAL_I2CEx_ConfigDigitalFilter(&hi2c2, 0) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN I2C2_Init 2 */
/* USER CODE END I2C2_Init 2 */
}
void HAL_I2C_MspInit(I2C_HandleTypeDef* i2cHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
if(i2cHandle->Instance==I2C1)
{
/* USER CODE BEGIN I2C1_MspInit 0 */
/* USER CODE END I2C1_MspInit 0 */
/** Initializes the peripherals clock
*/
PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_I2C1;
PeriphClkInitStruct.I2c123ClockSelection = RCC_I2C123CLKSOURCE_D2PCLK1;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
{
Error_Handler();
}
__HAL_RCC_GPIOB_CLK_ENABLE();
/**I2C1 GPIO Configuration
PB6 ------> I2C1_SCL
PB7 ------> I2C1_SDA
*/
GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF4_I2C1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* I2C1 clock enable */
__HAL_RCC_I2C1_CLK_ENABLE();
/* USER CODE BEGIN I2C1_MspInit 1 */
/* USER CODE END I2C1_MspInit 1 */
}
else if(i2cHandle->Instance==I2C2)
{
/* USER CODE BEGIN I2C2_MspInit 0 */
/* USER CODE END I2C2_MspInit 0 */
/** Initializes the peripherals clock
*/
PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_I2C2;
PeriphClkInitStruct.I2c123ClockSelection = RCC_I2C123CLKSOURCE_D2PCLK1;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
{
Error_Handler();
}
__HAL_RCC_GPIOB_CLK_ENABLE();
/**I2C2 GPIO Configuration
PB10 ------> I2C2_SCL
PB11 ------> I2C2_SDA
*/
GPIO_InitStruct.Pin = GPIO_PIN_10|GPIO_PIN_11;
GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF4_I2C2;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* I2C2 clock enable */
__HAL_RCC_I2C2_CLK_ENABLE();
/* USER CODE BEGIN I2C2_MspInit 1 */
/* USER CODE END I2C2_MspInit 1 */
}
}
void HAL_I2C_MspDeInit(I2C_HandleTypeDef* i2cHandle)
{
if(i2cHandle->Instance==I2C1)
{
/* USER CODE BEGIN I2C1_MspDeInit 0 */
/* USER CODE END I2C1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_I2C1_CLK_DISABLE();
/**I2C1 GPIO Configuration
PB6 ------> I2C1_SCL
PB7 ------> I2C1_SDA
*/
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_6);
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_7);
/* USER CODE BEGIN I2C1_MspDeInit 1 */
/* USER CODE END I2C1_MspDeInit 1 */
}
else if(i2cHandle->Instance==I2C2)
{
/* USER CODE BEGIN I2C2_MspDeInit 0 */
/* USER CODE END I2C2_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_I2C2_CLK_DISABLE();
/**I2C2 GPIO Configuration
PB10 ------> I2C2_SCL
PB11 ------> I2C2_SDA
*/
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_10);
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_11);
/* USER CODE BEGIN I2C2_MspDeInit 1 */
/* USER CODE END I2C2_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

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/* USER CODE BEGIN Header */
#include "snc_can_app.h"
#include "usbd_cdc_if.h"
#include <stdio.h>
/**
******************************************************************************
* @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 "cmsis_os.h"
#include "dma.h"
#include "fdcan.h"
#include "i2c.h"
#include "tim.h"
#include "usart.h"
#include "usb_device.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);
static void MPU_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 */
/* MPU Configuration--------------------------------------------------------*/
MPU_Config();
/* 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_FDCAN1_Init();
MX_TIM6_Init();
MX_I2C1_Init();
MX_I2C2_Init();
MX_UART4_Init();
MX_UART5_Init();
MX_UART7_Init();
MX_USART1_UART_Init();
MX_USART2_UART_Init();
MX_USART3_UART_Init();
MX_USART6_UART_Init();
/* USER CODE BEGIN 2 */
MX_USB_DEVICE_Init();
/* 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};
/** Supply configuration update enable
*/
HAL_PWREx_ConfigSupply(PWR_LDO_SUPPLY);
/** Configure the main internal regulator output voltage
*/
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE0);
while(!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {}
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI48|RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSI48State = RCC_HSI48_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 5;
RCC_OscInitStruct.PLL.PLLN = 192;
RCC_OscInitStruct.PLL.PLLP = 2;
RCC_OscInitStruct.PLL.PLLQ = 15;
RCC_OscInitStruct.PLL.PLLR = 2;
RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3;
RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
RCC_OscInitStruct.PLL.PLLFRACN = 0;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2
|RCC_CLOCKTYPE_D3PCLK1|RCC_CLOCKTYPE_D1PCLK1;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV2;
RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV2;
RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV2;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
{
Error_Handler();
}
}
/* USER CODE BEGIN 4 */
/*
* 保留中断接收链路：
* HAL FDCAN FIFO0 回调仅做桥接，把收到的帧交给协议层解析。
* 这样可避免与任务/主循环轮询形成双接收路径。
*/
void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
{
SNC_CAN_RxFifo0Callback(hfdcan, RxFifo0ITs);
}
/* USER CODE END 4 */
/* MPU Configuration */
void MPU_Config(void)
{
MPU_Region_InitTypeDef MPU_InitStruct = {0};
/* Disables the MPU */
HAL_MPU_Disable();
/** Initializes and configures the Region and the memory to be protected
*/
MPU_InitStruct.Enable = MPU_REGION_ENABLE;
MPU_InitStruct.Number = MPU_REGION_NUMBER0;
MPU_InitStruct.BaseAddress = 0x0;
MPU_InitStruct.Size = MPU_REGION_SIZE_4GB;
MPU_InitStruct.SubRegionDisable = 0x87;
MPU_InitStruct.TypeExtField = MPU_TEX_LEVEL0;
MPU_InitStruct.AccessPermission = MPU_REGION_NO_ACCESS;
MPU_InitStruct.DisableExec = MPU_INSTRUCTION_ACCESS_DISABLE;
MPU_InitStruct.IsShareable = MPU_ACCESS_SHAREABLE;
MPU_InitStruct.IsCacheable = MPU_ACCESS_NOT_CACHEABLE;
MPU_InitStruct.IsBufferable = MPU_ACCESS_NOT_BUFFERABLE;
HAL_MPU_ConfigRegion(&MPU_InitStruct);
/** Initializes and configures the Region and the memory to be protected
*/
MPU_InitStruct.Number = MPU_REGION_NUMBER1;
MPU_InitStruct.BaseAddress = 0x30000000;
MPU_InitStruct.Size = MPU_REGION_SIZE_32KB;
MPU_InitStruct.SubRegionDisable = 0x0;
MPU_InitStruct.AccessPermission = MPU_REGION_FULL_ACCESS;
HAL_MPU_ConfigRegion(&MPU_InitStruct);
/* Enables the MPU */
HAL_MPU_Enable(MPU_PRIVILEGED_DEFAULT);
}
/**
* @brief Period elapsed callback in non blocking mode
* @note This function is called when TIM7 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 == TIM7)
{
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 */

83
Core/Src/stm32h7xx_hal_msp.c Normal file
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32h7xx_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();
/* 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 */

130
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32h7xx_hal_timebase_tim.c
* @brief HAL time base based on the hardware TIM.
