MADAO/ManGoWalk_STM32
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32 Commits
6095c835b8 ... madao

Author SHA1 Message Date
MADAO
a9884051f8 Final 2025-07-08 23:30:16 +08:00
MADAO
a635b6d5eb add Encoder and PID control and Abstacle control 2025-07-03 00:29:57 +08:00
MADAO
0361cd17af imu and gps allright 2025-07-02 00:06:16 +08:00
MADAO
a6ebf4b8a5 gps parse successful 2025-07-01 22:12:49 +08:00
MADAO
69d790d5e2 gps could receive but not parese 2025-07-01 21:40:02 +08:00
MADAO
4d36d07b2c IMU Angle Z get Successful 2025-07-01 13:16:48 +08:00
MADAO
1dd27dce37 Test GPS;it can achieve function what i wannna 2025-06-29 19:29:35 +08:00
MADAO
32d4821e6f add IMU,slove promblem about Ble_tx 2025-06-29 14:06:17 +08:00
MADAO
88103d9eee add Motor function 2025-06-28 22:33:16 +08:00
MADAO
9ca28fd516 Ble receive Successful 2025-06-28 20:33:31 +08:00
MADAO
03dba7bcc3 替换\n结尾,replace with $ 2025-06-28 16:09:05 +08:00
MADAO
10be34ec09 加入了消息队列，线程是可以正常运行的,rx接收任务一直运行不成功，暂时放弃 2025-06-26 22:54:24 +08:00
MADAO
36ddb0a136 tx task success,rx dont 2025-06-26 15:09:26 +08:00
MADAO
59f65128b0 BLE transmit and receive success 2025-06-26 01:41:18 +08:00
MADAO
331d7dedb7 Ble Transmit Success 2025-06-25 21:34:21 +08:00
MADAO
18c43dbb18 add point.jpg 2025-06-25 16:58:26 +08:00
MADAO
3be581a78b 引脚说明 2025-06-25 16:51:26 +08:00
MADAO
9b471b16da add new jpg 2025-06-25 16:40:01 +08:00
MADAO
ab6a22962b add new things in Readme 2025-06-25 14:38:48 +08:00
MADAO
957d1df05f Add ble,gps,imu and others in threadx,need test 2025-06-25 14:25:28 +08:00
MADAO
64f668fc5f Merge branch 'madao' of https://gitea.245353.xyz/MADAO/ManGoWalk_STM32 
into madao # Please enter a commit message to explain why this merge is
necessary,
 2025-06-24 21:08:18 +08:00
MADAO
985882d85e small change 2025-06-24 21:06:53 +08:00
MADAO
74c16a8bd9 Merge pull request 'WIP 加入Buzzer,Shake_Motor,Ultrasound' (#1) from develop into madao 
Reviewed-on: #1
 2025-06-24 20:56:30 +08:00
MADAO
20d90d8933 加入Buzzer,Shake_Motor,Ultrasound 2025-06-24 20:46:30 +08:00
MADAO
5cc35cbad3 Merge branch 'madao-temp' into madao 2025-06-10 15:21:50 +08:00
MADAO
346aa5c324 新加入gps数据解析,使用GDMA1---CHANNEL3 2025-06-10 15:04:02 +08:00
MADAO
f48b55fe1d build(AutoGuideStick): 重新编译项目并更新日志文件 
- 在 2025 年 6 月 9 日进行了重新编译
- 更新了 keil-assistant.log、uv4.log、uv4.log.lock 和 AutoGuideStick.build_log.htm 文件
- 新增了多个源文件的编译记录，包括 app_azure_rtos.c、gpdma.c、tx_initialize_high_level.c 等
- 程序大小增加：Code=54718 RO-data=726 RW-data=16 ZI-data=5296
- 构建时间延长至 00:00:24
 2025-06-09 21:52:49 +08:00
MADAO
ac737fcd69 Merge branch 'main' of https://gitea.245353.xyz/MADAO/ManGoWalk_STM32 into madao 2025-06-09 21:30:14 +08:00
MADAO
5fc481ed9b Merge branch 'main' of https://gitea.245353.xyz/MADAO/ManGoWalk_STM32 into madao 2025-06-09 11:16:51 +08:00
MADAO
d963a10872 新增BLE接收,DMA空闲中断 2025-06-09 11:04:36 +08:00
MADAO
3fd92a9b8a Merge branch 'main' of https://gitea.245353.xyz/MADAO/ManGoWalk_STM32 2025-06-08 22:48:14 +08:00
MADAO-LUV
a502e81566 添加Ble,以及修改了H5的一些基础配置 2025-06-08 22:31:55 +08:00
472 changed files with 55188 additions and 2119 deletions
Expand all files Collapse all files

44
.mxproject
View File

File diff suppressed because one or more lines are too long

5
AZURE_RTOS/App/app_azure_rtos.c
View File

@@ -22,7 +22,7 @@
#include "app_azure_rtos.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "headfile.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -95,11 +95,12 @@ VOID tx_application_define(VOID *first_unused_memory)
/* USER CODE BEGIN App_ThreadX_Init_Error */
while(1)
{
}
/* USER CODE END App_ThreadX_Init_Error */
}
/* USER CODE BEGIN App_ThreadX_Init_Success */
// App_ThreadX_Init(first_unused_memory); //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> //app_thread_init()<29>ſ<EFBFBD><C5BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/* USER CODE END App_ThreadX_Init_Success */
}

