MADAO/ManGoWalk_STM32
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MADAO
2025-06-25 16:40:01 +08:00
parent ab6a22962b
commit 9b471b16da
32 changed files with 5962 additions and 4842 deletions
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184
AutoGuideStick.ioc
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@@ -16,8 +16,8 @@ GPDMA1.IPHANDLE_GPDMACH5-SIMPLEREQUEST_GPDMACH5=__NULL
GPDMA1.IPParameters=REQUEST_GPDMACH4,DIRECTION_GPDMACH4,SRCINC_GPDMACH4,CIRCULARMODE_GPDMACH5,LINKALLOCATEDPORT_CIRCULAR_GPDMACH5,REQUEST_GPDMACH5,TRANSFERALLOCATEDPORTSRC_GPDMACH5,TRANSFERALLOCATEDPORTDEST_GPDMACH5,IPHANDLE_GPDMACH5-SIMPLEREQUEST_GPDMACH5,IPHANDLE_GPDMACH4-SIMPLEREQUEST_GPDMACH4,CIRCULARMODE_GPDMACH3,IPHANDLE_GPDMACH3-SIMPLEREQUEST_GPDMACH3,REQUEST_GPDMACH3
GPDMA1.LINKALLOCATEDPORT_CIRCULAR_GPDMACH5=DMA_LINK_ALLOCATED_PORT1
GPDMA1.REQUEST_GPDMACH3=GPDMA1_REQUEST_USART2_RX
GPDMA1.REQUEST_GPDMACH4=GPDMA1_REQUEST_USART1_TX
GPDMA1.REQUEST_GPDMACH5=GPDMA1_REQUEST_USART1_RX
GPDMA1.REQUEST_GPDMACH4=GPDMA1_REQUEST_UART4_TX
GPDMA1.REQUEST_GPDMACH5=GPDMA1_REQUEST_UART4_RX
GPDMA1.SRCINC_GPDMACH4=DMA_SINC_INCREMENTED
GPDMA1.TRANSFERALLOCATEDPORTDEST_GPDMACH5=DMA_DEST_ALLOCATED_PORT1
GPDMA1.TRANSFERALLOCATEDPORTSRC_GPDMACH5=DMA_SRC_ALLOCATED_PORT1
@@ -30,11 +30,14 @@ Mcu.ContextProject=TrustZoneDisabled
Mcu.Family=STM32H5
Mcu.IP0=BOOTPATH
Mcu.IP1=CORTEX_M33_NS
Mcu.IP10=TIM2
Mcu.IP11=TIM3
Mcu.IP12=USART1
Mcu.IP13=USART2
Mcu.IP14=USART3
Mcu.IP10=TIM1
Mcu.IP11=TIM2
Mcu.IP12=TIM3
Mcu.IP13=TIM4
Mcu.IP14=TIM8
Mcu.IP15=UART4
Mcu.IP16=USART2
Mcu.IP17=USART3
Mcu.IP2=DEBUG
Mcu.IP3=GPDMA1
Mcu.IP4=MEMORYMAP
@@ -43,35 +46,46 @@ Mcu.IP6=PWR
Mcu.IP7=RCC
Mcu.IP8=SYS
Mcu.IP9=THREADX
Mcu.IPNb=15
Mcu.IPNb=18
Mcu.Name=STM32H563ZITx
Mcu.Package=LQFP144
Mcu.Pin0=PH0-OSC_IN(PH0)
Mcu.Pin1=PB14
Mcu.Pin10=PD2
Mcu.Pin11=PD5
Mcu.Pin12=PD6
Mcu.Pin13=VP_CORTEX_M33_NS_VS_Hclk
Mcu.Pin14=VP_GPDMA1_VS_GPDMACH3
Mcu.Pin15=VP_GPDMA1_VS_GPDMACH4
Mcu.Pin16=VP_GPDMA1_VS_GPDMACH5
Mcu.Pin17=VP_PWR_VS_SECSignals
Mcu.Pin18=VP_PWR_VS_LPOM
Mcu.Pin19=VP_SYS_VS_tim1
Mcu.Pin2=PB15
Mcu.Pin20=VP_THREADX_VS_RTOSJjThreadXJjCoreJjDefault
Mcu.Pin21=VP_TIM2_VS_ClockSourceINT
Mcu.Pin22=VP_TIM3_VS_ClockSourceINT
Mcu.Pin23=VP_BOOTPATH_VS_BOOTPATH
Mcu.Pin24=VP_MEMORYMAP_VS_MEMORYMAP
Mcu.Pin3=PC8
Mcu.Pin4=PC9
