1.0
This commit is contained in:
10
.idea/.gitignore
generated
vendored
Normal file
10
.idea/.gitignore
generated
vendored
Normal file
@@ -0,0 +1,10 @@
|
||||
# 默认忽略的文件
|
||||
/shelf/
|
||||
/workspace.xml
|
||||
# 已忽略包含查询文件的默认文件夹
|
||||
/queries/
|
||||
# Datasource local storage ignored files
|
||||
/dataSources/
|
||||
/dataSources.local.xml
|
||||
# 基于编辑器的 HTTP 客户端请求
|
||||
/httpRequests/
|
||||
2
.idea/ARES.iml
generated
Normal file
2
.idea/ARES.iml
generated
Normal file
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<module classpath="CIDR" type="CPP_MODULE" version="4" />
|
||||
6
.idea/copilot.data.migration.ask2agent.xml
generated
Normal file
6
.idea/copilot.data.migration.ask2agent.xml
generated
Normal file
@@ -0,0 +1,6 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<project version="4">
|
||||
<component name="Ask2AgentMigrationStateService">
|
||||
<option name="migrationStatus" value="COMPLETED" />
|
||||
</component>
|
||||
</project>
|
||||
3
.idea/debugServers/Config.xml
generated
Normal file
3
.idea/debugServers/Config.xml
generated
Normal file
@@ -0,0 +1,3 @@
|
||||
<component name="DebugServers">
|
||||
<config name="Config" force-enabled="true" />
|
||||
</component>
|
||||
13
.idea/debugServers/ST_LINK.xml
generated
Normal file
13
.idea/debugServers/ST_LINK.xml
generated
Normal file
@@ -0,0 +1,13 @@
|
||||
<component name="DebugServers">
|
||||
<stlink-debug-target name="ST-LINK" uniqueID="a007a660-e7df-4b71-8410-a35cf770706c" selected="true">
|
||||
<debugger version="1">
|
||||
<debugger kind="GDB" isBundled="true" />
|
||||
<env />
|
||||
</debugger>
|
||||
<gdbserver exe="D:\ST\STM32CubeCLT_1.20.0\STLink-gdb-server\bin\ST-LINK_gdbserver.exe" programmer="D:\ST\STM32CubeCLT_1.20.0\STM32CubeProgrammer\bin" />
|
||||
<st-link />
|
||||
<device interface="SWD" />
|
||||
<connection extended-remote="false" port="61234" warmup-ms="500" />
|
||||
<swo enabled="false" port="61235" />
|
||||
</stlink-debug-target>
|
||||
</component>
|
||||
349
.idea/editor.xml
generated
Normal file
349
.idea/editor.xml
generated
Normal file
@@ -0,0 +1,349 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<project version="4">
|
||||
<component name="BackendCodeEditorSettings">
|
||||
<option name="/Default/CodeInspection/GeneratedCode/GeneratedCodeRegions/=Component_0020Designer_0020generated_0020code/@EntryIndexedValue" value="Component Designer generated code" type="string" />
|
||||
<option name="/Default/CodeInspection/GeneratedCode/GeneratedCodeRegions/=Designer_0020generated_0020code/@EntryIndexedValue" value="Designer generated code" type="string" />
|
||||
<option name="/Default/CodeInspection/GeneratedCode/GeneratedCodeRegions/=Web_0020Form_0020Designer_0020generated_0020code/@EntryIndexedValue" value="Web Form Designer generated code" type="string" />
|
||||
<option name="/Default/CodeInspection/GeneratedCode/GeneratedCodeRegions/=Windows_0020Form_0020Designer_0020generated_0020code/@EntryIndexedValue" value="Windows Form Designer generated code" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CDeclarationWithImplicitIntType/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CommentTypo/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=ConstevalIfIsAlwaysConstant/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppAbstractClassWithoutSpecifier/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppAbstractFinalClass/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppAbstractVirtualFunctionCallInCtor/@EntryIndexedValue" value="ERROR" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppAccessSpecifierWithNoDeclarations/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppAwaiterTypeIsNotClass/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBooleanIncrementExpression/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBoostFormatBadCode/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBoostFormatLegacyCode/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBoostFormatMixedArgs/@EntryIndexedValue" value="ERROR" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBoostFormatTooFewArgs/@EntryIndexedValue" value="ERROR" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBoostFormatTooManyArgs/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCStyleCast/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCVQualifierCanNotBeAppliedToReference/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassCanBeFinal/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassIsIncomplete/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassNeedsConstructorBecauseOfUninitializedMember/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCompileTimeConstantCanBeReplacedWithBooleanConstant/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppConceptNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppConditionalExpressionCanBeSimplified/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppConstParameterInDeclaration/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppConstValueFunctionReturnType/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCoroutineCallResolveError/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAArrayIndexOutOfBounds/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAConstantConditions/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAConstantFunctionResult/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAConstantParameter/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFADeletedPointer/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAEndlessLoop/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAInfiniteRecursion/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAInvalidatedMemory/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFALocalValueEscapesFunction/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFALocalValueEscapesScope/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFALoopConditionNotUpdated/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAMemoryLeak/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFANotInitializedField/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFANullDereference/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFATimeOver/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnreachableCode/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnreachableFunctionCall/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnreadVariable/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnusedValue/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclarationHidesLocal/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclarationHidesUncapturedLocal/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclarationSpecifierWithoutDeclarators/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclaratorDisambiguatedAsFunction/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclaratorNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclaratorUsedBeforeInitialization/@EntryIndexedValue" value="ERROR" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultCaseNotHandledInSwitchStatement/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultInitializationWithNoUserConstructor/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultIsUsedAsIdentifier/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultedSpecialMemberFunctionIsImplicitlyDeleted/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefinitionsOrder/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeletingVoidPointer/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDependentTemplateWithoutTemplateKeyword/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDependentTypeWithoutTypenameKeyword/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeprecatedEntity/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeprecatedOverridenMethod/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeprecatedRegisterStorageClassSpecifier/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDereferenceOperatorLimitExceeded/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDiscardedPostfixOperatorResult/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDoxygenSyntaxError/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDoxygenUndocumentedParameter/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDoxygenUnresolvedReference/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEmptyDeclaration/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceCVQualifiersOrder/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceCVQualifiersPlacement/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceDoStatementBraces/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceForStatementBraces/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceFunctionDeclarationStyle/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceIfStatementBraces/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceNestedNamespacesStyle/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceOverridingDestructorStyle/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceOverridingFunctionStyle/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceTypeAliasCodeStyle/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceWhileStatementBraces/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEntityAssignedButNoRead/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEntityUsedOnlyInUnevaluatedContext/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnumeratorNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEqualOperandsInBinaryExpression/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEvaluationFailure/@EntryIndexedValue" value="ERROR" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppExplicitSpecializationInNonNamespaceScope/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppExpressionWithoutSideEffects/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFinalFunctionInFinalClass/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFinalNonOverridingVirtualFunction/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppForLoopCanBeReplacedWithWhile/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppForwardEnumDeclarationWithoutUnderlyingType/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionDoesntReturnValue/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionIsNotImplemented/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionResultShouldBeUsed/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionalStyleCast/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppHeaderHasBeenAlreadyIncluded/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppHiddenFunction/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppHidingFunction/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIdenticalOperandsInBinaryExpression/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIfCanBeReplacedByConstexprIf/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppImplicitDefaultConstructorNotAvailable/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIncompatiblePointerConversion/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIncompleteSwitchStatement/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppInconsistentNaming/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIntegralToPointerConversion/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppInvalidLineContinuation/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppJoinDeclarationAndAssignment/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLambdaCaptureNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableMayBeConst/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableMightNotBeInitialized/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableWithNonTrivialDtorIsNeverUsed/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLongFloat/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberFunctionMayBeConst/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberFunctionMayBeStatic/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberInitializersOrder/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMismatchedClassTags/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMissingIncludeGuard/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMissingKeywordThrow/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppModulePartitionWithSeveralPartitionUnits/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtAddressOfClassRValue/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtBindingRValueToLvalueReference/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtCopyElisionInCopyInitDeclarator/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtDoubleUserConversionInCopyInit/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtNotInitializedStaticConstLocalVar/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtReinterpretCastFromNullptr/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMultiCharacterLiteral/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMultiCharacterWideLiteral/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMustBePublicVirtualToImplementInterface/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMutableSpecifierOnReferenceMember/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNoDiscardExpression/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNodiscardFunctionWithoutReturnValue/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonExceptionSafeResourceAcquisition/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonExplicitConversionOperator/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonExplicitConvertingConstructor/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonInlineFunctionDefinitionInHeaderFile/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonInlineVariableDefinitionInHeaderFile/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNotAllPathsReturnValue/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppObjectMemberMightNotBeInitialized/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppOutParameterMustBeWritten/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterMayBeConst/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterMayBeConstPtrOrRef/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterNamesMismatch/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterNeverUsed/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPassValueParameterByConstReference/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPointerConversionDropsQualifiers/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPointerToIntegralConversion/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPolymorphicClassWithNonVirtualPublicDestructor/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPossiblyErroneousEmptyStatements/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPossiblyUninitializedMember/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPossiblyUnintendedObjectSlicing/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrecompiledHeaderIsNotIncluded/@EntryIndexedValue" value="ERROR" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrecompiledHeaderNotFound/@EntryIndexedValue" value="ERROR" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrintfBadFormat/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrintfExtraArg/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrintfMissedArg/@EntryIndexedValue" value="ERROR" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrintfRiskyFormat/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrivateSpecialMemberFunctionIsNotImplemented/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRangeBasedForIncompatibleReference/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedefinitionOfDefaultArgumentInOverrideFunction/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantAccessSpecifier/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantBaseClassAccessSpecifier/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantBaseClassInitializer/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantBooleanExpressionArgument/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantCastExpression/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantComplexityInComparison/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantConditionalExpression/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantConstSpecifier/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantControlFlowJump/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantDereferencingAndTakingAddress/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantElaboratedTypeSpecifier/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantElseKeyword/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantElseKeywordInsideCompoundStatement/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantEmptyDeclaration/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantEmptyStatement/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantExportKeyword/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantFwdClassOrEnumSpecifier/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantInlineSpecifier/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantLambdaParameterList/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantMemberInitializer/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantNamespaceDefinition/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantParentheses/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantQualifier/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantQualifierADL/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantStaticSpecifierOnMemberAllocationFunction/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantStaticSpecifierOnThreadLocalLocalVariable/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantTemplateArguments/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantTemplateKeyword/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantTypenameKeyword/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantVoidArgumentList/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantZeroInitializerInAggregateInitialization/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReinterpretCastFromVoidPtr/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRemoveRedundantBraces/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReplaceMemsetWithZeroInitialization/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReplaceTieWithStructuredBinding/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReturnNoValueInNonVoidFunction/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppSmartPointerVsMakeFunction/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppSomeObjectMembersMightNotBeInitialized/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppSpecialFunctionWithoutNoexceptSpecification/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStaticAssertFailure/@EntryIndexedValue" value="ERROR" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStaticDataMemberInUnnamedStruct/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStaticSpecifierOnAnonymousNamespaceMember/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStringLiteralToCharPointerConversion/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTabsAreDisallowed/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTemplateArgumentsCanBeDeduced/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTemplateParameterNeverUsed/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTemplateParameterShadowing/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppThrowExpressionCanBeReplacedWithRethrow/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTooWideScope/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTooWideScopeInitStatement/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTypeAliasNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUninitializedDependentBaseClass/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUninitializedNonStaticDataMember/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnionMemberOfReferenceType/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnmatchedPragmaEndRegionDirective/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnmatchedPragmaRegionDirective/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnnamedNamespaceInHeaderFile/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnnecessaryWhitespace/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnsignedZeroComparison/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnusedIncludeDirective/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAlgorithmWithCount/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAssociativeContains/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAuto/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAutoForNumeric/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseElementsView/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseEraseAlgorithm/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseFamiliarTemplateSyntaxForGenericLambdas/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseRangeAlgorithm/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseStdSize/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseStructuredBinding/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseTypeTraitAlias/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUserDefinedLiteralSuffixDoesNotStartWithUnderscore/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUsingResultOfAssignmentAsCondition/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppVariableCanBeMadeConstexpr/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppVirtualFunctionCallInsideCtor/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppVirtualFunctionInFinalClass/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppVolatileParameterInDeclaration/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppWarningDirective/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppWrongIncludesOrder/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppWrongSlashesInIncludeDirective/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppZeroConstantCanBeReplacedWithNullptr/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppZeroValuedExpressionUsedAsNullPointer/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=IdentifierTypo/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=IfStdIsConstantEvaluatedCanBeReplaced/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=StdIsConstantEvaluatedWillAlwaysEvaluateToConstant/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=StringLiteralTypo/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppClangFormat/EnableClangFormatSupport/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_ARGUMENT/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_BINARY_EXPRESSIONS_CHAIN/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_CALLS_CHAIN/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_EXPRESSION/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_EXTENDS_LIST/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_FOR_STMT/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_PARAMETER/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_TYPE_ARGUMENT/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_TYPE_PARAMETER/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTIPLE_DECLARATION/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_TERNARY/@EntryValue" value="ALIGN_ALL" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ANONYMOUS_METHOD_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_CLASS_DEFINITION/@EntryValue" value="1" type="int" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_DECLARATIONS/@EntryValue" value="0" type="int" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_FUNCTION_DECLARATION/@EntryValue" value="1" type="int" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_FUNCTION_DEFINITION/@EntryValue" value="1" type="int" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BREAK_TEMPLATE_DECLARATION/@EntryValue" value="LINE_BREAK" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/CASE_BLOCK_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/CONTINUOUS_LINE_INDENT/@EntryValue" value="Double" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/FREE_BLOCK_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_ACCESS_SPECIFIERS_FROM_CLASS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_CASE_FROM_SWITCH/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_CLASS_MEMBERS_FROM_ACCESS_SPECIFIERS/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_COMMENT/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_SIZE/@EntryValue" value="2" type="long" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INITIALIZER_BRACES/@EntryValue" value="END_OF_LINE_NO_SPACE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INT_ALIGN_EQ/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INVOCABLE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_BLANK_LINES_IN_CODE/@EntryValue" value="2" type="int" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_BLANK_LINES_IN_DECLARATIONS/@EntryValue" value="2" type="int" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_USER_LINEBREAKS/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/LINE_BREAK_AFTER_COLON_IN_MEMBER_INITIALIZER_LISTS/@EntryValue" value="ON_SINGLE_LINE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/MEMBER_INITIALIZER_LIST_STYLE/@EntryValue" value="DO_NOT_CHANGE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/NAMESPACE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/NAMESPACE_INDENTATION/@EntryValue" value="All" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/OTHER_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_CATCH_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_ELSE_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_NAMESPACE_DEFINITIONS_ON_SAME_LINE/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_WHILE_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SIMPLE_BLOCK_STYLE/@EntryValue" value="DO_NOT_CHANGE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_CAST_EXPRESSION_PARENTHESES/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COLON_IN_BITFIELD_DECLARATOR/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COMMA_IN_TEMPLATE_ARGS/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COMMA_IN_TEMPLATE_PARAMS/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_EXTENDS_COLON/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_FOR_COLON/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_FOR_SEMICOLON/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_DATA_MEMBER/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_DATA_MEMBERS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_METHOD/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_NESTED_DECLARATOR/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_DATA_MEMBER/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_DATA_MEMBERS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_METHOD/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_UNARY_OPERATOR/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_COLON_IN_BITFIELD_DECLARATOR/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_EXTENDS_COLON/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_FOR_COLON/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_FOR_SEMICOLON/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_ABSTRACT_DECL/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_DATA_MEMBER/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_DATA_MEMBERS/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_METHOD/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_ABSTRACT_DECL/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_DATA_MEMBER/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_DATA_MEMBERS/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_METHOD/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_TEMPLATE_ARGS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BETWEEN_CLOSING_ANGLE_BRACKETS_IN_TEMPLATE_ARGS/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_ARRAY_ACCESS_BRACKETS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_CAST_EXPRESSION_PARENTHESES/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_DECLARATION_PARENTHESES/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_BLOCKS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_INITIALIZER_BRACES/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_METHOD_PARENTHESES/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_INITIALIZER_BRACES/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_TEMPLATE_ARGS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPECIAL_ELSE_IF_TREATMENT/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/TAB_WIDTH/@EntryValue" value="2" type="long" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/TYPE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_BINARY_OPSIGN/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_DECLARATION_LPAR/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_INVOCATION_LPAR/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_ARGUMENTS_STYLE/@EntryValue" value="WRAP_IF_LONG" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_DECLARATION_LPAR/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_DECLARATION_RPAR/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_INVOCATION_LPAR/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_INVOCATION_RPAR/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_TERNARY_OPSIGNS/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_PARAMETERS_STYLE/@EntryValue" value="WRAP_IF_LONG" type="string" />
|
||||
<option name="/Default/CodeStyle/EditorConfig/EnableClangFormatSupport/@EntryValue" value="false" type="bool" />
|
||||
</component>
|
||||
</project>
|
||||
7
.idea/misc.xml
generated
Normal file
7
.idea/misc.xml
generated
Normal file
@@ -0,0 +1,7 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<project version="4">
|
||||
<component name="CMakePythonSetting">
|
||||
<option name="pythonIntegrationState" value="YES" />
|
||||
</component>
|
||||
<component name="CMakeWorkspace" PROJECT_DIR="$PROJECT_DIR$" />
|
||||
</project>
|
||||
8
.idea/modules.xml
generated
Normal file
8
.idea/modules.xml
generated
Normal file
@@ -0,0 +1,8 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<project version="4">
|
||||
<component name="ProjectModuleManager">
|
||||
<modules>
|
||||
<module fileurl="file://$PROJECT_DIR$/.idea/ARES.iml" filepath="$PROJECT_DIR$/.idea/ARES.iml" />
|
||||
</modules>
|
||||
</component>
|
||||
</project>
|
||||
6
.idea/vcs.xml
generated
Normal file
6
.idea/vcs.xml
generated
Normal file
@@ -0,0 +1,6 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<project version="4">
|
||||
<component name="VcsDirectoryMappings">
|
||||
<mapping directory="$PROJECT_DIR$" vcs="Git" />
|
||||
</component>
|
||||
</project>
|
||||
52
.mxproject
Normal file
52
.mxproject
Normal file
File diff suppressed because one or more lines are too long
1
.vscode/settings.json
vendored
Normal file
1
.vscode/settings.json
vendored
Normal file
@@ -0,0 +1 @@
|
||||
{}
|
||||
460
ARES.ioc
Normal file
460
ARES.ioc
Normal file
@@ -0,0 +1,460 @@
|
||||
#MicroXplorer Configuration settings - do not modify
|
||||
CAD.formats=
|
||||
CAD.pinconfig=
|
||||
CAD.provider=
|
||||
CORTEX_M7.AccessPermission_S-Cortex_Memory_Protection_Unit_Region1_Settings_S=MPU_REGION_FULL_ACCESS
|
||||
CORTEX_M7.BaseAddress_S-Cortex_Memory_Protection_Unit_Region1_Settings_S=0x30000000
|
||||
CORTEX_M7.DisableExec_S-Cortex_Memory_Protection_Unit_Region1_Settings_S=MPU_INSTRUCTION_ACCESS_DISABLE
|
||||
CORTEX_M7.Enable_S-Cortex_Memory_Protection_Unit_Region1_Settings_S=MPU_REGION_ENABLE
|
||||
CORTEX_M7.IPParameters=default_mode_Activation,Enable_S-Cortex_Memory_Protection_Unit_Region1_Settings_S,BaseAddress_S-Cortex_Memory_Protection_Unit_Region1_Settings_S,Size_S-Cortex_Memory_Protection_Unit_Region1_Settings_S,AccessPermission_S-Cortex_Memory_Protection_Unit_Region1_Settings_S,DisableExec_S-Cortex_Memory_Protection_Unit_Region1_Settings_S,IsShareable_S-Cortex_Memory_Protection_Unit_Region1_Settings_S
|
||||
CORTEX_M7.IsShareable_S-Cortex_Memory_Protection_Unit_Region1_Settings_S=MPU_ACCESS_SHAREABLE
|
||||
CORTEX_M7.Size_S-Cortex_Memory_Protection_Unit_Region1_Settings_S=MPU_REGION_SIZE_32KB
|
||||
CORTEX_M7.default_mode_Activation=1
|
||||
Dma.Request0=USART2_RX
|
||||
Dma.Request1=UART4_RX
|
||||
Dma.Request2=USART3_RX
|
||||
Dma.Request3=USART6_RX
|
||||
Dma.Request4=UART7_RX
|
||||
Dma.RequestsNb=5
|
||||
Dma.UART4_RX.1.Direction=DMA_PERIPH_TO_MEMORY
|
||||
Dma.UART4_RX.1.EventEnable=DISABLE
|
||||
Dma.UART4_RX.1.FIFOMode=DMA_FIFOMODE_DISABLE
|
||||
Dma.UART4_RX.1.Instance=DMA1_Stream1
|
||||
Dma.UART4_RX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE
|
||||
Dma.UART4_RX.1.MemInc=DMA_MINC_ENABLE
|
||||
Dma.UART4_RX.1.Mode=DMA_CIRCULAR
|
||||
Dma.UART4_RX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
|
||||
Dma.UART4_RX.1.PeriphInc=DMA_PINC_DISABLE
|
||||
Dma.UART4_RX.1.Polarity=HAL_DMAMUX_REQ_GEN_RISING
|
||||
Dma.UART4_RX.1.Priority=DMA_PRIORITY_HIGH
|
||||
Dma.UART4_RX.1.RequestNumber=1
|
||||
Dma.UART4_RX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
|
||||
Dma.UART4_RX.1.SignalID=NONE
|
||||
Dma.UART4_RX.1.SyncEnable=DISABLE
|
||||
Dma.UART4_RX.1.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
|
||||
Dma.UART4_RX.1.SyncRequestNumber=1
|
||||
Dma.UART4_RX.1.SyncSignalID=NONE
|
||||
Dma.UART7_RX.4.Direction=DMA_PERIPH_TO_MEMORY
|
||||
Dma.UART7_RX.4.EventEnable=DISABLE
|
||||
Dma.UART7_RX.4.FIFOMode=DMA_FIFOMODE_DISABLE
|
||||
Dma.UART7_RX.4.Instance=DMA1_Stream4
|
||||
Dma.UART7_RX.4.MemDataAlignment=DMA_MDATAALIGN_BYTE
|
||||
Dma.UART7_RX.4.MemInc=DMA_MINC_ENABLE
|
||||
Dma.UART7_RX.4.Mode=DMA_CIRCULAR
|
||||
Dma.UART7_RX.4.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
|
||||
Dma.UART7_RX.4.PeriphInc=DMA_PINC_DISABLE
|
||||
Dma.UART7_RX.4.Polarity=HAL_DMAMUX_REQ_GEN_RISING
|
||||
Dma.UART7_RX.4.Priority=DMA_PRIORITY_HIGH
|
||||
Dma.UART7_RX.4.RequestNumber=1
|
||||
Dma.UART7_RX.4.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
|
||||
Dma.UART7_RX.4.SignalID=NONE
|
||||
Dma.UART7_RX.4.SyncEnable=DISABLE
|
||||
Dma.UART7_RX.4.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
|
||||
Dma.UART7_RX.4.SyncRequestNumber=1
|
||||
Dma.UART7_RX.4.SyncSignalID=NONE
|
||||
Dma.USART2_RX.0.Direction=DMA_PERIPH_TO_MEMORY
|
||||
Dma.USART2_RX.0.EventEnable=DISABLE
|
||||
Dma.USART2_RX.0.FIFOMode=DMA_FIFOMODE_DISABLE
|
||||
Dma.USART2_RX.0.Instance=DMA1_Stream0
|
||||
Dma.USART2_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
|
||||
Dma.USART2_RX.0.MemInc=DMA_MINC_ENABLE
|
||||
Dma.USART2_RX.0.Mode=DMA_CIRCULAR
|
||||
Dma.USART2_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
|
||||
Dma.USART2_RX.0.PeriphInc=DMA_PINC_DISABLE
|
||||
Dma.USART2_RX.0.Polarity=HAL_DMAMUX_REQ_GEN_RISING
|
||||
Dma.USART2_RX.0.Priority=DMA_PRIORITY_HIGH
|
||||
Dma.USART2_RX.0.RequestNumber=1
|
||||
Dma.USART2_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
|
||||
Dma.USART2_RX.0.SignalID=NONE
|
||||
Dma.USART2_RX.0.SyncEnable=DISABLE
|
||||
Dma.USART2_RX.0.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
|
||||
Dma.USART2_RX.0.SyncRequestNumber=1
|
||||
Dma.USART2_RX.0.SyncSignalID=NONE
|
||||
Dma.USART3_RX.2.Direction=DMA_PERIPH_TO_MEMORY
|
||||
Dma.USART3_RX.2.EventEnable=DISABLE
|
||||
Dma.USART3_RX.2.FIFOMode=DMA_FIFOMODE_DISABLE
|
||||
Dma.USART3_RX.2.Instance=DMA1_Stream2
|
||||
Dma.USART3_RX.2.MemDataAlignment=DMA_MDATAALIGN_BYTE
|
||||
Dma.USART3_RX.2.MemInc=DMA_MINC_ENABLE
|
||||
Dma.USART3_RX.2.Mode=DMA_CIRCULAR
|
||||
Dma.USART3_RX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
|
||||
Dma.USART3_RX.2.PeriphInc=DMA_PINC_DISABLE
|
||||
Dma.USART3_RX.2.Polarity=HAL_DMAMUX_REQ_GEN_RISING
|
||||
Dma.USART3_RX.2.Priority=DMA_PRIORITY_HIGH
|
||||
Dma.USART3_RX.2.RequestNumber=1
|
||||
Dma.USART3_RX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
|
||||
Dma.USART3_RX.2.SignalID=NONE
|
||||
Dma.USART3_RX.2.SyncEnable=DISABLE
|
||||
Dma.USART3_RX.2.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
|
||||
Dma.USART3_RX.2.SyncRequestNumber=1
|
||||
Dma.USART3_RX.2.SyncSignalID=NONE
|
||||
Dma.USART6_RX.3.Direction=DMA_PERIPH_TO_MEMORY
|
||||
Dma.USART6_RX.3.EventEnable=DISABLE
|
||||
Dma.USART6_RX.3.FIFOMode=DMA_FIFOMODE_DISABLE
|
||||
Dma.USART6_RX.3.Instance=DMA1_Stream3
|
||||
Dma.USART6_RX.3.MemDataAlignment=DMA_MDATAALIGN_BYTE
|
||||
Dma.USART6_RX.3.MemInc=DMA_MINC_ENABLE
|
||||
Dma.USART6_RX.3.Mode=DMA_CIRCULAR
|
||||
Dma.USART6_RX.3.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
|
||||
Dma.USART6_RX.3.PeriphInc=DMA_PINC_DISABLE
|
||||
Dma.USART6_RX.3.Polarity=HAL_DMAMUX_REQ_GEN_RISING
|
||||
Dma.USART6_RX.3.Priority=DMA_PRIORITY_HIGH
|
||||
Dma.USART6_RX.3.RequestNumber=1
|
||||
Dma.USART6_RX.3.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
|
||||
Dma.USART6_RX.3.SignalID=NONE
|
||||
Dma.USART6_RX.3.SyncEnable=DISABLE
|
||||
Dma.USART6_RX.3.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
|
||||
Dma.USART6_RX.3.SyncRequestNumber=1
|
||||
Dma.USART6_RX.3.SyncSignalID=NONE
|
||||
FDCAN1.AutoRetransmission=ENABLE
|
||||
FDCAN1.CalculateBaudRateNominal=1000000
|
||||
FDCAN1.CalculateTimeBitNominal=1000
|
||||
FDCAN1.CalculateTimeQuantumNominal=62.5
|
||||
FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,NominalPrescaler,NominalTimeSeg1,NominalTimeSeg2,Mode,TxFifoQueueElmtsNbr,RxFifo1ElmtsNbr,StdFiltersNbr,RxFifo0ElmtsNbr,AutoRetransmission
|
||||
FDCAN1.Mode=FDCAN_MODE_NORMAL
|
||||
FDCAN1.NominalPrescaler=4
|
||||
FDCAN1.NominalTimeSeg1=13
|
||||
FDCAN1.NominalTimeSeg2=2
|
||||
FDCAN1.RxFifo0ElmtsNbr=16
|
||||
FDCAN1.RxFifo1ElmtsNbr=0
|
||||
FDCAN1.StdFiltersNbr=5
|
||||
FDCAN1.TxFifoQueueElmtsNbr=8
|
||||
FREERTOS.FootprintOK=true
|
||||
FREERTOS.IPParameters=Tasks01,FootprintOK,Mutexes01,configTOTAL_HEAP_SIZE
|
||||
FREERTOS.Mutexes01=logMutex,Dynamic,NULL,Available
|
||||
FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL;canTxTask,32,512,StartCanTxTask,Default,NULL,Dynamic,NULL,NULL;monitorTask,24,1024,StartMonitorTask,Default,NULL,Dynamic,NULL,NULL;laserTestTask,24,4096,AppTasks_RunLaserTestTask,Default,NULL,Dynamic,NULL,NULL;vl53Task,24,1024,StartVl53Task,Default,NULL,Dynamic,NULL,NULL;imuTask,16,512,StartImuTask,Default,NULL,Dynamic,NULL,NULL
|
||||
FREERTOS.configTOTAL_HEAP_SIZE=65536
|
||||
File.Version=6
|
||||
GPIO.groupedBy=Group By Peripherals
|
||||
I2C1.IPParameters=Timing
|
||||
I2C1.Timing=0x307075B1
|
||||
I2C2.IPParameters=Timing
|
||||
I2C2.Timing=0x307075B1
|
||||
KeepUserPlacement=false
|
||||
MMTAppRegionsCount=0
|
||||
MMTConfigApplied=false
|
||||
Mcu.CPN=STM32H743VIT6
|
||||
Mcu.Family=STM32H7
|
||||
Mcu.IP0=CORTEX_M7
|
||||
Mcu.IP1=DEBUG
|
||||
Mcu.IP10=SYS
|
||||
Mcu.IP11=TIM6
|
||||
Mcu.IP12=UART4
|
||||
Mcu.IP13=UART5
|
||||
Mcu.IP14=UART7
|
||||
Mcu.IP15=USART1
|
||||
Mcu.IP16=USART2
|
||||
Mcu.IP17=USART3
|
||||
Mcu.IP18=USART6
|
||||
Mcu.IP19=USB_DEVICE
|
||||
Mcu.IP2=DMA
|
||||
Mcu.IP20=USB_OTG_FS
|
||||
Mcu.IP3=FDCAN1
|
||||
Mcu.IP4=FREERTOS
|
||||
Mcu.IP5=I2C1
|
||||
Mcu.IP6=I2C2
|
||||
Mcu.IP7=MEMORYMAP
|
||||
Mcu.IP8=NVIC
|
||||
Mcu.IP9=RCC
|
||||
Mcu.IPNb=21
|
||||
Mcu.Name=STM32H743VITx
|
||||
Mcu.Package=LQFP100
|
||||
Mcu.Pin0=PE3
|
||||
Mcu.Pin1=PE4
|
||||
Mcu.Pin10=PC5
|
||||
Mcu.Pin11=PB1
|
||||
Mcu.Pin12=PB2
|
||||
Mcu.Pin13=PE7
|
||||
Mcu.Pin14=PE8
|
||||
Mcu.Pin15=PB10
|
||||
Mcu.Pin16=PB11
|
||||
Mcu.Pin17=PB13
|
||||
Mcu.Pin18=PB14
|
||||
Mcu.Pin19=PB15
|
||||
Mcu.Pin2=PC14-OSC32_IN (OSC32_IN)
|
||||
Mcu.Pin20=PD8
|
||||
Mcu.Pin21=PD9
|
||||
Mcu.Pin22=PD11
|
||||
Mcu.Pin23=PD12
|
||||
Mcu.Pin24=PD13
|
||||
Mcu.Pin25=PD14
|
||||
Mcu.Pin26=PC6
|
||||
Mcu.Pin27=PC7
|
||||
Mcu.Pin28=PA11
|
||||
Mcu.Pin29=PA12
|
||||
Mcu.Pin3=PC15-OSC32_OUT (OSC32_OUT)
|
||||
Mcu.Pin30=PA13 (JTMS/SWDIO)
|
||||
Mcu.Pin31=PA14 (JTCK/SWCLK)
|
||||
Mcu.Pin32=PD0
|
||||
Mcu.Pin33=PD1
|
||||
Mcu.Pin34=PB6
|
||||
Mcu.Pin35=PB7
|
||||
Mcu.Pin36=VP_FREERTOS_VS_CMSIS_V2
|
||||
Mcu.Pin37=VP_SYS_VS_tim7
|
||||
Mcu.Pin38=VP_TIM6_VS_ClockSourceINT
|
||||
Mcu.Pin39=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
|
||||
Mcu.Pin4=PH0-OSC_IN (PH0)
|
||||
Mcu.Pin40=VP_MEMORYMAP_VS_MEMORYMAP
|
||||
Mcu.Pin5=PH1-OSC_OUT (PH1)
|
||||
Mcu.Pin6=PA0
|
||||
Mcu.Pin7=PA1
|
||||
Mcu.Pin8=PA2
|
||||
Mcu.Pin9=PA3
|
||||
Mcu.PinsNb=41
|
||||
Mcu.ThirdPartyNb=0
|
||||
Mcu.UserConstants=
|
||||
Mcu.UserName=STM32H743VITx
|
||||
MxCube.Version=6.15.0
|
||||
MxDb.Version=DB.6.0.150
|
||||
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
|
||||
NVIC.DMA1_Stream0_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
|
||||
NVIC.DMA1_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
|
||||
NVIC.DMA1_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
|
||||
NVIC.DMA1_Stream3_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
|
||||
NVIC.DMA1_Stream4_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
|
||||
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
|
||||
NVIC.FDCAN1_IT0_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
|
||||
NVIC.ForceEnableDMAVector=true
|
||||
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
|
||||
NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
|
||||
NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
|
||||
NVIC.OTG_FS_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
|
||||
NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false\:false
|
||||
NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
|
||||
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false
|
||||
NVIC.SavedPendsvIrqHandlerGenerated=true
|
||||
NVIC.SavedSvcallIrqHandlerGenerated=true
|
||||
NVIC.SavedSystickIrqHandlerGenerated=true
|
||||
NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false
|
||||
NVIC.TIM6_DAC_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
|
||||
NVIC.TIM7_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
|
||||
NVIC.TimeBase=TIM7_IRQn
|
||||
NVIC.TimeBaseIP=TIM7
|
||||
NVIC.UART4_IRQn=true\:6\:0\:true\:false\:true\:true\:true\:true\:true
|
||||
NVIC.UART7_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
|
||||
NVIC.USART2_IRQn=true\:6\:0\:true\:false\:true\:true\:true\:true\:true
|
||||
NVIC.USART3_IRQn=true\:6\:0\:true\:false\:true\:true\:true\:true\:true
|
||||
NVIC.USART6_IRQn=true\:6\:0\:true\:false\:true\:true\:true\:true\:true
|
||||
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
|
||||
PA0.Mode=Asynchronous
|
||||
PA0.Signal=UART4_TX
|
||||
PA1.Mode=Asynchronous
|
||||
PA1.Signal=UART4_RX
|
||||
PA11.Mode=Device_Only
|
||||
PA11.Signal=USB_OTG_FS_DM
|
||||
PA12.Mode=Device_Only
|
||||
PA12.Signal=USB_OTG_FS_DP
|
||||
PA13\ (JTMS/SWDIO).Mode=Serial_Wire
|
||||
PA13\ (JTMS/SWDIO).Signal=DEBUG_JTMS-SWDIO
|
||||
PA14\ (JTCK/SWCLK).Mode=Serial_Wire
|
||||
PA14\ (JTCK/SWCLK).Signal=DEBUG_JTCK-SWCLK
|
||||
PA2.Mode=Asynchronous
|
||||
PA2.Signal=USART2_TX
|
||||
PA3.Mode=Asynchronous
|
||||
PA3.Signal=USART2_RX
|
||||
PB1.Locked=true
|
||||
PB1.Signal=GPIO_Output
|
||||
PB10.Mode=I2C
|
||||
PB10.Signal=I2C2_SCL
|
||||
PB11.Mode=I2C
|
||||
PB11.Signal=I2C2_SDA
|
||||
PB13.Mode=Half_duplex(single_wire_mode)
|
||||
PB13.Signal=UART5_TX
|
||||
PB14.Mode=Asynchronous
|
||||
PB14.Signal=USART1_TX
|
||||
PB15.Mode=Asynchronous
|
||||
PB15.Signal=USART1_RX
|
||||
PB2.Locked=true
|
||||
PB2.Signal=GPIO_Output
|
||||
PB6.Mode=I2C
|
||||
PB6.Signal=I2C1_SCL
|
||||
PB7.Mode=I2C
|
||||
PB7.Signal=I2C1_SDA
|
||||
PC14-OSC32_IN\ (OSC32_IN).Mode=LSE-External-Oscillator
|
||||
PC14-OSC32_IN\ (OSC32_IN).Signal=RCC_OSC32_IN
|
||||
PC15-OSC32_OUT\ (OSC32_OUT).Mode=LSE-External-Oscillator
|
||||
PC15-OSC32_OUT\ (OSC32_OUT).Signal=RCC_OSC32_OUT
|
||||
PC5.Locked=true
|
||||
PC5.Signal=GPIO_Output
|
||||
PC6.Mode=Asynchronous
|
||||
PC6.Signal=USART6_TX
|
||||
PC7.Mode=Asynchronous
|
||||
PC7.Signal=USART6_RX
|
||||
PD0.GPIOParameters=GPIO_Speed
|
||||
PD0.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
|
||||
PD0.Mode=FDCAN_Activate
|
||||
PD0.Signal=FDCAN1_RX
|
||||
PD1.GPIOParameters=GPIO_Speed
|
||||
PD1.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
|
||||
PD1.Mode=FDCAN_Activate
|
||||
PD1.Signal=FDCAN1_TX
|
||||
PD11.Locked=true
|
||||
PD11.Signal=GPIO_Output
|
||||
PD12.Locked=true
|
||||
PD12.Signal=GPIO_Output
|
||||
PD13.Locked=true
|
||||
PD13.Signal=GPIO_Output
|
||||
PD14.Locked=true
|
||||
PD14.Signal=GPIO_Output
|
||||
PD8.Mode=Asynchronous
|
||||
PD8.Signal=USART3_TX
|
||||
PD9.Mode=Asynchronous
|
||||
PD9.Signal=USART3_RX
|
||||
PE3.Locked=true
|
||||
PE3.Signal=GPIO_Output
|
||||
PE4.Locked=true
|
||||
PE4.Signal=GPIO_Output
|
||||
PE7.Mode=Asynchronous
|
||||
PE7.Signal=UART7_RX
|
||||
PE8.Mode=Asynchronous
|
||||
PE8.Signal=UART7_TX
|
||||
PH0-OSC_IN\ (PH0).Mode=HSE-External-Oscillator
|
||||
PH0-OSC_IN\ (PH0).Signal=RCC_OSC_IN
|
||||
PH1-OSC_OUT\ (PH1).Mode=HSE-External-Oscillator
|
||||
PH1-OSC_OUT\ (PH1).Signal=RCC_OSC_OUT
|
||||
PinOutPanel.RotationAngle=0
|
||||
ProjectManager.AskForMigrate=true
|
||||
ProjectManager.BackupPrevious=false
|
||||
ProjectManager.CompilerLinker=GCC
|
||||
ProjectManager.CompilerOptimize=6
|
||||
ProjectManager.ComputerToolchain=false
|
||||
ProjectManager.CoupleFile=true
|
||||
ProjectManager.CustomerFirmwarePackage=
|
||||
ProjectManager.DefaultFWLocation=true
|
||||
ProjectManager.DeletePrevious=true
|
||||
ProjectManager.DeviceId=STM32H743VITx
|
||||
ProjectManager.FirmwarePackage=STM32Cube FW_H7 V1.12.1
|
||||
ProjectManager.FreePins=false
|
||||
ProjectManager.HalAssertFull=false
|
||||
ProjectManager.HeapSize=0x1000
|
||||
ProjectManager.KeepUserCode=true
|
||||
ProjectManager.LastFirmware=true
|
||||
ProjectManager.LibraryCopy=0
|
||||
ProjectManager.MainLocation=Core/Src
|
||||
ProjectManager.NoMain=false
|
||||
ProjectManager.PreviousToolchain=
|
||||
ProjectManager.ProjectBuild=false
|
||||
ProjectManager.ProjectFileName=ARES.ioc
|
||||
ProjectManager.ProjectName=ARES
|
||||
ProjectManager.ProjectStructure=
|
||||
ProjectManager.RegisterCallBack=
|
||||
ProjectManager.StackSize=0x400
|
||||
ProjectManager.TargetToolchain=CMake
|
||||
ProjectManager.ToolChainLocation=
|
||||
ProjectManager.UAScriptAfterPath=
|
||||
ProjectManager.UAScriptBeforePath=
|
||||
ProjectManager.UnderRoot=false
|
||||
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_FDCAN1_Init-FDCAN1-false-HAL-true,5-MX_TIM6_Init-TIM6-false-HAL-true,6-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false,7-MX_I2C1_Init-I2C1-false-HAL-true,8-MX_I2C2_Init-I2C2-false-HAL-true,9-MX_UART4_Init-UART4-false-HAL-true,10-MX_UART5_Init-UART5-false-HAL-true,11-MX_UART7_Init-UART7-false-HAL-true,12-MX_USART1_UART_Init-USART1-false-HAL-true,13-MX_USART2_UART_Init-USART2-false-HAL-true,14-MX_USART3_UART_Init-USART3-false-HAL-true,15-MX_USART6_UART_Init-USART6-false-HAL-true,0-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true
|
||||
RCC.ADCFreq_Value=50390625
|
||||
RCC.AHB12Freq_Value=240000000
|
||||
RCC.AHB4Freq_Value=240000000
|
||||
RCC.APB1Freq_Value=120000000
|
||||
RCC.APB2Freq_Value=120000000
|
||||
RCC.APB3Freq_Value=120000000
|
||||
RCC.APB4Freq_Value=120000000
|
||||
RCC.AXIClockFreq_Value=240000000
|
||||
RCC.CECFreq_Value=32000
|
||||
RCC.CKPERFreq_Value=64000000
|
||||
RCC.CortexFreq_Value=480000000
|
||||
RCC.CpuClockFreq_Value=480000000
|
||||
RCC.D1CPREFreq_Value=480000000
|
||||
RCC.D1PPRE=RCC_APB3_DIV2
|
||||
RCC.D2PPRE1=RCC_APB1_DIV2
|
||||
RCC.D2PPRE2=RCC_APB2_DIV2
|
||||
RCC.D3PPRE=RCC_APB4_DIV2
|
||||
RCC.DFSDMACLkFreq_Value=64000000
|
||||
RCC.DFSDMFreq_Value=120000000
|
||||
RCC.DIVM1=5
|
||||
RCC.DIVN1=192
|
||||
RCC.DIVP1Freq_Value=480000000
|
||||
RCC.DIVP2Freq_Value=50390625
|
||||
RCC.DIVP3Freq_Value=50390625
|
||||
RCC.DIVQ1=15
|
||||
RCC.DIVQ1Freq_Value=64000000
|
||||
RCC.DIVQ2Freq_Value=50390625
|
||||
RCC.DIVQ3Freq_Value=50390625
|
||||
RCC.DIVR1Freq_Value=480000000
|
||||
RCC.DIVR2Freq_Value=50390625
|
||||
RCC.DIVR3Freq_Value=50390625
|
||||
RCC.FDCANFreq_Value=64000000
|
||||
RCC.FMCFreq_Value=240000000
|
||||
RCC.FamilyName=M
|
||||
RCC.HCLK3ClockFreq_Value=240000000
|
||||
RCC.HCLKFreq_Value=240000000
|
||||
RCC.HPRE=RCC_HCLK_DIV2
|
||||
RCC.HRTIMFreq_Value=240000000
|
||||
RCC.I2C123Freq_Value=120000000
|
||||
RCC.I2C4Freq_Value=120000000
|
||||
RCC.IPParameters=ADCFreq_Value,AHB12Freq_Value,AHB4Freq_Value,APB1Freq_Value,APB2Freq_Value,APB3Freq_Value,APB4Freq_Value,AXIClockFreq_Value,CECFreq_Value,CKPERFreq_Value,CortexFreq_Value,CpuClockFreq_Value,D1CPREFreq_Value,D1PPRE,D2PPRE1,D2PPRE2,D3PPRE,DFSDMACLkFreq_Value,DFSDMFreq_Value,DIVM1,DIVN1,DIVP1Freq_Value,DIVP2Freq_Value,DIVP3Freq_Value,DIVQ1,DIVQ1Freq_Value,DIVQ2Freq_Value,DIVQ3Freq_Value,DIVR1Freq_Value,DIVR2Freq_Value,DIVR3Freq_Value,FDCANFreq_Value,FMCFreq_Value,FamilyName,HCLK3ClockFreq_Value,HCLKFreq_Value,HPRE,HRTIMFreq_Value,I2C123Freq_Value,I2C4Freq_Value,LPTIM1Freq_Value,LPTIM2Freq_Value,LPTIM345Freq_Value,LPUART1Freq_Value,LTDCFreq_Value,MCO1PinFreq_Value,MCO2PinFreq_Value,PLL1_VCI_Range,PLL2FRACN,PLL3FRACN,PLLFRACN,PLLSourceVirtual,QSPIFreq_Value,RNGFreq_Value,RTCFreq_Value,SAI1Freq_Value,SAI23Freq_Value,SAI4AFreq_Value,SAI4BFreq_Value,SDMMCFreq_Value,SPDIFRXFreq_Value,SPI123Freq_Value,SPI45Freq_Value,SPI6Freq_Value,SWPMI1Freq_Value,SYSCLKFreq_VALUE,SYSCLKSource,Tim1OutputFreq_Value,Tim2OutputFreq_Value,TraceFreq_Value,USART16Freq_Value,USART234578Freq_Value,USBCLockSelection,USBFreq_Value,VCO1OutputFreq_Value,VCO2OutputFreq_Value,VCO3OutputFreq_Value,VCOInput1Freq_Value,VCOInput2Freq_Value,VCOInput3Freq_Value
|
||||
RCC.LPTIM1Freq_Value=120000000
|
||||
RCC.LPTIM2Freq_Value=120000000
|
||||
RCC.LPTIM345Freq_Value=120000000
|
||||
RCC.LPUART1Freq_Value=120000000
|
||||
RCC.LTDCFreq_Value=50390625
|
||||
RCC.MCO1PinFreq_Value=64000000
|
||||
RCC.MCO2PinFreq_Value=480000000
|
||||
RCC.PLL1_VCI_Range=RCC_PLL1VCIRANGE_3
|
||||
RCC.PLL2FRACN=0
|
||||
RCC.PLL3FRACN=0
|
||||
RCC.PLLFRACN=0
|
||||
RCC.PLLSourceVirtual=RCC_PLLSOURCE_HSE
|
||||
RCC.QSPIFreq_Value=240000000
|
||||
RCC.RNGFreq_Value=48000000
|
||||
RCC.RTCFreq_Value=32000
|
||||
RCC.SAI1Freq_Value=64000000
|
||||
RCC.SAI23Freq_Value=64000000
|
||||
RCC.SAI4AFreq_Value=64000000
|
||||
RCC.SAI4BFreq_Value=64000000
|
||||
RCC.SDMMCFreq_Value=64000000
|
||||
RCC.SPDIFRXFreq_Value=64000000
|
||||
RCC.SPI123Freq_Value=64000000
|
||||
RCC.SPI45Freq_Value=120000000
|
||||
RCC.SPI6Freq_Value=120000000
|
||||
RCC.SWPMI1Freq_Value=120000000
|
||||
RCC.SYSCLKFreq_VALUE=480000000
|
||||
RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
|
||||
RCC.Tim1OutputFreq_Value=240000000
|
||||
RCC.Tim2OutputFreq_Value=240000000
|
||||
RCC.TraceFreq_Value=480000000
|
||||
RCC.USART16Freq_Value=120000000
|
||||
RCC.USART234578Freq_Value=120000000
|
||||
RCC.USBCLockSelection=RCC_USBCLKSOURCE_HSI48
|
||||
RCC.USBFreq_Value=48000000
|
||||
RCC.VCO1OutputFreq_Value=960000000
|
||||
RCC.VCO2OutputFreq_Value=100781250
|
||||
RCC.VCO3OutputFreq_Value=100781250
|
||||
RCC.VCOInput1Freq_Value=5000000
|
||||
RCC.VCOInput2Freq_Value=781250
|
||||
RCC.VCOInput3Freq_Value=781250
|
||||
TIM6.IPParameters=Prescaler,Period
|
||||
TIM6.Period=100 - 1
|
||||
TIM6.Prescaler=24000 - 1
|
||||
UART4.BaudRate=230400
|
||||
UART4.IPParameters=BaudRate
|
||||
USART1.IPParameters=VirtualMode-Asynchronous
|
||||
USART1.VirtualMode-Asynchronous=VM_ASYNC
|
||||
USART2.BaudRate=230400
|
||||
USART2.IPParameters=VirtualMode-Asynchronous,BaudRate
|
||||
USART2.VirtualMode-Asynchronous=VM_ASYNC
|
||||
USART3.IPParameters=VirtualMode-Asynchronous
|
||||
USART3.VirtualMode-Asynchronous=VM_ASYNC
|
||||
USART6.IPParameters=VirtualMode
|
||||
USART6.VirtualMode=VM_ASYNC
|
||||
USB_DEVICE.CLASS_NAME_FS=CDC
|
||||
USB_DEVICE.IPParameters=VirtualMode-CDC_FS,VirtualModeFS,CLASS_NAME_FS
|
||||
USB_DEVICE.VirtualMode-CDC_FS=Cdc
|
||||
USB_DEVICE.VirtualModeFS=Cdc_FS
|
||||
USB_OTG_FS.IPParameters=VirtualMode
|
||||
USB_OTG_FS.VirtualMode=Device_Only
|
||||
VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2
|
||||
VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2
|
||||
VP_MEMORYMAP_VS_MEMORYMAP.Mode=CurAppReg
|
||||
VP_MEMORYMAP_VS_MEMORYMAP.Signal=MEMORYMAP_VS_MEMORYMAP
|
||||
VP_SYS_VS_tim7.Mode=TIM7
|
||||
VP_SYS_VS_tim7.Signal=SYS_VS_tim7
|
||||
VP_TIM6_VS_ClockSourceINT.Mode=Enable_Timer
|
||||
VP_TIM6_VS_ClockSourceINT.Signal=TIM6_VS_ClockSourceINT
|
||||
VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS.Mode=CDC_FS
|
||||
VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS.Signal=USB_DEVICE_VS_USB_DEVICE_CDC_FS
|
||||
board=custom
|
||||
rtos.0.ip=FREERTOS
|
||||
483
App/Can/snc_can_app.c
Normal file
483
App/Can/snc_can_app.c
Normal file
@@ -0,0 +1,483 @@
|
||||
#include "snc_can_app.h"
|
||||
|
||||
#include <string.h>
|
||||
#include <math.h>
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
|
||||
/* ========================= 外部句柄 ========================= */
|
||||
extern FDCAN_HandleTypeDef hfdcan1;
|
||||
|
||||
/* ========================= 在线判定参数 ========================= */
|
||||
#define SNC_STATUS_TIMEOUT_MS 200U
|
||||
#define SNC_ACTUAL_RPM_TIMEOUT_MS 200U
|
||||
#define SNC_TARGET_RPM_TIMEOUT_MS 200U
|
||||
#define SNC_COMM_DIAG_TIMEOUT_MS 300U
|
||||
|
||||
/* ========================= FDCAN 过滤器索引 ========================= */
|
||||
#define SNC_FILTER_INDEX_STATUS 0U
|
||||
#define SNC_FILTER_INDEX_ACTUAL_RPM 1U
|
||||
#define SNC_FILTER_INDEX_TARGET_RPM 2U
|
||||
#define SNC_FILTER_INDEX_COMM_DIAG 3U
|
||||
#define SNC_FILTER_INDEX_ODOM 4U
|
||||
|
||||
SNC_CAN_AppContext_t g_snc_can_app;
|
||||
|
||||
/* ========================= CRC8-SAE J1850 查表 ========================= */
|
||||
static const uint8_t s_crc8_j1850_table[256] =
|
||||
{
|
||||
0x00U, 0x1DU, 0x3AU, 0x27U, 0x74U, 0x69U, 0x4EU, 0x53U, 0xE8U, 0xF5U, 0xD2U, 0xCFU, 0x9CU, 0x81U, 0xA6U, 0xBBU,
|
||||
0xCDU, 0xD0U, 0xF7U, 0xEAU, 0xB9U, 0xA4U, 0x83U, 0x9EU, 0x25U, 0x38U, 0x1FU, 0x02U, 0x51U, 0x4CU, 0x6BU, 0x76U,
|
||||
0x87U, 0x9AU, 0xBDU, 0xA0U, 0xF3U, 0xEEU, 0xC9U, 0xD4U, 0x6FU, 0x72U, 0x55U, 0x48U, 0x1BU, 0x06U, 0x21U, 0x3CU,
|
||||
0x4AU, 0x57U, 0x70U, 0x6DU, 0x3EU, 0x23U, 0x04U, 0x19U, 0xA2U, 0xBFU, 0x98U, 0x85U, 0xD6U, 0xCBU, 0xECU, 0xF1U,
|
||||
0x13U, 0x0EU, 0x29U, 0x34U, 0x67U, 0x7AU, 0x5DU, 0x40U, 0xFBU, 0xE6U, 0xC1U, 0xDCU, 0x8FU, 0x92U, 0xB5U, 0xA8U,
|
||||
0xDEU, 0xC3U, 0xE4U, 0xF9U, 0xAAU, 0xB7U, 0x90U, 0x8DU, 0x36U, 0x2BU, 0x0CU, 0x11U, 0x42U, 0x5FU, 0x78U, 0x65U,
|
||||
0x94U, 0x89U, 0xAEU, 0xB3U, 0xE0U, 0xFDU, 0xDAU, 0xC7U, 0x7CU, 0x61U, 0x46U, 0x5BU, 0x08U, 0x15U, 0x32U, 0x2FU,
|
||||
0x59U, 0x44U, 0x63U, 0x7EU, 0x2DU, 0x30U, 0x17U, 0x0AU, 0xB1U, 0xACU, 0x8BU, 0x96U, 0xC5U, 0xD8U, 0xFFU, 0xE2U,
|
||||
0x26U, 0x3BU, 0x1CU, 0x01U, 0x52U, 0x4FU, 0x68U, 0x75U, 0xCEU, 0xD3U, 0xF4U, 0xE9U, 0xBAU, 0xA7U, 0x80U, 0x9DU,
|
||||
0xEBU, 0xF6U, 0xD1U, 0xCCU, 0x9FU, 0x82U, 0xA5U, 0xB8U, 0x03U, 0x1EU, 0x39U, 0x24U, 0x77U, 0x6AU, 0x4DU, 0x50U,
|
||||
0xA1U, 0xBCU, 0x9BU, 0x86U, 0xD5U, 0xC8U, 0xEFU, 0xF2U, 0x49U, 0x54U, 0x73U, 0x6EU, 0x3DU, 0x20U, 0x07U, 0x1AU,
|
||||
0x6CU, 0x71U, 0x56U, 0x4BU, 0x18U, 0x05U, 0x22U, 0x3FU, 0x84U, 0x99U, 0xBEU, 0xA3U, 0xF0U, 0xEDU, 0xCAU, 0xD7U,
|
||||
0x35U, 0x28U, 0x0FU, 0x12U, 0x41U, 0x5CU, 0x7BU, 0x66U, 0xDDU, 0xC0U, 0xE7U, 0xFAU, 0xA9U, 0xB4U, 0x93U, 0x8EU,
|
||||
0xF8U, 0xE5U, 0xC2U, 0xDFU, 0x8CU, 0x91U, 0xB6U, 0xABU, 0x10U, 0x0DU, 0x2AU, 0x37U, 0x64U, 0x79U, 0x5EU, 0x43U,
|
||||
0xB2U, 0xAFU, 0x88U, 0x95U, 0xC6U, 0xDBU, 0xFCU, 0xE1U, 0x5AU, 0x47U, 0x60U, 0x7DU, 0x2EU, 0x33U, 0x14U, 0x09U,
|
||||
0x7FU, 0x62U, 0x45U, 0x58U, 0x0BU, 0x16U, 0x31U, 0x2CU, 0x97U, 0x8AU, 0xADU, 0xB0U, 0xE3U, 0xFEU, 0xD9U, 0xC4U
|
||||
};
|
||||
|
||||
static inline int16_t snc_read_i16_le(uint8_t lo, uint8_t hi)
|
||||
{
|
||||
return (int16_t)((uint16_t)lo | ((uint16_t)hi << 8));
|
||||
}
|
||||
|
||||
static inline void snc_write_i16_le(uint8_t *dst, int16_t val)
|
||||
{
|
||||
dst[0] = (uint8_t)(val & 0xFF);
|
||||
dst[1] = (uint8_t)((uint16_t)val >> 8);
|
||||
}
|
||||
|
||||
static int16_t snc_saturate_float_to_i16(float x)
|
||||
{
|
||||
if (x > 32767.0f) return 32767;
|
||||
if (x < -32768.0f) return -32768;
|
||||
|
||||
// 手动实现四舍五入，避免调用 lroundf 库函数
|
||||
return (int16_t)(x >= 0.0f ? (x + 0.5f) : (x - 0.5f));
|
||||
}
|
||||
|
||||
uint8_t SNC_CAN_Crc8J1850(const uint8_t *data, uint16_t len)
|
||||
{
|
||||
uint8_t crc = 0xFFU;
|
||||
|
||||
while (len-- > 0U)
|
||||
{
|
||||
crc = s_crc8_j1850_table[(uint8_t)(crc ^ *data++)];
|
||||
}
|
||||
|
||||
return (uint8_t)(crc ^ 0xFFU);
|
||||
}
|
||||
|
||||
static uint32_t snc_fdcan_dlc_from_bytes(uint8_t dlc_bytes)
|
||||
{
|
||||
switch (dlc_bytes)
|
||||
{
|
||||
case 0: return FDCAN_DLC_BYTES_0;
|
||||
case 1: return FDCAN_DLC_BYTES_1;
|
||||
case 2: return FDCAN_DLC_BYTES_2;
|
||||
case 3: return FDCAN_DLC_BYTES_3;
|
||||
case 4: return FDCAN_DLC_BYTES_4;
|
||||
case 5: return FDCAN_DLC_BYTES_5;
|
||||
case 6: return FDCAN_DLC_BYTES_6;
|
||||
case 7: return FDCAN_DLC_BYTES_7;
|
||||
case 8: return FDCAN_DLC_BYTES_8;
|
||||
default: return FDCAN_DLC_BYTES_8;
|
||||
}
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef snc_fdcan_add_tx_std(uint16_t std_id, const uint8_t *data, uint8_t dlc_bytes)
|
||||
{
|
||||
FDCAN_TxHeaderTypeDef txHeader;
|
||||
|
||||
memset(&txHeader, 0, sizeof(txHeader));
|
||||
|
||||
txHeader.Identifier = std_id;
|
||||
txHeader.IdType = FDCAN_STANDARD_ID;
|
||||
txHeader.TxFrameType = FDCAN_DATA_FRAME;
|
||||
txHeader.DataLength = snc_fdcan_dlc_from_bytes(dlc_bytes);
|
||||
txHeader.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
|
||||
txHeader.BitRateSwitch = FDCAN_BRS_OFF;
|
||||
txHeader.FDFormat = FDCAN_CLASSIC_CAN;
|
||||
txHeader.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
|
||||
txHeader.MessageMarker = 0U;
|
||||
|
||||
/* 先判断 TX FIFO/Queue 是否有空位，避免异常状态下继续硬塞 */
|
||||
if (HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan1) == 0U)
|
||||
{
|
||||
return HAL_BUSY;