243
AutoGuideStick.ioc
View File

@@ -1,10 +1,27 @@
#MicroXplorer Configuration settings - do not modify
BOOTPATH.BootPathName=LEGACY
BOOTPATH.IPParameters=BootPathName
BOOTPATH.UserSelectedBootPath=LEGACY
CAD.formats=
CAD.pinconfig=
CAD.provider=
CORTEX_M33_NS.userName=CORTEX_M33
File.Version=6
GPIO.groupedBy=
GPDMA1.CIRCULARMODE_GPDMACH3=ENABLE
GPDMA1.CIRCULARMODE_GPDMACH5=ENABLE
GPDMA1.DIRECTION_GPDMACH4=DMA_MEMORY_TO_PERIPH
GPDMA1.IPHANDLE_GPDMACH3-SIMPLEREQUEST_GPDMACH3=__NULL
GPDMA1.IPHANDLE_GPDMACH4-SIMPLEREQUEST_GPDMACH4=__NULL
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_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
GPIO.groupedBy=Group By Peripherals
KeepUserPlacement=false
MMTAppRegionsCount=0
MMTConfigApplied=false
@@ -13,38 +30,76 @@ Mcu.ContextProject=TrustZoneDisabled
Mcu.Family=STM32H5
Mcu.IP0=BOOTPATH
Mcu.IP1=CORTEX_M33_NS
Mcu.IP10=TIM1
Mcu.IP11=TIM2
Mcu.IP12=TIM3
Mcu.IP13=TIM4
Mcu.IP14=TIM5
Mcu.IP15=TIM8
Mcu.IP16=UART4
Mcu.IP17=USART2
Mcu.IP18=USART3
Mcu.IP2=DEBUG
Mcu.IP3=ICACHE
Mcu.IP3=GPDMA1
Mcu.IP4=MEMORYMAP
Mcu.IP5=NVIC
Mcu.IP6=PWR
Mcu.IP7=RCC
Mcu.IP8=SYS
Mcu.IP9=THREADX
Mcu.IPNb=10
Mcu.IPNb=19
Mcu.Name=STM32H563ZITx
Mcu.Package=LQFP144
Mcu.Pin0=PH0-OSC_IN(PH0)
Mcu.Pin1=PH1-OSC_OUT(PH1)
Mcu.Pin10=VP_BOOTPATH_VS_BOOTPATH
Mcu.Pin11=VP_MEMORYMAP_VS_MEMORYMAP
Mcu.Pin2=PA13(JTMS/SWDIO)
Mcu.Pin3=PA14(JTCK/SWCLK)
Mcu.Pin4=VP_CORTEX_M33_NS_VS_Hclk
Mcu.Pin5=VP_ICACHE_VS_ICACHE
Mcu.Pin6=VP_PWR_VS_SECSignals
Mcu.Pin7=VP_PWR_VS_LPOM
Mcu.Pin8=VP_SYS_VS_tim1
Mcu.Pin9=VP_THREADX_VS_RTOSJjThreadXJjCoreJjDefault
Mcu.PinsNb=12
Mcu.Pin10=PG2
Mcu.Pin11=PG3
Mcu.Pin12=PC6
Mcu.Pin13=PC7
Mcu.Pin14=PC9
Mcu.Pin15=PA13(JTMS/SWDIO)
Mcu.Pin16=PA14(JTCK/SWCLK)
Mcu.Pin17=PC11
Mcu.Pin18=PC12
Mcu.Pin19=PD2
Mcu.Pin2=PC2
Mcu.Pin20=PD5
Mcu.Pin21=PD6
Mcu.Pin22=PB8
Mcu.Pin23=PB9
Mcu.Pin24=VP_CORTEX_M33_NS_VS_Hclk
Mcu.Pin25=VP_GPDMA1_VS_GPDMACH3
Mcu.Pin26=VP_GPDMA1_VS_GPDMACH4
Mcu.Pin27=VP_GPDMA1_VS_GPDMACH5
Mcu.Pin28=VP_PWR_VS_SECSignals
Mcu.Pin29=VP_PWR_VS_LPOM
Mcu.Pin3=PA0
Mcu.Pin30=VP_SYS_VS_tim6
Mcu.Pin31=VP_THREADX_VS_RTOSJjThreadXJjCoreJjDefault
Mcu.Pin32=VP_TIM2_VS_ClockSourceINT
Mcu.Pin33=VP_TIM3_VS_ClockSourceINT
Mcu.Pin34=VP_TIM4_VS_ClockSourceINT
Mcu.Pin35=VP_TIM5_VS_ClockSourceINT
Mcu.Pin36=VP_BOOTPATH_VS_BOOTPATH
Mcu.Pin37=VP_MEMORYMAP_VS_MEMORYMAP
Mcu.Pin4=PB1
Mcu.Pin5=PG0
Mcu.Pin6=PG1
Mcu.Pin7=PE9
Mcu.Pin8=PE11
Mcu.Pin9=PB10
Mcu.PinsNb=38
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32H563ZITx
MxCube.Version=6.14.0
MxDb.Version=DB.6.0.140
MxCube.Version=6.14.1
MxDb.Version=DB.6.0.141
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.ForceEnableDMAVector=true
NVIC.GPDMA1_Channel3_IRQn=true\:0\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.GPDMA1_Channel4_IRQn=true\:0\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.GPDMA1_Channel5_IRQn=true\:0\:0\:false\:false\:true\:true\:false\:true\: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
@@ -55,14 +110,100 @@ 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.TimeBase=TIM1_UP_IRQn
NVIC.TimeBaseIP=TIM1
NVIC.TIM2_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\:0\:0\:false\:false\:true\:false\:true\:true\:true
NVIC.TIM6_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
NVIC.TimeBase=TIM6_IRQn
NVIC.TimeBaseIP=TIM6
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
PA0.GPIOParameters=GPIO_Label
PA0.GPIO_Label=HC_Echo
PA0.Signal=S_TIM5_CH1
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
PB1.GPIOParameters=GPIO_Label
PB1.GPIO_Label=PWMB
PB1.Locked=true
PB1.Signal=S_TIM3_CH4
PB10.Locked=true
PB10.Mode=Asynchronous
PB10.Signal=USART3_TX
PB8.Locked=true
PB8.Mode=Asynchronous
PB8.Signal=UART4_RX
PB9.Locked=true
PB9.Mode=Asynchronous
PB9.Signal=UART4_TX