Mcu.Pin5=PA13(JTMS/SWDIO)
Mcu.Pin6=PA14(JTCK/SWCLK)
Mcu.Pin7=PC10
Mcu.Pin8=PC11
Mcu.Pin9=PC12
Mcu.PinsNb=25
Mcu.Pin1=PC2
Mcu.Pin10=PC7
Mcu.Pin11=PC8
Mcu.Pin12=PC9
Mcu.Pin13=PA13(JTMS/SWDIO)
Mcu.Pin14=PA14(JTCK/SWCLK)
Mcu.Pin15=PC10
Mcu.Pin16=PC11
Mcu.Pin17=PC12
Mcu.Pin18=PD2
Mcu.Pin19=PD5
Mcu.Pin2=PB1
Mcu.Pin20=PD6
Mcu.Pin21=PB8
Mcu.Pin22=PB9
Mcu.Pin23=VP_CORTEX_M33_NS_VS_Hclk
Mcu.Pin24=VP_GPDMA1_VS_GPDMACH3
Mcu.Pin25=VP_GPDMA1_VS_GPDMACH4
Mcu.Pin26=VP_GPDMA1_VS_GPDMACH5
Mcu.Pin27=VP_PWR_VS_SECSignals
Mcu.Pin28=VP_PWR_VS_LPOM
Mcu.Pin29=VP_SYS_VS_tim5
Mcu.Pin3=PG0
Mcu.Pin30=VP_THREADX_VS_RTOSJjThreadXJjCoreJjDefault
Mcu.Pin31=VP_TIM2_VS_ClockSourceINT
Mcu.Pin32=VP_TIM3_VS_ClockSourceINT
Mcu.Pin33=VP_TIM4_VS_ClockSourceINT
Mcu.Pin34=VP_BOOTPATH_VS_BOOTPATH
Mcu.Pin35=VP_MEMORYMAP_VS_MEMORYMAP
Mcu.Pin4=PG1
Mcu.Pin5=PE9
Mcu.Pin6=PE11
Mcu.Pin7=PG2
Mcu.Pin8=PG3
Mcu.Pin9=PC6
Mcu.PinsNb=36
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32H563ZITx
@@ -93,11 +107,12 @@ NVIC.SavedPendsvIrqHandlerGenerated=true
NVIC.SavedSvcallIrqHandlerGenerated=true
NVIC.SavedSystickIrqHandlerGenerated=true
NVIC.SysTick_IRQn=true\:14\:0\:false\:false\:false\:false\:false\:true\:false
NVIC.TIM1_UP_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
NVIC.TIM2_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
NVIC.TimeBase=TIM1_UP_IRQn
NVIC.TimeBaseIP=TIM1
NVIC.USART1_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
NVIC.TIM3_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
NVIC.TIM5_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
NVIC.TimeBase=TIM5_IRQn
NVIC.TimeBaseIP=TIM5
NVIC.UART4_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
NVIC.USART2_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
NVIC.USART3_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
@@ -105,10 +120,16 @@ 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
PB14.Mode=Asynchronous
PB14.Signal=USART1_TX
PB15.Mode=Asynchronous
PB15.Signal=USART1_RX
PB1.GPIOParameters=GPIO_Label
PB1.GPIO_Label=PWMB
PB1.Locked=true
PB1.Signal=S_TIM3_CH4
PB8.Locked=true
PB8.Mode=Asynchronous
PB8.Signal=UART4_RX
PB9.Locked=true
PB9.Mode=Asynchronous
PB9.Signal=UART4_TX
PC10.Locked=true
PC10.Mode=Asynchronous
PC10.Signal=USART3_TX
@@ -120,14 +141,27 @@ PC12.GPIO_Label=Shake_Motor
PC12.GPIO_PuPd=GPIO_PULLDOWN