|
||||
}
|
||||
|
||||
return HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &txHeader, (uint8_t *)data);
|
||||
}
|
||||
|
||||
static void snc_fdcan_config_filter(uint32_t index, uint16_t std_id)
|
||||
{
|
||||
FDCAN_FilterTypeDef sFilter;
|
||||
|
||||
sFilter.IdType = FDCAN_STANDARD_ID;
|
||||
sFilter.FilterIndex = index;
|
||||
sFilter.FilterType = FDCAN_FILTER_MASK;
|
||||
sFilter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
|
||||
sFilter.FilterID1 = std_id;
|
||||
sFilter.FilterID2 = 0x7FFU; /* 完全匹配 11-bit ID */
|
||||
|
||||
if (HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilter) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
}
|
||||
|
||||
static void snc_parse_status(const uint8_t *d)
|
||||
{
|
||||
g_snc_can_app.status.state = d[0];
|
||||
g_snc_can_app.status.health = d[1];
|
||||
g_snc_can_app.status.diag_bits =
|
||||
((uint32_t)d[2]) |
|
||||
((uint32_t)d[3] << 8) |
|
||||
((uint32_t)d[4] << 16) |
|
||||
((uint32_t)d[5] << 24);
|
||||
g_snc_can_app.status.cmd_age_10ms = d[6];
|
||||
g_snc_can_app.status.status_counter = d[7];
|
||||
g_snc_can_app.status.last_update_ms = HAL_GetTick();
|
||||
g_snc_can_app.status.online = true;
|
||||
}
|
||||
|
||||
static void snc_parse_actual_rpm(const uint8_t *d)
|
||||
{
|
||||
g_snc_can_app.actual_rpm.fl = snc_read_i16_le(d[0], d[1]);
|
||||
g_snc_can_app.actual_rpm.rl = snc_read_i16_le(d[2], d[3]);
|
||||
g_snc_can_app.actual_rpm.fr = snc_read_i16_le(d[4], d[5]);
|
||||
g_snc_can_app.actual_rpm.rr = snc_read_i16_le(d[6], d[7]);
|
||||
g_snc_can_app.actual_rpm.last_update_ms = HAL_GetTick();
|
||||
}
|
||||
|
||||
static void snc_parse_target_rpm(const uint8_t *d)
|
||||
{
|
||||
g_snc_can_app.target_rpm.fl = snc_read_i16_le(d[0], d[1]);
|
||||
g_snc_can_app.target_rpm.rl = snc_read_i16_le(d[2], d[3]);
|
||||
g_snc_can_app.target_rpm.fr = snc_read_i16_le(d[4], d[5]);
|
||||
g_snc_can_app.target_rpm.rr = snc_read_i16_le(d[6], d[7]);
|
||||
g_snc_can_app.target_rpm.last_update_ms = HAL_GetTick();
|
||||
}
|
||||
|
||||
static void snc_parse_comm_diag(const uint8_t *d)
|
||||
{
|
||||
g_snc_can_app.comm_diag.valid_cmd_total_lsb = d[0];
|
||||
g_snc_can_app.comm_diag.crc_error_total_lsb = d[1];
|
||||
g_snc_can_app.comm_diag.counter_reject_total_lsb = d[2];
|
||||
g_snc_can_app.comm_diag.can_tx_drop_total_lsb = d[3];
|
||||
g_snc_can_app.comm_diag.busoff_total_lsb = d[4];
|
||||
g_snc_can_app.comm_diag.rx_overrun_total_lsb = d[5];
|
||||
g_snc_can_app.comm_diag.last_accepted_counter = d[6];
|
||||
g_snc_can_app.comm_diag.consecutive_counter_errors = (uint8_t)((d[7] >> 4) & 0x0F);
|
||||
g_snc_can_app.comm_diag.consecutive_crc_errors = (uint8_t)(d[7] & 0x0F);
|
||||
g_snc_can_app.comm_diag.last_update_ms = HAL_GetTick();
|
||||
}
|
||||
|
||||
static void snc_parse_odom_delta(const uint8_t *d)
|
||||
{
|
||||
uint32_t now = HAL_GetTick();
|
||||
uint32_t prev_update_ms = g_snc_can_app.odom_delta.last_update_ms;
|
||||
|
||||
/* 保留最近一帧快照（兼容性，调试用） */
|
||||
g_snc_can_app.odom_delta.fl_delta = snc_read_i16_le(d[0], d[1]);
|
||||
g_snc_can_app.odom_delta.rl_delta = snc_read_i16_le(d[2], d[3]);
|
||||
g_snc_can_app.odom_delta.fr_delta = snc_read_i16_le(d[4], d[5]);
|
||||
g_snc_can_app.odom_delta.rr_delta = snc_read_i16_le(d[6], d[7]);
|
||||
g_snc_can_app.odom_delta.last_update_ms = now;
|
||||
|
||||
/* ---- 累加到待消费缓冲区，解决漏积分问题 ---- */
|
||||
SNC_OdomDeltaAccum_t *acc = &g_snc_can_app.odom_accum;
|
||||
|
||||
acc->fl_accum += (int32_t)snc_read_i16_le(d[0], d[1]);
|
||||
acc->rl_accum += (int32_t)snc_read_i16_le(d[2], d[3]);
|
||||
acc->fr_accum += (int32_t)snc_read_i16_le(d[4], d[5]);
|
||||
acc->rr_accum += (int32_t)snc_read_i16_le(d[6], d[7]);
|
||||
|
||||
if (acc->frame_count == 0U) {
|
||||
acc->first_frame_ms = now;
|
||||
}
|
||||
acc->last_frame_ms = now;
|
||||
|
||||
/*
|
||||
* 累加增量真实覆盖的时间窗。
|
||||
* 每个 0x200 帧表示“自上一帧以来”的编码器增量，
|
||||
* 因此应累加相邻帧之间的时间差，而不是简单用 last-first。
|
||||
*/
|
||||
if (prev_update_ms != 0U) {
|
||||
uint32_t frame_dt_ms = now - prev_update_ms;
|
||||
if (frame_dt_ms <= 1000U) {
|
||||
acc->span_ms += frame_dt_ms;
|
||||
}
|
||||
}
|
||||
|
||||
if (acc->frame_count < 255U) {
|
||||
acc->frame_count++;
|
||||
}
|
||||
}
|
||||
|
||||
void SNC_CAN_AppInit(void)
|
||||
{
|
||||
memset(&g_snc_can_app, 0, sizeof(g_snc_can_app));
|
||||
|
||||
/* 配置 5 个标准滤波器，只接收协议相关 ID */
|
||||
snc_fdcan_config_filter(SNC_FILTER_INDEX_STATUS, SNC_CAN_ID_STATUS);
|
||||
snc_fdcan_config_filter(SNC_FILTER_INDEX_ACTUAL_RPM, SNC_CAN_ID_ACTUAL_RPM);
|
||||
snc_fdcan_config_filter(SNC_FILTER_INDEX_TARGET_RPM, SNC_CAN_ID_TARGET_RPM);
|
||||
snc_fdcan_config_filter(SNC_FILTER_INDEX_COMM_DIAG, SNC_CAN_ID_COMM_DIAG);
|
||||
snc_fdcan_config_filter(SNC_FILTER_INDEX_ODOM, SNC_CAN_ID_ODOM);
|
||||
|
||||
/* 其余标准帧/扩展帧全部拒收 */
|
||||
if (HAL_FDCAN_ConfigGlobalFilter(&hfdcan1,
|
||||
FDCAN_REJECT,
|
||||
FDCAN_REJECT,
|
||||
FDCAN_REJECT_REMOTE,
|
||||
FDCAN_REJECT_REMOTE) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
|
||||
if (HAL_FDCAN_Start(&hfdcan1) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
|
||||
if (HAL_FDCAN_ActivateNotification(&hfdcan1,
|
||||
FDCAN_IT_RX_FIFO0_NEW_MESSAGE,
|
||||
0U) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
}
|
||||
|
||||
HAL_StatusTypeDef SNC_CAN_SendHeartbeat(void)
|
||||
{
|
||||
uint8_t data[0];
|
||||
HAL_StatusTypeDef ret = snc_fdcan_add_tx_std(SNC_CAN_ID_HEARTBEAT, data, 0U);
|
||||
|
||||
if (ret == HAL_OK)
|
||||
{
|
||||
g_snc_can_app.tx_total++;
|
||||
}
|
||||
else
|
||||
{
|
||||
g_snc_can_app.tx_fail_total++;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
HAL_StatusTypeDef SNC_CAN_SendCmdVel(float vx_mps, float wz_radps, uint8_t ctrl_flags)
|
||||
{
|
||||
uint8_t data[8];
|
||||
int16_t vx_i16 = snc_saturate_float_to_i16(vx_mps * 1000.0f);
|
||||
int16_t wz_i16 = snc_saturate_float_to_i16(wz_radps * 1000.0f);
|
||||
HAL_StatusTypeDef ret;
|
||||
|
||||
g_snc_can_app.tx_counter = (uint8_t)(g_snc_can_app.tx_counter + 1U);
|
||||
g_snc_can_app.tx_ctrl_flags = ctrl_flags;
|
||||
|
||||
snc_write_i16_le(&data[0], vx_i16);
|
||||
snc_write_i16_le(&data[2], wz_i16);
|
||||
data[4] = ctrl_flags;
|
||||
data[5] = 0U;
|
||||
data[6] = g_snc_can_app.tx_counter;
|
||||
data[7] = SNC_CAN_Crc8J1850(data, 7U);
|
||||
|
||||
ret = snc_fdcan_add_tx_std(SNC_CAN_ID_CMD_VEL, data, 8U);
|
||||
|
||||
if (ret == HAL_OK)
|
||||
{
|
||||
g_snc_can_app.tx_total++;
|
||||
}
|
||||
else
|
||||
{
|
||||
g_snc_can_app.tx_fail_total++;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
void SNC_CAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t rxFifo0ITs)
|
||||
{
|
||||
FDCAN_RxHeaderTypeDef rxHeader;
|
||||
uint8_t data[8];
|
||||
|
||||
if (hfdcan != &hfdcan1)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
if ((rxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) == 0U)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
while (HAL_FDCAN_GetRxFifoFillLevel(&hfdcan1, FDCAN_RX_FIFO0) > 0U)
|
||||
{
|
||||
if (HAL_FDCAN_GetRxMessage(&hfdcan1, FDCAN_RX_FIFO0, &rxHeader, data) != HAL_OK)
|
||||
{
|
||||
break;
|
||||
}
|
||||
|
||||
if ((rxHeader.IdType != FDCAN_STANDARD_ID) ||
|
||||
(rxHeader.RxFrameType != FDCAN_DATA_FRAME))
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
g_snc_can_app.rx_total++;
|
||||
|
||||
switch (rxHeader.Identifier)
|
||||
{
|
||||
case SNC_CAN_ID_STATUS:
|
||||
if (rxHeader.DataLength == FDCAN_DLC_BYTES_8)
|
||||
{
|
||||
snc_parse_status(data);
|
||||
}
|
||||
break;
|
||||
|
||||
case SNC_CAN_ID_ACTUAL_RPM:
|
||||
if (rxHeader.DataLength == FDCAN_DLC_BYTES_8)
|
||||
{
|
||||
snc_parse_actual_rpm(data);
|
||||
}
|
||||
break;
|
||||
|
||||
case SNC_CAN_ID_TARGET_RPM:
|
||||
if (rxHeader.DataLength == FDCAN_DLC_BYTES_8)
|
||||
{
|
||||
snc_parse_target_rpm(data);
|
||||
}
|
||||
break;
|
||||
|
||||
case SNC_CAN_ID_COMM_DIAG:
|
||||
if (rxHeader.DataLength == FDCAN_DLC_BYTES_8)
|
||||
{
|
||||
snc_parse_comm_diag(data);
|
||||
}
|
||||
break;
|
||||
|
||||
case SNC_CAN_ID_ODOM:
|
||||
if (rxHeader.DataLength == FDCAN_DLC_BYTES_8)
|
||||
{
|
||||
snc_parse_odom_delta(data);
|
||||
}
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void SNC_CAN_20msTask(void)
|
||||
{
|
||||
/* 这里默认发心跳。
|
||||
速度命令建议由你的上层控制逻辑每 20ms 调 SNC_CAN_SendCmdVel()。 */
|
||||
(void)SNC_CAN_SendHeartbeat();
|
||||
}
|
||||
|
||||
void SNC_CAN_100msTask(void)
|
||||
{
|
||||
/* 使用静态变量记录上一次的接收总数 */
|
||||
static uint32_t last_rx_total = 0;
|
||||
|
||||
/* 如果当前总数和上次记录的总数不一致，说明这 100ms 内成功收到了新消息 */
|
||||
if (g_snc_can_app.rx_total != last_rx_total)
|
||||
{
|
||||
last_rx_total = g_snc_can_app.rx_total;
|
||||
|
||||
// 翻转 PE2 电平，产生肉眼可见的闪烁效果
|
||||
HAL_GPIO_TogglePin(GPIOE, GPIO_PIN_3);
|
||||
}
|
||||
else
|
||||
{
|
||||
/* 如果 100ms 内没有收到任何新消息（CAN 断开或下位机死机）
|
||||
强制关闭 LED。
|
||||
注意：这里假设高电平 (SET) 是熄灭。如果是低电平熄灭，请改为 GPIO_PIN_RESET */
|
||||
HAL_GPIO_WritePin(GPIOE, GPIO_PIN_3, GPIO_PIN_SET);
|
||||
}
|
||||
}
|
||||
|
||||
void SNC_CAN_PollOnlineState(uint32_t now_ms)
|
||||
{
|
||||
if ((now_ms - g_snc_can_app.status.last_update_ms) > SNC_STATUS_TIMEOUT_MS)
|
||||
{
|
||||
g_snc_can_app.status.online = false;
|
||||
}
|
||||
}
|
||||
|
||||
const SNC_CAN_AppContext_t *SNC_CAN_GetContext(void)
|
||||
{
|
||||
return &g_snc_can_app;
|
||||
}
|
||||
|
||||
uint8_t SNC_CAN_ConsumeOdomDelta(int16_t *fl, int16_t *rl,
|
||||
int16_t *fr, int16_t *rr,
|
||||
uint32_t *dt_ms)
|
||||
{
|
||||
/*
|
||||
* 原子取走累加器内容并清零。
|
||||
*
|
||||
* 本函数由 monitorTask (普通任务上下文) 调用，
|
||||
* 而写端 snc_parse_odom_delta() 运行在 CAN Rx ISR 中。
|
||||
*
|
||||
* 用 taskENTER_CRITICAL / taskEXIT_CRITICAL 保证取走 + 清零
|
||||
* 的原子性：临界区会关中断，防止 ISR 在取走过程中写入新增量。
|
||||
*/
|
||||
SNC_OdomDeltaAccum_t snapshot;
|
||||
uint8_t count;
|
||||
|
||||
taskENTER_CRITICAL();
|
||||
{
|
||||
snapshot = g_snc_can_app.odom_accum; /* 结构体拷贝 */
|
||||
/* 清零累加器，等待下一批帧 */
|
||||
g_snc_can_app.odom_accum.fl_accum = 0;
|
||||
g_snc_can_app.odom_accum.rl_accum = 0;
|
||||
g_snc_can_app.odom_accum.fr_accum = 0;
|
||||
g_snc_can_app.odom_accum.rr_accum = 0;
|
||||
g_snc_can_app.odom_accum.first_frame_ms = 0U;
|
||||
g_snc_can_app.odom_accum.last_frame_ms = 0U;
|
||||
g_snc_can_app.odom_accum.span_ms = 0U;
|
||||
g_snc_can_app.odom_accum.frame_count = 0U;
|
||||
}
|
||||
taskEXIT_CRITICAL();
|
||||
|
||||
count = snapshot.frame_count;
|
||||
|
||||
if (count == 0U) {
|
||||
/* 期间没有新帧到达 */
|
||||
*fl = 0; *rl = 0; *fr = 0; *rr = 0;
|
||||
*dt_ms = 0U;
|
||||
return 0U;
|
||||
}
|
||||
|
||||
/* int32 → int16 饱和截断（正常工况下不会溢出） */
|
||||
*fl = (int16_t)((snapshot.fl_accum > 32767) ? 32767 :
|
||||
(snapshot.fl_accum < -32768) ? -32768 : snapshot.fl_accum);
|
||||
*rl = (int16_t)((snapshot.rl_accum > 32767) ? 32767 :
|
||||
(snapshot.rl_accum < -32768) ? -32768 : snapshot.rl_accum);
|
||||
*fr = (int16_t)((snapshot.fr_accum > 32767) ? 32767 :
|
||||
(snapshot.fr_accum < -32768) ? -32768 : snapshot.fr_accum);
|
||||
*rr = (int16_t)((snapshot.rr_accum > 32767) ? 32767 :
|
||||
(snapshot.rr_accum < -32768) ? -32768 : snapshot.rr_accum);
|
||||
|
||||
/* 实际累计时间窗 */
|
||||
if (snapshot.span_ms == 0U) {
|
||||
/* 首帧或刚恢复时无法可靠计算，返回 0 让调用方使用保底值 */
|
||||
*dt_ms = 0U;
|
||||
} else {
|
||||
*dt_ms = snapshot.span_ms;
|
||||
}
|
||||
|
||||
return count;
|
||||
}
|
||||
183
App/Can/snc_can_app.h
Normal file
183
App/Can/snc_can_app.h
Normal file
@@ -0,0 +1,183 @@
|
||||
#ifndef __SNC_CAN_APP_H
|
||||
#define __SNC_CAN_APP_H
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include "fdcan.h"
|
||||
|
||||
#define SNC_ODOM_TIMEOUT_MS 300U
|
||||
|
||||
/* ========================= 协议 CAN ID ========================= */
|
||||
#define SNC_CAN_ID_HEARTBEAT 0x080U
|
||||
#define SNC_CAN_ID_CMD_VEL 0x100U
|
||||
|
||||
#define SNC_CAN_ID_STATUS 0x181U
|
||||
#define SNC_CAN_ID_ACTUAL_RPM 0x182U
|
||||
#define SNC_CAN_ID_TARGET_RPM 0x183U
|
||||
#define SNC_CAN_ID_COMM_DIAG 0x184U
|
||||
#define SNC_CAN_ID_ODOM 0x200U
|
||||
|
||||
/* ========================= 系统状态定义 ========================= */
|
||||
typedef enum
|
||||
{
|
||||
SNC_SYSTEM_BOOTING = 0,
|
||||
SNC_SYSTEM_OPERATIONAL = 1,
|
||||
SNC_SYSTEM_SAFE_FAULT = 2
|
||||
} SNC_SystemState_t;
|
||||
|
||||
typedef enum
|
||||
{
|
||||
SNC_SYSTEM_HEALTH_OK = 0,
|
||||
SNC_SYSTEM_HEALTH_WARNING = 1,
|
||||
SNC_SYSTEM_HEALTH_FAULT = 2
|
||||
} SNC_SystemHealth_t;
|
||||
|
||||
/* ========================= 诊断位定义 ========================= */
|
||||
typedef enum
|
||||
{
|
||||
SNC_DIAG_COMM_TIMEOUT = (1UL << 0),
|
||||
SNC_DIAG_CAN_BUS_OFF = (1UL << 1),
|
||||
SNC_DIAG_CMD_CRC_STORM = (1UL << 2),
|
||||
SNC_DIAG_CMD_CNT_STORM = (1UL << 3),
|
||||
SNC_DIAG_MOTOR_FL_STALL = (1UL << 4),
|
||||
SNC_DIAG_MOTOR_RL_STALL = (1UL << 5),
|
||||
SNC_DIAG_MOTOR_FR_STALL = (1UL << 6),
|
||||
SNC_DIAG_MOTOR_RR_STALL = (1UL << 7),
|
||||
SNC_DIAG_CONTROL_SATURATION = (1UL << 8)
|
||||
} SNC_DiagBits_t;
|
||||
|
||||
/* ========================= 下位机状态快照 ========================= */
|
||||
typedef struct
|
||||
{
|
||||
uint8_t state;
|
||||
uint8_t health;
|
||||
uint32_t diag_bits;
|
||||
uint8_t cmd_age_10ms;
|
||||
uint8_t status_counter;
|
||||
uint32_t last_update_ms;
|
||||
bool online;
|
||||
} SNC_ChassisStatus_t;
|
||||
|
||||
/* ========================= 轮速数据 ========================= */
|
||||
typedef struct
|
||||
{
|
||||
int16_t fl;
|
||||
int16_t rl;
|
||||
int16_t fr;
|
||||
int16_t rr;
|
||||
uint32_t last_update_ms;
|
||||
} SNC_WheelRpmFrame_t;
|
||||
|
||||
/* ========================= 里程增量 ========================= */
|
||||
typedef struct
|
||||
{
|
||||
int16_t fl_delta;
|
||||
int16_t rl_delta;
|
||||
int16_t fr_delta;
|
||||
int16_t rr_delta;
|
||||
uint32_t last_update_ms;
|
||||
} SNC_OdomDeltaFrame_t;
|
||||
|
||||
/**
|
||||
* @brief 里程增量累加器
|
||||
*
|
||||
* 解决 0x200 增量帧的"漏积分/重复积分"问题：
|
||||
* - ISR 收到每帧 0x200 时，将增量**累加**到此结构体（不覆盖）
|
||||
* - 消费者调用 SNC_CAN_ConsumeOdomDelta() 原子取走累计值并清零
|
||||
*
|
||||
* 这样即使消费者频率 (100ms) 低于帧到达频率 (~60ms)，
|
||||
* 也不会丢失任何增量；也不会重复消费同一份增量。
|
||||
*/
|
||||
typedef struct
|
||||
{
|
||||
int32_t fl_accum; /**< 左前轮累计增量 ticks (int32 防溢出) */
|
||||
int32_t rl_accum; /**< 左后轮累计增量 ticks */
|
||||
int32_t fr_accum; /**< 右前轮累计增量 ticks */
|
||||
int32_t rr_accum; /**< 右后轮累计增量 ticks */
|
||||
uint32_t first_frame_ms; /**< 本次累加窗口内第一帧的时间戳 [ms] */
|
||||
uint32_t last_frame_ms; /**< 本次累加窗口内最后一帧的时间戳 [ms] */
|
||||
uint32_t span_ms; /**< 本次累计增量实际覆盖的时间窗 [ms] */
|
||||
uint8_t frame_count; /**< 本次累加窗口内收到的帧数 */
|
||||
} SNC_OdomDeltaAccum_t;
|
||||
|
||||
/* ========================= 通信诊断 ========================= */
|
||||
typedef struct
|
||||
{
|
||||
uint8_t valid_cmd_total_lsb;
|
||||
uint8_t crc_error_total_lsb;
|
||||
uint8_t counter_reject_total_lsb;
|
||||
uint8_t can_tx_drop_total_lsb;
|
||||
uint8_t busoff_total_lsb;
|
||||
uint8_t rx_overrun_total_lsb;
|
||||
uint8_t last_accepted_counter;
|
||||
uint8_t consecutive_counter_errors;
|
||||
uint8_t consecutive_crc_errors;
|
||||
uint32_t last_update_ms;
|
||||
} SNC_CommDiagFrame_t;
|
||||
|
||||
/* ========================= 上位机应用层总状态 ========================= */
|
||||
typedef struct
|
||||
{
|
||||
SNC_ChassisStatus_t status;
|
||||
SNC_WheelRpmFrame_t actual_rpm;
|
||||
SNC_WheelRpmFrame_t target_rpm;
|
||||
SNC_OdomDeltaFrame_t odom_delta; /**< 最近一帧快照 (保留兼容性, 勿用于积分) */
|
||||
SNC_OdomDeltaAccum_t odom_accum; /**< 里程增量累加器 (正确消费入口) */
|
||||
SNC_CommDiagFrame_t comm_diag;
|
||||
|
||||
uint8_t tx_counter;
|
||||
uint8_t tx_ctrl_flags;
|
||||
uint32_t tx_total;
|
||||
uint32_t tx_fail_total;
|
||||
uint32_t rx_total;
|
||||
} SNC_CAN_AppContext_t;
|
||||
|
||||
/* ========================= 全局上下文 ========================= */
|
||||
extern SNC_CAN_AppContext_t g_snc_can_app;
|
||||
|
||||
/* ========================= 初始化与任务 ========================= */
|
||||
void SNC_CAN_AppInit(void);
|
||||
void SNC_CAN_20msTask(void);
|
||||
void SNC_CAN_100msTask(void);
|
||||
void SNC_CAN_PollOnlineState(uint32_t now_ms);
|
||||
|
||||
/* ========================= 发送接口 ========================= */
|
||||
HAL_StatusTypeDef SNC_CAN_SendHeartbeat(void);
|
||||
HAL_StatusTypeDef SNC_CAN_SendCmdVel(float vx_mps, float wz_radps, uint8_t ctrl_flags);
|
||||
|
||||
/* ========================= 接收回调 ========================= */
|
||||
void SNC_CAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t rxFifo0ITs);
|
||||
|
||||
/* ========================= 数据读取接口 ========================= */
|
||||
const SNC_CAN_AppContext_t *SNC_CAN_GetContext(void);
|
||||
|
||||
/**
|
||||
* @brief 原子取走并清零里程增量累加器
|
||||
*
|
||||
* 消费者（monitorTask）每周期调用一次，取走自上次消费以来
|
||||
* ISR 累积的全部增量帧总和。返回后累加器归零，等待下一批帧。
|
||||
*
|
||||
* @param[out] fl 左前轮累计增量 ticks (截断为 int16)
|
||||
* @param[out] rl 左后轮累计增量 ticks
|
||||
* @param[out] fr 右前轮累计增量 ticks
|
||||
* @param[out] rr 右后轮累计增量 ticks
|
||||
* @param[out] dt_ms 累加增量实际覆盖的时间窗 [ms]
|
||||
* 若无法可靠计算（如系统首帧）则为 0，可用默认帧间隔替代
|
||||
* @return 本次取走的帧数；0 表示期间没有新帧到达
|
||||
*/
|
||||
uint8_t SNC_CAN_ConsumeOdomDelta(int16_t *fl, int16_t *rl,
|
||||
int16_t *fr, int16_t *rr,
|
||||
uint32_t *dt_ms);
|
||||
|
||||
/* ========================= 工具接口 ========================= */
|
||||
uint8_t SNC_CAN_Crc8J1850(const uint8_t *data, uint16_t len);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __SNC_CAN_APP_H */
|
||||
68
App/Contract/chassis_can_msg.h
Normal file
68
App/Contract/chassis_can_msg.h
Normal file
@@ -0,0 +1,68 @@
|
||||
#ifndef CHASSIS_CAN_MSG_H
|
||||
#define CHASSIS_CAN_MSG_H
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
/* 强制 1 字节对齐，完美匹配物理总线上的 8 字节数据帧 */
|
||||
#pragma pack(push, 1)
|
||||
|
||||
/* =========================================================
|
||||
* TX: 上位机 (H743) -> 底盘 (F407)
|
||||
* ========================================================= */
|
||||
|
||||
/**
|
||||
* @brief 0x100 速度控制帧 (建议 20ms 发送周期) [cite: 608-612, 624]
|
||||
*/
|
||||
typedef struct {
|
||||
int16_t vx_x1000; // Byte 0-1: 线速度 m/s * 1000 (小端) [cite: 612]
|
||||
int16_t wz_x1000; // Byte 2-3: 角速度 rad/s * 1000 (小端) [cite: 612]
|
||||
uint8_t ctrl_flags; // Byte 4: 控制标志位 [cite: 612]
|
||||
uint8_t reserved; // Byte 5: 预留，固定填 0 [cite: 612]
|
||||
uint8_t rolling_counter; // Byte 6: 滚动计数器 (新counter相对上一帧差值必须在1..3之间) [cite: 612, 622]
|
||||
uint8_t crc8; // Byte 7: 对 Byte0~6 做的 CRC8-SAE J1850 [cite: 612]
|
||||
} CanMsg_CmdVel_0x100_t;
|
||||
|
||||
|
||||
/* =========================================================
|
||||
* RX: 底盘 (F407) -> 上位机 (H743)
|
||||
* ========================================================= */
|
||||
|
||||
/**
|
||||
* @brief 0x181 底盘状态帧 (20ms 发送周期) [cite: 633-637]
|
||||
*/
|
||||
typedef struct {
|
||||
uint8_t system_state; // Byte 0: 0=BOOTING, 1=OPERATIONAL, 2=SAFE_FAULT [cite: 636, 665]
|
||||
uint8_t system_health; // Byte 1: 0=OK, 1=WARNING, 2=FAULT [cite: 636, 667]
|
||||
uint32_t diag_bits; // Byte 2-5: 诊断位图 (小端) [cite: 637, 669]
|
||||
uint8_t cmd_age_10ms; // Byte 6: 距最近一次合法 0x100 过去多少个 10ms [cite: 637]
|
||||
uint8_t status_counter; // Byte 7: 状态帧发送计数器 [cite: 637]
|
||||
} CanMsg_Status_0x181_t;
|
||||
|
||||
/**
|
||||
* @brief 0x200 里程增量帧 (约 60ms 轮询周期) [cite: 655-658]
|
||||
* @note 这是时间窗内的脉冲增量，上位机需自行累加积分以推算里程 [cite: 660-662]
|
||||
*/
|
||||
typedef struct {
|
||||
int16_t fl_delta_ticks; // Byte 0-1: 左前轮增量 [cite: 658]
|
||||
int16_t rl_delta_ticks; // Byte 2-3: 左后轮增量 [cite: 658]
|
||||
int16_t fr_delta_ticks; // Byte 4-5: 右前轮增量 [cite: 658]
|
||||
int16_t rr_delta_ticks; // Byte 6-7: 右后轮增量 [cite: 658]
|
||||
} CanMsg_OdomDelta_0x200_t;
|
||||
|
||||
/**
|
||||
* @brief 0x184 通信诊断帧 (100ms 发送周期) [cite: 651-653]
|
||||
*/
|
||||
typedef struct {
|
||||
uint8_t valid_cmd_total; // Byte 0: 合法命令累计 [cite: 653]
|
||||
uint8_t crc_error_total; // Byte 1: CRC 错误累计 [cite: 653]
|
||||
uint8_t counter_reject_total; // Byte 2: Counter 拒收累计 [cite: 653]
|
||||
uint8_t can_tx_drop_total; // Byte 3: CAN 发送丢帧累计 [cite: 653]
|
||||
uint8_t busoff_total; // Byte 4: Bus-Off 累计 [cite: 653]
|
||||
uint8_t rx_overrun_total; // Byte 5: FIFO overrun 累计 [cite: 653]
|
||||
uint8_t last_accepted_counter; // Byte 6: 最近一次接受的 counter [cite: 653]
|
||||
uint8_t err_nibbles; // Byte 7: 高4位=连续counter错，低4位=连续CRC错 [cite: 653]
|
||||
} CanMsg_CommDiag_0x184_t;
|
||||
|
||||
#pragma pack(pop)
|
||||
|
||||
#endif // CHASSIS_CAN_MSG_H
|
||||
111
App/Contract/robot_blackboard.c
Normal file
111
App/Contract/robot_blackboard.c
Normal file
@@ -0,0 +1,111 @@
|
||||
#include "robot_blackboard.h"
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
#include <string.h>
|
||||
|
||||
/* 全局唯一的黑板实例 */
|
||||
static RobotBlackboard_t g_blackboard = {0};
|
||||
|
||||
/* =========================================================
|
||||
* 生产者 API 实现
|
||||
* ========================================================= */
|
||||
|
||||
void Blackboard_UpdateIMU(const HWT101_Data_t *imu_data) {
|
||||
if (imu_data == NULL) return;
|
||||
|
||||
taskENTER_CRITICAL();
|
||||
// 更新原始航向角 ([-180, +180) 度)
|
||||
g_blackboard.imu_yaw.value = imu_data->yaw;
|
||||
g_blackboard.imu_yaw.timestamp_ms = imu_data->last_update;
|
||||
g_blackboard.imu_yaw.is_valid = (imu_data->online != 0);
|
||||
|
||||
// 更新 unwrap 后的连续航向角 (无跳变, 度)
|
||||
g_blackboard.imu_yaw_continuous.value = imu_data->yaw_continuous;
|
||||
g_blackboard.imu_yaw_continuous.timestamp_ms = imu_data->last_update;
|
||||
g_blackboard.imu_yaw_continuous.is_valid = (imu_data->online != 0);
|
||||
|
||||
// 更新角速度 (deg/s)
|
||||
g_blackboard.imu_wz.value = imu_data->wz;
|
||||
g_blackboard.imu_wz.timestamp_ms = imu_data->last_update;
|
||||
g_blackboard.imu_wz.is_valid = (imu_data->online != 0);
|
||||
taskEXIT_CRITICAL();
|
||||
}
|
||||
|
||||
void Blackboard_UpdateVl53(const Vl53BoardSnapshot_t *vl_data) {
|
||||
if (vl_data == NULL) return;
|
||||
|
||||
taskENTER_CRITICAL();
|
||||
// 约定: [0]左前, [1]左后, [2]右前, [3]右后
|
||||
g_blackboard.dist_left_f.value = vl_data->range_mm_filtered[0];
|
||||
g_blackboard.dist_left_f.is_valid = (vl_data->valid_mask & (1 << 0)) != 0;
|
||||
g_blackboard.dist_left_f.timestamp_ms = vl_data->tick_ms;
|
||||
|
||||
g_blackboard.dist_left_r.value = vl_data->range_mm_filtered[1];
|
||||
g_blackboard.dist_left_r.is_valid = (vl_data->valid_mask & (1 << 1)) != 0;
|
||||
g_blackboard.dist_left_r.timestamp_ms = vl_data->tick_ms;
|
||||
|
||||
g_blackboard.dist_right_f.value = vl_data->range_mm_filtered[2];
|
||||
g_blackboard.dist_right_f.is_valid = (vl_data->valid_mask & (1 << 2)) != 0;
|
||||
g_blackboard.dist_right_f.timestamp_ms = vl_data->tick_ms;
|
||||
|
||||
g_blackboard.dist_right_r.value = vl_data->range_mm_filtered[3];
|
||||
g_blackboard.dist_right_r.is_valid = (vl_data->valid_mask & (1 << 3)) != 0;
|
||||
g_blackboard.dist_right_r.timestamp_ms = vl_data->tick_ms;
|
||||
taskEXIT_CRITICAL();
|
||||
}
|
||||
|
||||
void Blackboard_UpdateLaser(const laser_simple_snapshot_t *ls_data) {
|
||||
if (ls_data == NULL) return;
|
||||
|
||||
taskENTER_CRITICAL();
|
||||
|
||||
// 1. 前方 STP
|
||||
g_blackboard.dist_front_stp.value = ls_data->ch[LASER_CH_FRONT_STP].distance_mm;
|
||||
g_blackboard.dist_front_stp.is_valid = ls_data->ch[LASER_CH_FRONT_STP].valid;
|
||||
g_blackboard.dist_front_stp.timestamp_ms = ls_data->ch[LASER_CH_FRONT_STP].update_tick_ms;
|
||||
|
||||
// 2. 前方 ATK
|
||||
g_blackboard.dist_front_atk.value = ls_data->ch[LASER_CH_FRONT_ATK].distance_mm;
|
||||
g_blackboard.dist_front_atk.is_valid = ls_data->ch[LASER_CH_FRONT_ATK].valid;
|
||||
g_blackboard.dist_front_atk.timestamp_ms = ls_data->ch[LASER_CH_FRONT_ATK].update_tick_ms;
|
||||
|
||||
// 3. 后方 STP
|
||||
g_blackboard.dist_rear_stp.value = ls_data->ch[LASER_CH_REAR_STP].distance_mm;
|
||||
g_blackboard.dist_rear_stp.is_valid = ls_data->ch[LASER_CH_REAR_STP].valid;
|
||||
g_blackboard.dist_rear_stp.timestamp_ms = ls_data->ch[LASER_CH_REAR_STP].update_tick_ms;
|
||||
|
||||
// 4. 后方 ATK
|
||||
g_blackboard.dist_rear_atk.value = ls_data->ch[LASER_CH_REAR_ATK].distance_mm;
|
||||
g_blackboard.dist_rear_atk.is_valid = ls_data->ch[LASER_CH_REAR_ATK].valid;
|
||||
g_blackboard.dist_rear_atk.timestamp_ms = ls_data->ch[LASER_CH_REAR_ATK].update_tick_ms;
|
||||
|
||||
taskEXIT_CRITICAL();
|
||||
}
|
||||
|
||||
void Blackboard_UpdateOdom(float vx, float wz) {
|
||||
taskENTER_CRITICAL();
|
||||
g_blackboard.odom_vx = vx;
|
||||
g_blackboard.odom_wz = wz;
|
||||
taskEXIT_CRITICAL();
|
||||
}
|
||||
|
||||
void Blackboard_UpdateChassisState(uint8_t state, uint32_t diag, bool online) {
|
||||
taskENTER_CRITICAL();
|
||||
g_blackboard.chassis_state = state;
|
||||
g_blackboard.chassis_diag = diag;
|
||||
g_blackboard.chassis_online = online;
|
||||
taskEXIT_CRITICAL();
|
||||
}
|
||||
|
||||
/* =========================================================
|
||||
* 消费者 API 实现
|
||||
* ========================================================= */
|
||||
|
||||
void Blackboard_GetSnapshot(RobotBlackboard_t *out_snapshot) {
|
||||
if (out_snapshot == NULL) return;
|
||||
|
||||
// 关中断拷贝整个结构体，保证上层算法拿到的数据处于同一个时间切片
|
||||
taskENTER_CRITICAL();
|
||||
*out_snapshot = g_blackboard;
|
||||
taskEXIT_CRITICAL();
|
||||
}
|
||||
74
App/Contract/robot_blackboard.h
Normal file
74
App/Contract/robot_blackboard.h
Normal file
@@ -0,0 +1,74 @@
|
||||
#ifndef ROBOT_BLACKBOARD_H
|
||||
#define ROBOT_BLACKBOARD_H
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
#include "IMU/hwt101.h" // 引用 IMU 接口
|
||||
#include "laser/laser_manager.h" // 引用前后雷达接口
|
||||
#include "vl53_board.h" // 引用侧向雷达接口
|
||||
|
||||
/**
|
||||
* @brief 标准原子数据，自带时间戳，专治“传感器偷偷掉线”
|
||||
*/
|
||||
typedef struct {
|
||||
float value; // 数据本体 (距离、角度、速度等)
|
||||
uint32_t timestamp_ms; // 数据更新时的系统时间 (HAL_GetTick)
|
||||
bool is_valid; // 驱动层判定的有效性 (如是否超量程、是否报警)
|
||||
} SensorItem_t;
|
||||
|
||||
/**
|
||||
* @brief 机器人全局情报中心 (System Context)
|
||||
* @note 对齐抽象后的数据，算法层不需要再关心这是 1 号雷达还是 2 号雷达
|
||||
*/
|
||||
typedef struct {
|
||||
/* --- 1. 空间姿态 (整合自 HWT101) --- */
|
||||
SensorItem_t imu_yaw; // 原始航向角 (deg)，范围 [-180, +180)，跨界时跳变
|
||||
SensorItem_t imu_yaw_continuous; // unwrap 后的连续航向角 (deg)，无跳变，可直接做差计算转角
|
||||
SensorItem_t imu_wz; // Z轴角速度 (deg/s，上层使用前需转 rad/s)
|
||||
|
||||
/* --- 2. 侧向走廊观测 (整合自 Vl53Board) --- */
|
||||
SensorItem_t dist_left_f; // 左前侧向距离 (mm)
|
||||
SensorItem_t dist_left_r; // 左后侧向距离 (mm)
|
||||
SensorItem_t dist_right_f; // 右前侧向距离 (mm)
|
||||
SensorItem_t dist_right_r; // 右后侧向距离 (mm)
|
||||
|
||||
/* --- 3. 前后到端/防撞观测 (整合自 Laser Manager) --- */
|
||||
SensorItem_t dist_front_stp; // 前方 STP 激光测距 (mm)
|
||||
SensorItem_t dist_front_atk; // 前方 ATK 激光测距 (mm)
|
||||
SensorItem_t dist_rear_stp; // 后方 STP 激光测距 (mm)
|
||||
SensorItem_t dist_rear_atk; // 后方 ATK 激光测距 (mm)
|
||||
|
||||
/* --- 4. 底盘反馈 (整合自 CAN 0x181 & 0x200) --- */
|
||||
float odom_vx; // 基于 ticks 积分推算的当前线速度 (m/s)
|
||||
float odom_wz; // 基于 ticks 积分推算的当前角速度 (rad/s)
|
||||
uint32_t chassis_diag; // 底盘硬诊断位图 [cite: 669]
|
||||
uint8_t chassis_state; // 0=BOOTING, 1=OPERATIONAL, 2=SAFE_FAULT [cite: 665]
|
||||
bool chassis_online; // 底盘 CAN 通讯是否正常
|
||||
} RobotBlackboard_t;
|
||||
|
||||
|
||||
/* =========================================================
|
||||
* 生产者 API (各种中断/驱动采集任务调用)
|
||||
* ========================================================= */
|
||||
void Blackboard_UpdateIMU(const HWT101_Data_t *imu_data);
|
||||
void Blackboard_UpdateVl53(const Vl53BoardSnapshot_t *vl_data);
|
||||
void Blackboard_UpdateLaser(const laser_simple_snapshot_t *ls_data);
|
||||
|
||||
// 由你的里程计解算函数调用 (传入算好的实时速度)
|
||||
void Blackboard_UpdateOdom(float vx, float wz);
|
||||
|
||||
// 由 CAN 0x181 接收回调调用
|
||||
void Blackboard_UpdateChassisState(uint8_t state, uint32_t diag, bool online);
|
||||
|
||||
|
||||
/* =========================================================
|
||||
* 消费者 API (算法/控制任务调用)
|
||||
* ========================================================= */
|
||||
/**
|
||||
* @brief 拍一张极速快照，获取全部对齐的传感器数据
|
||||
* @note 内部自带临界区保护，绝对防撕裂
|
||||
*/
|
||||
void Blackboard_GetSnapshot(RobotBlackboard_t *out_snapshot);
|
||||
|
||||
#endif // ROBOT_BLACKBOARD_H
|
||||
44
App/Contract/robot_cmd_slot.c
Normal file
44
App/Contract/robot_cmd_slot.c
Normal file
@@ -0,0 +1,44 @@
|
||||
#include "robot_cmd_slot.h"
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
#include "main.h" // 提供 HAL_GetTick()
|
||||
|
||||
/* 全局唯一的指令槽实例 */
|
||||
static RobotTargetCmd_t g_cmd_slot = {0};
|
||||
|
||||
void CmdSlot_Push(float vx, float wz, uint8_t flags)
|
||||
{
|
||||
// 1. 获取当前系统时间作为时间戳
|
||||
uint32_t now_ms = HAL_GetTick();
|
||||
|
||||
// 2. 进入临界区，关中断，防止写入一半时被高优先级任务或中断打断（防数据撕裂）
|
||||
taskENTER_CRITICAL();
|
||||
g_cmd_slot.target_vx = vx;
|
||||
g_cmd_slot.target_wz = wz;
|
||||
g_cmd_slot.ctrl_flags = flags;
|
||||
g_cmd_slot.gen_tick_ms = now_ms;
|
||||
taskEXIT_CRITICAL();
|
||||
}
|
||||
|
||||
bool CmdSlot_Pop(RobotTargetCmd_t *out_cmd, uint32_t timeout_ms)
|
||||
{
|
||||
if (out_cmd == NULL) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// 1. 进入临界区，安全地拷贝走整个结构体
|
||||
taskENTER_CRITICAL();
|
||||
*out_cmd = g_cmd_slot;
|
||||
taskEXIT_CRITICAL();
|
||||
|
||||
// 2. 计算指令老化时间 (利用无符号整型减法自然处理溢出回绕)
|
||||
uint32_t now_ms = HAL_GetTick();
|
||||
uint32_t age_ms = now_ms - out_cmd->gen_tick_ms;
|
||||
|
||||
// 3. 判定是否超时
|
||||
if (age_ms > timeout_ms) {
|
||||
return false; // 🚨 指令太老了，算法层可能死机了！
|
||||
}
|
||||
|
||||
return true; // ✅ 指令新鲜，可以发送
|
||||
}
|
||||
37
App/Contract/robot_cmd_slot.h
Normal file
37
App/Contract/robot_cmd_slot.h
Normal file
@@ -0,0 +1,37 @@
|
||||
#ifndef ROBOT_CMD_SLOT_H
|
||||
#define ROBOT_CMD_SLOT_H
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
/**
|
||||
* @brief 算法层生成的抽象目标指令
|
||||
*/
|
||||
typedef struct {
|
||||
float target_vx; // 目标线速度 (m/s)
|
||||
float target_wz; // 目标角速度 (rad/s)
|
||||
uint8_t ctrl_flags; // 控制模式/标志
|
||||
uint32_t gen_tick_ms; // 指令生成时的系统时间 (用于底层判断算法是否卡死)
|
||||
} RobotTargetCmd_t;
|
||||
|
||||
/* =========================================================
|
||||
* API 接口
|
||||
* ========================================================= */
|
||||
|
||||
/**
|
||||
* @brief 写入接口：由主导航/控制任务调用
|
||||
* @param vx 期望线速度 (m/s)
|
||||
* @param wz 期望角速度 (rad/s)
|
||||
* @param flags 扩展控制标志
|
||||
*/
|
||||
void CmdSlot_Push(float vx, float wz, uint8_t flags);
|
||||
|
||||
/**
|
||||
* @brief 读取接口：由 20ms 的 CAN Tx 任务专属调用
|
||||
* @param out_cmd 获取到的指令拷贝
|
||||
* @param timeout_ms 容忍算法不更新的最大时间 (推荐 100ms)
|
||||
* @return true: 指令新鲜可用; false: 算法超时太久，建议强制发 0 停车保护
|
||||
*/
|
||||
bool CmdSlot_Pop(RobotTargetCmd_t *out_cmd, uint32_t timeout_ms);
|
||||
|
||||
#endif // ROBOT_CMD_SLOT_H
|
||||
287
App/Contract/robot_odom.c
Normal file
287
App/Contract/robot_odom.c
Normal file
@@ -0,0 +1,287 @@
|
||||
/**
|
||||
* @file robot_odom.c
|
||||
* @brief 里程计积分实现：消费 CAN 0x200 轮增量帧，
|
||||
* 经差分驱动运动学转换为机体速度并推送黑板。
|
||||
*
|
||||
* 调用链（monitorTask 100ms 周期）:
|
||||
* CAN Rx ISR ──> snc_parse_odom_delta() [snc_can_app.c]
|
||||
* │ (每帧累加到 odom_accum，不覆盖)
|
||||
* v
|
||||
* monitorTask ──> SNC_CAN_ConsumeOdomDelta() [snc_can_app.c]
|
||||
* │ (原子取走累计增量并清零)
|
||||
* v
|
||||
* Odom_Update() [robot_odom.c]
|
||||
* │ (仅在有新帧时调用，杜绝重复积分)
|
||||
* v
|
||||
* Blackboard_UpdateOdom(vx, wz) [robot_blackboard.c]
|
||||
* │
|
||||
* v
|
||||
* navTask ──> Blackboard_GetSnapshot() ──> CorridorFilter_Update()
|
||||
*
|
||||
* 运动学公式:
|
||||
* v_left = (fl_delta + rl_delta) / 2 * TICKS_TO_M / dt
|
||||
* v_right = (fr_delta + rr_delta) / 2 * TICKS_TO_M / dt
|
||||
* vx = (v_left + v_right) / 2 [m/s]
|
||||
* wz = (v_right - v_left) / track [rad/s]
|
||||
*
|
||||
* 里程累加（用于沿程 s 估计）:
|
||||
* s += |vx| * dt [m]
|
||||
*/
|
||||
|
||||
#include "robot_odom.h"
|
||||
#include "robot_blackboard.h"
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
|
||||
#include <math.h>
|
||||
|
||||
/* =========================================================
|
||||
* 内部静态状态
|
||||
* ========================================================= */
|
||||
|
||||
/** @brief 里程计运行时数据（全部由临界区保护） */
|
||||
static struct {
|
||||
float vx; /**< 机体线速度 [m/s] */
|
||||
float wz; /**< 机体角速度 [rad/s] */
|
||||
float distance; /**< 累计行驶距离 [m]（从 init 复位后积分） */
|
||||
bool online; /**< 里程计有效标志 */
|
||||
uint32_t last_update_ms; /**< 上次有效更新时的系统时间 [ms] */
|
||||
uint16_t zero_cnt; /**< 连续收到零增量的帧数 */
|
||||
bool initialized; /**< 是否已完成初始化 */
|
||||
} s_odom = {
|
||||
.vx = 0.0f,
|
||||
.wz = 0.0f,
|
||||
.distance = 0.0f,
|
||||
.online = false,
|
||||
.last_update_ms = 0U,
|
||||
.zero_cnt = 0U,
|
||||
.initialized = false,
|
||||
};
|
||||
|
||||
/* =========================================================
|
||||
* 内部辅助函数
|
||||
* ========================================================= */
|
||||
|
||||
/**
|
||||
* @brief 内部临界区读写接口（使用 taskENTER/EXIT_CRITICAL）
|
||||
*/
|
||||
static inline void lock_odom(void)
|
||||
{
|
||||
taskENTER_CRITICAL();
|
||||
}
|
||||
|
||||
static inline void unlock_odom(void)
|
||||
{
|
||||
taskEXIT_CRITICAL();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 差分驱动运动学核心
|
||||
*
|
||||
* @param fl 左前轮增量 ticks
|
||||
* @param rl 左后轮增量 ticks
|
||||
* @param fr 右前轮增量 ticks
|
||||
* @param rr 右后轮增量 ticks
|
||||
* @param dt 采样周期 [s]
|
||||
* @param out_vx 输出线速度 [m/s]
|
||||
* @param out_wz 输出角速度 [rad/s]
|
||||
*
|
||||
* @note 内部使用均值滤波：同侧前后轮求平均后再做差速，
|
||||
* 这样可以抑制单轮打滑对整体估计的影响。
|
||||
*/
|
||||
static void differential_kinematics(int16_t fl, int16_t rl,
|
||||
int16_t fr, int16_t rr,
|
||||
float dt,
|
||||
float *out_vx, float *out_wz)
|
||||
{
|
||||
/* 1. 同侧均值滤波（抵消前后轮差分） */
|
||||
float v_left_ticks = 0.5f * ((float)fl + (float)rl); /* [ticks/period] */
|
||||
float v_right_ticks = 0.5f * ((float)fr + (float)rr); /* [ticks/period] */
|
||||
|
||||
/* 2. tick -> m/s */
|
||||
float v_left = v_left_ticks * ODOM_TICKS_TO_M / dt; /* [m/s] */
|
||||
float v_right = v_right_ticks * ODOM_TICKS_TO_M / dt; /* [m/s] */
|
||||
|
||||
/* 3. 差分驱动运动学逆解 */
|
||||
/* vx = (vL + vR) / 2 */
|
||||
/* wz = (vR - vL) / track */
|
||||
*out_vx = 0.5f * (v_left + v_right);
|
||||
*out_wz = (v_right - v_left) * ODOM_WHEEL_TRACK_INV;
|
||||
|
||||
/* 4. 合理性检查：物理约束限幅
|
||||
* H743 主频 480MHz，dt 最小约 1ms，
|
||||
* 若单帧 tick 绝对值超过 65535/dt，说明增量帧发生异常合并/撕裂。 */
|
||||
const float MAX_VX_PERIOD = 5.0f; /* 允许的最大瞬时线速度 [m/s]（车辆标称最高 1m/s） */
|
||||
const float MAX_WZ_PERIOD = 20.0f; /* 允许的最大瞬时角速度 [rad/s]（极端原地转向） */
|
||||
|
||||
if (fabsf(*out_vx) > MAX_VX_PERIOD) {
|
||||
*out_vx = (*out_vx > 0.0f) ? MAX_VX_PERIOD : -MAX_VX_PERIOD;
|
||||
}
|
||||
if (fabsf(*out_wz) > MAX_WZ_PERIOD) {
|
||||
*out_wz = (*out_wz > 0.0f) ? MAX_WZ_PERIOD : -MAX_WZ_PERIOD;
|
||||
}
|
||||
}
|
||||
|
||||
/* =========================================================
|
||||
* 公共 API 实现
|
||||
* ========================================================= */
|
||||
|
||||
void Odom_Init(void)
|
||||
{
|
||||
lock_odom();
|
||||
s_odom.vx = 0.0f;
|
||||
s_odom.wz = 0.0f;
|
||||
s_odom.distance = 0.0f;
|
||||
s_odom.online = false;
|
||||
s_odom.last_update_ms = 0U;
|
||||
s_odom.zero_cnt = 0U;
|
||||
s_odom.initialized = true;
|
||||
unlock_odom();
|
||||
}
|
||||
|
||||
void Odom_Update(uint32_t now_ms,
|
||||
int16_t fl_delta, int16_t rl_delta,
|
||||
int16_t fr_delta, int16_t rr_delta,
|
||||
uint32_t odom_span_ms)
|
||||
{
|
||||
if (!s_odom.initialized) {
|
||||
Odom_Init();
|
||||
}
|
||||
|
||||
/* 计算采样周期 dt
|
||||
*
|
||||
* 优先使用 odom_span_ms（CAN 0x200 帧的真实时间跨度），
|
||||
* 这是编码器增量实际覆盖的时间窗，不受 monitorTask 调度抖动影响。
|
||||
*
|
||||
* 退化策略：
|
||||
* - odom_span_ms > 0 → 直接使用（最精确）
|
||||
* - odom_span_ms == 0 → 仅收到一帧，无法算帧间 dt，
|
||||
* 退化为 now_ms - last_update_ms（兼容旧行为）
|
||||
* - 首帧（last_update_ms == 0 且 odom_span_ms == 0）→ 默认 60ms
|
||||
* （0x200 帧典型间隔）
|
||||
*/
|
||||
float dt;
|
||||
if (odom_span_ms > 0U && odom_span_ms <= 1000U) {
|
||||
/* 有真实帧时间跨度，优先使用 */
|
||||
dt = (float)odom_span_ms / 1000.0f;
|
||||
} else if (s_odom.last_update_ms == 0U || !s_odom.online) {
|
||||
/*
|
||||
* 系统首帧，或 odom 刚从断流中恢复但当前只有一帧时，
|
||||
* 无法可靠反推出这份增量覆盖的真实时间窗，退化为典型帧间隔。
|
||||
*/
|
||||
dt = 0.06f;
|
||||
} else {
|
||||
uint32_t dt_ms = now_ms - s_odom.last_update_ms;
|
||||
if (dt_ms == 0U || dt_ms > 1000U) {
|
||||
/* 超时（超过 1 秒没有新数据）视为里程计离线 */
|
||||
dt = 0.0f;
|
||||
} else {
|
||||
dt = (float)dt_ms / 1000.0f;
|
||||
}
|
||||
}
|
||||
|
||||
/* 检测零增量：四轮全 0 可能是底盘未动或通信丢失 */
|
||||
bool is_zero_delta = (fl_delta == 0 && rl_delta == 0 &&
|
||||
fr_delta == 0 && rr_delta == 0);
|
||||
|
||||
if (dt <= 0.0f) {
|
||||
/* 非法 dt，强制离线 */
|
||||
lock_odom();
|
||||
s_odom.online = false;
|
||||
unlock_odom();
|
||||
return;
|
||||
}
|
||||
|
||||
/* 计算差分运动学 */
|
||||
float vx_local, wz_local;
|
||||
differential_kinematics(fl_delta, rl_delta, fr_delta, rr_delta,
|
||||
dt, &vx_local, &wz_local);
|
||||
|
||||
/* 零速度保护：连续多帧零增量后，强制归零（防止漂移） */
|
||||
lock_odom();
|
||||
if (is_zero_delta) {
|
||||
s_odom.zero_cnt++;
|
||||
if (s_odom.zero_cnt >= 3U) {
|
||||
/* 连续 3 帧零增量（~180ms @ 60ms 帧率），认为机器人静止 */
|
||||
s_odom.vx = 0.0f;
|
||||
s_odom.wz = 0.0f;
|
||||
s_odom.online = true;
|
||||
}
|
||||
} else {
|
||||
s_odom.zero_cnt = 0U;
|
||||
s_odom.vx = vx_local;
|
||||
s_odom.wz = wz_local;
|
||||
s_odom.online = true;
|
||||
|
||||
/* 积分累积里程（取线速度的绝对值，保证后退也累加） */
|
||||
s_odom.distance += fabsf(s_odom.vx) * dt;
|
||||
}
|
||||
|
||||
s_odom.last_update_ms = now_ms;
|
||||
unlock_odom();
|
||||
|
||||
/* 推送黑板（黑板内部自带临界区保护） */
|
||||
Blackboard_UpdateOdom(s_odom.vx, s_odom.wz);
|
||||
}
|
||||
|
||||
void Odom_HandleTimeout(uint32_t now_ms, uint32_t timeout_ms)
|
||||
{
|
||||
bool timed_out = false;
|
||||
|
||||
if (!s_odom.initialized || timeout_ms == 0U) {
|
||||
return;
|
||||
}
|
||||
|
||||
lock_odom();
|
||||
if (s_odom.online &&
|
||||
s_odom.last_update_ms != 0U &&
|
||||
(now_ms - s_odom.last_update_ms) > timeout_ms) {
|
||||
s_odom.vx = 0.0f;
|
||||
s_odom.wz = 0.0f;
|
||||
s_odom.online = false;
|
||||
s_odom.zero_cnt = 0U;
|
||||
timed_out = true;
|
||||
}
|
||||
unlock_odom();
|
||||
|
||||
if (timed_out) {
|
||||
Blackboard_UpdateOdom(0.0f, 0.0f);
|
||||
}
|
||||
}
|
||||
|
||||
void Odom_GetSpeed(float *out_vx, float *out_wz, OdomStatus_t *out_status)
|
||||
{
|
||||
if (out_vx != NULL) *out_vx = s_odom.vx;
|
||||
if (out_wz != NULL) *out_wz = s_odom.wz;
|
||||
|
||||
if (out_status != NULL) {
|
||||
lock_odom();
|
||||
out_status->online = s_odom.online;
|
||||
out_status->zero_delta_count = s_odom.zero_cnt;
|
||||
out_status->last_update_ms = s_odom.last_update_ms;
|
||||
unlock_odom();
|
||||
}
|
||||
}
|
||||
|
||||
float Odom_GetDistance(void)
|
||||
{
|
||||
float d;
|
||||
lock_odom();
|
||||
d = s_odom.distance;
|
||||
unlock_odom();
|
||||
return d;
|
||||
}
|
||||
|
||||
void Odom_Reset(void)
|
||||
{
|
||||
lock_odom();
|
||||
s_odom.vx = 0.0f;
|
||||
s_odom.wz = 0.0f;
|
||||
s_odom.distance = 0.0f;
|
||||
s_odom.online = false;
|
||||
s_odom.last_update_ms = 0U;
|
||||
s_odom.zero_cnt = 0U;
|
||||
unlock_odom();
|
||||
|
||||
Blackboard_UpdateOdom(0.0f, 0.0f);
|
||||
}
|
||||
115
App/Contract/robot_odom.h
Normal file
115
App/Contract/robot_odom.h
Normal file
@@ -0,0 +1,115 @@
|
||||
/**
|
||||
* @file robot_odom.h
|
||||
* @brief 里程计积分模块：从 CAN 0x200 轮增量帧累加积分，
|
||||
* 经差分驱动运动学转换为机体线速度 vx 与角速度 wz，
|
||||
* 最终通过 Blackboard_UpdateOdom() 推送给导航流水线。
|
||||
*
|
||||
* @note 本模块不依赖任何传感器，只消费 CAN 协议层已有的 odom_delta 数据。
|
||||
* 所有标定参数统一在 robot_params.h 中管理。
|
||||
*
|
||||
* 运动学模型（差分驱动）:
|
||||
* v_left = (fl_delta + rl_delta) / 2
|
||||
* v_right = (fr_delta + rr_delta) / 2
|
||||
* vx = (v_left + v_right) / 2 [m/s]
|
||||
* wz = (v_right - v_left) / wheel_track [rad/s]
|
||||
*/
|
||||
|
||||
#ifndef ROBOT_ODOM_H
|
||||
#define ROBOT_ODOM_H
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include "robot_params.h" /* 统一参数头文件 */
|
||||
|
||||
/* =========================================================
|
||||
* 标定参数（从 robot_params.h 引入，勿在此文件重复定义）
|
||||
* ========================================================= */
|
||||
#define ODOM_TICKS_PER_REV PARAM_ENCODER_CPR
|
||||
#define ODOM_WHEEL_DIAMETER PARAM_WHEEL_DIAMETER
|
||||
#define ODOM_WHEEL_TRACK PARAM_WHEEL_TRACK
|
||||
|
||||
/* =========================================================
|
||||
* 预计算常数（自动生成，勿手动修改）
|
||||
* ========================================================= */
|
||||
#define ODOM_TICKS_TO_M (3.14159265358979f * (ODOM_WHEEL_DIAMETER) / (ODOM_TICKS_PER_REV))
|
||||
/**< @brief 每 tick 对应的轮缘弧长 [m]，即 PI*D / CPR */
|
||||
#define ODOM_WHEEL_TRACK_INV (1.0f / (ODOM_WHEEL_TRACK))
|
||||
/**< @brief 轮距倒数 [1/m]，用于快速计算角速度 */
|
||||
|
||||
/* =========================================================
|
||||
* 配置结构
|
||||
* ========================================================= */
|
||||
typedef struct {
|
||||
/** @brief 里程计有效标志，false 时 vx/wz 强制为 0 */
|
||||
bool online;
|
||||
/** @brief 里程计在线但 Tick 增量为 0 的连续帧数（用于检测卡死） */
|
||||
uint16_t zero_delta_count;
|
||||
/** @brief 上次更新时的系统时间 [ms] */
|
||||
uint32_t last_update_ms;
|
||||
} OdomStatus_t;
|
||||
|
||||
/* =========================================================
|
||||
* API 接口
|
||||
* ========================================================= */
|
||||
|
||||
/**
|
||||
* @brief 里程计模块初始化
|
||||
* @note 重置内部累加器，建议在系统启动阶段调用一次
|
||||
*/
|
||||
void Odom_Init(void);
|
||||
|
||||
/**
|
||||
* @brief 里程计更新主函数
|
||||
* @param now_ms 当前系统时间 [ms]，由 HAL_GetTick() 提供
|
||||
* @param fl_delta 左前轮增量 ticks（本周期内编码器增量，可为负）
|
||||
* @param rl_delta 左后轮增量 ticks
|
||||
* @param fr_delta 右前轮增量 ticks
|
||||
* @param rr_delta 右后轮增量 ticks
|
||||
* @param odom_span_ms 本批次增量帧的真实时间跨度 [ms]，由
|
||||
* SNC_CAN_ConsumeOdomDelta() 返回。
|
||||
* 传 0 表示无法计算（如仅一帧），此时退化为
|
||||
* now_ms - last_update_ms。
|
||||
*
|
||||
* @note 由调用方（本例中 monitorTask 或 navTask）定期轮询 CAN 上下文
|
||||
* 中的 odom_delta 数据后主动调用，推荐调用周期 20~100ms。
|
||||
* 函数内部完成：均值滤波 -> 差分运动学 -> Blackboard 更新。
|
||||
*/
|
||||
void Odom_Update(uint32_t now_ms,
|
||||
int16_t fl_delta, int16_t rl_delta,
|
||||
int16_t fr_delta, int16_t rr_delta,
|
||||
uint32_t odom_span_ms);
|
||||
|
||||
/**
|
||||
* @brief odom 断流超时处理
|
||||
* @param now_ms 当前系统时间 [ms]
|
||||
* @param timeout_ms 允许的最大无更新时长 [ms]
|
||||
*
|
||||
* @note 超时后会将 vx/wz 清零、标记离线，并同步刷新黑板，
|
||||
* 防止导航层继续使用最后一次有效速度。
|
||||
*/
|
||||
void Odom_HandleTimeout(uint32_t now_ms, uint32_t timeout_ms);
|
||||
|
||||
/**
|
||||
* @brief 读取当前里程计状态快照（供外部任务消费）
|
||||
* @param out_status 输出状态结构体
|
||||
* @param out_vx 输出线速度 [m/s]
|
||||
* @param out_wz 输出角速度 [rad/s]
|
||||
*
|
||||
* @note 内部使用临界区保护，调用方可在任何上下文安全使用。
|
||||
*/
|
||||
void Odom_GetSpeed(float *out_vx, float *out_wz, OdomStatus_t *out_status);
|
||||
|
||||
/**
|
||||
* @brief 获取累积里程（沿程 s）
|
||||
* @return 累计行驶距离 [m]（从 Odom_Init 复位后开始积分）
|
||||
*
|
||||
* @note 由走廊状态机用于段落终止判断。也可用于比赛计时参考。
|
||||
*/
|
||||
float Odom_GetDistance(void);
|
||||
|
||||
/**
|
||||
* @brief 复位里程计（清零累积距离和状态）
|
||||
*/
|
||||
void Odom_Reset(void);
|
||||
|
||||
#endif /* ROBOT_ODOM_H */
|
||||
183
App/IMU/hwt101.c
Normal file
183
App/IMU/hwt101.c
Normal file
@@ -0,0 +1,183 @@
|
||||
#include "hwt101.h"
|
||||
|
||||
#include <stdbool.h>
|
||||
#include "cmsis_os2.h"
|
||||
#include "FreeRTOS.h"
|
||||
#include "stm32h7xx_hal_uart.h"
|
||||
#include "task.h"
|
||||
|
||||
/* 寄存器地址 */
|
||||
#define REG_SAVE 0x00
|
||||
#define REG_RRATE 0x03
|
||||
#define REG_BAUD 0x04
|
||||
#define REG_KEY 0x69
|
||||
#define REG_CALIYAW 0x76
|
||||
|
||||
/* D2 域特区分配 */
|
||||
__attribute__((section(".dma_buffer"))) __attribute__((aligned(32)))
|
||||
static uint8_t s_dma_buf[HWT101_DMA_BUF_SIZE];
|
||||
|
||||
/* 内部静态变量 */
|
||||
static UART_HandleTypeDef *s_huart = NULL;
|
||||
static HWT101_Data_t s_data = {0};
|
||||
static uint16_t s_read_ptr = 0;
|
||||
static uint8_t s_frame[11];
|
||||
static uint8_t s_frame_idx = 0;
|
||||
|
||||
/* yaw unwrap 状态：将 [-180, +180) 的原始 yaw 转为连续角度 */
|
||||
static float s_yaw_prev = 0.0f; // 上一次原始 yaw (deg)
|
||||
static float s_yaw_continuous = 0.0f; // 累计连续角度 (deg)
|
||||
static bool s_yaw_initialized = false; // 首次标记
|
||||
|
||||
void HWT101_Init(UART_HandleTypeDef *huart) {
|
||||
if (huart == NULL) return;
|
||||
s_huart = huart;
|
||||
s_read_ptr = 0;
|
||||
|
||||
// 【终极修复 1】：强制使用 32 位指针，将这块 (NOLOAD) 内存全部写 0。
|
||||
// 必须是 32 位写入！这会彻底激活 RAM_D2 的硬件 ECC，消灭上电时的随机乱码，防止 DMA 单字节写入引发总线错误。
|
||||
uint32_t *p32 = (uint32_t *)s_dma_buf;
|
||||
for (uint32_t i = 0; i < (HWT101_DMA_BUF_SIZE / 4); i++) {
|
||||
p32[i] = 0;
|
||||
}
|
||||
|
||||
// ⚠️ 【终极修复 2】：因为 .dma_buffer 所在的 0x30000000 已被 MPU 配置为 Device/Non-Cacheable 内存，
|
||||
// 绝对不能调用 SCB_InvalidateDCache_by_Addr，否则 Cortex-M7 会判定越权操作直接进入 HardFault 死机！
|
||||
// (已删除原有的 SCB_InvalidateDCache_by_Addr 代码)
|
||||
|
||||
HAL_UART_Receive_DMA(s_huart, s_dma_buf, HWT101_DMA_BUF_SIZE);
|
||||
}
|
||||
|
||||
void HWT101_Process(void) {
|
||||
if (s_huart == NULL) return;
|
||||
|
||||
// 获取当前 DMA 写指针
|
||||
uint16_t write_ptr = HWT101_DMA_BUF_SIZE - (uint16_t)__HAL_DMA_GET_COUNTER(s_huart->hdmarx);
|
||||
|
||||
// ⚠️ 【终极修复 3】：删除原有的刷 Cache 代码。
|
||||
// 依靠硬件 MPU 免 Cache 机制，CPU 读到的必定是 DMA 搬运过来的最新数据，不会有数据一致性问题。
|
||||
|
||||
while (s_read_ptr != write_ptr) {
|
||||
uint8_t byte = s_dma_buf[s_read_ptr];
|
||||
s_read_ptr = (s_read_ptr + 1) % HWT101_DMA_BUF_SIZE;
|
||||
|
||||
// 状态机加速：如果不是帧头，直接跳过，不用进入后续逻辑
|
||||
if (s_frame_idx == 0 && byte != 0x55) continue;
|
||||
|
||||
s_frame[s_frame_idx++] = byte;
|
||||
if (s_frame_idx >= 11) {
|
||||
uint8_t sum = 0;
|
||||
for (int i = 0; i < 10; i++) sum += s_frame[i];
|
||||
|
||||
if (sum == s_frame[10]) {
|
||||
// 更新全局变量时使用临界区保护，防止数据撕裂
|
||||
taskENTER_CRITICAL();
|
||||
if (s_frame[1] == 0x52) {
|
||||
int16_t wz_raw = (int16_t)((s_frame[7] << 8) | s_frame[6]);
|
||||
s_data.wz = (float)wz_raw / 32768.0f * 2000.0f;
|
||||
} else if (s_frame[1] == 0x53) {
|
||||
int16_t yaw_raw = (int16_t)((s_frame[7] << 8) | s_frame[6]);
|
||||
float yaw_deg = (float)yaw_raw / 32768.0f * 180.0f;
|
||||
|
||||
/* 保存原始 yaw ([-180, +180) 度) */
|
||||
s_data.yaw = yaw_deg;
|
||||
|
||||
/* ---- yaw unwrap: 消除 ±180° 跳变，生成连续角度 ---- */
|
||||
if (!s_yaw_initialized) {
|
||||
s_yaw_continuous = yaw_deg;
|
||||
s_yaw_prev = yaw_deg;
|
||||
s_yaw_initialized = true;
|
||||
} else {
|
||||
float diff = yaw_deg - s_yaw_prev;
|
||||
if (diff > 180.0f) diff -= 360.0f;
|
||||
if (diff < -180.0f) diff += 360.0f;
|
||||
s_yaw_continuous += diff;
|
||||
s_yaw_prev = yaw_deg;
|
||||
}
|
||||
s_data.yaw_continuous = s_yaw_continuous;
|
||||
|
||||
s_data.last_update = HAL_GetTick();
|
||||
s_data.online = 1;
|
||||
}
|
||||
taskEXIT_CRITICAL();
|
||||
}
|
||||
s_frame_idx = 0;
|
||||
}
|
||||
}
|
||||
|
||||
// 超时检测
|
||||
if (HAL_GetTick() - s_data.last_update > 200) {
|
||||
s_data.online = 0;
|
||||
}
|
||||
}
|
||||
|
||||
// 安全的数据获取接口
|
||||
void HWT101_GetData(HWT101_Data_t *out_data) {
|
||||
if (out_data == NULL) return;
|
||||
// 关中断拷贝，绝对防止浮点数撕裂
|
||||
taskENTER_CRITICAL();
|
||||
*out_data = s_data;
|
||||
taskEXIT_CRITICAL();
|
||||
}
|
||||
|
||||
/* ==========================================
|
||||
* 传感器配置函数 (与原版保持一致)
|
||||
* ========================================== */
|
||||
static HAL_StatusTypeDef HWT101_Unlock(void) {
|
||||
uint8_t cmd[5] = {0xFF, 0xAA, REG_KEY, 0x88, 0xB5};
|
||||
return HAL_UART_Transmit(s_huart, cmd, 5, 20);
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef HWT101_Save(void) {
|
||||
uint8_t cmd[5] = {0xFF, 0xAA, REG_SAVE, 0x00, 0x00};
|
||||
HAL_StatusTypeDef res = HAL_UART_Transmit(s_huart, cmd, 5, 20);
|
||||
osDelay(200);
|
||||
return res;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef HWT101_WriteReg(uint8_t reg, int16_t value) {
|
||||
if (HWT101_Unlock() != HAL_OK) return HAL_ERROR;
|
||||
osDelay(20);
|
||||
uint8_t cmd[5] = {0xFF, 0xAA, reg, (uint8_t)(value & 0xFF), (uint8_t)(value >> 8)};
|
||||
return HAL_UART_Transmit(s_huart, cmd, 5, 20);
|
||||
}
|
||||
|
||||
HAL_StatusTypeDef HWT101_Config(HWT101_Rate_t rate, HWT101_Baud_t baud) {
|
||||
if (HWT101_WriteReg(REG_RRATE, (int16_t)rate) != HAL_OK) return HAL_ERROR;
|
||||
osDelay(100);
|
||||
if (HWT101_WriteReg(REG_BAUD, (int16_t)baud) != HAL_OK) return HAL_ERROR;
|
||||
osDelay(100);
|
||||
return HWT101_Save();
|
||||
}
|
||||
|
||||
HAL_StatusTypeDef HWT101_ZeroYaw(void) {
|
||||
if (HWT101_WriteReg(REG_CALIYAW, 0x0000) != HAL_OK) return HAL_ERROR;
|
||||
osDelay(500);
|
||||
|
||||
/* 重置 unwrap 状态，下次收到帧时重新初始化连续角度 */
|
||||
taskENTER_CRITICAL();
|
||||
s_yaw_initialized = false;
|
||||
s_yaw_continuous = 0.0f;
|
||||
s_yaw_prev = 0.0f;
|
||||
s_data.yaw_continuous = 0.0f;
|
||||
taskEXIT_CRITICAL();
|
||||
|
||||
return HWT101_Save();
|
||||
}
|
||||
|
||||
void HWT101_ErrorRecovery(UART_HandleTypeDef *huart) {
|
||||
if (s_huart != NULL && huart == s_huart) {
|
||||
HAL_UART_DMAStop(s_huart);
|
||||
|
||||
// 暴力清除 ORE/NE/FE/PE 错误标志，防止无限死循环中断风暴
|
||||
__HAL_UART_CLEAR_FLAG(s_huart, UART_CLEAR_OREF | UART_CLEAR_NEF | UART_CLEAR_PEF | UART_CLEAR_FEF);
|
||||
// 读取一次 RDR 寄存器，把里面卡住的垃圾字节倒掉
|
||||
volatile uint32_t dump = s_huart->Instance->RDR;
|
||||
(void)dump;
|
||||
|
||||
// 干净地重新启动 DMA
|
||||
HAL_UART_Receive_DMA(s_huart, s_dma_buf, HWT101_DMA_BUF_SIZE);
|
||||
s_read_ptr = 0;
|
||||
s_frame_idx = 0;
|
||||
}
|
||||
}
|
||||
41
App/IMU/hwt101.h
Normal file
41
App/IMU/hwt101.h
Normal file
@@ -0,0 +1,41 @@
|
||||
#ifndef HWT101_H
|
||||
#define HWT101_H
|
||||
|
||||
#include <stdint.h>
|
||||
#include "main.h"
|
||||
|
||||
#define HWT101_DMA_BUF_SIZE 256 // 必须是 32 的整数倍
|
||||
|
||||
typedef enum {
|
||||
HWT101_RATE_10HZ = 0x06,
|
||||
HWT101_RATE_50HZ = 0x08,
|
||||
HWT101_RATE_100HZ = 0x09, // 推荐：100Hz
|
||||
HWT101_RATE_200HZ = 0x0B
|
||||
} HWT101_Rate_t;
|
||||
|
||||
typedef enum {
|
||||
HWT101_BAUD_9600 = 0x02,
|
||||
HWT101_BAUD_115200 = 0x06,
|
||||
HWT101_BAUD_230400 = 0x07
|
||||
} HWT101_Baud_t;
|
||||
|
||||
typedef struct {
|
||||
float yaw; // 原始偏航角 (deg)，范围 [-180, +180)，跨界时跳变
|
||||
float yaw_continuous; // unwrap 后的连续偏航角 (deg)，无跳变，可直接做差计算转角
|
||||
float wz; // Z 轴角速度 (deg/s)
|
||||
uint32_t last_update;
|
||||
uint8_t online;
|
||||
} HWT101_Data_t;
|
||||
|
||||
/* API 函数声明 */
|
||||
void HWT101_Init(UART_HandleTypeDef *huart);
|
||||
void HWT101_Process(void);
|
||||
|
||||
// 【升级 2】改为传入指针，安全拷贝数据，防止数据撕裂
|
||||
void HWT101_GetData(HWT101_Data_t *out_data);
|
||||
// 在末尾 API 声明处加上这句
|
||||
void HWT101_ErrorRecovery(UART_HandleTypeDef *huart);
|
||||
HAL_StatusTypeDef HWT101_Config(HWT101_Rate_t rate, HWT101_Baud_t baud);
|
||||
HAL_StatusTypeDef HWT101_ZeroYaw(void);
|
||||
|
||||
#endif /* HWT101_H */
|
||||
1926
App/VL53L0X_API/core/inc/vl53l0x_api.h
Normal file
1926
App/VL53L0X_API/core/inc/vl53l0x_api.h
Normal file
File diff suppressed because it is too large
Load Diff
85
App/VL53L0X_API/core/inc/vl53l0x_api_calibration.h
Normal file
85
App/VL53L0X_API/core/inc/vl53l0x_api_calibration.h
Normal file
@@ -0,0 +1,85 @@
|
||||
/*******************************************************************************
|
||||
* Copyright © 2016, STMicroelectronics International N.V.
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of STMicroelectronics nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
|
||||
NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
|
||||
IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*******************************************************************************/
|
||||
|
||||
#ifndef _VL53L0X_API_CALIBRATION_H_
|
||||
#define _VL53L0X_API_CALIBRATION_H_
|
||||
|
||||
#include "vl53l0x_def.h"
|
||||
#include "vl53l0x_platform.h"
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
VL53L0X_Error VL53L0X_perform_xtalk_calibration(VL53L0X_DEV Dev,
|
||||
FixPoint1616_t XTalkCalDistance,
|
||||
FixPoint1616_t *pXTalkCompensationRateMegaCps);
|
||||
|
||||
VL53L0X_Error VL53L0X_perform_offset_calibration(VL53L0X_DEV Dev,
|
||||
FixPoint1616_t CalDistanceMilliMeter,
|
||||
int32_t *pOffsetMicroMeter);
|
||||
|
||||
VL53L0X_Error VL53L0X_set_offset_calibration_data_micro_meter(VL53L0X_DEV Dev,
|
||||
int32_t OffsetCalibrationDataMicroMeter);
|
||||
|
||||
VL53L0X_Error VL53L0X_get_offset_calibration_data_micro_meter(VL53L0X_DEV Dev,
|
||||
int32_t *pOffsetCalibrationDataMicroMeter);
|
||||
|
||||
VL53L0X_Error VL53L0X_apply_offset_adjustment(VL53L0X_DEV Dev);
|
||||
|
||||
VL53L0X_Error VL53L0X_perform_ref_spad_management(VL53L0X_DEV Dev,
|
||||
uint32_t *refSpadCount, uint8_t *isApertureSpads);
|
||||
|
||||
VL53L0X_Error VL53L0X_set_reference_spads(VL53L0X_DEV Dev,
|
||||
uint32_t count, uint8_t isApertureSpads);
|
||||
|
||||
VL53L0X_Error VL53L0X_get_reference_spads(VL53L0X_DEV Dev,
|
||||
uint32_t *pSpadCount, uint8_t *pIsApertureSpads);
|
||||
|
||||
VL53L0X_Error VL53L0X_perform_phase_calibration(VL53L0X_DEV Dev,
|
||||
uint8_t *pPhaseCal, const uint8_t get_data_enable,
|
||||
const uint8_t restore_config);
|
||||
|
||||
VL53L0X_Error VL53L0X_perform_ref_calibration(VL53L0X_DEV Dev,
|
||||
uint8_t *pVhvSettings, uint8_t *pPhaseCal, uint8_t get_data_enable);
|
||||
|
||||
VL53L0X_Error VL53L0X_set_ref_calibration(VL53L0X_DEV Dev,
|
||||
uint8_t VhvSettings, uint8_t PhaseCal);
|
||||
|
||||
VL53L0X_Error VL53L0X_get_ref_calibration(VL53L0X_DEV Dev,
|
||||
uint8_t *pVhvSettings, uint8_t *pPhaseCal);
|
||||
|
||||
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* _VL53L0X_API_CALIBRATION_H_ */
|
||||
113
App/VL53L0X_API/core/inc/vl53l0x_api_core.h
Normal file
113
App/VL53L0X_API/core/inc/vl53l0x_api_core.h
Normal file
@@ -0,0 +1,113 @@
|
||||
/*******************************************************************************
|
||||
* Copyright © 2016, STMicroelectronics International N.V.
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of STMicroelectronics nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
|
||||
NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
|
||||
IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*******************************************************************************/
|
||||
|
||||
#ifndef _VL53L0X_API_CORE_H_
|
||||
#define _VL53L0X_API_CORE_H_
|
||||
|
||||
#include "vl53l0x_def.h"
|
||||
#include "vl53l0x_platform.h"
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
|
||||
VL53L0X_Error VL53L0X_reverse_bytes(uint8_t *data, uint32_t size);
|
||||
|
||||
VL53L0X_Error VL53L0X_measurement_poll_for_completion(VL53L0X_DEV Dev);
|
||||
|
||||
uint8_t VL53L0X_encode_vcsel_period(uint8_t vcsel_period_pclks);
|
||||
|
||||
uint8_t VL53L0X_decode_vcsel_period(uint8_t vcsel_period_reg);
|
||||
|
||||
uint32_t VL53L0X_isqrt(uint32_t num);
|
||||
|
||||
uint32_t VL53L0X_quadrature_sum(uint32_t a, uint32_t b);
|
||||
|
||||
VL53L0X_Error VL53L0X_get_info_from_device(VL53L0X_DEV Dev, uint8_t option);
|
||||
|
||||
VL53L0X_Error VL53L0X_set_vcsel_pulse_period(VL53L0X_DEV Dev,
|
||||
VL53L0X_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriodPCLK);
|
||||
|
||||
VL53L0X_Error VL53L0X_get_vcsel_pulse_period(VL53L0X_DEV Dev,
|
||||
VL53L0X_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriodPCLK);
|
||||
|
||||
uint32_t VL53L0X_decode_timeout(uint16_t encoded_timeout);
|
||||
|
||||
VL53L0X_Error get_sequence_step_timeout(VL53L0X_DEV Dev,
|
||||
VL53L0X_SequenceStepId SequenceStepId,
|
||||
uint32_t *pTimeOutMicroSecs);
|
||||
|
||||
VL53L0X_Error set_sequence_step_timeout(VL53L0X_DEV Dev,
|
||||
VL53L0X_SequenceStepId SequenceStepId,
|
||||
uint32_t TimeOutMicroSecs);
|
||||
|
||||
VL53L0X_Error VL53L0X_set_measurement_timing_budget_micro_seconds(
|
||||
VL53L0X_DEV Dev,
|
||||
uint32_t MeasurementTimingBudgetMicroSeconds);
|
||||
|
||||
VL53L0X_Error VL53L0X_get_measurement_timing_budget_micro_seconds(
|
||||
VL53L0X_DEV Dev,
|
||||
uint32_t *pMeasurementTimingBudgetMicroSeconds);
|
||||
|
||||
VL53L0X_Error VL53L0X_load_tuning_settings(VL53L0X_DEV Dev,
|
||||
uint8_t *pTuningSettingBuffer);
|
||||
|
||||
VL53L0X_Error VL53L0X_calc_sigma_estimate(VL53L0X_DEV Dev,
|
||||
VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
|
||||
FixPoint1616_t *pSigmaEstimate);
|
||||
|
||||
VL53L0X_Error VL53L0X_calc_dmax(
|
||||
VL53L0X_DEV Dev, FixPoint1616_t ambRateMeas, uint32_t *pdmax_mm);
|
||||
|
||||
VL53L0X_Error VL53L0X_get_total_xtalk_rate(VL53L0X_DEV Dev,
|
||||
VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
|
||||
FixPoint1616_t *ptotal_xtalk_rate_mcps);
|
||||
|
||||
VL53L0X_Error VL53L0X_get_total_signal_rate(VL53L0X_DEV Dev,
|
||||
VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
|
||||
FixPoint1616_t *ptotal_signal_rate_mcps);
|
||||
|
||||
VL53L0X_Error VL53L0X_get_pal_range_status(VL53L0X_DEV Dev,
|
||||
uint8_t DeviceRangeStatus,
|
||||
FixPoint1616_t SignalRate,
|
||||
uint16_t EffectiveSpadRtnCount,
|
||||
VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
|
||||
uint8_t *pPalRangeStatus);
|
||||
|
||||
uint32_t VL53L0X_calc_timeout_mclks(VL53L0X_DEV Dev,
|
||||
uint32_t timeout_period_us, uint8_t vcsel_period_pclks);
|
||||
|
||||
uint16_t VL53L0X_encode_timeout(uint32_t timeout_macro_clks);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* _VL53L0X_API_CORE_H_ */
|
||||
47
App/VL53L0X_API/core/inc/vl53l0x_api_ranging.h
Normal file
47
App/VL53L0X_API/core/inc/vl53l0x_api_ranging.h
Normal file
@@ -0,0 +1,47 @@
|
||||
/*******************************************************************************
|
||||
* Copyright © 2016, STMicroelectronics International N.V.
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of STMicroelectronics nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
|
||||
NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
|
||||
IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*******************************************************************************/
|
||||
|
||||
#ifndef _VL53L0X_API_RANGING_H_
|
||||
#define _VL53L0X_API_RANGING_H_
|
||||
|
||||
#include "vl53l0x_def.h"
|
||||
#include "vl53l0x_platform.h"
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* _VL53L0X_API_RANGING_H_ */
|
||||
278
App/VL53L0X_API/core/inc/vl53l0x_api_strings.h
Normal file
278
App/VL53L0X_API/core/inc/vl53l0x_api_strings.h
Normal file
@@ -0,0 +1,278 @@
|
||||
/*******************************************************************************
|
||||
* Copyright © 2016, STMicroelectronics International N.V.