PC11.Locked=true
PC11.Mode=Asynchronous
PC11.Signal=USART3_RX
PC12.GPIOParameters=GPIO_PuPd,GPIO_Label
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_PuPd,GPIO_Label
PC6.GPIO_Label=E2A
PC6.GPIO_PuPd=GPIO_PULLUP
PC6.Locked=true
PC6.Signal=S_TIM8_CH1
PC7.GPIOParameters=GPIO_PuPd,GPIO_Label
PC7.GPIO_Label=E2B
PC7.GPIO_PuPd=GPIO_PULLUP
PC7.Locked=true
PC7.Signal=S_TIM8_CH2
PC9.GPIOParameters=GPIO_PuPd,GPIO_Label
PC9.GPIO_Label=HC_Trig
PC9.GPIO_PuPd=GPIO_NOPULL
PC9.Locked=true
PC9.Signal=GPIO_Output
PD2.GPIOParameters=GPIO_PuPd,GPIO_Label
PD2.GPIO_Label=Buzzer
PD2.GPIO_PuPd=GPIO_PULLDOWN
PD2.Locked=true
PD2.Signal=GPIO_Output
PD5.Locked=true
PD5.Mode=Asynchronous
PD5.Signal=USART2_TX
PD6.Locked=true
PD6.Mode=Asynchronous
PD6.Signal=USART2_RX
PE11.GPIOParameters=GPIO_PuPd,GPIO_Label
PE11.GPIO_Label=E1B
PE11.GPIO_PuPd=GPIO_PULLUP
PE11.Locked=true
PE11.Signal=S_TIM1_CH2
PE9.GPIOParameters=GPIO_PuPd,GPIO_Label
PE9.GPIO_Label=E1A
PE9.GPIO_PuPd=GPIO_PULLUP
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-Oscillator
PH0-OSC_IN(PH0).Signal=RCC_OSC_IN
PH1-OSC_OUT(PH1).Mode=HSE-External-Oscillator
@@ -99,7 +240,7 @@ 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_ICACHE_Init-ICACHE-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,10-MX_TIM1_Init-TIM1-false-HAL-true,11-MX_TIM8_Init-TIM8-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
@@ -185,20 +326,74 @@ RCC.VCOInputFreq_Value=4000000
RCC.VCOOutputFreq_Value=500000000
RCC.VCOPLL2OutputFreq_Value=516000000
RCC.VCOPLL3OutputFreq_Value=516000000
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_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_TIM5_CH1.0=TIM5_CH1,Input_Capture1_from_TI1
SH.S_TIM5_CH1.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,TX_MINIMUM_STACK
THREADX.TX_APP_GENERATE_INIT_CODE=false
THREADX.TX_MINIMUM_STACK=400
TIM1.EncoderMode=TIM_ENCODERMODE_TI12
TIM1.IPParameters=EncoderMode
TIM2.IPParameters=Prescaler
TIM2.Prescaler=250 - 1
TIM3.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
TIM3.IPParameters=Prescaler,Channel-PWM Generation4 CH4,PeriodNoDither
TIM3.PeriodNoDither=255
TIM3.Prescaler=48
TIM4.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
TIM4.IPParameters=Channel-PWM Generation4 CH4,Prescaler,PeriodNoDither
TIM4.PeriodNoDither=255
TIM4.Prescaler=48
TIM5.Channel-Input_Capture1_from_TI1=TIM_CHANNEL_1
TIM5.IPParameters=Channel-Input_Capture1_from_TI1,Prescaler
TIM5.Prescaler=250-1
TIM8.EncoderMode=TIM_ENCODERMODE_TI12
TIM8.IPParameters=EncoderMode
UART4.BaudRate=9600
UART4.IPParameters=BaudRate
USART2.BaudRate=9600
USART2.IPParameters=VirtualMode-Asynchronous,BaudRate
USART2.VirtualMode-Asynchronous=VM_ASYNC
USART3.BaudRate=115200
USART3.IPParameters=VirtualMode-Asynchronous,BaudRate
USART3.VirtualMode-Asynchronous=VM_ASYNC
VP_BOOTPATH_VS_BOOTPATH.Mode=BP_Activate
VP_BOOTPATH_VS_BOOTPATH.Signal=BOOTPATH_VS_BOOTPATH
VP_CORTEX_M33_NS_VS_Hclk.Mode=Hclk_Mode
VP_CORTEX_M33_NS_VS_Hclk.Signal=CORTEX_M33_NS_VS_Hclk
VP_ICACHE_VS_ICACHE.Mode=DirectMappedCache
VP_ICACHE_VS_ICACHE.Signal=ICACHE_VS_ICACHE
VP_GPDMA1_VS_GPDMACH3.Mode=SIMPLEREQUEST_GPDMACH3
VP_GPDMA1_VS_GPDMACH3.Signal=GPDMA1_VS_GPDMACH3
VP_GPDMA1_VS_GPDMACH4.Mode=SIMPLEREQUEST_GPDMACH4
VP_GPDMA1_VS_GPDMACH4.Signal=GPDMA1_VS_GPDMACH4
VP_GPDMA1_VS_GPDMACH5.Mode=SIMPLEREQUEST_GPDMACH5
VP_GPDMA1_VS_GPDMACH5.Signal=GPDMA1_VS_GPDMACH5
VP_MEMORYMAP_VS_MEMORYMAP.Mode=CurAppReg
VP_MEMORYMAP_VS_MEMORYMAP.Signal=MEMORYMAP_VS_MEMORYMAP
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_tim6.Mode=TIM6
VP_SYS_VS_tim6.Signal=SYS_VS_tim6
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
VP_TIM5_VS_ClockSourceINT.Mode=Internal
VP_TIM5_VS_ClockSourceINT.Signal=TIM5_VS_ClockSourceINT
board=custom