******************************************************************************
* @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 "stm32h7xx_hal.h"
#include "stm32h7xx_hal_tim.h"
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
TIM_HandleTypeDef htim7;
/* Private function prototypes -----------------------------------------------*/
/* Private functions ---------------------------------------------------------*/
/**
* @brief This function configures the TIM7 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;
uint32_t uwPrescalerValue;
uint32_t pFLatency;
/*Configure the TIM7 IRQ priority */
if (TickPriority < (1UL << __NVIC_PRIO_BITS))
{
HAL_NVIC_SetPriority(TIM7_IRQn, TickPriority ,0);
/* Enable the TIM7 global Interrupt */
HAL_NVIC_EnableIRQ(TIM7_IRQn);
uwTickPrio = TickPriority;
}
else
{
return HAL_ERROR;
}
/* Enable TIM7 clock */
__HAL_RCC_TIM7_CLK_ENABLE();
/* Get clock configuration */
HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);
/* Get APB1 prescaler */
uwAPB1Prescaler = clkconfig.APB1CLKDivider;
/* Compute TIM7 clock */
if (uwAPB1Prescaler == RCC_HCLK_DIV1)
{
uwTimclock = HAL_RCC_GetPCLK1Freq();
}
else
{
uwTimclock = 2UL * HAL_RCC_GetPCLK1Freq();
}
/* Compute the prescaler value to have TIM7 counter clock equal to 1MHz */
uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000U) - 1U);
/* Initialize TIM7 */
htim7.Instance = TIM7;
/* Initialize TIMx peripheral as follow:
* Period = [(TIM7CLK/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
*/
htim7.Init.Period = (1000000U / 1000U) - 1U;
htim7.Init.Prescaler = uwPrescalerValue;
htim7.Init.ClockDivision = 0;
htim7.Init.CounterMode = TIM_COUNTERMODE_UP;
if(HAL_TIM_Base_Init(&htim7) == HAL_OK)
{
/* Start the TIM time Base generation in interrupt mode */
return HAL_TIM_Base_Start_IT(&htim7);
}
/* Return function status */
return HAL_ERROR;
}
/**
* @brief Suspend Tick increment.
* @note Disable the tick increment by disabling TIM7 update interrupt.
* @param None
* @retval None
*/
void HAL_SuspendTick(void)
{
/* Disable TIM7 update Interrupt */
__HAL_TIM_DISABLE_IT(&htim7, TIM_IT_UPDATE);
}
/**
* @brief Resume Tick increment.
* @note Enable the tick increment by Enabling TIM7 update interrupt.
* @param None
* @retval None
*/
void HAL_ResumeTick(void)
{
/* Enable TIM7 Update interrupt */
__HAL_TIM_ENABLE_IT(&htim7, TIM_IT_UPDATE);
}

373
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32h7xx_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 "stm32h7xx_it.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* 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 PCD_HandleTypeDef hpcd_USB_OTG_FS;
extern FDCAN_HandleTypeDef hfdcan1;
extern TIM_HandleTypeDef htim6;
extern DMA_HandleTypeDef hdma_uart4_rx;
extern DMA_HandleTypeDef hdma_uart7_rx;
extern DMA_HandleTypeDef hdma_usart2_rx;
extern DMA_HandleTypeDef hdma_usart3_rx;
extern DMA_HandleTypeDef hdma_usart6_rx;
extern UART_HandleTypeDef huart4;
extern UART_HandleTypeDef huart7;
extern UART_HandleTypeDef huart2;
extern UART_HandleTypeDef huart3;
extern UART_HandleTypeDef huart6;
extern TIM_HandleTypeDef htim7;
/* USER CODE BEGIN EV */
/* USER CODE END EV */
/******************************************************************************/
/* Cortex 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 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 */
}
/******************************************************************************/
/* STM32H7xx 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_stm32h7xx.s). */
/******************************************************************************/
/**
* @brief This function handles DMA1 stream0 global interrupt.
*/
void DMA1_Stream0_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Stream0_IRQn 0 */
/* USER CODE END DMA1_Stream0_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart2_rx);
/* USER CODE BEGIN DMA1_Stream0_IRQn 1 */
/* USER CODE END DMA1_Stream0_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_uart4_rx);
/* USER CODE BEGIN DMA1_Stream1_IRQn 1 */
/* USER CODE END DMA1_Stream1_IRQn 1 */
}
/**
* @brief This function handles DMA1 stream2 global interrupt.
*/
void DMA1_Stream2_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Stream2_IRQn 0 */
/* USER CODE END DMA1_Stream2_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart3_rx);
/* USER CODE BEGIN DMA1_Stream2_IRQn 1 */
/* USER CODE END DMA1_Stream2_IRQn 1 */
}
/**
* @brief This function handles DMA1 stream3 global interrupt.
*/
void DMA1_Stream3_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Stream3_IRQn 0 */
/* USER CODE END DMA1_Stream3_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart6_rx);
/* USER CODE BEGIN DMA1_Stream3_IRQn 1 */
/* USER CODE END DMA1_Stream3_IRQn 1 */
}
/**
* @brief This function handles DMA1 stream4 global interrupt.
*/
void DMA1_Stream4_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Stream4_IRQn 0 */
/* USER CODE END DMA1_Stream4_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_uart7_rx);
/* USER CODE BEGIN DMA1_Stream4_IRQn 1 */
/* USER CODE END DMA1_Stream4_IRQn 1 */
}
/**
* @brief This function handles FDCAN1 interrupt 0.
*/
void FDCAN1_IT0_IRQHandler(void)
{
/* USER CODE BEGIN FDCAN1_IT0_IRQn 0 */
/* USER CODE END FDCAN1_IT0_IRQn 0 */
HAL_FDCAN_IRQHandler(&hfdcan1);
/* USER CODE BEGIN FDCAN1_IT0_IRQn 1 */
/* USER CODE END FDCAN1_IT0_IRQn 1 */
}
/**
* @brief This function handles USART2 global interrupt.
*/
void USART2_IRQHandler(void)
{
/* USER CODE BEGIN USART2_IRQn 0 */
/* USER CODE END USART2_IRQn 0 */
HAL_UART_IRQHandler(&huart2);
/* USER CODE BEGIN USART2_IRQn 1 */
/* USER CODE END USART2_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 UART4 global interrupt.
*/
void UART4_IRQHandler(void)
{
/* USER CODE BEGIN UART4_IRQn 0 */
/* USER CODE END UART4_IRQn 0 */
HAL_UART_IRQHandler(&huart4);
/* USER CODE BEGIN UART4_IRQn 1 */
/* USER CODE END UART4_IRQn 1 */
}
/**
* @brief This function handles TIM6 global interrupt, DAC1_CH1 and DAC1_CH2 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 TIM7 global interrupt.
*/
void TIM7_IRQHandler(void)
{
/* USER CODE BEGIN TIM7_IRQn 0 */
/* USER CODE END TIM7_IRQn 0 */
HAL_TIM_IRQHandler(&htim7);
/* USER CODE BEGIN TIM7_IRQn 1 */
/* USER CODE END TIM7_IRQn 1 */
}
/**
* @brief This function handles USART6 global interrupt.
*/
void USART6_IRQHandler(void)
{
/* USER CODE BEGIN USART6_IRQn 0 */
/* USER CODE END USART6_IRQn 0 */
HAL_UART_IRQHandler(&huart6);
/* USER CODE BEGIN USART6_IRQn 1 */
/* USER CODE END USART6_IRQn 1 */
}
/**
* @brief This function handles UART7 global interrupt.
*/
void UART7_IRQHandler(void)
{
/* USER CODE BEGIN UART7_IRQn 0 */
/* USER CODE END UART7_IRQn 0 */
HAL_UART_IRQHandler(&huart7);
/* USER CODE BEGIN UART7_IRQn 1 */
/* USER CODE END UART7_IRQn 1 */
}
/**
* @brief This function handles USB On The Go FS global interrupt.
*/
void OTG_FS_IRQHandler(void)
{
/* USER CODE BEGIN OTG_FS_IRQn 0 */
/* USER CODE END OTG_FS_IRQn 0 */
HAL_PCD_IRQHandler(&hpcd_USB_OTG_FS);
/* USER CODE BEGIN OTG_FS_IRQn 1 */
/* USER CODE END OTG_FS_IRQn 1 */
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

244
Core/Src/syscalls.c Normal file
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/**
******************************************************************************
* @file syscalls.c
* @author Auto-generated by STM32CubeMX
* @brief Minimal System calls file
*
* For more information about which c-functions
* need which of these lowlevel functions
* please consult the Newlib or Picolibc libc-manual
******************************************************************************
* @attention
*
* Copyright (c) 2020-2025 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.