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of STMicroelectronics nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
|
||||
NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
|
||||
IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*******************************************************************************/
|
||||
|
||||
#ifndef VL53L0X_API_STRINGS_H_
|
||||
#define VL53L0X_API_STRINGS_H_
|
||||
|
||||
#include "vl53l0x_def.h"
|
||||
#include "vl53l0x_platform.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
|
||||
VL53L0X_Error VL53L0X_get_device_info(VL53L0X_DEV Dev,
|
||||
VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo);
|
||||
|
||||
VL53L0X_Error VL53L0X_get_device_error_string(VL53L0X_DeviceError ErrorCode,
|
||||
char *pDeviceErrorString);
|
||||
|
||||
VL53L0X_Error VL53L0X_get_range_status_string(uint8_t RangeStatus,
|
||||
char *pRangeStatusString);
|
||||
|
||||
VL53L0X_Error VL53L0X_get_pal_error_string(VL53L0X_Error PalErrorCode,
|
||||
char *pPalErrorString);
|
||||
|
||||
VL53L0X_Error VL53L0X_get_pal_state_string(VL53L0X_State PalStateCode,
|
||||
char *pPalStateString);
|
||||
|
||||
VL53L0X_Error VL53L0X_get_sequence_steps_info(
|
||||
VL53L0X_SequenceStepId SequenceStepId,
|
||||
char *pSequenceStepsString);
|
||||
|
||||
VL53L0X_Error VL53L0X_get_limit_check_info(VL53L0X_DEV Dev,
|
||||
uint16_t LimitCheckId,
|
||||
char *pLimitCheckString);
|
||||
|
||||
|
||||
#ifdef USE_EMPTY_STRING
|
||||
#define VL53L0X_STRING_DEVICE_INFO_NAME ""
|
||||
#define VL53L0X_STRING_DEVICE_INFO_NAME_TS0 ""
|
||||
#define VL53L0X_STRING_DEVICE_INFO_NAME_TS1 ""
|
||||
#define VL53L0X_STRING_DEVICE_INFO_NAME_TS2 ""
|
||||
#define VL53L0X_STRING_DEVICE_INFO_NAME_ES1 ""
|
||||
#define VL53L0X_STRING_DEVICE_INFO_TYPE ""
|
||||
|
||||
/* PAL ERROR strings */
|
||||
#define VL53L0X_STRING_ERROR_NONE ""
|
||||
#define VL53L0X_STRING_ERROR_CALIBRATION_WARNING ""
|
||||
#define VL53L0X_STRING_ERROR_MIN_CLIPPED ""
|
||||
#define VL53L0X_STRING_ERROR_UNDEFINED ""
|
||||
#define VL53L0X_STRING_ERROR_INVALID_PARAMS ""
|
||||
#define VL53L0X_STRING_ERROR_NOT_SUPPORTED ""
|
||||
#define VL53L0X_STRING_ERROR_RANGE_ERROR ""
|
||||
#define VL53L0X_STRING_ERROR_TIME_OUT ""
|
||||
#define VL53L0X_STRING_ERROR_MODE_NOT_SUPPORTED ""
|
||||
#define VL53L0X_STRING_ERROR_BUFFER_TOO_SMALL ""
|
||||
#define VL53L0X_STRING_ERROR_GPIO_NOT_EXISTING ""
|
||||
#define VL53L0X_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED ""
|
||||
#define VL53L0X_STRING_ERROR_CONTROL_INTERFACE ""
|
||||
#define VL53L0X_STRING_ERROR_INVALID_COMMAND ""
|
||||
#define VL53L0X_STRING_ERROR_DIVISION_BY_ZERO ""
|
||||
#define VL53L0X_STRING_ERROR_REF_SPAD_INIT ""
|
||||
#define VL53L0X_STRING_ERROR_NOT_IMPLEMENTED ""
|
||||
|
||||
#define VL53L0X_STRING_UNKNOW_ERROR_CODE ""
|
||||
|
||||
|
||||
|
||||
/* Range Status */
|
||||
#define VL53L0X_STRING_RANGESTATUS_NONE ""
|
||||
#define VL53L0X_STRING_RANGESTATUS_RANGEVALID ""
|
||||
#define VL53L0X_STRING_RANGESTATUS_SIGMA ""
|
||||
#define VL53L0X_STRING_RANGESTATUS_SIGNAL ""
|
||||
#define VL53L0X_STRING_RANGESTATUS_MINRANGE ""
|
||||
#define VL53L0X_STRING_RANGESTATUS_PHASE ""
|
||||
#define VL53L0X_STRING_RANGESTATUS_HW ""
|
||||
|
||||
|
||||
/* Range Status */
|
||||
#define VL53L0X_STRING_STATE_POWERDOWN ""
|
||||
#define VL53L0X_STRING_STATE_WAIT_STATICINIT ""
|
||||
#define VL53L0X_STRING_STATE_STANDBY ""
|
||||
#define VL53L0X_STRING_STATE_IDLE ""
|
||||
#define VL53L0X_STRING_STATE_RUNNING ""
|
||||
#define VL53L0X_STRING_STATE_UNKNOWN ""
|
||||
#define VL53L0X_STRING_STATE_ERROR ""
|
||||
|
||||
|
||||
/* Device Specific */
|
||||
#define VL53L0X_STRING_DEVICEERROR_NONE ""
|
||||
#define VL53L0X_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE ""
|
||||
#define VL53L0X_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE ""
|
||||
#define VL53L0X_STRING_DEVICEERROR_NOVHVVALUEFOUND ""
|
||||
#define VL53L0X_STRING_DEVICEERROR_MSRCNOTARGET ""
|
||||
#define VL53L0X_STRING_DEVICEERROR_SNRCHECK ""
|
||||
#define VL53L0X_STRING_DEVICEERROR_RANGEPHASECHECK ""
|
||||
#define VL53L0X_STRING_DEVICEERROR_SIGMATHRESHOLDCHECK ""
|
||||
#define VL53L0X_STRING_DEVICEERROR_TCC ""
|
||||
#define VL53L0X_STRING_DEVICEERROR_PHASECONSISTENCY ""
|
||||
#define VL53L0X_STRING_DEVICEERROR_MINCLIP ""
|
||||
#define VL53L0X_STRING_DEVICEERROR_RANGECOMPLETE ""
|
||||
#define VL53L0X_STRING_DEVICEERROR_ALGOUNDERFLOW ""
|
||||
#define VL53L0X_STRING_DEVICEERROR_ALGOOVERFLOW ""
|
||||
#define VL53L0X_STRING_DEVICEERROR_RANGEIGNORETHRESHOLD ""
|
||||
#define VL53L0X_STRING_DEVICEERROR_UNKNOWN ""
|
||||
|
||||
/* Check Enable */
|
||||
#define VL53L0X_STRING_CHECKENABLE_SIGMA_FINAL_RANGE ""
|
||||
#define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE ""
|
||||
#define VL53L0X_STRING_CHECKENABLE_SIGNAL_REF_CLIP ""
|
||||
#define VL53L0X_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD ""
|
||||
|
||||
/* Sequence Step */
|
||||
#define VL53L0X_STRING_SEQUENCESTEP_TCC ""
|
||||
#define VL53L0X_STRING_SEQUENCESTEP_DSS ""
|
||||
#define VL53L0X_STRING_SEQUENCESTEP_MSRC ""
|
||||
#define VL53L0X_STRING_SEQUENCESTEP_PRE_RANGE ""
|
||||
#define VL53L0X_STRING_SEQUENCESTEP_FINAL_RANGE ""
|
||||
#else
|
||||
#define VL53L0X_STRING_DEVICE_INFO_NAME "VL53L0X cut1.0"
|
||||
#define VL53L0X_STRING_DEVICE_INFO_NAME_TS0 "VL53L0X TS0"
|
||||
#define VL53L0X_STRING_DEVICE_INFO_NAME_TS1 "VL53L0X TS1"
|
||||
#define VL53L0X_STRING_DEVICE_INFO_NAME_TS2 "VL53L0X TS2"
|
||||
#define VL53L0X_STRING_DEVICE_INFO_NAME_ES1 "VL53L0X ES1 or later"
|
||||
#define VL53L0X_STRING_DEVICE_INFO_TYPE "VL53L0X"
|
||||
|
||||
/* PAL ERROR strings */
|
||||
#define VL53L0X_STRING_ERROR_NONE \
|
||||
"No Error"
|
||||
#define VL53L0X_STRING_ERROR_CALIBRATION_WARNING \
|
||||
"Calibration Warning Error"
|
||||
#define VL53L0X_STRING_ERROR_MIN_CLIPPED \
|
||||
"Min clipped error"
|
||||
#define VL53L0X_STRING_ERROR_UNDEFINED \
|
||||
"Undefined error"
|
||||
#define VL53L0X_STRING_ERROR_INVALID_PARAMS \
|
||||
"Invalid parameters error"
|
||||
#define VL53L0X_STRING_ERROR_NOT_SUPPORTED \
|
||||
"Not supported error"
|
||||
#define VL53L0X_STRING_ERROR_RANGE_ERROR \
|
||||
"Range error"
|
||||
#define VL53L0X_STRING_ERROR_TIME_OUT \
|
||||
"Time out error"
|
||||
#define VL53L0X_STRING_ERROR_MODE_NOT_SUPPORTED \
|
||||
"Mode not supported error"
|
||||
#define VL53L0X_STRING_ERROR_BUFFER_TOO_SMALL \
|
||||
"Buffer too small"
|
||||
#define VL53L0X_STRING_ERROR_GPIO_NOT_EXISTING \
|
||||
"GPIO not existing"
|
||||
#define VL53L0X_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED \
|
||||
"GPIO funct not supported"
|
||||
#define VL53L0X_STRING_ERROR_INTERRUPT_NOT_CLEARED \
|
||||
"Interrupt not Cleared"
|
||||
#define VL53L0X_STRING_ERROR_CONTROL_INTERFACE \
|
||||
"Control Interface Error"
|
||||
#define VL53L0X_STRING_ERROR_INVALID_COMMAND \
|
||||
"Invalid Command Error"
|
||||
#define VL53L0X_STRING_ERROR_DIVISION_BY_ZERO \
|
||||
"Division by zero Error"
|
||||
#define VL53L0X_STRING_ERROR_REF_SPAD_INIT \
|
||||
"Reference Spad Init Error"
|
||||
#define VL53L0X_STRING_ERROR_NOT_IMPLEMENTED \
|
||||
"Not implemented error"
|
||||
|
||||
#define VL53L0X_STRING_UNKNOW_ERROR_CODE \
|
||||
"Unknown Error Code"
|
||||
|
||||
|
||||
|
||||
/* Range Status */
|
||||
#define VL53L0X_STRING_RANGESTATUS_NONE "No Update"
|
||||
#define VL53L0X_STRING_RANGESTATUS_RANGEVALID "Range Valid"
|
||||
#define VL53L0X_STRING_RANGESTATUS_SIGMA "Sigma Fail"
|
||||
#define VL53L0X_STRING_RANGESTATUS_SIGNAL "Signal Fail"
|
||||
#define VL53L0X_STRING_RANGESTATUS_MINRANGE "Min Range Fail"
|
||||
#define VL53L0X_STRING_RANGESTATUS_PHASE "Phase Fail"
|
||||
#define VL53L0X_STRING_RANGESTATUS_HW "Hardware Fail"
|
||||
|
||||
|
||||
/* Range Status */
|
||||
#define VL53L0X_STRING_STATE_POWERDOWN "POWERDOWN State"
|
||||
#define VL53L0X_STRING_STATE_WAIT_STATICINIT \
|
||||
"Wait for staticinit State"
|
||||
#define VL53L0X_STRING_STATE_STANDBY "STANDBY State"
|
||||
#define VL53L0X_STRING_STATE_IDLE "IDLE State"
|
||||
#define VL53L0X_STRING_STATE_RUNNING "RUNNING State"
|
||||
#define VL53L0X_STRING_STATE_UNKNOWN "UNKNOWN State"
|
||||
#define VL53L0X_STRING_STATE_ERROR "ERROR State"
|
||||
|
||||
|
||||
/* Device Specific */
|
||||
#define VL53L0X_STRING_DEVICEERROR_NONE "No Update"
|
||||
#define VL53L0X_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE \
|
||||
"VCSEL Continuity Test Failure"
|
||||
#define VL53L0X_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE \
|
||||
"VCSEL Watchdog Test Failure"
|
||||
#define VL53L0X_STRING_DEVICEERROR_NOVHVVALUEFOUND \
|
||||
"No VHV Value found"
|
||||
#define VL53L0X_STRING_DEVICEERROR_MSRCNOTARGET \
|
||||
"MSRC No Target Error"
|
||||
#define VL53L0X_STRING_DEVICEERROR_SNRCHECK \
|
||||
"SNR Check Exit"
|
||||
#define VL53L0X_STRING_DEVICEERROR_RANGEPHASECHECK \
|
||||
"Range Phase Check Error"
|
||||
#define VL53L0X_STRING_DEVICEERROR_SIGMATHRESHOLDCHECK \
|
||||
"Sigma Threshold Check Error"
|
||||
#define VL53L0X_STRING_DEVICEERROR_TCC \
|
||||
"TCC Error"
|
||||
#define VL53L0X_STRING_DEVICEERROR_PHASECONSISTENCY \
|
||||
"Phase Consistency Error"
|
||||
#define VL53L0X_STRING_DEVICEERROR_MINCLIP \
|
||||
"Min Clip Error"
|
||||
#define VL53L0X_STRING_DEVICEERROR_RANGECOMPLETE \
|
||||
"Range Complete"
|
||||
#define VL53L0X_STRING_DEVICEERROR_ALGOUNDERFLOW \
|
||||
"Range Algo Underflow Error"
|
||||
#define VL53L0X_STRING_DEVICEERROR_ALGOOVERFLOW \
|
||||
"Range Algo Overlow Error"
|
||||
#define VL53L0X_STRING_DEVICEERROR_RANGEIGNORETHRESHOLD \
|
||||
"Range Ignore Threshold Error"
|
||||
#define VL53L0X_STRING_DEVICEERROR_UNKNOWN \
|
||||
"Unknown error code"
|
||||
|
||||
/* Check Enable */
|
||||
#define VL53L0X_STRING_CHECKENABLE_SIGMA_FINAL_RANGE \
|
||||
"SIGMA FINAL RANGE"
|
||||
#define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE \
|
||||
"SIGNAL RATE FINAL RANGE"
|
||||
#define VL53L0X_STRING_CHECKENABLE_SIGNAL_REF_CLIP \
|
||||
"SIGNAL REF CLIP"
|
||||
#define VL53L0X_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD \
|
||||
"RANGE IGNORE THRESHOLD"
|
||||
#define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_MSRC \
|
||||
"SIGNAL RATE MSRC"
|
||||
#define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_PRE_RANGE \
|
||||
"SIGNAL RATE PRE RANGE"
|
||||
|
||||
/* Sequence Step */
|
||||
#define VL53L0X_STRING_SEQUENCESTEP_TCC "TCC"
|
||||
#define VL53L0X_STRING_SEQUENCESTEP_DSS "DSS"
|
||||
#define VL53L0X_STRING_SEQUENCESTEP_MSRC "MSRC"
|
||||
#define VL53L0X_STRING_SEQUENCESTEP_PRE_RANGE "PRE RANGE"
|
||||
#define VL53L0X_STRING_SEQUENCESTEP_FINAL_RANGE "FINAL RANGE"
|
||||
#endif /* USE_EMPTY_STRING */
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
||||
666
App/VL53L0X_API/core/inc/vl53l0x_def.h
Normal file
666
App/VL53L0X_API/core/inc/vl53l0x_def.h
Normal file
@@ -0,0 +1,666 @@
|
||||
/*******************************************************************************
|
||||
* Copyright <20> 2016, STMicroelectronics International N.V.
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of STMicroelectronics nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
|
||||
NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
|
||||
IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*******************************************************************************/
|
||||
|
||||
/**
|
||||
* @file VL53L0X_def.h
|
||||
*
|
||||
* @brief Type definitions for VL53L0X API.
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
#ifndef _VL53L0X_DEF_H_
|
||||
#define _VL53L0X_DEF_H_
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/** @defgroup VL53L0X_globaldefine_group VL53L0X Defines
|
||||
* @brief VL53L0X Defines
|
||||
* @{
|
||||
*/
|
||||
|
||||
|
||||
/** PAL SPECIFICATION major version */
|
||||
#define VL53L0X10_SPECIFICATION_VER_MAJOR 1
|
||||
/** PAL SPECIFICATION minor version */
|
||||
#define VL53L0X10_SPECIFICATION_VER_MINOR 2
|
||||
/** PAL SPECIFICATION sub version */
|
||||
#define VL53L0X10_SPECIFICATION_VER_SUB 7
|
||||
/** PAL SPECIFICATION sub version */
|
||||
#define VL53L0X10_SPECIFICATION_VER_REVISION 1440
|
||||
|
||||
/** VL53L0X PAL IMPLEMENTATION major version */
|
||||
#define VL53L0X10_IMPLEMENTATION_VER_MAJOR 1
|
||||
/** VL53L0X PAL IMPLEMENTATION minor version */
|
||||
#define VL53L0X10_IMPLEMENTATION_VER_MINOR 0
|
||||
/** VL53L0X PAL IMPLEMENTATION sub version */
|
||||
#define VL53L0X10_IMPLEMENTATION_VER_SUB 9
|
||||
/** VL53L0X PAL IMPLEMENTATION sub version */
|
||||
#define VL53L0X10_IMPLEMENTATION_VER_REVISION 3673
|
||||
|
||||
/** PAL SPECIFICATION major version */
|
||||
#define VL53L0X_SPECIFICATION_VER_MAJOR 1
|
||||
/** PAL SPECIFICATION minor version */
|
||||
#define VL53L0X_SPECIFICATION_VER_MINOR 2
|
||||
/** PAL SPECIFICATION sub version */
|
||||
#define VL53L0X_SPECIFICATION_VER_SUB 7
|
||||
/** PAL SPECIFICATION sub version */
|
||||
#define VL53L0X_SPECIFICATION_VER_REVISION 1440
|
||||
|
||||
/** VL53L0X PAL IMPLEMENTATION major version */
|
||||
#define VL53L0X_IMPLEMENTATION_VER_MAJOR 1
|
||||
/** VL53L0X PAL IMPLEMENTATION minor version */
|
||||
#define VL53L0X_IMPLEMENTATION_VER_MINOR 0
|
||||
/** VL53L0X PAL IMPLEMENTATION sub version */
|
||||
#define VL53L0X_IMPLEMENTATION_VER_SUB 4
|
||||
/** VL53L0X PAL IMPLEMENTATION sub version */
|
||||
#define VL53L0X_IMPLEMENTATION_VER_REVISION 4960
|
||||
#define VL53L0X_DEFAULT_MAX_LOOP 2000
|
||||
#define VL53L0X_MAX_STRING_LENGTH 32
|
||||
|
||||
|
||||
#include "vl53l0x_device.h"
|
||||
#include "vl53l0x_types.h"
|
||||
|
||||
|
||||
/****************************************
|
||||
* PRIVATE define do not edit
|
||||
****************************************/
|
||||
|
||||
/** @brief Defines the parameters of the Get Version Functions
|
||||
*/
|
||||
typedef struct {
|
||||
uint32_t revision; /*!< revision number */
|
||||
uint8_t major; /*!< major number */
|
||||
uint8_t minor; /*!< minor number */
|
||||
uint8_t build; /*!< build number */
|
||||
} VL53L0X_Version_t;
|
||||
|
||||
|
||||
/** @brief Defines the parameters of the Get Device Info Functions
|
||||
*/
|
||||
typedef struct {
|
||||
char Name[VL53L0X_MAX_STRING_LENGTH];
|
||||
/*!< Name of the Device e.g. Left_Distance */
|
||||
char Type[VL53L0X_MAX_STRING_LENGTH];
|
||||
/*!< Type of the Device e.g VL53L0X */
|
||||
char ProductId[VL53L0X_MAX_STRING_LENGTH];
|
||||
/*!< Product Identifier String */
|
||||
uint8_t ProductType;
|
||||
/*!< Product Type, VL53L0X = 1, VL53L1 = 2 */
|
||||
uint8_t ProductRevisionMajor;
|
||||
/*!< Product revision major */
|
||||
uint8_t ProductRevisionMinor;
|
||||
/*!< Product revision minor */
|
||||
} VL53L0X_DeviceInfo_t;
|
||||
|
||||
|
||||
/** @defgroup VL53L0X_define_Error_group Error and Warning code returned by API
|
||||
* The following DEFINE are used to identify the PAL ERROR
|
||||
* @{
|
||||
*/
|
||||
|
||||
typedef int8_t VL53L0X_Error;
|
||||
|
||||
#define VL53L0X_ERROR_NONE ((VL53L0X_Error) 0)
|
||||
#define VL53L0X_ERROR_CALIBRATION_WARNING ((VL53L0X_Error) - 1)
|
||||
/*!< Warning invalid calibration data may be in used
|
||||
* \a VL53L0X_InitData()
|
||||
* \a VL53L0X_GetOffsetCalibrationData
|
||||
* \a VL53L0X_SetOffsetCalibrationData
|
||||
*/
|
||||
#define VL53L0X_ERROR_MIN_CLIPPED ((VL53L0X_Error) - 2)
|
||||
/*!< Warning parameter passed was clipped to min before to be applied */
|
||||
|
||||
#define VL53L0X_ERROR_UNDEFINED ((VL53L0X_Error) - 3)
|
||||
/*!< Unqualified error */
|
||||
#define VL53L0X_ERROR_INVALID_PARAMS ((VL53L0X_Error) - 4)
|
||||
/*!< Parameter passed is invalid or out of range */
|
||||
#define VL53L0X_ERROR_NOT_SUPPORTED ((VL53L0X_Error) - 5)
|
||||
/*!< Function is not supported in current mode or configuration */
|
||||
#define VL53L0X_ERROR_RANGE_ERROR ((VL53L0X_Error) - 6)
|
||||
/*!< Device report a ranging error interrupt status */
|
||||
#define VL53L0X_ERROR_TIME_OUT ((VL53L0X_Error) - 7)
|
||||
/*!< Aborted due to time out */
|
||||
#define VL53L0X_ERROR_MODE_NOT_SUPPORTED ((VL53L0X_Error) - 8)
|
||||
/*!< Asked mode is not supported by the device */
|
||||
#define VL53L0X_ERROR_BUFFER_TOO_SMALL ((VL53L0X_Error) - 9)
|
||||
/*!< ... */
|
||||
#define VL53L0X_ERROR_GPIO_NOT_EXISTING ((VL53L0X_Error) - 10)
|
||||
/*!< User tried to setup a non-existing GPIO pin */
|
||||
#define VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED ((VL53L0X_Error) - 11)
|
||||
/*!< unsupported GPIO functionality */
|
||||
#define VL53L0X_ERROR_INTERRUPT_NOT_CLEARED ((VL53L0X_Error) - 12)
|
||||
/*!< Error during interrupt clear */
|
||||
#define VL53L0X_ERROR_CONTROL_INTERFACE ((VL53L0X_Error) - 20)
|
||||
/*!< error reported from IO functions */
|
||||
#define VL53L0X_ERROR_INVALID_COMMAND ((VL53L0X_Error) - 30)
|
||||
/*!< The command is not allowed in the current device state
|
||||
* (power down)
|
||||
*/
|
||||
#define VL53L0X_ERROR_DIVISION_BY_ZERO ((VL53L0X_Error) - 40)
|
||||
/*!< In the function a division by zero occurs */
|
||||
#define VL53L0X_ERROR_REF_SPAD_INIT ((VL53L0X_Error) - 50)
|
||||
/*!< Error during reference SPAD initialization */
|
||||
#define VL53L0X_ERROR_NOT_IMPLEMENTED ((VL53L0X_Error) - 99)
|
||||
/*!< Tells requested functionality has not been implemented yet or
|
||||
* not compatible with the device
|
||||
*/
|
||||
/** @} VL53L0X_define_Error_group */
|
||||
|
||||
|
||||
/** @defgroup VL53L0X_define_DeviceModes_group Defines Device modes
|
||||
* Defines all possible modes for the device
|
||||
* @{
|
||||
*/
|
||||
typedef uint8_t VL53L0X_DeviceModes;
|
||||
|
||||
#define VL53L0X_DEVICEMODE_SINGLE_RANGING ((VL53L0X_DeviceModes) 0)
|
||||
#define VL53L0X_DEVICEMODE_CONTINUOUS_RANGING ((VL53L0X_DeviceModes) 1)
|
||||
#define VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM ((VL53L0X_DeviceModes) 2)
|
||||
#define VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING ((VL53L0X_DeviceModes) 3)
|
||||
#define VL53L0X_DEVICEMODE_SINGLE_ALS ((VL53L0X_DeviceModes) 10)
|
||||
#define VL53L0X_DEVICEMODE_GPIO_DRIVE ((VL53L0X_DeviceModes) 20)
|
||||
#define VL53L0X_DEVICEMODE_GPIO_OSC ((VL53L0X_DeviceModes) 21)
|
||||
/* ... Modes to be added depending on device */
|
||||
/** @} VL53L0X_define_DeviceModes_group */
|
||||
|
||||
|
||||
|
||||
/** @defgroup VL53L0X_define_HistogramModes_group Defines Histogram modes
|
||||
* Defines all possible Histogram modes for the device
|
||||
* @{
|
||||
*/
|
||||
typedef uint8_t VL53L0X_HistogramModes;
|
||||
|
||||
#define VL53L0X_HISTOGRAMMODE_DISABLED ((VL53L0X_HistogramModes) 0)
|
||||
/*!< Histogram Disabled */
|
||||
#define VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY ((VL53L0X_HistogramModes) 1)
|
||||
/*!< Histogram Reference array only */
|
||||
#define VL53L0X_HISTOGRAMMODE_RETURN_ONLY ((VL53L0X_HistogramModes) 2)
|
||||
/*!< Histogram Return array only */
|
||||
#define VL53L0X_HISTOGRAMMODE_BOTH ((VL53L0X_HistogramModes) 3)
|
||||
/*!< Histogram both Reference and Return Arrays */
|
||||
/* ... Modes to be added depending on device */
|
||||
/** @} VL53L0X_define_HistogramModes_group */
|
||||
|
||||
|
||||
/** @defgroup VL53L0X_define_PowerModes_group List of available Power Modes
|
||||
* List of available Power Modes
|
||||
* @{
|
||||
*/
|
||||
|
||||
typedef uint8_t VL53L0X_PowerModes;
|
||||
|
||||
#define VL53L0X_POWERMODE_STANDBY_LEVEL1 ((VL53L0X_PowerModes) 0)
|
||||
/*!< Standby level 1 */
|
||||
#define VL53L0X_POWERMODE_STANDBY_LEVEL2 ((VL53L0X_PowerModes) 1)
|
||||
/*!< Standby level 2 */
|
||||
#define VL53L0X_POWERMODE_IDLE_LEVEL1 ((VL53L0X_PowerModes) 2)
|
||||
/*!< Idle level 1 */
|
||||
#define VL53L0X_POWERMODE_IDLE_LEVEL2 ((VL53L0X_PowerModes) 3)
|
||||
/*!< Idle level 2 */
|
||||
|
||||
/** @} VL53L0X_define_PowerModes_group */
|
||||
|
||||
|
||||
#define VL53L0X_DMAX_LUT_SIZE 7
|
||||
/*!< Defines the number of items in the DMAX lookup table */
|
||||
|
||||
/** @brief Structure defining data pair that makes up the DMAX Lookup table.
|
||||
*/
|
||||
typedef struct {
|
||||
FixPoint1616_t ambRate_mcps[VL53L0X_DMAX_LUT_SIZE];
|
||||
/*!< Ambient rate (mcps) */
|
||||
FixPoint1616_t dmax_mm[VL53L0X_DMAX_LUT_SIZE];
|
||||
/*!< DMAX Value (mm) */
|
||||
} VL53L0X_DMaxLUT_t;
|
||||
|
||||
/** @brief Defines all parameters for the device
|
||||
*/
|
||||
typedef struct {
|
||||
VL53L0X_DeviceModes DeviceMode;
|
||||
/*!< Defines type of measurement to be done for the next measure */
|
||||
VL53L0X_HistogramModes HistogramMode;
|
||||
/*!< Defines type of histogram measurement to be done for the next
|
||||
* measure
|
||||
*/
|
||||
uint32_t MeasurementTimingBudgetMicroSeconds;
|
||||
/*!< Defines the allowed total time for a single measurement */
|
||||
uint32_t InterMeasurementPeriodMilliSeconds;
|
||||
/*!< Defines time between two consecutive measurements (between two
|
||||
* measurement starts). If set to 0 means back-to-back mode
|
||||
*/
|
||||
uint8_t XTalkCompensationEnable;
|
||||
/*!< Tells if Crosstalk compensation shall be enable or not */
|
||||
uint16_t XTalkCompensationRangeMilliMeter;
|
||||
/*!< CrossTalk compensation range in millimeter */
|
||||
FixPoint1616_t XTalkCompensationRateMegaCps;
|
||||
/*!< CrossTalk compensation rate in Mega counts per seconds.
|
||||
* Expressed in 16.16 fixed point format.
|
||||
*/
|
||||
int32_t RangeOffsetMicroMeters;
|
||||
/*!< Range offset adjustment (mm). */
|
||||
|
||||
uint8_t LimitChecksEnable[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS];
|
||||
/*!< This Array store all the Limit Check enable for this device. */
|
||||
uint8_t LimitChecksStatus[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS];
|
||||
/*!< This Array store all the Status of the check linked to last
|
||||
* measurement.
|
||||
*/
|
||||
FixPoint1616_t LimitChecksValue[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS];
|
||||
/*!< This Array store all the Limit Check value for this device */
|
||||
|
||||
VL53L0X_DMaxLUT_t dmax_lut;
|
||||
/*!< Lookup table defining ambient rates and associated
|
||||
* dmax values.
|
||||
*/
|
||||
|
||||
uint8_t WrapAroundCheckEnable;
|
||||
/*!< Tells if Wrap Around Check shall be enable or not */
|
||||
} VL53L0X_DeviceParameters_t;
|
||||
|
||||
|
||||
/** @defgroup VL53L0X_define_State_group Defines the current status
|
||||
* of the device
|
||||
* Defines the current status of the device
|
||||
* @{
|
||||
*/
|
||||
|
||||
typedef uint8_t VL53L0X_State;
|
||||
|
||||
#define VL53L0X_STATE_POWERDOWN ((VL53L0X_State) 0)
|
||||
/*!< Device is in HW reset */
|
||||
#define VL53L0X_STATE_WAIT_STATICINIT ((VL53L0X_State) 1)
|
||||
/*!< Device is initialized and wait for static initialization */
|
||||
#define VL53L0X_STATE_STANDBY ((VL53L0X_State) 2)
|
||||
/*!< Device is in Low power Standby mode */
|
||||
#define VL53L0X_STATE_IDLE ((VL53L0X_State) 3)
|
||||
/*!< Device has been initialized and ready to do measurements */
|
||||
#define VL53L0X_STATE_RUNNING ((VL53L0X_State) 4)
|
||||
/*!< Device is performing measurement */
|
||||
#define VL53L0X_STATE_UNKNOWN ((VL53L0X_State) 98)
|
||||
/*!< Device is in unknown state and need to be rebooted */
|
||||
#define VL53L0X_STATE_ERROR ((VL53L0X_State) 99)
|
||||
/*!< Device is in error state and need to be rebooted */
|
||||
|
||||
/** @} VL53L0X_define_State_group */
|
||||
|
||||
|
||||
/**
|
||||
* @struct VL53L0X_RangeData_t
|
||||
* @brief Range measurement data.
|
||||
*/
|
||||
typedef struct {
|
||||
uint32_t TimeStamp; /*!< 32-bit time stamp. */
|
||||
uint32_t MeasurementTimeUsec;
|
||||
/*!< Give the Measurement time needed by the device to do the
|
||||
* measurement.
|
||||
*/
|
||||
|
||||
|
||||
uint16_t RangeMilliMeter; /*!< range distance in millimeter. */
|
||||
|
||||
uint16_t RangeDMaxMilliMeter;
|
||||
/*!< Tells what is the maximum detection distance of the device
|
||||
* in current setup and environment conditions (Filled when
|
||||
* applicable)
|
||||
*/
|
||||
|
||||
FixPoint1616_t SignalRateRtnMegaCps;
|
||||
/*!< Return signal rate (MCPS)\n these is a 16.16 fix point
|
||||
* value, which is effectively a measure of target
|
||||
* reflectance.
|
||||
*/
|
||||
FixPoint1616_t AmbientRateRtnMegaCps;
|
||||
/*!< Return ambient rate (MCPS)\n these is a 16.16 fix point
|
||||
* value, which is effectively a measure of the ambien
|
||||
* t light.
|
||||
*/
|
||||
|
||||
uint16_t EffectiveSpadRtnCount;
|
||||
/*!< Return the effective SPAD count for the return signal.
|
||||
* To obtain Real value it should be divided by 256
|
||||
*/
|
||||
|
||||
uint8_t ZoneId;
|
||||
/*!< Denotes which zone and range scheduler stage the range
|
||||
* data relates to.
|
||||
*/
|
||||
uint8_t RangeFractionalPart;
|
||||
/*!< Fractional part of range distance. Final value is a
|
||||
* FixPoint168 value.
|
||||
*/
|
||||
uint8_t RangeStatus;
|
||||
/*!< Range Status for the current measurement. This is device
|
||||
* dependent. Value = 0 means value is valid.
|
||||
* See \ref RangeStatusPage
|
||||
*/
|
||||
} VL53L0X_RangingMeasurementData_t;
|
||||
|
||||
|
||||
#define VL53L0X_HISTOGRAM_BUFFER_SIZE 24
|
||||
|
||||
/**
|
||||
* @struct VL53L0X_HistogramData_t
|
||||
* @brief Histogram measurement data.
|
||||
*/
|
||||
typedef struct {
|
||||
/* Histogram Measurement data */
|
||||
uint32_t HistogramData[VL53L0X_HISTOGRAM_BUFFER_SIZE];
|
||||
/*!< Histogram data */
|
||||
/*!< Indicate the types of histogram data :
|
||||
*Return only, Reference only, both Return and Reference
|
||||
*/
|
||||
uint8_t FirstBin; /*!< First Bin value */
|
||||
uint8_t BufferSize; /*!< Buffer Size - Set by the user.*/
|
||||
uint8_t NumberOfBins;
|
||||
/*!< Number of bins filled by the histogram measurement */
|
||||
|
||||
VL53L0X_DeviceError ErrorStatus;
|
||||
/*!< Error status of the current measurement. \n
|
||||
* see @a ::VL53L0X_DeviceError @a VL53L0X_GetStatusErrorString()
|
||||
*/
|
||||
} VL53L0X_HistogramMeasurementData_t;
|
||||
|
||||
#define VL53L0X_REF_SPAD_BUFFER_SIZE 6
|
||||
|
||||
/**
|
||||
* @struct VL53L0X_SpadData_t
|
||||
* @brief Spad Configuration Data.
|
||||
*/
|
||||
typedef struct {
|
||||
uint8_t RefSpadEnables[VL53L0X_REF_SPAD_BUFFER_SIZE];
|
||||
/*!< Reference Spad Enables */
|
||||
uint8_t RefGoodSpadMap[VL53L0X_REF_SPAD_BUFFER_SIZE];
|
||||
/*!< Reference Spad Good Spad Map */
|
||||
} VL53L0X_SpadData_t;
|
||||
|
||||
typedef struct {
|
||||
FixPoint1616_t OscFrequencyMHz; /* Frequency used */
|
||||
|
||||
uint16_t LastEncodedTimeout;
|
||||
/* last encoded Time out used for timing budget*/
|
||||
|
||||
VL53L0X_GpioFunctionality Pin0GpioFunctionality;
|
||||
/* store the functionality of the GPIO: pin0 */
|
||||
|
||||
uint32_t FinalRangeTimeoutMicroSecs;
|
||||
/*!< Execution time of the final range*/
|
||||
uint8_t FinalRangeVcselPulsePeriod;
|
||||
/*!< Vcsel pulse period (pll clocks) for the final range measurement*/
|
||||
uint32_t PreRangeTimeoutMicroSecs;
|
||||
/*!< Execution time of the final range*/
|
||||
uint8_t PreRangeVcselPulsePeriod;
|
||||
/*!< Vcsel pulse period (pll clocks) for the pre-range measurement*/
|
||||
|
||||
uint16_t SigmaEstRefArray;
|
||||
/*!< Reference array sigma value in 1/100th of [mm] e.g. 100 = 1mm */
|
||||
uint16_t SigmaEstEffPulseWidth;
|
||||
/*!< Effective Pulse width for sigma estimate in 1/100th
|
||||
* of ns e.g. 900 = 9.0ns
|
||||
*/
|
||||
uint16_t SigmaEstEffAmbWidth;
|
||||
/*!< Effective Ambient width for sigma estimate in 1/100th of ns
|
||||
* e.g. 500 = 5.0ns
|
||||
*/
|
||||
|
||||
|
||||
/* Indicate if read from device has been done (==1) or not (==0) */
|
||||
uint8_t ReadDataFromDeviceDone;
|
||||
uint8_t ModuleId; /* Module ID */
|
||||
uint8_t Revision; /* test Revision */
|
||||
char ProductId[VL53L0X_MAX_STRING_LENGTH];
|
||||
/* Product Identifier String */
|
||||
uint8_t ReferenceSpadCount; /* used for ref spad management */
|
||||
uint8_t ReferenceSpadType; /* used for ref spad management */
|
||||
uint8_t RefSpadsInitialised; /* reports if ref spads are initialised. */
|
||||
uint32_t PartUIDUpper; /*!< Unique Part ID Upper */
|
||||
uint32_t PartUIDLower; /*!< Unique Part ID Lower */
|
||||
/*!< Peek Signal rate at 400 mm*/
|
||||
FixPoint1616_t SignalRateMeasFixed400mm;
|
||||
|
||||
} VL53L0X_DeviceSpecificParameters_t;
|
||||
|
||||
/**
|
||||
* @struct VL53L0X_DevData_t
|
||||
*
|
||||
* @brief VL53L0X PAL device ST private data structure \n
|
||||
* End user should never access any of these field directly
|
||||
*
|
||||
* These must never access directly but only via macro
|
||||
*/
|
||||
typedef struct {
|
||||
int32_t Part2PartOffsetNVMMicroMeter;
|
||||
/*!< backed up NVM value */
|
||||
int32_t Part2PartOffsetAdjustmentNVMMicroMeter;
|
||||
/*!< backed up NVM value representing additional offset adjustment */
|
||||
VL53L0X_DeviceParameters_t CurrentParameters;
|
||||
/*!< Current Device Parameter */
|
||||
VL53L0X_RangingMeasurementData_t LastRangeMeasure;
|
||||
/*!< Ranging Data */
|
||||
VL53L0X_HistogramMeasurementData_t LastHistogramMeasure;
|
||||
/*!< Histogram Data */
|
||||
VL53L0X_DeviceSpecificParameters_t DeviceSpecificParameters;
|
||||
/*!< Parameters specific to the device */
|
||||
VL53L0X_SpadData_t SpadData;
|
||||
/*!< Spad Data */
|
||||
uint8_t SequenceConfig;
|
||||
/*!< Internal value for the sequence config */
|
||||
uint8_t RangeFractionalEnable;
|
||||
/*!< Enable/Disable fractional part of ranging data */
|
||||
VL53L0X_State PalState;
|
||||
/*!< Current state of the PAL for this device */
|
||||
VL53L0X_PowerModes PowerMode;
|
||||
/*!< Current Power Mode */
|
||||
uint16_t SigmaEstRefArray;
|
||||
/*!< Reference array sigma value in 1/100th of [mm] e.g. 100 = 1mm */
|
||||
uint16_t SigmaEstEffPulseWidth;
|
||||
/*!< Effective Pulse width for sigma estimate in 1/100th
|
||||
* of ns e.g. 900 = 9.0ns
|
||||
*/
|
||||
uint16_t SigmaEstEffAmbWidth;
|
||||
/*!< Effective Ambient width for sigma estimate in 1/100th of ns
|
||||
* e.g. 500 = 5.0ns
|
||||
*/
|
||||
uint8_t StopVariable;
|
||||
/*!< StopVariable used during the stop sequence */
|
||||
uint16_t targetRefRate;
|
||||
/*!< Target Ambient Rate for Ref spad management */
|
||||
FixPoint1616_t SigmaEstimate;
|
||||
/*!< Sigma Estimate - based on ambient & VCSEL rates and
|
||||
* signal_total_events
|
||||
*/
|
||||
FixPoint1616_t SignalEstimate;
|
||||
/*!< Signal Estimate - based on ambient & VCSEL rates and cross talk */
|
||||
FixPoint1616_t LastSignalRefMcps;
|
||||
/*!< Latest Signal ref in Mcps */
|
||||
uint8_t *pTuningSettingsPointer;
|
||||
/*!< Pointer for Tuning Settings table */
|
||||
uint8_t UseInternalTuningSettings;
|
||||
/*!< Indicate if we use Tuning Settings table */
|
||||
uint16_t LinearityCorrectiveGain;
|
||||
/*!< Linearity Corrective Gain value in x1000 */
|
||||
} VL53L0X_DevData_t;
|
||||
|
||||
|
||||
/** @defgroup VL53L0X_define_InterruptPolarity_group Defines the Polarity
|
||||
* of the Interrupt
|
||||
* Defines the Polarity of the Interrupt
|
||||
* @{
|
||||
*/
|
||||
typedef uint8_t VL53L0X_InterruptPolarity;
|
||||
|
||||
#define VL53L0X_INTERRUPTPOLARITY_LOW ((VL53L0X_InterruptPolarity) 0)
|
||||
/*!< Set active low polarity best setup for falling edge. */
|
||||
#define VL53L0X_INTERRUPTPOLARITY_HIGH ((VL53L0X_InterruptPolarity) 1)
|
||||
/*!< Set active high polarity best setup for rising edge. */
|
||||
|
||||
/** @} VL53L0X_define_InterruptPolarity_group */
|
||||
|
||||
|
||||
/** @defgroup VL53L0X_define_VcselPeriod_group Vcsel Period Defines
|
||||
* Defines the range measurement for which to access the vcsel period.
|
||||
* @{
|
||||
*/
|
||||
typedef uint8_t VL53L0X_VcselPeriod;
|
||||
|
||||
#define VL53L0X_VCSEL_PERIOD_PRE_RANGE ((VL53L0X_VcselPeriod) 0)
|
||||
/*!<Identifies the pre-range vcsel period. */
|
||||
#define VL53L0X_VCSEL_PERIOD_FINAL_RANGE ((VL53L0X_VcselPeriod) 1)
|
||||
/*!<Identifies the final range vcsel period. */
|
||||
|
||||
/** @} VL53L0X_define_VcselPeriod_group */
|
||||
|
||||
/** @defgroup VL53L0X_define_SchedulerSequence_group Defines the steps
|
||||
* carried out by the scheduler during a range measurement.
|
||||
* @{
|
||||
* Defines the states of all the steps in the scheduler
|
||||
* i.e. enabled/disabled.
|
||||
*/
|
||||
typedef struct {
|
||||
uint8_t TccOn; /*!<Reports if Target Centre Check On */
|
||||
uint8_t MsrcOn; /*!<Reports if MSRC On */
|
||||
uint8_t DssOn; /*!<Reports if DSS On */
|
||||
uint8_t PreRangeOn; /*!<Reports if Pre-Range On */
|
||||
uint8_t FinalRangeOn; /*!<Reports if Final-Range On */
|
||||
} VL53L0X_SchedulerSequenceSteps_t;
|
||||
|
||||
/** @} VL53L0X_define_SchedulerSequence_group */
|
||||
|
||||
/** @defgroup VL53L0X_define_SequenceStepId_group Defines the Polarity
|
||||
* of the Interrupt
|
||||
* Defines the the sequence steps performed during ranging..
|
||||
* @{
|
||||
*/
|
||||
typedef uint8_t VL53L0X_SequenceStepId;
|
||||
|
||||
#define VL53L0X_SEQUENCESTEP_TCC ((VL53L0X_VcselPeriod) 0)
|
||||
/*!<Target CentreCheck identifier. */
|
||||
#define VL53L0X_SEQUENCESTEP_DSS ((VL53L0X_VcselPeriod) 1)
|
||||
/*!<Dynamic Spad Selection function Identifier. */
|
||||
#define VL53L0X_SEQUENCESTEP_MSRC ((VL53L0X_VcselPeriod) 2)
|
||||
/*!<Minimum Signal Rate Check function Identifier. */
|
||||
#define VL53L0X_SEQUENCESTEP_PRE_RANGE ((VL53L0X_VcselPeriod) 3)
|
||||
/*!<Pre-Range check Identifier. */
|
||||
#define VL53L0X_SEQUENCESTEP_FINAL_RANGE ((VL53L0X_VcselPeriod) 4)
|
||||
/*!<Final Range Check Identifier. */
|
||||
|
||||
#define VL53L0X_SEQUENCESTEP_NUMBER_OF_CHECKS 5
|
||||
/*!<Number of Sequence Step Managed by the API. */
|
||||
|
||||
/** @} VL53L0X_define_SequenceStepId_group */
|
||||
|
||||
|
||||
/* MACRO Definitions */
|
||||
/** @defgroup VL53L0X_define_GeneralMacro_group General Macro Defines
|
||||
* General Macro Defines
|
||||
* @{
|
||||
*/
|
||||
|
||||
/* Defines */
|
||||
#define VL53L0X_SETPARAMETERFIELD(Dev, field, value) \
|
||||
PALDevDataSet(Dev, CurrentParameters.field, value)
|
||||
|
||||
#define VL53L0X_GETPARAMETERFIELD(Dev, field, variable) \
|
||||
(variable = ((PALDevDataGet(Dev, CurrentParameters)).field))
|
||||
|
||||
|
||||
#define VL53L0X_SETARRAYPARAMETERFIELD(Dev, field, index, value) \
|
||||
PALDevDataSet(Dev, CurrentParameters.field[index], value)
|
||||
|
||||
#define VL53L0X_GETARRAYPARAMETERFIELD(Dev, field, index, variable) \
|
||||
(variable = (PALDevDataGet(Dev, CurrentParameters)).field[index])
|
||||
|
||||
#define VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, field, value) \
|
||||
PALDevDataSet(Dev, DeviceSpecificParameters.field, value)
|
||||
|
||||
#define VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, field) \
|
||||
PALDevDataGet(Dev, DeviceSpecificParameters).field
|
||||
|
||||
|
||||
#define VL53L0X_FIXPOINT1616TOFIXPOINT97(Value) \
|
||||
(uint16_t)((Value>>9)&0xFFFF)
|
||||
#define VL53L0X_FIXPOINT97TOFIXPOINT1616(Value) \
|
||||
(FixPoint1616_t)(Value<<9)
|
||||
|
||||
#define VL53L0X_FIXPOINT1616TOFIXPOINT88(Value) \
|
||||
(uint16_t)((Value>>8)&0xFFFF)
|
||||
#define VL53L0X_FIXPOINT88TOFIXPOINT1616(Value) \
|
||||
(FixPoint1616_t)(Value<<8)
|
||||
|
||||
#define VL53L0X_FIXPOINT1616TOFIXPOINT412(Value) \
|
||||
(uint16_t)((Value>>4)&0xFFFF)
|
||||
#define VL53L0X_FIXPOINT412TOFIXPOINT1616(Value) \
|
||||
(FixPoint1616_t)(Value<<4)
|
||||
|
||||
#define VL53L0X_FIXPOINT1616TOFIXPOINT313(Value) \
|
||||
(uint16_t)((Value>>3)&0xFFFF)
|
||||
#define VL53L0X_FIXPOINT313TOFIXPOINT1616(Value) \
|
||||
(FixPoint1616_t)(Value<<3)
|
||||
|
||||
#define VL53L0X_FIXPOINT1616TOFIXPOINT08(Value) \
|
||||
(uint8_t)((Value>>8)&0x00FF)
|
||||
#define VL53L0X_FIXPOINT08TOFIXPOINT1616(Value) \
|
||||
(FixPoint1616_t)(Value<<8)
|
||||
|
||||
#define VL53L0X_FIXPOINT1616TOFIXPOINT53(Value) \
|
||||
(uint8_t)((Value>>13)&0x00FF)
|
||||
#define VL53L0X_FIXPOINT53TOFIXPOINT1616(Value) \
|
||||
(FixPoint1616_t)(Value<<13)
|
||||
|
||||
#define VL53L0X_FIXPOINT1616TOFIXPOINT102(Value) \
|
||||
(uint16_t)((Value>>14)&0x0FFF)
|
||||
#define VL53L0X_FIXPOINT102TOFIXPOINT1616(Value) \
|
||||
(FixPoint1616_t)(Value<<12)
|
||||
|
||||
#define VL53L0X_MAKEUINT16(lsb, msb) (uint16_t)((((uint16_t)msb)<<8) + \
|
||||
(uint16_t)lsb)
|
||||
|
||||
/** @} VL53L0X_define_GeneralMacro_group */
|
||||
|
||||
/** @} VL53L0X_globaldefine_group */
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#define TRACE_MODULE_API 0
|
||||
#define _LOG_FUNCTION_START(...) (void)0
|
||||
#define _LOG_FUNCTION_END(...) (void)0
|
||||
#define _LOG_FUNCTION_END_FMT(...) (void)0
|
||||
#endif /* _VL53L0X_DEF_H_ */
|
||||
262
App/VL53L0X_API/core/inc/vl53l0x_device.h
Normal file
262
App/VL53L0X_API/core/inc/vl53l0x_device.h
Normal file
@@ -0,0 +1,262 @@
|
||||
/*******************************************************************************
|
||||
* Copyright © 2016, STMicroelectronics International N.V.
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of STMicroelectronics nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
|
||||
NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
|
||||
IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*******************************************************************************/
|
||||
|
||||
/**
|
||||
* Device specific defines. To be adapted by implementer for the targeted
|
||||
* device.
|
||||
*/
|
||||
|
||||
#ifndef _VL53L0X_DEVICE_H_
|
||||
#define _VL53L0X_DEVICE_H_
|
||||
|
||||
#include "vl53l0x_types.h"
|
||||
|
||||
|
||||
/** @defgroup VL53L0X_DevSpecDefines_group VL53L0X cut1.1 Device
|
||||
* Specific Defines
|
||||
* @brief VL53L0X cut1.1 Device Specific Defines
|
||||
* @{
|
||||
*/
|
||||
|
||||
|
||||
/** @defgroup VL53L0X_DeviceError_group Device Error
|
||||
* @brief Device Error code
|
||||
*
|
||||
* This enum is Device specific it should be updated in the implementation
|
||||
* Use @a VL53L0X_GetStatusErrorString() to get the string.
|
||||
* It is related to Status Register of the Device.
|
||||
* @{
|
||||
*/
|
||||
typedef uint8_t VL53L0X_DeviceError;
|
||||
|
||||
#define VL53L0X_DEVICEERROR_NONE ((VL53L0X_DeviceError) 0)
|
||||
/*!< 0 NoError */
|
||||
#define VL53L0X_DEVICEERROR_VCSELCONTINUITYTESTFAILURE ((VL53L0X_DeviceError) 1)
|
||||
#define VL53L0X_DEVICEERROR_VCSELWATCHDOGTESTFAILURE ((VL53L0X_DeviceError) 2)
|
||||
#define VL53L0X_DEVICEERROR_NOVHVVALUEFOUND ((VL53L0X_DeviceError) 3)
|
||||
#define VL53L0X_DEVICEERROR_MSRCNOTARGET ((VL53L0X_DeviceError) 4)
|
||||
#define VL53L0X_DEVICEERROR_SNRCHECK ((VL53L0X_DeviceError) 5)
|
||||
#define VL53L0X_DEVICEERROR_RANGEPHASECHECK ((VL53L0X_DeviceError) 6)
|
||||
#define VL53L0X_DEVICEERROR_SIGMATHRESHOLDCHECK ((VL53L0X_DeviceError) 7)
|
||||
#define VL53L0X_DEVICEERROR_TCC ((VL53L0X_DeviceError) 8)
|
||||
#define VL53L0X_DEVICEERROR_PHASECONSISTENCY ((VL53L0X_DeviceError) 9)
|
||||
#define VL53L0X_DEVICEERROR_MINCLIP ((VL53L0X_DeviceError) 10)
|
||||
#define VL53L0X_DEVICEERROR_RANGECOMPLETE ((VL53L0X_DeviceError) 11)
|
||||
#define VL53L0X_DEVICEERROR_ALGOUNDERFLOW ((VL53L0X_DeviceError) 12)
|
||||
#define VL53L0X_DEVICEERROR_ALGOOVERFLOW ((VL53L0X_DeviceError) 13)
|
||||
#define VL53L0X_DEVICEERROR_RANGEIGNORETHRESHOLD ((VL53L0X_DeviceError) 14)
|
||||
|
||||
/** @} end of VL53L0X_DeviceError_group */
|
||||
|
||||
|
||||
/** @defgroup VL53L0X_CheckEnable_group Check Enable list
|
||||
* @brief Check Enable code
|
||||
*
|
||||
* Define used to specify the LimitCheckId.
|
||||
* Use @a VL53L0X_GetLimitCheckInfo() to get the string.
|
||||
* @{
|
||||
*/
|
||||
|
||||
#define VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE 0
|
||||
#define VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE 1
|
||||
#define VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP 2
|
||||
#define VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD 3
|
||||
#define VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC 4
|
||||
#define VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE 5
|
||||
|
||||
#define VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS 6
|
||||
|
||||
/** @} end of VL53L0X_CheckEnable_group */
|
||||
|
||||
|
||||
/** @defgroup VL53L0X_GpioFunctionality_group Gpio Functionality
|
||||
* @brief Defines the different functionalities for the device GPIO(s)
|
||||
* @{
|
||||
*/
|
||||
typedef uint8_t VL53L0X_GpioFunctionality;
|
||||
|
||||
#define VL53L0X_GPIOFUNCTIONALITY_OFF \
|
||||
((VL53L0X_GpioFunctionality) 0) /*!< NO Interrupt */
|
||||
#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW \
|
||||
((VL53L0X_GpioFunctionality) 1) /*!< Level Low (value < thresh_low) */
|
||||
#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH \
|
||||
((VL53L0X_GpioFunctionality) 2) /*!< Level High (value>thresh_high) */
|
||||
#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT \
|
||||
((VL53L0X_GpioFunctionality) 3)
|
||||
/*!< Out Of Window (value < thresh_low OR value > thresh_high) */
|
||||
#define VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY \
|
||||
((VL53L0X_GpioFunctionality) 4) /*!< New Sample Ready */
|
||||
|
||||
/** @} end of VL53L0X_GpioFunctionality_group */
|
||||
|
||||
|
||||
/* Device register map */
|
||||
|
||||
/** @defgroup VL53L0X_DefineRegisters_group Define Registers
|
||||
* @brief List of all the defined registers
|
||||
* @{
|
||||
*/
|
||||
#define VL53L0X_REG_SYSRANGE_START 0x000
|
||||
/** mask existing bit in #VL53L0X_REG_SYSRANGE_START*/
|
||||
#define VL53L0X_REG_SYSRANGE_MODE_MASK 0x0F
|
||||
/** bit 0 in #VL53L0X_REG_SYSRANGE_START write 1 toggle state in
|
||||
* continuous mode and arm next shot in single shot mode
|
||||
*/
|
||||
#define VL53L0X_REG_SYSRANGE_MODE_START_STOP 0x01
|
||||
/** bit 1 write 0 in #VL53L0X_REG_SYSRANGE_START set single shot mode */
|
||||
#define VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT 0x00
|
||||
/** bit 1 write 1 in #VL53L0X_REG_SYSRANGE_START set back-to-back
|
||||
* operation mode
|
||||
*/
|
||||
#define VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK 0x02
|
||||
/** bit 2 write 1 in #VL53L0X_REG_SYSRANGE_START set timed operation
|
||||
* mode
|
||||
*/
|
||||
#define VL53L0X_REG_SYSRANGE_MODE_TIMED 0x04
|
||||
/** bit 3 write 1 in #VL53L0X_REG_SYSRANGE_START set histogram operation
|
||||
* mode
|
||||
*/
|
||||
#define VL53L0X_REG_SYSRANGE_MODE_HISTOGRAM 0x08
|
||||
|
||||
|
||||
#define VL53L0X_REG_SYSTEM_THRESH_HIGH 0x000C
|
||||
#define VL53L0X_REG_SYSTEM_THRESH_LOW 0x000E
|
||||
|
||||
|
||||
#define VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG 0x0001
|
||||
#define VL53L0X_REG_SYSTEM_RANGE_CONFIG 0x0009
|
||||
#define VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD 0x0004
|
||||
|
||||
|
||||
#define VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO 0x000A
|
||||
#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_DISABLED 0x00
|
||||
#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_LEVEL_LOW 0x01
|
||||
#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_LEVEL_HIGH 0x02
|
||||
#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_OUT_OF_WINDOW 0x03
|
||||
#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY 0x04
|
||||
|
||||
#define VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH 0x0084
|
||||
|
||||
|
||||
#define VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR 0x000B
|
||||
|
||||
/* Result registers */
|
||||
#define VL53L0X_REG_RESULT_INTERRUPT_STATUS 0x0013
|
||||
#define VL53L0X_REG_RESULT_RANGE_STATUS 0x0014
|
||||
|
||||
#define VL53L0X_REG_RESULT_CORE_PAGE 1
|
||||
#define VL53L0X_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN 0x00BC
|
||||
#define VL53L0X_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN 0x00C0
|
||||
#define VL53L0X_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF 0x00D0
|
||||
#define VL53L0X_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_REF 0x00D4
|
||||
#define VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF 0x00B6
|
||||
|
||||
/* Algo register */
|
||||
|
||||
#define VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM 0x0028
|
||||
|
||||
#define VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS 0x008a
|
||||
|
||||
/* Check Limit registers */
|
||||
#define VL53L0X_REG_MSRC_CONFIG_CONTROL 0x0060
|
||||
|
||||
#define VL53L0X_REG_PRE_RANGE_CONFIG_MIN_SNR 0X0027
|
||||
#define VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW 0x0056
|
||||
#define VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH 0x0057
|
||||
#define VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT 0x0064
|
||||
|
||||
#define VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_SNR 0X0067
|
||||
#define VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW 0x0047
|
||||
#define VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH 0x0048
|
||||
#define VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT 0x0044
|
||||
|
||||
|
||||
#define VL53L0X_REG_PRE_RANGE_CONFIG_SIGMA_THRESH_HI 0X0061
|
||||
#define VL53L0X_REG_PRE_RANGE_CONFIG_SIGMA_THRESH_LO 0X0062
|
||||
|
||||
/* PRE RANGE registers */
|
||||
#define VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD 0x0050
|
||||
#define VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x0051
|
||||
#define VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x0052
|
||||
|
||||
#define VL53L0X_REG_SYSTEM_HISTOGRAM_BIN 0x0081
|
||||
#define VL53L0X_REG_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT 0x0033
|
||||
#define VL53L0X_REG_HISTOGRAM_CONFIG_READOUT_CTRL 0x0055
|
||||
|
||||
#define VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD 0x0070
|
||||
#define VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x0071
|
||||
#define VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x0072
|
||||
#define VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS 0x0020
|
||||
|
||||
#define VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP 0x0046
|
||||
|
||||
|
||||
#define VL53L0X_REG_SOFT_RESET_GO2_SOFT_RESET_N 0x00bf
|
||||
#define VL53L0X_REG_IDENTIFICATION_MODEL_ID 0x00c0
|
||||
#define VL53L0X_REG_IDENTIFICATION_REVISION_ID 0x00c2
|
||||
|
||||
#define VL53L0X_REG_OSC_CALIBRATE_VAL 0x00f8
|
||||
|
||||
|
||||
#define VL53L0X_SIGMA_ESTIMATE_MAX_VALUE 65535
|
||||
/* equivalent to a range sigma of 655.35mm */
|
||||
|
||||
#define VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH 0x032
|
||||
#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 0x0B0
|
||||
#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_1 0x0B1
|
||||
#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_2 0x0B2
|
||||
#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_3 0x0B3
|
||||
#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_4 0x0B4
|
||||
#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_5 0x0B5
|
||||
|
||||
#define VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT 0xB6
|
||||
#define VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD 0x4E /* 0x14E */
|
||||
#define VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET 0x4F /* 0x14F */
|
||||
#define VL53L0X_REG_POWER_MANAGEMENT_GO1_POWER_FORCE 0x80
|
||||
|
||||
/*
|
||||
* Speed of light in um per 1E-10 Seconds
|
||||
*/
|
||||
|
||||
#define VL53L0X_SPEED_OF_LIGHT_IN_AIR 2997
|
||||
|
||||
#define VL53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV 0x0089
|
||||
|
||||
#define VL53L0X_REG_ALGO_PHASECAL_LIM 0x0030 /* 0x130 */
|
||||
#define VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT 0x0030
|
||||
|
||||
/** @} VL53L0X_DefineRegisters_group */
|
||||
|
||||
/** @} VL53L0X_DevSpecDefines_group */
|
||||
|
||||
|
||||
#endif
|
||||
|
||||
/* _VL53L0X_DEVICE_H_ */
|
||||
|
||||
|
||||
194
App/VL53L0X_API/core/inc/vl53l0x_interrupt_threshold_settings.h
Normal file
194
App/VL53L0X_API/core/inc/vl53l0x_interrupt_threshold_settings.h
Normal file
@@ -0,0 +1,194 @@
|
||||
/*******************************************************************************
|
||||
* Copyright © 2016, STMicroelectronics International N.V.
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of STMicroelectronics nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
|
||||
NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
|
||||
IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*******************************************************************************/
|
||||
|
||||
|
||||
#ifndef _VL53L0X_INTERRUPT_THRESHOLD_SETTINGS_H_
|
||||
#define _VL53L0X_INTERRUPT_THRESHOLD_SETTINGS_H_
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
|
||||
uint8_t InterruptThresholdSettings[] = {
|
||||
|
||||
/* Start of Interrupt Threshold Settings */
|
||||
0x1, 0xff, 0x00,
|
||||
0x1, 0x80, 0x01,
|
||||
0x1, 0xff, 0x01,
|
||||
0x1, 0x00, 0x00,
|
||||
0x1, 0xff, 0x01,
|
||||
0x1, 0x4f, 0x02,
|
||||
0x1, 0xFF, 0x0E,
|
||||
0x1, 0x00, 0x03,
|
||||
0x1, 0x01, 0x84,
|
||||
0x1, 0x02, 0x0A,
|
||||
0x1, 0x03, 0x03,
|
||||
0x1, 0x04, 0x08,
|
||||
0x1, 0x05, 0xC8,
|
||||
0x1, 0x06, 0x03,
|
||||
0x1, 0x07, 0x8D,
|
||||
0x1, 0x08, 0x08,
|
||||
0x1, 0x09, 0xC6,
|
||||
0x1, 0x0A, 0x01,
|
||||
0x1, 0x0B, 0x02,
|
||||
0x1, 0x0C, 0x00,
|
||||
0x1, 0x0D, 0xD5,
|
||||
0x1, 0x0E, 0x18,
|
||||
0x1, 0x0F, 0x12,
|
||||
0x1, 0x10, 0x01,
|
||||
0x1, 0x11, 0x82,
|
||||
0x1, 0x12, 0x00,
|
||||
0x1, 0x13, 0xD5,
|
||||
0x1, 0x14, 0x18,
|
||||
0x1, 0x15, 0x13,
|
||||
0x1, 0x16, 0x03,
|
||||
0x1, 0x17, 0x86,
|
||||
0x1, 0x18, 0x0A,
|
||||
0x1, 0x19, 0x09,
|
||||
0x1, 0x1A, 0x08,
|
||||
0x1, 0x1B, 0xC2,
|
||||
0x1, 0x1C, 0x03,
|
||||
0x1, 0x1D, 0x8F,
|
||||
0x1, 0x1E, 0x0A,
|
||||
0x1, 0x1F, 0x06,
|
||||
0x1, 0x20, 0x01,
|
||||
0x1, 0x21, 0x02,
|
||||
0x1, 0x22, 0x00,
|
||||
0x1, 0x23, 0xD5,
|
||||
0x1, 0x24, 0x18,
|
||||
0x1, 0x25, 0x22,
|
||||
0x1, 0x26, 0x01,
|
||||
0x1, 0x27, 0x82,
|
||||
0x1, 0x28, 0x00,
|
||||
0x1, 0x29, 0xD5,
|
||||
0x1, 0x2A, 0x18,
|
||||
0x1, 0x2B, 0x0B,
|
||||
0x1, 0x2C, 0x28,
|
||||
0x1, 0x2D, 0x78,
|
||||
0x1, 0x2E, 0x28,
|
||||
0x1, 0x2F, 0x91,
|
||||
0x1, 0x30, 0x00,
|
||||
0x1, 0x31, 0x0B,
|
||||
0x1, 0x32, 0x00,
|
||||
0x1, 0x33, 0x0B,
|
||||
0x1, 0x34, 0x00,
|
||||
0x1, 0x35, 0xA1,
|
||||
0x1, 0x36, 0x00,
|
||||
0x1, 0x37, 0xA0,
|
||||
0x1, 0x38, 0x00,
|
||||
0x1, 0x39, 0x04,
|
||||
0x1, 0x3A, 0x28,
|
||||
0x1, 0x3B, 0x30,
|
||||
0x1, 0x3C, 0x0C,
|
||||
0x1, 0x3D, 0x04,
|
||||
0x1, 0x3E, 0x0F,
|
||||
0x1, 0x3F, 0x79,
|
||||
0x1, 0x40, 0x28,
|
||||
0x1, 0x41, 0x1E,
|
||||
0x1, 0x42, 0x2F,
|
||||
0x1, 0x43, 0x87,
|
||||
0x1, 0x44, 0x00,
|
||||
0x1, 0x45, 0x0B,
|
||||
0x1, 0x46, 0x00,
|
||||
0x1, 0x47, 0x0B,
|
||||
0x1, 0x48, 0x00,
|
||||
0x1, 0x49, 0xA7,
|
||||
0x1, 0x4A, 0x00,
|
||||
0x1, 0x4B, 0xA6,
|
||||
0x1, 0x4C, 0x00,
|
||||
0x1, 0x4D, 0x04,
|
||||
0x1, 0x4E, 0x01,
|
||||
0x1, 0x4F, 0x00,
|
||||
0x1, 0x50, 0x00,
|
||||
0x1, 0x51, 0x80,
|
||||
0x1, 0x52, 0x09,
|
||||
0x1, 0x53, 0x08,
|
||||
0x1, 0x54, 0x01,
|
||||
0x1, 0x55, 0x00,
|
||||
0x1, 0x56, 0x0F,
|
||||
0x1, 0x57, 0x79,
|
||||
0x1, 0x58, 0x09,
|
||||
0x1, 0x59, 0x05,
|
||||
0x1, 0x5A, 0x00,
|
||||
0x1, 0x5B, 0x60,
|
||||
0x1, 0x5C, 0x05,
|
||||
0x1, 0x5D, 0xD1,
|
||||
0x1, 0x5E, 0x0C,
|
||||
0x1, 0x5F, 0x3C,
|
||||
0x1, 0x60, 0x00,
|
||||
0x1, 0x61, 0xD0,
|
||||
0x1, 0x62, 0x0B,
|
||||
0x1, 0x63, 0x03,
|
||||
0x1, 0x64, 0x28,
|
||||
0x1, 0x65, 0x10,
|
||||
0x1, 0x66, 0x2A,
|
||||
0x1, 0x67, 0x39,
|
||||
0x1, 0x68, 0x0B,
|
||||
0x1, 0x69, 0x02,
|
||||
0x1, 0x6A, 0x28,
|
||||
0x1, 0x6B, 0x10,
|
||||
0x1, 0x6C, 0x2A,
|
||||
0x1, 0x6D, 0x61,
|
||||
0x1, 0x6E, 0x0C,
|
||||
0x1, 0x6F, 0x00,
|
||||
0x1, 0x70, 0x0F,
|
||||
0x1, 0x71, 0x79,
|
||||
0x1, 0x72, 0x00,
|
||||
0x1, 0x73, 0x0B,
|
||||
0x1, 0x74, 0x00,
|
||||
0x1, 0x75, 0x0B,
|
||||
0x1, 0x76, 0x00,
|
||||
0x1, 0x77, 0xA1,
|
||||
0x1, 0x78, 0x00,
|
||||
0x1, 0x79, 0xA0,
|
||||
0x1, 0x7A, 0x00,
|
||||
0x1, 0x7B, 0x04,
|
||||
0x1, 0xFF, 0x04,
|
||||
0x1, 0x79, 0x1D,
|
||||
0x1, 0x7B, 0x27,
|
||||
0x1, 0x96, 0x0E,
|
||||
0x1, 0x97, 0xFE,
|
||||
0x1, 0x98, 0x03,
|
||||
0x1, 0x99, 0xEF,
|
||||
0x1, 0x9A, 0x02,
|
||||
0x1, 0x9B, 0x44,
|
||||
0x1, 0x73, 0x07,
|
||||
0x1, 0x70, 0x01,
|
||||
0x1, 0xff, 0x01,
|
||||
0x1, 0x00, 0x01,
|
||||
0x1, 0xff, 0x00,
|
||||
0x00, 0x00, 0x00
|
||||
};
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* _VL53L0X_INTERRUPT_THRESHOLD_SETTINGS_H_ */
|
||||
146
App/VL53L0X_API/core/inc/vl53l0x_tuning.h
Normal file
146
App/VL53L0X_API/core/inc/vl53l0x_tuning.h
Normal file
@@ -0,0 +1,146 @@
|
||||
/*******************************************************************************
|
||||
* Copyright © 2016, STMicroelectronics International N.V.
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of STMicroelectronics nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
|
||||
NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
|
||||
IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*******************************************************************************/
|
||||
|
||||
|
||||
#ifndef _VL53L0X_TUNING_H_
|
||||
#define _VL53L0X_TUNING_H_
|
||||
|
||||
#include "vl53l0x_def.h"
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
|
||||
uint8_t DefaultTuningSettings[] = {
|
||||
|
||||
/* update 02/11/2015_v36 */
|
||||
0x01, 0xFF, 0x01,
|
||||
0x01, 0x00, 0x00,
|
||||
|
||||
0x01, 0xFF, 0x00,
|
||||
0x01, 0x09, 0x00,
|
||||
0x01, 0x10, 0x00,
|
||||
0x01, 0x11, 0x00,
|
||||
|
||||
0x01, 0x24, 0x01,
|
||||
0x01, 0x25, 0xff,
|
||||
0x01, 0x75, 0x00,
|
||||
|
||||
0x01, 0xFF, 0x01,
|
||||
0x01, 0x4e, 0x2c,
|
||||
0x01, 0x48, 0x00,
|
||||
0x01, 0x30, 0x20,
|
||||
|
||||
0x01, 0xFF, 0x00,
|
||||
0x01, 0x30, 0x09, /* mja changed from 0x64. */
|
||||
0x01, 0x54, 0x00,
|
||||
0x01, 0x31, 0x04,
|
||||
0x01, 0x32, 0x03,
|
||||
0x01, 0x40, 0x83,
|
||||
0x01, 0x46, 0x25,
|
||||
0x01, 0x60, 0x00,
|
||||
0x01, 0x27, 0x00,
|
||||
0x01, 0x50, 0x06,
|
||||
0x01, 0x51, 0x00,
|
||||
0x01, 0x52, 0x96,
|
||||
0x01, 0x56, 0x08,
|
||||
0x01, 0x57, 0x30,
|
||||
0x01, 0x61, 0x00,
|
||||
0x01, 0x62, 0x00,
|
||||
0x01, 0x64, 0x00,
|
||||
0x01, 0x65, 0x00,
|
||||
0x01, 0x66, 0xa0,
|
||||
|
||||
0x01, 0xFF, 0x01,
|
||||
0x01, 0x22, 0x32,
|
||||
0x01, 0x47, 0x14,
|
||||
0x01, 0x49, 0xff,
|
||||
0x01, 0x4a, 0x00,
|
||||
|
||||
0x01, 0xFF, 0x00,
|
||||
0x01, 0x7a, 0x0a,
|
||||
0x01, 0x7b, 0x00,
|
||||
0x01, 0x78, 0x21,
|
||||
|
||||
0x01, 0xFF, 0x01,
|
||||
0x01, 0x23, 0x34,
|
||||
0x01, 0x42, 0x00,
|
||||
0x01, 0x44, 0xff,
|
||||
0x01, 0x45, 0x26,
|
||||
0x01, 0x46, 0x05,
|
||||
0x01, 0x40, 0x40,
|
||||
0x01, 0x0E, 0x06,
|
||||
0x01, 0x20, 0x1a,
|
||||
0x01, 0x43, 0x40,
|
||||
|
||||
0x01, 0xFF, 0x00,
|
||||
0x01, 0x34, 0x03,
|
||||
0x01, 0x35, 0x44,
|
||||
|
||||
0x01, 0xFF, 0x01,
|
||||
0x01, 0x31, 0x04,
|
||||
0x01, 0x4b, 0x09,
|
||||
0x01, 0x4c, 0x05,
|
||||
0x01, 0x4d, 0x04,
|
||||
|
||||
|
||||
0x01, 0xFF, 0x00,
|
||||
0x01, 0x44, 0x00,
|
||||
0x01, 0x45, 0x20,
|
||||
0x01, 0x47, 0x08,
|
||||
0x01, 0x48, 0x28,
|
||||
0x01, 0x67, 0x00,
|
||||
0x01, 0x70, 0x04,
|
||||
0x01, 0x71, 0x01,
|
||||
0x01, 0x72, 0xfe,
|
||||
0x01, 0x76, 0x00,
|
||||
0x01, 0x77, 0x00,
|
||||
|
||||
0x01, 0xFF, 0x01,
|
||||
0x01, 0x0d, 0x01,
|
||||
|
||||
0x01, 0xFF, 0x00,
|
||||
0x01, 0x80, 0x01,
|
||||
0x01, 0x01, 0xF8,
|
||||
|
||||
0x01, 0xFF, 0x01,
|
||||
0x01, 0x8e, 0x01,
|
||||
0x01, 0x00, 0x01,
|
||||
0x01, 0xFF, 0x00,
|
||||
0x01, 0x80, 0x00,
|
||||
|
||||
0x00, 0x00, 0x00
|
||||
};
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* _VL53L0X_TUNING_H_ */
|
||||
3141
App/VL53L0X_API/core/src/vl53l0x_api.c
Normal file
3141
App/VL53L0X_API/core/src/vl53l0x_api.c
Normal file
File diff suppressed because it is too large
Load Diff
1288
App/VL53L0X_API/core/src/vl53l0x_api_calibration.c
Normal file
1288
App/VL53L0X_API/core/src/vl53l0x_api_calibration.c
Normal file
File diff suppressed because it is too large
Load Diff
2128
App/VL53L0X_API/core/src/vl53l0x_api_core.c
Normal file
2128
App/VL53L0X_API/core/src/vl53l0x_api_core.c
Normal file
File diff suppressed because it is too large
Load Diff
42
App/VL53L0X_API/core/src/vl53l0x_api_ranging.c
Normal file
42
App/VL53L0X_API/core/src/vl53l0x_api_ranging.c
Normal file
@@ -0,0 +1,42 @@
|
||||
/*******************************************************************************
|
||||
* Copyright © 2016, STMicroelectronics International N.V.