20
Core/Inc/app_threadx.h
View File

@@ -30,12 +30,13 @@ extern "C" {
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "headfile.h"
/* USER CODE END Includes */
/* Exported types ------------------------------------------------------------*/
/* USER CODE BEGIN ET */
//extern MotorCommand current_motor_cmd;
/* USER CODE END ET */
/* Exported constants --------------------------------------------------------*/
@@ -46,6 +47,23 @@ extern "C" {
/* Private defines -----------------------------------------------------------*/
/* USER CODE BEGIN PD */
// <20>¼<EFBFBD><C2BC><EFBFBD>־<EFBFBD><D6BE><EFBFBD><EFBFBD>
#define EVENT_OBSTACLE_DETECTED 0x01
#define EVENT_BLE_COMMAND_RECEIVED 0x04
#define IMU_UPDATE_EVENT 0x08
#define EVENT_LOCATION_UPDATED 0x10
#define TEST 1
extern TX_QUEUE ble_tx_queue;
extern TX_EVENT_FLAGS_GROUP system_events;
extern TX_EVENT_FLAGS_GROUP sensor_events; //传感器事件组
extern TX_EVENT_FLAGS_GROUP response_events; //避障
//typedef struct
//{
//// uint32_t msg_type; // 应该使用 int --- 4字节
// char data[128];
//}BLE_Message; //
/* USER CODE END PD */

12
Core/Inc/icache.h → Core/Inc/gpdma.h
View File

@@ -1,9 +1,9 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file icache.h
* @file gpdma.h
* @brief This file contains all the function prototypes for
* the icache.c file
* the gpdma.c file
******************************************************************************
* @attention
*
@@ -18,8 +18,8 @@
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __ICACHE_H__
#define __ICACHE_H__
#ifndef __GPDMA_H__
#define __GPDMA_H__
#ifdef __cplusplus
extern "C" {
@@ -36,7 +36,7 @@ extern "C" {
/* USER CODE END Private defines */
void MX_ICACHE_Init(void);
void MX_GPDMA1_Init(void);
/* USER CODE BEGIN Prototypes */
@@ -46,5 +46,5 @@ void MX_ICACHE_Init(void);
}
#endif
#endif /* __ICACHE_H__ */
#endif /* __GPDMA_H__ */

28
Core/Inc/main.h
View File

@@ -57,6 +57,34 @@ void Error_Handler(void);
/* USER CODE END EFP */
/* Private defines -----------------------------------------------------------*/
#define PWMA_Pin GPIO_PIN_2
#define PWMA_GPIO_Port GPIOC
#define HC_Echo_Pin GPIO_PIN_0
#define HC_Echo_GPIO_Port GPIOA
#define PWMB_Pin GPIO_PIN_1
#define PWMB_GPIO_Port GPIOB
#define AIN1_Pin GPIO_PIN_0
#define AIN1_GPIO_Port GPIOG
#define AIN2_Pin GPIO_PIN_1
#define AIN2_GPIO_Port GPIOG
#define E1A_Pin GPIO_PIN_9
#define E1A_GPIO_Port GPIOE
#define E1B_Pin GPIO_PIN_11
#define E1B_GPIO_Port GPIOE
#define BIN1_Pin GPIO_PIN_2
#define BIN1_GPIO_Port GPIOG
#define BIN2_Pin GPIO_PIN_3
#define BIN2_GPIO_Port GPIOG
#define E2A_Pin GPIO_PIN_6
#define E2A_GPIO_Port GPIOC
#define E2B_Pin GPIO_PIN_7
#define E2B_GPIO_Port GPIOC
#define HC_Trig_Pin GPIO_PIN_9
#define HC_Trig_GPIO_Port GPIOC
#define Shake_Motor_Pin GPIO_PIN_12
#define Shake_Motor_GPIO_Port GPIOC
#define Buzzer_Pin GPIO_PIN_2
#define Buzzer_GPIO_Port GPIOD
/* USER CODE BEGIN Private defines */