*
******************************************************************************
*/
/* Includes */
#include <sys/stat.h>
#include <stdlib.h>
#include <errno.h>
#include <stdio.h>
#include <signal.h>
#include <time.h>
#include <sys/time.h>
#include <sys/times.h>
/* Variables */
extern int __io_putchar(int ch) __attribute__((weak));
extern int __io_getchar(void) __attribute__((weak));
char *__env[1] = { 0 };
char **environ = __env;
/* Functions */
void initialise_monitor_handles()
{
}
int _getpid(void)
{
return 1;
}
int _kill(int pid, int sig)
{
(void)pid;
(void)sig;
errno = EINVAL;
return -1;
}
void _exit (int status)
{
_kill(status, -1);
while (1) {} /* Make sure we hang here */
}
__attribute__((weak)) int _read(int file, char *ptr, int len)
{
(void)file;
int DataIdx;
for (DataIdx = 0; DataIdx < len; DataIdx++)
{
*ptr++ = __io_getchar();
}
return len;
}
__attribute__((weak)) int _write(int file, char *ptr, int len)
{
(void)file;
int DataIdx;
for (DataIdx = 0; DataIdx < len; DataIdx++)
{
__io_putchar(*ptr++);
}
return len;
}
int _close(int file)
{
(void)file;
return -1;
}
int _fstat(int file, struct stat *st)
{
(void)file;
st->st_mode = S_IFCHR;
return 0;
}
int _isatty(int file)
{
(void)file;
return 1;
}
int _lseek(int file, int ptr, int dir)
{
(void)file;
(void)ptr;
(void)dir;
return 0;
}
int _open(char *path, int flags, ...)
{
(void)path;
(void)flags;
/* Pretend like we always fail */
return -1;
}
int _wait(int *status)
{
(void)status;
errno = ECHILD;
return -1;
}
int _unlink(char *name)
{
(void)name;
errno = ENOENT;
return -1;
}
clock_t _times(struct tms *buf)
{
(void)buf;
return -1;
}
int _stat(const char *file, struct stat *st)
{
(void)file;
st->st_mode = S_IFCHR;
return 0;
}
int _link(char *old, char *new)
{
(void)old;
(void)new;
errno = EMLINK;
return -1;
}
int _fork(void)
{
errno = EAGAIN;
return -1;
}
int _execve(char *name, char **argv, char **env)
{
(void)name;
(void)argv;
(void)env;
errno = ENOMEM;
return -1;
}
// --- Picolibc Specific Section ---
#if defined(__PICOLIBC__)
/**
* @brief Picolibc helper function to output a character to a FILE stream.
* This redirects the output to the low-level __io_putchar function.
* @param c Character to write.
* @param file FILE stream pointer (ignored).
* @retval int The character written.
*/
static int starm_putc(char c, FILE *file)
{
(void) file;
__io_putchar(c);
return c;
}
/**
* @brief Picolibc helper function to input a character from a FILE stream.
* This redirects the input from the low-level __io_getchar function.
* @param file FILE stream pointer (ignored).
* @retval int The character read, cast to an unsigned char then int.
*/
static int starm_getc(FILE *file)
{
unsigned char c;
(void) file;
c = __io_getchar();
return c;
}
// Define and initialize the standard I/O streams for Picolibc.
// FDEV_SETUP_STREAM connects the starm_putc and starm_getc helper functions to a FILE structure.
// _FDEV_SETUP_RW indicates the stream is for reading and writing.
static FILE __stdio = FDEV_SETUP_STREAM(starm_putc,
starm_getc,
NULL,
_FDEV_SETUP_RW);
// Assign the standard stream pointers (stdin, stdout, stderr) to the initialized stream.
// Picolibc uses these pointers for standard I/O operations (printf, scanf, etc.).
FILE *const stdin = &__stdio;
__strong_reference(stdin, stdout);
__strong_reference(stdin, stderr);
// Create strong aliases mapping standard C library function names (without underscore)
// to the implemented system call stubs (with underscore). Picolibc uses these
// standard names internally, so this linking is required.
__strong_reference(_read, read);
__strong_reference(_write, write);
__strong_reference(_times, times);
__strong_reference(_execve, execve);
__strong_reference(_fork, fork);
__strong_reference(_link, link);
__strong_reference(_unlink, unlink);
__strong_reference(_stat, stat);
__strong_reference(_wait, wait);
__strong_reference(_open, open);
__strong_reference(_close, close);
__strong_reference(_lseek, lseek);
__strong_reference(_isatty, isatty);
__strong_reference(_fstat, fstat);
__strong_reference(_exit, exit);
__strong_reference(_kill, kill);
__strong_reference(_getpid, getpid);
#endif //__PICOLIBC__

87
Core/Src/sysmem.c Normal file
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/**
******************************************************************************
* @file sysmem.c
* @author Generated by STM32CubeMX
* @brief System Memory calls file
*
* For more information about which C functions
* need which of these lowlevel functions
* please consult the Newlib or Picolibc libc manual
******************************************************************************
* @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.
*
******************************************************************************
*/
/* Includes */
#include <errno.h>
#include <stdint.h>
#include <stddef.h>
/**
* Pointer to the current high watermark of the heap usage
*/
static uint8_t *__sbrk_heap_end = NULL;
/**
* @brief _sbrk() allocates memory to the newlib heap and is used by malloc
* and others from the C library
*
* @verbatim
* ############################################################################
* # .data # .bss # newlib heap # MSP stack #
* # # # # Reserved by _Min_Stack_Size #
* ############################################################################
* ^-- RAM start ^-- _end _estack, RAM end --^
* @endverbatim
*
* This implementation starts allocating at the '_end' linker symbol
* The '_Min_Stack_Size' linker symbol reserves a memory for the MSP stack
* The implementation considers '_estack' linker symbol to be RAM end
* NOTE: If the MSP stack, at any point during execution, grows larger than the
* reserved size, please increase the '_Min_Stack_Size'.
*
* @param incr Memory size
* @return Pointer to allocated memory
*/
void *_sbrk(ptrdiff_t incr)
{
extern uint8_t _end; /* Symbol defined in the linker script */
extern uint8_t _estack; /* Symbol defined in the linker script */
extern uint32_t _Min_Stack_Size; /* Symbol defined in the linker script */
const uint32_t stack_limit = (uint32_t)&_estack - (uint32_t)&_Min_Stack_Size;
const uint8_t *max_heap = (uint8_t *)stack_limit;
uint8_t *prev_heap_end;
/* Initialize heap end at first call */
if (NULL == __sbrk_heap_end)
{
__sbrk_heap_end = &_end;
}
/* Protect heap from growing into the reserved MSP stack */
if (__sbrk_heap_end + incr > max_heap)
{
errno = ENOMEM;
return (void *)-1;
}
prev_heap_end = __sbrk_heap_end;
__sbrk_heap_end += incr;
return (void *)prev_heap_end;
}
#if defined(__PICOLIBC__)
// Picolibc expects syscalls without the leading underscore.
// This creates a strong alias so that
// calls to `sbrk()` are resolved to our `_sbrk()` implementation.
__strong_reference(_sbrk, sbrk);
#endif

556
Core/Src/system_stm32h7xx.c Normal file
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/**
******************************************************************************
* @file system_stm32h7xx.c
* @author MCD Application Team
* @brief CMSIS Cortex-Mx Device Peripheral Access Layer System Source File.
*
* This file provides two functions and one global variable to be called from
* user application:
* - ExitRun0Mode(): Specifies the Power Supply source. This function is
* called at startup just after reset and before the call
* of SystemInit(). This call is made inside
* the "startup_stm32h7xx.s" file.
*
* - SystemInit(): This function is called at startup just after reset and
* before branch to main program. This call is made inside
* the "startup_stm32h7xx.s" file.
*
* - SystemCoreClock variable: Contains the core clock, 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 stm32h7xx_system
* @{
*/
/** @addtogroup STM32H7xx_System_Private_Includes
* @{
*/
#include "stm32h7xx.h"
#include <math.h>
#if !defined (HSE_VALUE)
#define HSE_VALUE ((uint32_t)25000000) /*!< Value of the External oscillator in Hz */
#endif /* HSE_VALUE */
#if !defined (CSI_VALUE)
#define CSI_VALUE ((uint32_t)4000000) /*!< Value of the Internal oscillator in Hz*/
#endif /* CSI_VALUE */
#if !defined (HSI_VALUE)
#define HSI_VALUE ((uint32_t)64000000) /*!< Value of the Internal oscillator in Hz*/
#endif /* HSI_VALUE */
/**
* @}
*/
/** @addtogroup STM32H7xx_System_Private_TypesDefinitions
* @{
*/
/**
* @}
*/
/** @addtogroup STM32H7xx_System_Private_Defines
* @{
*/
/************************* Miscellaneous Configuration ************************/
/*!< Uncomment the following line if you need to use initialized data in D2 domain SRAM (AHB SRAM) */
/* #define DATA_IN_D2_SRAM */
/* 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 BANK1 or AXI 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)
#if defined(DUAL_CORE) && defined(CORE_CM4)
/*!< Uncomment the following line if you need to relocate your vector Table
in D2 AXI SRAM else user remap will be done in FLASH BANK2. */
/* #define VECT_TAB_SRAM */
#if defined(VECT_TAB_SRAM)
#define VECT_TAB_BASE_ADDRESS D2_AXISRAM_BASE /*!< Vector Table base address field.