PC12.Locked=true
PC12.Signal=GPIO_Output
PC2.GPIOParameters=GPIO_Label
PC2.GPIO_Label=PWMA
PC2.Locked=true
PC2.Signal=S_TIM4_CH4
PC6.GPIOParameters=GPIO_Label
PC6.GPIO_Label=E2A
PC6.Locked=true
PC6.Signal=S_TIM8_CH1
PC7.GPIOParameters=GPIO_Label
PC7.GPIO_Label=E2B
PC7.Locked=true
PC7.Signal=S_TIM8_CH2
PC8.GPIOParameters=GPIO_Label
PC8.GPIO_Label=HC_Trig
PC8.GPIO_Label=HC_Echo
PC8.Locked=true
PC8.Signal=GPIO_Output
PC9.GPIOParameters=GPIO_Label
PC9.GPIO_Label=HC_Echo
PC8.Signal=S_TIM3_CH3
PC9.GPIOParameters=GPIO_PuPd,GPIO_Label
PC9.GPIO_Label=HC_Trig
PC9.GPIO_PuPd=GPIO_NOPULL
PC9.Locked=true
PC9.Signal=S_TIM3_CH4
PC9.Signal=GPIO_Output
PD2.GPIOParameters=GPIO_PuPd,GPIO_Label
PD2.GPIO_Label=Buzzer
PD2.GPIO_PuPd=GPIO_PULLDOWN
@@ -139,6 +173,30 @@ PD5.Signal=USART2_TX
PD6.Locked=true
PD6.Mode=Asynchronous
PD6.Signal=USART2_RX
PE11.GPIOParameters=GPIO_Label
PE11.GPIO_Label=E1B
PE11.Locked=true
PE11.Signal=S_TIM1_CH2
PE9.GPIOParameters=GPIO_Label
PE9.GPIO_Label=E1A
PE9.Locked=true
PE9.Signal=S_TIM1_CH1
PG0.GPIOParameters=GPIO_Label
PG0.GPIO_Label=AIN1
PG0.Locked=true
PG0.Signal=GPIO_Output
PG1.GPIOParameters=GPIO_Label
PG1.GPIO_Label=AIN2
PG1.Locked=true
PG1.Signal=GPIO_Output
PG2.GPIOParameters=GPIO_Label
PG2.GPIO_Label=BIN1
PG2.Locked=true
PG2.Signal=GPIO_Output
PG3.GPIOParameters=GPIO_Label
PG3.GPIO_Label=BIN2
PG3.Locked=true
PG3.Signal=GPIO_Output
PH0-OSC_IN(PH0).Mode=HSE-External-Clock-Source
PH0-OSC_IN(PH0).Signal=RCC_OSC_IN
PinOutPanel.RotationAngle=0
@@ -173,7 +231,7 @@ 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_GPDMA1_Init-GPDMA1-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_USART2_UART_Init-USART2-false-HAL-true,6-MX_TIM2_Init-TIM2-false-HAL-true,7-MX_TIM3_Init-TIM3-false-HAL-true,0-MX_CORTEX_M33_NS_Init-CORTEX_M33_NS-false-HAL-true,0-MX_PWR_Init-PWR-false-HAL-true
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_GPDMA1_Init-GPDMA1-false-HAL-true,4-MX_USART2_UART_Init-USART2-false-HAL-true,5-MX_TIM2_Init-TIM2-false-HAL-true,6-MX_TIM3_Init-TIM3-false-HAL-true,7-MX_USART3_UART_Init-USART3-false-HAL-true,8-MX_TIM4_Init-TIM4-false-HAL-true,9-MX_UART4_Init-UART4-false-HAL-true,0-MX_CORTEX_M33_NS_Init-CORTEX_M33_NS-false-HAL-true,0-MX_PWR_Init-PWR-false-HAL-true
RCC.ADCFreq_Value=250000000
RCC.AHBFreq_Value=250000000
RCC.APB1Freq_Value=250000000