4
Core/Inc/stm32h5xx_hal_conf.h
View File

@@ -80,11 +80,11 @@
/*#define HAL_SRAM_MODULE_ENABLED */
#define HAL_TIM_MODULE_ENABLED
/*#define HAL_RAMCFG_MODULE_ENABLED */
/*#define HAL_UART_MODULE_ENABLED */
#define HAL_UART_MODULE_ENABLED
/*#define HAL_USART_MODULE_ENABLED */
/*#define HAL_WWDG_MODULE_ENABLED */
/*#define HAL_PSSI_MODULE_ENABLED */
#define HAL_ICACHE_MODULE_ENABLED
/*#define HAL_ICACHE_MODULE_ENABLED */
/*#define HAL_PCD_MODULE_ENABLED */
#define HAL_GPIO_MODULE_ENABLED
#define HAL_EXTI_MODULE_ENABLED

11
Core/Inc/stm32h5xx_it.h
View File

@@ -52,7 +52,16 @@ void MemManage_Handler(void);
void BusFault_Handler(void);
void UsageFault_Handler(void);
void DebugMon_Handler(void);
void TIM1_UP_IRQHandler(void);
void GPDMA1_Channel3_IRQHandler(void);
void GPDMA1_Channel4_IRQHandler(void);
void GPDMA1_Channel5_IRQHandler(void);
void TIM2_IRQHandler(void);
void TIM3_IRQHandler(void);
void TIM5_IRQHandler(void);
void TIM6_IRQHandler(void);
void USART2_IRQHandler(void);
void USART3_IRQHandler(void);
void UART4_IRQHandler(void);
/* USER CODE BEGIN EFP */
/* USER CODE END EFP */

69
Core/Inc/tim.h Normal file
View File

@@ -0,0 +1,69 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file tim.h
* @brief This file contains all the function prototypes for
* the tim.c file
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* 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 htim1;
extern TIM_HandleTypeDef htim2;
extern TIM_HandleTypeDef htim3;
extern TIM_HandleTypeDef htim4;
extern TIM_HandleTypeDef htim5;
extern TIM_HandleTypeDef htim8;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_TIM1_Init(void);
void MX_TIM2_Init(void);
void MX_TIM3_Init(void);
void MX_TIM4_Init(void);
void MX_TIM5_Init(void);
void MX_TIM8_Init(void);
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __TIM_H__ */

2
Core/Inc/tx_user.h
View File

@@ -115,7 +115,7 @@
/*#define TX_TIMER_THREAD_STACK_SIZE 1024*/
/*#define TX_TIMER_THREAD_PRIORITY 0*/
/*#define TX_MINIMUM_STACK 200*/
#define TX_MINIMUM_STACK 400
/* Determine if timer expirations (application timers, timeouts, and tx_thread_sleep) calls
should be processed within the a system timer thread or directly in the timer ISR.

58
Core/Inc/usart.h Normal file
View File

@@ -0,0 +1,58 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file usart.h
* @brief This file contains all the function prototypes for
* the usart.c file
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* 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 huart2;
extern UART_HandleTypeDef huart3;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_UART4_Init(void);
void MX_USART2_UART_Init(void);
void MX_USART3_UART_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __USART_H__ */