This value must be a multiple of 0x400. */
#define VECT_TAB_OFFSET 0x00000000U /*!< Vector Table base offset field.
This value must be a multiple of 0x400. */
#else
#define VECT_TAB_BASE_ADDRESS FLASH_BANK2_BASE /*!< Vector Table base address field.
This value must be a multiple of 0x400. */
#define VECT_TAB_OFFSET 0x00000000U /*!< Vector Table base offset field.
This value must be a multiple of 0x400. */
#endif /* VECT_TAB_SRAM */
#else
/*!< Uncomment the following line if you need to relocate your vector Table
in D1 AXI SRAM else user remap will be done in FLASH BANK1. */
/* #define VECT_TAB_SRAM */
#if defined(VECT_TAB_SRAM)
#define VECT_TAB_BASE_ADDRESS D1_AXISRAM_BASE /*!< Vector Table base address field.
This value must be a multiple of 0x400. */
#define VECT_TAB_OFFSET 0x00000000U /*!< Vector Table base offset field.
This value must be a multiple of 0x400. */
#else
#define VECT_TAB_BASE_ADDRESS FLASH_BANK1_BASE /*!< Vector Table base address field.
This value must be a multiple of 0x400. */
#define VECT_TAB_OFFSET 0x00000000U /*!< Vector Table base offset field.
This value must be a multiple of 0x400. */
#endif /* VECT_TAB_SRAM */
#endif /* DUAL_CORE && CORE_CM4 */
#endif /* USER_VECT_TAB_ADDRESS */
/******************************************************************************/
/**
* @}
*/
/** @addtogroup STM32H7xx_System_Private_Macros
* @{
*/
/**
* @}
*/
/** @addtogroup STM32H7xx_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 = 64000000;
uint32_t SystemD2Clock = 64000000;
const uint8_t D1CorePrescTable[16] = {0, 0, 0, 0, 1, 2, 3, 4, 1, 2, 3, 4, 6, 7, 8, 9};
/**
* @}
*/
/** @addtogroup STM32H7xx_System_Private_FunctionPrototypes
* @{
*/
/**
* @}
*/
/** @addtogroup STM32H7xx_System_Private_Functions
* @{
*/
/**
* @brief Setup the microcontroller system
* Initialize the FPU setting and vector table location
* configuration.
* @param None
* @retval None
*/
void SystemInit (void)
{
#if defined (DATA_IN_D2_SRAM)
__IO uint32_t tmpreg;
#endif /* DATA_IN_D2_SRAM */
/* FPU settings ------------------------------------------------------------*/
#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
SCB->CPACR |= ((3UL << (10*2))|(3UL << (11*2))); /* set CP10 and CP11 Full Access */
#endif
/* Reset the RCC clock configuration to the default reset state ------------*/
/* Increasing the CPU frequency */
if(FLASH_LATENCY_DEFAULT > (READ_BIT((FLASH->ACR), FLASH_ACR_LATENCY)))
{
/* Program the new number of wait states to the LATENCY bits in the FLASH_ACR register */
MODIFY_REG(FLASH->ACR, FLASH_ACR_LATENCY, (uint32_t)(FLASH_LATENCY_DEFAULT));
}
/* Set HSION bit */
RCC->CR |= RCC_CR_HSION;
/* Reset CFGR register */
RCC->CFGR = 0x00000000;
/* Reset HSEON, HSECSSON, CSION, HSI48ON, CSIKERON, PLL1ON, PLL2ON and PLL3ON bits */
RCC->CR &= 0xEAF6ED7FU;
/* Decreasing the number of wait states because of lower CPU frequency */
if(FLASH_LATENCY_DEFAULT < (READ_BIT((FLASH->ACR), FLASH_ACR_LATENCY)))
{
/* Program the new number of wait states to the LATENCY bits in the FLASH_ACR register */
MODIFY_REG(FLASH->ACR, FLASH_ACR_LATENCY, (uint32_t)(FLASH_LATENCY_DEFAULT));
}
#if defined(D3_SRAM_BASE)
/* Reset D1CFGR register */
RCC->D1CFGR = 0x00000000;
/* Reset D2CFGR register */
RCC->D2CFGR = 0x00000000;
/* Reset D3CFGR register */
RCC->D3CFGR = 0x00000000;
#else
/* Reset CDCFGR1 register */
RCC->CDCFGR1 = 0x00000000;
/* Reset CDCFGR2 register */
RCC->CDCFGR2 = 0x00000000;
/* Reset SRDCFGR register */
RCC->SRDCFGR = 0x00000000;
#endif
/* Reset PLLCKSELR register */
RCC->PLLCKSELR = 0x02020200;
/* Reset PLLCFGR register */
RCC->PLLCFGR = 0x01FF0000;
/* Reset PLL1DIVR register */
RCC->PLL1DIVR = 0x01010280;
/* Reset PLL1FRACR register */
RCC->PLL1FRACR = 0x00000000;
/* Reset PLL2DIVR register */
RCC->PLL2DIVR = 0x01010280;
/* Reset PLL2FRACR register */
RCC->PLL2FRACR = 0x00000000;
/* Reset PLL3DIVR register */
RCC->PLL3DIVR = 0x01010280;
/* Reset PLL3FRACR register */
RCC->PLL3FRACR = 0x00000000;
/* Reset HSEBYP bit */
RCC->CR &= 0xFFFBFFFFU;
/* Disable all interrupts */
RCC->CIER = 0x00000000;
#if (STM32H7_DEV_ID == 0x450UL)
/* dual core CM7 or single core line */
if((DBGMCU->IDCODE & 0xFFFF0000U) < 0x20000000U)
{
/* if stm32h7 revY*/
/* Change the switch matrix read issuing capability to 1 for the AXI SRAM target (Target 7) */
*((__IO uint32_t*)0x51008108) = 0x000000001U;
}
#endif /* STM32H7_DEV_ID */
#if defined(DATA_IN_D2_SRAM)
/* in case of initialized data in D2 SRAM (AHB SRAM), enable the D2 SRAM clock (AHB SRAM clock) */
#if defined(RCC_AHB2ENR_D2SRAM3EN)
RCC->AHB2ENR |= (RCC_AHB2ENR_D2SRAM1EN | RCC_AHB2ENR_D2SRAM2EN | RCC_AHB2ENR_D2SRAM3EN);
#elif defined(RCC_AHB2ENR_D2SRAM2EN)
RCC->AHB2ENR |= (RCC_AHB2ENR_D2SRAM1EN | RCC_AHB2ENR_D2SRAM2EN);
#else
RCC->AHB2ENR |= (RCC_AHB2ENR_AHBSRAM1EN | RCC_AHB2ENR_AHBSRAM2EN);
#endif /* RCC_AHB2ENR_D2SRAM3EN */
tmpreg = RCC->AHB2ENR;
(void) tmpreg;
#endif /* DATA_IN_D2_SRAM */
#if defined(DUAL_CORE) && defined(CORE_CM4)
/* Configure the Vector Table location add offset address for cortex-M4 ------------------*/
#if defined(USER_VECT_TAB_ADDRESS)
SCB->VTOR = VECT_TAB_BASE_ADDRESS | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal D2 AXI-RAM or in Internal FLASH */
#endif /* USER_VECT_TAB_ADDRESS */
#else
if(READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FMCEN) == 0U)
{
/* Enable the FMC interface clock */
SET_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FMCEN);
/*
* Disable the FMC bank1 (enabled after reset).