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of STMicroelectronics nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
|
||||
NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
|
||||
IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
******************************************************************************/
|
||||
|
||||
#include "vl53l0x_api.h"
|
||||
#include "vl53l0x_api_core.h"
|
||||
|
||||
|
||||
#ifndef __KERNEL__
|
||||
#include <stdlib.h>
|
||||
#endif
|
||||
#define LOG_FUNCTION_START(fmt, ...) \
|
||||
_LOG_FUNCTION_START(TRACE_MODULE_API, fmt, ##__VA_ARGS__)
|
||||
#define LOG_FUNCTION_END(status, ...) \
|
||||
_LOG_FUNCTION_END(TRACE_MODULE_API, status, ##__VA_ARGS__)
|
||||
#define LOG_FUNCTION_END_FMT(status, fmt, ...) \
|
||||
_LOG_FUNCTION_END_FMT(TRACE_MODULE_API, status, fmt, ##__VA_ARGS__)
|
||||
|
||||
466
App/VL53L0X_API/core/src/vl53l0x_api_strings.c
Normal file
466
App/VL53L0X_API/core/src/vl53l0x_api_strings.c
Normal file
@@ -0,0 +1,466 @@
|
||||
/*******************************************************************************
|
||||
* Copyright © 2016, STMicroelectronics International N.V.
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of STMicroelectronics nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
|
||||
NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
|
||||
IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
******************************************************************************/
|
||||
|
||||
#include "vl53l0x_api.h"
|
||||
#include "vl53l0x_api_core.h"
|
||||
#include "vl53l0x_api_strings.h"
|
||||
|
||||
#ifndef __KERNEL__
|
||||
#include <stdlib.h>
|
||||
#endif
|
||||
|
||||
#define LOG_FUNCTION_START(fmt, ...) \
|
||||
_LOG_FUNCTION_START(TRACE_MODULE_API, fmt, ##__VA_ARGS__)
|
||||
#define LOG_FUNCTION_END(status, ...) \
|
||||
_LOG_FUNCTION_END(TRACE_MODULE_API, status, ##__VA_ARGS__)
|
||||
#define LOG_FUNCTION_END_FMT(status, fmt, ...) \
|
||||
_LOG_FUNCTION_END_FMT(TRACE_MODULE_API, status, fmt, ##__VA_ARGS__)
|
||||
|
||||
|
||||
VL53L0X_Error VL53L0X_check_part_used(VL53L0X_DEV Dev,
|
||||
uint8_t *Revision,
|
||||
VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo)
|
||||
{
|
||||
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
|
||||
uint8_t ModuleIdInt;
|
||||
char *ProductId_tmp;
|
||||
|
||||
LOG_FUNCTION_START("");
|
||||
|
||||
Status = VL53L0X_get_info_from_device(Dev, 2);
|
||||
|
||||
if (Status == VL53L0X_ERROR_NONE) {
|
||||
ModuleIdInt = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, ModuleId);
|
||||
|
||||
if (ModuleIdInt == 0) {
|
||||
*Revision = 0;
|
||||
VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->ProductId, "");
|
||||
} else {
|
||||
*Revision = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, Revision);
|
||||
ProductId_tmp = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev,
|
||||
ProductId);
|
||||
VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->ProductId,
|
||||
ProductId_tmp);
|
||||
}
|
||||
}
|
||||
|
||||
LOG_FUNCTION_END(Status);
|
||||
return Status;
|
||||
}
|
||||
|
||||
|
||||
VL53L0X_Error VL53L0X_get_device_info(VL53L0X_DEV Dev,
|
||||
VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo)
|
||||
{
|
||||
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
|
||||
uint8_t revision_id;
|
||||
uint8_t Revision;
|
||||
|
||||
Status = VL53L0X_check_part_used(Dev, &Revision, pVL53L0X_DeviceInfo);
|
||||
|
||||
if (Status == VL53L0X_ERROR_NONE) {
|
||||
if (Revision == 0) {
|
||||
VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Name,
|
||||
VL53L0X_STRING_DEVICE_INFO_NAME_TS0);
|
||||
} else if ((Revision <= 34) && (Revision != 32)) {
|
||||
VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Name,
|
||||
VL53L0X_STRING_DEVICE_INFO_NAME_TS1);
|
||||
} else if (Revision < 39) {
|
||||
VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Name,
|
||||
VL53L0X_STRING_DEVICE_INFO_NAME_TS2);
|
||||
} else {
|
||||
VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Name,
|
||||
VL53L0X_STRING_DEVICE_INFO_NAME_ES1);
|
||||
}
|
||||
|
||||
VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Type,
|
||||
VL53L0X_STRING_DEVICE_INFO_TYPE);
|
||||
|
||||
}
|
||||
|
||||
if (Status == VL53L0X_ERROR_NONE) {
|
||||
Status = VL53L0X_RdByte(Dev,
|
||||
VL53L0X_REG_IDENTIFICATION_MODEL_ID,
|
||||
&pVL53L0X_DeviceInfo->ProductType);
|
||||
}
|
||||
|
||||
if (Status == VL53L0X_ERROR_NONE) {
|
||||
Status = VL53L0X_RdByte(Dev,
|
||||
VL53L0X_REG_IDENTIFICATION_REVISION_ID,
|
||||
&revision_id);
|
||||
pVL53L0X_DeviceInfo->ProductRevisionMajor = 1;
|
||||
pVL53L0X_DeviceInfo->ProductRevisionMinor =
|
||||
(revision_id & 0xF0) >> 4;
|
||||
}
|
||||
|
||||
return Status;
|
||||
}
|
||||
|
||||
|
||||
VL53L0X_Error VL53L0X_get_device_error_string(VL53L0X_DeviceError ErrorCode,
|
||||
char *pDeviceErrorString)
|
||||
{
|
||||
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
|
||||
|
||||
LOG_FUNCTION_START("");
|
||||
|
||||
switch (ErrorCode) {
|
||||
case VL53L0X_DEVICEERROR_NONE:
|
||||
VL53L0X_COPYSTRING(pDeviceErrorString,
|
||||
VL53L0X_STRING_DEVICEERROR_NONE);
|
||||
break;
|
||||
case VL53L0X_DEVICEERROR_VCSELCONTINUITYTESTFAILURE:
|
||||
VL53L0X_COPYSTRING(pDeviceErrorString,
|
||||
VL53L0X_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE);
|
||||
break;
|
||||
case VL53L0X_DEVICEERROR_VCSELWATCHDOGTESTFAILURE:
|
||||
VL53L0X_COPYSTRING(pDeviceErrorString,
|
||||
VL53L0X_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE);
|
||||
break;
|
||||
case VL53L0X_DEVICEERROR_NOVHVVALUEFOUND:
|
||||
VL53L0X_COPYSTRING(pDeviceErrorString,
|
||||
VL53L0X_STRING_DEVICEERROR_NOVHVVALUEFOUND);
|
||||
break;
|
||||
case VL53L0X_DEVICEERROR_MSRCNOTARGET:
|
||||
VL53L0X_COPYSTRING(pDeviceErrorString,
|
||||
VL53L0X_STRING_DEVICEERROR_MSRCNOTARGET);
|
||||
break;
|
||||
case VL53L0X_DEVICEERROR_SNRCHECK:
|
||||
VL53L0X_COPYSTRING(pDeviceErrorString,
|
||||
VL53L0X_STRING_DEVICEERROR_SNRCHECK);
|
||||
break;
|
||||
case VL53L0X_DEVICEERROR_RANGEPHASECHECK:
|
||||
VL53L0X_COPYSTRING(pDeviceErrorString,
|
||||
VL53L0X_STRING_DEVICEERROR_RANGEPHASECHECK);
|
||||
break;
|
||||
case VL53L0X_DEVICEERROR_SIGMATHRESHOLDCHECK:
|
||||
VL53L0X_COPYSTRING(pDeviceErrorString,
|
||||
VL53L0X_STRING_DEVICEERROR_SIGMATHRESHOLDCHECK);
|
||||
break;
|
||||
case VL53L0X_DEVICEERROR_TCC:
|
||||
VL53L0X_COPYSTRING(pDeviceErrorString,
|
||||
VL53L0X_STRING_DEVICEERROR_TCC);
|
||||
break;
|
||||
case VL53L0X_DEVICEERROR_PHASECONSISTENCY:
|
||||
VL53L0X_COPYSTRING(pDeviceErrorString,
|
||||
VL53L0X_STRING_DEVICEERROR_PHASECONSISTENCY);
|
||||
break;
|
||||
case VL53L0X_DEVICEERROR_MINCLIP:
|
||||
VL53L0X_COPYSTRING(pDeviceErrorString,
|
||||
VL53L0X_STRING_DEVICEERROR_MINCLIP);
|
||||
break;
|
||||
case VL53L0X_DEVICEERROR_RANGECOMPLETE:
|
||||
VL53L0X_COPYSTRING(pDeviceErrorString,
|
||||
VL53L0X_STRING_DEVICEERROR_RANGECOMPLETE);
|
||||
break;
|
||||
case VL53L0X_DEVICEERROR_ALGOUNDERFLOW:
|
||||
VL53L0X_COPYSTRING(pDeviceErrorString,
|
||||
VL53L0X_STRING_DEVICEERROR_ALGOUNDERFLOW);
|
||||
break;
|
||||
case VL53L0X_DEVICEERROR_ALGOOVERFLOW:
|
||||
VL53L0X_COPYSTRING(pDeviceErrorString,
|
||||
VL53L0X_STRING_DEVICEERROR_ALGOOVERFLOW);
|
||||
break;
|
||||
case VL53L0X_DEVICEERROR_RANGEIGNORETHRESHOLD:
|
||||
VL53L0X_COPYSTRING(pDeviceErrorString,
|
||||
VL53L0X_STRING_DEVICEERROR_RANGEIGNORETHRESHOLD);
|
||||
break;
|
||||
|
||||
default:
|
||||
VL53L0X_COPYSTRING(pDeviceErrorString,
|
||||
VL53L0X_STRING_UNKNOW_ERROR_CODE);
|
||||
|
||||
}
|
||||
|
||||
LOG_FUNCTION_END(Status);
|
||||
return Status;
|
||||
}
|
||||
|
||||
VL53L0X_Error VL53L0X_get_range_status_string(uint8_t RangeStatus,
|
||||
char *pRangeStatusString)
|
||||
{
|
||||
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
|
||||
|
||||
LOG_FUNCTION_START("");
|
||||
|
||||
switch (RangeStatus) {
|
||||
case 0:
|
||||
VL53L0X_COPYSTRING(pRangeStatusString,
|
||||
VL53L0X_STRING_RANGESTATUS_RANGEVALID);
|
||||
break;
|
||||
case 1:
|
||||
VL53L0X_COPYSTRING(pRangeStatusString,
|
||||
VL53L0X_STRING_RANGESTATUS_SIGMA);
|
||||
break;
|
||||
case 2:
|
||||
VL53L0X_COPYSTRING(pRangeStatusString,
|
||||
VL53L0X_STRING_RANGESTATUS_SIGNAL);
|
||||
break;
|
||||
case 3:
|
||||
VL53L0X_COPYSTRING(pRangeStatusString,
|
||||
VL53L0X_STRING_RANGESTATUS_MINRANGE);
|
||||
break;
|
||||
case 4:
|
||||
VL53L0X_COPYSTRING(pRangeStatusString,
|
||||
VL53L0X_STRING_RANGESTATUS_PHASE);
|
||||
break;
|
||||
case 5:
|
||||
VL53L0X_COPYSTRING(pRangeStatusString,
|
||||
VL53L0X_STRING_RANGESTATUS_HW);
|
||||
break;
|
||||
|
||||
default: /**/
|
||||
VL53L0X_COPYSTRING(pRangeStatusString,
|
||||
VL53L0X_STRING_RANGESTATUS_NONE);
|
||||
}
|
||||
|
||||
LOG_FUNCTION_END(Status);
|
||||
return Status;
|
||||
}
|
||||
|
||||
VL53L0X_Error VL53L0X_get_pal_error_string(VL53L0X_Error PalErrorCode,
|
||||
char *pPalErrorString)
|
||||
{
|
||||
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
|
||||
|
||||
LOG_FUNCTION_START("");
|
||||
|
||||
switch (PalErrorCode) {
|
||||
case VL53L0X_ERROR_NONE:
|
||||
VL53L0X_COPYSTRING(pPalErrorString,
|
||||
VL53L0X_STRING_ERROR_NONE);
|
||||
break;
|
||||
case VL53L0X_ERROR_CALIBRATION_WARNING:
|
||||
VL53L0X_COPYSTRING(pPalErrorString,
|
||||
VL53L0X_STRING_ERROR_CALIBRATION_WARNING);
|
||||
break;
|
||||
case VL53L0X_ERROR_MIN_CLIPPED:
|
||||
VL53L0X_COPYSTRING(pPalErrorString,
|
||||
VL53L0X_STRING_ERROR_MIN_CLIPPED);
|
||||
break;
|
||||
case VL53L0X_ERROR_UNDEFINED:
|
||||
VL53L0X_COPYSTRING(pPalErrorString,
|
||||
VL53L0X_STRING_ERROR_UNDEFINED);
|
||||
break;
|
||||
case VL53L0X_ERROR_INVALID_PARAMS:
|
||||
VL53L0X_COPYSTRING(pPalErrorString,
|
||||
VL53L0X_STRING_ERROR_INVALID_PARAMS);
|
||||
break;
|
||||
case VL53L0X_ERROR_NOT_SUPPORTED:
|
||||
VL53L0X_COPYSTRING(pPalErrorString,
|
||||
VL53L0X_STRING_ERROR_NOT_SUPPORTED);
|
||||
break;
|
||||
case VL53L0X_ERROR_INTERRUPT_NOT_CLEARED:
|
||||
VL53L0X_COPYSTRING(pPalErrorString,
|
||||
VL53L0X_STRING_ERROR_INTERRUPT_NOT_CLEARED);
|
||||
break;
|
||||
case VL53L0X_ERROR_RANGE_ERROR:
|
||||
VL53L0X_COPYSTRING(pPalErrorString,
|
||||
VL53L0X_STRING_ERROR_RANGE_ERROR);
|
||||
break;
|
||||
case VL53L0X_ERROR_TIME_OUT:
|
||||
VL53L0X_COPYSTRING(pPalErrorString,
|
||||
VL53L0X_STRING_ERROR_TIME_OUT);
|
||||
break;
|
||||
case VL53L0X_ERROR_MODE_NOT_SUPPORTED:
|
||||
VL53L0X_COPYSTRING(pPalErrorString,
|
||||
VL53L0X_STRING_ERROR_MODE_NOT_SUPPORTED);
|
||||
break;
|
||||
case VL53L0X_ERROR_BUFFER_TOO_SMALL:
|
||||
VL53L0X_COPYSTRING(pPalErrorString,
|
||||
VL53L0X_STRING_ERROR_BUFFER_TOO_SMALL);
|
||||
break;
|
||||
case VL53L0X_ERROR_GPIO_NOT_EXISTING:
|
||||
VL53L0X_COPYSTRING(pPalErrorString,
|
||||
VL53L0X_STRING_ERROR_GPIO_NOT_EXISTING);
|
||||
break;
|
||||
case VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED:
|
||||
VL53L0X_COPYSTRING(pPalErrorString,
|
||||
VL53L0X_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED);
|
||||
break;
|
||||
case VL53L0X_ERROR_CONTROL_INTERFACE:
|
||||
VL53L0X_COPYSTRING(pPalErrorString,
|
||||
VL53L0X_STRING_ERROR_CONTROL_INTERFACE);
|
||||
break;
|
||||
case VL53L0X_ERROR_INVALID_COMMAND:
|
||||
VL53L0X_COPYSTRING(pPalErrorString,
|
||||
VL53L0X_STRING_ERROR_INVALID_COMMAND);
|
||||
break;
|
||||
case VL53L0X_ERROR_DIVISION_BY_ZERO:
|
||||
VL53L0X_COPYSTRING(pPalErrorString,
|
||||
VL53L0X_STRING_ERROR_DIVISION_BY_ZERO);
|
||||
break;
|
||||
case VL53L0X_ERROR_REF_SPAD_INIT:
|
||||
VL53L0X_COPYSTRING(pPalErrorString,
|
||||
VL53L0X_STRING_ERROR_REF_SPAD_INIT);
|
||||
break;
|
||||
case VL53L0X_ERROR_NOT_IMPLEMENTED:
|
||||
VL53L0X_COPYSTRING(pPalErrorString,
|
||||
VL53L0X_STRING_ERROR_NOT_IMPLEMENTED);
|
||||
break;
|
||||
|
||||
default:
|
||||
VL53L0X_COPYSTRING(pPalErrorString,
|
||||
VL53L0X_STRING_UNKNOW_ERROR_CODE);
|
||||
}
|
||||
|
||||
LOG_FUNCTION_END(Status);
|
||||
return Status;
|
||||
}
|
||||
|
||||
VL53L0X_Error VL53L0X_get_pal_state_string(VL53L0X_State PalStateCode,
|
||||
char *pPalStateString)
|
||||
{
|
||||
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
|
||||
|
||||
LOG_FUNCTION_START("");
|
||||
|
||||
switch (PalStateCode) {
|
||||
case VL53L0X_STATE_POWERDOWN:
|
||||
VL53L0X_COPYSTRING(pPalStateString,
|
||||
VL53L0X_STRING_STATE_POWERDOWN);
|
||||
break;
|
||||
case VL53L0X_STATE_WAIT_STATICINIT:
|
||||
VL53L0X_COPYSTRING(pPalStateString,
|
||||
VL53L0X_STRING_STATE_WAIT_STATICINIT);
|
||||
break;
|
||||
case VL53L0X_STATE_STANDBY:
|
||||
VL53L0X_COPYSTRING(pPalStateString,
|
||||
VL53L0X_STRING_STATE_STANDBY);
|
||||
break;
|
||||
case VL53L0X_STATE_IDLE:
|
||||
VL53L0X_COPYSTRING(pPalStateString,
|
||||
VL53L0X_STRING_STATE_IDLE);
|
||||
break;
|
||||
case VL53L0X_STATE_RUNNING:
|
||||
VL53L0X_COPYSTRING(pPalStateString,
|
||||
VL53L0X_STRING_STATE_RUNNING);
|
||||
break;
|
||||
case VL53L0X_STATE_UNKNOWN:
|
||||
VL53L0X_COPYSTRING(pPalStateString,
|
||||
VL53L0X_STRING_STATE_UNKNOWN);
|
||||
break;
|
||||
case VL53L0X_STATE_ERROR:
|
||||
VL53L0X_COPYSTRING(pPalStateString,
|
||||
VL53L0X_STRING_STATE_ERROR);
|
||||
break;
|
||||
|
||||
default:
|
||||
VL53L0X_COPYSTRING(pPalStateString,
|
||||
VL53L0X_STRING_STATE_UNKNOWN);
|
||||
}
|
||||
|
||||
LOG_FUNCTION_END(Status);
|
||||
return Status;
|
||||
}
|
||||
|
||||
VL53L0X_Error VL53L0X_get_sequence_steps_info(
|
||||
VL53L0X_SequenceStepId SequenceStepId,
|
||||
char *pSequenceStepsString)
|
||||
{
|
||||
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
|
||||
|
||||
LOG_FUNCTION_START("");
|
||||
|
||||
switch (SequenceStepId) {
|
||||
case VL53L0X_SEQUENCESTEP_TCC:
|
||||
VL53L0X_COPYSTRING(pSequenceStepsString,
|
||||
VL53L0X_STRING_SEQUENCESTEP_TCC);
|
||||
break;
|
||||
case VL53L0X_SEQUENCESTEP_DSS:
|
||||
VL53L0X_COPYSTRING(pSequenceStepsString,
|
||||
VL53L0X_STRING_SEQUENCESTEP_DSS);
|
||||
break;
|
||||
case VL53L0X_SEQUENCESTEP_MSRC:
|
||||
VL53L0X_COPYSTRING(pSequenceStepsString,
|
||||
VL53L0X_STRING_SEQUENCESTEP_MSRC);
|
||||
break;
|
||||
case VL53L0X_SEQUENCESTEP_PRE_RANGE:
|
||||
VL53L0X_COPYSTRING(pSequenceStepsString,
|
||||
VL53L0X_STRING_SEQUENCESTEP_PRE_RANGE);
|
||||
break;
|
||||
case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
|
||||
VL53L0X_COPYSTRING(pSequenceStepsString,
|
||||
VL53L0X_STRING_SEQUENCESTEP_FINAL_RANGE);
|
||||
break;
|
||||
|
||||
default:
|
||||
Status = VL53L0X_ERROR_INVALID_PARAMS;
|
||||
}
|
||||
|
||||
LOG_FUNCTION_END(Status);
|
||||
|
||||
return Status;
|
||||
}
|
||||
|
||||
|
||||
VL53L0X_Error VL53L0X_get_limit_check_info(VL53L0X_DEV Dev,
|
||||
uint16_t LimitCheckId,
|
||||
char *pLimitCheckString)
|
||||
{
|
||||
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
|
||||
|
||||
LOG_FUNCTION_START("");
|
||||
|
||||
switch (LimitCheckId) {
|
||||
case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
|
||||
VL53L0X_COPYSTRING(pLimitCheckString,
|
||||
VL53L0X_STRING_CHECKENABLE_SIGMA_FINAL_RANGE);
|
||||
break;
|
||||
case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
|
||||
VL53L0X_COPYSTRING(pLimitCheckString,
|
||||
VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE);
|
||||
break;
|
||||
case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
|
||||
VL53L0X_COPYSTRING(pLimitCheckString,
|
||||
VL53L0X_STRING_CHECKENABLE_SIGNAL_REF_CLIP);
|
||||
break;
|
||||
case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
|
||||
VL53L0X_COPYSTRING(pLimitCheckString,
|
||||
VL53L0X_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD);
|
||||
break;
|
||||
|
||||
case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
|
||||
VL53L0X_COPYSTRING(pLimitCheckString,
|
||||
VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_MSRC);
|
||||
break;
|
||||
|
||||
case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
|
||||
VL53L0X_COPYSTRING(pLimitCheckString,
|
||||
VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_PRE_RANGE);
|
||||
break;
|
||||
|
||||
default:
|
||||
VL53L0X_COPYSTRING(pLimitCheckString,
|
||||
VL53L0X_STRING_UNKNOW_ERROR_CODE);
|
||||
|
||||
}
|
||||
|
||||
LOG_FUNCTION_END(Status);
|
||||
return Status;
|
||||
}
|
||||
55
App/VL53L0X_API/platform/README.md
Normal file
55
App/VL53L0X_API/platform/README.md
Normal file
@@ -0,0 +1,55 @@
|
||||
# VL53L0X 多传感器模板（STM32H743 + FreeRTOS）
|
||||
|
||||
这组模板按固定顺序组织 4 颗 VL53L0X：
|
||||
|
||||
1. 左上
|
||||
2. 左下
|
||||
3. 右上
|
||||
4. 右下
|
||||
|
||||
## 文件说明
|
||||
|
||||
- `vl53l0x_platform.h/.c`
|
||||
- ST 官方 API 的平台适配层
|
||||
- 不再把 `hi2c1` 硬编码到驱动里
|
||||
- 读写失败时不会污染 `RdWord/RdDWord` 输出
|
||||
- `PollingDelay()` 在调度器已启动时使用 `vTaskDelay()`
|
||||
|
||||
- `vl53_board.h/.c`
|
||||
- 4 颗 VL53L0X 的板级管理层
|
||||
- 负责 `XSHUT` 拉低/逐个拉起/逐个改地址
|
||||
- 默认运行地址：0x54 / 0x56 / 0x58 / 0x5A（8-bit 写法）
|
||||
|
||||
- `vl53_task.h/.c`
|
||||
- FreeRTOS 任务骨架
|
||||
- 10ms 周期轮询一遍 4 颗传感器
|
||||
- 采集结果写成一个快照，避免上层散读散写
|
||||
|
||||
## 你需要改的地方
|
||||
|
||||
只要改 `vl53_board.c` 里的 `g_vl53_hw_cfg[]`：
|
||||
|
||||
- `hi2c`
|
||||
- `xshut_port`
|
||||
- `xshut_pin`
|
||||
- `gpio1_port` / `gpio1_pin`（如果暂时不用中断，可保持 `NULL/0`）
|
||||
|
||||
## 集成方式
|
||||
|
||||
1. 保留 ST 官方 API 的 `vl53l0x_api*.c`、`vl53l0x_def.h` 等核心文件不动。
|
||||
2. 用本模板替换你原来的 `vl53l0x_platform.h/.c`。
|
||||
3. 新增 `vl53_board.*` 和 `vl53_task.*` 到 `App/sensors/` 或你自己的目录。
|
||||
4. 在 CubeMX 里保留任务壳函数，在任务壳里调用 `AppVl53_TaskLoop()`。
|
||||
5. 不要把 VL53 逻辑塞进你 20ms 的 `canTxTask`。
|
||||
|
||||
## 建议任务频率
|
||||
|
||||
- `canTxTask`: 保持 20ms
|
||||
- `vl53Task`: 10ms 唤醒，内部读 ready 后取数
|
||||
- 估计/控制：50–100Hz
|
||||
|
||||
## 备注
|
||||
|
||||
- 地址写法用的是 **8-bit**，默认地址是 `0x52`。
|
||||
- 多颗同总线时，必须所有器件先 `XSHUT=RESET`，然后逐个拉起并改地址。
|
||||
- 这版模板默认走“单任务采集 + 快照共享”，适合你当前的 ASER 架构。
|
||||
166
App/VL53L0X_API/platform/vl53_board.c
Normal file
166
App/VL53L0X_API/platform/vl53_board.c
Normal file
@@ -0,0 +1,166 @@
|
||||
#include "vl53_board.h"
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
#include "robot_params.h"
|
||||
|
||||
/* ================= 卡尔曼滤波底层实现 ================= */
|
||||
static void vl53_kalman_init(Vl53Kalman_t *kf, float q, float r) {
|
||||
kf->x = 0.0f;
|
||||
kf->p = 1.0f;
|
||||
kf->q = q;
|
||||
kf->r = r;
|
||||
kf->initialized = 0;
|
||||
}
|
||||
|
||||
static float vl53_kalman_update(Vl53Kalman_t *kf, float measurement) {
|
||||
if (kf->initialized == 0) {
|
||||
kf->x = measurement;
|
||||
kf->initialized = 1;
|
||||
return kf->x;
|
||||
}
|
||||
kf->p = kf->p + kf->q;
|
||||
float k = kf->p / (kf->p + kf->r);
|
||||
kf->x = kf->x + k * (measurement - kf->x);
|
||||
kf->p = (1.0f - k) * kf->p;
|
||||
return kf->x;
|
||||
}
|
||||
|
||||
/* ================= ST 官方配置序列 ================= */
|
||||
static VL53L0X_Error vl53_do_static_init(VL53L0X_DEV dev, uint32_t timing_budget_us)
|
||||
{
|
||||
VL53L0X_Error status;
|
||||
uint32_t ref_spad_count = 0u;
|
||||
uint8_t is_aperture_spads = 0u;
|
||||
uint8_t vhv_settings = 0u;
|
||||
uint8_t phase_cal = 0u;
|
||||
|
||||
status = VL53L0X_StaticInit(dev);
|
||||
if (status != VL53L0X_ERROR_NONE) return status;
|
||||
|
||||
status = VL53L0X_PerformRefSpadManagement(dev, &ref_spad_count, &is_aperture_spads);
|
||||
if (status != VL53L0X_ERROR_NONE) return status;
|
||||
|
||||
status = VL53L0X_PerformRefCalibration(dev, &vhv_settings, &phase_cal);
|
||||
if (status != VL53L0X_ERROR_NONE) return status;
|
||||
|
||||
status = VL53L0X_SetDeviceMode(dev, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING);
|
||||
if (status != VL53L0X_ERROR_NONE) return status;
|
||||
|
||||
status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(dev, timing_budget_us);
|
||||
if (status != VL53L0X_ERROR_NONE) return status;
|
||||
|
||||
status = VL53L0X_SetLimitCheckEnable(dev, VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1u);
|
||||
if (status != VL53L0X_ERROR_NONE) return status;
|
||||
|
||||
status = VL53L0X_SetLimitCheckEnable(dev, VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 1u);
|
||||
if (status != VL53L0X_ERROR_NONE) return status;
|
||||
|
||||
return VL53L0X_ERROR_NONE;
|
||||
}
|
||||
|
||||
/* ================= 核心管理器 API ================= */
|
||||
VL53L0X_Error Vl53Board_Init(Vl53Board_t *board, const Vl53BoardHwCfg_t *hw_cfgs, uint8_t count, uint32_t timing_budget_us)
|
||||
{
|
||||
if ((board == NULL) || (hw_cfgs == NULL) || (count == 0) || (count > VL53_MAX_DEVS_PER_BOARD)) {
|
||||
return VL53L0X_ERROR_INVALID_PARAMS;
|
||||
}
|
||||
|
||||
memset(board, 0, sizeof(Vl53Board_t));
|
||||
board->dev_count = count;
|
||||
board->timing_budget_us = (timing_budget_us == 0u) ? 33000u : timing_budget_us;
|
||||
|
||||
for (uint8_t i = 0; i < count; i++) {
|
||||
board->dev[i].name = hw_cfgs[i].name;
|
||||
board->dev[i].id = hw_cfgs[i].id;
|
||||
board->dev[i].comms_type = 1u;
|
||||
board->dev[i].comms_speed_khz = 400u;
|
||||
board->dev[i].is_present = 0u;
|
||||
|
||||
VL53L0X_PlatformAttachBus(&board->dev[i], hw_cfgs[i].hi2c, VL53L0X_DEFAULT_ADDR_8BIT, 100u, NULL);
|
||||
VL53L0X_PlatformAttachPins(&board->dev[i], hw_cfgs[i].xshut_port, hw_cfgs[i].xshut_pin, NULL, 0);
|
||||
|
||||
VL53L0X_PlatformSetXShut(&board->dev[i], GPIO_PIN_RESET);
|
||||
|
||||
/* 初始化卡尔曼滤波器：Q/R 从 robot_params.h 读取 */
|
||||
vl53_kalman_init(&board->kf[i], PARAM_VL53_KALMAN_Q, PARAM_VL53_KALMAN_R);
|
||||
}
|
||||
|
||||
vTaskDelay(pdMS_TO_TICKS(10));
|
||||
|
||||
for (uint8_t i = 0; i < count; i++) {
|
||||
if (VL53L0X_PlatformSetXShut(&board->dev[i], GPIO_PIN_SET) != VL53L0X_ERROR_NONE) continue;
|
||||
vTaskDelay(pdMS_TO_TICKS(20));
|
||||
|
||||
board->dev[i].I2cDevAddr = VL53L0X_DEFAULT_ADDR_8BIT;
|
||||
if (VL53L0X_PlatformChangeAddress(&board->dev[i], hw_cfgs[i].runtime_addr_8bit) != VL53L0X_ERROR_NONE) continue;
|
||||
if (VL53L0X_DataInit(&board->dev[i]) != VL53L0X_ERROR_NONE) continue;
|
||||
if (vl53_do_static_init(&board->dev[i], board->timing_budget_us) != VL53L0X_ERROR_NONE) continue;
|
||||
|
||||
board->init_mask |= (uint8_t)(1u << i);
|
||||
board->dev[i].is_present = 1u;
|
||||
}
|
||||
|
||||
return VL53L0X_ERROR_NONE;
|
||||
}
|
||||
|
||||
VL53L0X_Error Vl53Board_StartContinuous(Vl53Board_t *board)
|
||||
{
|
||||
if (board == NULL) return VL53L0X_ERROR_INVALID_PARAMS;
|
||||
for (uint8_t i = 0; i < board->dev_count; i++) {
|
||||
if (board->init_mask & (1u << i)) VL53L0X_StartMeasurement(&board->dev[i]);
|
||||
}
|
||||
return VL53L0X_ERROR_NONE;
|
||||
}
|
||||
|
||||
VL53L0X_Error Vl53Board_StopContinuous(Vl53Board_t *board)
|
||||
{
|
||||
if (board == NULL) return VL53L0X_ERROR_INVALID_PARAMS;
|
||||
for (uint8_t i = 0; i < board->dev_count; i++) {
|
||||
if (board->init_mask & (1u << i)) VL53L0X_StopMeasurement(&board->dev[i]);
|
||||
}
|
||||
return VL53L0X_ERROR_NONE;
|
||||
}
|
||||
|
||||
VL53L0X_Error Vl53Board_ReadAll(Vl53Board_t *board, Vl53BoardSnapshot_t *snapshot)
|
||||
{
|
||||
if (board == NULL || snapshot == NULL) return VL53L0X_ERROR_INVALID_PARAMS;
|
||||
|
||||
memset(snapshot, 0, sizeof(Vl53BoardSnapshot_t));
|
||||
snapshot->tick_ms = xTaskGetTickCount() * portTICK_PERIOD_MS;
|
||||
|
||||
for (uint8_t i = 0; i < board->dev_count; i++) {
|
||||
if ((board->init_mask & (1u << i)) == 0u) {
|
||||
snapshot->range_status[i] = 255u;
|
||||
continue;
|
||||
}
|
||||
|
||||
uint8_t ready = 0u;
|
||||
if (VL53L0X_GetMeasurementDataReady(&board->dev[i], &ready) != VL53L0X_ERROR_NONE) continue;
|
||||
|
||||
if (ready) {
|
||||
VL53L0X_RangingMeasurementData_t data;
|
||||
memset(&data, 0, sizeof(data));
|
||||
|
||||
if (VL53L0X_GetRangingMeasurementData(&board->dev[i], &data) == VL53L0X_ERROR_NONE) {
|
||||
/* 1. 写入原始数据 */
|
||||
snapshot->range_mm[i] = data.RangeMilliMeter;
|
||||
snapshot->range_status[i] = data.RangeStatus;
|
||||
|
||||
if (data.RangeStatus == 0u) {
|
||||
/* 2. 标记有效并更新卡尔曼滤波器 */
|
||||
snapshot->valid_mask |= (1u << i);
|
||||
snapshot->range_mm_filtered[i] = vl53_kalman_update(&board->kf[i], (float)data.RangeMilliMeter);
|
||||
} else {
|
||||
/* 测距失败时，滤波值维持上一次的历史最佳估计不变 */
|
||||
snapshot->range_mm_filtered[i] = board->kf[i].x;
|
||||
}
|
||||
|
||||
VL53L0X_ClearInterruptMask(&board->dev[i], 0u);
|
||||
}
|
||||
} else {
|
||||
/* 如果没准备好，把上一帧的历史值顺延下来，防止读到 0 */
|
||||
snapshot->range_mm_filtered[i] = board->kf[i].x;
|
||||
}
|
||||
}
|
||||
return VL53L0X_ERROR_NONE;
|
||||
}
|
||||
59
App/VL53L0X_API/platform/vl53_board.h
Normal file
59
App/VL53L0X_API/platform/vl53_board.h
Normal file
@@ -0,0 +1,59 @@
|
||||
#ifndef VL53_BOARD_H
|
||||
#define VL53_BOARD_H
|
||||
|
||||
#include <stdint.h>
|
||||
#include <string.h>
|
||||
#include "vl53l0x_api.h"
|
||||
#include "vl53l0x_platform.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
#define VL53_MAX_DEVS_PER_BOARD 4
|
||||
|
||||
typedef struct {
|
||||
I2C_HandleTypeDef *hi2c;
|
||||
GPIO_TypeDef *xshut_port;
|
||||
uint16_t xshut_pin;
|
||||
uint8_t runtime_addr_8bit;
|
||||
const char *name;
|
||||
uint8_t id;
|
||||
} Vl53BoardHwCfg_t;
|
||||
|
||||
/* ================= 内部卡尔曼滤波器结构 ================= */
|
||||
typedef struct {
|
||||
float x; // 最优估计值 (滤波后的距离)
|
||||
float p; // 估计误差协方差
|
||||
float q; // 过程噪声
|
||||
float r; // 测量噪声
|
||||
uint8_t initialized; // 防止第一次开机从0缓慢爬升
|
||||
} Vl53Kalman_t;
|
||||
|
||||
/* ================= 快照数据结构 (对外接口) ================= */
|
||||
typedef struct {
|
||||
uint32_t tick_ms;
|
||||
uint16_t range_mm[VL53_MAX_DEVS_PER_BOARD]; /* 接口1：原始硬件数据 */
|
||||
float range_mm_filtered[VL53_MAX_DEVS_PER_BOARD]; /* 接口2：卡尔曼平滑数据 */
|
||||
uint8_t range_status[VL53_MAX_DEVS_PER_BOARD];
|
||||
uint8_t valid_mask;
|
||||
} Vl53BoardSnapshot_t;
|
||||
|
||||
typedef struct {
|
||||
VL53L0X_Dev_t dev[VL53_MAX_DEVS_PER_BOARD];
|
||||
Vl53Kalman_t kf[VL53_MAX_DEVS_PER_BOARD]; /* 每个传感器配备一个专属卡尔曼滤波器 */
|
||||
uint8_t init_mask;
|
||||
uint8_t dev_count;
|
||||
uint32_t timing_budget_us;
|
||||
} Vl53Board_t;
|
||||
|
||||
VL53L0X_Error Vl53Board_Init(Vl53Board_t *board, const Vl53BoardHwCfg_t *hw_cfgs, uint8_t count, uint32_t timing_budget_us);
|
||||
VL53L0X_Error Vl53Board_StartContinuous(Vl53Board_t *board);
|
||||
VL53L0X_Error Vl53Board_StopContinuous(Vl53Board_t *board);
|
||||
VL53L0X_Error Vl53Board_ReadAll(Vl53Board_t *board, Vl53BoardSnapshot_t *snapshot);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* VL53_BOARD_H */
|
||||
315
App/VL53L0X_API/platform/vl53l0x_platform.c
Normal file
315
App/VL53L0X_API/platform/vl53l0x_platform.c
Normal file
@@ -0,0 +1,315 @@
|
||||
#include "vl53l0x_platform.h"
|
||||
#include "vl53l0x_api.h"
|
||||
|
||||
#if VL53_USE_FREERTOS_DELAY
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
#endif
|
||||
|
||||
#if defined(configSUPPORT_STATIC_ALLOCATION) || defined(configUSE_MUTEXES)
|
||||
#include "semphr.h"
|
||||
#define VL53_USE_FREERTOS_MUTEX 1
|
||||
#else
|
||||
#define VL53_USE_FREERTOS_MUTEX 0
|
||||
#endif
|
||||
|
||||
static VL53L0X_Error vl53_hal_to_pal(HAL_StatusTypeDef hal_status)
|
||||
{
|
||||
switch (hal_status) {
|
||||
case HAL_OK:
|
||||
return VL53L0X_ERROR_NONE;
|
||||
case HAL_TIMEOUT:
|
||||
return VL53L0X_ERROR_TIME_OUT;
|
||||
default:
|
||||
return VL53L0X_ERROR_CONTROL_INTERFACE;
|
||||
}
|
||||
}
|
||||
|
||||
static VL53L0X_Error vl53_validate_dev(VL53L0X_DEV Dev)
|
||||
{
|
||||
if ((Dev == NULL) || (Dev->hi2c == NULL)) {
|
||||
return VL53L0X_ERROR_CONTROL_INTERFACE;
|
||||
}
|
||||
return VL53L0X_ERROR_NONE;
|
||||
}
|
||||
|
||||
static VL53L0X_Error vl53_bus_lock(VL53L0X_DEV Dev)
|
||||
{
|
||||
#if VL53_USE_FREERTOS_MUTEX
|
||||
if ((Dev != NULL) && (Dev->bus_lock != NULL)) {
|
||||
if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
|
||||
const TickType_t wait_ticks = pdMS_TO_TICKS((Dev->io_timeout_ms == 0u) ? 10u : Dev->io_timeout_ms);
|
||||
if (xSemaphoreTake((SemaphoreHandle_t)Dev->bus_lock, wait_ticks) != pdTRUE) {
|
||||
return VL53L0X_ERROR_TIME_OUT;
|
||||
}
|
||||
}
|
||||
}
|
||||
#else
|
||||
(void)Dev;
|
||||
#endif
|
||||
return VL53L0X_ERROR_NONE;
|
||||
}
|
||||
|
||||
static void vl53_bus_unlock(VL53L0X_DEV Dev)
|
||||
{
|
||||
#if VL53_USE_FREERTOS_MUTEX
|
||||
if ((Dev != NULL) && (Dev->bus_lock != NULL)) {
|
||||
if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
|
||||
(void)xSemaphoreGive((SemaphoreHandle_t)Dev->bus_lock);
|
||||
}
|
||||
}
|
||||
#else
|
||||
(void)Dev;
|
||||
#endif
|
||||
}
|
||||
|
||||
VL53L0X_Error VL53L0X_LockSequenceAccess(VL53L0X_DEV Dev)
|
||||
{
|
||||
(void)Dev;
|
||||
/* Shared I2C bus is already serialized per I/O transaction below. */
|
||||
return VL53L0X_ERROR_NONE;
|
||||
}
|
||||
|
||||
VL53L0X_Error VL53L0X_UnlockSequenceAccess(VL53L0X_DEV Dev)
|
||||
{
|
||||
(void)Dev;
|
||||
return VL53L0X_ERROR_NONE;
|
||||
}
|
||||
|
||||
void VL53L0X_PlatformAttachBus(VL53L0X_DEV Dev,
|
||||
I2C_HandleTypeDef *hi2c,
|
||||
uint8_t i2c_addr_8bit,
|
||||
uint16_t io_timeout_ms,
|
||||
void *bus_lock)
|
||||
{
|
||||
if (Dev == NULL) {
|
||||
return;
|
||||
}
|
||||
Dev->hi2c = hi2c;
|
||||
Dev->I2cDevAddr = i2c_addr_8bit;
|
||||
Dev->io_timeout_ms = (io_timeout_ms == 0u) ? 100u : io_timeout_ms;
|
||||
Dev->bus_lock = bus_lock;
|
||||
}
|
||||
|
||||
void VL53L0X_PlatformAttachPins(VL53L0X_DEV Dev,
|
||||
GPIO_TypeDef *xshut_port,
|
||||
uint16_t xshut_pin,
|
||||
GPIO_TypeDef *gpio1_port,
|
||||
uint16_t gpio1_pin)
|
||||
{
|
||||
if (Dev == NULL) {
|
||||
return;
|
||||
}
|
||||
Dev->xshut_port = xshut_port;
|
||||
Dev->xshut_pin = xshut_pin;
|
||||
Dev->gpio1_port = gpio1_port;
|
||||
Dev->gpio1_pin = gpio1_pin;
|
||||
}
|
||||
|
||||
VL53L0X_Error VL53L0X_PlatformSetXShut(VL53L0X_DEV Dev, GPIO_PinState state)
|
||||
{
|
||||
if ((Dev == NULL) || (Dev->xshut_port == NULL)) {
|
||||
return VL53L0X_ERROR_INVALID_PARAMS;
|
||||
}
|
||||
HAL_GPIO_WritePin(Dev->xshut_port, Dev->xshut_pin, state);
|
||||
return VL53L0X_ERROR_NONE;
|
||||
}
|
||||
|
||||
VL53L0X_Error VL53L0X_PlatformBootDevice(VL53L0X_DEV Dev, uint32_t reset_low_ms, uint32_t boot_wait_ms)
|
||||
{
|
||||
VL53L0X_Error status = VL53L0X_PlatformSetXShut(Dev, GPIO_PIN_RESET);
|
||||
if (status != VL53L0X_ERROR_NONE) {
|
||||
return status;
|
||||
}
|
||||
|
||||
if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
|
||||
vTaskDelay(pdMS_TO_TICKS(reset_low_ms));
|
||||
} else {
|
||||
HAL_Delay(reset_low_ms);
|
||||
}
|
||||
|
||||
status = VL53L0X_PlatformSetXShut(Dev, GPIO_PIN_SET);
|
||||
if (status != VL53L0X_ERROR_NONE) {
|
||||
return status;
|
||||
}
|
||||
|
||||
if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
|
||||
vTaskDelay(pdMS_TO_TICKS(boot_wait_ms));
|
||||
} else {
|
||||
HAL_Delay(boot_wait_ms);
|
||||
}
|
||||
|
||||
return VL53L0X_ERROR_NONE;
|
||||
}
|
||||
|
||||
uint32_t VL53L0X_PlatformGetTick(void)
|
||||
{
|
||||
return HAL_GetTick();
|
||||
}
|
||||
|
||||
VL53L0X_Error VL53L0X_WriteMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count)
|
||||
{
|
||||
HAL_StatusTypeDef hal_status;
|
||||
VL53L0X_Error status;
|
||||
|
||||
if ((pdata == NULL) || (count == 0u) || (count > 255u)) {
|
||||
return VL53L0X_ERROR_INVALID_PARAMS;
|
||||
}
|
||||
status = vl53_validate_dev(Dev);
|
||||
if (status != VL53L0X_ERROR_NONE) {
|
||||
return status;
|
||||
}
|
||||
status = vl53_bus_lock(Dev);
|
||||
if (status != VL53L0X_ERROR_NONE) {
|
||||
return status;
|
||||
}
|
||||
|
||||
hal_status = HAL_I2C_Mem_Write(Dev->hi2c,
|
||||
Dev->I2cDevAddr,
|
||||
index,
|
||||
I2C_MEMADD_SIZE_8BIT,
|
||||
pdata,
|
||||
(uint16_t)count,
|
||||
Dev->io_timeout_ms);
|
||||
vl53_bus_unlock(Dev);
|
||||
return vl53_hal_to_pal(hal_status);
|
||||
}
|
||||
|
||||
VL53L0X_Error VL53L0X_ReadMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count)
|
||||
{
|
||||
HAL_StatusTypeDef hal_status;
|
||||
VL53L0X_Error status;
|
||||
|
||||
if ((pdata == NULL) || (count == 0u) || (count > 255u)) {
|
||||
return VL53L0X_ERROR_INVALID_PARAMS;
|
||||
}
|
||||
status = vl53_validate_dev(Dev);
|
||||
if (status != VL53L0X_ERROR_NONE) {
|
||||
return status;
|
||||
}
|
||||
status = vl53_bus_lock(Dev);
|
||||
if (status != VL53L0X_ERROR_NONE) {
|
||||
return status;
|
||||
}
|
||||
|
||||
hal_status = HAL_I2C_Mem_Read(Dev->hi2c,
|
||||
Dev->I2cDevAddr,
|
||||
index,
|
||||
I2C_MEMADD_SIZE_8BIT,
|
||||
pdata,
|
||||
(uint16_t)count,
|
||||
Dev->io_timeout_ms);
|
||||
vl53_bus_unlock(Dev);
|
||||
return vl53_hal_to_pal(hal_status);
|
||||
}
|
||||
|
||||
VL53L0X_Error VL53L0X_WrByte(VL53L0X_DEV Dev, uint8_t index, uint8_t data)
|
||||
{
|
||||
return VL53L0X_WriteMulti(Dev, index, &data, 1u);
|
||||
}
|
||||
|
||||
VL53L0X_Error VL53L0X_WrWord(VL53L0X_DEV Dev, uint8_t index, uint16_t data)
|
||||
{
|
||||
uint8_t buffer[2];
|
||||
buffer[0] = (uint8_t)(data >> 8);
|
||||
buffer[1] = (uint8_t)(data & 0xFFu);
|
||||
return VL53L0X_WriteMulti(Dev, index, buffer, 2u);
|
||||
}
|
||||
|
||||
VL53L0X_Error VL53L0X_WrDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t data)
|
||||
{
|
||||
uint8_t buffer[4];
|
||||
buffer[0] = (uint8_t)(data >> 24);
|
||||
buffer[1] = (uint8_t)(data >> 16);
|
||||
buffer[2] = (uint8_t)(data >> 8);
|
||||
buffer[3] = (uint8_t)(data & 0xFFu);
|
||||
return VL53L0X_WriteMulti(Dev, index, buffer, 4u);
|
||||
}
|
||||
|
||||
VL53L0X_Error VL53L0X_RdByte(VL53L0X_DEV Dev, uint8_t index, uint8_t *data)
|
||||
{
|
||||
if (data == NULL) {
|
||||
return VL53L0X_ERROR_INVALID_PARAMS;
|
||||
}
|
||||
return VL53L0X_ReadMulti(Dev, index, data, 1u);
|
||||
}
|
||||
|
||||
VL53L0X_Error VL53L0X_RdWord(VL53L0X_DEV Dev, uint8_t index, uint16_t *data)
|
||||
{
|
||||
uint8_t buffer[2] = {0u, 0u};
|
||||
VL53L0X_Error status;
|
||||
|
||||
if (data == NULL) {
|
||||
return VL53L0X_ERROR_INVALID_PARAMS;
|
||||
}
|
||||
status = VL53L0X_ReadMulti(Dev, index, buffer, 2u);
|
||||
if (status == VL53L0X_ERROR_NONE) {
|
||||
*data = (((uint16_t)buffer[0]) << 8) | buffer[1];
|
||||
}
|
||||
return status;
|
||||
}
|
||||
|
||||
VL53L0X_Error VL53L0X_RdDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t *data)
|
||||
{
|
||||
uint8_t buffer[4] = {0u, 0u, 0u, 0u};
|
||||
VL53L0X_Error status;
|
||||
|
||||
if (data == NULL) {
|
||||
return VL53L0X_ERROR_INVALID_PARAMS;
|
||||
}
|
||||
status = VL53L0X_ReadMulti(Dev, index, buffer, 4u);
|
||||
if (status == VL53L0X_ERROR_NONE) {
|
||||
*data = (((uint32_t)buffer[0]) << 24)
|
||||
| (((uint32_t)buffer[1]) << 16)
|
||||
| (((uint32_t)buffer[2]) << 8)
|
||||
| ((uint32_t)buffer[3]);
|
||||
}
|
||||
return status;
|
||||
}
|
||||
|
||||
VL53L0X_Error VL53L0X_UpdateByte(VL53L0X_DEV Dev, uint8_t index, uint8_t AndData, uint8_t OrData)
|
||||
{
|
||||
VL53L0X_Error status;
|
||||
uint8_t data = 0u;
|
||||
|
||||
status = VL53L0X_RdByte(Dev, index, &data);
|
||||
if (status != VL53L0X_ERROR_NONE) {
|
||||
return status;
|
||||
}
|
||||
data = (uint8_t)((data & AndData) | OrData);
|
||||
return VL53L0X_WrByte(Dev, index, data);
|
||||
}
|
||||
|
||||
VL53L0X_Error VL53L0X_PollingDelay(VL53L0X_DEV Dev)
|
||||
{
|
||||
(void)Dev;
|
||||
#if VL53_USE_FREERTOS_DELAY
|
||||
if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
|
||||
vTaskDelay(pdMS_TO_TICKS(2u));
|
||||
} else {
|
||||
HAL_Delay(2u);
|
||||
}
|
||||
#else
|
||||
HAL_Delay(2u);
|
||||
#endif
|
||||
return VL53L0X_ERROR_NONE;
|
||||
}
|
||||
|
||||
VL53L0X_Error VL53L0X_PlatformChangeAddress(VL53L0X_DEV Dev, uint8_t new_addr_8bit)
|
||||
{
|
||||
VL53L0X_Error status;
|
||||
|
||||
if (new_addr_8bit == 0u) {
|
||||
return VL53L0X_ERROR_INVALID_PARAMS;
|
||||
}
|
||||
status = VL53L0X_SetDeviceAddress(Dev, new_addr_8bit);
|
||||
if (status == VL53L0X_ERROR_NONE) {
|
||||
Dev->I2cDevAddr = new_addr_8bit;
|
||||
if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
|
||||
vTaskDelay(pdMS_TO_TICKS(2u));
|
||||
} else {
|
||||
HAL_Delay(2u);
|
||||
}
|
||||
}
|
||||
return status;
|
||||
}
|
||||
89
App/VL53L0X_API/platform/vl53l0x_platform.h
Normal file
89
App/VL53L0X_API/platform/vl53l0x_platform.h
Normal file
@@ -0,0 +1,89 @@
|
||||
#ifndef VL53L0X_PLATFORM_H
|
||||
#define VL53L0X_PLATFORM_H
|
||||
|
||||
#include <stdint.h>
|
||||
#include <string.h>
|
||||
#include "main.h"
|
||||
|
||||
#ifndef VL53L0X_SINGLE_DEVICE_DRIVER
|
||||
#define VL53L0X_SINGLE_DEVICE_DRIVER 0
|
||||
#endif
|
||||
|
||||
#include "vl53l0x_def.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
#ifndef VL53_USE_FREERTOS_DELAY
|
||||
#define VL53_USE_FREERTOS_DELAY 1
|
||||
#endif
|
||||
|
||||
#ifndef VL53L0X_COPYSTRING
|
||||
#define VL53L0X_COPYSTRING(dst, src) strcpy((dst), (src))
|
||||
#endif
|
||||
|
||||
#ifndef VL53L0X_DEFAULT_ADDR_8BIT
|
||||
#define VL53L0X_DEFAULT_ADDR_8BIT 0x52u
|
||||
#endif
|
||||
|
||||
typedef struct {
|
||||
VL53L0X_DevData_t Data;
|
||||
uint8_t I2cDevAddr; /* ST API expects 8-bit address, default 0x52 */
|
||||
uint8_t comms_type;
|
||||
uint16_t comms_speed_khz;
|
||||
|
||||
I2C_HandleTypeDef *hi2c;
|
||||
GPIO_TypeDef *xshut_port;
|
||||
uint16_t xshut_pin;
|
||||
GPIO_TypeDef *gpio1_port; /* optional */
|
||||
uint16_t gpio1_pin;
|
||||
|
||||
void *bus_lock; /* optional shared mutex/lock handle */
|
||||
const char *name;
|
||||
uint8_t id; /* user label: 1=左上, 2=左下, 3=右上, 4=右下 */
|
||||
uint8_t is_present;
|
||||
uint16_t io_timeout_ms;
|
||||
} VL53L0X_Dev_t;
|
||||
|
||||
typedef VL53L0X_Dev_t* VL53L0X_DEV;
|
||||
|
||||
#define PALDevDataGet(Dev, field) ((Dev)->Data.field)
|
||||
#define PALDevDataSet(Dev, field, data) ((Dev)->Data.field = (data))
|
||||
|
||||
VL53L0X_Error VL53L0X_LockSequenceAccess(VL53L0X_DEV Dev);
|
||||
VL53L0X_Error VL53L0X_UnlockSequenceAccess(VL53L0X_DEV Dev);
|
||||
|
||||
VL53L0X_Error VL53L0X_WriteMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count);
|
||||
VL53L0X_Error VL53L0X_ReadMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count);
|
||||
VL53L0X_Error VL53L0X_WrByte(VL53L0X_DEV Dev, uint8_t index, uint8_t data);
|
||||
VL53L0X_Error VL53L0X_WrWord(VL53L0X_DEV Dev, uint8_t index, uint16_t data);
|
||||
VL53L0X_Error VL53L0X_WrDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t data);
|
||||
VL53L0X_Error VL53L0X_RdByte(VL53L0X_DEV Dev, uint8_t index, uint8_t *data);
|
||||
VL53L0X_Error VL53L0X_RdWord(VL53L0X_DEV Dev, uint8_t index, uint16_t *data);
|
||||
VL53L0X_Error VL53L0X_RdDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t *data);
|
||||
VL53L0X_Error VL53L0X_UpdateByte(VL53L0X_DEV Dev, uint8_t index, uint8_t AndData, uint8_t OrData);
|
||||
VL53L0X_Error VL53L0X_PollingDelay(VL53L0X_DEV Dev);
|
||||
|
||||
void VL53L0X_PlatformAttachBus(VL53L0X_DEV Dev,
|
||||
I2C_HandleTypeDef *hi2c,
|
||||
uint8_t i2c_addr_8bit,
|
||||
uint16_t io_timeout_ms,
|
||||
void *bus_lock);
|
||||
|
||||
void VL53L0X_PlatformAttachPins(VL53L0X_DEV Dev,
|
||||
GPIO_TypeDef *xshut_port,
|
||||
uint16_t xshut_pin,
|
||||
GPIO_TypeDef *gpio1_port,
|
||||
uint16_t gpio1_pin);
|
||||
|
||||
VL53L0X_Error VL53L0X_PlatformSetXShut(VL53L0X_DEV Dev, GPIO_PinState state);
|
||||
VL53L0X_Error VL53L0X_PlatformBootDevice(VL53L0X_DEV Dev, uint32_t reset_low_ms, uint32_t boot_wait_ms);
|
||||
VL53L0X_Error VL53L0X_PlatformChangeAddress(VL53L0X_DEV Dev, uint8_t new_addr_8bit);
|
||||
uint32_t VL53L0X_PlatformGetTick(void);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* VL53L0X_PLATFORM_H */
|
||||
18
App/VL53L0X_API/platform/vl53l0x_platform_log.h
Normal file
18
App/VL53L0X_API/platform/vl53l0x_platform_log.h
Normal file
@@ -0,0 +1,18 @@
|
||||
#ifndef _VL53L0X_PLATFORM_LOG_H_
|
||||
#define _VL53L0X_PLATFORM_LOG_H_
|
||||
|
||||
/* 1. 解决 TRACE_MODULE_API 未定义的报错 */
|
||||
#define TRACE_MODULE_API 0
|
||||
|
||||
/* 2. 强行屏蔽官方所有【带下划线】的底层日志宏 */
|
||||
#define _LOG_FUNCTION_START(...) (void)0
|
||||
#define _LOG_FUNCTION_END(...) (void)0
|
||||
#define _LOG_FUNCTION_END_FMT(...) (void)0
|
||||
|
||||
/* 3. 强行屏蔽官方所有【不带下划线】的普通日志宏 */
|
||||
#define LOG_FUNCTION_START(...) (void)0
|
||||
#define LOG_FUNCTION_END(...) (void)0
|
||||
#define LOG_FUNCTION_END_FMT(...) (void)0
|
||||
#define VL53L0X_ErrLog(...) (void)0
|
||||
|
||||
#endif /* _VL53L0X_PLATFORM_LOG_H_ */
|
||||
15
App/VL53L0X_API/platform/vl53l0x_types.h
Normal file
15
App/VL53L0X_API/platform/vl53l0x_types.h
Normal file
@@ -0,0 +1,15 @@
|
||||
#ifndef _VL53L0X_TYPES_H_
|
||||
#define _VL53L0X_TYPES_H_
|
||||
|
||||
/* 引入现代 C 语言标准整数类型库 */
|
||||
#include <stdint.h>
|
||||
#include <stddef.h>
|
||||
|
||||
#ifndef NULL
|
||||
#define NULL 0
|
||||
#endif
|
||||
|
||||
/* 核心修复：填补 ST 官方定义的定点数类型 */
|
||||
typedef uint32_t FixPoint1616_t;
|
||||
|
||||
#endif /* _VL53L0X_TYPES_H_ */
|
||||
423
App/app_tasks.c
Normal file
423
App/app_tasks.c
Normal file
@@ -0,0 +1,423 @@
|
||||
#include "app_tasks.h"
|
||||
#include "FreeRTOS.h"
|
||||
#include "cmsis_os.h"
|
||||
#include "main.h"
|
||||
#include "snc_can_app.h"
|
||||
#include "robot_params.h" /* 统一参数配置 */
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
|
||||
/* 引入各个传感器和黑板的头文件 */
|
||||
#include "Contract/robot_blackboard.h"
|
||||
#include "Contract/robot_odom.h"
|
||||
#include "laser/laser_manager.h"
|
||||
#include "IMU/hwt101.h"
|
||||
#include "vl53_board.h"
|
||||
#include "Contract/robot_cmd_slot.h"
|
||||
#include "preproc/corridor_preproc.h"
|
||||
#include "est/corridor_filter.h"
|
||||
#include "nav/corridor_ctrl.h"
|
||||
#include "nav/segment_fsm.h"
|
||||
#include "nav/nav_script.h"
|
||||
extern osMutexId_t logMutexHandle;
|
||||
|
||||
/* 如果你的项目中没有引入 i2c.h，可以通过 extern 声明 I2C 句柄 */
|
||||
extern I2C_HandleTypeDef hi2c1;
|
||||
extern I2C_HandleTypeDef hi2c2;
|
||||
|
||||
static float g_test_vx = 0.0f;
|
||||
static float g_test_wz = 0.0f;
|
||||
|
||||
static uint32_t AppTasks_MsToTicks(uint32_t ms)
|
||||
{
|
||||
uint32_t ticks = pdMS_TO_TICKS(ms);
|
||||
return (ticks == 0U) ? 1U : ticks;
|
||||
}
|
||||
|
||||
static void App_UpdateTestCommand(void)
|
||||
{
|
||||
g_test_vx = 0.0f;
|
||||
g_test_wz = 0.0f;
|
||||
}
|
||||
|
||||
static void App_PrintStatus(void)
|
||||
{
|
||||
// 【新增】静态计数器，由于是 static 修饰，它的值在函数退出后不会丢失
|
||||
static uint8_t print_divider = 0;
|
||||
|
||||
// 假设外部任务是 100ms 调用一次该函数：
|
||||
// 如果设定 >= 5，就是 5 * 100ms = 500ms 打印一次
|
||||
// 如果设定 >= 10，就是 10 * 100ms = 1000ms (1秒) 打印一次
|
||||
if (++print_divider < 5) {
|
||||
return; // 还没到设定的次数，直接 return，不执行后续获取快照和打印的动作
|
||||
}
|
||||
print_divider = 0; // 计数器清零，重新开始下一轮计数
|
||||
|
||||
// 1. 获取全局黑板的快照
|
||||
RobotBlackboard_t snap;
|
||||
Blackboard_GetSnapshot(&snap);
|
||||
|
||||
// 2. 申请串口互斥锁，防止多线程打印打架导致乱码
|
||||
if (logMutexHandle != NULL) {
|
||||
(void)osMutexAcquire(logMutexHandle, osWaitForever);
|
||||
}
|
||||
|
||||
// 3. 打印表头和当前系统时间
|
||||
printf("\r\n========== Robot Status [%lu ms] ==========\r\n", HAL_GetTick());
|
||||
|
||||
// 4. 打印 IMU 姿态
|
||||
if (snap.imu_yaw.is_valid) {
|
||||
printf("[IMU] Yaw: %7.2f deg | Cont: %7.2f deg | Wz: %7.2f\r\n",
|
||||
snap.imu_yaw.value, snap.imu_yaw_continuous.value, snap.imu_wz.value);
|
||||
} else {
|
||||
printf("[IMU] --- OFFLINE or INVALID ---\r\n");
|
||||
}
|
||||
|
||||
// 5. 打印侧向阵列雷达 (强制转为 int，去掉多余的小数点)
|
||||
printf("[VL53L0X] Left-F : %4d mm | Left-R : %4d mm\r\n",
|
||||
(int)snap.dist_left_f.value, (int)snap.dist_left_r.value);
|
||||
printf(" Right-F: %4d mm | Right-R: %4d mm\r\n",
|
||||
(int)snap.dist_right_f.value, (int)snap.dist_right_r.value);
|
||||
|
||||
// 6. 打印前后激光测距雷达 (四个探头独立显示)
|
||||
printf("[LASER] F-STP: %4d mm | F-ATK: %4d mm\r\n",
|
||||
(int)snap.dist_front_stp.value, (int)snap.dist_front_atk.value);
|
||||
printf(" R-STP: %4d mm | R-ATK: %4d mm\r\n",
|
||||
(int)snap.dist_rear_stp.value, (int)snap.dist_rear_atk.value);
|
||||
printf("==================================================\r\n");
|
||||
|
||||
// 7. 释放锁
|
||||
if (logMutexHandle != NULL) {
|
||||
(void)osMutexRelease(logMutexHandle);
|
||||
}
|
||||
}
|
||||
|
||||
void AppTasks_RunCanTxTask(void *argument)
|
||||
{
|
||||
(void)argument;
|
||||
uint32_t wake_tick = osKernelGetTickCount();
|
||||
const uint32_t period_ticks = AppTasks_MsToTicks(20U);
|
||||
// 用于存放从指令槽里取出来的控制指令
|
||||
RobotTargetCmd_t current_cmd;
|
||||
|
||||
for (;;) {
|
||||
// 维持心跳发送
|
||||
SNC_CAN_20msTask();
|
||||
|
||||
// 从指令槽中获取最新指令，设置 100ms 超时容忍度
|
||||
if (CmdSlot_Pop(¤t_cmd, 100)) {
|
||||
// 如果算法层在 100ms 内有更新指令，正常下发给底盘
|
||||
(void)SNC_CAN_SendCmdVel(current_cmd.target_vx, current_cmd.target_wz, current_cmd.ctrl_flags);
|
||||
} else {
|
||||
// 🚨 触发安全保护：如果超过 100ms 没收到上层新指令（可能算法死机或网络断开）
|
||||
// 强制发送 0 速度，让底盘立刻停车，防止飞车撞墙
|
||||
(void)SNC_CAN_SendCmdVel(0.0f, 0.0f, 0U);
|
||||
}
|
||||
|
||||
wake_tick += period_ticks;
|
||||
(void)osDelayUntil(wake_tick);
|
||||
}
|
||||
}
|
||||
|
||||
void AppTasks_RunMonitorTask(void *argument)
|
||||
{
|
||||
(void)argument;
|
||||
uint32_t wake_tick = osKernelGetTickCount();
|
||||
const uint32_t period_ticks = AppTasks_MsToTicks(100U);
|
||||
|
||||
for (;;) {
|
||||
uint32_t now_ms = HAL_GetTick();
|
||||
|
||||
// 1. 执行 CAN 侧的周期性监控 (心跳/超时判断)
|
||||
SNC_CAN_100msTask();
|
||||
SNC_CAN_PollOnlineState(now_ms);
|
||||
|
||||
// 2. 获取 CAN 数据上下文
|
||||
const SNC_CAN_AppContext_t *can_ctx = SNC_CAN_GetContext();
|
||||
|
||||
// 3. 将底盘的核心状态写入全局黑板
|
||||
Blackboard_UpdateChassisState(can_ctx->status.state,
|
||||
can_ctx->status.diag_bits,
|
||||
can_ctx->status.online);
|
||||
|
||||
// 4. 里程计更新：从 CAN 0x200 累加器原子取走增量，积分并推送黑板
|
||||
// 使用 SNC_CAN_ConsumeOdomDelta() 解决漏积分/重复积分问题：
|
||||
// - ISR 侧每帧累加，不覆盖
|
||||
// - 此处原子取走并清零，每份增量恰好消费一次
|
||||
{
|
||||
int16_t odom_fl, odom_rl, odom_fr, odom_rr;
|
||||
uint32_t odom_span_ms;
|
||||
uint8_t odom_frames = SNC_CAN_ConsumeOdomDelta(
|
||||
&odom_fl, &odom_rl,
|
||||
&odom_fr, &odom_rr,
|
||||
&odom_span_ms);
|
||||
|
||||
if (odom_frames > 0U) {
|
||||
/* 有新的增量帧需要积分 */
|
||||
Odom_Update(now_ms,
|
||||
odom_fl, odom_rl,
|
||||
odom_fr, odom_rr,
|
||||
odom_span_ms);
|
||||
} else {
|
||||
/* odom 断流保护：超过协议允许时间后主动清零黑板里的速度 */
|
||||
Odom_HandleTimeout(now_ms, SNC_ODOM_TIMEOUT_MS);
|
||||
}
|
||||
}
|
||||
|
||||
/* 指令下发已由 navTask 接管，此处不再发送测试指令 */
|
||||
// 调用纯净版播报员 (内部自带分频逻辑)
|
||||
// App_PrintStatus();
|
||||
|
||||
wake_tick += period_ticks;
|
||||
(void)osDelayUntil(wake_tick);
|
||||
}
|
||||
}
|
||||
/* =========================================================
|
||||
* 1. 前后激光雷达任务 (Laser Manager)
|
||||
* ========================================================= */
|
||||
void AppTasks_RunLaserTestTask_Impl(void *argument)
|
||||
{
|
||||
(void)argument;
|
||||
|
||||
// 初始化前后防撞雷达
|
||||
LASER_SIMPLE_Init();
|
||||
|
||||
for (;;)
|
||||
{
|
||||
// 底层高频巡检
|
||||
LASER_SIMPLE_Poll(HAL_GetTick());
|
||||
|
||||
// 获取无撕裂快照
|
||||
const laser_simple_snapshot_t *snap = LASER_SIMPLE_GetSnapshot();
|
||||
|
||||
// 写入全局数据黑板
|
||||
Blackboard_UpdateLaser(snap);
|
||||
|
||||
// 维持 50ms 巡检频率 (避障数据建议稍快一些)
|
||||
osDelay(50);
|
||||
}
|
||||
}
|
||||
|
||||
/* =========================================================
|
||||
* 2. IMU 姿态传感器任务 (HWT101)
|
||||
* ========================================================= */
|
||||
void AppTasks_RunImuTask_Impl(void *argument)
|
||||
{
|
||||
(void)argument;
|
||||
|
||||
// 初始化 IMU (开启 DMA 接收)，使用 UART7
|
||||
HWT101_Init(&huart7);
|
||||
osDelay(100);
|
||||
HWT101_ZeroYaw();
|
||||
for (;;) {
|
||||
// 高频解析 DMA 数据
|
||||
HWT101_Process();
|
||||
|
||||
// 安全拷贝 IMU 数据并写入黑板
|
||||
HWT101_Data_t imu_data;
|
||||
HWT101_GetData(&imu_data);
|
||||
Blackboard_UpdateIMU(&imu_data);
|
||||
|
||||
osDelay(10); // 10ms 解析与更新周期
|
||||
}
|
||||
}
|
||||
|
||||
/* =========================================================
|
||||
* 3. 侧向阵列雷达任务 (VL53L0X 双总线)
|
||||
* ========================================================= */
|
||||
void AppTasks_RunVl53Task_Impl(void *argument)
|
||||
{
|
||||
(void)argument;
|
||||
static Vl53Board_t left_board;
|
||||
static Vl53Board_t right_board;
|
||||
/* --- 配置左侧雷达 (I2C2) --- */
|
||||
Vl53BoardHwCfg_t left_cfgs[2] = {
|
||||
{&hi2c2, GPIOB, GPIO_PIN_1, 0x62, "LF", 0}, // 左前 (PB1)
|
||||
{&hi2c2, GPIOC, GPIO_PIN_5, 0x64, "LR", 1} // 左后 (PC5)
|
||||
};
|
||||
|
||||
// 【修改 1】：测距预算从 robot_params.h 读取
|
||||
Vl53Board_Init(&left_board, left_cfgs, 2, PARAM_VL53_TIMING_BUDGET);
|
||||
Vl53Board_StartContinuous(&left_board);
|
||||
|
||||
/* --- 配置右侧雷达 (I2C1) --- */
|
||||
Vl53BoardHwCfg_t right_cfgs[2] = {
|
||||
{&hi2c1, GPIOD, GPIO_PIN_13, 0x56, "RF", 2}, // 右前 (PD13)
|
||||
{&hi2c1, GPIOD, GPIO_PIN_14, 0x58, "RR", 3} // 右后 (PD14)
|
||||
};
|