226
Core/Src/app_threadx.c
View File

@@ -34,6 +34,18 @@
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
// BLE define
#define BLE_RX_THREAD_STACK_SIZE 2048
#define BLE_RX_THREAD_PRIORITY 9
#define BLE_TX_THREAD_STACK_SIZE 2048
#define BLE_TX_THREAD_PRIORITY 10
// IMU thread config
// IMU thread config
#define IMU_ANGLE_THREAD_STACK_SIZE 1024
#define IMU_ANGLE_THREAD_PRIORITY 11
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
@@ -43,11 +55,57 @@
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* ȫ<>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
TX_EVENT_FLAGS_GROUP system_events;
TX_EVENT_FLAGS_GROUP sensor_events;
TX_EVENT_FLAGS_GROUP response_events; // 用于避障事件实现
MotorCommand current_motor_cmd = {0,0};
_GPSData gps_data;
// Ble thread vd
TX_THREAD ble_rx_thread;
TX_THREAD ble_tx_thread;
UCHAR ble_rx_stack[BLE_RX_THREAD_STACK_SIZE];
UCHAR ble_tx_stack[BLE_TX_THREAD_STACK_SIZE];
TX_QUEUE ble_tx_queue;
#define BLE_TX_QUEUE_LEN 10
//ULONG ble_tx_queue_buffer[BLE_TX_QUEUE_LEN]; // 一定要是ULONG类型 之前使用的是BLE_Message
#define BLE_TX_MSG_LEN 64
#define BLE_TX_QUEUE_LEN 10
__attribute__((aligned(4)))
ULONG ble_tx_queue_buffer[BLE_TX_QUEUE_LEN * ((BLE_TX_MSG_LEN + sizeof(ULONG) - 1) / sizeof(ULONG))];
// imu
TX_THREAD imu_angle_thread;
UCHAR imu_angle_stack[IMU_ANGLE_THREAD_STACK_SIZE];
#define IM948_RX_QUEUE_SIZE 64
ULONG im948_rx_queue_buffer[IM948_RX_QUEUE_SIZE];
TX_QUEUE im948_uart_rx_queue;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN PFP */
#define GPS_TASK_STACK_SIZE 2048
#define GPS_TASK_PRIORITY 11
TX_THREAD gps_task;
ULONG gps_task_stack[GPS_TASK_STACK_SIZE / sizeof(ULONG)];
static TX_THREAD obstacle_thread;
static UCHAR obstacle_stack[512];
//超声波
static UCHAR ultrasonic_stack[512];
static void obstacle_thread_entry(ULONG);
TX_THREAD ultrasonic_task_thread;
/* USER CODE END 1 */
/* USER CODE END 1 */
/* USER CODE END PFP */
@@ -58,16 +116,126 @@
*/
UINT App_ThreadX_Init(VOID *memory_ptr)
{
UINT ret = TX_SUCCESS;
/* USER CODE BEGIN App_ThreadX_MEM_POOL */
HCBle_SendData("进入 App_ThreadX_Init\r\n");
// HCBle_SendData("%d",sizeof(ULONG));
UINT status;
/* USER CODE END App_ThreadX_MEM_POOL */
/* USER CODE BEGIN App_ThreadX_Init */
/* USER CODE END App_ThreadX_Init */
// === 创建 BLE RX 线程 ===
status = tx_thread_create(&ble_rx_thread, "BLE RX Thread",
ble_rx_task_entry, 0,
ble_rx_stack, BLE_RX_THREAD_STACK_SIZE,
BLE_RX_THREAD_PRIORITY, BLE_RX_THREAD_PRIORITY,
TX_NO_TIME_SLICE, TX_AUTO_START);
if(status != TX_SUCCESS)
{
return status;
}
// === 创建 BLE TX 线程 ===
status = tx_thread_create(&ble_tx_thread, "BLE TX Thread",
ble_tx_task_entry, 0,
ble_tx_stack, BLE_TX_THREAD_STACK_SIZE,
BLE_TX_THREAD_PRIORITY, BLE_TX_THREAD_PRIORITY,
TX_NO_TIME_SLICE, TX_AUTO_START);
if (status != TX_SUCCESS) {
HCBle_SendData("❌ BLE TX 线程创建失败，错误码=%d\r\n", status);
return status;
}
// === 创建 BLE TX 消息队列 ===
status = tx_queue_create(&ble_tx_queue, "BLE TX Queue",
(BLE_TX_MSG_LEN + sizeof(ULONG) - 1) / sizeof(ULONG),
ble_tx_queue_buffer,
sizeof(ble_tx_queue_buffer));
return ret;
if (status != TX_SUCCESS) {
HCBle_SendData("❌ BLE TX 消息队列创建失败，错误码=%d\r\n", status);
return status;
}
status = tx_thread_create(&imu_angle_thread, "IMU Angle Thread",
imu_angle_ble_task_entry, 0,
imu_angle_stack, IMU_ANGLE_THREAD_STACK_SIZE,
IMU_ANGLE_THREAD_PRIORITY, IMU_ANGLE_THREAD_PRIORITY,
TX_NO_TIME_SLICE, TX_AUTO_START);
if (status != TX_SUCCESS) {
return status;
}
status = tx_queue_create(&im948_uart_rx_queue, "IM948_RX_QUEUE",
TX_1_ULONG, // sizeof(ULONG) bytes per entry
im948_rx_queue_buffer,
IM948_RX_QUEUE_SIZE * sizeof(ULONG));
if(status != TX_SUCCESS)
{
return status;
}
status = tx_thread_create(&gps_task,
"GPS Task",
gps_thread_entry,
0,
gps_task_stack,
GPS_TASK_STACK_SIZE,
GPS_TASK_PRIORITY,
GPS_TASK_PRIORITY,
TX_NO_TIME_SLICE,
TX_AUTO_START);
if(status != TX_SUCCESS)
{
return status;
}
// obstacle_thread create
status = tx_thread_create(&obstacle_thread,
"obstacle",
obstacle_thread_entry,
0,obstacle_stack,sizeof(obstacle_stack),8,8,TX_NO_TIME_SLICE,TX_AUTO_START);
if(status != TX_SUCCESS)
{
return status;
}
status = tx_thread_create(&ultrasonic_task_thread,
"Ultrasonic",
ultrasonic_task_entry,
0,
ultrasonic_stack,
sizeof(ultrasonic_stack),
7, 7, // 这里的优先级
TX_NO_TIME_SLICE,
TX_AUTO_START);
if(status != TX_SUCCESS)
{
return status;
}
//
// HCBle_SendData("✅ BLE RX/TX 线程和队列初始化完成\r\n");
// status = ControlThreadCreate();
// if(status != TX_SUCCESS)
// {
// return status;
// }
// status = Encoder_ThreadCreate();
// if(status != TX_SUCCESS)
// {
// return status;
// }
return TX_SUCCESS;
}
/**
* @brief Function that implements the kernel's initialization.
* @param None
@@ -76,9 +244,8 @@ UINT App_ThreadX_Init(VOID *memory_ptr)
void MX_ThreadX_Init(void)
{
/* USER CODE BEGIN Before_Kernel_Start */
HCBle_InitEventFlags(); // 这必须在任何使用前调用一次
/* USER CODE END Before_Kernel_Start */
tx_kernel_enter();
/* USER CODE BEGIN Kernel_Start_Error */
@@ -87,5 +254,48 @@ void MX_ThreadX_Init(void)
}
/* USER CODE BEGIN 1 */
//新加入的 obstacle
static void obstacle_thread_entry(ULONG arg)
{
while(1)
{
ULONG evt; // 这个应该是用来接收数据的
tx_event_flags_get(&response_events,EVENT_OBSTACLE_DETECTED,TX_OR_CLEAR,&evt,TX_WAIT_FOREVER);
switch(obstacle_level)
{
case 1: // 远
Buzzer_Open();
Shake_Motor_Open();
tx_thread_sleep(30);
Buzzer_Close();
Shake_Motor_Close();
break;
case 2:
for(int i = 0; i < 2;i++)
{
Buzzer_Open();
Shake_Motor_Open();
tx_thread_sleep(50);
Buzzer_Close();
Shake_Motor_Close();
tx_thread_sleep(30);
}
break;
case 3: // 近
Buzzer_Open();
Shake_Motor_Open();
tx_thread_sleep(150);
Buzzer_Close();
Shake_Motor_Close();
break;
default:
break;
}
tx_thread_sleep(20);
}
}
/* USER CODE END 1 */