* This, prevents CPU speculation access on this bank which blocks the use of FMC during
* 24us. During this time the others FMC master (such as LTDC) cannot use it!
*/
FMC_Bank1_R->BTCR[0] = 0x000030D2;
/* Disable the FMC interface clock */
CLEAR_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FMCEN);
}
/* 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 D1 AXI-RAM or in Internal FLASH */
#endif /* USER_VECT_TAB_ADDRESS */
#endif /*DUAL_CORE && CORE_CM4*/
}
/**
* @brief Update SystemCoreClock variable according to Clock Register Values.
* The SystemCoreClock variable contains the core clock , it can
* be used by the user application to setup the SysTick timer or configure
* other parameters.
*
* @note Each time the core clock 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 CSI, SystemCoreClock will contain the CSI_VALUE(*)
* - 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 CSI_VALUE(*),
* HSI_VALUE(**) or HSE_VALUE(***) multiplied/divided by the PLL factors.
*
* (*) CSI_VALUE is a constant defined in stm32h7xx_hal.h file (default value
* 4 MHz) but the real value may vary depending on the variations
* in voltage and temperature.
* (**) HSI_VALUE is a constant defined in stm32h7xx_hal.h file (default value
* 64 MHz) but the real value may vary depending on the variations
* in voltage and temperature.
*
* (***)HSE_VALUE is a constant defined in stm32h7xx_hal.h file (default value
* 25 MHz), 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 pllp, pllsource, pllm, pllfracen, hsivalue, tmp;
uint32_t common_system_clock;
float_t fracn1, pllvco;
/* Get SYSCLK source -------------------------------------------------------*/
switch (RCC->CFGR & RCC_CFGR_SWS)
{
case RCC_CFGR_SWS_HSI: /* HSI used as system clock source */
common_system_clock = (uint32_t) (HSI_VALUE >> ((RCC->CR & RCC_CR_HSIDIV)>> 3));
break;
case RCC_CFGR_SWS_CSI: /* CSI used as system clock source */
common_system_clock = CSI_VALUE;
break;
case RCC_CFGR_SWS_HSE: /* HSE used as system clock source */
common_system_clock = HSE_VALUE;
break;
case RCC_CFGR_SWS_PLL1: /* PLL1 used as system clock source */
/* PLL_VCO = (HSE_VALUE or HSI_VALUE or CSI_VALUE/ PLLM) * PLLN
SYSCLK = PLL_VCO / PLLR
*/
pllsource = (RCC->PLLCKSELR & RCC_PLLCKSELR_PLLSRC);
pllm = ((RCC->PLLCKSELR & RCC_PLLCKSELR_DIVM1)>> 4) ;
pllfracen = ((RCC->PLLCFGR & RCC_PLLCFGR_PLL1FRACEN)>>RCC_PLLCFGR_PLL1FRACEN_Pos);
fracn1 = (float_t)(uint32_t)(pllfracen* ((RCC->PLL1FRACR & RCC_PLL1FRACR_FRACN1)>> 3));
if (pllm != 0U)
{
switch (pllsource)
{
case RCC_PLLCKSELR_PLLSRC_HSI: /* HSI used as PLL clock source */
hsivalue = (HSI_VALUE >> ((RCC->CR & RCC_CR_HSIDIV)>> 3)) ;
pllvco = ( (float_t)hsivalue / (float_t)pllm) * ((float_t)(uint32_t)(RCC->PLL1DIVR & RCC_PLL1DIVR_N1) + (fracn1/(float_t)0x2000) +(float_t)1 );
break;
case RCC_PLLCKSELR_PLLSRC_CSI: /* CSI used as PLL clock source */
pllvco = ((float_t)CSI_VALUE / (float_t)pllm) * ((float_t)(uint32_t)(RCC->PLL1DIVR & RCC_PLL1DIVR_N1) + (fracn1/(float_t)0x2000) +(float_t)1 );
break;
case RCC_PLLCKSELR_PLLSRC_HSE: /* HSE used as PLL clock source */
pllvco = ((float_t)HSE_VALUE / (float_t)pllm) * ((float_t)(uint32_t)(RCC->PLL1DIVR & RCC_PLL1DIVR_N1) + (fracn1/(float_t)0x2000) +(float_t)1 );
break;
default:
hsivalue = (HSI_VALUE >> ((RCC->CR & RCC_CR_HSIDIV)>> 3)) ;
pllvco = ((float_t)hsivalue / (float_t)pllm) * ((float_t)(uint32_t)(RCC->PLL1DIVR & RCC_PLL1DIVR_N1) + (fracn1/(float_t)0x2000) +(float_t)1 );
break;
}
pllp = (((RCC->PLL1DIVR & RCC_PLL1DIVR_P1) >>9) + 1U ) ;
common_system_clock = (uint32_t)(float_t)(pllvco/(float_t)pllp);
}
else
{
common_system_clock = 0U;
}
break;
default:
common_system_clock = (uint32_t) (HSI_VALUE >> ((RCC->CR & RCC_CR_HSIDIV)>> 3));
break;
}
/* Compute SystemClock frequency --------------------------------------------------*/
#if defined (RCC_D1CFGR_D1CPRE)
tmp = D1CorePrescTable[(RCC->D1CFGR & RCC_D1CFGR_D1CPRE)>> RCC_D1CFGR_D1CPRE_Pos];
/* common_system_clock frequency : CM7 CPU frequency */
common_system_clock >>= tmp;
/* SystemD2Clock frequency : CM4 CPU, AXI and AHBs Clock frequency */
SystemD2Clock = (common_system_clock >> ((D1CorePrescTable[(RCC->D1CFGR & RCC_D1CFGR_HPRE)>> RCC_D1CFGR_HPRE_Pos]) & 0x1FU));
#else
tmp = D1CorePrescTable[(RCC->CDCFGR1 & RCC_CDCFGR1_CDCPRE)>> RCC_CDCFGR1_CDCPRE_Pos];
/* common_system_clock frequency : CM7 CPU frequency */
common_system_clock >>= tmp;
/* SystemD2Clock frequency : AXI and AHBs Clock frequency */
SystemD2Clock = (common_system_clock >> ((D1CorePrescTable[(RCC->CDCFGR1 & RCC_CDCFGR1_HPRE)>> RCC_CDCFGR1_HPRE_Pos]) & 0x1FU));
#endif
#if defined(DUAL_CORE) && defined(CORE_CM4)
SystemCoreClock = SystemD2Clock;
#else
SystemCoreClock = common_system_clock;
#endif /* DUAL_CORE && CORE_CM4 */
}
/**
* @brief Exit Run* mode and Configure the system Power Supply
*
* @note This function exits the Run* mode and configures the system power supply
* according to the definition to be used at compilation preprocessing level.
* The application shall set one of the following configuration option:
* - PWR_LDO_SUPPLY
* - PWR_DIRECT_SMPS_SUPPLY
* - PWR_EXTERNAL_SOURCE_SUPPLY
* - PWR_SMPS_1V8_SUPPLIES_LDO
* - PWR_SMPS_2V5_SUPPLIES_LDO
* - PWR_SMPS_1V8_SUPPLIES_EXT_AND_LDO
* - PWR_SMPS_2V5_SUPPLIES_EXT_AND_LDO
* - PWR_SMPS_1V8_SUPPLIES_EXT
* - PWR_SMPS_2V5_SUPPLIES_EXT
*
* @note The function modifies the PWR->CR3 register to enable or disable specific
* power supply modes and waits until the voltage level flag is set, indicating
* that the power supply configuration is stable.