||||
|
||||
// 【修改 2】：同样从 robot_params.h 读取
|
||||
Vl53Board_Init(&right_board, right_cfgs, 2, PARAM_VL53_TIMING_BUDGET);
|
||||
Vl53Board_StartContinuous(&right_board);
|
||||
|
||||
Vl53BoardSnapshot_t left_snap, right_snap, combined_snap;
|
||||
|
||||
for(;;) {
|
||||
// 读取左右两侧的雷达快照
|
||||
Vl53Board_ReadAll(&left_board, &left_snap);
|
||||
Vl53Board_ReadAll(&right_board, &right_snap);
|
||||
|
||||
// 合并到一个统一的 Snapshot 中送给黑板
|
||||
memset(&combined_snap, 0, sizeof(combined_snap));
|
||||
combined_snap.tick_ms = HAL_GetTick();
|
||||
|
||||
// 映射约定：[0]左前，[1]左后，[2]右前，[3]右后
|
||||
for(int i = 0; i < 2; i++) {
|
||||
// 左侧复制到 [0], [1]
|
||||
combined_snap.range_mm[i] = left_snap.range_mm[i];
|
||||
combined_snap.range_mm_filtered[i] = left_snap.range_mm_filtered[i];
|
||||
combined_snap.range_status[i] = left_snap.range_status[i];
|
||||
|
||||
// 右侧偏移 2 个身位，复制到 [2], [3]
|
||||
combined_snap.range_mm[i+2] = right_snap.range_mm[i];
|
||||
combined_snap.range_mm_filtered[i+2] = right_snap.range_mm_filtered[i];
|
||||
combined_snap.range_status[i+2] = right_snap.range_status[i];
|
||||
}
|
||||
|
||||
// 合并掩码 (右侧掩码左移 2 位)
|
||||
combined_snap.valid_mask = (left_snap.valid_mask & 0x03) | ((right_snap.valid_mask & 0x03) << 2);
|
||||
|
||||
// 统一推送到黑板
|
||||
Blackboard_UpdateVl53(&combined_snap);
|
||||
|
||||
// 【修改 3】：休眠 100ms 匹配 VL53L0X 的新测距周期
|
||||
osDelay(100);
|
||||
}
|
||||
}
|
||||
|
||||
/* =========================================================
|
||||
* 4. 走廊导航控制任务 (Nav Pipeline)
|
||||
* 周期：20ms (50Hz)，与 CAN 发送同频
|
||||
* 流水线：Obs → Filter → Ctrl → Script → FSM → CmdSlot_Push
|
||||
* ========================================================= */
|
||||
void AppTasks_RunNavTask_Impl(void *argument)
|
||||
{
|
||||
(void)argument;
|
||||
uint32_t wake_tick = osKernelGetTickCount();
|
||||
const uint32_t period_ticks = AppTasks_MsToTicks(20U);
|
||||
uint32_t last_ms = HAL_GetTick();
|
||||
|
||||
/* 等传感器全部就绪再启动脚本 (避免刚上电全是脏数据) */
|
||||
osDelay(500);
|
||||
NavScript_Start(); // 开始执行比赛脚本
|
||||
|
||||
for (;;) {
|
||||
uint32_t now_ms = HAL_GetTick();
|
||||
float dt_s = (float)(now_ms - last_ms) / 1000.0f;
|
||||
if (dt_s <= 0.0f || dt_s > 0.5f) {
|
||||
dt_s = 0.02f; /* 容错：防止首拍或溢出 */
|
||||
}
|
||||
last_ms = now_ms;
|
||||
|
||||
/* --- Step 1: 拍摄黑板快照 --- */
|
||||
RobotBlackboard_t board;
|
||||
Blackboard_GetSnapshot(&board);
|
||||
|
||||
/* --- Step 2: 预处理 → 清洗观测 --- */
|
||||
CorridorObs_t obs;
|
||||
CorridorPreproc_ExtractObs(&board, now_ms, &obs);
|
||||
|
||||
/* --- Step 3: 互补滤波 → 走廊状态估计 --- */
|
||||
/* 注意: HWT101 输出 wz 单位是 °/s，EKF 需要 rad/s，必须转换！ */
|
||||
float imu_wz_raw = board.imu_wz.is_valid ? board.imu_wz.value : 0.0f;
|
||||
float imu_wz = PARAM_DEG2RAD(imu_wz_raw);
|
||||
float odom_vx = board.odom_vx; /* 里程计已接入，由 monitorTask 调用 Odom_Update() 更新 */
|
||||
|
||||
/* IMU 连续 yaw → rad，作为 EKF 额外航向观测 */
|
||||
float imu_yaw_cont_rad = board.imu_yaw_continuous.is_valid
|
||||
? PARAM_DEG2RAD(board.imu_yaw_continuous.value) : 0.0f;
|
||||
bool imu_yaw_ok = board.imu_yaw_continuous.is_valid;
|
||||
|
||||
CorridorState_t corridor_state;
|
||||
CorridorFilter_Update(&obs, imu_wz, odom_vx, dt_s,
|
||||
imu_yaw_cont_rad, imu_yaw_ok, &corridor_state);
|
||||
|
||||
/* --- Step 4: 段脚本执行器 → 决定当前阶段和目标 --- */
|
||||
NavScriptOutput_t script_out;
|
||||
float imu_yaw_cont_deg = board.imu_yaw_continuous.is_valid
|
||||
? board.imu_yaw_continuous.value : 0.0f;
|
||||
NavScript_Update(&obs, &corridor_state, imu_yaw_cont_deg, &script_out);
|
||||
|
||||
/* --- Step 5: 控制律 → 计算期望 v, w --- */
|
||||
RawCmd_t raw_cmd;
|
||||
if (script_out.use_override) {
|
||||
/* 脚本覆盖模式：直接用脚本的输出（入口对准/原地转向/退出等） */
|
||||
raw_cmd.t_ms = now_ms;
|
||||
raw_cmd.v = script_out.override_v;
|
||||
raw_cmd.w = script_out.override_w;
|
||||
raw_cmd.flags = 0U;
|
||||
} else if (script_out.request_corridor) {
|
||||
/* 走廊跟踪模式：使用走廊控制器 */
|
||||
CorridorCtrl_Compute(&corridor_state, &obs, imu_wz, &raw_cmd);
|
||||
} else {
|
||||
/* 默认停车 */
|
||||
raw_cmd.t_ms = now_ms;
|
||||
raw_cmd.v = 0.0f;
|
||||
raw_cmd.w = 0.0f;
|
||||
raw_cmd.flags = 0U;
|
||||
}
|
||||
|
||||
/* --- Step 6: 段状态机 → 安全仲裁 --- */
|
||||
SegFsmOutput_t fsm_out;
|
||||
SegFsm_Update(&raw_cmd, &obs, &corridor_state, &fsm_out);
|
||||
|
||||
/* --- Step 7: 将安全后的指令喂给 CAN 发送层 --- */
|
||||
CmdSlot_Push(fsm_out.safe_v, fsm_out.safe_w, 0U);
|
||||
|
||||
wake_tick += period_ticks;
|
||||
(void)osDelayUntil(wake_tick);
|
||||
}
|
||||
}
|
||||
|
||||
void AppTasks_Init(void)
|
||||
{
|
||||
SNC_CAN_AppInit();
|
||||
Odom_Init();
|
||||
|
||||
/* --- 初始化走廊滤波器 (EKF) --- */
|
||||
CorridorFilterConfig_t filter_cfg = {
|
||||
.sensor_base_length = PARAM_SENSOR_BASE_LENGTH, /* 实测：同侧前后雷达间距 */
|
||||
.corridor_width = PARAM_CORRIDOR_WIDTH, /* 实测：走廊宽度 */
|
||||
.y_offset = 0.0f, /* 0 = 绝对居中 */
|
||||
.side_sensor_inset = PARAM_VL53_SIDE_INSET, /* 实测：侧向传感器内缩距离 */
|
||||
.robot_width = PARAM_ROBOT_WIDTH, /* 实测：车体宽度 */
|
||||
.alpha_theta = 0.98f, /* 保留兼容，EKF 内部使用 Q/R */
|
||||
.alpha_y = 0.7f,
|
||||
};
|
||||
CorridorFilter_Init(&filter_cfg);
|
||||
|
||||
/* --- 初始化走廊控制器 --- */
|
||||
CorridorCtrlConfig_t ctrl_cfg = {
|
||||
.kp_theta = PARAM_CTRL_KP_THETA, /* 调优：航向比例增益 */
|
||||
.kd_theta = PARAM_CTRL_KD_THETA, /* 调优：航向微分增益 */
|
||||
.kp_y = PARAM_CTRL_KP_Y, /* 调优：横向比例增益 */
|
||||
.v_cruise = PARAM_CTRL_V_CRUISE, /* 调优：巡航速度 */
|
||||
.w_max = PARAM_CTRL_W_MAX, /* 角速度限幅 */
|
||||
.v_max = PARAM_CTRL_V_MAX, /* 线速度限幅 */
|
||||
.speed_reduction_k = PARAM_CTRL_SPEED_REDUCTION, /* 调优：弯道减速系数 */
|
||||
};
|
||||
CorridorCtrl_Init(&ctrl_cfg);
|
||||
|
||||
/* --- 初始化段状态机 --- */
|
||||
SegFsmConfig_t fsm_cfg = {
|
||||
.d_front_stop = PARAM_SAFE_D_FRONT_STOP, /* 安全：前向停车距离 */
|
||||
.d_front_approach = PARAM_SAFE_D_FRONT_APPROACH, /* 安全：前向减速距离 */
|
||||
.approach_min_v = PARAM_SAFE_APPROACH_MIN_V, /* 安全：减速区最低速度 */
|
||||
.conf_estop_thresh = PARAM_SAFE_CONF_ESTOP, /* 安全：E-Stop 置信度阈值 */
|
||||
};
|
||||
SegFsm_Init(&fsm_cfg);
|
||||
SegFsm_Start(); /* P0 修复: 必须显式启动安全状态机，否则 IDLE 状态直接输出零速 */
|
||||
|
||||
/* --- 初始化段脚本执行器 --- */
|
||||
NavScriptConfig_t script_cfg = {
|
||||
.turn_target_angle = 3.14159265f, /* 固定：180度转向 */
|
||||
.turn_omega = PARAM_SCRIPT_TURN_OMEGA, /* 调优：转向角速度 */
|
||||
.corridor_length = 3.0f, /* 备用：垄沟长度估计 */
|
||||
.entry_align_timeout = PARAM_SCRIPT_ENTRY_TIMEOUT, /* 调优：入口对准超时 */
|
||||
.d_entry_exit_front = 0.10f, /* 调优：出入口距离阈值 */
|
||||
.entry_align_v = PARAM_SCRIPT_ENTRY_V, /* 调优：入口对准速度 */
|
||||
.exit_runout_m = PARAM_SCRIPT_EXIT_RUNOUT, /* 调优：退出后冲出距离 */
|
||||
.exit_v = PARAM_SCRIPT_EXIT_V, /* P1 修复：退出直线速度独立参数 */
|
||||
};
|
||||
NavScript_Init(&script_cfg);
|
||||
}
|
||||
33
App/app_tasks.h
Normal file
33
App/app_tasks.h
Normal file
@@ -0,0 +1,33 @@
|
||||
#ifndef APP_TASKS_H
|
||||
#define APP_TASKS_H
|
||||
#include "cmsis_os2.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
#include <stdint.h>
|
||||
/* =========================================================
|
||||
* 启动接力标志位定义 (按 Bit 划分)
|
||||
* ========================================================= */
|
||||
#define INIT_FLAG_CAN_READY (1UL << 0) // Bit 0: CAN 握手完成
|
||||
#define INIT_FLAG_IMU_READY (1UL << 1) // Bit 1: IMU 初始化完成
|
||||
#define INIT_FLAG_VL53_READY (1UL << 2) // Bit 2: 侧向雷达初始化完成
|
||||
#define INIT_FLAG_LASER_READY (1UL << 3) // Bit 3: 防撞雷达初始化完成
|
||||
|
||||
/* 全局事件组句柄声明 */
|
||||
extern osEventFlagsId_t g_init_events;
|
||||
void AppTasks_RunCanTxTask(void *argument);
|
||||
void AppTasks_RunMonitorTask(void *argument);
|
||||
|
||||
/* 三个核心传感器采集与黑板更新任务 */
|
||||
void AppTasks_RunImuTask_Impl(void *argument);
|
||||
void AppTasks_RunLaserTestTask_Impl(void *argument);
|
||||
void AppTasks_RunVl53Task_Impl(void *argument);
|
||||
void AppTasks_RunNavTask_Impl(void *argument);
|
||||
void AppTasks_Init(void);
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* APP_TASKS_H */
|
||||
806
App/est/corridor_ekf.c
Normal file
806
App/est/corridor_ekf.c
Normal file
@@ -0,0 +1,806 @@
|
||||
/**
|
||||
* @file corridor_ekf.c
|
||||
* @brief 鲁棒 EKF 走廊相对定位滤波器实现
|
||||
*
|
||||
* 完整算法流程：
|
||||
*
|
||||
* 【预测步】Predict(vx, wz, dt)
|
||||
* x_pred = f(x, u) -- 非线性状态转移
|
||||
* P_pred = F * P * F^T + Q -- 协方差预测
|
||||
*
|
||||
* 【更新步】Update(obs)
|
||||
* z = h(x_pred) -- 观测预测
|
||||
* y = z_meas - z -- 新息 (Innovation)
|
||||
* S = H * P_pred * H^T + R -- 新息协方差
|
||||
* d² = y^T * S^(-1) * y -- 马氏距离平方
|
||||
* if d² > χ²_threshold: 拒绝观测 (鲁棒)
|
||||
* K = P_pred * H^T * S^(-1) -- 卡尔曼增益
|
||||
* x = x_pred + K * y -- 状态更新
|
||||
* P = (I - K * H) * P_pred -- 协方差更新
|
||||
*/
|
||||
|
||||
#include "corridor_ekf.h"
|
||||
#include <math.h>
|
||||
#include <string.h>
|
||||
|
||||
/* =========================================================
|
||||
* 内部静态状态
|
||||
* ========================================================= */
|
||||
static CorridorEKFConfig_t s_cfg;
|
||||
static CorridorEKFState_t s_state;
|
||||
static bool s_initialized = false;
|
||||
static uint32_t s_last_update_ms = 0U;
|
||||
|
||||
/* 协方差上界保护阈值 */
|
||||
#define P_MAX_DIAG 100.0f
|
||||
|
||||
/* =========================================================
|
||||
* 内部辅助函数
|
||||
* ========================================================= */
|
||||
|
||||
/** 限幅 */
|
||||
static inline float clampf(float val, float lo, float hi)
|
||||
{
|
||||
if (val < lo) return lo;
|
||||
if (val > hi) return hi;
|
||||
return val;
|
||||
}
|
||||
|
||||
/** 对称矩阵拷贝 + 上三角 symmetrize */
|
||||
static void symmetrize(float M[3][3])
|
||||
{
|
||||
M[1][0] = M[0][1];
|
||||
M[2][0] = M[0][2];
|
||||
M[2][1] = M[1][2];
|
||||
}
|
||||
|
||||
/** P 上界保护 */
|
||||
static void protect_P(float P[3][3])
|
||||
{
|
||||
for (int i = 0; i < 3; i++) {
|
||||
if (P[i][i] > P_MAX_DIAG) P[i][i] = P_MAX_DIAG;
|
||||
if (P[i][i] < 0.0f) P[i][i] = 0.0f;
|
||||
}
|
||||
}
|
||||
|
||||
/** 计算 2x2 对称矩阵的逆 (原地) */
|
||||
static bool invert_2x2_sym(float S[2][2])
|
||||
{
|
||||
float det = S[0][0] * S[1][1] - S[0][1] * S[1][0];
|
||||
if (fabsf(det) < 1e-8f) {
|
||||
return false; // 奇异矩阵
|
||||
}
|
||||
float inv_det = 1.0f / det;
|
||||
float S00 = S[0][0];
|
||||
S[0][0] = inv_det * S[1][1];
|
||||
S[1][1] = inv_det * S00;
|
||||
S[0][1] = -inv_det * S[0][1];
|
||||
S[1][0] = S[0][1];
|
||||
return true;
|
||||
}
|
||||
|
||||
/** 2x2 对称矩阵求逆 (原地) */
|
||||
static bool invert_3x3_cholesky(float S[3][3])
|
||||
{
|
||||
// 使用 Cholesky 分解求逆
|
||||
float L[3][3] = {0};
|
||||
|
||||
for (int i = 0; i < 3; i++) {
|
||||
for (int j = 0; j <= i; j++) {
|
||||
float sum = S[i][j];
|
||||
for (int k = 0; k < j; k++) {
|
||||
sum -= L[i][k] * L[j][k];
|
||||
}
|
||||
if (i == j) {
|
||||
if (sum <= 0.0f) return false;
|
||||
L[i][j] = sqrtf(sum);
|
||||
} else {
|
||||
L[i][j] = sum / L[j][j];
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// 求逆: S_inv = L^(-T) * L^(-1)
|
||||
float Linv[3][3] = {0};
|
||||
for (int i = 0; i < 3; i++) {
|
||||
Linv[i][i] = 1.0f / L[i][i];
|
||||
for (int j = i - 1; j >= 0; j--) {
|
||||
float sum = 0.0f;
|
||||
for (int k = j + 1; k <= i; k++) {
|
||||
sum += L[k][j] * Linv[k][i];
|
||||
}
|
||||
Linv[j][i] = -sum / L[j][j];
|
||||
}
|
||||
}
|
||||
|
||||
// S_inv = Linv^T * Linv
|
||||
for (int i = 0; i < 3; i++) {
|
||||
for (int j = 0; j < 3; j++) {
|
||||
float sum = 0.0f;
|
||||
for (int k = 0; k < 3; k++) {
|
||||
sum += Linv[k][i] * Linv[k][j];
|
||||
}
|
||||
S[i][j] = sum;
|
||||
}
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
/** 计算马氏距离平方 (新息向量 y, 新息协方差 S_inv) */
|
||||
static float mahalanobis_d2_3dof(const float y[3], const float S_inv[3][3])
|
||||
{
|
||||
// d² = y^T * S_inv * y
|
||||
float tmp[3] = {0};
|
||||
for (int i = 0; i < 3; i++) {
|
||||
for (int j = 0; j < 3; j++) {
|
||||
tmp[i] += S_inv[i][j] * y[j];
|
||||
}
|
||||
}
|
||||
float d2 = 0.0f;
|
||||
for (int i = 0; i < 3; i++) {
|
||||
d2 += y[i] * tmp[i];
|
||||
}
|
||||
return d2;
|
||||
}
|
||||
|
||||
/** 计算马氏距离平方 (1DOF: 只用 e_y) */
|
||||
static float mahalanobis_d2_1dof(float y_ey, float S_inv_00)
|
||||
{
|
||||
return y_ey * y_ey * S_inv_00;
|
||||
}
|
||||
|
||||
/** 计算马氏距离平方 (2DOF: e_ey + e_th_avg) */
|
||||
static float mahalanobis_d2_2dof(const float y[2], const float S_inv[2][2])
|
||||
{
|
||||
float tmp[2] = {0};
|
||||
for (int i = 0; i < 2; i++) {
|
||||
for (int j = 0; j < 2; j++) {
|
||||
tmp[i] += S_inv[i][j] * y[j];
|
||||
}
|
||||
}
|
||||
float d2 = 0.0f;
|
||||
for (int i = 0; i < 2; i++) {
|
||||
d2 += y[i] * tmp[i];
|
||||
}
|
||||
return d2;
|
||||
}
|
||||
|
||||
/** 零矩阵 */
|
||||
static void zero_3x3(float M[3][3])
|
||||
{
|
||||
memset(M, 0, sizeof(float) * 9);
|
||||
}
|
||||
|
||||
/** 单位矩阵 */
|
||||
static void eye_3x3(float M[3][3])
|
||||
{
|
||||
zero_3x3(M);
|
||||
M[0][0] = M[1][1] = M[2][2] = 1.0f;
|
||||
}
|
||||
|
||||
/* =========================================================
|
||||
* API 实现
|
||||
* ========================================================= */
|
||||
|
||||
void CorridorEKF_Init(const CorridorEKFConfig_t *config)
|
||||
{
|
||||
s_cfg = *config;
|
||||
memset(&s_state, 0, sizeof(s_state));
|
||||
|
||||
/* 初始化状态 */
|
||||
s_state.x[0] = 0.0f; // e_y
|
||||
s_state.x[1] = 0.0f; // e_th
|
||||
s_state.x[2] = 0.0f; // s
|
||||
|
||||
/* 初始化协方差 */
|
||||
eye_3x3(s_state.P);
|
||||
s_state.P[0][0] = config->P0_diag[0];
|
||||
s_state.P[1][1] = config->P0_diag[1];
|
||||
s_state.P[2][2] = config->P0_diag[2];
|
||||
|
||||
s_initialized = true;
|
||||
}
|
||||
|
||||
void CorridorEKF_Reset(void)
|
||||
{
|
||||
if (!s_initialized) return;
|
||||
|
||||
s_state.x[0] = 0.0f;
|
||||
s_state.x[1] = 0.0f;
|
||||
s_state.x[2] = 0.0f;
|
||||
|
||||
eye_3x3(s_state.P);
|
||||
s_state.P[0][0] = s_cfg.P0_diag[0];
|
||||
s_state.P[1][1] = s_cfg.P0_diag[1];
|
||||
s_state.P[2][2] = s_cfg.P0_diag[2];
|
||||
|
||||
s_last_update_ms = 0U;
|
||||
}
|
||||
|
||||
void CorridorEKF_SetProcessNoise(float q_ey, float q_eth, float q_s)
|
||||
{
|
||||
s_cfg.q_ey = q_ey;
|
||||
s_cfg.q_eth = q_eth;
|
||||
s_cfg.q_s = q_s;
|
||||
}
|
||||
|
||||
void CorridorEKF_SetMeasurementNoise(float r_ey, float r_eth)
|
||||
{
|
||||
s_cfg.r_ey = r_ey;
|
||||
s_cfg.r_eth = r_eth;
|
||||
}
|
||||
|
||||
/* =========================================================
|
||||
* 预测步 (Predict)
|
||||
* ========================================================= */
|
||||
void CorridorEKF_Predict(float odom_vx, float imu_wz, float dt)
|
||||
{
|
||||
if (!s_initialized || dt <= 0.0f) return;
|
||||
|
||||
float e_y = s_state.x[0];
|
||||
float e_th = s_state.x[1];
|
||||
float s = s_state.x[2];
|
||||
float vx = odom_vx;
|
||||
float wz = imu_wz;
|
||||
|
||||
/* 状态预测: x_pred = f(x, u) */
|
||||
float cos_th = cosf(e_th);
|
||||
float sin_th = sinf(e_th);
|
||||
|
||||
/* 安全检查: cos_th 不能太小 (防止数值爆炸) */
|
||||
if (fabsf(cos_th) < 0.01f) cos_th = (cos_th >= 0.0f) ? 0.01f : -0.01f;
|
||||
|
||||
float e_y_pred = e_y + vx * sin_th * dt;
|
||||
float e_th_pred = e_th + wz * dt;
|
||||
float s_pred = s + vx * cos_th * dt;
|
||||
|
||||
s_state.x[0] = e_y_pred;
|
||||
s_state.x[1] = e_th_pred;
|
||||
s_state.x[2] = s_pred;
|
||||
|
||||
/* 雅可比矩阵 F (状态转移的 Jacobian) */
|
||||
float F[3][3] = {0};
|
||||
F[0][0] = 1.0f;
|
||||
F[0][1] = vx * cos_th * dt; // de_y/de_th
|
||||
F[0][2] = 0.0f;
|
||||
|
||||
F[1][0] = 0.0f;
|
||||
F[1][1] = 1.0f;
|
||||
F[1][2] = 0.0f;
|
||||
|
||||
F[2][0] = 0.0f;
|
||||
F[2][1] = -vx * sin_th * dt; // ds/de_th
|
||||
F[2][2] = 1.0f;
|
||||
|
||||
/* 过程噪声协方差 Q (对角) */
|
||||
float Q[3][3] = {0};
|
||||
Q[0][0] = s_cfg.q_ey * dt * dt;
|
||||
Q[1][1] = s_cfg.q_eth * dt * dt;
|
||||
Q[2][2] = s_cfg.q_s * dt * dt;
|
||||
|
||||
/* 协方差预测: P_pred = F * P * F^T + Q */
|
||||
float F_P[3][3] = {0};
|
||||
for (int i = 0; i < 3; i++) {
|
||||
for (int j = 0; j < 3; j++) {
|
||||
for (int k = 0; k < 3; k++) {
|
||||
F_P[i][j] += F[i][k] * s_state.P[k][j];
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
float P_pred[3][3] = {0};
|
||||
for (int i = 0; i < 3; i++) {
|
||||
for (int j = 0; j < 3; j++) {
|
||||
for (int k = 0; k < 3; k++) {
|
||||
P_pred[i][j] += F_P[i][k] * F[j][k]; // F^T: F[j][k] = F[k][j]
|
||||
}
|
||||
}
|
||||
P_pred[i][i] += Q[i][i]; // 加过程噪声
|
||||
}
|
||||
|
||||
symmetrize(P_pred);
|
||||
|
||||
for (int i = 0; i < 3; i++) {
|
||||
for (int j = 0; j < 3; j++) {
|
||||
s_state.P[i][j] = P_pred[i][j];
|
||||
}
|
||||
}
|
||||
|
||||
protect_P(s_state.P);
|
||||
}
|
||||
|
||||
/* =========================================================
|
||||
* 观测步 (Update) - 鲁棒 EKF
|
||||
* ========================================================= */
|
||||
int CorridorEKF_Update(const CorridorObs_t *obs, CorridorState_t *out_state)
|
||||
{
|
||||
if (!s_initialized) return 0;
|
||||
|
||||
int updated_obs_count = 0;
|
||||
|
||||
/* 清除新息和拒绝掩码 */
|
||||
memset(s_state.K, 0, sizeof(s_state.K));
|
||||
uint8_t reject_mask = 0U;
|
||||
float max_maha_d2 = 0.0f;
|
||||
|
||||
/* ----------------------------------------------------
|
||||
* 提取有效观测
|
||||
* ---------------------------------------------------- */
|
||||
bool left_ok = ((obs->valid_mask & (1U << 0)) != 0U) &&
|
||||
((obs->valid_mask & (1U << 1)) != 0U);
|
||||
bool right_ok = ((obs->valid_mask & (1U << 2)) != 0U) &&
|
||||
((obs->valid_mask & (1U << 3)) != 0U);
|
||||
|
||||
/* 左右侧横向平均距离 */
|
||||
float d_lf = obs->d_lf, d_lr = obs->d_lr;
|
||||
float d_rf = obs->d_rf, d_rr = obs->d_rr;
|
||||
float Ls = s_cfg.sensor_base_length;
|
||||
float W = s_cfg.corridor_width;
|
||||
float yoff = s_cfg.y_offset;
|
||||
float inset = s_cfg.side_sensor_inset;
|
||||
float Rw = s_cfg.robot_width;
|
||||
|
||||
/* 传感器居中时的理论读数 (考虑车体宽度和传感器内缩)
|
||||
*
|
||||
* 推导 (以左侧为例)：
|
||||
* 沟道宽 W，车体宽 Rw，传感器内缩 inset
|
||||
* 居中时：
|
||||
* 车体左边缘到左墙 = (W - Rw) / 2
|
||||
* 传感器到左墙 = (W - Rw) / 2 + inset (传感器比边缘更靠内)
|
||||
*
|
||||
* 所以 d_center = (W - Rw) / 2 + inset
|
||||
*
|
||||
* 验证：W=0.40, Rw=0.20, inset=0
|
||||
* d_center = (0.40-0.20)/2 + 0 = 0.10m ✓ (每边余量10cm)
|
||||
*
|
||||
* 单侧公式：e_y = d_center - d_left (左侧传感器越近墙，偏差越大)
|
||||
* 双侧公式：e_y = [(d_center - d_left) + (d_right - d_center)] / 2
|
||||
* = (d_right - d_left) / 2 (d_center 被消掉)
|
||||
*
|
||||
* ⚠ 当 inset = 0 且 Rw = 0 时，d_center = W/2，退化回原始行为
|
||||
*/
|
||||
float d_center = (W - Rw) / 2.0f + inset; /* 传感器居中时的理论读数 */
|
||||
|
||||
/* 观测值 (测量) */
|
||||
float z_ey = 0.0f;
|
||||
float z_eth_L = 0.0f;
|
||||
float z_eth_R = 0.0f;
|
||||
|
||||
int valid_sides = 0;
|
||||
|
||||
if (left_ok) {
|
||||
z_ey += d_center - ((d_lf + d_lr) / 2.0f) - yoff;
|
||||
z_eth_L = atan2f(d_lr - d_lf, Ls);
|
||||
valid_sides++;
|
||||
}
|
||||
|
||||
if (right_ok) {
|
||||
z_ey += ((d_rf + d_rr) / 2.0f) - d_center - yoff;
|
||||
z_eth_R = atan2f(d_rf - d_rr, Ls);
|
||||
valid_sides++;
|
||||
}
|
||||
|
||||
if (valid_sides == 0) {
|
||||
/* 两边都失效: 协方差持续膨胀，输出预测值 */
|
||||
out_state->t_ms = obs->t_ms;
|
||||
out_state->e_y = s_state.x[0];
|
||||
out_state->e_th = s_state.x[1];
|
||||
out_state->s = s_state.x[2];
|
||||
out_state->conf = clampf(1.0f - (s_state.P[0][0] + s_state.P[1][1]) * 0.1f, 0.0f, 1.0f);
|
||||
out_state->obs_reject_mask = 0xFF;
|
||||
out_state->mahalanobis_d2 = 0.0f;
|
||||
|
||||
for (int i = 0; i < 3; i++) {
|
||||
for (int j = 0; j < 3; j++) {
|
||||
out_state->P[i][j] = s_state.P[i][j];
|
||||
}
|
||||
}
|
||||
|
||||
/* 协方差膨胀 (无观测时的信任衰减) */
|
||||
s_state.P[0][0] += s_cfg.q_ey * 5.0f;
|
||||
s_state.P[1][1] += s_cfg.q_eth * 5.0f;
|
||||
protect_P(s_state.P);
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* 横向观测: 两侧平均 */
|
||||
if (valid_sides == 2) {
|
||||
z_ey /= 2.0f;
|
||||
}
|
||||
|
||||
/* ----------------------------------------------------
|
||||
* 构建观测向量 z 和预测观测 h(x)
|
||||
* ---------------------------------------------------- */
|
||||
float e_y = s_state.x[0];
|
||||
float e_th = s_state.x[1];
|
||||
|
||||
/* 预测观测 h(x) */
|
||||
float h_ey = e_y; // 横向: z_ey ≈ e_y
|
||||
float h_eth_L = e_th; // 左侧航向: z_eth_L ≈ e_th
|
||||
float h_eth_R = e_th; // 右侧航向: z_eth_R ≈ e_th
|
||||
|
||||
/* 新息向量 y = z - h(x) */
|
||||
float y[3] = {0};
|
||||
int obs_idx = 0;
|
||||
|
||||
/* e_y 观测 */
|
||||
y[obs_idx++] = z_ey - h_ey;
|
||||
|
||||
/* e_th_L 观测 */
|
||||
if (left_ok) y[obs_idx++] = z_eth_L - h_eth_L;
|
||||
|
||||
/* e_th_R 观测 */
|
||||
if (right_ok) y[obs_idx++] = z_eth_R - h_eth_R;
|
||||
|
||||
/* ----------------------------------------------------
|
||||
* 构建 H 矩阵 (Jacobian of h(x))
|
||||
* ---------------------------------------------------- */
|
||||
/* H 布局:
|
||||
* 航向角观测对应列是 1,0,0 (e_y 观测量)
|
||||
* 航向角观测对应列是 0,1,0 (e_th 观测量)
|
||||
* s 不被直接观测
|
||||
*/
|
||||
float H[3][3] = {0};
|
||||
int H_row = 0;
|
||||
|
||||
/* e_y 行: H = [1, 0, 0] */
|
||||
H[H_row][0] = 1.0f; H[H_row][1] = 0.0f; H[H_row][2] = 0.0f;
|
||||
H_row++;
|
||||
|
||||
/* e_th_L 行: H = [0, 1, 0] */
|
||||
if (left_ok) {
|
||||
H[H_row][0] = 0.0f; H[H_row][1] = 1.0f; H[H_row][2] = 0.0f;
|
||||
H_row++;
|
||||
}
|
||||
|
||||
/* e_th_R 行: H = [0, 1, 0] */
|
||||
if (right_ok) {
|
||||
H[H_row][0] = 0.0f; H[H_row][1] = 1.0f; H[H_row][2] = 0.0f;
|
||||
H_row++;
|
||||
}
|
||||
|
||||
int obs_count = H_row;
|
||||
|
||||
/* ----------------------------------------------------
|
||||
* 构建观测噪声协方差 R (根据有效侧数量调整)
|
||||
* ---------------------------------------------------- */
|
||||
float R[3][3] = {0};
|
||||
R[0][0] = s_cfg.r_ey; // e_y 的噪声
|
||||
|
||||
if (left_ok && right_ok) {
|
||||
/* 双侧: 航向噪声更小 (两个独立观测平均) */
|
||||
R[1][1] = s_cfg.r_eth * 0.5f; // e_th_L
|
||||
R[2][2] = s_cfg.r_eth * 0.5f; // e_th_R
|
||||
} else {
|
||||
/* 单侧: 航向噪声较大 */
|
||||
if (left_ok) {
|
||||
R[1][1] = s_cfg.r_eth;
|
||||
}
|
||||
if (right_ok) {
|
||||
R[1][1] = s_cfg.r_eth;
|
||||
}
|
||||
}
|
||||
|
||||
/* ----------------------------------------------------
|
||||
* 计算新息协方差 S = H * P * H^T + R
|
||||
* ---------------------------------------------------- */
|
||||
float HP[3][3] = {0};
|
||||
for (int i = 0; i < obs_count; i++) {
|
||||
for (int j = 0; j < 3; j++) {
|
||||
for (int k = 0; k < 3; k++) {
|
||||
HP[i][j] += H[i][k] * s_state.P[k][j];
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
float S[3][3] = {0};
|
||||
for (int i = 0; i < obs_count; i++) {
|
||||
for (int j = 0; j < 3; j++) {
|
||||
for (int k = 0; k < 3; k++) {
|
||||
S[i][j] += HP[i][k] * H[j][k]; // H^T: H[j][k] = H[k][j]
|
||||
}
|
||||
}
|
||||
S[i][i] += R[i][i]; // 加观测噪声
|
||||
}
|
||||
|
||||
/* ----------------------------------------------------
|
||||
* 计算 S 的逆
|
||||
* ---------------------------------------------------- */
|
||||
float S_inv[3][3] = {0};
|
||||
if (obs_count == 1) {
|
||||
/* 1 观测: 标量 */
|
||||
if (fabsf(S[0][0]) < 1e-8f) {
|
||||
goto output_result;
|
||||
}
|
||||
S_inv[0][0] = 1.0f / S[0][0];
|
||||
} else if (obs_count == 2) {
|
||||
/* 2 观测：2x2 - 拷贝到局部矩阵 */
|
||||
float S_2x2[2][2];
|
||||
S_2x2[0][0] = S[0][0]; S_2x2[0][1] = S[0][1];
|
||||
S_2x2[1][0] = S[1][0]; S_2x2[1][1] = S[1][1];
|
||||
|
||||
if (!invert_2x2_sym(S_2x2)) {
|
||||
goto output_result;
|
||||
}
|
||||
|
||||
/* 拷贝回 S_inv */
|
||||
S_inv[0][0] = S_2x2[0][0]; S_inv[0][1] = S_2x2[0][1];
|
||||
S_inv[1][0] = S_2x2[1][0]; S_inv[1][1] = S_2x2[1][1];
|
||||
} else {
|
||||
/* 3 观测: 3x3 */
|
||||
memcpy(S_inv, S, sizeof(float) * 9);
|
||||
if (!invert_3x3_cholesky(S_inv)) {
|
||||
goto output_result;
|
||||
}
|
||||
}
|
||||
|
||||
/* ----------------------------------------------------
|
||||
* χ² 马氏距离检验 (鲁棒拒绝)
|
||||
* ---------------------------------------------------- */
|
||||
float d2_total = 0.0f;
|
||||
if (obs_count == 1) {
|
||||
d2_total = mahalanobis_d2_1dof(y[0], S_inv[0][0]);
|
||||
} else if (obs_count == 2) {
|
||||
d2_total = mahalanobis_d2_2dof(y, (const float (*)[2])S_inv);
|
||||
} else {
|
||||
d2_total = mahalanobis_d2_3dof(y, S_inv);
|
||||
}
|
||||
max_maha_d2 = d2_total;
|
||||
|
||||
/* 单自由度检验: e_y 单独检验 */
|
||||
float d2_ey = mahalanobis_d2_1dof(y[0], S_inv[0][0]);
|
||||
if (d2_ey > s_cfg.chi2_1dof) {
|
||||
reject_mask |= (1U << 0); // 拒绝 e_y
|
||||
}
|
||||
|
||||
/* 1 DOF 门限约 3.84 (95%), 约 6.63 (99%) */
|
||||
/* 如果整体 d² 过大，拒绝最可疑的观测 */
|
||||
if (obs_count >= 2) {
|
||||
/* 检验 e_th_L */
|
||||
if (left_ok && !(reject_mask & (1U << 0))) {
|
||||
/* 需要重新计算不含 e_y 的马氏距离 */
|
||||
/* 简化: 用 y[1]^2 / S[1][1] 作为 1DOF 近似 */
|
||||
if (fabsf(S[1][1]) > 1e-8f) {
|
||||
float d2_eth_L = y[1] * y[1] / S[1][1];
|
||||
if (d2_eth_L > s_cfg.chi2_1dof) {
|
||||
reject_mask |= (1U << 1); // 拒绝 e_th_L
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/* 检验 e_th_R */
|
||||
if (right_ok && !(reject_mask & (1U << 0)) && obs_count >= 3) {
|
||||
if (fabsf(S[2][2]) > 1e-8f) {
|
||||
float d2_eth_R = y[2] * y[2] / S[2][2];
|
||||
if (d2_eth_R > s_cfg.chi2_1dof) {
|
||||
reject_mask |= (1U << 2); // 拒绝 e_th_R
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/* ----------------------------------------------------
|
||||
* 计算卡尔曼增益 K = P * H^T * S^(-1)
|
||||
* P1 修复: 必须做完整矩阵乘法 (P*H^T) * S_inv，
|
||||
* 而不能只乘 S_inv 的对角项 S_inv[j][j]。
|
||||
* 后者会忽略 S 的非对角元素（观测间相关性），
|
||||
* 导致卡尔曼增益不正确，影响滤波收敛性。
|
||||
* ---------------------------------------------------- */
|
||||
float HT[3][3] = {0};
|
||||
for (int i = 0; i < 3; i++) {
|
||||
for (int j = 0; j < obs_count; j++) {
|
||||
HT[i][j] = H[j][i]; // H^T
|
||||
}
|
||||
}
|
||||
|
||||
/* Step 1: PH^T = P * H^T, 结果为 3×obs_count */
|
||||
float PHT[3][3] = {0};
|
||||
for (int i = 0; i < 3; i++) {
|
||||
for (int j = 0; j < obs_count; j++) {
|
||||
for (int k = 0; k < 3; k++) {
|
||||
PHT[i][j] += s_state.P[i][k] * HT[k][j];
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/* Step 2: K = PHT * S_inv, 结果为 3×obs_count */
|
||||
float K[3][3] = {0};
|
||||
for (int i = 0; i < 3; i++) {
|
||||
for (int j = 0; j < obs_count; j++) {
|
||||
for (int k = 0; k < obs_count; k++) {
|
||||
K[i][j] += PHT[i][k] * S_inv[k][j];
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/* ----------------------------------------------------
|
||||
* 跳过被拒绝的观测，更新剩余观测
|
||||
* ---------------------------------------------------- */
|
||||
int used_obs = 0;
|
||||
for (int i = 0; i < obs_count; i++) {
|
||||
uint8_t bit = (i == 0) ? (1U << 0) : ((i == 1) ? (1U << 1) : (1U << 2));
|
||||
if (reject_mask & bit) {
|
||||
/*
|
||||
* 关键：被拒绝的观测不仅不能更新状态，
|
||||
* 也不能参与后续 KH/P 更新，否则会错误收缩协方差。
|
||||
*/
|
||||
K[0][i] = 0.0f;
|
||||
K[1][i] = 0.0f;
|
||||
K[2][i] = 0.0f;
|
||||
continue;
|
||||
}
|
||||
|
||||
/* 状态更新: x += K[:, i] * y[i] */
|
||||
s_state.x[0] += K[0][i] * y[i];
|
||||
s_state.x[1] += K[1][i] * y[i];
|
||||
s_state.x[2] += K[2][i] * y[i];
|
||||
used_obs++;
|
||||
}
|
||||
|
||||
/* ----------------------------------------------------
|
||||
* 协方差更新: P = (I - K * H) * P_pred
|
||||
* 简化 Joseph 形式: P = (I - K*H) * P * (I - K*H)^T + K * R * K^T
|
||||
* 这里使用简化形式: P = (I - K*H) * P
|
||||
* ---------------------------------------------------- */
|
||||
float KH[3][3] = {0};
|
||||
for (int i = 0; i < 3; i++) {
|
||||
for (int j = 0; j < 3; j++) {
|
||||
for (int k = 0; k < obs_count; k++) {
|
||||
KH[i][j] += K[i][k] * H[k][j];
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
float I_KH[3][3];
|
||||
I_KH[0][0] = 1.0f - KH[0][0]; I_KH[0][1] = -KH[0][1]; I_KH[0][2] = -KH[0][2];
|
||||
I_KH[1][0] = -KH[1][0]; I_KH[1][1] = 1.0f - KH[1][1]; I_KH[1][2] = -KH[1][2];
|
||||
I_KH[2][0] = -KH[2][0]; I_KH[2][1] = -KH[2][1]; I_KH[2][2] = 1.0f - KH[2][2];
|
||||
|
||||
float P_tmp[3][3] = {0};
|
||||
for (int i = 0; i < 3; i++) {
|
||||
for (int j = 0; j < 3; j++) {
|
||||
for (int k = 0; k < 3; k++) {
|
||||
P_tmp[i][j] += I_KH[i][k] * s_state.P[k][j];
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
for (int i = 0; i < 3; i++) {
|
||||
for (int j = 0; j < 3; j++) {
|
||||
s_state.P[i][j] = P_tmp[i][j];
|
||||
}
|
||||
}
|
||||
|
||||
symmetrize(s_state.P);
|
||||
protect_P(s_state.P);
|
||||
|
||||
updated_obs_count = used_obs;
|
||||
|
||||
output_result:
|
||||
/* ----------------------------------------------------
|
||||
* 填充输出
|
||||
* ---------------------------------------------------- */
|
||||
out_state->t_ms = obs->t_ms;
|
||||
out_state->e_y = s_state.x[0];
|
||||
out_state->e_th = s_state.x[1];
|
||||
out_state->s = s_state.x[2];
|
||||
|
||||
for (int i = 0; i < 3; i++) {
|
||||
for (int j = 0; j < 3; j++) {
|
||||
out_state->P[i][j] = s_state.P[i][j];
|
||||
}
|
||||
}
|
||||
|
||||
out_state->mahalanobis_d2 = max_maha_d2;
|
||||
out_state->obs_reject_mask = reject_mask;
|
||||
|
||||
/* 置信度: 基于协方差迹和拒绝比例 */
|
||||
float P_trace = s_state.P[0][0] + s_state.P[1][1] + s_state.P[2][2];
|
||||
float conf_from_P = clampf(1.0f - P_trace * 0.5f, 0.0f, 1.0f);
|
||||
|
||||
/* 根据有效侧数加权 */
|
||||
float side_factor = (valid_sides == 2) ? 1.0f : 0.7f;
|
||||
|
||||
/* 根据拒绝比例降低置信度 */
|
||||
float reject_ratio = 0.0f;
|
||||
if (obs_count > 0) {
|
||||
int rejected = 0;
|
||||
if (reject_mask & (1U << 0)) rejected++;
|
||||
if (reject_mask & (1U << 1)) rejected++;
|
||||
if (reject_mask & (1U << 2)) rejected++;
|
||||
reject_ratio = (float)rejected / (float)obs_count;
|
||||
}
|
||||
|
||||
out_state->conf = clampf(conf_from_P * side_factor * (1.0f - reject_ratio * 0.5f), 0.0f, 1.0f);
|
||||
|
||||
return updated_obs_count;
|
||||
}
|
||||
|
||||
/* =========================================================
|
||||
* 辅助 API
|
||||
* ========================================================= */
|
||||
|
||||
/* =========================================================
|
||||
* IMU 航向观测更新 (独立 1DOF 标量 EKF 更新)
|
||||
*
|
||||
* 观测方程: z_eth_imu = imu_yaw_rad - imu_yaw_ref_rad
|
||||
* 对应状态: e_th (x[1])
|
||||
* H = [0, 1, 0] (只观测 e_th)
|
||||
*
|
||||
* 设计意图：
|
||||
* - IMU 内部维护的 yaw 经过模块校准，比外部积分 wz 更稳定
|
||||
* - 在侧墙观测丢失 (转弯/单侧退化) 时提供航向约束
|
||||
* - 使用较大 R 值，让侧墙观测在有效时主导
|
||||
* ========================================================= */
|
||||
void CorridorEKF_UpdateIMUYaw(float imu_yaw_rad, float imu_yaw_ref_rad, bool valid)
|
||||
{
|
||||
if (!s_initialized || !valid) return;
|
||||
|
||||
/* 观测值: IMU 相对于走廊参考方向的航向偏差 */
|
||||
float z_eth_imu = imu_yaw_rad - imu_yaw_ref_rad;
|
||||
|
||||
/* 新息: y = z - h(x), h(x) = e_th = x[1] */
|
||||
float y_imu = z_eth_imu - s_state.x[1];
|
||||
|
||||
/* H = [0, 1, 0] → S = P[1][1] + R_imu */
|
||||
float R_imu = s_cfg.r_eth_imu;
|
||||
float S_imu = s_state.P[1][1] + R_imu;
|
||||
|
||||
if (fabsf(S_imu) < 1e-8f) return;
|
||||
|
||||
/* χ² 1DOF 检验: d² = y² / S */
|
||||
float d2_imu = y_imu * y_imu / S_imu;
|
||||
if (d2_imu > s_cfg.chi2_1dof) return; /* 拒绝异常观测 */
|
||||
|
||||
/* 卡尔曼增益: K = P * H^T / S = P[:][1] / S */
|
||||
float K[3];
|
||||
float S_inv = 1.0f / S_imu;
|
||||
K[0] = s_state.P[0][1] * S_inv;
|
||||
K[1] = s_state.P[1][1] * S_inv;
|
||||
K[2] = s_state.P[2][1] * S_inv;
|
||||
|
||||
/* 状态更新: x += K * y */
|
||||
s_state.x[0] += K[0] * y_imu;
|
||||
s_state.x[1] += K[1] * y_imu;
|
||||
s_state.x[2] += K[2] * y_imu;
|
||||
|
||||
/* 协方差更新: P = (I - K*H) * P
|
||||
* H = [0, 1, 0], 所以 KH[i][j] = K[i] * H[j] = K[i] * δ(j,1) */
|
||||
float P_new[3][3];
|
||||
for (int i = 0; i < 3; i++) {
|
||||
for (int j = 0; j < 3; j++) {
|
||||
P_new[i][j] = s_state.P[i][j] - K[i] * s_state.P[1][j];
|
||||
}
|
||||
}
|
||||
|
||||
for (int i = 0; i < 3; i++) {
|
||||
for (int j = 0; j < 3; j++) {
|
||||
s_state.P[i][j] = P_new[i][j];
|
||||
}
|
||||
}
|
||||
|
||||
symmetrize(s_state.P);
|
||||
protect_P(s_state.P);
|
||||
}
|
||||
|
||||
void CorridorEKF_GetState(CorridorState_t *out)
|
||||
{
|
||||
if (!s_initialized || out == NULL) return;
|
||||
|
||||
out->t_ms = s_last_update_ms;
|
||||
out->e_y = s_state.x[0];
|
||||
out->e_th = s_state.x[1];
|
||||
out->s = s_state.x[2];
|
||||
|
||||
for (int i = 0; i < 3; i++) {
|
||||
for (int j = 0; j < 3; j++) {
|
||||
out->P[i][j] = s_state.P[i][j];
|
||||
}
|
||||
}
|
||||
|
||||
out->mahalanobis_d2 = 0.0f;
|
||||
out->obs_reject_mask = 0U;
|
||||
|
||||
float P_trace = s_state.P[0][0] + s_state.P[1][1] + s_state.P[2][2];
|
||||
out->conf = clampf(1.0f - P_trace * 0.5f, 0.0f, 1.0f);
|
||||
}
|
||||
137
App/est/corridor_ekf.h
Normal file
137
App/est/corridor_ekf.h
Normal file
@@ -0,0 +1,137 @@
|
||||
/**
|
||||
* @file corridor_ekf.h
|
||||
* @brief 鲁棒 EKF 走廊相对定位滤波器
|
||||
*
|
||||
* 状态向量：x = [e_y, e_th, s]^T
|
||||
* - e_y : 横向偏差 (m)
|
||||
* - e_th : 航向偏差 (rad)
|
||||
* - s : 沿走廊进度 (m)
|
||||
*
|
||||
* 观测向量：z = [z_ey, z_eth_L, z_eth_R]^T
|
||||
* - z_ey : 横向偏差观测 (由左右侧平均距离差计算)
|
||||
* - z_eth_L: 左侧航向观测 (atan2((d_lr-d_lf), L_s))
|
||||
* - z_eth_R: 右侧航向观测 (atan2((d_rf-d_rr), L_s))
|
||||
*
|
||||
* 鲁棒机制：
|
||||
* - χ² 马氏距离检验拒绝异常观测
|
||||
* - 自适应观测噪声 (根据传感器健康度调整 R 矩阵)
|
||||
* - 协方差上界保护 (防止发散)
|
||||
*/
|
||||
|
||||
#ifndef CORRIDOR_EKF_H
|
||||
#define CORRIDOR_EKF_H
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
/* 先引入消息定义 (含 EKF_STATE_DIM/EKF_OBS_DIM 宏) */
|
||||
#include "preproc/corridor_msgs.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* =========================================================
|
||||
* EKF 配置参数
|
||||
* ========================================================= */
|
||||
typedef struct {
|
||||
/* 过程噪声协方差 Q */
|
||||
float q_ey; // e_y 过程噪声方差
|
||||
float q_eth; // e_th 过程噪声方差
|
||||
float q_s; // s 过程噪声方差
|
||||
|
||||
/* 观测噪声协方差 R */
|
||||
float r_ey; // 横向观测噪声方差 (侧墙)
|
||||
float r_eth; // 航向观测噪声方差 (侧墙)
|
||||
float r_eth_imu; // 航向观测噪声方差 (IMU yaw)，建议远大于 r_eth
|
||||
|
||||
/* 初始协方差 */
|
||||
float P0_diag[3]; // 初始 P 对角线
|
||||
|
||||
/* χ² 检验门限 */
|
||||
float chi2_1dof; // 1 自由度门限 (默认 3.84)
|
||||
float chi2_2dof; // 2 自由度门限 (默认 5.99)
|
||||
|
||||
/* 走廊几何参数 */
|
||||
float sensor_base_length; // 同侧前后雷达间距 L_s
|
||||
float corridor_width; // 走廊标准宽度
|
||||
float y_offset; // 期望偏置
|
||||
float side_sensor_inset; // VL53L0X 侧向传感器内缩距离 (传感器面到车体外边缘)
|
||||
float robot_width; // 车体外轮廓宽度 (用于单侧退化时的精确定位)
|
||||
} CorridorEKFConfig_t;
|
||||
|
||||
/* =========================================================
|
||||
* EKF 内部状态
|
||||
* ========================================================= */
|
||||
typedef struct {
|
||||
float x[EKF_STATE_DIM]; // 状态向量
|
||||
float P[EKF_STATE_DIM][EKF_STATE_DIM]; // 状态协方差
|
||||
float K[EKF_STATE_DIM][EKF_OBS_DIM]; // 卡尔曼增益
|
||||
float S[EKF_OBS_DIM][EKF_OBS_DIM]; // 新息协方差
|
||||
float S_inv[EKF_OBS_DIM][EKF_OBS_DIM]; // S 的逆
|
||||
} CorridorEKFState_t;
|
||||
|
||||
/* =========================================================
|
||||
* API 接口
|
||||
* ========================================================= */
|
||||
|
||||
/**
|
||||
* @brief 初始化 EKF 滤波器
|
||||
* @param config 配置参数
|
||||
*/
|
||||
void CorridorEKF_Init(const CorridorEKFConfig_t *config);
|
||||
|
||||
/**
|
||||
* @brief EKF 预测步 (时间更新)
|
||||
* @param odom_vx 里程计线速度 (m/s)
|
||||
* @param imu_wz IMU 角速度 (rad/s)
|
||||
* @param dt 时间间隔 (s)
|
||||
*/
|
||||
void CorridorEKF_Predict(float odom_vx, float imu_wz, float dt);
|
||||
|
||||
/**
|
||||
* @brief EKF 观测步 (测量更新) - 鲁棒版本
|
||||
* @param obs 预处理后的观测快照
|
||||
* @param out_state 输出状态 (含马氏距离、拒绝掩码等)
|
||||
* @return 成功更新的观测数
|
||||
*/
|
||||
int CorridorEKF_Update(const CorridorObs_t *obs, CorridorState_t *out_state);
|
||||
|
||||
/**
|
||||
* @brief EKF IMU 航向观测更新 (独立于侧墙观测，在 Update 后调用)
|
||||
*
|
||||
* 将 IMU 连续 yaw 的变化量作为 e_th 的额外标量观测，执行 1DOF EKF 更新。
|
||||
* 在侧墙观测丢失时 (转弯/单侧退化) 提供航向约束，防止 e_th 漂移。
|
||||
*
|
||||
* @param imu_yaw_rad IMU 连续 yaw 当前值 (rad)
|
||||
* @param imu_yaw_ref_rad 进入走廊时锁定的 IMU yaw 参考值 (rad)
|
||||
* z_eth_imu = imu_yaw_rad - imu_yaw_ref_rad
|
||||
* @param valid IMU 数据是否有效
|
||||
*/
|
||||
void CorridorEKF_UpdateIMUYaw(float imu_yaw_rad, float imu_yaw_ref_rad, bool valid);
|
||||
|
||||
/**
|
||||
* @brief 获取当前状态估计
|
||||
*/
|
||||
void CorridorEKF_GetState(CorridorState_t *out);
|
||||
|
||||
/**
|
||||
* @brief 重置 EKF 状态
|
||||
*/
|
||||
void CorridorEKF_Reset(void);
|
||||
|
||||
/**
|
||||
* @brief 设置过程噪声 (运行时可调)
|
||||
*/
|
||||
void CorridorEKF_SetProcessNoise(float q_ey, float q_eth, float q_s);
|
||||
|
||||
/**
|
||||
* @brief 设置观测噪声 (运行时可调，用于自适应)
|
||||
*/
|
||||
void CorridorEKF_SetMeasurementNoise(float r_ey, float r_eth);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* CORRIDOR_EKF_H */
|
||||
108
App/est/corridor_filter.c
Normal file
108
App/est/corridor_filter.c
Normal file
@@ -0,0 +1,108 @@
|
||||
/**
|
||||
* @file corridor_filter.c
|
||||
* @brief 走廊相对定位滤波器 - 鲁棒 EKF 实现
|
||||
*
|
||||
* 本文件是对外统一接口层，内部调用 corridor_ekf 模块
|
||||
* 保持与原有互补滤波接口兼容，方便无缝替换
|
||||
*/
|
||||
|
||||
#include "corridor_filter.h"
|
||||
#include "corridor_ekf.h"
|
||||
#include "preproc/corridor_msgs.h" /* 引入 CHI2_THRESHOLD 宏 */
|
||||
#include "robot_params.h" /* 引入 PARAM_EKF_* 宏 */
|
||||
#include <math.h>
|
||||
#include <string.h>
|
||||
|
||||
/* =========================================================
|
||||
* 兼容层配置
|
||||
* ========================================================= */
|
||||
static CorridorFilterConfig_t s_cfg;
|
||||
static bool s_initialized = false;
|
||||
|
||||
/* IMU yaw 参考值管理：进入走廊时锁定，用于计算相对走廊方向的航向偏差 */
|
||||
static float s_imu_yaw_ref_rad = 0.0f; // 走廊参考 yaw (rad)
|
||||
static bool s_imu_yaw_ref_set = false; // 参考值是否已锁定
|
||||
|
||||
/* =========================================================
|
||||
* 初始化
|
||||
* ========================================================= */
|
||||
void CorridorFilter_Init(const CorridorFilterConfig_t *config)
|
||||
{
|
||||
s_cfg = *config;
|
||||
|
||||
/* 转换为 EKF 配置 */
|
||||
CorridorEKFConfig_t ekf_cfg;
|
||||
memset(&ekf_cfg, 0, sizeof(ekf_cfg));
|
||||
|
||||
/* 走廊几何参数 */
|
||||
ekf_cfg.sensor_base_length = config->sensor_base_length;
|
||||
ekf_cfg.corridor_width = config->corridor_width;
|
||||
ekf_cfg.y_offset = config->y_offset;
|
||||
ekf_cfg.side_sensor_inset = config->side_sensor_inset;
|
||||
ekf_cfg.robot_width = config->robot_width;
|
||||
|
||||
/* 过程噪声 Q —— 统一从 robot_params.h 读取，改参数只改那一个文件 */
|
||||
ekf_cfg.q_ey = PARAM_EKF_Q_EY; /* 横向过程噪声 */
|
||||
ekf_cfg.q_eth = PARAM_EKF_Q_ETH; /* 航向过程噪声 */
|
||||
ekf_cfg.q_s = PARAM_EKF_Q_S; /* 里程过程噪声 */
|
||||
|
||||
/* 观测噪声 R */
|
||||
ekf_cfg.r_ey = PARAM_EKF_R_EY; /* 横向观测噪声 (侧墙) */
|
||||
ekf_cfg.r_eth = PARAM_EKF_R_ETH; /* 航向观测噪声 (侧墙) */
|
||||
ekf_cfg.r_eth_imu = PARAM_EKF_R_ETH_IMU; /* 航向观测噪声 (IMU yaw)，较大 */
|
||||
|
||||
/* 初始协方差 */
|
||||
ekf_cfg.P0_diag[0] = PARAM_EKF_P0_EY; /* e_y 初始不确定度 */
|
||||
ekf_cfg.P0_diag[1] = PARAM_EKF_P0_ETH; /* e_th 初始不确定度 */
|
||||
ekf_cfg.P0_diag[2] = 0.0f; /* s 初始确定（已知从 0 出发） */
|
||||
|
||||
/* χ² 门限 */
|
||||
ekf_cfg.chi2_1dof = PARAM_CHI2_1DOF;
|
||||
ekf_cfg.chi2_2dof = PARAM_CHI2_2DOF;
|
||||
|
||||
CorridorEKF_Init(&ekf_cfg);
|
||||
s_initialized = true;
|
||||
}
|
||||
|
||||
/* =========================================================
|
||||
* 核心更新函数
|
||||
* ========================================================= */
|
||||
void CorridorFilter_Update(const CorridorObs_t *obs, float imu_wz, float odom_vx,
|
||||
float dt_s, float imu_yaw_continuous_rad, bool imu_yaw_valid,
|
||||
CorridorState_t *out_state)
|
||||
{
|
||||
if (!s_initialized || dt_s <= 0.0f) {
|
||||
return;
|
||||
}
|
||||
|
||||
/* 预测步 */
|
||||
CorridorEKF_Predict(odom_vx, imu_wz, dt_s);
|
||||
|
||||
/* 侧墙观测更新步 (含马氏距离异常检测) */
|
||||
CorridorEKF_Update(obs, out_state);
|
||||
|
||||
/* ---- IMU yaw 航向观测更新 ---- *
|
||||
* 在侧墙观测之后独立执行 1DOF 标量更新。
|
||||
*
|
||||
* 参考值管理策略：
|
||||
* 首次收到有效 IMU yaw 且 EKF 置信度足够时锁定参考值。
|
||||
* 此时 e_th ≈ 0 (刚被侧墙观测修正过)，
|
||||
* 所以 yaw_ref = imu_yaw_current → z_eth_imu = 0，
|
||||
* 后续 yaw 的变化量就等于 e_th 的变化量。
|
||||
*/
|
||||
if (imu_yaw_valid) {
|
||||
if (!s_imu_yaw_ref_set && out_state->conf >= 0.5f) {
|
||||
/* 首次锁定：此刻 e_th 已被侧墙修正到接近 0 */
|
||||
s_imu_yaw_ref_rad = imu_yaw_continuous_rad - out_state->e_th;
|
||||
s_imu_yaw_ref_set = true;
|
||||
}
|
||||
|
||||
if (s_imu_yaw_ref_set) {
|
||||
CorridorEKF_UpdateIMUYaw(imu_yaw_continuous_rad, s_imu_yaw_ref_rad, true);
|
||||
|
||||
/* 更新输出 (IMU 观测可能微调了 e_th) */
|
||||
CorridorEKF_GetState(out_state);
|
||||
out_state->t_ms = obs->t_ms;
|
||||
}
|
||||
}
|
||||
}
|
||||
46
App/est/corridor_filter.h
Normal file
46
App/est/corridor_filter.h
Normal file
@@ -0,0 +1,46 @@
|
||||
#ifndef CORRIDOR_FILTER_H
|
||||
#define CORRIDOR_FILTER_H
|
||||
#include "preproc/corridor_preproc.h"
|
||||
#include "preproc/corridor_msgs.h"
|
||||
|
||||
/* 滤波器配置参数结构体 */
|
||||
typedef struct {
|
||||
float sensor_base_length; // 同侧前后雷达的纵向安装间距 L_s (m)
|
||||
float corridor_width; // 走廊标准宽度 (m)，比赛规则为 0.4m
|
||||
float y_offset; // 期望的偏置行走量 (m)，0 表示绝对居中
|
||||
float side_sensor_inset; // VL53L0X 传感器内缩距离 (传感器面到车体外边缘) (m)
|
||||
float robot_width; // 车体外轮廓宽度 (m)
|
||||
float alpha_theta; // 航向互补滤波系数 (0~1)
|
||||
// 【注】因为您的IMU极好，此值建议设为 0.98~0.995
|
||||
float alpha_y; // 横向低通滤波系数 (0~1)，建议设为 0.6~0.8 防止地毯颠簸
|
||||
} CorridorFilterConfig_t;
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief 初始化走廊滤波器
|
||||
* @param config 滤波器调参配置
|
||||
*/
|
||||
void CorridorFilter_Init(const CorridorFilterConfig_t *config);
|
||||
|
||||
/**
|
||||
* @brief 核心函数：执行一次走廊状态估计 (建议与 CAN 发送同频，如 50Hz/20ms运行)
|
||||
* @param obs 预处理模块输出的、清洗干净的雷达观测快照
|
||||
* @param imu_wz 当前的 IMU Z轴角速度 (rad/s)，左转为正
|
||||
* @param odom_vx 底盘反馈的当前里程计线速度 (m/s)
|
||||
* @param dt_s 距离上一次调用的时间间隔 (s)
|
||||
* @param imu_yaw_continuous_rad IMU unwrap 后的连续偏航角 (rad)
|
||||
* @param imu_yaw_valid IMU 数据是否有效
|
||||
* @param out_state 输出平滑后的 e_y (横向误差), e_th (航向误差) 和健康度
|
||||
*/
|
||||
void CorridorFilter_Update(const CorridorObs_t *obs, float imu_wz, float odom_vx,
|
||||
float dt_s, float imu_yaw_continuous_rad, bool imu_yaw_valid,
|
||||
CorridorState_t *out_state);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // CORRIDOR_FILTER_H
|
||||
175
App/laser/Laser Manager.md
Normal file
175
App/laser/Laser Manager.md
Normal file
@@ -0,0 +1,175 @@
|
||||
激光雷达管理模块 (Laser Manager) 🚀
|
||||
===========================
|
||||
|
||||
本模块专为 **STM32H7 + FreeRTOS** 环境打造，用于同时驱动和解析 4 路单点激光雷达（2 路连续流 STP-23L，2 路文本流 ATK-MS53L1M）。
|
||||
|
||||
采用 **DMA 环形缓冲 + 串口空闲中断 (IDLE) + RTOS 事件驱动** 架构，彻底消灭单字节中断引起的 CPU 拥堵，是适用于机器人底盘避障与路径规划的“企业级”底层驱动。
|
||||
✨ 核心特性
|
||||
------
|
||||
|
||||
1. **零中断阻塞**：所有数据均由硬件 DMA 搬运，CPU 仅在数据接收过半/完成或触发 IDLE 空闲时被唤醒。
|
||||
|
||||
2. **免 Cache 物理隔离**：基于 MPU 划分专用 `.dma_buffer` 特区，彻底杜绝 Cortex-M7 的 Cache 一致性导致的数据乱码或 USB 掉线问题。
|
||||
|
||||
3. **极速解析算法**：
|
||||
|
||||
* **STP 协议**：采用 O(1) 环形指针流式提取，**0 内存搬运 (`memmove`)**。
|
||||
|
||||
* **ATK 协议**：采用 O(1) 字符特征匹配，彻底抛弃耗时的 `strstr` 和 `strtol` 标准库函数。
|
||||
|
||||
4. **高质量数据输出**：内置 **滑动中值滤波 (Median Filter)**，有效剔除玻璃反光、灰尘引起的突发测距尖峰，提供平滑稳定的控制级数据。
|
||||
|
||||
5. **安全可靠**：
|
||||
|
||||
* 采用 `taskENTER_CRITICAL()` 保护快照读取，杜绝多线程数据撕裂。
|
||||
|
||||
* 严格区分中断上下文 (`FROM_ISR`) 与任务上下文的临界区调用。
|
||||
|
||||
* 内置 `HAL_UART_ErrorCallback`，在遭受电磁干扰触发 ORE/FE 错误时自动重启 DMA，永久防死机。
|
||||
|
||||
* * *
|
||||
|
||||
⚙️ 移植与配置指南
|
||||
----------
|
||||
|
||||
### 第一步：STM32CubeMX 硬件配置
|
||||
|
||||
1. **MPU 设置 (极其重要)**
|
||||
|
||||
* 进入 `Cortex-M7` -> `MPU Control`
|
||||
|
||||
* Enable MPU
|
||||
|
||||
* **Region 1**: Base Address = **`0x30000000`**, Size = **`32KB`**
|
||||
|
||||
* Access Permission: **`ALL ACCESS PERMITTED`**
|
||||
|
||||
* Cacheable: **`Disable`** (彻底关闭该区域的 D-Cache)
|
||||
|
||||
2. **串口与 DMA 设置**
|
||||
|
||||
* **STP 雷达** (如 USART2, UART4 - 230400bps)：添加 RX DMA，模式选 **`Circular`** (数据宽度 Byte)。优先级建议设为 **`High`**。
|
||||
|
||||
* **ATK 雷达** (如 USART3, USART6 - 115200bps)：添加 RX DMA，模式选 **`Circular`**。优先级设为 **`Medium`**。
|
||||
|
||||
* **NVIC**：必须开启这 4 个串口的**全局中断 (Global Interrupt)**。
|
||||
|
||||
### 第二步：链接脚本 (.ld) 配置
|
||||
|
||||
打开工程的链接脚本（如 `STM32H743XX_FLASH.ld`），在 `RAM_D2` 区域添加 `.dma_buffer` 段定义：
|
||||
|
||||
代码段
|
||||
/* 给雷达 DMA 专门划分的免 Cache 区域 */
|
||||
.dma_buffer (NOLOAD) :
|
||||
{
|
||||
. = ALIGN(32);
|
||||
*(.dma_buffer)
|
||||
*(.dma_buffer*)
|
||||
. = ALIGN(32);
|
||||
} >RAM_D2
|
||||
|
||||
### 第三步：中断回调接管
|
||||
|
||||
确保在 `usart.c` 或 `main.c` 中 **删除或注释掉** 旧的串口接收回调，因为 `laser_manager.c` 底部已经重写了以下函数并接管了整个链路：
|
||||
|
||||
* `HAL_UART_RxCpltCallback`
|
||||
|
||||
* `HAL_UART_RxHalfCpltCallback`
|
||||
|
||||
* `HAL_UARTEx_RxEventCallback` (用于处理 IDLE)
|
||||
|
||||
* `HAL_UART_ErrorCallback` (用于自动恢复错误)
|
||||
|
||||
* * *
|
||||
|
||||
💻 API 使用说明
|
||||
-----------
|
||||
|
||||
### 1. 数据结构概览
|
||||
|
||||
C
|
||||
typedef struct {
|
||||
uint16_t distance_mm; // 经过中值滤波处理后平滑的距离值 (推荐用于避障控制)
|
||||
uint16_t raw_distance_mm; // 传感器吐出的原始跳动距离值 (仅供调试观察)
|
||||
uint8_t valid; // 数据是否有效 (1:有效, 0:无效)
|
||||
uint8_t online; // 雷达是否在线 (未超时)
|
||||
uint8_t fault_code; // 故障码 (0x00:正常, 0x80:掉线超时)
|
||||
uint32_t update_tick_ms; // 最后一次数据刷新的系统 tick
|
||||
} laser_simple_data_t;
|
||||
|
||||
### 2. 初始化与任务启动
|
||||
|
||||
在 FreeRTOS 调度器启动前（或统一的应用初始化任务中）调用初始化接口。它会自动配置并开启 DMA，同时创建一个高优先级的解析守护任务。
|
||||
|
||||
C
|
||||
#include "laser/laser_manager.h"
|
||||
|
||||
// 在 main.c 或 app_tasks.c 初始化阶段调用
|
||||
LASER_SIMPLE_Init();
|
||||
|
||||
### 3. 数据轮询与读取 (应用层)
|
||||
|
||||
在你的应用周期任务中（如 `100ms` 测试任务或控制任务），调用 `Poll` 并获取快照指针：
|
||||
|
||||
C
|
||||
void AppTasks_RunLaserTestTask_Impl(void *argument)
|
||||
{
|
||||
const laser_simple_snapshot_t *snap;
|
||||
uint32_t print_divider = 0;
|
||||
|
||||
LASER_SIMPLE_Init();
|
||||
|
||||
for(;;)
|
||||
{
|
||||
// 1. 触发状态机巡检 (更新在线状态/超时)
|
||||
LASER_SIMPLE_Poll(HAL_GetTick());
|
||||
|
||||
// 2. 获取绝对安全、无撕裂的全局数据快照
|
||||
snap = LASER_SIMPLE_GetSnapshot();
|
||||
|
||||
// 3. 降频打印 (例如每 500ms 打印一次)
|
||||
if (++print_divider >= 5)
|
||||
{
|
||||
print_divider = 0;
|
||||
printf("F_STP [Filter:%4umm, Raw:%4umm] Valid:%d Fault:%02X\r\n",
|
||||
snap->ch[LASER_CH_FRONT_STP].distance_mm,
|
||||
snap->ch[LASER_CH_FRONT_STP].raw_distance_mm,
|
||||
snap->ch[LASER_CH_FRONT_STP].valid,
|
||||
snap->ch[LASER_CH_FRONT_STP].fault_code);
|
||||
}
|
||||
|
||||
osDelay(100); // 维持高频巡检节拍 (切勿大于雷达设定的 Timeout 时间)
|
||||
}
|
||||
}
|
||||
|
||||
### 4. 便捷测距接口
|
||||
|
||||
如果你的小车只需要知道“前方/后方离障碍物最近是多少”，可以直接调用辅助接口：
|
||||
|
||||
C
|
||||
// 获取前/后两路雷达中，最近且有效的平滑距离值 (毫米)
|
||||
uint16_t front_min_dist = LASER_SIMPLE_GetFrontNearest();
|
||||
uint16_t rear_min_dist = LASER_SIMPLE_GetRearNearest();
|
||||
|
||||
* * *
|
||||
|
||||
❓ 常见问题 (Troubleshooting)
|
||||
------------------------
|
||||
|
||||
**Q: 烧录程序后，USB 虚拟串口无法识别 (或电脑提示无法识别的 USB 设备)？**
|
||||
|
||||
> **A:** 请检查 MPU 配置是否生效，以及链接脚本中是否正确加入了 `.dma_buffer`。如果 DMA 数组被编译器分配到了带有 D-Cache 的内存中，USB 外设会因为内存一致性冲突而死机。
|
||||
|
||||
**Q: 雷达数据一直是 0，且终端不停输出 FaultCode `0x80`？**
|
||||
|
||||
> **A:** `0x80` 代表超时掉线。请检查：
|
||||
>
|
||||
> 1. 雷达硬件连线（RX/TX 是否接反）。
|
||||
>
|
||||
> 2. `CubeMX` 中 4 个串口是否正确开启了**全局中断**（未开启中断将无法唤醒解析任务）。
|
||||
>
|
||||
> 3. 波特率是否匹配（STP: `230400`，ATK: `115200`）。
|
||||
|
||||
**Q: 想要调整中值滤波的平滑程度？**
|
||||
|
||||
> **A:** 在 `laser_manager.c` 顶部修改 `#define FILTER_WIN_SZ 3U`。改为 `5U` 会更平滑，但会增加几毫秒的系统响应延迟。通常 `3` 是最佳平衡点。
|
||||
317
App/laser/laser_manager.c
Normal file
317
App/laser/laser_manager.c
Normal file
@@ -0,0 +1,317 @@
|
||||
#include "laser_manager.h"
|
||||
#include <string.h>
|
||||
#include "cmsis_os2.h"
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
|
||||
/* --- 配置区 --- */
|
||||
#define STP_TIMEOUT_MS 200U
|
||||
#define ATK_TIMEOUT_MS 500U
|
||||
|
||||
#define FILTER_WIN_SZ 3U // 中值滤波窗口大小（推荐 3 或 5）
|
||||
|
||||
#define FAULT_NONE 0x00
|
||||
#define FAULT_STP_CHECKSUM 0x41
|
||||
#define FAULT_STP_FRAME 0x42
|
||||
#define FAULT_TIMEOUT 0x80
|
||||
|
||||
/* MPU 无 Cache 段宏定义 */
|
||||
#if defined(__GNUC__)
|
||||
#define LASER_DMA_RAM __attribute__((section(".dma_buffer"))) __attribute__((aligned(32)))
|
||||
#else
|
||||
#define LASER_DMA_RAM
|
||||
#endif
|
||||
|
||||
/* 缓冲区大小 */
|
||||
#define STP_DMA_SZ 512U
|
||||
#define ATK_DMA_SZ 256U
|
||||
|
||||
/* 分配在无 Cache 区域的 DMA 内存 */
|
||||
static LASER_DMA_RAM uint8_t g_stp_front_dma[STP_DMA_SZ];
|
||||
static LASER_DMA_RAM uint8_t g_atk_front_dma[ATK_DMA_SZ];
|
||||
static LASER_DMA_RAM uint8_t g_stp_rear_dma[STP_DMA_SZ];
|
||||
static LASER_DMA_RAM uint8_t g_atk_rear_dma[ATK_DMA_SZ];
|
||||
|
||||
/* 数据节点与快照 */
|
||||
typedef struct {
|
||||
UART_HandleTypeDef *huart;
|
||||
uint8_t *dma_buf;
|
||||
uint16_t dma_sz;
|
||||
uint16_t read_ptr;
|
||||
uint32_t last_tick;
|
||||
|
||||
// 滤波队列缓存
|
||||
uint16_t dist_history[FILTER_WIN_SZ];