42
Core/Src/icache.c → Core/Src/gpdma.c
View File

@@ -1,9 +1,9 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file icache.c
* @file gpdma.c
* @brief This file provides code for the configuration
* of the ICACHE instances.
* of the GPDMA instances.
******************************************************************************
* @attention
*
@@ -18,37 +18,37 @@
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "icache.h"
#include "gpdma.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/* ICACHE init function */
void MX_ICACHE_Init(void)
/* GPDMA1 init function */
void MX_GPDMA1_Init(void)
{
/* USER CODE BEGIN ICACHE_Init 0 */
/* USER CODE BEGIN GPDMA1_Init 0 */
/* USER CODE END ICACHE_Init 0 */
/* USER CODE END GPDMA1_Init 0 */
/* USER CODE BEGIN ICACHE_Init 1 */
/* Peripheral clock enable */
__HAL_RCC_GPDMA1_CLK_ENABLE();
/* USER CODE END ICACHE_Init 1 */
/* GPDMA1 interrupt Init */
HAL_NVIC_SetPriority(GPDMA1_Channel3_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(GPDMA1_Channel3_IRQn);
HAL_NVIC_SetPriority(GPDMA1_Channel4_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(GPDMA1_Channel4_IRQn);
HAL_NVIC_SetPriority(GPDMA1_Channel5_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(GPDMA1_Channel5_IRQn);
/** Enable instruction cache in 1-way (direct mapped cache)
*/
if (HAL_ICACHE_ConfigAssociativityMode(ICACHE_1WAY) != HAL_OK)
{
Error_Handler();
}
if (HAL_ICACHE_Enable() != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ICACHE_Init 2 */
/* USER CODE BEGIN GPDMA1_Init 1 */
/* USER CODE END ICACHE_Init 2 */
/* USER CODE END GPDMA1_Init 1 */
/* USER CODE BEGIN GPDMA1_Init 2 */
/* USER CODE END GPDMA1_Init 2 */
}

44
Core/Src/gpio.c
View File

@@ -41,9 +41,53 @@
void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOG_CLK_ENABLE();
__HAL_RCC_GPIOE_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOG, AIN1_Pin|AIN2_Pin|BIN1_Pin|BIN2_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOC, HC_Trig_Pin|Shake_Motor_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(Buzzer_GPIO_Port, Buzzer_Pin, GPIO_PIN_RESET);
/*Configure GPIO pins : AIN1_Pin AIN2_Pin BIN1_Pin BIN2_Pin */
GPIO_InitStruct.Pin = AIN1_Pin|AIN2_Pin|BIN1_Pin|BIN2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);
/*Configure GPIO pin : HC_Trig_Pin */
GPIO_InitStruct.Pin = HC_Trig_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(HC_Trig_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : Shake_Motor_Pin */
GPIO_InitStruct.Pin = Shake_Motor_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(Shake_Motor_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : Buzzer_Pin */
GPIO_InitStruct.Pin = Buzzer_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(Buzzer_GPIO_Port, &GPIO_InitStruct);
}