*
* @param None
* @retval None
*/
void ExitRun0Mode(void)
{
#if defined(USE_PWR_LDO_SUPPLY)
#if defined(SMPS)
/* Exit Run* mode by disabling SMPS and enabling LDO */
PWR->CR3 = (PWR->CR3 & ~PWR_CR3_SMPSEN) | PWR_CR3_LDOEN;
#else
/* Enable LDO mode */
PWR->CR3 |= PWR_CR3_LDOEN;
#endif /* SMPS */
/* Wait till voltage level flag is set */
while ((PWR->CSR1 & PWR_CSR1_ACTVOSRDY) == 0U)
{}
#elif defined(USE_PWR_EXTERNAL_SOURCE_SUPPLY)
#if defined(SMPS)
/* Exit Run* mode */
PWR->CR3 = (PWR->CR3 & ~(PWR_CR3_SMPSEN | PWR_CR3_LDOEN)) | PWR_CR3_BYPASS;
#else
PWR->CR3 = (PWR->CR3 & ~(PWR_CR3_LDOEN)) | PWR_CR3_BYPASS;
#endif /* SMPS */
/* Wait till voltage level flag is set */
while ((PWR->CSR1 & PWR_CSR1_ACTVOSRDY) == 0U)
{}
#elif defined(USE_PWR_DIRECT_SMPS_SUPPLY) && defined(SMPS)
/* Exit Run* mode */
PWR->CR3 &= ~(PWR_CR3_LDOEN);
/* Wait till voltage level flag is set */
while ((PWR->CSR1 & PWR_CSR1_ACTVOSRDY) == 0U)
{}
#elif defined(USE_PWR_SMPS_1V8_SUPPLIES_LDO) && defined(SMPS)
/* Exit Run* mode */
PWR->CR3 |= PWR_CR3_SMPSLEVEL_0 | PWR_CR3_SMPSEN | PWR_CR3_LDOEN;
/* Wait till voltage level flag is set */
while ((PWR->CSR1 & PWR_CSR1_ACTVOSRDY) == 0U)
{}
#elif defined(USE_PWR_SMPS_2V5_SUPPLIES_LDO) && defined(SMPS)
/* Exit Run* mode */
PWR->CR3 |= PWR_CR3_SMPSLEVEL_1 | PWR_CR3_SMPSEN | PWR_CR3_LDOEN;
/* Wait till voltage level flag is set */
while ((PWR->CSR1 & PWR_CSR1_ACTVOSRDY) == 0U)
{}
#elif defined(USE_PWR_SMPS_1V8_SUPPLIES_EXT_AND_LDO) && defined(SMPS)
/* Exit Run* mode */
PWR->CR3 |= PWR_CR3_SMPSLEVEL_0 | PWR_CR3_SMPSEXTHP | PWR_CR3_SMPSEN | PWR_CR3_LDOEN;
/* Wait till voltage level flag is set */
while ((PWR->CSR1 & PWR_CSR1_ACTVOSRDY) == 0U)
{}
#elif defined(USE_PWR_SMPS_2V5_SUPPLIES_EXT_AND_LDO) && defined(SMPS)
/* Exit Run* mode */
PWR->CR3 |= PWR_CR3_SMPSLEVEL_1 | PWR_CR3_SMPSEXTHP | PWR_CR3_SMPSEN | PWR_CR3_LDOEN;
/* Wait till voltage level flag is set */
while ((PWR->CSR1 & PWR_CSR1_ACTVOSRDY) == 0U)
{}
#elif defined(USE_PWR_SMPS_1V8_SUPPLIES_EXT) && defined(SMPS)
/* Exit Run* mode */
PWR->CR3 = (PWR->CR3 & ~(PWR_CR3_LDOEN)) | PWR_CR3_SMPSLEVEL_0 | PWR_CR3_SMPSEXTHP | PWR_CR3_SMPSEN | PWR_CR3_BYPASS;
/* Wait till voltage level flag is set */
while ((PWR->CSR1 & PWR_CSR1_ACTVOSRDY) == 0U)
{}
#elif defined(USE_PWR_SMPS_2V5_SUPPLIES_EXT) && defined(SMPS)
/* Exit Run* mode */
PWR->CR3 = (PWR->CR3 & ~(PWR_CR3_LDOEN)) | PWR_CR3_SMPSLEVEL_1 | PWR_CR3_SMPSEXTHP | PWR_CR3_SMPSEN | PWR_CR3_BYPASS;
/* Wait till voltage level flag is set */
while ((PWR->CSR1 & PWR_CSR1_ACTVOSRDY) == 0U)
{}
#else
/* No system power supply configuration is selected at exit Run* mode */
#endif /* USE_PWR_LDO_SUPPLY */
}
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/

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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;
/* 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 = 24000 - 1;
htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
htim6.Init.Period = 100 - 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 */
}
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, 5, 0);
HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
/* USER CODE BEGIN TIM6_MspInit 1 */
/* USER CODE END TIM6_MspInit 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 */
}
}
/* 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 huart4;
UART_HandleTypeDef huart5;
UART_HandleTypeDef huart7;
UART_HandleTypeDef huart1;
UART_HandleTypeDef huart2;
UART_HandleTypeDef huart3;
UART_HandleTypeDef huart6;
DMA_HandleTypeDef hdma_uart4_rx;
DMA_HandleTypeDef hdma_uart7_rx;
DMA_HandleTypeDef hdma_usart2_rx;
DMA_HandleTypeDef hdma_usart3_rx;
DMA_HandleTypeDef hdma_usart6_rx;
/* UART4 init function */
void MX_UART4_Init(void)
{
/* USER CODE BEGIN UART4_Init 0 */
/* USER CODE END UART4_Init 0 */
/* USER CODE BEGIN UART4_Init 1 */
/* USER CODE END UART4_Init 1 */
huart4.Instance = UART4;
huart4.Init.BaudRate = 230400;
huart4.Init.WordLength = UART_WORDLENGTH_8B;
huart4.Init.StopBits = UART_STOPBITS_1;
huart4.Init.Parity = UART_PARITY_NONE;
huart4.Init.Mode = UART_MODE_TX_RX;
huart4.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart4.Init.OverSampling = UART_OVERSAMPLING_16;
huart4.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
huart4.Init.ClockPrescaler = UART_PRESCALER_DIV1;
huart4.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
if (HAL_UART_Init(&huart4) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetTxFifoThreshold(&huart4, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetRxFifoThreshold(&huart4, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_DisableFifoMode(&huart4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN UART4_Init 2 */
/* USER CODE END UART4_Init 2 */
}
/* UART5 init function */
void MX_UART5_Init(void)
{
/* USER CODE BEGIN UART5_Init 0 */
/* USER CODE END UART5_Init 0 */
/* USER CODE BEGIN UART5_Init 1 */
/* USER CODE END UART5_Init 1 */
huart5.Instance = UART5;
huart5.Init.BaudRate = 115200;
huart5.Init.WordLength = UART_WORDLENGTH_8B;
huart5.Init.StopBits = UART_STOPBITS_1;
huart5.Init.Parity = UART_PARITY_NONE;
huart5.Init.Mode = UART_MODE_TX_RX;
huart5.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart5.Init.OverSampling = UART_OVERSAMPLING_16;
huart5.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
huart5.Init.ClockPrescaler = UART_PRESCALER_DIV1;
huart5.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
if (HAL_HalfDuplex_Init(&huart5) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetTxFifoThreshold(&huart5, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetRxFifoThreshold(&huart5, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_DisableFifoMode(&huart5) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN UART5_Init 2 */
/* USER CODE END UART5_Init 2 */
}
/* UART7 init function */
void MX_UART7_Init(void)
{
/* USER CODE BEGIN UART7_Init 0 */
/* USER CODE END UART7_Init 0 */
/* USER CODE BEGIN UART7_Init 1 */
/* USER CODE END UART7_Init 1 */
huart7.Instance = UART7;
huart7.Init.BaudRate = 115200;
huart7.Init.WordLength = UART_WORDLENGTH_8B;
huart7.Init.StopBits = UART_STOPBITS_1;
huart7.Init.Parity = UART_PARITY_NONE;
huart7.Init.Mode = UART_MODE_TX_RX;
huart7.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart7.Init.OverSampling = UART_OVERSAMPLING_16;
huart7.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
huart7.Init.ClockPrescaler = UART_PRESCALER_DIV1;
huart7.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
if (HAL_UART_Init(&huart7) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetTxFifoThreshold(&huart7, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetRxFifoThreshold(&huart7, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_DisableFifoMode(&huart7) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN UART7_Init 2 */
/* USER CODE END UART7_Init 2 */
}
/* 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;
huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
huart1.Init.ClockPrescaler = UART_PRESCALER_DIV1;
huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetTxFifoThreshold(&huart1, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetRxFifoThreshold(&huart1, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_DisableFifoMode(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
/* USER CODE END USART1_Init 2 */
}
/* USART2 init function */
void MX_USART2_UART_Init(void)
{
/* USER CODE BEGIN USART2_Init 0 */
/* USER CODE END USART2_Init 0 */
/* USER CODE BEGIN USART2_Init 1 */
/* USER CODE END USART2_Init 1 */
huart2.Instance = USART2;
huart2.Init.BaudRate = 230400;
huart2.Init.WordLength = UART_WORDLENGTH_8B;