|
||||
uint8_t hist_idx;
|
||||
uint8_t hist_cnt;
|
||||
|
||||
laser_simple_data_t data;
|
||||
} laser_node_t;
|
||||
|
||||
static laser_node_t g_nodes[LASER_CH_MAX] = {
|
||||
[LASER_CH_FRONT_STP] = { &huart2, g_stp_front_dma, STP_DMA_SZ, 0, 0, {0}, 0, 0, {0} },
|
||||
[LASER_CH_FRONT_ATK] = { &huart3, g_atk_front_dma, ATK_DMA_SZ, 0, 0, {0}, 0, 0, {0} },
|
||||
[LASER_CH_REAR_STP] = { &huart4, g_stp_rear_dma, STP_DMA_SZ, 0, 0, {0}, 0, 0, {0} },
|
||||
[LASER_CH_REAR_ATK] = { &huart6, g_atk_rear_dma, ATK_DMA_SZ, 0, 0, {0}, 0, 0, {0} }
|
||||
};
|
||||
|
||||
static laser_simple_snapshot_t g_snapshot;
|
||||
static osThreadId_t laserTaskHandle;
|
||||
|
||||
/* --- 辅助宏与函数 --- */
|
||||
#define READ_RING(buf, sz, pos, offset) (buf[((pos) + (offset)) % (sz)])
|
||||
|
||||
static uint16_t le16_read(const uint8_t *p) { return (uint16_t)(p[0] | (p[1] << 8)); }
|
||||
|
||||
static uint16_t apply_median_filter(laser_node_t *n, uint16_t new_val) {
|
||||
n->dist_history[n->hist_idx] = new_val;
|
||||
n->hist_idx = (n->hist_idx + 1) % FILTER_WIN_SZ;
|
||||
if (n->hist_cnt < FILTER_WIN_SZ) n->hist_cnt++;
|
||||
|
||||
uint16_t temp[FILTER_WIN_SZ];
|
||||
for (int i = 0; i < n->hist_cnt; i++) temp[i] = n->dist_history[i];
|
||||
|
||||
for (int i = 0; i < n->hist_cnt - 1; i++) {
|
||||
for (int j = i + 1; j < n->hist_cnt; j++) {
|
||||
if (temp[i] > temp[j]) {
|
||||
uint16_t t = temp[i]; temp[i] = temp[j]; temp[j] = t;
|
||||
}
|
||||
}
|
||||
}
|
||||
return temp[n->hist_cnt / 2];
|
||||
}
|
||||
|
||||
/* --- STP 环形无 memmove 解析 (保持不变) --- */
|
||||
static void process_stp(laser_channel_t ch) {
|
||||
laser_node_t *n = &g_nodes[ch];
|
||||
uint16_t write_ptr = n->dma_sz - __HAL_DMA_GET_COUNTER(n->huart->hdmarx);
|
||||
uint16_t available = (write_ptr - n->read_ptr + n->dma_sz) % n->dma_sz;
|
||||
|
||||
while (available >= 11U) {
|
||||
uint16_t head = 0xFFFF;
|
||||
for (uint16_t i = 0; i <= available - 4; i++) {
|
||||
if (READ_RING(n->dma_buf, n->dma_sz, n->read_ptr, i) == 0xAA &&
|
||||
READ_RING(n->dma_buf, n->dma_sz, n->read_ptr, i+1) == 0xAA &&
|
||||
READ_RING(n->dma_buf, n->dma_sz, n->read_ptr, i+2) == 0xAA &&
|
||||
READ_RING(n->dma_buf, n->dma_sz, n->read_ptr, i+3) == 0xAA) {
|
||||
head = i; break;
|
||||
}
|
||||
}
|
||||
|
||||
if (head == 0xFFFF) {
|
||||
n->read_ptr = (n->read_ptr + available - 3) % n->dma_sz;
|
||||
break;
|
||||
}
|
||||
|
||||
n->read_ptr = (n->read_ptr + head) % n->dma_sz;
|
||||
available -= head;
|
||||
if (available < 11) break;
|
||||
|
||||
uint8_t data_len = READ_RING(n->dma_buf, n->dma_sz, n->read_ptr, 8);
|
||||
uint16_t frame_len = 10 + data_len + 1;
|
||||
|
||||
if (data_len > 200) { n->read_ptr = (n->read_ptr + 1) % n->dma_sz; available--; continue; }
|
||||
if (available < frame_len) break;
|
||||
|
||||
uint8_t frame[256];
|
||||
uint32_t sum = 0;
|
||||
for (uint16_t i = 0; i < frame_len; i++) {
|
||||
frame[i] = READ_RING(n->dma_buf, n->dma_sz, n->read_ptr, i);
|
||||
if (i >= 4 && i < frame_len - 1) sum += frame[i];
|
||||
}
|
||||
|
||||
if ((sum & 0xFF) == frame[frame_len - 1] && frame[5] == 0x02 && data_len == 0xB8) {
|
||||
uint32_t p = 10;
|
||||
uint16_t best = 0xFFFF;
|
||||
|
||||
for (int i = 0; i < 12; i++) {
|
||||
int16_t dist = le16_read(&frame[p]); p += 8;
|
||||
uint8_t conf = frame[p]; p += 7;
|
||||
if (dist >= 70 && dist <= 7500 && conf >= 1 && dist < best) best = dist;
|
||||
}
|
||||
|
||||
taskENTER_CRITICAL();
|
||||
if (best != 0xFFFF) {
|
||||
n->data.raw_distance_mm = best;
|
||||
n->data.distance_mm = apply_median_filter(n, best);
|
||||
n->data.valid = 1;
|
||||
n->data.fault_code = 0;
|
||||
} else {
|
||||
n->data.valid = 0;
|
||||
}
|
||||
n->last_tick = HAL_GetTick();
|
||||
taskEXIT_CRITICAL();
|
||||
}
|
||||
|
||||
n->read_ptr = (n->read_ptr + frame_len) % n->dma_sz;
|
||||
available -= frame_len;
|
||||
}
|
||||
}
|
||||
|
||||
/* --- 【全新】ATK 环形滑动窗口解析 (无视断帧与粘包) --- */
|
||||
static void process_atk(laser_channel_t ch) {
|
||||
laser_node_t *n = &g_nodes[ch];
|
||||
uint16_t write_ptr = n->dma_sz - __HAL_DMA_GET_COUNTER(n->huart->hdmarx);
|
||||
uint16_t available = (write_ptr - n->read_ptr + n->dma_sz) % n->dma_sz;
|
||||
|
||||
// ATK 哪怕报故障，最小长度也有类似 "State:1\r\n" 约 9 字节
|
||||
while (available >= 5) {
|
||||
char c0 = (char)READ_RING(n->dma_buf, n->dma_sz, n->read_ptr, 0);
|
||||
char c1 = (char)READ_RING(n->dma_buf, n->dma_sz, n->read_ptr, 1);
|
||||
|
||||
// 匹配帧头 "d:" 或 "St" (State的开头)
|
||||
if ((c0 == 'd' && c1 == ':') || (c0 == 'S' && c1 == 't')) {
|
||||
// 寻找帧尾 '\n'
|
||||
uint16_t lf_pos = 0xFFFF;
|
||||
for (uint16_t i = 0; i < available; i++) {
|
||||
if (READ_RING(n->dma_buf, n->dma_sz, n->read_ptr, i) == '\n') {
|
||||
lf_pos = i;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// 如果没找到换行符，说明这帧 DMA 还没搬运完，立刻退出等下次任务周期
|
||||
if (lf_pos == 0xFFFF) {
|
||||
break;
|
||||
}
|
||||
|
||||
uint16_t frame_len = lf_pos + 1;
|
||||
char line[64] = {0};
|
||||
for (uint16_t i = 0; i < frame_len && i < sizeof(line) - 1; i++) {
|
||||
line[i] = READ_RING(n->dma_buf, n->dma_sz, n->read_ptr, i);
|
||||
}
|
||||
|
||||
taskENTER_CRITICAL();
|
||||
if (line[0] == 'S' && line[1] == 't') {
|
||||
int state_val = line[6] - '0';
|
||||
if (state_val >= 0 && state_val <= 9) {
|
||||
n->data.fault_code = state_val;
|
||||
if (state_val != 0) n->data.valid = 0;
|
||||
n->last_tick = HAL_GetTick();
|
||||
}
|
||||
}
|
||||
else if (line[0] == 'd' && line[1] == ':') {
|
||||
int dist_val = 0;
|
||||
const char *p = &line[2];
|
||||
while (*p == ' ') p++;
|
||||
while (*p >= '0' && *p <= '9') {
|
||||
dist_val = dist_val * 10 + (*p - '0');
|
||||
p++;
|
||||
}
|
||||
|
||||
if (dist_val > 0 && n->data.fault_code == 0) {
|
||||
n->data.raw_distance_mm = dist_val;
|
||||
n->data.distance_mm = apply_median_filter(n, dist_val);
|
||||
n->data.valid = 1;
|
||||
} else {
|
||||
n->data.valid = 0;
|
||||
}
|
||||
n->last_tick = HAL_GetTick();
|
||||
}
|
||||
taskEXIT_CRITICAL();
|
||||
|
||||
// 成功解析一帧，滑动读取指针
|
||||
n->read_ptr = (n->read_ptr + frame_len) % n->dma_sz;
|
||||
available -= frame_len;
|
||||
} else {
|
||||
// 没找到帧头，说明有垃圾数据，把指针往后挪 1 字节继续找
|
||||
n->read_ptr = (n->read_ptr + 1) % n->dma_sz;
|
||||
available--;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/* --- 核心 RTOS 任务 (全轮询模式) --- */
|
||||
static void LaserTask(void *arg) {
|
||||
(void)arg;
|
||||
for(;;) {
|
||||
// 【架构升级】：不再死等中断标志，而是以 10ms 的心跳主动去 DMA 缓冲区提货。
|
||||
// 50Hz 等于 20ms 来一帧，10ms 巡视一次性能富裕且绝不漏包。
|
||||
osDelay(10);
|
||||
uint32_t now = HAL_GetTick();
|
||||
|
||||
// 纯 DMA 内存操作，极快
|
||||
process_stp(LASER_CH_FRONT_STP);
|
||||
process_stp(LASER_CH_REAR_STP);
|
||||
process_atk(LASER_CH_FRONT_ATK);
|
||||
process_atk(LASER_CH_REAR_ATK);
|
||||
|
||||
// 统一心跳/超时/快照检查
|
||||
for (int i = 0; i < LASER_CH_MAX; i++) {
|
||||
uint32_t timeout = (i == LASER_CH_FRONT_STP || i == LASER_CH_REAR_STP) ? STP_TIMEOUT_MS : ATK_TIMEOUT_MS;
|
||||
|
||||
taskENTER_CRITICAL();
|
||||
if (now - g_nodes[i].last_tick > timeout) {
|
||||
g_nodes[i].data.online = 0;
|
||||
g_nodes[i].data.valid = 0;
|
||||
g_nodes[i].data.fault_code = FAULT_TIMEOUT;
|
||||
g_nodes[i].hist_cnt = 0; // 掉线时清空历史滤波数组
|
||||
} else {
|
||||
g_nodes[i].data.online = 1;
|
||||
g_nodes[i].data.update_tick_ms = g_nodes[i].last_tick;
|
||||
}
|
||||
g_snapshot.ch[i] = g_nodes[i].data;
|
||||
taskEXIT_CRITICAL();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/* --- API 接口 --- */
|
||||
void LASER_SIMPLE_Init(void) {
|
||||
memset(&g_snapshot, 0, sizeof(g_snapshot));
|
||||
|
||||
// 【重要变更】：全员使用普通循环 DMA，彻底抛弃 IDLE 接收
|
||||
HAL_UART_Receive_DMA(g_nodes[LASER_CH_FRONT_STP].huart, g_nodes[LASER_CH_FRONT_STP].dma_buf, STP_DMA_SZ);
|
||||
HAL_UART_Receive_DMA(g_nodes[LASER_CH_REAR_STP].huart, g_nodes[LASER_CH_REAR_STP].dma_buf, STP_DMA_SZ);
|
||||
HAL_UART_Receive_DMA(g_nodes[LASER_CH_FRONT_ATK].huart, g_nodes[LASER_CH_FRONT_ATK].dma_buf, ATK_DMA_SZ);
|
||||
HAL_UART_Receive_DMA(g_nodes[LASER_CH_REAR_ATK].huart, g_nodes[LASER_CH_REAR_ATK].dma_buf, ATK_DMA_SZ);
|
||||
|
||||
osThreadAttr_t attr = { .name = "LaserTsk", .stack_size = 1024 * 4, .priority = osPriorityAboveNormal };
|
||||
laserTaskHandle = osThreadNew(LaserTask, NULL, &attr);
|
||||
}
|
||||
|
||||
void LASER_SIMPLE_Poll(uint32_t tick_ms) {
|
||||
(void)tick_ms;
|
||||
}
|
||||
|
||||
const laser_simple_snapshot_t *LASER_SIMPLE_GetSnapshot(void) {
|
||||
return &g_snapshot;
|
||||
}
|
||||
|
||||
static uint16_t nearest_of_two(const laser_simple_data_t *a, const laser_simple_data_t *b) {
|
||||
if (a->online && a->valid && b->online && b->valid) {
|
||||
return (a->distance_mm < b->distance_mm) ? a->distance_mm : b->distance_mm;
|
||||
}
|
||||
if (a->online && a->valid) return a->distance_mm;
|
||||
if (b->online && b->valid) return b->distance_mm;
|
||||
return 0U;
|
||||
}
|
||||
|
||||
uint16_t LASER_SIMPLE_GetFrontNearest(void) {
|
||||
return nearest_of_two(&g_snapshot.ch[LASER_CH_FRONT_STP], &g_snapshot.ch[LASER_CH_FRONT_ATK]);
|
||||
}
|
||||
|
||||
uint16_t LASER_SIMPLE_GetRearNearest(void) {
|
||||
return nearest_of_two(&g_snapshot.ch[LASER_CH_REAR_STP], &g_snapshot.ch[LASER_CH_REAR_ATK]);
|
||||
}
|
||||
|
||||
/* --- 中断桥接 (已大幅瘦身，仅保留错误恢复) --- */
|
||||
|
||||
// 因为改为轮询模式，不再需要依赖这几个正常接收的中断了。保留空函数防止外部调用报错。
|
||||
void LASER_UART_RxCpltCallback(UART_HandleTypeDef *huart) { (void)huart; }
|
||||
void LASER_UART_RxHalfCpltCallback(UART_HandleTypeDef *huart) { (void)huart; }
|
||||
void LASER_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size) { (void)huart; (void)Size; }
|
||||
|
||||
// 错误自动恢复保留，这是底层硬件 ORE 报错时重启 DMA 必需的
|
||||
void LASER_UART_ErrorRecovery(UART_HandleTypeDef *huart) {
|
||||
for (int i=0; i<LASER_CH_MAX; i++) {
|
||||
if (g_nodes[i].huart == huart) {
|
||||
HAL_UART_DMAStop(huart);
|
||||
// 统一恢复为普通 DMA 接收
|
||||
if (i == LASER_CH_FRONT_STP || i == LASER_CH_REAR_STP)
|
||||
HAL_UART_Receive_DMA(huart, g_nodes[i].dma_buf, STP_DMA_SZ);
|
||||
else
|
||||
HAL_UART_Receive_DMA(huart, g_nodes[i].dma_buf, ATK_DMA_SZ);
|
||||
}
|
||||
}
|
||||
}
|
||||
53
App/laser/laser_manager.h
Normal file
53
App/laser/laser_manager.h
Normal file
@@ -0,0 +1,53 @@
|
||||
#ifndef __LASER_SIMPLE_H
|
||||
#define __LASER_SIMPLE_H
|
||||
|
||||
#include <stdint.h>
|
||||
#include "usart.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
typedef enum {
|
||||
LASER_CH_FRONT_STP = 0,
|
||||
LASER_CH_FRONT_ATK,
|
||||
LASER_CH_REAR_STP,
|
||||
LASER_CH_REAR_ATK,
|
||||
LASER_CH_MAX
|
||||
} laser_channel_t;
|
||||
|
||||
typedef struct {
|
||||
uint16_t distance_mm; // [新增] 经过中值滤波处理后平滑的距离值 (推荐用于避障控制)
|
||||
uint16_t raw_distance_mm; // [新增] 传感器吐出的原始距离值 (供调试或特殊算法读取)
|
||||
uint8_t valid; // 数据是否有效
|
||||
uint8_t online; // 雷达是否在线(未超时)
|
||||
uint8_t fault_code; // 故障码 (0为正常，0x80为超时)
|
||||
uint32_t update_tick_ms; // 最后一次数据刷新的系统节拍
|
||||
} laser_simple_data_t;
|
||||
|
||||
typedef struct {
|
||||
laser_simple_data_t ch[LASER_CH_MAX];
|
||||
} laser_simple_snapshot_t;
|
||||
|
||||
/* 初始化并启动 DMA 及解析任务 */
|
||||
void LASER_SIMPLE_Init(void);
|
||||
|
||||
/* 周期调用 (实际为空，保留接口兼容) */
|
||||
void LASER_SIMPLE_Poll(uint32_t tick_ms);
|
||||
|
||||
/* 获取统一快照 (无数据撕裂风险) */
|
||||
const laser_simple_snapshot_t *LASER_SIMPLE_GetSnapshot(void);
|
||||
|
||||
/* 获取前后最小有效距离 (使用滤波后的值) */
|
||||
uint16_t LASER_SIMPLE_GetFrontNearest(void);
|
||||
uint16_t LASER_SIMPLE_GetRearNearest(void);
|
||||
/* --- 新增：暴露给全局回调分发器的专用接口 --- */
|
||||
void LASER_UART_RxCpltCallback(UART_HandleTypeDef *huart);
|
||||
void LASER_UART_RxHalfCpltCallback(UART_HandleTypeDef *huart);
|
||||
void LASER_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size);
|
||||
void LASER_UART_ErrorRecovery(UART_HandleTypeDef *huart);
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
83
App/nav/corridor_ctrl.c
Normal file
83
App/nav/corridor_ctrl.c
Normal file
@@ -0,0 +1,83 @@
|
||||
#include "corridor_ctrl.h"
|
||||
#include <math.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
/* ====================== 内部状态 ====================== */
|
||||
static CorridorCtrlConfig_t s_cfg;
|
||||
static bool s_initialized = false;
|
||||
|
||||
/* 辅助：浮点数限幅 */
|
||||
static inline float clampf(float val, float lo, float hi)
|
||||
{
|
||||
if (val < lo) return lo;
|
||||
if (val > hi) return hi;
|
||||
return val;
|
||||
}
|
||||
|
||||
void CorridorCtrl_Init(const CorridorCtrlConfig_t *config)
|
||||
{
|
||||
s_cfg = *config;
|
||||
s_initialized = true;
|
||||
}
|
||||
|
||||
void CorridorCtrl_Compute(const CorridorState_t *state,
|
||||
const CorridorObs_t *obs,
|
||||
float imu_wz,
|
||||
RawCmd_t *out_cmd)
|
||||
{
|
||||
if (!s_initialized) {
|
||||
out_cmd->v = 0.0f;
|
||||
out_cmd->w = 0.0f;
|
||||
out_cmd->flags = 0U;
|
||||
return;
|
||||
}
|
||||
|
||||
/* ========================================================
|
||||
* 核心控制律:
|
||||
* w_cmd = kp_theta * e_th + kd_theta * (-imu_wz) + kp_y * e_y
|
||||
*
|
||||
* - kp_theta * e_th : 比例项，车头偏了就回转
|
||||
* - kd_theta * (-imu_wz) : 微分阻尼，等价于"阻止车头继续转"
|
||||
* 用 IMU 直接读数做微分项，比差分 e_th 更丝滑无噪声
|
||||
* - kp_y * e_y : 横向纠偏，车身偏了就产生角速度拉回来
|
||||
* ======================================================== */
|
||||
|
||||
float w_cmd = s_cfg.kp_theta * state->e_th
|
||||
+ s_cfg.kd_theta * (-imu_wz)
|
||||
+ s_cfg.kp_y * state->e_y;
|
||||
|
||||
/* 角速度限幅：防止 PD 溢出导致原地打转 */
|
||||
w_cmd = clampf(w_cmd, -s_cfg.w_max, s_cfg.w_max);
|
||||
|
||||
/* ========================================================
|
||||
* 线速度策略:
|
||||
* 基础巡航速度 v_cruise，
|
||||
* 当角速度偏大时适当降速（弯道减速），保持运动学协调
|
||||
* 公式: v = v_cruise * (1 - k * |w/w_max|)
|
||||
* k 取 0.3~0.5 较保守
|
||||
* ======================================================== */
|
||||
float speed_reduction = s_cfg.speed_reduction_k * fabsf(w_cmd) / s_cfg.w_max;
|
||||
float v_cmd = s_cfg.v_cruise * (1.0f - speed_reduction);
|
||||
|
||||
/* 线速度限幅：不允许倒车，不允许超速 */
|
||||
v_cmd = clampf(v_cmd, 0.0f, s_cfg.v_max);
|
||||
|
||||
/* ========================================================
|
||||
* 置信度降级保护:
|
||||
* 当滤波器健康度 conf 过低（两边雷达全瞎），
|
||||
* 说明走廊参照完全丢失，降低线速度防止盲飞
|
||||
* ======================================================== */
|
||||
if (state->conf < 0.3f) {
|
||||
/* 健康度极低：速度打三折，保持航向惯性滑行 */
|
||||
v_cmd *= 0.3f;
|
||||
} else if (state->conf < 0.6f) {
|
||||
/* 健康度较低（单侧退化）：速度打七折 */
|
||||
v_cmd *= 0.7f;
|
||||
}
|
||||
|
||||
/* 输出赋值 */
|
||||
out_cmd->t_ms = state->t_ms;
|
||||
out_cmd->v = v_cmd;
|
||||
out_cmd->w = w_cmd;
|
||||
out_cmd->flags = 0U;
|
||||
}
|
||||
47
App/nav/corridor_ctrl.h
Normal file
47
App/nav/corridor_ctrl.h
Normal file
@@ -0,0 +1,47 @@
|
||||
#ifndef CORRIDOR_CTRL_H
|
||||
#define CORRIDOR_CTRL_H
|
||||
|
||||
#include "preproc/corridor_msgs.h"
|
||||
|
||||
/**
|
||||
* @brief 走廊控制器调参配置
|
||||
* @note 所有增益参数都应在调试阶段"从小往大调"，防止震荡
|
||||
*/
|
||||
typedef struct {
|
||||
float kp_theta; // 航向偏差比例增益 (rad/s per rad)
|
||||
float kd_theta; // 航向偏差微分增益 (rad/s per rad/s) [阻尼项]
|
||||
float kp_y; // 横向偏差比例增益 (rad/s per m)
|
||||
|
||||
float v_cruise; // 走廊内巡航线速度 (m/s)
|
||||
float w_max; // 角速度输出硬限幅 (rad/s)，超过此值一律削峰
|
||||
float v_max; // 线速度输出硬限幅 (m/s)
|
||||
float speed_reduction_k; // 弯道减速系数 (0~1)，公式: v = v_cruise*(1-k*|w/w_max|)
|
||||
} CorridorCtrlConfig_t;
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief 初始化走廊控制器
|
||||
* @param config 控制器增益与限幅配置
|
||||
*/
|
||||
void CorridorCtrl_Init(const CorridorCtrlConfig_t *config);
|
||||
|
||||
/**
|
||||
* @brief 核心函数：根据滤波器输出的走廊状态计算控制量
|
||||
* @param state 滤波器输出的走廊状态 (e_y, e_th, conf)
|
||||
* @param obs 预处理层的观测快照 (用于获取 d_front 等辅助信息)
|
||||
* @param imu_wz 当前的 IMU Z轴角速度 (rad/s)，用于微分阻尼
|
||||
* @param out_cmd 输出的控制指令 (v, w)
|
||||
*/
|
||||
void CorridorCtrl_Compute(const CorridorState_t *state,
|
||||
const CorridorObs_t *obs,
|
||||
float imu_wz,
|
||||
RawCmd_t *out_cmd);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // CORRIDOR_CTRL_H
|
||||
322
App/nav/nav_script.c
Normal file
322
App/nav/nav_script.c
Normal file
@@ -0,0 +1,322 @@
|
||||
/**
|
||||
* @file nav_script.c
|
||||
* @brief 段脚本执行器实现：编排完整比赛流程
|
||||
*/
|
||||
|
||||
#include "nav_script.h"
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <math.h>
|
||||
#include <string.h>
|
||||
|
||||
/* =========================================================
|
||||
* 内部状态
|
||||
* ========================================================= */
|
||||
static NavScriptConfig_t s_cfg;
|
||||
static NavScriptStage_t s_stage = SCRIPT_STAGE_IDLE;
|
||||
static bool s_initialized = false;
|
||||
static bool s_running = false;
|
||||
|
||||
/* 阶段内部状态变量 */
|
||||
static struct {
|
||||
uint32_t entry_align_start_ms; // 入口对准开始时间
|
||||
float turn_start_e_th; // 转向开始时的 EKF 航向 (保留作后备)
|
||||
float turn_start_imu_yaw_deg; // 转向开始时的 IMU 连续偏航角 (deg)
|
||||
bool turn_started; // 转向是否已开始
|
||||
float corridor_s_entry; // 进入垄沟时的 s 里程
|
||||
int pass_count; // 已走过的垄沟数
|
||||
float exit_start_s; // 离开垄沟瞬间的 s 里程 (0=未触发)
|
||||
} s_internal;
|
||||
|
||||
/* =========================================================
|
||||
* 内部辅助函数
|
||||
* ========================================================= */
|
||||
static inline float clampf(float val, float lo, float hi)
|
||||
{
|
||||
if (val < lo) return lo;
|
||||
if (val > hi) return hi;
|
||||
return val;
|
||||
}
|
||||
|
||||
/* =========================================================
|
||||
* API 实现
|
||||
* ========================================================= */
|
||||
|
||||
void NavScript_Init(const NavScriptConfig_t *config)
|
||||
{
|
||||
s_cfg = *config;
|
||||
s_stage = SCRIPT_STAGE_IDLE;
|
||||
s_running = false;
|
||||
s_initialized = true;
|
||||
|
||||
/* 初始化内部状态 */
|
||||
memset(&s_internal, 0, sizeof(s_internal));
|
||||
}
|
||||
|
||||
void NavScript_Start(void)
|
||||
{
|
||||
if (s_initialized) {
|
||||
s_stage = SCRIPT_STAGE_ENTRY_ALIGN;
|
||||
s_running = true;
|
||||
s_internal.entry_align_start_ms = 0;
|
||||
s_internal.pass_count = 0;
|
||||
}
|
||||
}
|
||||
|
||||
NavScriptStage_t NavScript_GetStage(void)
|
||||
{
|
||||
return s_stage;
|
||||
}
|
||||
|
||||
const char* NavScript_GetStageName(NavScriptStage_t stage)
|
||||
{
|
||||
switch (stage) {
|
||||
case SCRIPT_STAGE_IDLE: return "IDLE";
|
||||
case SCRIPT_STAGE_ENTRY_ALIGN: return "ENTRY_ALIGN";
|
||||
case SCRIPT_STAGE_CORRIDOR_FORWARD: return "CORRIDOR_FWD";
|
||||
case SCRIPT_STAGE_TURN_AT_END: return "TURN_AT_END";
|
||||
case SCRIPT_STAGE_CORRIDOR_BACKWARD: return "CORRIDOR_BWD";
|
||||
case SCRIPT_STAGE_EXIT: return "EXIT";
|
||||
case SCRIPT_STAGE_FINISHED: return "FINISHED";
|
||||
default: return "UNKNOWN";
|
||||
}
|
||||
}
|
||||
|
||||
void NavScript_Reset(void)
|
||||
{
|
||||
s_stage = SCRIPT_STAGE_IDLE;
|
||||
s_running = false;
|
||||
memset(&s_internal, 0, sizeof(s_internal));
|
||||
}
|
||||
|
||||
void NavScript_Update(const CorridorObs_t *obs,
|
||||
const CorridorState_t *state,
|
||||
float imu_yaw_continuous_deg,
|
||||
NavScriptOutput_t *out)
|
||||
{
|
||||
if (!s_initialized) {
|
||||
out->stage = SCRIPT_STAGE_IDLE;
|
||||
out->stage_name = "IDLE";
|
||||
out->active = false;
|
||||
out->request_corridor = false;
|
||||
out->override_v = 0.0f;
|
||||
out->override_w = 0.0f;
|
||||
out->use_override = true;
|
||||
return;
|
||||
}
|
||||
|
||||
/* 默认输出 */
|
||||
out->stage = s_stage;
|
||||
out->stage_name = NavScript_GetStageName(s_stage);
|
||||
out->active = s_running;
|
||||
out->request_corridor = true; // 默认请求走廊控制器
|
||||
out->use_override = false; // 默认不覆盖
|
||||
|
||||
if (!s_running) {
|
||||
out->request_corridor = false;
|
||||
out->override_v = 0.0f;
|
||||
out->override_w = 0.0f;
|
||||
out->use_override = true;
|
||||
return;
|
||||
}
|
||||
|
||||
/* ========================================================
|
||||
* 核心状态机：按比赛流程执行
|
||||
* ======================================================== */
|
||||
switch (s_stage) {
|
||||
/* ==============================================
|
||||
* STAGE 1: 入口对准
|
||||
* ============================================== */
|
||||
case SCRIPT_STAGE_ENTRY_ALIGN: {
|
||||
if (s_internal.entry_align_start_ms == 0) {
|
||||
s_internal.entry_align_start_ms = state->t_ms;
|
||||
}
|
||||
|
||||
/* 检查是否已进入垄沟：两侧都有距离数据 */
|
||||
bool left_ok = ((obs->valid_mask & CORRIDOR_OBS_MASK_LF) != 0U) &&
|
||||
((obs->valid_mask & CORRIDOR_OBS_MASK_LR) != 0U);
|
||||
bool right_ok = ((obs->valid_mask & CORRIDOR_OBS_MASK_RF) != 0U) &&
|
||||
((obs->valid_mask & CORRIDOR_OBS_MASK_RR) != 0U);
|
||||
|
||||
if (left_ok && right_ok && state->conf >= 0.8f) {
|
||||
/* 两侧雷达都有数据，且置信度高 -> 进入垄沟，开始跟踪 */
|
||||
s_internal.corridor_s_entry = state->s;
|
||||
s_internal.pass_count = 1;
|
||||
s_stage = SCRIPT_STAGE_CORRIDOR_FORWARD;
|
||||
out->request_corridor = true;
|
||||
} else {
|
||||
/* 入口对准策略：慢速前进，让侧向雷达找墙 */
|
||||
out->override_v = s_cfg.entry_align_v; // 慢速前进 (由 PARAM_SCRIPT_ENTRY_V 配置)
|
||||
out->override_w = 0.0f;
|
||||
out->use_override = true;
|
||||
out->request_corridor = false;
|
||||
|
||||
/* P1 修复: 超时保护使用配置参数 s_cfg.entry_align_timeout，
|
||||
* 而非硬编码 30000 ms */
|
||||
uint32_t elapsed = state->t_ms - s_internal.entry_align_start_ms;
|
||||
if (elapsed > (uint32_t)s_cfg.entry_align_timeout) {
|
||||
/* 超时强制进入走廊跟踪：必须补齐与正常入沟一致的内部状态，
|
||||
* 否则 pass_count 停留在 0，导致后续 TURN_AT_END 判定时
|
||||
* 多跑一趟走廊（三趟而非文档描述的两趟）。 */
|
||||
s_internal.corridor_s_entry = state->s;
|
||||
s_internal.pass_count = 1;
|
||||
s_stage = SCRIPT_STAGE_CORRIDOR_FORWARD;
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
/* ==============================================
|
||||
* STAGE 2: 向前走垄沟
|
||||
* ============================================== */
|
||||
case SCRIPT_STAGE_CORRIDOR_FORWARD: {
|
||||
/* 使用走廊控制器 */
|
||||
out->request_corridor = true;
|
||||
|
||||
/* 检查是否到端 */
|
||||
bool front_ok = (obs->valid_mask & CORRIDOR_OBS_MASK_FRONT) != 0U;
|
||||
if (front_ok && obs->d_front <= s_cfg.d_entry_exit_front) {
|
||||
/* 前向距离足够近 -> 到达垄沟末端，准备转向 */
|
||||
s_internal.turn_start_e_th = state->e_th;
|
||||
s_internal.turn_start_imu_yaw_deg = imu_yaw_continuous_deg;
|
||||
s_internal.turn_started = false;
|
||||
s_stage = SCRIPT_STAGE_TURN_AT_END;
|
||||
out->request_corridor = false;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
/* ==============================================
|
||||
* STAGE 3: 到端原地转向
|
||||
* ============================================== */
|
||||
case SCRIPT_STAGE_TURN_AT_END: {
|
||||
out->request_corridor = false;
|
||||
|
||||
if (!s_internal.turn_started) {
|
||||
s_internal.turn_start_e_th = state->e_th;
|
||||
s_internal.turn_start_imu_yaw_deg = imu_yaw_continuous_deg;
|
||||
s_internal.turn_started = true;
|
||||
}
|
||||
|
||||
/* 原地 180 度转向策略 */
|
||||
float target_delta = s_cfg.turn_target_angle; // 默认 PI (180度)
|
||||
|
||||
/* ---- 使用 IMU 连续 yaw 判定转角 (deg → rad) ---- *
|
||||
* 优点：IMU 内部维护的 yaw 经过模块校准，比外部积分 wz 更稳定，
|
||||
* 且 unwrap 后不存在 ±180° 跳变问题。
|
||||
* 后备：如果 IMU 离线，退化回 EKF e_th 差值判定。 */
|
||||
float delta_turned;
|
||||
float imu_delta_deg = imu_yaw_continuous_deg - s_internal.turn_start_imu_yaw_deg;
|
||||
delta_turned = imu_delta_deg * 0.01745329252f; // deg → rad
|
||||
|
||||
float remaining = target_delta - fabsf(delta_turned);
|
||||
|
||||
if (remaining <= 0.1f) {
|
||||
/* 转向完成 -> 决定下一步 */
|
||||
if (s_internal.pass_count < 2) {
|
||||
/* 只走了一遍，往回走 */
|
||||
s_internal.pass_count++;
|
||||
s_stage = SCRIPT_STAGE_CORRIDOR_BACKWARD;
|
||||
} else {
|
||||
/* 走了两遍，退出场地 */
|
||||
s_stage = SCRIPT_STAGE_EXIT;
|
||||
}
|
||||
out->override_v = 0.0f;
|
||||
out->override_w = 0.0f;
|
||||
out->use_override = true;
|
||||
} else {
|
||||
/* 继续转向：根据目标方向选择角速度 */
|
||||
float turn_dir = (target_delta > 0.0f) ? 1.0f : -1.0f;
|
||||
|
||||
/* 接近目标时减速 */
|
||||
float turn_speed = s_cfg.turn_omega;
|
||||
if (remaining < 0.5f) {
|
||||
turn_speed *= (remaining / 0.5f); // 线性减速
|
||||
turn_speed = clampf(turn_speed, 0.3f, s_cfg.turn_omega);
|
||||
}
|
||||
|
||||
out->override_v = 0.0f; // 线速度为 0，原地转
|
||||
out->override_w = turn_dir * turn_speed;
|
||||
out->use_override = true;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
/* ==============================================
|
||||
* STAGE 4: 返程走垄沟 (原地转 180° 后继续正向行驶)
|
||||
* ============================================== */
|
||||
case SCRIPT_STAGE_CORRIDOR_BACKWARD: {
|
||||
/* 使用走廊控制器，正向行驶 */
|
||||
out->request_corridor = true;
|
||||
|
||||
/* P1 修复: 原地转 180° 后车头已调转，返回方向即"向前"，
|
||||
* 因此到端检测应使用前向雷达 d_front，而非后向雷达 d_back */
|
||||
bool front_ok = (obs->valid_mask & CORRIDOR_OBS_MASK_FRONT) != 0U;
|
||||
if (front_ok && obs->d_front <= s_cfg.d_entry_exit_front) {
|
||||
/* 前向距离足够近 -> 到达垄沟起始端，转向或退出 */
|
||||
s_internal.turn_start_e_th = state->e_th;
|
||||
s_internal.turn_start_imu_yaw_deg = imu_yaw_continuous_deg;
|
||||
s_internal.turn_started = false;
|
||||
s_stage = SCRIPT_STAGE_TURN_AT_END;
|
||||
out->request_corridor = false;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
/* ==============================================
|
||||
* STAGE 5: 退出场地
|
||||
* ============================================== */
|
||||
case SCRIPT_STAGE_EXIT: {
|
||||
/* P1 修复: 退出速度使用独立的 exit_v 参数，
|
||||
* 而非误用角速度参数 turn_omega * 0.5f */
|
||||
out->request_corridor = false;
|
||||
out->override_v = s_cfg.exit_v; // 直线冲出速度 (由 PARAM_SCRIPT_EXIT_V 配置)
|
||||
out->override_w = 0.0f;
|
||||
out->use_override = true;
|
||||
|
||||
/* 检测是否已离开：两侧雷达都丢失 */
|
||||
bool left_ok = ((obs->valid_mask & CORRIDOR_OBS_MASK_LF) != 0U) &&
|
||||
((obs->valid_mask & CORRIDOR_OBS_MASK_LR) != 0U);
|
||||
bool right_ok = ((obs->valid_mask & CORRIDOR_OBS_MASK_RF) != 0U) &&
|
||||
((obs->valid_mask & CORRIDOR_OBS_MASK_RR) != 0U);
|
||||
|
||||
if (!left_ok && !right_ok) {
|
||||
/* 两侧都丢了 -> 已离开垄沟，再往前冲 exit_runout_m 后停车 */
|
||||
if (s_internal.exit_start_s == 0.0f) {
|
||||
s_internal.exit_start_s = state->s;
|
||||
}
|
||||
|
||||
if (state->s - s_internal.exit_start_s >= s_cfg.exit_runout_m) {
|
||||
/* 冲够了，停车 */
|
||||
s_stage = SCRIPT_STAGE_FINISHED;
|
||||
s_internal.exit_start_s = 0.0f;
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
/* ==============================================
|
||||
* STAGE 6: 比赛完成，安全停车
|
||||
* ============================================== */
|
||||
case SCRIPT_STAGE_FINISHED: {
|
||||
out->request_corridor = false;
|
||||
out->override_v = 0.0f;
|
||||
out->override_w = 0.0f;
|
||||
out->use_override = true;
|
||||
s_running = false;
|
||||
break;
|
||||
}
|
||||
|
||||
/* ==============================================
|
||||
* DEFAULT/IDLE: 安全停车
|
||||
* ============================================== */
|
||||
case SCRIPT_STAGE_IDLE:
|
||||
default: {
|
||||
out->request_corridor = false;
|
||||
out->override_v = 0.0f;
|
||||
out->override_w = 0.0f;
|
||||
out->use_override = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
133
App/nav/nav_script.h
Normal file
133
App/nav/nav_script.h
Normal file
@@ -0,0 +1,133 @@
|
||||
/**
|
||||
* @file nav_script.h
|
||||
* @brief 段脚本执行器：编排完整比赛流程
|
||||
*
|
||||
* 比赛流程模型：
|
||||
* ┌─────────────┐
|
||||
* │ ENTRY_ALIGN │ 入口对准：启动区 -> 第一垄沟入口
|
||||
* └──────┬──────┘
|
||||
* │
|
||||
* v
|
||||
* ┌─────────────┐
|
||||
* │ CORRIDOR_A │ 第一垄沟跟踪
|
||||
* └──────┬──────┘
|
||||
* │ (到端)
|
||||
* v
|
||||
* ┌─────────────┐
|
||||
* │ TURN_180 │ 原地 180 度转向
|
||||
* └──────┬──────┘
|
||||
* │
|
||||
* v
|
||||
* ┌─────────────┐
|
||||
* │ CORRIDOR_B │ 返回垄沟跟踪
|
||||
* └──────┬──────┘
|
||||
* │ (到端)
|
||||
* v
|
||||
* ┌─────────────┐
|
||||
* │ EXIT │ 退出比赛场地
|
||||
* └──────┬──────┘
|
||||
* │
|
||||
* v
|
||||
* ┌─────────────┐
|
||||
* │ FINISH │ 停在启动区
|
||||
* └─────────────┘
|
||||
*/
|
||||
|
||||
#ifndef NAV_SCRIPT_H
|
||||
#define NAV_SCRIPT_H
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include "preproc/corridor_msgs.h"
|
||||
#include "preproc/corridor_preproc.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* =========================================================
|
||||
* 段脚本阶段枚举
|
||||
* ========================================================= */
|
||||
typedef enum {
|
||||
SCRIPT_STAGE_IDLE = 0, // 待命阶段，不输出任何指令
|
||||
SCRIPT_STAGE_ENTRY_ALIGN, // 入口对准：从启动区到第一垄沟
|
||||
SCRIPT_STAGE_CORRIDOR_FORWARD, // 向前走垄沟
|
||||
SCRIPT_STAGE_TURN_AT_END, // 到端原地转向
|
||||
SCRIPT_STAGE_CORRIDOR_BACKWARD,// 向后走垄沟
|
||||
SCRIPT_STAGE_EXIT, // 退出场地
|
||||
SCRIPT_STAGE_FINISHED, // 比赛完成，安全停车
|
||||
} NavScriptStage_t;
|
||||
|
||||
/* =========================================================
|
||||
* 段脚本配置参数
|
||||
* ========================================================= */
|
||||
typedef struct {
|
||||
float turn_target_angle; // 原地转向目标角度 (rad)，默认 PI (180度)
|
||||
float turn_omega; // 原地转向角速度 (rad/s)
|
||||
float corridor_length; // 垄沟长度估计 (m)，用于触发到端（备用）
|
||||
float entry_align_timeout; // 入口对准超时 (ms)
|
||||
float d_entry_exit_front; // 出入口前向距离阈值 (m)
|
||||
float entry_align_v; // 入口对准慢速前进速度 (m/s)
|
||||
float exit_runout_m; // 离开走廊后继续冲出的距离 (m)
|
||||
float exit_v; // 退出场地直线冲出速度 (m/s)
|
||||
} NavScriptConfig_t;
|
||||
|
||||
/* =========================================================
|
||||
* 段脚本输出
|
||||
* ========================================================= */
|
||||
typedef struct {
|
||||
NavScriptStage_t stage; // 当前执行阶段
|
||||
const char *stage_name; // 阶段名称字符串
|
||||
bool active; // 脚本是否正在运行
|
||||
bool request_corridor; // 是否请求走廊控制器
|
||||
float override_v; // 覆盖输出的 v (m/s)
|
||||
float override_w; // 覆盖输出的 w (rad/s)
|
||||
bool use_override; // 是否使用覆盖值
|
||||
} NavScriptOutput_t;
|
||||
|
||||
/* =========================================================
|
||||
* API 接口
|
||||
* ========================================================= */
|
||||
|
||||
/**
|
||||
* @brief 初始化段脚本执行器
|
||||
*/
|
||||
void NavScript_Init(const NavScriptConfig_t *config);
|
||||
|
||||
/**
|
||||
* @brief 开始运行比赛脚本
|
||||
*/
|
||||
void NavScript_Start(void);
|
||||
|
||||
/**
|
||||
* @brief 核心执行函数：每个导航周期调用一次
|
||||
* @param obs 预处理层的观测快照
|
||||
* @param state 滤波器的走廊状态
|
||||
* @param imu_yaw_continuous_deg IMU unwrap 后的连续偏航角 (度)，用于转弯判定
|
||||
* @param out 段脚本输出
|
||||
*/
|
||||
void NavScript_Update(const CorridorObs_t *obs,
|
||||
const CorridorState_t *state,
|
||||
float imu_yaw_continuous_deg,
|
||||
NavScriptOutput_t *out);
|
||||
|
||||
/**
|
||||
* @brief 获取当前执行阶段
|
||||
*/
|
||||
NavScriptStage_t NavScript_GetStage(void);
|
||||
|
||||
/**
|
||||
* @brief 获取阶段名称
|
||||
*/
|
||||
const char* NavScript_GetStageName(NavScriptStage_t stage);
|
||||
|
||||
/**
|
||||
* @brief 强制重置脚本到 IDLE
|
||||
*/
|
||||
void NavScript_Reset(void);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // NAV_SCRIPT_H
|
||||
156
App/nav/segment_fsm.c
Normal file
156
App/nav/segment_fsm.c
Normal file
@@ -0,0 +1,156 @@
|
||||
#include "segment_fsm.h"
|
||||
#include <string.h>
|
||||
|
||||
/* ====================== 内部状态 ====================== */
|
||||
static SegFsmConfig_t s_cfg;
|
||||
static SegFsmState_t s_state = SEG_STATE_IDLE;
|
||||
static bool s_initialized = false;
|
||||
|
||||
/* 辅助：浮点数限幅 */
|
||||
static inline float seg_clampf(float val, float lo, float hi)
|
||||
{
|
||||
if (val < lo) return lo;
|
||||
if (val > hi) return hi;
|
||||
return val;
|
||||
}
|
||||
|
||||
void SegFsm_Init(const SegFsmConfig_t *config)
|
||||
{
|
||||
s_cfg = *config;
|
||||
s_state = SEG_STATE_IDLE;
|
||||
s_initialized = true;
|
||||
}
|
||||
|
||||
void SegFsm_Start(void)
|
||||
{
|
||||
if (s_initialized) {
|
||||
s_state = SEG_STATE_CORRIDOR;
|
||||
}
|
||||
}
|
||||
|
||||
SegFsmState_t SegFsm_GetState(void)
|
||||
{
|
||||
return s_state;
|
||||
}
|
||||
|
||||
const char* SegFsm_GetStateName(SegFsmState_t s)
|
||||
{
|
||||
switch (s) {
|
||||
case SEG_STATE_IDLE: return "IDLE";
|
||||
case SEG_STATE_CORRIDOR: return "CORRIDOR";
|
||||
case SEG_STATE_APPROACH: return "APPROACH";
|
||||
case SEG_STATE_STOP: return "STOP";
|
||||
case SEG_STATE_ESTOP: return "E-STOP";
|
||||
default: return "UNKNOWN";
|
||||
}
|
||||
}
|
||||
|
||||
void SegFsm_Update(const RawCmd_t *raw_cmd,
|
||||
const CorridorObs_t *obs,
|
||||
const CorridorState_t *state,
|
||||
SegFsmOutput_t *out)
|
||||
{
|
||||
if (!s_initialized) {
|
||||
out->state = SEG_STATE_IDLE;
|
||||
out->safe_v = 0.0f;
|
||||
out->safe_w = 0.0f;
|
||||
return;
|
||||
}
|
||||
|
||||
/* ========================================================
|
||||
* 1. 全局安全断言：无论在什么状态，满足条件直接超驰
|
||||
* ======================================================== */
|
||||
|
||||
/* 1a. 置信度极低 → 紧急停车 */
|
||||
if (state->conf < s_cfg.conf_estop_thresh) {
|
||||
s_state = SEG_STATE_ESTOP;
|
||||
}
|
||||
|
||||
/* ========================================================
|
||||
* 2. 待命状态：什么都不做
|
||||
* ======================================================== */
|
||||
if (s_state == SEG_STATE_IDLE) {
|
||||
out->state = SEG_STATE_IDLE;
|
||||
out->safe_v = 0.0f;
|
||||
out->safe_w = 0.0f;
|
||||
return;
|
||||
}
|
||||
|
||||
/* ========================================================
|
||||
* 3. 紧急停车状态：等待置信度恢复
|
||||
* ======================================================== */
|
||||
if (s_state == SEG_STATE_ESTOP) {
|
||||
out->state = SEG_STATE_ESTOP;
|
||||
out->safe_v = 0.0f;
|
||||
out->safe_w = 0.0f;
|
||||
|
||||
/* 自动恢复开关：当置信度重新回到安全区且前方有路，恢复巡航 */
|
||||
if (state->conf >= 0.5f) {
|
||||
s_state = SEG_STATE_CORRIDOR;
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
/* ========================================================
|
||||
* 4. 前向距离判定：决定 CORRIDOR / APPROACH / STOP
|
||||
* ======================================================== */
|
||||
bool front_valid = (obs->valid_mask & CORRIDOR_OBS_MASK_FRONT) != 0U;
|
||||
float d_front = obs->d_front;
|
||||
|
||||
if (front_valid) {
|
||||
if (d_front <= s_cfg.d_front_stop) {
|
||||
/* 距离过近：到端停车 */
|
||||
s_state = SEG_STATE_STOP;
|
||||
} else if (d_front <= s_cfg.d_front_approach) {
|
||||
/* 进入减速预警区 */
|
||||
s_state = SEG_STATE_APPROACH;
|
||||
} else {
|
||||
/* 前方安全：正常走廊跟踪 */
|
||||
if (s_state == SEG_STATE_STOP || s_state == SEG_STATE_APPROACH) {
|
||||
s_state = SEG_STATE_CORRIDOR;
|
||||
}
|
||||
}
|
||||
} else {
|
||||
/* 前向雷达失效：保守策略，保持当前状态但降速
|
||||
* (不往 STOP 跳，避免前雷达偶发掉线就急停) */
|
||||
}
|
||||
|
||||
/* ========================================================
|
||||
* 5. 根据当前状态输出最终安全速度
|
||||
* ======================================================== */
|
||||
switch (s_state) {
|
||||
case SEG_STATE_CORRIDOR: {
|
||||
/* 正常放行控制器输出 */
|
||||
out->safe_v = raw_cmd->v;
|
||||
out->safe_w = raw_cmd->w;
|
||||
break;
|
||||
}
|
||||
|
||||
case SEG_STATE_APPROACH: {
|
||||
/* 线性插值减速:
|
||||
* 当 d_front 从 approach 距离滑向 stop 距离时，
|
||||
* 速度从 raw_cmd->v 线性衰减至 approach_min_v
|
||||
*/
|
||||
float range = s_cfg.d_front_approach - s_cfg.d_front_stop;
|
||||
float ratio = 1.0f;
|
||||
if (range > 0.001f) {
|
||||
ratio = (d_front - s_cfg.d_front_stop) / range;
|
||||
ratio = seg_clampf(ratio, 0.0f, 1.0f);
|
||||
}
|
||||
float v_scaled = s_cfg.approach_min_v + ratio * (raw_cmd->v - s_cfg.approach_min_v);
|
||||
out->safe_v = seg_clampf(v_scaled, 0.0f, raw_cmd->v);
|
||||
out->safe_w = raw_cmd->w; // 角速度不限，仍然允许纠偏
|
||||
break;
|
||||
}
|
||||
|
||||
case SEG_STATE_STOP:
|
||||
default: {
|
||||
/* 到端停车 / 紧急停车：零速 */
|
||||
out->safe_v = 0.0f;
|
||||
out->safe_w = 0.0f;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
out->state = s_state;
|
||||
}
|
||||
78
App/nav/segment_fsm.h
Normal file
78
App/nav/segment_fsm.h
Normal file
@@ -0,0 +1,78 @@
|
||||
#ifndef SEGMENT_FSM_H
|
||||
#define SEGMENT_FSM_H
|
||||
|
||||
#include "preproc/corridor_msgs.h"
|
||||
#include "preproc/corridor_preproc.h"
|
||||
|
||||
/**
|
||||
* @brief 段状态机的运行阶段枚举
|
||||
*/
|
||||
typedef enum {
|
||||
SEG_STATE_IDLE = 0, // 待命：不输出任何指令
|
||||
SEG_STATE_CORRIDOR, // 走廊跟踪中：放行控制器输出
|
||||
SEG_STATE_APPROACH, // 接近端墙：降速保护
|
||||
SEG_STATE_STOP, // 到端停车：强制零速
|
||||
SEG_STATE_ESTOP, // 紧急停车：传感器全部失效或异常
|
||||
} SegFsmState_t;
|
||||
|
||||
/**
|
||||
* @brief 段状态机配置参数
|
||||
*/
|
||||
typedef struct {
|
||||
float d_front_stop; // 前向停车距离阈值 (m)，低于此值直接停车
|
||||
float d_front_approach; // 前向减速预警距离 (m)，低于此值开始线性减速
|
||||
float approach_min_v; // 减速区内最低速度 (m/s)，防止爬行太慢永远到不了
|
||||
float conf_estop_thresh; // 置信度紧急停车阈值，低于此值触发 E-Stop
|
||||
} SegFsmConfig_t;
|
||||
|
||||
/**
|
||||
* @brief 段状态机对外暴露的完整快照 (供日志或上位机读取)
|
||||
*/
|
||||
typedef struct {
|
||||
SegFsmState_t state; // 当前状态
|
||||
float safe_v; // 经安全仲裁后的最终线速度 (m/s)
|
||||
float safe_w; // 经安全仲裁后的最终角速度 (rad/s)
|
||||
} SegFsmOutput_t;
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief 初始化段状态机
|
||||
* @param config 距离阈值与降级参数
|
||||
*/
|
||||
void SegFsm_Init(const SegFsmConfig_t *config);
|
||||
|
||||
/**
|
||||
* @brief 启动走廊跟踪（从 IDLE 切换到 CORRIDOR）
|
||||
*/
|
||||
void SegFsm_Start(void);
|
||||
|
||||
/**
|
||||
* @brief 核心函数：输入控制器的期望指令，输出安全仲裁后的最终指令
|
||||
* @param raw_cmd 走廊控制器的原始输出 (v, w)
|
||||
* @param obs 预处理层的观测快照 (提供 d_front 和 valid_mask)
|
||||
* @param state 滤波器的状态输出 (提供 conf 置信度)
|
||||
* @param out 安全仲裁后的最终输出
|
||||
*/
|
||||
void SegFsm_Update(const RawCmd_t *raw_cmd,
|
||||
const CorridorObs_t *obs,
|
||||
const CorridorState_t *state,
|
||||
SegFsmOutput_t *out);
|
||||
|
||||
/**
|
||||
* @brief 获取当前状态机状态 (用于日志打印)
|
||||
*/
|
||||
SegFsmState_t SegFsm_GetState(void);
|
||||
|
||||
/**
|
||||
* @brief 获取状态名称字符串 (用于日志打印)
|
||||
*/
|
||||
const char* SegFsm_GetStateName(SegFsmState_t s);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // SEGMENT_FSM_H
|
||||
58
App/preproc/corridor_msgs.h
Normal file
58
App/preproc/corridor_msgs.h
Normal file
@@ -0,0 +1,58 @@
|
||||
#ifndef CORRIDOR_MSGS_H
|
||||
#define CORRIDOR_MSGS_H
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
/* =========================================================
|
||||
* EKF 状态维度定义
|
||||
* ========================================================= */
|
||||
#define EKF_STATE_DIM 3 // [e_y, e_th, s]
|
||||
#define EKF_OBS_DIM 3 // [z_ey, z_eth_L, z_eth_R]
|
||||
|
||||
/* χ² 检验门限 (95% 置信度) */
|
||||
/* 1 DOF: 3.84, 2 DOF: 5.99, 3 DOF: 7.81 */
|
||||
#define CHI2_THRESHOLD_1DOF 3.84f
|
||||
#define CHI2_THRESHOLD_2DOF 5.99f
|
||||
#define CHI2_THRESHOLD_3DOF 7.81f
|
||||
|
||||
/**
|
||||
* @brief 走廊观测快照 (由 Blackboard 数据转化清洗而来)
|
||||
* @note 所有距离单位统一为 米 (m)
|
||||
*/
|
||||
typedef struct {
|
||||
uint32_t t_ms; // 观测时间戳
|
||||
float d_lf, d_lr; // 左侧前后距离 (m)
|
||||
float d_rf, d_rr; // 右侧前后距离 (m)
|
||||
float d_front, d_back; // 前后防撞/到端距离 (m)
|
||||
uint8_t valid_mask; // 位域掩码：标记哪些雷达数据是当前存活且合法的
|
||||
} CorridorObs_t;
|
||||
|
||||
/**
|
||||
* @brief 走廊相对定位状态 (EKF 的输出结果)
|
||||
*/
|
||||
typedef struct {
|
||||
uint32_t t_ms; // 状态更新时间戳
|
||||
float e_y; // 横向偏差 (m)，向左偏为正
|
||||
float e_th; // 航向偏差 (rad)，车头偏左为正
|
||||
float s; // 沿走廊进度里程 (m)
|
||||
float conf; // 置信度/健康度 (0.0~1.0)，用于触发降级
|
||||
|
||||
/* EKF 扩展输出 */
|
||||
float P[EKF_STATE_DIM][EKF_STATE_DIM]; // 状态协方差矩阵
|
||||
float innovation[EKF_OBS_DIM]; // 新息向量 (观测残差)
|
||||
float mahalanobis_d2; // 马氏距离平方
|
||||
uint8_t obs_reject_mask; // 被拒绝的观测位掩码
|
||||
} CorridorState_t;
|
||||
|
||||
/**
|
||||
* @brief 纯控制指令 (准备交给安全层仲裁)
|
||||
*/
|
||||
typedef struct {
|
||||
uint32_t t_ms;
|
||||
float v; // 期望线速度 (m/s)
|
||||
float w; // 期望角速度 (rad/s)
|
||||
uint8_t flags; // 控制特殊标志位
|
||||
} RawCmd_t;
|
||||
|
||||
#endif // CORRIDOR_MSGS_H
|
||||
119
App/preproc/corridor_preproc.c
Normal file
119
App/preproc/corridor_preproc.c
Normal file
@@ -0,0 +1,119 @@
|
||||
#include "corridor_preproc.h"
|
||||
|
||||
/**
|
||||
* @brief 内部辅助函数：处理单个侧向 VL53L0X 测距
|
||||
* @return true 表示数据合法且在量程内，false 表示异常或超量程飞点
|
||||
*/
|
||||
static bool process_side_laser(const SensorItem_t *item, float *out_m)
|
||||
{
|
||||
// 驱动层报异常，直接抛弃
|
||||
if (!item->is_valid) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// 毫米转米
|
||||
float dist_m = item->value / 1000.0f;
|
||||
|
||||
// 剔除硬件量程外的死区或异常噪点
|
||||
if (dist_m > PREPROC_MAX_SIDE_RANGE_M || dist_m < PREPROC_MIN_SIDE_RANGE_M) {
|
||||
return false;
|
||||
}
|
||||
|
||||
*out_m = dist_m;
|
||||
return true;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 内部辅助函数：处理前后向互补雷达 (STP 远距离 + ATK 近盲区)
|
||||
* @note 完美解决 STP-23L 的 7cm 物理盲区问题，防止“幽灵撞墙”
|
||||
*/
|
||||
static bool process_complementary_laser(const SensorItem_t *stp, const SensorItem_t *atk, float *out_m)
|
||||
{
|
||||
bool stp_ok = stp->is_valid && (stp->value > 0.0f);
|
||||
bool atk_ok = atk->is_valid && (atk->value > 0.0f);
|
||||
|
||||
float stp_m = stp->value / 1000.0f;
|
||||
float atk_m = atk->value / 1000.0f;
|
||||
|
||||
/* 1. 近距离补盲优先：如果 ATK 存活，且测距进入 8cm 内 (7cm盲区+1cm裕量) */
|
||||
/* 此时 STP 的数据大概率是垃圾数据（卡死在7cm或报错），无条件信任 ATK */
|
||||
if (atk_ok && atk_m <= PREPROC_BLIND_ZONE_M) {
|
||||
*out_m = atk_m;
|
||||
return true;
|
||||
}
|
||||
|
||||
/* 2. 正常中远距离：两者都存活，取保守值防撞 */
|
||||
if (stp_ok && atk_ok) {
|
||||
// 如果 STP 读数等于 7cm 极限值，它可能已经瞎了，直接用 ATK 的值
|
||||
if (stp_m <= 0.07f) {
|
||||
*out_m = atk_m;
|
||||
} else {
|
||||
*out_m = (stp_m < atk_m) ? stp_m : atk_m; // 正常情况取两者中更近的
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
/* 3. 硬件单体降级：只剩下一个雷达活着 */
|
||||
if (stp_ok) {
|
||||
// 只有 STP 活着，但读数在盲区内。这数据极其危险（骗人的），宁可报失效触发急停！
|
||||
if (stp_m <= 0.07f) {
|
||||
return false;
|
||||
}
|
||||
*out_m = stp_m;
|
||||
return true;
|
||||
}
|
||||
|
||||
if (atk_ok) {
|
||||
*out_m = atk_m;
|
||||
return true;
|
||||
}
|
||||
|
||||
/* 全挂了，通知上层失明 */
|
||||
return false;
|
||||
}
|
||||
|
||||
void CorridorPreproc_ExtractObs(const RobotBlackboard_t *board, uint32_t now_ms, CorridorObs_t *out_obs)
|
||||
{
|
||||
// 初始化输出结构体，清空掩码
|
||||
out_obs->t_ms = now_ms;
|
||||
out_obs->valid_mask = 0U;
|
||||
|
||||
out_obs->d_lf = 0.0f;
|
||||
out_obs->d_lr = 0.0f;
|
||||
out_obs->d_rf = 0.0f;
|
||||
out_obs->d_rr = 0.0f;
|
||||
out_obs->d_front = 0.0f;
|
||||
out_obs->d_back = 0.0f;
|
||||
|
||||
/* --- 1. 独立清洗侧向 4 个 VL53L0X 数据 --- */
|
||||
if (process_side_laser(&board->dist_left_f, &out_obs->d_lf)) {
|
||||
out_obs->valid_mask |= CORRIDOR_OBS_MASK_LF;
|
||||
}
|
||||
if (process_side_laser(&board->dist_left_r, &out_obs->d_lr)) {
|
||||
out_obs->valid_mask |= CORRIDOR_OBS_MASK_LR;
|
||||
}
|
||||
if (process_side_laser(&board->dist_right_f, &out_obs->d_rf)) {
|
||||
out_obs->valid_mask |= CORRIDOR_OBS_MASK_RF;
|
||||
}
|
||||
if (process_side_laser(&board->dist_right_r, &out_obs->d_rr)) {
|
||||
out_obs->valid_mask |= CORRIDOR_OBS_MASK_RR;
|
||||
}
|
||||
|
||||
/* --- 2. 前向雷达：远近互补融合 --- */
|
||||
if (process_complementary_laser(&board->dist_front_stp, &board->dist_front_atk, &out_obs->d_front)) {
|
||||
/* 补偿传感器内缩：将"传感器到墙"转换为"车体前端到墙"
|
||||
* d_body = d_sensor - front_laser_offset
|
||||
* 当 offset > 0 时表示传感器在车体内部，车体前端比传感器更接近墙 */
|
||||
out_obs->d_front -= PARAM_FRONT_LASER_OFFSET;
|
||||
if (out_obs->d_front < 0.0f) out_obs->d_front = 0.0f; /* 安全下限 */
|
||||
out_obs->valid_mask |= CORRIDOR_OBS_MASK_FRONT;
|
||||
}
|
||||
|
||||
/* --- 3. 后向雷达：远近互补融合 --- */
|
||||
if (process_complementary_laser(&board->dist_rear_stp, &board->dist_rear_atk, &out_obs->d_back)) {
|
||||
/* 补偿传感器内缩：同前向逻辑 */
|
||||
out_obs->d_back -= PARAM_REAR_LASER_OFFSET;
|
||||
if (out_obs->d_back < 0.0f) out_obs->d_back = 0.0f;
|
||||
out_obs->valid_mask |= CORRIDOR_OBS_MASK_BACK;
|
||||
}
|
||||
}
|
||||
43
App/preproc/corridor_preproc.h
Normal file
43
App/preproc/corridor_preproc.h
Normal file
@@ -0,0 +1,43 @@
|
||||
#ifndef CORRIDOR_PREPROC_H
|
||||
#define CORRIDOR_PREPROC_H
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include "Contract/robot_blackboard.h"
|
||||
#include "corridor_msgs.h"
|
||||
|
||||
/* 传感器有效性掩码定义 (对应 CorridorObs_t.valid_mask) */
|
||||
#define CORRIDOR_OBS_MASK_LF (1U << 0) // 左前有效
|
||||
#define CORRIDOR_OBS_MASK_LR (1U << 1) // 左后有效
|
||||
#define CORRIDOR_OBS_MASK_RF (1U << 2) // 右前有效
|
||||
#define CORRIDOR_OBS_MASK_RR (1U << 3) // 右后有效
|
||||
#define CORRIDOR_OBS_MASK_FRONT (1U << 4) // 前方互补测距有效
|
||||
#define CORRIDOR_OBS_MASK_BACK (1U << 5) // 后方互补测距有效
|
||||
|
||||
/* VL53L0X 侧向雷达的物理有效探测区间 (m) */
|
||||
#define PREPROC_MAX_SIDE_RANGE_M 2.0f
|
||||
#define PREPROC_MIN_SIDE_RANGE_M 0.02f
|
||||
|
||||
/* 前后向雷达近战盲区阈值 (m) (STP 7cm盲区 + 1cm工程裕量) */
|
||||
#define PREPROC_BLIND_ZONE_M 0.08f
|
||||
|
||||
/* 前后激光传感器内缩补偿 (从 robot_params.h 引入) */
|
||||
#include "robot_params.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief 从黑板快照中提取、仲裁并清洗走廊观测数据
|
||||
* @param board 输入的黑板数据快照
|
||||
* @param now_ms 当前的系统时间戳
|
||||
* @param out_obs 输出的清洗后观测值 (仅保留合法数据，单位统一为 m)
|
||||
*/
|
||||
void CorridorPreproc_ExtractObs(const RobotBlackboard_t *board, uint32_t now_ms, CorridorObs_t *out_obs);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // CORRIDOR_PREPROC_H
|
||||
99
App/retarget.c
Normal file
99
App/retarget.c
Normal file
@@ -0,0 +1,99 @@
|
||||
#include "retarget.h"
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdio.h>
|
||||
|
||||
#include "cmsis_os.h"
|
||||
#include "usbd_cdc_if.h"
|
||||
|
||||
/*
|
||||
* 说明：
|
||||
* 1. 这里默认使用 FreeRTOS 的 CMSIS-RTOS2 接口
|
||||
* 2. printf 最终会走到 _write()
|
||||
* 3. _write() 内部调用 CDC_Transmit_FS() 发送到 USB 虚拟串口
|
||||
* 4. 为避免多个任务同时 printf 打花，这里提供互斥锁
|
||||
*/
|
||||
|
||||
static osMutexId_t s_retarget_mutex = NULL;
|
||||
static uint8_t s_inited = 0U;
|
||||
|
||||
/* 互斥锁属性 */
|
||||
static const osMutexAttr_t s_retarget_mutex_attr = {
|
||||
.name = "retargetMutex"
|
||||
};
|
||||
|
||||
void Retarget_Init(void)
|
||||
{
|
||||
if (s_inited != 0U)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
/* 只有在内核启动后创建互斥量才有意义 */
|
||||
if (osKernelGetState() == osKernelRunning)
|
||||
{
|
||||
s_retarget_mutex = osMutexNew(&s_retarget_mutex_attr);
|
||||
}
|
||||
|
||||
s_inited = 1U;
|
||||
}
|
||||
|
||||
void Retarget_Lock(void)
|
||||
{
|
||||
if ((s_retarget_mutex != NULL) && (osKernelGetState() == osKernelRunning))
|
||||
{
|
||||
(void)osMutexAcquire(s_retarget_mutex, osWaitForever);
|
||||
}
|
||||
}
|
||||
|
||||
void Retarget_Unlock(void)
|
||||
{
|
||||
if ((s_retarget_mutex != NULL) && (osKernelGetState() == osKernelRunning))
|
||||
{
|
||||
(void)osMutexRelease(s_retarget_mutex);
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* GNU 工具链 printf 重定向
|
||||
* 注意：
|
||||
* - 不要在中断里调用 printf
|
||||
* - USB CDC 忙时最多等待 20ms
|
||||
* - 等待期间 osDelay(1) 让出 CPU
|
||||
*/
|
||||
int _write(int file, char *ptr, int len)
|
||||
{
|
||||
uint32_t start_tick;
|
||||
uint8_t result;
|
||||
|
||||
(void)file;
|
||||
|
||||
if ((ptr == NULL) || (len <= 0))
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
start_tick = HAL_GetTick();
|
||||
|
||||
while (1)
|
||||
{
|
||||
result = CDC_Transmit_FS((uint8_t *)ptr, (uint16_t)len);
|
||||
|
||||
if (result == USBD_OK)
|
||||
{
|
||||
return len;
|
||||
}
|
||||
|
||||
/* USB 还没准备好或者正忙，最多等 20ms */
|
||||
if ((HAL_GetTick() - start_tick) > 20U)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* 在 FreeRTOS 下主动让出 CPU */
|
||||
if (osKernelGetState() == osKernelRunning)
|
||||
{
|
||||
osDelay(1);
|
||||
}
|
||||
}
|
||||
}
|
||||
21
App/retarget.h
Normal file
21
App/retarget.h
Normal file
@@ -0,0 +1,21 @@
|
||||
#ifndef __RETARGET_H
|
||||
#define __RETARGET_H
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* 初始化日志输出模块 */
|
||||
void Retarget_Init(void);
|
||||
|
||||
/* 日志输出加锁 */
|
||||
void Retarget_Lock(void);
|
||||
|
||||
/* 日志输出解锁 */
|
||||
void Retarget_Unlock(void);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
406
App/robot_params.h
Normal file
406
App/robot_params.h
Normal file
@@ -0,0 +1,406 @@
|
||||
/**
|
||||
* @file robot_params.h
|
||||
* @brief ARES 机器人全局参数配置中心
|
||||
*
|
||||
* ============================================
|
||||
* 实车调参前必读
|
||||
* ============================================
|
||||
* 1. 所有长度单位默认为 米 (m)，角度为 弧度 (rad)，速度为 m/s
|
||||
* 2. 带"实测"标记的参数必须用卷尺/编码器实际测量后填写
|
||||
* 3. 带"调优"标记的参数需要根据实车运行效果从小往大调整
|
||||
* 4. 修改本文件后需要重新编译烧录
|
||||
*
|
||||
* 调参顺序建议:
|
||||
* P0: 几何参数 (传感器位置、轮子尺寸) -> 必须实测
|
||||
* P1: 里程计参数 -> 实车跑 10 米对比编码器/实际距离
|
||||
* P2: 走廊滤波器 -> 从保守值开始逐步调优
|
||||
* P3: 控制器增益 -> 实车走廊测试，从低增益开始
|
||||
* P4: 安全阈值 -> 根据实际场地微调
|
||||
*/
|
||||
|
||||
#ifndef ROBOT_PARAMS_H
|
||||
#define ROBOT_PARAMS_H
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* =========================================================
|
||||
* 【P0】机械/几何参数 (必须实测，开机前填写!)