@@ -259,18 +317,32 @@ RCC.VCOInputFreq_Value=4000000
RCC.VCOOutputFreq_Value=500000000
RCC.VCOPLL2OutputFreq_Value=516000000
RCC.VCOPLL3OutputFreq_Value=516000000
SH.S_TIM3_CH4.0=TIM3_CH4,Input_Capture4_from_TI4
SH.S_TIM1_CH1.0=TIM1_CH1,Encoder_Interface
SH.S_TIM1_CH1.ConfNb=1
SH.S_TIM1_CH2.0=TIM1_CH2,Encoder_Interface
SH.S_TIM1_CH2.ConfNb=1
SH.S_TIM3_CH3.0=TIM3_CH3,Input_Capture3_from_TI3
SH.S_TIM3_CH3.ConfNb=1
SH.S_TIM3_CH4.0=TIM3_CH4,PWM Generation4 CH4
SH.S_TIM3_CH4.ConfNb=1
SH.S_TIM4_CH4.0=TIM4_CH4,PWM Generation4 CH4
SH.S_TIM4_CH4.ConfNb=1
SH.S_TIM8_CH1.0=TIM8_CH1,Encoder_Interface
SH.S_TIM8_CH1.ConfNb=1
SH.S_TIM8_CH2.0=TIM8_CH2,Encoder_Interface
SH.S_TIM8_CH2.ConfNb=1
THREADX.IPParameters=TX_APP_GENERATE_INIT_CODE
THREADX.TX_APP_GENERATE_INIT_CODE=false
TIM2.IPParameters=Prescaler
TIM2.Prescaler=250 - 1
TIM3.Channel-Input_Capture4_from_TI4=TIM_CHANNEL_4
TIM3.IPParameters=Channel-Input_Capture4_from_TI4,Prescaler
TIM3.Channel-Input_Capture3_from_TI3=TIM_CHANNEL_3
TIM3.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
TIM3.IPParameters=Prescaler,Channel-PWM Generation4 CH4,Channel-Input_Capture3_from_TI3
TIM3.Prescaler=250 - 1
USART1.BaudRate=9600
USART1.IPParameters=VirtualMode-Asynchronous,BaudRate
USART1.VirtualMode-Asynchronous=VM_ASYNC
TIM4.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
TIM4.IPParameters=Channel-PWM Generation4 CH4
UART4.BaudRate=9600
UART4.IPParameters=BaudRate
USART2.BaudRate=9600
USART2.IPParameters=VirtualMode-Asynchronous,BaudRate
USART2.VirtualMode-Asynchronous=VM_ASYNC
@@ -293,12 +365,14 @@ VP_PWR_VS_LPOM.Mode=PowerOptimisation
VP_PWR_VS_LPOM.Signal=PWR_VS_LPOM
VP_PWR_VS_SECSignals.Mode=Security/Privilege
VP_PWR_VS_SECSignals.Signal=PWR_VS_SECSignals
VP_SYS_VS_tim1.Mode=TIM1
VP_SYS_VS_tim1.Signal=SYS_VS_tim1
VP_SYS_VS_tim5.Mode=TIM5
VP_SYS_VS_tim5.Signal=SYS_VS_tim5
VP_THREADX_VS_RTOSJjThreadXJjCoreJjDefault.Mode=Core_Default
VP_THREADX_VS_RTOSJjThreadXJjCoreJjDefault.Signal=THREADX_VS_RTOSJjThreadXJjCoreJjDefault
VP_TIM2_VS_ClockSourceINT.Mode=Internal
VP_TIM2_VS_ClockSourceINT.Signal=TIM2_VS_ClockSourceINT
VP_TIM3_VS_ClockSourceINT.Mode=Internal
VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT
VP_TIM4_VS_ClockSourceINT.Mode=Internal
VP_TIM4_VS_ClockSourceINT.Signal=TIM4_VS_ClockSourceINT
board=custom