huart2.Init.StopBits = UART_STOPBITS_1;
huart2.Init.Parity = UART_PARITY_NONE;
huart2.Init.Mode = UART_MODE_TX_RX;
huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart2.Init.OverSampling = UART_OVERSAMPLING_16;
huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
huart2.Init.ClockPrescaler = UART_PRESCALER_DIV1;
huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
if (HAL_UART_Init(&huart2) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetTxFifoThreshold(&huart2, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetRxFifoThreshold(&huart2, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_DisableFifoMode(&huart2) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART2_Init 2 */
/* USER CODE END USART2_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 = 115200;
huart3.Init.WordLength = UART_WORDLENGTH_8B;
huart3.Init.StopBits = UART_STOPBITS_1;
huart3.Init.Parity = UART_PARITY_NONE;
huart3.Init.Mode = UART_MODE_TX_RX;
huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart3.Init.OverSampling = UART_OVERSAMPLING_16;
huart3.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
huart3.Init.ClockPrescaler = UART_PRESCALER_DIV1;
huart3.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
if (HAL_UART_Init(&huart3) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetTxFifoThreshold(&huart3, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetRxFifoThreshold(&huart3, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_DisableFifoMode(&huart3) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART3_Init 2 */
/* USER CODE END USART3_Init 2 */
}
/* USART6 init function */
void MX_USART6_UART_Init(void)
{
/* USER CODE BEGIN USART6_Init 0 */
/* USER CODE END USART6_Init 0 */
/* USER CODE BEGIN USART6_Init 1 */
/* USER CODE END USART6_Init 1 */
huart6.Instance = USART6;
huart6.Init.BaudRate = 115200;
huart6.Init.WordLength = UART_WORDLENGTH_8B;
huart6.Init.StopBits = UART_STOPBITS_1;
huart6.Init.Parity = UART_PARITY_NONE;
huart6.Init.Mode = UART_MODE_TX_RX;
huart6.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart6.Init.OverSampling = UART_OVERSAMPLING_16;
huart6.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
huart6.Init.ClockPrescaler = UART_PRESCALER_DIV1;
huart6.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
if (HAL_UART_Init(&huart6) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetTxFifoThreshold(&huart6, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetRxFifoThreshold(&huart6, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_DisableFifoMode(&huart6) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART6_Init 2 */
/* USER CODE END USART6_Init 2 */
}
void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
if(uartHandle->Instance==UART4)
{
/* USER CODE BEGIN UART4_MspInit 0 */
/* USER CODE END UART4_MspInit 0 */
/** Initializes the peripherals clock
*/
PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_UART4;
PeriphClkInitStruct.Usart234578ClockSelection = RCC_USART234578CLKSOURCE_D2PCLK1;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
{
Error_Handler();
}
/* UART4 clock enable */
__HAL_RCC_UART4_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**UART4 GPIO Configuration
PA0 ------> UART4_TX
PA1 ------> UART4_RX
*/
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_LOW;
GPIO_InitStruct.Alternate = GPIO_AF8_UART4;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* UART4 DMA Init */
/* UART4_RX Init */
hdma_uart4_rx.Instance = DMA1_Stream1;
hdma_uart4_rx.Init.Request = DMA_REQUEST_UART4_RX;
hdma_uart4_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_uart4_rx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_uart4_rx.Init.MemInc = DMA_MINC_ENABLE;
hdma_uart4_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_uart4_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_uart4_rx.Init.Mode = DMA_CIRCULAR;
hdma_uart4_rx.Init.Priority = DMA_PRIORITY_HIGH;
hdma_uart4_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma_uart4_rx) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(uartHandle,hdmarx,hdma_uart4_rx);
/* UART4 interrupt Init */
HAL_NVIC_SetPriority(UART4_IRQn, 6, 0);
HAL_NVIC_EnableIRQ(UART4_IRQn);
/* USER CODE BEGIN UART4_MspInit 1 */
/* USER CODE END UART4_MspInit 1 */
}
else if(uartHandle->Instance==UART5)
{
/* USER CODE BEGIN UART5_MspInit 0 */
/* USER CODE END UART5_MspInit 0 */
/** Initializes the peripherals clock
*/
PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_UART5;
PeriphClkInitStruct.Usart234578ClockSelection = RCC_USART234578CLKSOURCE_D2PCLK1;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
{
Error_Handler();
}
/* UART5 clock enable */
__HAL_RCC_UART5_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/**UART5 GPIO Configuration
PB13 ------> UART5_TX
*/
GPIO_InitStruct.Pin = GPIO_PIN_13;
GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF14_UART5;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* USER CODE BEGIN UART5_MspInit 1 */
/* USER CODE END UART5_MspInit 1 */
}
else if(uartHandle->Instance==UART7)
{
/* USER CODE BEGIN UART7_MspInit 0 */
/* USER CODE END UART7_MspInit 0 */
/** Initializes the peripherals clock
*/
PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_UART7;
PeriphClkInitStruct.Usart234578ClockSelection = RCC_USART234578CLKSOURCE_D2PCLK1;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
{
Error_Handler();
}
/* UART7 clock enable */
__HAL_RCC_UART7_CLK_ENABLE();
__HAL_RCC_GPIOE_CLK_ENABLE();
/**UART7 GPIO Configuration
PE7 ------> UART7_RX
PE8 ------> UART7_TX
*/
GPIO_InitStruct.Pin = GPIO_PIN_7|GPIO_PIN_8;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF7_UART7;
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
/* UART7 DMA Init */
/* UART7_RX Init */
hdma_uart7_rx.Instance = DMA1_Stream4;
hdma_uart7_rx.Init.Request = DMA_REQUEST_UART7_RX;
hdma_uart7_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_uart7_rx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_uart7_rx.Init.MemInc = DMA_MINC_ENABLE;
hdma_uart7_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_uart7_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_uart7_rx.Init.Mode = DMA_CIRCULAR;
hdma_uart7_rx.Init.Priority = DMA_PRIORITY_HIGH;
hdma_uart7_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma_uart7_rx) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(uartHandle,hdmarx,hdma_uart7_rx);
/* UART7 interrupt Init */
HAL_NVIC_SetPriority(UART7_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(UART7_IRQn);
/* USER CODE BEGIN UART7_MspInit 1 */
/* USER CODE END UART7_MspInit 1 */
}
else if(uartHandle->Instance==USART1)
{
/* USER CODE BEGIN USART1_MspInit 0 */
/* USER CODE END USART1_MspInit 0 */
/** Initializes the peripherals clock
*/
PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_USART1;
PeriphClkInitStruct.Usart16ClockSelection = RCC_USART16CLKSOURCE_D2PCLK2;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
{
Error_Handler();
}
/* USART1 clock enable */
__HAL_RCC_USART1_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/**USART1 GPIO Configuration
PB14 ------> USART1_TX
PB15 ------> USART1_RX
*/
GPIO_InitStruct.Pin = GPIO_PIN_14|GPIO_PIN_15;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF4_USART1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* USER CODE BEGIN USART1_MspInit 1 */
/* USER CODE END USART1_MspInit 1 */
}
else if(uartHandle->Instance==USART2)
{
/* USER CODE BEGIN USART2_MspInit 0 */
/* USER CODE END USART2_MspInit 0 */
/** Initializes the peripherals clock
*/
PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_USART2;
PeriphClkInitStruct.Usart234578ClockSelection = RCC_USART234578CLKSOURCE_D2PCLK1;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