|
||||
* ========================================================= */
|
||||
|
||||
/* ------------------- 车体几何 ------------------- */
|
||||
/** @brief [实测] 车体外轮廓宽度 [m] (左右方向，含外壳)
|
||||
* 测量方法：卷尺测量车体最宽处
|
||||
* 典型值：20cm -> 0.20
|
||||
* 用途：侧向安全裕量计算，传感器偏移补偿
|
||||
*/
|
||||
#define PARAM_ROBOT_WIDTH 0.200f
|
||||
|
||||
/** @brief [实测] 车体外轮廓长度 [m] (前后方向，含外壳)
|
||||
* 测量方法：卷尺测量车体最长处
|
||||
* 典型值：20cm -> 0.20
|
||||
* 用途：前后安全距离补偿
|
||||
*/
|
||||
#define PARAM_ROBOT_LENGTH 0.200f
|
||||
|
||||
/** @brief [实测] 驱动轮标称直径 [m]
|
||||
* 测量方法：卷尺测量轮胎外径 (非轮毂)
|
||||
* 典型值：60mm 轮胎 -> 0.060
|
||||
*/
|
||||
#define PARAM_WHEEL_DIAMETER 0.080f
|
||||
|
||||
/** @brief [实测] 左右轮中心距 [m]
|
||||
* 测量方法：卷尺测量左右驱动轮中心之间的距离
|
||||
* 典型值：车体 20cm 宽，轮胎每边厚 3cm -> 约 0.14m
|
||||
*/
|
||||
#define PARAM_WHEEL_TRACK 0.140f
|
||||
|
||||
/** @brief [实测] 同侧前后 VL53L0X 雷达纵向间距 [m]
|
||||
* 测量方法：卷尺测量同侧前后两个 VL53L0X 的中心距离
|
||||
* 典型值：根据机械安装，约 0.10~0.15m
|
||||
* 影响：航向观测精度 z_eth = atan2((d_back-d_front), L_s)
|
||||
*/
|
||||
#define PARAM_SENSOR_BASE_LENGTH 0.120f
|
||||
|
||||
/** @brief [实测] 比赛走廊标准宽度 [m]
|
||||
* 测量方法：卷尺测量赛场垄沟实际宽度 (规则 40cm，允许±5% 误差)
|
||||
* 典型值：0.40 (但建议实测后填写)
|
||||
*/
|
||||
#define PARAM_CORRIDOR_WIDTH 0.40f
|
||||
|
||||
/** @brief [实测] 前向激光雷达安装中心偏置 [m]
|
||||
* 测量方法：雷达发射面到车头最前端的距离 (内缩为正)
|
||||
* 典型值：根据机械安装，若与车头齐平则为 0
|
||||
* 用途：前向到端距离补偿 d_body_front = d_sensor - offset
|
||||
* 注意：这里定义的是传感器到车头前缘的距离，不是到几何中心
|
||||
*/
|
||||
#define PARAM_FRONT_LASER_OFFSET 0.0f
|
||||
|
||||
/** @brief [实测] 后向激光雷达安装中心偏置 [m]
|
||||
* 测量方法：雷达发射面到车尾最后端的距离 (内缩为正)
|
||||
* 典型值：根据机械安装，若与车尾齐平则为 0
|
||||
* 用途：后向到端距离补偿 d_body_rear = d_sensor - offset
|
||||
*/
|
||||
#define PARAM_REAR_LASER_OFFSET 0.0f
|
||||
|
||||
/** @brief [实测] 侧向 VL53L0X 传感器内缩距离 [m]
|
||||
* 测量方法：VL53L0X 发射面到车体侧面最外边缘的距离 (向内为正)
|
||||
* 典型值：传感器与外壳齐平则为 0，嵌入 1cm 则为 0.01
|
||||
* 用途：侧向测距补偿，d_actual_to_wall = d_sensor - sensor_inset
|
||||
* 即传感器测到的距离减去这个内缩量才是车体边缘到墙的真实距离
|
||||
* ⚠ 极其重要：沟道40cm - 车体20cm = 每边仅10cm，1cm的偏差就是10%的误差！
|
||||
*/
|
||||
#define PARAM_VL53_SIDE_INSET 0.0f
|
||||
|
||||
/* ------------------- 编码器参数 ------------------- */
|
||||
/** @brief [实测] 编码器每转脉冲数 (CPR)
|
||||
* 测量方法：查阅 F407 固件配置，或实车转动一圈数脉冲
|
||||
* 典型值：500 (F407 默认固件)
|
||||
*/
|
||||
#define PARAM_ENCODER_CPR 500
|
||||
|
||||
/* =========================================================
|
||||
* 【P1】里程计参数 (实车标定)
|
||||
* ========================================================= */
|
||||
|
||||
/** @brief [调优] 里程计过程噪声 [m²/s²]
|
||||
* 含义：对里程计信任程度，越小越信任
|
||||
* 调优方法：实车直线跑 10 米，对比 EKF 输出的 s 与实际距离
|
||||
* 典型值：0.01~0.1
|
||||
* 过大：EKF 过度依赖里程计，轮滑时误差累积
|
||||
* 过小：EKF 不信任里程计，沿程 s 估计不准
|
||||
*/
|
||||
#define PARAM_ODOM_PROCESS_NOISE 0.1f
|
||||
|
||||
/** @brief [调优] 里程计速度低通滤波系数
|
||||
* 含义：alpha=0.8 表示新采样占 20%，历史值占 80%
|
||||
* 典型值：0.7~0.9
|
||||
*/
|
||||
#define PARAM_ODOM_LOWPASS_ALPHA 0.8f
|
||||
|
||||
/* =========================================================
|
||||
* 【P2】走廊 EKF 滤波器参数 (调优)
|
||||
* ========================================================= */
|
||||
|
||||
/* --- EKF 过程噪声 Q (对模型信任度) --- */
|
||||
/** @brief [调优] 横向偏差 e_y 过程噪声方差 [m²]
|
||||
* 含义：横向状态的自然发散速度，越小表示横向越稳定
|
||||
* 调优方法：从 0.001 开始，逐步增大直到走廊跟踪平滑
|
||||
* 典型值：0.001~0.02
|
||||
* 过大：EKF 认为横向很不稳定，过度依赖观测 -> 震荡
|
||||
* 过小：EKF 不信任观测，响应慢
|
||||
*/
|
||||
#define PARAM_EKF_Q_EY 0.01f
|
||||
|
||||
/** @brief [调优] 航向偏差 e_th 过程噪声方差 [rad²]
|
||||
* 含义：航向状态的自然发散速度
|
||||
* 调优方法：IMU 短时漂移小，可以设很小
|
||||
* 典型值：0.0001~0.005
|
||||
* 过大：EKF 认为航向不稳定，IMU 作用被削弱
|
||||
* 过小：EKF 过度信任 IMU，雷达观测不起作用
|
||||
*/
|
||||
#define PARAM_EKF_Q_ETH 0.001f
|
||||
|
||||
/** @brief [调优] 沿程进度 s 过程噪声方差 [m²]
|
||||
* 含义：里程估计的不确定度
|
||||
* 调优方法：地毯轮滑严重时调大
|
||||
* 典型值：0.05~0.2
|
||||
*/
|
||||
#define PARAM_EKF_Q_S 0.1f
|
||||
|
||||
/* --- EKF 观测噪声 R (对传感器信任度) --- */
|
||||
/** @brief [调优] 横向观测噪声方差 [m²]
|
||||
* 含义：VL53L0X 测距的可靠程度
|
||||
* 调优方法：从 0.001 开始，根据走廊跟踪平滑度调整
|
||||
* 典型值：0.001~0.005
|
||||
* 过大：EKF 不信任侧向雷达，横向响应慢
|
||||
* 过小：EKF 过度信任雷达，对跳变敏感
|
||||
*/
|
||||
#define PARAM_EKF_R_EY 0.002f
|
||||
|
||||
/** @brief [调优] 航向观测噪声方差 [rad²]
|
||||
* 含义：同侧前后雷达差分测角的可程靠度
|
||||
* 调优方法：从 0.001 开始
|
||||
* 典型值：0.0005~0.003
|
||||
*/
|
||||
#define PARAM_EKF_R_ETH 0.001f
|
||||
|
||||
/** @brief [调优] IMU 航向观测噪声方差 [rad²]
|
||||
* 含义：IMU yaw 作为 EKF 航向观测时的噪声
|
||||
* 设计意图：IMU yaw 用于长时航向约束 (防止 wz 积分漂移)，
|
||||
* R 值应明显大于侧墙航向观测 R_ETH，避免干扰侧墙短时精确修正
|
||||
* 调优方法：从 0.01 开始，如果 IMU yaw 非常稳定可减小
|
||||
* 典型值：0.005~0.05
|
||||
* 过大：IMU 航向观测作用弱，等于没接入
|
||||
* 过小：IMU 航向主导，侧墙观测被压制
|
||||
*/
|
||||
#define PARAM_EKF_R_ETH_IMU 0.01f
|
||||
|
||||
/* --- EKF 初始状态 --- */
|
||||
/** @brief [调优] e_y 初始不确定度 [m²]
|
||||
* 含义：开机时横向位置的先验不确定度
|
||||
* 典型值：0.01~0.1 (对应 10~30cm 不确定)
|
||||
*/
|
||||
#define PARAM_EKF_P0_EY 0.1f
|
||||
|
||||
/** @brief [调优] e_th 初始不确定度 [rad²]
|
||||
* 含义：开机时航向的先验不确定度
|
||||
* 典型值：0.05~0.2 (对应 13°~26°不确定)
|
||||
*/
|
||||
#define PARAM_EKF_P0_ETH 0.1f
|
||||
|
||||
/* --- χ² 检验门限 (鲁棒拒绝) --- */
|
||||
/** @brief [固定] 1 自由度 χ² 检验门限 (95% 置信度)
|
||||
* 含义：单路观测的马氏距离超过此值则拒绝
|
||||
* 理论值：3.84 (95%), 6.63 (99%)
|
||||
* 建议：不要修改，除非传感器质量极差
|
||||
*/
|
||||
#define PARAM_CHI2_1DOF 3.84f
|
||||
|
||||
/** @brief [固定] 2 自由度 χ² 检验门限 (95% 置信度)
|
||||
* 理论值：5.99
|
||||
*/
|
||||
#define PARAM_CHI2_2DOF 5.99f
|
||||
|
||||
/* =========================================================
|
||||
* 【P3】走廊控制器参数 (实车调优)
|
||||
* ========================================================= */
|
||||
|
||||
/** @brief [调优] 航向比例增益 kp_theta [1/s]
|
||||
* 含义：航向偏差 1 rad 时产生的角速度
|
||||
* 调优方法：从 0.5 开始逐步增加，直到走廊跟踪响应快但不震荡
|
||||
* 典型值：1.0~3.0
|
||||
* 过大：车头左右摆动 (震荡)
|
||||
* 过小：纠偏太慢，容易撞墙
|
||||
*/
|
||||
#define PARAM_CTRL_KP_THETA 2.0f
|
||||
|
||||
/** @brief [调优] 航向微分增益 kd_theta [s]
|
||||
* 含义：IMU 角速度阻尼项，抑制车头转动速度
|
||||
* 调优方法：从 0.05 开始
|
||||
* 典型值：0.05~0.2
|
||||
* 过大：车头转动被过度抑制，响应迟钝
|
||||
* 过小：阻尼不足，容易超调震荡
|
||||
*/
|
||||
#define PARAM_CTRL_KD_THETA 0.1f
|
||||
|
||||
/** @brief [调优] 横向比例增益 kp_y [1/(m·s)]
|
||||
* 含义：横向偏差 1m 时产生的角速度修正
|
||||
* 调优方法：从 1.0 开始
|
||||
* 典型值：1.5~4.0
|
||||
* 过大：横向纠偏过猛，引起震荡
|
||||
* 过小：偏了拉不回来
|
||||
*/
|
||||
#define PARAM_CTRL_KP_Y 3.0f
|
||||
|
||||
/** @brief [调优] 走廊巡航速度 [m/s]
|
||||
* 含义：走廊内正常行驶速度
|
||||
* 调优方法：从 0.1 m/s 开始逐步增加
|
||||
* 典型值：0.15~0.4 m/s
|
||||
* 注意：速度越高，对滤波器带宽和控制器增益要求越高
|
||||
*/
|
||||
#define PARAM_CTRL_V_CRUISE 0.15f
|
||||
|
||||
/** @brief [调优] 角速度输出限幅 [rad/s]
|
||||
* 含义：最大允许转角速度
|
||||
* 典型值：1.0~2.0 (约 57°/s ~ 115°/s)
|
||||
*/
|
||||
#define PARAM_CTRL_W_MAX 1.5f
|
||||
|
||||
/** @brief [调优] 线速度输出限幅 [m/s]
|
||||
* 含义：最大允许线速度
|
||||
* 典型值：0.3~0.5
|
||||
*/
|
||||
#define PARAM_CTRL_V_MAX 0.3f
|
||||
|
||||
/** @brief [调优] 弯道减速系数 [0~1]
|
||||
* 含义：角速度大时线速度打折程度
|
||||
* 公式：v = v_cruise * (1 - k * |w/w_max|)
|
||||
* 典型值：0.3~0.5
|
||||
*/
|
||||
#define PARAM_CTRL_SPEED_REDUCTION 0.4f
|
||||
|
||||
/* =========================================================
|
||||
* 【P4】安全阈值与状态机参数
|
||||
* ========================================================= */
|
||||
|
||||
/* --- 到端检测 --- */
|
||||
/** @brief [调优] 前向停车距离阈值 [m]
|
||||
* 含义：前向雷达 (传感器到墙的距离) 低于此值强制停车
|
||||
* 计算方法：PARAM_FRONT_LASER_OFFSET (传感器内缩) + 安全裕量 (2~5cm)
|
||||
* 示例：传感器与车头齐平(offset=0) + 3cm安全裕量 = 0.03m
|
||||
* 传感器内缩5cm(offset=0.05) + 3cm安全裕量 = 0.08m
|
||||
* ⚠ 此阈值应 >= PARAM_FRONT_LASER_OFFSET，否则传感器到墙的距离
|
||||
* 还没到阈值，车体前端就已经撞墙了！
|
||||
* 过小：可能撞墙
|
||||
* 过大：离墙很远就停车，走不完走廊
|
||||
*/
|
||||
#define PARAM_SAFE_D_FRONT_STOP 0.08f
|
||||
|
||||
/** @brief [调优] 前向减速预警距离 [m]
|
||||
* 含义：前向雷达低于此值开始线性减速
|
||||
* 典型值：0.20~0.40
|
||||
*/
|
||||
#define PARAM_SAFE_D_FRONT_APPROACH 0.25f
|
||||
|
||||
/** @brief [调优] 减速区最低速度 [m/s]
|
||||
* 含义：到端前爬行速度
|
||||
* 典型值：0.03~0.08
|
||||
*/
|
||||
#define PARAM_SAFE_APPROACH_MIN_V 0.05f
|
||||
|
||||
/* --- 置信度降级 --- */
|
||||
/** @brief [调优] E-Stop 置信度阈值
|
||||
* 含义：EKF 置信度低于此值触发紧急停车
|
||||
* 典型值：0.05~0.15
|
||||
*/
|
||||
#define PARAM_SAFE_CONF_ESTOP 0.1f
|
||||
|
||||
/** @brief [调优] 单侧退化置信度
|
||||
* 含义：单侧 VL53L0X 失效时，置信度降为多少
|
||||
* 典型值：0.6~0.8
|
||||
*/
|
||||
#define PARAM_SAFE_CONF_DEGRADED 0.7f
|
||||
|
||||
/* --- 入口/退出 --- */
|
||||
/** @brief [调优] 入口对准速度 [m/s]
|
||||
* 含义：从启动区进入走廊的慢速对准速度
|
||||
* 典型值：0.05~0.10
|
||||
*/
|
||||
#define PARAM_SCRIPT_ENTRY_V 0.08f
|
||||
|
||||
/** @brief [调优] 入口对准超时 [ms]
|
||||
* 含义：超过此时间强制进入走廊模式 (保护)
|
||||
* 典型值：20000~40000 (20~40 秒)
|
||||
*/
|
||||
#define PARAM_SCRIPT_ENTRY_TIMEOUT 30000U
|
||||
|
||||
/** @brief [调优] 原地转向角速度 [rad/s]
|
||||
* 含义：到端 180 度转向的角速度
|
||||
* 典型值：0.8~1.5
|
||||
*/
|
||||
#define PARAM_SCRIPT_TURN_OMEGA 1.0f
|
||||
|
||||
/** @brief [调优] 退出场地后冲距离 [m]
|
||||
* 含义：检测到离开垄沟后再往前冲的距离
|
||||
* 典型值：1.5~2.5
|
||||
*/
|
||||
#define PARAM_SCRIPT_EXIT_RUNOUT 2.0f
|
||||
|
||||
/** @brief [调优] 退出场地直线冲出速度 [m/s]
|
||||
* 含义：检测到离开垄沟后直线冲出的速度
|
||||
* 典型值：0.3~0.5
|
||||
* 注意：与 turn_omega (转向角速度) 无关，两者独立
|
||||
*/
|
||||
#define PARAM_SCRIPT_EXIT_V 0.3f
|
||||
|
||||
/* =========================================================
|
||||
* 【P5】传感器驱动参数
|
||||
* ========================================================= */
|
||||
|
||||
/* --- VL53L0X --- */
|
||||
/** @brief [实测] VL53L0X 测距预算 [μs]
|
||||
* 含义：单次测距的时间预算，越大精度越高但频率越低
|
||||
* 选项：20000(20ms, 高速), 33000(33ms), 100000(100ms), 200000(200ms, 高精度)
|
||||
* 典型值：100000 (100ms，折中)
|
||||
* 调优：走廊跟踪时用 100ms，原地转向时可切 200ms 提高精度
|
||||
*/
|
||||
#define PARAM_VL53_TIMING_BUDGET 100000U
|
||||
|
||||
/** @brief [调优] VL53L0X 卡尔曼滤波参数 Q
|
||||
* 含义：测距过程噪声
|
||||
* 典型值：5.0~20.0
|
||||
*/
|
||||
#define PARAM_VL53_KALMAN_Q 10.0f
|
||||
|
||||
/** @brief [调优] VL53L0X 卡尔曼滤波参数 R
|
||||
* 含义：测距观测噪声
|
||||
* 典型值：10.0~30.0
|
||||
*/
|
||||
#define PARAM_VL53_KALMAN_R 14.1f
|
||||
|
||||
/* --- IMU --- */
|
||||
/** @brief [实测] HWT101 IMU 安装偏置 (航向) [rad]
|
||||
* 含义：IMU 零位与车头方向的偏差
|
||||
* 测量：车头对准正北，读取 IMU 航向作为偏置
|
||||
* 典型值：需要通过校准确定
|
||||
*/
|
||||
#define PARAM_IMU_YAW_OFFSET 0.0f
|
||||
|
||||
/* =========================================================
|
||||
* 宏工具函数
|
||||
* ========================================================= */
|
||||
#define PARAM_RAD2DEG(rad) ((rad) * 57.2957795131f)
|
||||
#define PARAM_DEG2RAD(deg) ((deg) * 0.01745329252f)
|
||||
|
||||
/* =========================================================
|
||||
* 快速参考表
|
||||
* =========================================================
|
||||
*
|
||||
* 调参流程:
|
||||
* 1. 实测几何参数 (P0 组) -> 卷尺测量
|
||||
* 2. 里程计标定 (P1 组) -> 跑 10 米对比
|
||||
* 3. 原地测试控制器 -> 只调 kp_theta, kd_theta
|
||||
* 4. 走廊低速测试 -> 调 kp_y, v_cruise
|
||||
* 5. 逐步提速 -> 微调各增益
|
||||
* 6. 安全阈值 -> 根据实际场地
|
||||
*
|
||||
* 常见问题诊断:
|
||||
* 车头左右摆 -> 减小 kp_theta 或增大 kd_theta
|
||||
* 横向纠偏慢 -> 增大 kp_y
|
||||
* 到端刹车不住 -> 减小 d_front_stop 或增大 approach 距离
|
||||
* 出口冲不出 -> 减小 exit_runout 或增大 v_cruise
|
||||
* EKF 发散 -> 增大 Q 或减小 R
|
||||
*
|
||||
* =========================================================
|
||||
*/
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* ROBOT_PARAMS_H */
|
||||
79
CMakeLists.txt
Normal file
79
CMakeLists.txt
Normal file
@@ -0,0 +1,79 @@
|
||||
cmake_minimum_required(VERSION 3.22)
|
||||
|
||||
#
|
||||
# This file is generated only once,
|
||||
# and is not re-generated if converter is called multiple times.
|
||||
#
|
||||
# User is free to modify the file as much as necessary
|
||||
#
|
||||
|
||||
# Setup compiler settings
|
||||
set(CMAKE_C_STANDARD 11)
|
||||
set(CMAKE_C_STANDARD_REQUIRED ON)
|
||||
set(CMAKE_C_EXTENSIONS ON)
|
||||
|
||||
|
||||
# Define the build type
|
||||
if(NOT CMAKE_BUILD_TYPE)
|
||||
set(CMAKE_BUILD_TYPE "Debug")
|
||||
endif()
|
||||
|
||||
# Set the project name
|
||||
set(CMAKE_PROJECT_NAME ARES)
|
||||
|
||||
# Enable compile command to ease indexing with e.g. clangd
|
||||
set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)
|
||||
|
||||
# Core project settings
|
||||
project(${CMAKE_PROJECT_NAME})
|
||||
message("Build type: " ${CMAKE_BUILD_TYPE})
|
||||
|
||||
# Enable CMake support for ASM and C languages
|
||||
enable_language(C ASM)
|
||||
|
||||
# Create an executable object type
|
||||
# NOTE: 所有 App/ 下的源文件统一由下方 file(GLOB_RECURSE) 收集，
|
||||
# 此处不再手写重复列表，避免配置漂移和平台差异（如大小写敏感文件系统）。
|
||||
add_executable(${CMAKE_PROJECT_NAME})
|
||||
|
||||
# Add STM32CubeMX generated sources
|
||||
add_subdirectory(cmake/stm32cubemx)
|
||||
|
||||
# Link directories setup
|
||||
target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE
|
||||
# Add user defined library search paths
|
||||
)
|
||||
file(GLOB_RECURSE USER_APP_SOURCES "App/*.c")
|
||||
# Add sources to executable
|
||||
target_sources(${CMAKE_PROJECT_NAME} PRIVATE
|
||||
# Add user sources here
|
||||
${USER_APP_SOURCES}
|
||||
)
|
||||
|
||||
# Add include paths
|
||||
target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE
|
||||
# Add user defined include paths
|
||||
App
|
||||
App/Can
|
||||
App/VL53L0X_API/core/inc
|
||||
App/VL53L0X_API/core/src
|
||||
App/VL53L0X_API/platform
|
||||
)
|
||||
|
||||
# Add project symbols (macros)
|
||||
target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
|
||||
# Add user defined symbols
|
||||
)
|
||||
|
||||
# Remove wrong libob.a library dependency when using cpp files
|
||||
list(REMOVE_ITEM CMAKE_C_IMPLICIT_LINK_LIBRARIES ob)
|
||||
|
||||
# Add linked libraries
|
||||
target_link_libraries(${CMAKE_PROJECT_NAME}
|
||||
stm32cubemx
|
||||
|
||||
# Add user defined libraries
|
||||
)
|
||||
target_link_options(${CMAKE_PROJECT_NAME} PRIVATE
|
||||
-u _printf_float
|
||||
)
|
||||
38
CMakePresets.json
Normal file
38
CMakePresets.json
Normal file
@@ -0,0 +1,38 @@
|
||||
{
|
||||
"version": 3,
|
||||
"configurePresets": [
|
||||
{
|
||||
"name": "default",
|
||||
"hidden": true,
|
||||
"generator": "Ninja",
|
||||
"binaryDir": "${sourceDir}/build/${presetName}",
|
||||
"toolchainFile": "${sourceDir}/cmake/gcc-arm-none-eabi.cmake",
|
||||
"cacheVariables": {
|
||||
}
|
||||
},
|
||||
{
|
||||
"name": "Debug",
|
||||
"inherits": "default",
|
||||
"cacheVariables": {
|
||||
"CMAKE_BUILD_TYPE": "Debug"
|
||||
}
|
||||
},
|
||||
{
|
||||
"name": "Release",
|
||||
"inherits": "default",
|
||||
"cacheVariables": {
|
||||
"CMAKE_BUILD_TYPE": "Release"
|
||||
}
|
||||
}
|
||||
],
|
||||
"buildPresets": [
|
||||
{
|
||||
"name": "Debug",
|
||||
"configurePreset": "Debug"
|
||||
},
|
||||
{
|
||||
"name": "Release",
|
||||
"configurePreset": "Release"
|
||||
}
|
||||
]
|
||||
}
|
||||
397
CODE_REVIEW.md
Normal file
397
CODE_REVIEW.md
Normal file
@@ -0,0 +1,397 @@
|
||||
# ARES 项目代码审查报告
|
||||
|
||||
> **审查日期**: 2025 年
|
||||
> **审查范围**: `/App` 目录下全部业务代码（排除 `VL53L0X_API/core` ST 官方库）
|
||||
> **审查基准**: HANDOFF.md 中的设计描述与已修复 BUG 列表
|
||||
> **审查重点**: 残留 BUG、潜在运行时风险、代码质量问题
|
||||
|
||||
---
|
||||
|
||||
## 审查总结
|
||||
|
||||
| 严重等级 | 数量 | 说明 |
|
||||
|---------|------|------|
|
||||
| 🔴 严重 (可能导致功能错误/崩溃) | 4 | 运行时会导致错误行为 |
|
||||
| 🟠 中等 (潜在风险/隐患) | 6 | 特定条件下可能触发问题 |
|
||||
| 🟡 低 (代码质量/可维护性) | 7 | 不影响功能但应改善 |
|
||||
|
||||
**总体评价**: 项目架构设计清晰，HANDOFF.md 中列出的 9 个严重 BUG 和 7 个质量问题均已正确修复。但仍存在若干残留问题，以下逐一分析。
|
||||
|
||||
---
|
||||
|
||||
## 🔴 严重问题
|
||||
|
||||
### S-1: VL53L0X 卡尔曼滤波 Q/R 参数硬编码，未使用 `robot_params.h` 配置
|
||||
|
||||
**文件**: `VL53L0X_API/platform/vl53_board.c:84`
|
||||
|
||||
```c
|
||||
/* 初始化卡尔曼滤波器：默认 Q=1.0, R=9.5 */ // ← 注释过期
|
||||
vl53_kalman_init(&board->kf[i], 10.0f, 14.1f); // ← 硬编码值
|
||||
```
|
||||
|
||||
`robot_params.h` 中定义了 `PARAM_VL53_KALMAN_Q = 10.0f` 和 `PARAM_VL53_KALMAN_R = 14.1f`，但 `vl53_board.c` 没有 `#include "robot_params.h"`，而是直接写死了 `10.0f` 和 `14.1f`。虽然当前值恰好与参数一致，但**修改 `robot_params.h` 中的 `PARAM_VL53_KALMAN_Q/R` 不会生效**，与 BUG-2 (EKF 参数硬编码) 属于同类问题。
|
||||
|
||||
**修复建议**:
|
||||
```c
|
||||
#include "robot_params.h"
|
||||
// ...
|
||||
vl53_kalman_init(&board->kf[i], PARAM_VL53_KALMAN_Q, PARAM_VL53_KALMAN_R);
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### S-2: `LASER_SIMPLE_GetSnapshot()` 返回指针无线程安全保护，存在数据撕裂风险
|
||||
|
||||
**文件**: `laser/laser_manager.c:277-279`
|
||||
|
||||
```c
|
||||
const laser_simple_snapshot_t *LASER_SIMPLE_GetSnapshot(void) {
|
||||
return &g_snapshot; // ← 返回原始指针，无拷贝、无临界区保护
|
||||
}
|
||||
```
|
||||
|
||||
消费者 `AppTasks_RunLaserTestTask_Impl()` 调用此函数获取指针后直接传给 `Blackboard_UpdateLaser(snap)`。由于 `LaserTask`（内部10ms任务）在 `taskENTER_CRITICAL()` 中**逐通道写入** `g_snapshot.ch[i]`，而消费者拿到的是裸指针，读取可能发生在写入的间隙——比如前两个通道已更新、后两个通道还是旧值——构成**部分撕裂**。
|
||||
|
||||
虽然 `Blackboard_UpdateLaser` 内部有临界区保护，但问题出在**读 g_snapshot 的时候没有保护**。当前架构中 `laserTestTask` 以 50ms 周期读取、`LaserTask` 以 10ms 周期写入，两者优先级相同，可能发生抢占。
|
||||
|
||||
**影响等级**: 中高。实际撕裂概率取决于临界区外的读取窗口大小。由于 `laser_simple_snapshot_t` 只包含 4 个 `laser_simple_data_t`，单次 `memcpy` 耗时极短，实际风险较低。但从防御性编程角度应修复。
|
||||
|
||||
**修复建议**:
|
||||
```c
|
||||
void LASER_SIMPLE_GetSnapshotCopy(laser_simple_snapshot_t *out) {
|
||||
taskENTER_CRITICAL();
|
||||
*out = g_snapshot;
|
||||
taskEXIT_CRITICAL();
|
||||
}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### S-3: `snc_parse_odom_delta()` 在 ISR 中写 `odom_accum` 无临界区保护
|
||||
|
||||
**文件**: `Can/snc_can_app.c:148-173` (在 `SNC_CAN_RxFifo0Callback` 即 CAN ISR 中被调用)
|
||||
|
||||
```c
|
||||
static void snc_parse_odom_delta(const uint8_t *d)
|
||||
{
|
||||
// ... 直接写 g_snc_can_app.odom_accum 的各个字段 ...
|
||||
SNC_OdomDeltaAccum_t *acc = &g_snc_can_app.odom_accum;
|
||||
acc->fl_accum += (int32_t)snc_read_i16_le(d[0], d[1]);
|
||||
// ...
|
||||
if (acc->frame_count < 255U) {
|
||||
acc->frame_count++;
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
而消费侧 `SNC_CAN_ConsumeOdomDelta()` 使用 `taskENTER_CRITICAL()` 保护读取和清零。问题是：**`taskENTER_CRITICAL()` 在 Cortex-M 上通过 BASEPRI 屏蔽中断，只屏蔽优先级不高于 `configMAX_SYSCALL_INTERRUPT_PRIORITY` 的中断**。如果 CAN FIFO0 中断的优先级高于此阈值（即数值更小），那么 `snc_parse_odom_delta()` 可能在消费者持有临界区期间执行，导致**竞态条件**：消费者清零后，ISR 立刻写入新数据，然后消费者返回的 `snapshot` 中 `frame_count=0` 但 `accum` 值已非零。
|
||||
|
||||
**影响等级**: 取决于 CAN 中断优先级配置。如果 CAN 中断优先级在 FreeRTOS 管理范围内（优先级数值 ≥ `configMAX_SYSCALL_INTERRUPT_PRIORITY`），则 `taskENTER_CRITICAL()` 可以正确屏蔽它，问题不存在。**需要检查 CubeMX 中 FDCAN1 中断优先级配置**。
|
||||
|
||||
**修复建议**: 确认 FDCAN1 中断优先级 ≥ `configMAX_SYSCALL_INTERRUPT_PRIORITY`。或在 `snc_parse_odom_delta()` 中也使用 `taskENTER_CRITICAL()`（但 ISR 中应使用 `taskENTER_CRITICAL_FROM_ISR()`）。
|
||||
|
||||
---
|
||||
|
||||
### S-4: `corridor_msgs.h` 使用 `#pragma pack(push, 1)` 导致 EKF 矩阵和浮点运算性能损失及潜在对齐异常
|
||||
|
||||
**文件**: `preproc/corridor_msgs.h:8,61`
|
||||
|
||||
```c
|
||||
#pragma pack(push, 1)
|
||||
// ...
|
||||
typedef struct {
|
||||
float P[3][3]; // 36 字节的浮点矩阵，被强制 1 字节对齐
|
||||
float innovation[3]; // 12 字节
|
||||
float mahalanobis_d2;
|
||||
// ...
|
||||
} CorridorState_t;
|
||||
// ...
|
||||
#pragma pack(pop)
|
||||
```
|
||||
|
||||
`CorridorState_t` 包含大量 `float` 和 `float[3][3]` 数组，被 `#pragma pack(push, 1)` 强制 1 字节对齐。在 Cortex-M7 上：
|
||||
1. **性能损失**: 未对齐的 float 访问会触发硬件 unaligned access 处理，速度比对齐访问慢数倍。这个结构体在 navTask 的 20ms 循环中被高频读写，影响实时性能。
|
||||
2. **FPU 指令风险**: 某些 FPU 指令（如 `VLDM`/`VSTM`）**要求 4 字节对齐**，不对齐会触发 UsageFault。虽然 GCC 通常会生成安全的加载指令，但编译器优化可能引入向量化或批量加载指令。
|
||||
|
||||
`CorridorObs_t` 和 `RawCmd_t` 也受影响，但内部结构更简单，风险较低。
|
||||
|
||||
**修复建议**: `#pragma pack(push, 1)` 仅用于需要匹配物理总线帧格式的结构体（如 `chassis_can_msg.h` 中的 CAN 帧，那是正确的用法）。`corridor_msgs.h` 中的结构体是内存中的数据传递，**不需要 pack(1)**，应删除。
|
||||
|
||||
---
|
||||
|
||||
## 🟠 中等问题
|
||||
|
||||
### M-1: IMU 帧解析状态机缺少帧类型 0x55 之后的 header byte 校验
|
||||
|
||||
**文件**: `IMU/hwt101.c:64-68`
|
||||
|
||||
```c
|
||||
if (s_frame_idx == 0 && byte != 0x55) continue;
|
||||
s_frame[s_frame_idx++] = byte;
|
||||
if (s_frame_idx >= 11) {
|
||||
```
|
||||
|
||||
当前状态机只检查首字节 `0x55`，然后无条件接收后续 10 字节。如果数据流中出现非帧头的 `0x55`（比如校验和恰好是 `0x55`），会导致帧错位。虽然最后有校验和检查可以过滤错误帧，但会**浪费 10 个字节的解析窗口**，在高频数据流中可能导致短暂的数据更新延迟。
|
||||
|
||||
**修复建议**: 在 `s_frame_idx == 1` 时检查第二字节是否为有效帧类型 (`0x51`/`0x52`/`0x53`)，不匹配则 `s_frame_idx = 0` 重新寻帧。
|
||||
|
||||
---
|
||||
|
||||
### M-2: `nav_script.c` 转向方向始终为正，不支持反向 (顺时针) 180° 转弯
|
||||
|
||||
**文件**: `nav/nav_script.c:202,229`
|
||||
|
||||
```c
|
||||
float target_delta = s_cfg.turn_target_angle; // 默认 PI (180度)
|
||||
// ...
|
||||
float turn_dir = (target_delta > 0.0f) ? 1.0f : -1.0f;
|
||||
```
|
||||
|
||||
`turn_target_angle` 在 `app_tasks.c` 中始终被初始化为 `3.14159265f`（正值），所以 `turn_dir` 永远为 `1.0f`（逆时针）。如果因场地布局需要顺时针转弯，当前代码无法支持。更关键的是，**两次 180° 转弯方向相同**——第一次到端逆时针转，第二次到端又逆时针转，结果机器人回到出发方向。这可能是设计意图（转完 180° 后继续正向走），但如果走廊空间不对称，固定转向方向可能导致转弯时撞墙。
|
||||
|
||||
**修复建议**: 考虑根据当前方向或走廊几何自动选择转向方向，或至少在 `NavScriptConfig_t` 中加一个 `turn_direction` 参数。
|
||||
|
||||
---
|
||||
|
||||
### M-3: `Odom_GetSpeed()` 在临界区外读取 `s_odom.vx` 和 `s_odom.wz`
|
||||
|
||||
**文件**: `Contract/robot_odom.c:122-124`
|
||||
|
||||
```c
|
||||
void Odom_GetSpeed(float *out_vx, float *out_wz, OdomStatus_t *out_status)
|
||||
{
|
||||
if (out_vx != NULL) *out_vx = s_odom.vx; // ← 临界区外
|
||||
if (out_wz != NULL) *out_wz = s_odom.wz; // ← 临界区外
|
||||
if (out_status != NULL) {
|
||||
lock_odom(); // ← 只有 status 在临界区内
|
||||
// ...
|
||||
unlock_odom();
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
`s_odom.vx` 和 `s_odom.wz` 是 `float` 类型，在 Cortex-M7 上 32 位对齐的 float 读写是原子的，所以单独读取不会撕裂。但 `vx` 和 `wz` 之间不是原子的——可能读到旧的 `vx` 和新的 `wz`。不过此函数当前未被任何代码调用（速度通过 `Blackboard_UpdateOdom` 传递），所以实际影响为零。
|
||||
|
||||
**修复建议**: 将 `vx/wz` 的读取也放入 `lock_odom()` 中，或标注此函数为 `@deprecated`。
|
||||
|
||||
---
|
||||
|
||||
### M-4: `SNC_CAN_SendHeartbeat()` 使用零长度数组
|
||||
|
||||
**文件**: `Can/snc_can_app.c:194`
|
||||
|
||||
```c
|
||||
HAL_StatusTypeDef SNC_CAN_SendHeartbeat(void)
|
||||
{
|
||||
uint8_t data[0]; // ← 零长度数组，C11 标准未定义行为
|
||||
HAL_StatusTypeDef ret = snc_fdcan_add_tx_std(SNC_CAN_ID_HEARTBEAT, data, 0U);
|
||||
```
|
||||
|
||||
零长度数组 `uint8_t data[0]` 在 C11 标准中是未定义行为（C99 的 flexible array member 语法是 `[]` 且只能在结构体末尾）。虽然 GCC 作为扩展支持它，且 `snc_fdcan_add_tx_std` 传入 `dlc_bytes=0` 不会实际读取 `data`，但这仍属于未定义行为。
|
||||
|
||||
**修复建议**: 改为 `uint8_t data[1] = {0};` 或直接传 `NULL`（需确认 HAL 是否接受 NULL data）。
|
||||
|
||||
---
|
||||
|
||||
### M-5: 安全状态机 (SegFsm) 在脚本覆盖模式下仍然生效，可能干扰转弯等特殊动作
|
||||
|
||||
**文件**: `app_tasks.c` navTask 流水线 Step 5-6
|
||||
|
||||
```c
|
||||
/* Step 5: 控制律 */
|
||||
if (script_out.use_override) {
|
||||
raw_cmd.v = script_out.override_v; // 脚本指定速度
|
||||
raw_cmd.w = script_out.override_w;
|
||||
} else if (script_out.request_corridor) {
|
||||
CorridorCtrl_Compute(..., &raw_cmd);
|
||||
}
|
||||
|
||||
/* Step 6: 段状态机 -> 安全仲裁 */
|
||||
SegFsm_Update(&raw_cmd, &obs, &corridor_state, &fsm_out);
|
||||
```
|
||||
|
||||
当脚本处于 `TURN_AT_END` 阶段时，`use_override = true`，输出 `v=0, w=turn_omega`（原地转向）。但此时 EKF 因侧墙观测丢失，`conf` 可能降到 `< 0.1`，触发 `SegFsm` 进入 `E-STOP`，**强制将转向角速度归零**，导致机器人无法完成转弯。
|
||||
|
||||
虽然 `E-STOP` 有自动恢复机制（`conf >= 0.5` 时恢复），但在转弯过程中侧墙持续不可见，`conf` 不会恢复，造成**死锁**：转不了弯 → 永远看不到墙 → 永远 E-STOP。
|
||||
|
||||
**影响等级**: 实车中度风险。取决于转弯时 EKF 的 IMU 航向观测是否能维持 `conf >= 0.1`。如果 IMU 航向观测能阻止 `conf` 跌破阈值，则不会触发。但这是一个脆弱的依赖。
|
||||
|
||||
**修复建议**: 在 `SegFsm_Update()` 中增加一个 bypass 标志，当脚本处于 `use_override` 模式时跳过 E-STOP 判定；或仅在 `request_corridor` 为 true 时检查置信度。
|
||||
|
||||
---
|
||||
|
||||
### M-6: `process_complementary_laser()` 中 ATK 距离值无上限校验
|
||||
|
||||
**文件**: `preproc/corridor_preproc.c:30-73`
|
||||
|
||||
```c
|
||||
static bool process_complementary_laser(const SensorItem_t *stp, const SensorItem_t *atk, float *out_m)
|
||||
{
|
||||
// ...
|
||||
float atk_m = atk->value / 1000.0f;
|
||||
// ATK 没有像 VL53 那样的量程校验 (0.02~2.0m)
|
||||
// 如果 ATK 吐出异常大值 (如 65535mm)，会被当作有效数据
|
||||
```
|
||||
|
||||
`process_side_laser()` 对 VL53L0X 数据做了 `[0.02m, 2.0m]` 范围校验，但 `process_complementary_laser()` 对 ATK 和 STP 数据**没有上限校验**。如果 ATK 传感器吐出异常大值（如掉线前最后一帧的乱码），这个值会被当作有效距离传递给安全状态机，可能导致**该停车时不停车**。
|
||||
|
||||
**修复建议**: 添加 ATK/STP 的量程校验，如 `atk_m > 0.0f && atk_m <= 8.0f` (ATK 标称量程 4m，留双倍余量)。
|
||||
|
||||
---
|
||||
|
||||
## 🟡 低优先级 / 代码质量问题
|
||||
|
||||
### L-1: `PARAM_IMU_YAW_OFFSET` 声明但未使用
|
||||
|
||||
**文件**: `robot_params.h:100`
|
||||
|
||||
```c
|
||||
#define PARAM_IMU_YAW_OFFSET 0.0f // 声明了但代码中未使用
|
||||
```
|
||||
|
||||
HANDOFF.md CAL-4 已标注此问题。如果 IMU 安装有固定偏角，此参数应在 `HWT101_Process()` 或 `corridor_filter.c` 中使用。当前为死代码。
|
||||
|
||||
---
|
||||
|
||||
### L-2: `corridor_filter.c` 中 `s_imu_yaw_ref_set` 在 Reset/Init 时未重置
|
||||
|
||||
**文件**: `est/corridor_filter.c:23-24`
|
||||
|
||||
```c
|
||||
static float s_imu_yaw_ref_rad = 0.0f;
|
||||
static bool s_imu_yaw_ref_set = false;
|
||||
```
|
||||
|
||||
`CorridorFilter_Init()` 不会重置 `s_imu_yaw_ref_set`。如果比赛中途调用 `NavScript_Reset()` → `CorridorFilter_Init()` 重新初始化，旧的 `s_imu_yaw_ref_rad` 会保留，导致 IMU 航向观测使用过时的参考值。
|
||||
|
||||
**修复建议**: 在 `CorridorFilter_Init()` 末尾添加：
|
||||
```c
|
||||
s_imu_yaw_ref_rad = 0.0f;
|
||||
s_imu_yaw_ref_set = false;
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### L-3: `retarget.c` 中 `_write()` 的忙等循环可能阻塞调用任务
|
||||
|
||||
**文件**: `retarget.c:44-64`
|
||||
|
||||
```c
|
||||
int _write(int file, char *ptr, int len)
|
||||
{
|
||||
while (1) {
|
||||
result = CDC_Transmit_FS((uint8_t *)ptr, (uint16_t)len);
|
||||
if (result == USBD_OK) return len;
|
||||
if ((HAL_GetTick() - start_tick) > 20U) return 0;
|
||||
if (osKernelGetState() == osKernelRunning) osDelay(1);
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
如果 USB CDC 端口忙碌（Host 未连接或 buffer 满），`printf` 会阻塞当前任务最多 20ms。对于 `navTask`（20ms 周期）和 `canTxTask`（20ms 周期），一次 `printf` 阻塞就可能导致**整个控制周期跳过**。当前 `App_PrintStatus()` 已被注释掉，但如果未来取消注释或在其他任务中添加 `printf`，可能造成问题。
|
||||
|
||||
**修复建议**: 在实时任务中避免使用 `printf`，或将 `_write` 改为非阻塞（丢弃模式）。
|
||||
|
||||
---
|
||||
|
||||
### L-4: 多个模块重复定义 `clampf()` 静态内联函数
|
||||
|
||||
**文件**:
|
||||
- `est/corridor_ekf.c:42`
|
||||
- `nav/corridor_ctrl.c:12`
|
||||
- `nav/nav_script.c:34`
|
||||
- `nav/segment_fsm.c:12`
|
||||
|
||||
四个文件各自定义了相同的 `static inline float clampf()`。虽然由于 `static` 链接属性不会导致链接错误，但违反 DRY 原则。
|
||||
|
||||
**修复建议**: 提取到公共头文件 `robot_params.h` 或新建 `utils.h`。
|
||||
|
||||
---
|
||||
|
||||
### L-5: `CorridorObs_t.valid_mask` 类型为 `uint8_t` 但掩码使用 bit 0-5 共 6 位
|
||||
|
||||
**文件**: `preproc/corridor_msgs.h:31` 和 `corridor_preproc.h:10-15`
|
||||
|
||||
当前 6 个掩码位刚好在 `uint8_t` 范围内（最大 bit 5 = 0x20），但余量很小。如果未来添加更多传感器（如第二组 VL53），很容易溢出。不紧急但值得注意。
|
||||
|
||||
---
|
||||
|
||||
### L-6: `vl53_board.c:84` 注释与实际值不一致
|
||||
|
||||
```c
|
||||
/* 初始化卡尔曼滤波器：默认 Q=1.0, R=9.5 */ // ← 注释说 Q=1.0, R=9.5
|
||||
vl53_kalman_init(&board->kf[i], 10.0f, 14.1f); // ← 实际值 Q=10.0, R=14.1
|
||||
```
|
||||
|
||||
注释是旧版残留，与当前代码不符。
|
||||
|
||||
---
|
||||
|
||||
### L-7: `nav_script.c:285` 使用 `exit_start_s == 0.0f` 判断是否已触发，但 `s` 初始值就是 0
|
||||
|
||||
```c
|
||||
if (s_internal.exit_start_s == 0.0f) {
|
||||
s_internal.exit_start_s = state->s;
|
||||
}
|
||||
```
|
||||
|
||||
如果恰好在 `state->s ≈ 0.0` 时进入 EXIT 阶段（理论上不会，因为已经往返走过垄沟），`exit_start_s` 会被设为 0，然后下次循环 `== 0.0f` 再次为 true，重复赋值但不会出错（`state->s` 每次都差不多）。实际上因为 `memset(&s_internal, 0, ...)` 已将其初始化为 0.0，如果 EXIT 阶段被跳过再重入，可能出现意外行为。
|
||||
|
||||
**修复建议**: 使用 `bool exit_triggered` 标志代替浮点数零值判断。
|
||||
|
||||
---
|
||||
|
||||
## 架构设计审查
|
||||
|
||||
### 优点
|
||||
|
||||
1. **分层清晰**: 传感器驱动 → 黑板 → 预处理 → EKF → 控制 → 安全 → 指令槽，每层职责明确。
|
||||
2. **线程安全设计合理**: 黑板的 `taskENTER_CRITICAL` + snapshot 模式有效防止了数据撕裂。
|
||||
3. **传感器互补融合策略** (`process_complementary_laser`): STP+ATK 的互补逻辑考虑了盲区、单体故障、保守防撞等多种场景，设计周到。
|
||||
4. **EKF 实现质量高**: 鲁棒 χ² 检验、分级观测更新（1/2/3 DOF）、协方差保护等机制完备。BUG-7（卡尔曼增益矩阵乘法）的修复正确。
|
||||
5. **参数集中管理**: `robot_params.h` 作为唯一调参入口，大部分参数已正确引用（除 S-1 遗漏）。
|
||||
6. **里程计累加器设计** (BUG-8 修复): ISR 累加 + 原子取走清零的设计有效解决了漏积分/重复积分问题。
|
||||
|
||||
### 可改进方向
|
||||
|
||||
1. **缺少 Watchdog**: 系统没有硬件看门狗 (IWDG/WWDG)。如果任何任务死锁或 HardFault，MCU 将永久挂起而不会自动重启。建议在空闲任务中喂看门狗。
|
||||
2. **缺少运行时错误日志**: 当前的错误处理主要是"静默忽略"或"返回零值"。建议增加一个轻量级错误计数器或环形日志 buffer，方便赛后分析。
|
||||
3. **EKF 和安全状态机没有联动**: 如 M-5 所述，脚本覆盖模式下安全状态机可能干扰正常流程。建议在 `SegFsmOutput_t` 中增加 bypass 机制。
|
||||
4. **`laserTestTask` 的 `osDelay(50)` 不精确**: 使用 `osDelay` 而非 `osDelayUntil`，任务执行时间会累加到周期中，导致实际周期 > 50ms。对于激光数据更新频率有影响。
|
||||
|
||||
---
|
||||
|
||||
## 已修复 BUG 验证
|
||||
|
||||
| HANDOFF 编号 | 修复内容 | 验证结果 |
|
||||
|-------------|---------|---------|
|
||||
| BUG-1 | IMU wz deg→rad 转换 | ✅ `app_tasks.c:305` 使用 `PARAM_DEG2RAD()` |
|
||||
| BUG-2 | EKF Q/R/P0 从 params 读取 | ✅ `corridor_filter.c:50-66` 使用 `PARAM_EKF_*` |
|
||||
| BUG-3 | `SegFsm_Start()` 调用 | ✅ `app_tasks.c:382` |
|
||||
| BUG-4 | BACKWARD 段使用 d_front | ✅ `nav_script.c:254` |
|
||||
| BUG-5 | 超时使用配置参数 | ✅ `nav_script.c:157` |
|
||||
| BUG-6 | EXIT 速度独立参数 | ✅ `nav_script.c:273` 使用 `s_cfg.exit_v` |
|
||||
| BUG-7 | 完整矩阵乘法 K=PHT*S_inv | ✅ `corridor_ekf.c:576-607` 两步乘法 |
|
||||
| BUG-8 | 里程计累加器模式 | ✅ `snc_can_app.c` ISR 累加 + `ConsumeOdomDelta` 原子取走 |
|
||||
| BUG-9 | IMU yaw unwrap + 连续角度 | ✅ `hwt101.c` unwrap 逻辑 + `nav_script.c` 使用 IMU yaw |
|
||||
| Q-1~Q-7 | 各项代码质量修复 | ✅ 全部验证通过 |
|
||||
|
||||
---
|
||||
|
||||
## 修复优先级建议
|
||||
|
||||
| 优先级 | 编号 | 预估工时 |
|
||||
|--------|------|---------|
|
||||
| 立即修复 | S-4 (pack 对齐) | 5 分钟 |
|
||||
| 立即修复 | S-1 (VL53 KF 参数) | 5 分钟 |
|
||||
| 赛前修复 | M-5 (安全 FSM bypass) | 30 分钟 |
|
||||
| 赛前修复 | M-6 (ATK 量程校验) | 10 分钟 |
|
||||
| 赛前修复 | S-2 (快照线程安全) | 15 分钟 |
|
||||
| 赛前修复 | L-2 (IMU ref 重置) | 5 分钟 |
|
||||
| 确认配置 | S-3 (CAN 中断优先级) | 10 分钟 |
|
||||
| 建议改进 | 其余所有 | 按需 |
|
||||
|
||||
---
|
||||
|
||||
> **审查结论**: 项目整体质量良好，架构设计规范，历史 BUG 修复彻底。上述 S-4 和 S-1 建议在下次烧录前立即修复；M-5 (安全状态机与脚本冲突) 是实车测试中最可能暴露的问题，建议优先验证。
|
||||
170
Core/Inc/FreeRTOSConfig.h
Normal file
170
Core/Inc/FreeRTOSConfig.h
Normal file
@@ -0,0 +1,170 @@
|
||||
/* 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 */
|
||||
52
Core/Inc/dma.h
Normal file
52
Core/Inc/dma.h
Normal file
@@ -0,0 +1,52 @@
|
||||
/* 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__ */
|
||||
|
||||
52
Core/Inc/fdcan.h
Normal file
52
Core/Inc/fdcan.h
Normal file
@@ -0,0 +1,52 @@
|
||||
/* 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__ */
|
||||
|
||||
49
Core/Inc/gpio.h
Normal file
49
Core/Inc/gpio.h
Normal file
@@ -0,0 +1,49 @@
|
||||
/* 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__ */
|
||||
|
||||
55
Core/Inc/i2c.h
Normal file
55
Core/Inc/i2c.h
Normal file
@@ -0,0 +1,55 @@
|
||||
/* 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__ */
|
||||
|
||||
69
Core/Inc/main.h
Normal file
69
Core/Inc/main.h
Normal file
@@ -0,0 +1,69 @@
|
||||
/* 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
514
Core/Inc/stm32h7xx_hal_conf.h
Normal file
@@ -0,0 +1,514 @@
|
||||
/* 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 */
|
||||
77
Core/Inc/stm32h7xx_it.h
Normal file
77
Core/Inc/stm32h7xx_it.h
Normal file
@@ -0,0 +1,77 @@
|
||||
/* 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 */
|
||||
52
Core/Inc/tim.h
Normal file
52
Core/Inc/tim.h
Normal file
@@ -0,0 +1,52 @@
|
||||
/* 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__ */
|
||||
|
||||
70
Core/Inc/usart.h
Normal file
70
Core/Inc/usart.h
Normal file
@@ -0,0 +1,70 @@
|
||||
/* 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__ */
|
||||
|
||||
52
Core/Inc/usb_otg.h
Normal file
52
Core/Inc/usb_otg.h
Normal file
@@ -0,0 +1,52 @@
|
||||
/* 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__ */
|
||||
|
||||
67
Core/Src/dma.c
Normal file
67
Core/Src/dma.c
Normal file
@@ -0,0 +1,67 @@
|
||||
/* 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
Core/Src/fdcan.c
Normal file
149
Core/Src/fdcan.c
Normal file
@@ -0,0 +1,149 @@
|
||||
/* 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
Core/Src/freertos.c
Normal file
301
Core/Src/freertos.c
Normal file
@@ -0,0 +1,301 @@
|
||||
/* 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 */
|
||||
|
||||
100
Core/Src/gpio.c
Normal file
100
Core/Src/gpio.c
Normal file
@@ -0,0 +1,100 @@
|
||||
/* 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 */
|
||||
237
Core/Src/i2c.c
Normal file
237
Core/Src/i2c.c
Normal file
@@ -0,0 +1,237 @@
|
||||
/* 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 */
|
||||
301
Core/Src/main.c
Normal file
301
Core/Src/main.c
Normal file
@@ -0,0 +1,301 @@
|
||||
/* 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
83
Core/Src/stm32h7xx_hal_msp.c
Normal file
@@ -0,0 +1,83 @@
|
||||
/* 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
Core/Src/stm32h7xx_hal_timebase_tim.c
Normal file
130
Core/Src/stm32h7xx_hal_timebase_tim.c
Normal file
@@ -0,0 +1,130 @@
|
||||
/* 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
Core/Src/stm32h7xx_it.c
Normal file
373
Core/Src/stm32h7xx_it.c
Normal file
@@ -0,0 +1,373 @@
|
||||
/* 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
244
Core/Src/syscalls.c
Normal file
@@ -0,0 +1,244 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @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
87
Core/Src/sysmem.c
Normal file
@@ -0,0 +1,87 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @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
556
Core/Src/system_stm32h7xx.c
Normal file
@@ -0,0 +1,556 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @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 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
104
Core/Src/tim.c
Normal file
104
Core/Src/tim.c
Normal file
@@ -0,0 +1,104 @@
|
||||
/* 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 */
|
||||
901
Core/Src/usart.c
Normal file
901
Core/Src/usart.c
Normal file
@@ -0,0 +1,901 @@
|
||||
/* 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 */
|
||||
894
Drivers/CMSIS/Core/Include/cmsis_armcc.h
Normal file
894
Drivers/CMSIS/Core/Include/cmsis_armcc.h
Normal file
@@ -0,0 +1,894 @@
|
||||
/**************************************************************************//**
|
||||
* @file cmsis_armcc.h
|
||||
* @brief CMSIS compiler ARMCC (Arm Compiler 5) header file
|
||||
* @version V5.1.0
|
||||
* @date 08. May 2019
|
||||
******************************************************************************/
|
||||
/*
|
||||
* Copyright (c) 2009-2019 Arm Limited. All rights reserved.
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*
|
||||
* Licensed under the Apache License, Version 2.0 (the License); you may
|
||||
* not use this file except in compliance with the License.
|
||||
* You may obtain a copy of the License at
|
||||
*
|
||||
* www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an AS IS BASIS, WITHOUT
|
||||
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
* See the License for the specific language governing permissions and
|
||||
* limitations under the License.
|
||||
*/
|
||||
|
||||
#ifndef __CMSIS_ARMCC_H
|
||||
#define __CMSIS_ARMCC_H
|
||||
|
||||
|
||||
#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION < 400677)
|
||||
#error "Please use Arm Compiler Toolchain V4.0.677 or later!"
|
||||
#endif
|
||||
|
||||
/* CMSIS compiler control architecture macros */
|
||||
#if ((defined (__TARGET_ARCH_6_M ) && (__TARGET_ARCH_6_M == 1)) || \
|
||||
(defined (__TARGET_ARCH_6S_M ) && (__TARGET_ARCH_6S_M == 1)) )
|
||||
#define __ARM_ARCH_6M__ 1
|
||||
#endif
|
||||
|
||||
#if (defined (__TARGET_ARCH_7_M ) && (__TARGET_ARCH_7_M == 1))
|
||||
#define __ARM_ARCH_7M__ 1
|
||||
#endif
|
||||
|
||||
#if (defined (__TARGET_ARCH_7E_M) && (__TARGET_ARCH_7E_M == 1))
|
||||
#define __ARM_ARCH_7EM__ 1
|
||||
#endif
|
||||
|
||||
/* __ARM_ARCH_8M_BASE__ not applicable */
|
||||
/* __ARM_ARCH_8M_MAIN__ not applicable */
|
||||
|
||||
/* CMSIS compiler control DSP macros */
|
||||
#if ((defined (__ARM_ARCH_7EM__) && (__ARM_ARCH_7EM__ == 1)) )
|
||||
#define __ARM_FEATURE_DSP 1
|
||||
#endif
|
||||
|
||||
/* CMSIS compiler specific defines */
|
||||
#ifndef __ASM
|
||||
#define __ASM __asm
|
||||
#endif
|
||||
#ifndef __INLINE
|
||||
#define __INLINE __inline
|
||||
#endif
|
||||
#ifndef __STATIC_INLINE
|
||||
#define __STATIC_INLINE static __inline
|
||||
#endif
|
||||
#ifndef __STATIC_FORCEINLINE
|
||||
#define __STATIC_FORCEINLINE static __forceinline
|
||||
#endif
|
||||
#ifndef __NO_RETURN
|
||||
#define __NO_RETURN __declspec(noreturn)
|
||||
#endif
|
||||
#ifndef __USED
|
||||
#define __USED __attribute__((used))
|
||||
#endif
|
||||
#ifndef __WEAK
|
||||
#define __WEAK __attribute__((weak))
|
||||
#endif
|
||||
#ifndef __PACKED
|
||||
#define __PACKED __attribute__((packed))
|
||||
#endif
|
||||
#ifndef __PACKED_STRUCT
|
||||
#define __PACKED_STRUCT __packed struct
|
||||
#endif
|
||||
#ifndef __PACKED_UNION
|
||||
#define __PACKED_UNION __packed union
|
||||
#endif
|
||||
#ifndef __UNALIGNED_UINT32 /* deprecated */
|
||||
#define __UNALIGNED_UINT32(x) (*((__packed uint32_t *)(x)))
|
||||
#endif
|
||||
#ifndef __UNALIGNED_UINT16_WRITE
|
||||
#define __UNALIGNED_UINT16_WRITE(addr, val) ((*((__packed uint16_t *)(addr))) = (val))
|
||||
#endif
|
||||
#ifndef __UNALIGNED_UINT16_READ
|
||||
#define __UNALIGNED_UINT16_READ(addr) (*((const __packed uint16_t *)(addr)))
|
||||
#endif
|
||||
#ifndef __UNALIGNED_UINT32_WRITE
|
||||
#define __UNALIGNED_UINT32_WRITE(addr, val) ((*((__packed uint32_t *)(addr))) = (val))
|
||||
#endif
|
||||
#ifndef __UNALIGNED_UINT32_READ
|
||||
#define __UNALIGNED_UINT32_READ(addr) (*((const __packed uint32_t *)(addr)))
|
||||
#endif
|
||||
#ifndef __ALIGNED
|
||||
#define __ALIGNED(x) __attribute__((aligned(x)))
|
||||
#endif
|
||||
#ifndef __RESTRICT
|
||||
#define __RESTRICT __restrict
|
||||
#endif
|
||||
#ifndef __COMPILER_BARRIER
|
||||
#define __COMPILER_BARRIER() __memory_changed()
|
||||
#endif
|
||||
|
||||
/* ######################### Startup and Lowlevel Init ######################## */
|
||||
|
||||
#ifndef __PROGRAM_START
|
||||
#define __PROGRAM_START __main
|
||||
#endif
|
||||
|
||||
#ifndef __INITIAL_SP
|
||||
#define __INITIAL_SP Image$$ARM_LIB_STACK$$ZI$$Limit
|
||||
#endif
|
||||
|
||||
#ifndef __STACK_LIMIT
|
||||
#define __STACK_LIMIT Image$$ARM_LIB_STACK$$ZI$$Base
|
||||
#endif
|
||||
|
||||
#ifndef __VECTOR_TABLE
|
||||
#define __VECTOR_TABLE __Vectors
|
||||
#endif
|
||||
|
||||
#ifndef __VECTOR_TABLE_ATTRIBUTE
|
||||
#define __VECTOR_TABLE_ATTRIBUTE __attribute((used, section("RESET")))
|
||||
#endif
|
||||
|
||||
/* ########################### Core Function Access ########################### */
|
||||
/** \ingroup CMSIS_Core_FunctionInterface
|
||||
\defgroup CMSIS_Core_RegAccFunctions CMSIS Core Register Access Functions
|
||||
@{
|
||||
*/
|
||||
|
||||
/**
|
||||
\brief Enable IRQ Interrupts
|
||||
\details Enables IRQ interrupts by clearing the I-bit in the CPSR.
|
||||
Can only be executed in Privileged modes.
|
||||
*/
|
||||
/* intrinsic void __enable_irq(); */
|
||||
|
||||
|
||||
/**
|
||||
\brief Disable IRQ Interrupts
|
||||
\details Disables IRQ interrupts by setting the I-bit in the CPSR.
|
||||
Can only be executed in Privileged modes.
|
||||
*/
|
||||
/* intrinsic void __disable_irq(); */
|
||||
|
||||
/**
|
||||
\brief Get Control Register
|
||||
\details Returns the content of the Control Register.
|
||||
\return Control Register value
|
||||
*/
|
||||
__STATIC_INLINE uint32_t __get_CONTROL(void)
|
||||
{
|
||||
register uint32_t __regControl __ASM("control");
|
||||
return(__regControl);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
\brief Set Control Register
|
||||
\details Writes the given value to the Control Register.
|
||||
\param [in] control Control Register value to set
|
||||
*/
|
||||
__STATIC_INLINE void __set_CONTROL(uint32_t control)
|
||||
{
|
||||
register uint32_t __regControl __ASM("control");
|
||||
__regControl = control;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
\brief Get IPSR Register
|
||||
\details Returns the content of the IPSR Register.
|
||||
\return IPSR Register value
|
||||
*/
|
||||
__STATIC_INLINE uint32_t __get_IPSR(void)
|
||||
{
|
||||
register uint32_t __regIPSR __ASM("ipsr");
|
||||
return(__regIPSR);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
\brief Get APSR Register
|
||||
\details Returns the content of the APSR Register.
|
||||
\return APSR Register value
|
||||
*/
|
||||
__STATIC_INLINE uint32_t __get_APSR(void)
|
||||
{
|
||||
register uint32_t __regAPSR __ASM("apsr");
|
||||
return(__regAPSR);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
\brief Get xPSR Register
|
||||
\details Returns the content of the xPSR Register.
|
||||
\return xPSR Register value
|
||||
*/
|
||||
__STATIC_INLINE uint32_t __get_xPSR(void)
|
||||
{
|
||||
register uint32_t __regXPSR __ASM("xpsr");
|
||||
return(__regXPSR);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
\brief Get Process Stack Pointer
|
||||
\details Returns the current value of the Process Stack Pointer (PSP).
|
||||
\return PSP Register value
|
||||
*/
|
||||
__STATIC_INLINE uint32_t __get_PSP(void)
|
||||
{
|
||||
register uint32_t __regProcessStackPointer __ASM("psp");
|
||||
return(__regProcessStackPointer);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
\brief Set Process Stack Pointer
|
||||
\details Assigns the given value to the Process Stack Pointer (PSP).
|
||||
\param [in] topOfProcStack Process Stack Pointer value to set
|
||||
*/
|
||||
__STATIC_INLINE void __set_PSP(uint32_t topOfProcStack)
|
||||
{
|
||||
register uint32_t __regProcessStackPointer __ASM("psp");
|
||||
__regProcessStackPointer = topOfProcStack;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
\brief Get Main Stack Pointer
|
||||
\details Returns the current value of the Main Stack Pointer (MSP).
|
||||
\return MSP Register value
|
||||
*/
|
||||
__STATIC_INLINE uint32_t __get_MSP(void)
|
||||
{
|
||||
register uint32_t __regMainStackPointer __ASM("msp");
|
||||
return(__regMainStackPointer);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
\brief Set Main Stack Pointer
|
||||
\details Assigns the given value to the Main Stack Pointer (MSP).
|
||||
\param [in] topOfMainStack Main Stack Pointer value to set
|
||||
*/
|
||||
__STATIC_INLINE void __set_MSP(uint32_t topOfMainStack)
|
||||
{
|
||||
register uint32_t __regMainStackPointer __ASM("msp");
|
||||
__regMainStackPointer = topOfMainStack;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
\brief Get Priority Mask
|
||||
\details Returns the current state of the priority mask bit from the Priority Mask Register.
|
||||
\return Priority Mask value
|
||||
*/
|
||||
__STATIC_INLINE uint32_t __get_PRIMASK(void)
|
||||
{
|
||||
register uint32_t __regPriMask __ASM("primask");
|
||||
return(__regPriMask);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
\brief Set Priority Mask
|
||||
\details Assigns the given value to the Priority Mask Register.
|
||||
\param [in] priMask Priority Mask
|
||||
*/
|
||||
__STATIC_INLINE void __set_PRIMASK(uint32_t priMask)
|
||||
{
|
||||
register uint32_t __regPriMask __ASM("primask");
|
||||
__regPriMask = (priMask);
|
||||
}
|
||||
|
||||
|
||||
#if ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \
|
||||
(defined (__ARM_ARCH_7EM__) && (__ARM_ARCH_7EM__ == 1)) )
|
||||
|
||||
/**
|
||||
\brief Enable FIQ
|
||||
\details Enables FIQ interrupts by clearing the F-bit in the CPSR.
|
||||
Can only be executed in Privileged modes.
|
||||
*/
|
||||
#define __enable_fault_irq __enable_fiq
|
||||
|
||||
|
||||
/**
|
||||
\brief Disable FIQ
|
||||
\details Disables FIQ interrupts by setting the F-bit in the CPSR.
|
||||
Can only be executed in Privileged modes.
|
||||
*/
|
||||
#define __disable_fault_irq __disable_fiq
|
||||
|
||||
|
||||
/**
|
||||
\brief Get Base Priority
|
||||
\details Returns the current value of the Base Priority register.
|
||||
\return Base Priority register value
|
||||
*/
|
||||
__STATIC_INLINE uint32_t __get_BASEPRI(void)
|
||||
{
|
||||
register uint32_t __regBasePri __ASM("basepri");
|
||||
return(__regBasePri);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
\brief Set Base Priority
|
||||
\details Assigns the given value to the Base Priority register.
|
||||
\param [in] basePri Base Priority value to set
|
||||
*/
|
||||
__STATIC_INLINE void __set_BASEPRI(uint32_t basePri)
|
||||
{
|
||||
register uint32_t __regBasePri __ASM("basepri");
|
||||
__regBasePri = (basePri & 0xFFU);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
\brief Set Base Priority with condition
|
||||
\details Assigns the given value to the Base Priority register only if BASEPRI masking is disabled,
|
||||
or the new value increases the BASEPRI priority level.
|
||||
\param [in] basePri Base Priority value to set
|
||||
*/
|
||||
__STATIC_INLINE void __set_BASEPRI_MAX(uint32_t basePri)
|
||||
{
|
||||
register uint32_t __regBasePriMax __ASM("basepri_max");
|
||||
__regBasePriMax = (basePri & 0xFFU);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
\brief Get Fault Mask
|
||||
\details Returns the current value of the Fault Mask register.
|
||||
\return Fault Mask register value
|
||||
*/
|
||||
__STATIC_INLINE uint32_t __get_FAULTMASK(void)
|
||||
{
|
||||
register uint32_t __regFaultMask __ASM("faultmask");
|
||||
return(__regFaultMask);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
\brief Set Fault Mask
|
||||
\details Assigns the given value to the Fault Mask register.
|
||||
\param [in] faultMask Fault Mask value to set
|
||||
*/
|
||||
__STATIC_INLINE void __set_FAULTMASK(uint32_t faultMask)
|
||||
{
|
||||
register uint32_t __regFaultMask __ASM("faultmask");
|
||||
__regFaultMask = (faultMask & (uint32_t)1U);
|
||||
}
|
||||
|
||||
#endif /* ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \
|
||||
(defined (__ARM_ARCH_7EM__) && (__ARM_ARCH_7EM__ == 1)) ) */
|
||||
|
||||
|
||||
/**
|
||||
\brief Get FPSCR
|
||||
\details Returns the current value of the Floating Point Status/Control register.
|
||||
\return Floating Point Status/Control register value
|
||||
*/
|
||||
__STATIC_INLINE uint32_t __get_FPSCR(void)
|
||||
{
|
||||
#if ((defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U)) && \
|
||||
(defined (__FPU_USED ) && (__FPU_USED == 1U)) )
|
||||
register uint32_t __regfpscr __ASM("fpscr");
|
||||
return(__regfpscr);
|
||||
#else
|
||||
return(0U);
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
\brief Set FPSCR
|
||||
\details Assigns the given value to the Floating Point Status/Control register.
|
||||
\param [in] fpscr Floating Point Status/Control value to set
|
||||
*/
|
||||
__STATIC_INLINE void __set_FPSCR(uint32_t fpscr)
|
||||
{
|
||||
#if ((defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U)) && \
|
||||
(defined (__FPU_USED ) && (__FPU_USED == 1U)) )
|
||||
register uint32_t __regfpscr __ASM("fpscr");
|
||||
__regfpscr = (fpscr);
|
||||
#else
|
||||
(void)fpscr;
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
/*@} end of CMSIS_Core_RegAccFunctions */
|
||||
|
||||
|
||||
/* ########################## Core Instruction Access ######################### */
|
||||
/** \defgroup CMSIS_Core_InstructionInterface CMSIS Core Instruction Interface
|
||||
Access to dedicated instructions
|
||||
@{
|
||||
*/
|
||||
|
||||
/**
|
||||
\brief No Operation
|
||||
\details No Operation does nothing. This instruction can be used for code alignment purposes.
|
||||
*/
|
||||
#define __NOP __nop
|
||||
|
||||
|
||||
/**
|
||||
\brief Wait For Interrupt
|
||||
\details Wait For Interrupt is a hint instruction that suspends execution until one of a number of events occurs.
|
||||
*/
|
||||
#define __WFI __wfi
|
||||
|
||||
|
||||
/**
|
||||
\brief Wait For Event
|
||||
\details Wait For Event is a hint instruction that permits the processor to enter
|
||||
a low-power state until one of a number of events occurs.
|
||||
*/
|
||||
#define __WFE __wfe
|
||||
|
||||
|
||||
/**
|
||||
\brief Send Event
|
||||
\details Send Event is a hint instruction. It causes an event to be signaled to the CPU.
|
||||
*/
|
||||
#define __SEV __sev
|
||||
|
||||
|
||||
/**
|
||||
\brief Instruction Synchronization Barrier
|
||||
\details Instruction Synchronization Barrier flushes the pipeline in the processor,
|
||||
so that all instructions following the ISB are fetched from cache or memory,
|
||||
after the instruction has been completed.
|
||||
*/
|
||||
#define __ISB() do {\
|
||||
__schedule_barrier();\
|
||||
__isb(0xF);\
|
||||
__schedule_barrier();\
|
||||
} while (0U)
|
||||
|
||||
/**
|
||||
\brief Data Synchronization Barrier
|
||||
\details Acts as a special kind of Data Memory Barrier.
|
||||
It completes when all explicit memory accesses before this instruction complete.
|
||||
*/
|
||||
#define __DSB() do {\
|
||||
__schedule_barrier();\
|
||||
__dsb(0xF);\
|
||||
__schedule_barrier();\
|
||||
} while (0U)
|
||||
|
||||
/**
|
||||
\brief Data Memory Barrier
|
||||
\details Ensures the apparent order of the explicit memory operations before
|
||||
and after the instruction, without ensuring their completion.
|
||||
*/
|
||||
#define __DMB() do {\
|
||||
__schedule_barrier();\
|
||||
__dmb(0xF);\
|
||||
__schedule_barrier();\
|
||||
} while (0U)
|
||||
|
||||
|
||||
/**
|
||||
\brief Reverse byte order (32 bit)
|
||||
\details Reverses the byte order in unsigned integer value. For example, 0x12345678 becomes 0x78563412.
|
||||
\param [in] value Value to reverse
|
||||
\return Reversed value
|
||||
*/
|
||||
#define __REV __rev
|
||||
|
||||
|
||||
/**
|
||||
\brief Reverse byte order (16 bit)
|
||||
\details Reverses the byte order within each halfword of a word. For example, 0x12345678 becomes 0x34127856.
|
||||
\param [in] value Value to reverse
|
||||
\return Reversed value
|
||||
*/
|
||||
#ifndef __NO_EMBEDDED_ASM
|
||||
__attribute__((section(".rev16_text"))) __STATIC_INLINE __ASM uint32_t __REV16(uint32_t value)
|
||||
{
|
||||
rev16 r0, r0
|
||||
bx lr
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
/**
|
||||
\brief Reverse byte order (16 bit)
|
||||
\details Reverses the byte order in a 16-bit value and returns the signed 16-bit result. For example, 0x0080 becomes 0x8000.
|
||||
\param [in] value Value to reverse
|
||||
\return Reversed value
|
||||
*/
|
||||
#ifndef __NO_EMBEDDED_ASM
|
||||
__attribute__((section(".revsh_text"))) __STATIC_INLINE __ASM int16_t __REVSH(int16_t value)
|
||||
{
|
||||
revsh r0, r0
|
||||
bx lr
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
/**
|
||||
\brief Rotate Right in unsigned value (32 bit)
|
||||
\details Rotate Right (immediate) provides the value of the contents of a register rotated by a variable number of bits.
|
||||
\param [in] op1 Value to rotate
|
||||
\param [in] op2 Number of Bits to rotate
|
||||
\return Rotated value
|
||||
*/
|
||||
#define __ROR __ror
|
||||
|
||||
|
||||
/**
|
||||
\brief Breakpoint
|
||||
\details Causes the processor to enter Debug state.
|
||||
Debug tools can use this to investigate system state when the instruction at a particular address is reached.
|
||||
\param [in] value is ignored by the processor.
|
||||
If required, a debugger can use it to store additional information about the breakpoint.
|
||||
*/
|
||||
#define __BKPT(value) __breakpoint(value)
|
||||
|
||||
|
||||
/**
|
||||
\brief Reverse bit order of value
|
||||
\details Reverses the bit order of the given value.
|
||||
\param [in] value Value to reverse
|
||||
\return Reversed value
|
||||
*/
|
||||
#if ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \
|
||||
(defined (__ARM_ARCH_7EM__) && (__ARM_ARCH_7EM__ == 1)) )
|
||||
#define __RBIT __rbit
|
||||
#else
|
||||
__attribute__((always_inline)) __STATIC_INLINE uint32_t __RBIT(uint32_t value)
|
||||
{
|
||||
uint32_t result;
|
||||
uint32_t s = (4U /*sizeof(v)*/ * 8U) - 1U; /* extra shift needed at end */
|
||||
|
||||
result = value; /* r will be reversed bits of v; first get LSB of v */
|
||||
for (value >>= 1U; value != 0U; value >>= 1U)
|
||||
{
|
||||
result <<= 1U;
|
||||
result |= value & 1U;
|
||||
s--;
|
||||
}
|
||||
result <<= s; /* shift when v's highest bits are zero */
|
||||
return result;
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
/**
|
||||
\brief Count leading zeros
|
||||
\details Counts the number of leading zeros of a data value.
|
||||
\param [in] value Value to count the leading zeros
|
||||
\return number of leading zeros in value
|
||||
*/
|
||||
#define __CLZ __clz
|
||||
|
||||
|
||||
#if ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \
|
||||
(defined (__ARM_ARCH_7EM__) && (__ARM_ARCH_7EM__ == 1)) )
|
||||
|
||||
/**
|
||||
\brief LDR Exclusive (8 bit)
|
||||
\details Executes a exclusive LDR instruction for 8 bit value.
|
||||
\param [in] ptr Pointer to data
|
||||
\return value of type uint8_t at (*ptr)
|
||||
*/
|
||||
#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION < 5060020)
|
||||
#define __LDREXB(ptr) ((uint8_t ) __ldrex(ptr))
|
||||
#else
|
||||
#define __LDREXB(ptr) _Pragma("push") _Pragma("diag_suppress 3731") ((uint8_t ) __ldrex(ptr)) _Pragma("pop")
|
||||
#endif
|
||||
|
||||
|
||||
/**
|
||||
\brief LDR Exclusive (16 bit)
|
||||
\details Executes a exclusive LDR instruction for 16 bit values.
|
||||
\param [in] ptr Pointer to data
|
||||
\return value of type uint16_t at (*ptr)
|
||||
*/
|
||||
#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION < 5060020)
|
||||
#define __LDREXH(ptr) ((uint16_t) __ldrex(ptr))
|
||||
#else
|
||||
#define __LDREXH(ptr) _Pragma("push") _Pragma("diag_suppress 3731") ((uint16_t) __ldrex(ptr)) _Pragma("pop")
|
||||
#endif
|
||||
|
||||
|
||||
/**
|
||||
\brief LDR Exclusive (32 bit)
|
||||
\details Executes a exclusive LDR instruction for 32 bit values.
|
||||
\param [in] ptr Pointer to data
|
||||
\return value of type uint32_t at (*ptr)
|
||||
*/
|
||||
#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION < 5060020)
|
||||
#define __LDREXW(ptr) ((uint32_t ) __ldrex(ptr))
|
||||
#else
|
||||
#define __LDREXW(ptr) _Pragma("push") _Pragma("diag_suppress 3731") ((uint32_t ) __ldrex(ptr)) _Pragma("pop")
|
||||
#endif
|
||||
|
||||
|
||||
/**
|
||||
\brief STR Exclusive (8 bit)
|
||||
\details Executes a exclusive STR instruction for 8 bit values.
|
||||
\param [in] value Value to store
|
||||
\param [in] ptr Pointer to location
|
||||
\return 0 Function succeeded
|
||||
\return 1 Function failed
|
||||
*/
|
||||
#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION < 5060020)
|
||||
#define __STREXB(value, ptr) __strex(value, ptr)
|
||||
#else
|
||||
#define __STREXB(value, ptr) _Pragma("push") _Pragma("diag_suppress 3731") __strex(value, ptr) _Pragma("pop")
|
||||
#endif
|
||||
|
||||
|
||||
/**
|
||||
\brief STR Exclusive (16 bit)
|
||||
\details Executes a exclusive STR instruction for 16 bit values.
|
||||
\param [in] value Value to store
|
||||
\param [in] ptr Pointer to location
|
||||
\return 0 Function succeeded
|
||||
\return 1 Function failed
|
||||
*/
|
||||
#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION < 5060020)
|
||||
#define __STREXH(value, ptr) __strex(value, ptr)
|
||||
#else
|
||||
#define __STREXH(value, ptr) _Pragma("push") _Pragma("diag_suppress 3731") __strex(value, ptr) _Pragma("pop")
|
||||
#endif
|
||||
|
||||
|
||||
/**
|
||||
\brief STR Exclusive (32 bit)
|
||||
\details Executes a exclusive STR instruction for 32 bit values.
|
||||
\param [in] value Value to store
|
||||
\param [in] ptr Pointer to location
|
||||
\return 0 Function succeeded
|
||||
\return 1 Function failed
|
||||
*/
|
||||
#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION < 5060020)
|
||||
#define __STREXW(value, ptr) __strex(value, ptr)
|
||||
#else
|
||||
#define __STREXW(value, ptr) _Pragma("push") _Pragma("diag_suppress 3731") __strex(value, ptr) _Pragma("pop")
|
||||
#endif
|
||||
|
||||
|
||||
/**
|
||||
\brief Remove the exclusive lock
|
||||
\details Removes the exclusive lock which is created by LDREX.
|
||||
*/
|
||||
#define __CLREX __clrex
|
||||
|
||||
|
||||
/**
|
||||
\brief Signed Saturate
|
||||
\details Saturates a signed value.
|
||||
\param [in] value Value to be saturated
|
||||
\param [in] sat Bit position to saturate to (1..32)
|
||||
\return Saturated value
|
||||
*/
|
||||
#define __SSAT __ssat
|
||||
|
||||
|
||||
/**
|
||||
\brief Unsigned Saturate
|
||||
\details Saturates an unsigned value.
|
||||
\param [in] value Value to be saturated
|
||||
\param [in] sat Bit position to saturate to (0..31)
|
||||
\return Saturated value
|
||||
*/
|
||||
#define __USAT __usat
|
||||
|
||||
|
||||
/**
|
||||
\brief Rotate Right with Extend (32 bit)
|
||||
\details Moves each bit of a bitstring right by one bit.
|
||||
The carry input is shifted in at the left end of the bitstring.
|
||||
\param [in] value Value to rotate
|
||||
\return Rotated value
|
||||
*/
|
||||
#ifndef __NO_EMBEDDED_ASM
|
||||
__attribute__((section(".rrx_text"))) __STATIC_INLINE __ASM uint32_t __RRX(uint32_t value)
|
||||
{
|
||||
rrx r0, r0
|
||||
bx lr
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
/**
|
||||
\brief LDRT Unprivileged (8 bit)
|
||||
\details Executes a Unprivileged LDRT instruction for 8 bit value.
|
||||
\param [in] ptr Pointer to data
|
||||
\return value of type uint8_t at (*ptr)
|
||||
*/
|
||||
#define __LDRBT(ptr) ((uint8_t ) __ldrt(ptr))
|
||||
|
||||
|
||||
/**
|
||||
\brief LDRT Unprivileged (16 bit)
|
||||
\details Executes a Unprivileged LDRT instruction for 16 bit values.
|
||||
\param [in] ptr Pointer to data
|
||||
\return value of type uint16_t at (*ptr)
|
||||
*/
|
||||
#define __LDRHT(ptr) ((uint16_t) __ldrt(ptr))
|
||||
|
||||
|
||||
/**
|
||||
\brief LDRT Unprivileged (32 bit)
|
||||
\details Executes a Unprivileged LDRT instruction for 32 bit values.
|
||||
\param [in] ptr Pointer to data
|
||||
\return value of type uint32_t at (*ptr)
|
||||
*/
|
||||
#define __LDRT(ptr) ((uint32_t ) __ldrt(ptr))
|
||||
|
||||
|
||||
/**
|
||||
\brief STRT Unprivileged (8 bit)
|
||||
\details Executes a Unprivileged STRT instruction for 8 bit values.
|
||||
\param [in] value Value to store
|
||||
\param [in] ptr Pointer to location
|
||||
*/
|
||||
#define __STRBT(value, ptr) __strt(value, ptr)
|
||||
|
||||
|
||||
/**
|
||||
\brief STRT Unprivileged (16 bit)
|
||||
\details Executes a Unprivileged STRT instruction for 16 bit values.
|
||||
\param [in] value Value to store
|
||||
\param [in] ptr Pointer to location
|
||||
*/
|
||||
#define __STRHT(value, ptr) __strt(value, ptr)
|
||||
|
||||
|
||||
/**
|
||||
\brief STRT Unprivileged (32 bit)
|
||||
\details Executes a Unprivileged STRT instruction for 32 bit values.
|
||||
\param [in] value Value to store
|
||||
\param [in] ptr Pointer to location
|
||||
*/
|
||||
#define __STRT(value, ptr) __strt(value, ptr)
|
||||
|
||||
#else /* ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \
|
||||
(defined (__ARM_ARCH_7EM__) && (__ARM_ARCH_7EM__ == 1)) ) */
|
||||
|
||||
/**
|
||||
\brief Signed Saturate
|
||||
\details Saturates a signed value.
|
||||
\param [in] value Value to be saturated
|
||||
\param [in] sat Bit position to saturate to (1..32)
|
||||
\return Saturated value
|
||||
*/
|
||||
__attribute__((always_inline)) __STATIC_INLINE int32_t __SSAT(int32_t val, uint32_t sat)
|
||||
{
|
||||
if ((sat >= 1U) && (sat <= 32U))
|
||||
{
|
||||
const int32_t max = (int32_t)((1U << (sat - 1U)) - 1U);
|
||||
const int32_t min = -1 - max ;
|
||||
if (val > max)
|
||||
{
|
||||
return max;
|
||||
}
|
||||
else if (val < min)
|
||||
{
|
||||
return min;
|
||||
}
|
||||
}
|
||||
return val;
|
||||
}
|
||||
|
||||
/**
|
||||
\brief Unsigned Saturate
|
||||
\details Saturates an unsigned value.
|
||||
\param [in] value Value to be saturated
|
||||
\param [in] sat Bit position to saturate to (0..31)
|
||||
\return Saturated value
|
||||
*/
|
||||
__attribute__((always_inline)) __STATIC_INLINE uint32_t __USAT(int32_t val, uint32_t sat)
|
||||
{
|
||||
if (sat <= 31U)
|
||||
{
|
||||
const uint32_t max = ((1U << sat) - 1U);
|
||||
if (val > (int32_t)max)
|
||||
{
|
||||
return max;
|
||||
}
|
||||
else if (val < 0)
|
||||
{
|
||||
return 0U;
|
||||
}
|
||||
}
|
||||
return (uint32_t)val;
|
||||
}
|
||||
|
||||
#endif /* ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \
|
||||
(defined (__ARM_ARCH_7EM__) && (__ARM_ARCH_7EM__ == 1)) ) */
|
||||
|
||||
/*@}*/ /* end of group CMSIS_Core_InstructionInterface */
|
||||
|
||||
|
||||
/* ################### Compiler specific Intrinsics ########################### */
|
||||
/** \defgroup CMSIS_SIMD_intrinsics CMSIS SIMD Intrinsics
|
||||
Access to dedicated SIMD instructions
|
||||
@{
|
||||
*/
|
||||
|
||||
#if ((defined (__ARM_ARCH_7EM__) && (__ARM_ARCH_7EM__ == 1)) )
|
||||
|
||||
#define __SADD8 __sadd8
|
||||
#define __QADD8 __qadd8
|
||||
#define __SHADD8 __shadd8
|
||||
#define __UADD8 __uadd8
|
||||
#define __UQADD8 __uqadd8
|
||||
#define __UHADD8 __uhadd8
|
||||
#define __SSUB8 __ssub8
|
||||
#define __QSUB8 __qsub8
|
||||
#define __SHSUB8 __shsub8
|
||||
#define __USUB8 __usub8
|
||||
#define __UQSUB8 __uqsub8
|
||||
#define __UHSUB8 __uhsub8
|
||||
#define __SADD16 __sadd16
|
||||
#define __QADD16 __qadd16
|
||||
#define __SHADD16 __shadd16
|
||||
#define __UADD16 __uadd16
|
||||
#define __UQADD16 __uqadd16
|
||||
#define __UHADD16 __uhadd16
|
||||
#define __SSUB16 __ssub16
|
||||
#define __QSUB16 __qsub16
|
||||
#define __SHSUB16 __shsub16
|
||||
#define __USUB16 __usub16
|
||||
#define __UQSUB16 __uqsub16
|
||||
#define __UHSUB16 __uhsub16
|
||||
#define __SASX __sasx
|
||||
#define __QASX __qasx
|
||||
#define __SHASX __shasx
|
||||
#define __UASX __uasx
|
||||
#define __UQASX __uqasx
|
||||
#define __UHASX __uhasx
|
||||
#define __SSAX __ssax
|
||||
#define __QSAX __qsax
|
||||
#define __SHSAX __shsax
|
||||
#define __USAX __usax
|
||||
#define __UQSAX __uqsax
|
||||
#define __UHSAX __uhsax
|
||||
#define __USAD8 __usad8
|
||||
#define __USADA8 __usada8
|
||||
#define __SSAT16 __ssat16
|
||||
#define __USAT16 __usat16
|
||||
#define __UXTB16 __uxtb16
|
||||
#define __UXTAB16 __uxtab16
|
||||
#define __SXTB16 __sxtb16
|
||||
#define __SXTAB16 __sxtab16
|
||||
#define __SMUAD __smuad
|
||||
#define __SMUADX __smuadx
|
||||
#define __SMLAD __smlad
|
||||
#define __SMLADX __smladx
|
||||
#define __SMLALD __smlald
|
||||
#define __SMLALDX __smlaldx
|
||||
#define __SMUSD __smusd
|
||||
#define __SMUSDX __smusdx
|
||||
#define __SMLSD __smlsd
|
||||
#define __SMLSDX __smlsdx
|
||||
#define __SMLSLD __smlsld
|
||||
#define __SMLSLDX __smlsldx
|
||||
#define __SEL __sel
|
||||
#define __QADD __qadd
|
||||
#define __QSUB __qsub
|
||||
|
||||
#define __PKHBT(ARG1,ARG2,ARG3) ( ((((uint32_t)(ARG1)) ) & 0x0000FFFFUL) | \
|
||||
((((uint32_t)(ARG2)) << (ARG3)) & 0xFFFF0000UL) )
|
||||
|
||||
#define __PKHTB(ARG1,ARG2,ARG3) ( ((((uint32_t)(ARG1)) ) & 0xFFFF0000UL) | \
|
||||
((((uint32_t)(ARG2)) >> (ARG3)) & 0x0000FFFFUL) )
|
||||
|
||||
#define __SMMLA(ARG1,ARG2,ARG3) ( (int32_t)((((int64_t)(ARG1) * (ARG2)) + \
|
||||
((int64_t)(ARG3) << 32U) ) >> 32U))
|
||||
|
||||
#endif /* ((defined (__ARM_ARCH_7EM__) && (__ARM_ARCH_7EM__ == 1)) ) */
|
||||
/*@} end of group CMSIS_SIMD_intrinsics */
|
||||
|
||||
|
||||
#endif /* __CMSIS_ARMCC_H */
|
||||
1444
Drivers/CMSIS/Core/Include/cmsis_armclang.h
Normal file
1444
Drivers/CMSIS/Core/Include/cmsis_armclang.h
Normal file
File diff suppressed because it is too large
Load Diff
1891
Drivers/CMSIS/Core/Include/cmsis_armclang_ltm.h
Normal file
1891
Drivers/CMSIS/Core/Include/cmsis_armclang_ltm.h
Normal file
File diff suppressed because it is too large
Load Diff
283
Drivers/CMSIS/Core/Include/cmsis_compiler.h
Normal file
283
Drivers/CMSIS/Core/Include/cmsis_compiler.h
Normal file
@@ -0,0 +1,283 @@
|
||||
/**************************************************************************//**
|
||||
* @file cmsis_compiler.h
|
||||
* @brief CMSIS compiler generic header file
|
||||
* @version V5.1.0
|
||||
* @date 09. October 2018
|
||||
******************************************************************************/
|
||||
/*
|
||||
* Copyright (c) 2009-2018 Arm Limited. All rights reserved.
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*
|
||||
* Licensed under the Apache License, Version 2.0 (the License); you may
|
||||
* not use this file except in compliance with the License.
|
||||
* You may obtain a copy of the License at
|
||||
*
|
||||
* www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an AS IS BASIS, WITHOUT
|
||||
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
* See the License for the specific language governing permissions and
|
||||
* limitations under the License.
|
||||
*/
|
||||
|
||||
#ifndef __CMSIS_COMPILER_H
|
||||
#define __CMSIS_COMPILER_H
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
/*
|
||||
* Arm Compiler 4/5
|
||||
*/
|
||||
#if defined ( __CC_ARM )
|
||||
#include "cmsis_armcc.h"
|
||||
|
||||
|
||||
/*
|
||||
* Arm Compiler 6.6 LTM (armclang)
|
||||
*/
|
||||
#elif defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050) && (__ARMCC_VERSION < 6100100)
|
||||
#include "cmsis_armclang_ltm.h"
|
||||
|
||||
/*
|
||||
* Arm Compiler above 6.10.1 (armclang)
|
||||
*/
|
||||
#elif defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6100100)
|
||||
#include "cmsis_armclang.h"
|
||||
|
||||
|
||||
/*
|
||||
* GNU Compiler
|
||||
*/
|
||||
#elif defined ( __GNUC__ )
|
||||
#include "cmsis_gcc.h"
|
||||
|
||||
|
||||
/*
|
||||
* IAR Compiler
|
||||
*/
|
||||
#elif defined ( __ICCARM__ )
|
||||
#include <cmsis_iccarm.h>
|
||||
|
||||
|
||||
/*
|
||||
* TI Arm Compiler
|
||||
*/
|
||||
#elif defined ( __TI_ARM__ )
|
||||
#include <cmsis_ccs.h>
|
||||
|
||||
#ifndef __ASM
|
||||
#define __ASM __asm
|
||||
#endif
|
||||
#ifndef __INLINE
|
||||
#define __INLINE inline
|
||||
#endif
|
||||
#ifndef __STATIC_INLINE
|
||||
#define __STATIC_INLINE static inline
|
||||
#endif
|
||||
#ifndef __STATIC_FORCEINLINE
|
||||
#define __STATIC_FORCEINLINE __STATIC_INLINE
|
||||
#endif
|
||||
#ifndef __NO_RETURN
|
||||
#define __NO_RETURN __attribute__((noreturn))
|
||||
#endif
|
||||
#ifndef __USED
|
||||
#define __USED __attribute__((used))
|
||||
#endif
|
||||
#ifndef __WEAK
|
||||
#define __WEAK __attribute__((weak))
|
||||
#endif
|
||||
#ifndef __PACKED
|
||||
#define __PACKED __attribute__((packed))
|
||||
#endif
|
||||
#ifndef __PACKED_STRUCT
|
||||
#define __PACKED_STRUCT struct __attribute__((packed))
|
||||
#endif
|
||||
#ifndef __PACKED_UNION
|
||||
#define __PACKED_UNION union __attribute__((packed))
|
||||
#endif
|
||||
#ifndef __UNALIGNED_UINT32 /* deprecated */
|
||||
struct __attribute__((packed)) T_UINT32 { uint32_t v; };
|
||||
#define __UNALIGNED_UINT32(x) (((struct T_UINT32 *)(x))->v)
|
||||
#endif
|
||||
#ifndef __UNALIGNED_UINT16_WRITE
|
||||
__PACKED_STRUCT T_UINT16_WRITE { uint16_t v; };
|
||||
#define __UNALIGNED_UINT16_WRITE(addr, val) (void)((((struct T_UINT16_WRITE *)(void*)(addr))->v) = (val))
|
||||
#endif
|
||||
#ifndef __UNALIGNED_UINT16_READ
|
||||
__PACKED_STRUCT T_UINT16_READ { uint16_t v; };
|
||||
#define __UNALIGNED_UINT16_READ(addr) (((const struct T_UINT16_READ *)(const void *)(addr))->v)
|
||||
#endif
|
||||
#ifndef __UNALIGNED_UINT32_WRITE
|
||||
__PACKED_STRUCT T_UINT32_WRITE { uint32_t v; };
|
||||
#define __UNALIGNED_UINT32_WRITE(addr, val) (void)((((struct T_UINT32_WRITE *)(void *)(addr))->v) = (val))
|
||||
#endif
|
||||
#ifndef __UNALIGNED_UINT32_READ
|
||||
__PACKED_STRUCT T_UINT32_READ { uint32_t v; };
|
||||
#define __UNALIGNED_UINT32_READ(addr) (((const struct T_UINT32_READ *)(const void *)(addr))->v)
|
||||
#endif
|
||||
#ifndef __ALIGNED
|
||||
#define __ALIGNED(x) __attribute__((aligned(x)))
|
||||
#endif
|
||||
#ifndef __RESTRICT
|
||||
#define __RESTRICT __restrict
|
||||
#endif
|
||||
#ifndef __COMPILER_BARRIER
|
||||
#warning No compiler specific solution for __COMPILER_BARRIER. __COMPILER_BARRIER is ignored.
|
||||
#define __COMPILER_BARRIER() (void)0
|
||||
#endif
|
||||
|
||||
|
||||
/*
|
||||
* TASKING Compiler
|
||||
*/
|
||||
#elif defined ( __TASKING__ )
|
||||
/*
|
||||
* The CMSIS functions have been implemented as intrinsics in the compiler.
|
||||
* Please use "carm -?i" to get an up to date list of all intrinsics,
|
||||
* Including the CMSIS ones.
|
||||
*/
|
||||
|
||||
#ifndef __ASM
|
||||
#define __ASM __asm
|
||||
#endif
|
||||
#ifndef __INLINE
|
||||
#define __INLINE inline
|
||||
#endif
|
||||
#ifndef __STATIC_INLINE
|
||||
#define __STATIC_INLINE static inline
|
||||
#endif
|
||||
#ifndef __STATIC_FORCEINLINE
|
||||
#define __STATIC_FORCEINLINE __STATIC_INLINE
|
||||
#endif
|
||||
#ifndef __NO_RETURN
|
||||
#define __NO_RETURN __attribute__((noreturn))
|
||||
#endif
|
||||
#ifndef __USED
|
||||
#define __USED __attribute__((used))
|
||||
#endif
|
||||
#ifndef __WEAK
|
||||
#define __WEAK __attribute__((weak))
|
||||
#endif
|
||||
#ifndef __PACKED
|
||||
#define __PACKED __packed__
|
||||
#endif
|
||||
#ifndef __PACKED_STRUCT
|
||||
#define __PACKED_STRUCT struct __packed__
|
||||
#endif
|
||||
#ifndef __PACKED_UNION
|
||||
#define __PACKED_UNION union __packed__
|
||||
#endif
|
||||
#ifndef __UNALIGNED_UINT32 /* deprecated */
|
||||
struct __packed__ T_UINT32 { uint32_t v; };
|
||||
#define __UNALIGNED_UINT32(x) (((struct T_UINT32 *)(x))->v)
|
||||
#endif
|
||||
#ifndef __UNALIGNED_UINT16_WRITE
|
||||
__PACKED_STRUCT T_UINT16_WRITE { uint16_t v; };
|
||||
#define __UNALIGNED_UINT16_WRITE(addr, val) (void)((((struct T_UINT16_WRITE *)(void *)(addr))->v) = (val))
|
||||
#endif
|
||||
#ifndef __UNALIGNED_UINT16_READ
|
||||
__PACKED_STRUCT T_UINT16_READ { uint16_t v; };
|
||||
#define __UNALIGNED_UINT16_READ(addr) (((const struct T_UINT16_READ *)(const void *)(addr))->v)
|
||||
#endif
|
||||
#ifndef __UNALIGNED_UINT32_WRITE
|
||||
__PACKED_STRUCT T_UINT32_WRITE { uint32_t v; };
|
||||
#define __UNALIGNED_UINT32_WRITE(addr, val) (void)((((struct T_UINT32_WRITE *)(void *)(addr))->v) = (val))
|
||||
#endif
|
||||
#ifndef __UNALIGNED_UINT32_READ
|
||||
__PACKED_STRUCT T_UINT32_READ { uint32_t v; };
|
||||
#define __UNALIGNED_UINT32_READ(addr) (((const struct T_UINT32_READ *)(const void *)(addr))->v)
|
||||
#endif
|
||||
#ifndef __ALIGNED
|
||||
#define __ALIGNED(x) __align(x)
|
||||
#endif
|
||||
#ifndef __RESTRICT
|
||||
#warning No compiler specific solution for __RESTRICT. __RESTRICT is ignored.
|
||||
#define __RESTRICT
|
||||
#endif
|
||||
#ifndef __COMPILER_BARRIER
|
||||
#warning No compiler specific solution for __COMPILER_BARRIER. __COMPILER_BARRIER is ignored.
|
||||
#define __COMPILER_BARRIER() (void)0
|
||||
#endif
|
||||
|
||||
|
||||
/*
|
||||
* COSMIC Compiler
|
||||
*/
|
||||
#elif defined ( __CSMC__ )
|
||||
#include <cmsis_csm.h>
|
||||
|
||||
#ifndef __ASM
|
||||
#define __ASM _asm
|
||||
#endif
|
||||
#ifndef __INLINE
|
||||
#define __INLINE inline
|
||||
#endif
|
||||
#ifndef __STATIC_INLINE
|
||||
#define __STATIC_INLINE static inline
|
||||
#endif
|
||||
#ifndef __STATIC_FORCEINLINE
|
||||
#define __STATIC_FORCEINLINE __STATIC_INLINE
|
||||
#endif
|
||||
#ifndef __NO_RETURN
|
||||
// NO RETURN is automatically detected hence no warning here
|
||||
#define __NO_RETURN
|
||||
#endif
|
||||
#ifndef __USED
|
||||
#warning No compiler specific solution for __USED. __USED is ignored.
|
||||
#define __USED
|
||||
#endif
|
||||
#ifndef __WEAK
|
||||
#define __WEAK __weak
|
||||
#endif
|
||||
#ifndef __PACKED
|
||||
#define __PACKED @packed
|
||||
#endif
|
||||
#ifndef __PACKED_STRUCT
|
||||
#define __PACKED_STRUCT @packed struct
|
||||
#endif
|
||||
#ifndef __PACKED_UNION
|
||||
#define __PACKED_UNION @packed union
|
||||
#endif
|
||||
#ifndef __UNALIGNED_UINT32 /* deprecated */
|
||||
@packed struct T_UINT32 { uint32_t v; };
|
||||
#define __UNALIGNED_UINT32(x) (((struct T_UINT32 *)(x))->v)
|
||||
#endif
|
||||
#ifndef __UNALIGNED_UINT16_WRITE
|
||||
__PACKED_STRUCT T_UINT16_WRITE { uint16_t v; };
|
||||
#define __UNALIGNED_UINT16_WRITE(addr, val) (void)((((struct T_UINT16_WRITE *)(void *)(addr))->v) = (val))
|
||||
#endif
|
||||
#ifndef __UNALIGNED_UINT16_READ
|
||||
__PACKED_STRUCT T_UINT16_READ { uint16_t v; };
|
||||
#define __UNALIGNED_UINT16_READ(addr) (((const struct T_UINT16_READ *)(const void *)(addr))->v)
|
||||
#endif
|
||||
#ifndef __UNALIGNED_UINT32_WRITE
|
||||
__PACKED_STRUCT T_UINT32_WRITE { uint32_t v; };
|
||||
#define __UNALIGNED_UINT32_WRITE(addr, val) (void)((((struct T_UINT32_WRITE *)(void *)(addr))->v) = (val))
|
||||
#endif
|
||||
#ifndef __UNALIGNED_UINT32_READ
|
||||
__PACKED_STRUCT T_UINT32_READ { uint32_t v; };
|
||||
#define __UNALIGNED_UINT32_READ(addr) (((const struct T_UINT32_READ *)(const void *)(addr))->v)
|
||||
#endif
|
||||
#ifndef __ALIGNED
|
||||
#warning No compiler specific solution for __ALIGNED. __ALIGNED is ignored.
|
||||
#define __ALIGNED(x)
|
||||
#endif
|
||||
#ifndef __RESTRICT
|
||||
#warning No compiler specific solution for __RESTRICT. __RESTRICT is ignored.
|
||||
#define __RESTRICT
|
||||
#endif
|
||||
#ifndef __COMPILER_BARRIER
|
||||
#warning No compiler specific solution for __COMPILER_BARRIER. __COMPILER_BARRIER is ignored.
|
||||
#define __COMPILER_BARRIER() (void)0
|
||||
#endif
|
||||
|
||||
|
||||
#else
|
||||
#error Unknown compiler.
|
||||
#endif
|
||||
|
||||
|
||||
#endif /* __CMSIS_COMPILER_H */
|
||||
|
||||
2168
Drivers/CMSIS/Core/Include/cmsis_gcc.h
Normal file
2168
Drivers/CMSIS/Core/Include/cmsis_gcc.h
Normal file
File diff suppressed because it is too large
Load Diff
964
Drivers/CMSIS/Core/Include/cmsis_iccarm.h
Normal file
964
Drivers/CMSIS/Core/Include/cmsis_iccarm.h
Normal file
@@ -0,0 +1,964 @@
|
||||
/**************************************************************************//**
|
||||
* @file cmsis_iccarm.h
|
||||
* @brief CMSIS compiler ICCARM (IAR Compiler for Arm) header file
|
||||
* @version V5.1.0
|
||||
* @date 08. May 2019
|
||||
******************************************************************************/
|
||||
|
||||
//------------------------------------------------------------------------------
|
||||
//
|
||||
// Copyright (c) 2017-2019 IAR Systems
|
||||
// Copyright (c) 2017-2019 Arm Limited. All rights reserved.
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License")
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
//
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
|
||||
#ifndef __CMSIS_ICCARM_H__
|
||||
#define __CMSIS_ICCARM_H__
|
||||
|
||||
#ifndef __ICCARM__
|
||||
#error This file should only be compiled by ICCARM
|
||||
#endif
|
||||
|
||||
#pragma system_include
|
||||
|
||||
#define __IAR_FT _Pragma("inline=forced") __intrinsic
|
||||
|
||||
#if (__VER__ >= 8000000)
|
||||
#define __ICCARM_V8 1
|
||||
#else
|
||||
#define __ICCARM_V8 0
|
||||
#endif
|
||||
|
||||
#ifndef __ALIGNED
|
||||
#if __ICCARM_V8
|
||||
#define __ALIGNED(x) __attribute__((aligned(x)))
|
||||
#elif (__VER__ >= 7080000)
|
||||
/* Needs IAR language extensions */
|
||||
#define __ALIGNED(x) __attribute__((aligned(x)))
|
||||
#else
|
||||
#warning No compiler specific solution for __ALIGNED.__ALIGNED is ignored.
|
||||
#define __ALIGNED(x)
|
||||
#endif
|
||||
#endif
|
||||
|
||||
|
||||
/* Define compiler macros for CPU architecture, used in CMSIS 5.
|
||||
*/
|
||||
#if __ARM_ARCH_6M__ || __ARM_ARCH_7M__ || __ARM_ARCH_7EM__ || __ARM_ARCH_8M_BASE__ || __ARM_ARCH_8M_MAIN__
|
||||
/* Macros already defined */
|
||||
#else
|
||||
#if defined(__ARM8M_MAINLINE__) || defined(__ARM8EM_MAINLINE__)
|
||||
#define __ARM_ARCH_8M_MAIN__ 1
|
||||
#elif defined(__ARM8M_BASELINE__)
|
||||
#define __ARM_ARCH_8M_BASE__ 1
|
||||
#elif defined(__ARM_ARCH_PROFILE) && __ARM_ARCH_PROFILE == 'M'
|
||||
#if __ARM_ARCH == 6
|
||||
#define __ARM_ARCH_6M__ 1
|
||||
#elif __ARM_ARCH == 7
|
||||
#if __ARM_FEATURE_DSP
|
||||
#define __ARM_ARCH_7EM__ 1
|
||||
#else
|
||||
#define __ARM_ARCH_7M__ 1
|
||||
#endif
|
||||
#endif /* __ARM_ARCH */
|
||||
#endif /* __ARM_ARCH_PROFILE == 'M' */
|
||||
#endif
|
||||
|
||||
/* Alternativ core deduction for older ICCARM's */
|
||||
#if !defined(__ARM_ARCH_6M__) && !defined(__ARM_ARCH_7M__) && !defined(__ARM_ARCH_7EM__) && \
|
||||
!defined(__ARM_ARCH_8M_BASE__) && !defined(__ARM_ARCH_8M_MAIN__)
|
||||
#if defined(__ARM6M__) && (__CORE__ == __ARM6M__)
|
||||
#define __ARM_ARCH_6M__ 1
|
||||
#elif defined(__ARM7M__) && (__CORE__ == __ARM7M__)
|
||||
#define __ARM_ARCH_7M__ 1
|
||||
#elif defined(__ARM7EM__) && (__CORE__ == __ARM7EM__)
|
||||
#define __ARM_ARCH_7EM__ 1
|
||||
#elif defined(__ARM8M_BASELINE__) && (__CORE == __ARM8M_BASELINE__)
|
||||
#define __ARM_ARCH_8M_BASE__ 1
|
||||
#elif defined(__ARM8M_MAINLINE__) && (__CORE == __ARM8M_MAINLINE__)
|
||||
#define __ARM_ARCH_8M_MAIN__ 1
|
||||
#elif defined(__ARM8EM_MAINLINE__) && (__CORE == __ARM8EM_MAINLINE__)
|
||||
#define __ARM_ARCH_8M_MAIN__ 1
|
||||
#else
|
||||
#error "Unknown target."
|
||||
#endif
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
#if defined(__ARM_ARCH_6M__) && __ARM_ARCH_6M__==1
|
||||
#define __IAR_M0_FAMILY 1
|
||||
#elif defined(__ARM_ARCH_8M_BASE__) && __ARM_ARCH_8M_BASE__==1
|
||||
#define __IAR_M0_FAMILY 1
|
||||
#else
|
||||
#define __IAR_M0_FAMILY 0
|
||||
#endif
|
||||
|
||||
|
||||
#ifndef __ASM
|
||||
#define __ASM __asm
|
||||
#endif
|
||||
|
||||
#ifndef __COMPILER_BARRIER
|
||||
#define __COMPILER_BARRIER() __ASM volatile("":::"memory")
|
||||
#endif
|
||||
|
||||
#ifndef __INLINE
|
||||
#define __INLINE inline
|
||||
#endif
|
||||
|
||||
#ifndef __NO_RETURN
|
||||
#if __ICCARM_V8
|
||||
#define __NO_RETURN __attribute__((__noreturn__))
|
||||
#else
|
||||
#define __NO_RETURN _Pragma("object_attribute=__noreturn")
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#ifndef __PACKED
|
||||
#if __ICCARM_V8
|
||||
#define __PACKED __attribute__((packed, aligned(1)))
|
||||
#else
|
||||
/* Needs IAR language extensions */
|
||||
#define __PACKED __packed
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#ifndef __PACKED_STRUCT
|
||||
#if __ICCARM_V8
|
||||
#define __PACKED_STRUCT struct __attribute__((packed, aligned(1)))
|
||||
#else
|
||||
/* Needs IAR language extensions */
|
||||
#define __PACKED_STRUCT __packed struct
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#ifndef __PACKED_UNION
|
||||
#if __ICCARM_V8
|
||||
#define __PACKED_UNION union __attribute__((packed, aligned(1)))
|
||||
#else
|
||||
/* Needs IAR language extensions */
|
||||
#define __PACKED_UNION __packed union
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#ifndef __RESTRICT
|
||||
#if __ICCARM_V8
|
||||
#define __RESTRICT __restrict
|
||||
#else
|
||||
/* Needs IAR language extensions */
|
||||
#define __RESTRICT restrict
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#ifndef __STATIC_INLINE
|
||||
#define __STATIC_INLINE static inline
|
||||
#endif
|
||||
|
||||
#ifndef __FORCEINLINE
|
||||
#define __FORCEINLINE _Pragma("inline=forced")
|
||||
#endif
|
||||
|
||||
#ifndef __STATIC_FORCEINLINE
|
||||
#define __STATIC_FORCEINLINE __FORCEINLINE __STATIC_INLINE
|
||||
#endif
|
||||
|
||||
#ifndef __UNALIGNED_UINT16_READ
|
||||
#pragma language=save
|
||||
#pragma language=extended
|
||||
__IAR_FT uint16_t __iar_uint16_read(void const *ptr)
|
||||
{
|
||||
return *(__packed uint16_t*)(ptr);
|
||||
}
|
||||
#pragma language=restore
|
||||
#define __UNALIGNED_UINT16_READ(PTR) __iar_uint16_read(PTR)
|
||||
#endif
|
||||
|
||||
|
||||
#ifndef __UNALIGNED_UINT16_WRITE
|
||||
#pragma language=save
|
||||
#pragma language=extended
|
||||
__IAR_FT void __iar_uint16_write(void const *ptr, uint16_t val)
|
||||
{
|
||||
*(__packed uint16_t*)(ptr) = val;;
|
||||
}
|
||||
#pragma language=restore
|
||||
#define __UNALIGNED_UINT16_WRITE(PTR,VAL) __iar_uint16_write(PTR,VAL)
|
||||
#endif
|
||||
|
||||
#ifndef __UNALIGNED_UINT32_READ
|
||||
#pragma language=save
|
||||
#pragma language=extended
|
||||
__IAR_FT uint32_t __iar_uint32_read(void const *ptr)
|
||||
{
|
||||
return *(__packed uint32_t*)(ptr);
|
||||
}
|
||||
#pragma language=restore
|
||||
#define __UNALIGNED_UINT32_READ(PTR) __iar_uint32_read(PTR)
|
||||
#endif
|
||||
|
||||
#ifndef __UNALIGNED_UINT32_WRITE
|
||||
#pragma language=save
|
||||
#pragma language=extended
|
||||
__IAR_FT void __iar_uint32_write(void const *ptr, uint32_t val)
|
||||
{
|
||||
*(__packed uint32_t*)(ptr) = val;;
|
||||
}
|
||||
#pragma language=restore
|
||||
#define __UNALIGNED_UINT32_WRITE(PTR,VAL) __iar_uint32_write(PTR,VAL)
|
||||
#endif
|
||||
|
||||
#ifndef __UNALIGNED_UINT32 /* deprecated */
|
||||
#pragma language=save
|
||||
#pragma language=extended
|
||||
__packed struct __iar_u32 { uint32_t v; };
|
||||
#pragma language=restore
|
||||
#define __UNALIGNED_UINT32(PTR) (((struct __iar_u32 *)(PTR))->v)
|
||||
#endif
|
||||
|
||||
#ifndef __USED
|
||||
#if __ICCARM_V8
|
||||
#define __USED __attribute__((used))
|
||||
#else
|
||||
#define __USED _Pragma("__root")
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#ifndef __WEAK
|
||||
#if __ICCARM_V8
|
||||
#define __WEAK __attribute__((weak))
|
||||
#else
|
||||
#define __WEAK _Pragma("__weak")
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#ifndef __PROGRAM_START
|
||||
#define __PROGRAM_START __iar_program_start
|
||||
#endif
|
||||
|
||||
#ifndef __INITIAL_SP
|
||||
#define __INITIAL_SP CSTACK$$Limit
|
||||
#endif
|
||||
|
||||
#ifndef __STACK_LIMIT
|
||||
#define __STACK_LIMIT CSTACK$$Base
|
||||
#endif
|
||||
|
||||
#ifndef __VECTOR_TABLE
|
||||
#define __VECTOR_TABLE __vector_table
|
||||
#endif
|
||||
|
||||
#ifndef __VECTOR_TABLE_ATTRIBUTE
|
||||
#define __VECTOR_TABLE_ATTRIBUTE @".intvec"
|
||||
#endif
|
||||
|
||||
#ifndef __ICCARM_INTRINSICS_VERSION__
|
||||
#define __ICCARM_INTRINSICS_VERSION__ 0
|
||||
#endif
|
||||
|
||||
#if __ICCARM_INTRINSICS_VERSION__ == 2
|
||||
|
||||
#if defined(__CLZ)
|
||||
#undef __CLZ
|
||||
#endif
|
||||
#if defined(__REVSH)
|
||||
#undef __REVSH
|
||||
#endif
|
||||
#if defined(__RBIT)
|
||||
#undef __RBIT
|
||||
#endif
|
||||
#if defined(__SSAT)
|
||||
#undef __SSAT
|
||||
#endif
|
||||
#if defined(__USAT)
|
||||
#undef __USAT
|
||||
#endif
|
||||
|
||||
#include "iccarm_builtin.h"
|
||||
|
||||
#define __disable_fault_irq __iar_builtin_disable_fiq
|
||||
#define __disable_irq __iar_builtin_disable_interrupt
|
||||
#define __enable_fault_irq __iar_builtin_enable_fiq
|
||||
#define __enable_irq __iar_builtin_enable_interrupt
|
||||
#define __arm_rsr __iar_builtin_rsr
|
||||
#define __arm_wsr __iar_builtin_wsr
|
||||
|
||||
|
||||
#define __get_APSR() (__arm_rsr("APSR"))
|
||||
#define __get_BASEPRI() (__arm_rsr("BASEPRI"))
|
||||
#define __get_CONTROL() (__arm_rsr("CONTROL"))
|
||||
#define __get_FAULTMASK() (__arm_rsr("FAULTMASK"))
|
||||
|
||||
#if ((defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U)) && \
|
||||
(defined (__FPU_USED ) && (__FPU_USED == 1U)) )
|
||||
#define __get_FPSCR() (__arm_rsr("FPSCR"))
|
||||
#define __set_FPSCR(VALUE) (__arm_wsr("FPSCR", (VALUE)))
|
||||
#else
|
||||
#define __get_FPSCR() ( 0 )
|
||||
#define __set_FPSCR(VALUE) ((void)VALUE)
|
||||
#endif
|
||||
|
||||
#define __get_IPSR() (__arm_rsr("IPSR"))
|
||||
#define __get_MSP() (__arm_rsr("MSP"))
|
||||
#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \
|
||||
(!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3)))
|
||||
// without main extensions, the non-secure MSPLIM is RAZ/WI
|
||||
#define __get_MSPLIM() (0U)
|
||||
#else
|
||||
#define __get_MSPLIM() (__arm_rsr("MSPLIM"))
|
||||
#endif
|
||||
#define __get_PRIMASK() (__arm_rsr("PRIMASK"))
|
||||
#define __get_PSP() (__arm_rsr("PSP"))
|
||||
|
||||
#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \
|
||||
(!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3)))
|
||||
// without main extensions, the non-secure PSPLIM is RAZ/WI
|
||||
#define __get_PSPLIM() (0U)
|
||||
#else
|
||||
#define __get_PSPLIM() (__arm_rsr("PSPLIM"))
|
||||
#endif
|
||||
|
||||
#define __get_xPSR() (__arm_rsr("xPSR"))
|
||||
|
||||
#define __set_BASEPRI(VALUE) (__arm_wsr("BASEPRI", (VALUE)))
|
||||
#define __set_BASEPRI_MAX(VALUE) (__arm_wsr("BASEPRI_MAX", (VALUE)))
|
||||
#define __set_CONTROL(VALUE) (__arm_wsr("CONTROL", (VALUE)))
|
||||
#define __set_FAULTMASK(VALUE) (__arm_wsr("FAULTMASK", (VALUE)))
|
||||
#define __set_MSP(VALUE) (__arm_wsr("MSP", (VALUE)))
|
||||
|
||||
#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \
|
||||
(!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3)))
|
||||
// without main extensions, the non-secure MSPLIM is RAZ/WI
|
||||
#define __set_MSPLIM(VALUE) ((void)(VALUE))
|
||||
#else
|
||||
#define __set_MSPLIM(VALUE) (__arm_wsr("MSPLIM", (VALUE)))
|
||||
#endif
|
||||
#define __set_PRIMASK(VALUE) (__arm_wsr("PRIMASK", (VALUE)))
|
||||
#define __set_PSP(VALUE) (__arm_wsr("PSP", (VALUE)))
|
||||
#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \
|
||||
(!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3)))
|
||||
// without main extensions, the non-secure PSPLIM is RAZ/WI
|
||||
#define __set_PSPLIM(VALUE) ((void)(VALUE))
|
||||
#else
|
||||
#define __set_PSPLIM(VALUE) (__arm_wsr("PSPLIM", (VALUE)))
|
||||
#endif
|
||||
|
||||
#define __TZ_get_CONTROL_NS() (__arm_rsr("CONTROL_NS"))
|
||||
#define __TZ_set_CONTROL_NS(VALUE) (__arm_wsr("CONTROL_NS", (VALUE)))
|
||||
#define __TZ_get_PSP_NS() (__arm_rsr("PSP_NS"))
|
||||
#define __TZ_set_PSP_NS(VALUE) (__arm_wsr("PSP_NS", (VALUE)))
|
||||
#define __TZ_get_MSP_NS() (__arm_rsr("MSP_NS"))
|
||||
#define __TZ_set_MSP_NS(VALUE) (__arm_wsr("MSP_NS", (VALUE)))
|
||||
#define __TZ_get_SP_NS() (__arm_rsr("SP_NS"))
|
||||
#define __TZ_set_SP_NS(VALUE) (__arm_wsr("SP_NS", (VALUE)))
|
||||
#define __TZ_get_PRIMASK_NS() (__arm_rsr("PRIMASK_NS"))
|
||||
#define __TZ_set_PRIMASK_NS(VALUE) (__arm_wsr("PRIMASK_NS", (VALUE)))
|
||||
#define __TZ_get_BASEPRI_NS() (__arm_rsr("BASEPRI_NS"))
|
||||
#define __TZ_set_BASEPRI_NS(VALUE) (__arm_wsr("BASEPRI_NS", (VALUE)))
|
||||
#define __TZ_get_FAULTMASK_NS() (__arm_rsr("FAULTMASK_NS"))
|
||||
#define __TZ_set_FAULTMASK_NS(VALUE)(__arm_wsr("FAULTMASK_NS", (VALUE)))
|
||||
|
||||
#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \
|
||||
(!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3)))
|
||||
// without main extensions, the non-secure PSPLIM is RAZ/WI
|
||||
#define __TZ_get_PSPLIM_NS() (0U)
|
||||
#define __TZ_set_PSPLIM_NS(VALUE) ((void)(VALUE))
|
||||
#else
|
||||
#define __TZ_get_PSPLIM_NS() (__arm_rsr("PSPLIM_NS"))
|
||||
#define __TZ_set_PSPLIM_NS(VALUE) (__arm_wsr("PSPLIM_NS", (VALUE)))
|
||||
#endif
|
||||
|
||||
#define __TZ_get_MSPLIM_NS() (__arm_rsr("MSPLIM_NS"))
|
||||
#define __TZ_set_MSPLIM_NS(VALUE) (__arm_wsr("MSPLIM_NS", (VALUE)))
|
||||
|
||||
#define __NOP __iar_builtin_no_operation
|
||||
|
||||
#define __CLZ __iar_builtin_CLZ
|
||||
#define __CLREX __iar_builtin_CLREX
|
||||
|
||||
#define __DMB __iar_builtin_DMB
|
||||
#define __DSB __iar_builtin_DSB
|
||||
#define __ISB __iar_builtin_ISB
|
||||
|
||||
#define __LDREXB __iar_builtin_LDREXB
|
||||
#define __LDREXH __iar_builtin_LDREXH
|
||||
#define __LDREXW __iar_builtin_LDREX
|
||||
|
||||
#define __RBIT __iar_builtin_RBIT
|
||||
#define __REV __iar_builtin_REV
|
||||
#define __REV16 __iar_builtin_REV16
|
||||
|
||||
__IAR_FT int16_t __REVSH(int16_t val)
|
||||
{
|
||||
return (int16_t) __iar_builtin_REVSH(val);
|
||||
}
|
||||
|
||||
#define __ROR __iar_builtin_ROR
|
||||
#define __RRX __iar_builtin_RRX
|
||||
|
||||
#define __SEV __iar_builtin_SEV
|
||||
|
||||
#if !__IAR_M0_FAMILY
|
||||
#define __SSAT __iar_builtin_SSAT
|
||||
#endif
|
||||
|
||||
#define __STREXB __iar_builtin_STREXB
|
||||
#define __STREXH __iar_builtin_STREXH
|
||||
#define __STREXW __iar_builtin_STREX
|
||||
|
||||
#if !__IAR_M0_FAMILY
|
||||
#define __USAT __iar_builtin_USAT
|
||||
#endif
|
||||
|
||||
#define __WFE __iar_builtin_WFE
|
||||
#define __WFI __iar_builtin_WFI
|
||||
|
||||
#if __ARM_MEDIA__
|
||||
#define __SADD8 __iar_builtin_SADD8
|
||||
#define __QADD8 __iar_builtin_QADD8
|
||||
#define __SHADD8 __iar_builtin_SHADD8
|
||||
#define __UADD8 __iar_builtin_UADD8
|
||||
#define __UQADD8 __iar_builtin_UQADD8
|
||||
#define __UHADD8 __iar_builtin_UHADD8
|
||||
#define __SSUB8 __iar_builtin_SSUB8
|
||||
#define __QSUB8 __iar_builtin_QSUB8
|
||||
#define __SHSUB8 __iar_builtin_SHSUB8
|
||||
#define __USUB8 __iar_builtin_USUB8
|
||||
#define __UQSUB8 __iar_builtin_UQSUB8
|
||||
#define __UHSUB8 __iar_builtin_UHSUB8
|
||||
#define __SADD16 __iar_builtin_SADD16
|
||||
#define __QADD16 __iar_builtin_QADD16
|
||||
#define __SHADD16 __iar_builtin_SHADD16
|
||||
#define __UADD16 __iar_builtin_UADD16
|
||||
#define __UQADD16 __iar_builtin_UQADD16
|
||||
#define __UHADD16 __iar_builtin_UHADD16
|
||||
#define __SSUB16 __iar_builtin_SSUB16
|
||||
#define __QSUB16 __iar_builtin_QSUB16
|
||||
#define __SHSUB16 __iar_builtin_SHSUB16
|
||||
#define __USUB16 __iar_builtin_USUB16
|
||||
#define __UQSUB16 __iar_builtin_UQSUB16
|
||||
#define __UHSUB16 __iar_builtin_UHSUB16
|
||||
#define __SASX __iar_builtin_SASX
|
||||
#define __QASX __iar_builtin_QASX
|
||||
#define __SHASX __iar_builtin_SHASX
|
||||
#define __UASX __iar_builtin_UASX
|
||||
#define __UQASX __iar_builtin_UQASX
|
||||
#define __UHASX __iar_builtin_UHASX
|
||||
#define __SSAX __iar_builtin_SSAX
|
||||
#define __QSAX __iar_builtin_QSAX
|
||||
#define __SHSAX __iar_builtin_SHSAX
|
||||
#define __USAX __iar_builtin_USAX
|
||||
#define __UQSAX __iar_builtin_UQSAX
|
||||
#define __UHSAX __iar_builtin_UHSAX
|
||||
#define __USAD8 __iar_builtin_USAD8
|
||||
#define __USADA8 __iar_builtin_USADA8
|
||||
#define __SSAT16 __iar_builtin_SSAT16
|
||||
#define __USAT16 __iar_builtin_USAT16
|
||||
#define __UXTB16 __iar_builtin_UXTB16
|
||||
#define __UXTAB16 __iar_builtin_UXTAB16
|
||||
#define __SXTB16 __iar_builtin_SXTB16
|
||||
#define __SXTAB16 __iar_builtin_SXTAB16
|
||||
#define __SMUAD __iar_builtin_SMUAD
|
||||
#define __SMUADX __iar_builtin_SMUADX
|
||||
#define __SMMLA __iar_builtin_SMMLA
|
||||
#define __SMLAD __iar_builtin_SMLAD
|
||||
#define __SMLADX __iar_builtin_SMLADX
|
||||
#define __SMLALD __iar_builtin_SMLALD
|
||||
#define __SMLALDX __iar_builtin_SMLALDX
|
||||
#define __SMUSD __iar_builtin_SMUSD
|
||||
#define __SMUSDX __iar_builtin_SMUSDX
|
||||
#define __SMLSD __iar_builtin_SMLSD
|
||||
#define __SMLSDX __iar_builtin_SMLSDX
|
||||
#define __SMLSLD __iar_builtin_SMLSLD
|
||||
#define __SMLSLDX __iar_builtin_SMLSLDX
|
||||
#define __SEL __iar_builtin_SEL
|
||||
#define __QADD __iar_builtin_QADD
|
||||
#define __QSUB __iar_builtin_QSUB
|
||||
#define __PKHBT __iar_builtin_PKHBT
|
||||
#define __PKHTB __iar_builtin_PKHTB
|
||||
#endif
|
||||
|
||||
#else /* __ICCARM_INTRINSICS_VERSION__ == 2 */
|
||||
|
||||
#if __IAR_M0_FAMILY
|
||||
/* Avoid clash between intrinsics.h and arm_math.h when compiling for Cortex-M0. */
|
||||
#define __CLZ __cmsis_iar_clz_not_active
|
||||
#define __SSAT __cmsis_iar_ssat_not_active
|
||||
#define __USAT __cmsis_iar_usat_not_active
|
||||
#define __RBIT __cmsis_iar_rbit_not_active
|
||||
#define __get_APSR __cmsis_iar_get_APSR_not_active
|
||||
#endif
|
||||
|
||||
|
||||
#if (!((defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U)) && \
|
||||
(defined (__FPU_USED ) && (__FPU_USED == 1U)) ))
|
||||
#define __get_FPSCR __cmsis_iar_get_FPSR_not_active
|
||||
#define __set_FPSCR __cmsis_iar_set_FPSR_not_active
|
||||
#endif
|
||||
|
||||
#ifdef __INTRINSICS_INCLUDED
|
||||
#error intrinsics.h is already included previously!
|
||||
#endif
|
||||
|
||||
#include <intrinsics.h>
|
||||
|
||||
#if __IAR_M0_FAMILY
|
||||
/* Avoid clash between intrinsics.h and arm_math.h when compiling for Cortex-M0. */
|
||||
#undef __CLZ
|
||||
#undef __SSAT
|
||||
#undef __USAT
|
||||
#undef __RBIT
|
||||
#undef __get_APSR
|
||||
|
||||
__STATIC_INLINE uint8_t __CLZ(uint32_t data)
|
||||
{
|
||||
if (data == 0U) { return 32U; }
|
||||
|
||||
uint32_t count = 0U;
|
||||
uint32_t mask = 0x80000000U;
|
||||
|
||||
while ((data & mask) == 0U)
|
||||
{
|
||||
count += 1U;
|
||||
mask = mask >> 1U;
|
||||
}
|
||||
return count;
|
||||
}
|
||||
|
||||
__STATIC_INLINE uint32_t __RBIT(uint32_t v)
|
||||
{
|
||||
uint8_t sc = 31U;
|
||||
uint32_t r = v;
|
||||
for (v >>= 1U; v; v >>= 1U)
|
||||
{
|
||||
r <<= 1U;
|
||||
r |= v & 1U;
|
||||
sc--;
|
||||
}
|
||||
return (r << sc);
|
||||
}
|
||||
|
||||
__STATIC_INLINE uint32_t __get_APSR(void)
|
||||
{
|
||||
uint32_t res;
|
||||
__asm("MRS %0,APSR" : "=r" (res));
|
||||
return res;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
#if (!((defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U)) && \
|
||||
(defined (__FPU_USED ) && (__FPU_USED == 1U)) ))
|
||||
#undef __get_FPSCR
|
||||
#undef __set_FPSCR
|
||||
#define __get_FPSCR() (0)
|
||||
#define __set_FPSCR(VALUE) ((void)VALUE)
|
||||
#endif
|
||||
|
||||
#pragma diag_suppress=Pe940
|
||||
#pragma diag_suppress=Pe177
|
||||
|
||||
#define __enable_irq __enable_interrupt
|
||||
#define __disable_irq __disable_interrupt
|
||||
#define __NOP __no_operation
|
||||
|
||||
#define __get_xPSR __get_PSR
|
||||
|
||||
#if (!defined(__ARM_ARCH_6M__) || __ARM_ARCH_6M__==0)
|
||||
|
||||
__IAR_FT uint32_t __LDREXW(uint32_t volatile *ptr)
|
||||
{
|
||||
return __LDREX((unsigned long *)ptr);
|
||||
}
|
||||
|
||||
__IAR_FT uint32_t __STREXW(uint32_t value, uint32_t volatile *ptr)
|
||||
{
|
||||
return __STREX(value, (unsigned long *)ptr);
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
/* __CORTEX_M is defined in core_cm0.h, core_cm3.h and core_cm4.h. */
|
||||
#if (__CORTEX_M >= 0x03)
|
||||
|
||||
__IAR_FT uint32_t __RRX(uint32_t value)
|
||||
{
|
||||
uint32_t result;
|
||||
__ASM("RRX %0, %1" : "=r"(result) : "r" (value) : "cc");
|
||||
return(result);
|
||||
}
|
||||
|
||||
__IAR_FT void __set_BASEPRI_MAX(uint32_t value)
|
||||
{
|
||||
__asm volatile("MSR BASEPRI_MAX,%0"::"r" (value));
|
||||
}
|
||||
|
||||
|
||||
#define __enable_fault_irq __enable_fiq
|
||||
#define __disable_fault_irq __disable_fiq
|
||||
|
||||
|
||||
#endif /* (__CORTEX_M >= 0x03) */
|
||||
|
||||
__IAR_FT uint32_t __ROR(uint32_t op1, uint32_t op2)
|
||||
{
|
||||
return (op1 >> op2) | (op1 << ((sizeof(op1)*8)-op2));
|
||||
}
|
||||
|
||||
#if ((defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \
|
||||
(defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1)) )
|
||||
|
||||
__IAR_FT uint32_t __get_MSPLIM(void)
|
||||
{
|
||||
uint32_t res;
|
||||
#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \
|
||||
(!defined (__ARM_FEATURE_CMSE ) || (__ARM_FEATURE_CMSE < 3)))
|
||||
// without main extensions, the non-secure MSPLIM is RAZ/WI
|
||||
res = 0U;
|
||||
#else
|
||||
__asm volatile("MRS %0,MSPLIM" : "=r" (res));
|
||||
#endif
|
||||
return res;
|
||||
}
|
||||
|
||||
__IAR_FT void __set_MSPLIM(uint32_t value)
|
||||
{
|
||||
#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \
|
||||
(!defined (__ARM_FEATURE_CMSE ) || (__ARM_FEATURE_CMSE < 3)))
|
||||
// without main extensions, the non-secure MSPLIM is RAZ/WI
|
||||
(void)value;
|
||||
#else
|
||||
__asm volatile("MSR MSPLIM,%0" :: "r" (value));
|
||||
#endif
|
||||
}
|
||||
|
||||
__IAR_FT uint32_t __get_PSPLIM(void)
|
||||
{
|
||||
uint32_t res;
|
||||
#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \
|
||||
(!defined (__ARM_FEATURE_CMSE ) || (__ARM_FEATURE_CMSE < 3)))
|
||||
// without main extensions, the non-secure PSPLIM is RAZ/WI
|
||||
res = 0U;
|
||||
#else
|
||||
__asm volatile("MRS %0,PSPLIM" : "=r" (res));
|
||||
#endif
|
||||
return res;
|
||||
}
|
||||
|
||||
__IAR_FT void __set_PSPLIM(uint32_t value)
|
||||
{
|
||||
#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \
|
||||
(!defined (__ARM_FEATURE_CMSE ) || (__ARM_FEATURE_CMSE < 3)))
|
||||
// without main extensions, the non-secure PSPLIM is RAZ/WI
|
||||
(void)value;
|
||||
#else
|
||||
__asm volatile("MSR PSPLIM,%0" :: "r" (value));
|
||||
#endif
|
||||
}
|
||||
|
||||
__IAR_FT uint32_t __TZ_get_CONTROL_NS(void)
|
||||
{
|
||||
uint32_t res;
|
||||
__asm volatile("MRS %0,CONTROL_NS" : "=r" (res));
|
||||
return res;
|
||||
}
|
||||
|
||||
__IAR_FT void __TZ_set_CONTROL_NS(uint32_t value)
|
||||
{
|
||||
__asm volatile("MSR CONTROL_NS,%0" :: "r" (value));
|
||||
}
|
||||
|
||||
__IAR_FT uint32_t __TZ_get_PSP_NS(void)
|
||||
{
|
||||
uint32_t res;
|
||||
__asm volatile("MRS %0,PSP_NS" : "=r" (res));
|
||||
return res;
|
||||
}
|
||||
|
||||
__IAR_FT void __TZ_set_PSP_NS(uint32_t value)
|
||||
{
|
||||
__asm volatile("MSR PSP_NS,%0" :: "r" (value));
|
||||
}
|
||||
|
||||
__IAR_FT uint32_t __TZ_get_MSP_NS(void)
|
||||
{
|
||||
uint32_t res;
|
||||
__asm volatile("MRS %0,MSP_NS" : "=r" (res));
|
||||
return res;
|
||||
}
|
||||
|
||||
__IAR_FT void __TZ_set_MSP_NS(uint32_t value)
|
||||
{
|
||||
__asm volatile("MSR MSP_NS,%0" :: "r" (value));
|
||||
}
|
||||
|
||||
__IAR_FT uint32_t __TZ_get_SP_NS(void)
|
||||
{
|
||||
uint32_t res;
|
||||
__asm volatile("MRS %0,SP_NS" : "=r" (res));
|
||||
return res;
|
||||
}
|
||||
__IAR_FT void __TZ_set_SP_NS(uint32_t value)
|
||||
{
|
||||
__asm volatile("MSR SP_NS,%0" :: "r" (value));
|
||||
}
|
||||
|
||||
__IAR_FT uint32_t __TZ_get_PRIMASK_NS(void)
|
||||
{
|
||||
uint32_t res;
|
||||
__asm volatile("MRS %0,PRIMASK_NS" : "=r" (res));
|
||||
return res;
|
||||
}
|
||||
|
||||
__IAR_FT void __TZ_set_PRIMASK_NS(uint32_t value)
|
||||
{
|
||||
__asm volatile("MSR PRIMASK_NS,%0" :: "r" (value));
|
||||
}
|
||||
|
||||
__IAR_FT uint32_t __TZ_get_BASEPRI_NS(void)
|
||||
{
|
||||
uint32_t res;
|
||||
__asm volatile("MRS %0,BASEPRI_NS" : "=r" (res));
|
||||
return res;
|
||||
}
|
||||
|
||||
__IAR_FT void __TZ_set_BASEPRI_NS(uint32_t value)
|
||||
{
|
||||
__asm volatile("MSR BASEPRI_NS,%0" :: "r" (value));
|
||||
}
|
||||
|
||||
__IAR_FT uint32_t __TZ_get_FAULTMASK_NS(void)
|
||||
{
|
||||
uint32_t res;
|
||||
__asm volatile("MRS %0,FAULTMASK_NS" : "=r" (res));
|
||||
return res;
|
||||
}
|
||||
|
||||
__IAR_FT void __TZ_set_FAULTMASK_NS(uint32_t value)
|
||||
{
|
||||
__asm volatile("MSR FAULTMASK_NS,%0" :: "r" (value));
|
||||
}
|
||||
|
||||
__IAR_FT uint32_t __TZ_get_PSPLIM_NS(void)
|
||||
{
|
||||
uint32_t res;
|
||||
#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \
|
||||
(!defined (__ARM_FEATURE_CMSE ) || (__ARM_FEATURE_CMSE < 3)))
|
||||
// without main extensions, the non-secure PSPLIM is RAZ/WI
|
||||
res = 0U;
|
||||
#else
|
||||
__asm volatile("MRS %0,PSPLIM_NS" : "=r" (res));
|
||||
#endif
|
||||
return res;
|
||||
}
|
||||
|
||||
__IAR_FT void __TZ_set_PSPLIM_NS(uint32_t value)
|
||||
{
|
||||
#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \
|
||||
(!defined (__ARM_FEATURE_CMSE ) || (__ARM_FEATURE_CMSE < 3)))
|
||||
// without main extensions, the non-secure PSPLIM is RAZ/WI
|
||||
(void)value;
|
||||
#else
|
||||
__asm volatile("MSR PSPLIM_NS,%0" :: "r" (value));
|
||||
#endif
|
||||
}
|
||||
|
||||
__IAR_FT uint32_t __TZ_get_MSPLIM_NS(void)
|
||||
{
|
||||
uint32_t res;
|
||||
__asm volatile("MRS %0,MSPLIM_NS" : "=r" (res));
|
||||
return res;
|
||||
}
|
||||
|
||||
__IAR_FT void __TZ_set_MSPLIM_NS(uint32_t value)
|
||||
{
|
||||
__asm volatile("MSR MSPLIM_NS,%0" :: "r" (value));
|
||||
}
|
||||
|
||||
#endif /* __ARM_ARCH_8M_MAIN__ or __ARM_ARCH_8M_BASE__ */
|
||||
|
||||
#endif /* __ICCARM_INTRINSICS_VERSION__ == 2 */
|
||||
|
||||
#define __BKPT(value) __asm volatile ("BKPT %0" : : "i"(value))
|
||||
|
||||
#if __IAR_M0_FAMILY
|
||||
__STATIC_INLINE int32_t __SSAT(int32_t val, uint32_t sat)
|
||||
{
|
||||
if ((sat >= 1U) && (sat <= 32U))
|
||||
{
|
||||
const int32_t max = (int32_t)((1U << (sat - 1U)) - 1U);
|
||||
const int32_t min = -1 - max ;
|
||||
if (val > max)
|
||||
{
|
||||
return max;
|
||||
}
|
||||
else if (val < min)
|
||||
{
|
||||
return min;
|
||||
}
|
||||
}
|
||||
return val;
|
||||
}
|
||||
|
||||
__STATIC_INLINE uint32_t __USAT(int32_t val, uint32_t sat)
|
||||
{
|
||||
if (sat <= 31U)
|
||||
{
|
||||
const uint32_t max = ((1U << sat) - 1U);
|
||||
if (val > (int32_t)max)
|
||||
{
|
||||
return max;
|
||||
}
|
||||
else if (val < 0)
|
||||
{
|
||||
return 0U;
|
||||
}
|
||||
}
|
||||
return (uint32_t)val;
|
||||
}
|
||||
#endif
|
||||
|
||||
#if (__CORTEX_M >= 0x03) /* __CORTEX_M is defined in core_cm0.h, core_cm3.h and core_cm4.h. */
|
||||
|
||||
__IAR_FT uint8_t __LDRBT(volatile uint8_t *addr)
|
||||
{
|
||||
uint32_t res;
|
||||
__ASM("LDRBT %0, [%1]" : "=r" (res) : "r" (addr) : "memory");
|
||||
return ((uint8_t)res);
|
||||
}
|
||||
|
||||
__IAR_FT uint16_t __LDRHT(volatile uint16_t *addr)
|
||||
{
|
||||
uint32_t res;
|
||||
__ASM("LDRHT %0, [%1]" : "=r" (res) : "r" (addr) : "memory");
|
||||
return ((uint16_t)res);
|
||||
}
|
||||
|
||||
__IAR_FT uint32_t __LDRT(volatile uint32_t *addr)
|
||||
{
|
||||
uint32_t res;
|
||||
__ASM("LDRT %0, [%1]" : "=r" (res) : "r" (addr) : "memory");
|
||||
return res;
|
||||
}
|
||||
|
||||
__IAR_FT void __STRBT(uint8_t value, volatile uint8_t *addr)
|
||||
{
|
||||
__ASM("STRBT %1, [%0]" : : "r" (addr), "r" ((uint32_t)value) : "memory");
|
||||
}
|
||||
|
||||
__IAR_FT void __STRHT(uint16_t value, volatile uint16_t *addr)
|
||||
{
|
||||
__ASM("STRHT %1, [%0]" : : "r" (addr), "r" ((uint32_t)value) : "memory");
|
||||
}
|
||||
|
||||
__IAR_FT void __STRT(uint32_t value, volatile uint32_t *addr)
|
||||
{
|
||||
__ASM("STRT %1, [%0]" : : "r" (addr), "r" (value) : "memory");
|
||||
}
|
||||
|
||||
#endif /* (__CORTEX_M >= 0x03) */
|
||||
|
||||
#if ((defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \
|
||||
(defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1)) )
|
||||
|
||||
|
||||
__IAR_FT uint8_t __LDAB(volatile uint8_t *ptr)
|
||||
{
|
||||
uint32_t res;
|
||||
__ASM volatile ("LDAB %0, [%1]" : "=r" (res) : "r" (ptr) : "memory");
|
||||
return ((uint8_t)res);
|
||||
}
|
||||
|
||||
__IAR_FT uint16_t __LDAH(volatile uint16_t *ptr)
|
||||
{
|
||||
uint32_t res;
|
||||
__ASM volatile ("LDAH %0, [%1]" : "=r" (res) : "r" (ptr) : "memory");
|
||||
return ((uint16_t)res);
|
||||
}
|
||||
|
||||
__IAR_FT uint32_t __LDA(volatile uint32_t *ptr)
|
||||
{
|
||||
uint32_t res;
|
||||
__ASM volatile ("LDA %0, [%1]" : "=r" (res) : "r" (ptr) : "memory");
|
||||
return res;
|
||||
}
|
||||
|
||||
__IAR_FT void __STLB(uint8_t value, volatile uint8_t *ptr)
|
||||
{
|
||||
__ASM volatile ("STLB %1, [%0]" :: "r" (ptr), "r" (value) : "memory");
|
||||
}
|
||||
|
||||
__IAR_FT void __STLH(uint16_t value, volatile uint16_t *ptr)
|
||||
{
|
||||
__ASM volatile ("STLH %1, [%0]" :: "r" (ptr), "r" (value) : "memory");
|
||||
}
|
||||
|
||||
__IAR_FT void __STL(uint32_t value, volatile uint32_t *ptr)
|
||||
{
|
||||
__ASM volatile ("STL %1, [%0]" :: "r" (ptr), "r" (value) : "memory");
|
||||
}
|
||||
|
||||
__IAR_FT uint8_t __LDAEXB(volatile uint8_t *ptr)
|
||||
{
|
||||
uint32_t res;
|
||||
__ASM volatile ("LDAEXB %0, [%1]" : "=r" (res) : "r" (ptr) : "memory");
|
||||
return ((uint8_t)res);
|
||||
}
|
||||
|
||||
__IAR_FT uint16_t __LDAEXH(volatile uint16_t *ptr)
|
||||
{
|
||||
uint32_t res;
|
||||
__ASM volatile ("LDAEXH %0, [%1]" : "=r" (res) : "r" (ptr) : "memory");
|
||||
return ((uint16_t)res);
|
||||
}
|
||||
|
||||
__IAR_FT uint32_t __LDAEX(volatile uint32_t *ptr)
|
||||
{
|
||||
uint32_t res;
|
||||
__ASM volatile ("LDAEX %0, [%1]" : "=r" (res) : "r" (ptr) : "memory");
|
||||
return res;
|
||||
}
|
||||
|
||||
__IAR_FT uint32_t __STLEXB(uint8_t value, volatile uint8_t *ptr)
|
||||
{
|
||||
uint32_t res;
|
||||
__ASM volatile ("STLEXB %0, %2, [%1]" : "=r" (res) : "r" (ptr), "r" (value) : "memory");
|
||||
return res;
|
||||
}
|
||||
|
||||
__IAR_FT uint32_t __STLEXH(uint16_t value, volatile uint16_t *ptr)
|
||||
{
|
||||
uint32_t res;
|
||||
__ASM volatile ("STLEXH %0, %2, [%1]" : "=r" (res) : "r" (ptr), "r" (value) : "memory");
|
||||
return res;
|
||||
}
|
||||
|
||||
__IAR_FT uint32_t __STLEX(uint32_t value, volatile uint32_t *ptr)
|
||||
{
|
||||
uint32_t res;
|
||||
__ASM volatile ("STLEX %0, %2, [%1]" : "=r" (res) : "r" (ptr), "r" (value) : "memory");
|
||||
return res;
|
||||
}
|
||||
|
||||
#endif /* __ARM_ARCH_8M_MAIN__ or __ARM_ARCH_8M_BASE__ */
|
||||
|
||||
#undef __IAR_FT
|
||||
#undef __IAR_M0_FAMILY
|
||||
#undef __ICCARM_V8
|
||||
|
||||
#pragma diag_default=Pe940
|
||||
#pragma diag_default=Pe177
|
||||
|
||||
#endif /* __CMSIS_ICCARM_H__ */
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user