{
Error_Handler();
}
/* USART2 clock enable */
__HAL_RCC_USART2_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**USART2 GPIO Configuration
PA2 ------> USART2_TX
PA3 ------> USART2_RX
*/
GPIO_InitStruct.Pin = GPIO_PIN_2|GPIO_PIN_3;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF7_USART2;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USART2 DMA Init */
/* USART2_RX Init */
hdma_usart2_rx.Instance = DMA1_Stream0;
hdma_usart2_rx.Init.Request = DMA_REQUEST_USART2_RX;
hdma_usart2_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_usart2_rx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_usart2_rx.Init.MemInc = DMA_MINC_ENABLE;
hdma_usart2_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_usart2_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_usart2_rx.Init.Mode = DMA_CIRCULAR;
hdma_usart2_rx.Init.Priority = DMA_PRIORITY_HIGH;
hdma_usart2_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma_usart2_rx) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(uartHandle,hdmarx,hdma_usart2_rx);
/* USART2 interrupt Init */
HAL_NVIC_SetPriority(USART2_IRQn, 6, 0);
HAL_NVIC_EnableIRQ(USART2_IRQn);
/* USER CODE BEGIN USART2_MspInit 1 */
/* USER CODE END USART2_MspInit 1 */
}
else if(uartHandle->Instance==USART3)
{
/* USER CODE BEGIN USART3_MspInit 0 */
/* USER CODE END USART3_MspInit 0 */
/** Initializes the peripherals clock
*/
PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_USART3;
PeriphClkInitStruct.Usart234578ClockSelection = RCC_USART234578CLKSOURCE_D2PCLK1;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
{
Error_Handler();
}
/* USART3 clock enable */
__HAL_RCC_USART3_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
/**USART3 GPIO Configuration
PD8 ------> USART3_TX
PD9 ------> USART3_RX
*/
GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF7_USART3;
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
/* USART3 DMA Init */
/* USART3_RX Init */
hdma_usart3_rx.Instance = DMA1_Stream2;
hdma_usart3_rx.Init.Request = DMA_REQUEST_USART3_RX;
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_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, 6, 0);
HAL_NVIC_EnableIRQ(USART3_IRQn);
/* USER CODE BEGIN USART3_MspInit 1 */
/* USER CODE END USART3_MspInit 1 */
}
else if(uartHandle->Instance==USART6)
{
/* USER CODE BEGIN USART6_MspInit 0 */
/* USER CODE END USART6_MspInit 0 */
/** Initializes the peripherals clock
*/
PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_USART6;
PeriphClkInitStruct.Usart16ClockSelection = RCC_USART16CLKSOURCE_D2PCLK2;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
{
Error_Handler();
}
/* USART6 clock enable */
__HAL_RCC_USART6_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
/**USART6 GPIO Configuration
PC6 ------> USART6_TX
PC7 ------> USART6_RX
*/
GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF7_USART6;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/* USART6 DMA Init */
/* USART6_RX Init */
hdma_usart6_rx.Instance = DMA1_Stream3;
hdma_usart6_rx.Init.Request = DMA_REQUEST_USART6_RX;
hdma_usart6_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_usart6_rx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_usart6_rx.Init.MemInc = DMA_MINC_ENABLE;
hdma_usart6_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_usart6_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_usart6_rx.Init.Mode = DMA_CIRCULAR;
hdma_usart6_rx.Init.Priority = DMA_PRIORITY_HIGH;
hdma_usart6_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma_usart6_rx) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(uartHandle,hdmarx,hdma_usart6_rx);
/* USART6 interrupt Init */
HAL_NVIC_SetPriority(USART6_IRQn, 6, 0);
HAL_NVIC_EnableIRQ(USART6_IRQn);
/* USER CODE BEGIN USART6_MspInit 1 */
/* USER CODE END USART6_MspInit 1 */
}
}
void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
{
if(uartHandle->Instance==UART4)
{
/* USER CODE BEGIN UART4_MspDeInit 0 */
/* USER CODE END UART4_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_UART4_CLK_DISABLE();
/**UART4 GPIO Configuration
PA0 ------> UART4_TX
PA1 ------> UART4_RX
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_0|GPIO_PIN_1);
/* UART4 DMA DeInit */
HAL_DMA_DeInit(uartHandle->hdmarx);
/* UART4 interrupt Deinit */
HAL_NVIC_DisableIRQ(UART4_IRQn);
/* USER CODE BEGIN UART4_MspDeInit 1 */
/* USER CODE END UART4_MspDeInit 1 */
}
else if(uartHandle->Instance==UART5)
{
/* USER CODE BEGIN UART5_MspDeInit 0 */
/* USER CODE END UART5_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_UART5_CLK_DISABLE();
/**UART5 GPIO Configuration
PB13 ------> UART5_TX
*/
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_13);
/* USER CODE BEGIN UART5_MspDeInit 1 */
/* USER CODE END UART5_MspDeInit 1 */
}
else if(uartHandle->Instance==UART7)
{
/* USER CODE BEGIN UART7_MspDeInit 0 */
/* USER CODE END UART7_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_UART7_CLK_DISABLE();
/**UART7 GPIO Configuration
PE7 ------> UART7_RX
PE8 ------> UART7_TX
*/
HAL_GPIO_DeInit(GPIOE, GPIO_PIN_7|GPIO_PIN_8);
/* UART7 DMA DeInit */
HAL_DMA_DeInit(uartHandle->hdmarx);
/* UART7 interrupt Deinit */
HAL_NVIC_DisableIRQ(UART7_IRQn);
/* USER CODE BEGIN UART7_MspDeInit 1 */
/* USER CODE END UART7_MspDeInit 1 */
}
else 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
PB14 ------> USART1_TX
PB15 ------> USART1_RX
*/
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_14|GPIO_PIN_15);
/* USER CODE BEGIN USART1_MspDeInit 1 */
/* USER CODE END USART1_MspDeInit 1 */
}
else if(uartHandle->Instance==USART2)
{
/* USER CODE BEGIN USART2_MspDeInit 0 */
/* USER CODE END USART2_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_USART2_CLK_DISABLE();
/**USART2 GPIO Configuration
PA2 ------> USART2_TX
PA3 ------> USART2_RX
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_2|GPIO_PIN_3);
/* USART2 DMA DeInit */
HAL_DMA_DeInit(uartHandle->hdmarx);
/* USART2 interrupt Deinit */
HAL_NVIC_DisableIRQ(USART2_IRQn);
/* USER CODE BEGIN USART2_MspDeInit 1 */
/* USER CODE END USART2_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
PD8 ------> USART3_TX
PD9 ------> USART3_RX
*/
HAL_GPIO_DeInit(GPIOD, GPIO_PIN_8|GPIO_PIN_9);
/* 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 */
}
else if(uartHandle->Instance==USART6)
{
/* USER CODE BEGIN USART6_MspDeInit 0 */
/* USER CODE END USART6_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_USART6_CLK_DISABLE();
/**USART6 GPIO Configuration
PC6 ------> USART6_TX
PC7 ------> USART6_RX
*/
HAL_GPIO_DeInit(GPIOC, GPIO_PIN_6|GPIO_PIN_7);
/* USART6 DMA DeInit */
HAL_DMA_DeInit(uartHandle->hdmarx);
/* USART6 interrupt Deinit */
HAL_NVIC_DisableIRQ(USART6_IRQn);
/* USER CODE BEGIN USART6_MspDeInit 1 */
/* USER CODE END USART6_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
#include "laser/laser_manager.h"
#include "IMU/hwt101.h"
/**
* @brief 全局 UART 接收完成回调分发器
*/
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
// 分发给激光雷达管理器
LASER_UART_RxCpltCallback(huart);
// 如果 IMU 以后需要用到定长接收中断，也可以在这里加:
// HWT101_UART_RxCpltCallback(huart);
}
/**
* @brief 全局 UART 接收过半回调分发器
*/
void HAL_UART_RxHalfCpltCallback(UART_HandleTypeDef *huart)
{
// 分发给激光雷达管理器
LASER_UART_RxHalfCpltCallback(huart);
}
/**
* @brief 全局 UART 空闲/扩展接收回调分发器
*/
void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
{
// 分发给激光雷达管理器
LASER_UARTEx_RxEventCallback(huart, Size);
}
/**
* @brief 全局 UART 错误回调分发器 (极其关键，防止外设死机)
*/
void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
{
// 分发给激光雷达管理器进行自动恢复
LASER_UART_ErrorRecovery(huart);
// 分发给 IMU 进行自动恢复 (暴力清除错误标志并重启 DMA)
HWT101_ErrorRecovery(huart);
}
/* USER CODE END 1 */