30
Core/Src/main.c
View File

@@ -19,8 +19,10 @@
/* Includes ------------------------------------------------------------------*/
#include "app_threadx.h"
#include "main.h"
#include "icache.h"
#include "gpdma.h"
#include "memorymap.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
@@ -46,7 +48,7 @@
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
uint8_t rx_byte; // imu_<75><5F><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
@@ -89,9 +91,27 @@ int main(void)
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_ICACHE_Init();
MX_GPDMA1_Init();
MX_USART2_UART_Init();
MX_TIM2_Init();
MX_TIM3_Init();
MX_USART3_UART_Init();
MX_TIM4_Init();
MX_UART4_Init();
MX_TIM1_Init();
MX_TIM8_Init();
MX_TIM5_Init();
/* USER CODE BEGIN 2 */
imu600_init();
GPS_Init();
DWT_Init();
PWM_GPIO_TIM_Init();
HAL_TIM_IC_Start_IT(&htim5,TIM_CHANNEL_1);
// Buzzer_Open();
// HCBle_InitDMAReception();
// HAL_Delay(200);
// GPS_Init();
/* USER CODE END 2 */
MX_ThreadX_Init();
@@ -172,7 +192,7 @@ void SystemClock_Config(void)
/**
* @brief Period elapsed callback in non blocking mode
* @note This function is called when TIM1 interrupt took place, inside
* @note This function is called when TIM6 interrupt took place, inside
* HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
* a global variable "uwTick" used as application time base.
* @param htim : TIM handle
@@ -183,7 +203,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
/* USER CODE BEGIN Callback 0 */
/* USER CODE END Callback 0 */
if (htim->Instance == TIM1)
if (htim->Instance == TIM6)
{
HAL_IncTick();
}

63
Core/Src/stm32h5xx_hal_timebase_tim.c
View File

@@ -25,12 +25,12 @@
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim6;
/* Private function prototypes -----------------------------------------------*/
/* Private functions ---------------------------------------------------------*/
/**
* @brief This function configures the TIM1 as a time base source.
* @brief This function configures the TIM6 as a time base source.
* The time source is configured to have 1ms time base with a dedicated
* Tick interrupt priority.
* @note This function is called automatically at the beginning of program after
@@ -41,49 +41,58 @@ TIM_HandleTypeDef htim1;
HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
{
RCC_ClkInitTypeDef clkconfig;
uint32_t uwTimclock;
uint32_t uwTimclock, uwAPB1Prescaler;
uint32_t uwPrescalerValue;
uint32_t pFLatency;
HAL_StatusTypeDef status;
/* Enable TIM1 clock */
__HAL_RCC_TIM1_CLK_ENABLE();
/* Enable TIM6 clock */
__HAL_RCC_TIM6_CLK_ENABLE();
/* Get clock configuration */
HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);
/* Compute TIM1 clock */
uwTimclock = HAL_RCC_GetPCLK2Freq();
/* Get APB1 prescaler */
uwAPB1Prescaler = clkconfig.APB1CLKDivider;
/* Compute TIM6 clock */
if (uwAPB1Prescaler == RCC_HCLK_DIV1)
{
uwTimclock = HAL_RCC_GetPCLK1Freq();
}
else
{
uwTimclock = 2UL * HAL_RCC_GetPCLK1Freq();
}
/* Compute the prescaler value to have TIM1 counter clock equal to 100KHz */
/* Compute the prescaler value to have TIM6 counter clock equal to 100KHz */
uwPrescalerValue = (uint32_t) ((uwTimclock / 100000U) - 1U);
/* Initialize TIM1 */
htim1.Instance = TIM1;
/* Initialize TIM6 */
htim6.Instance = TIM6;
/* Initialize TIMx peripheral as follow:
* Period = [(TIM1CLK/1000) - 1]. to have a (1/1000) s time base.
* Period = [(TIM6CLK/1000) - 1]. to have a (1/1000) s time base.
* Prescaler = (uwTimclock/100000 - 1) to have a 100KHz counter clock.
* ClockDivision = 0
* Counter direction = Up
*/
htim1.Init.Period = (100000U / 1000U) - 1U;
htim1.Init.Prescaler = uwPrescalerValue;
htim1.Init.ClockDivision = 0;
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
htim6.Init.Period = (100000U / 1000U) - 1U;
htim6.Init.Prescaler = uwPrescalerValue;
htim6.Init.ClockDivision = 0;
htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
status = HAL_TIM_Base_Init(&htim1);
status = HAL_TIM_Base_Init(&htim6);
if (status == HAL_OK)
{
/* Start the TIM time Base generation in interrupt mode */
status = HAL_TIM_Base_Start_IT(&htim1);
status = HAL_TIM_Base_Start_IT(&htim6);
if (status == HAL_OK)
{
if (TickPriority < (1UL << __NVIC_PRIO_BITS))
{
/* Enable the TIM1 global Interrupt */
HAL_NVIC_SetPriority(TIM1_UP_IRQn, TickPriority, 0U);
/* Enable the TIM6 global Interrupt */
HAL_NVIC_SetPriority(TIM6_IRQn, TickPriority, 0U);
uwTickPrio = TickPriority;
}
else
@@ -93,8 +102,8 @@ HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
}
}
/* Enable the TIM1 global Interrupt */
HAL_NVIC_EnableIRQ(TIM1_UP_IRQn);
/* Enable the TIM6 global Interrupt */
HAL_NVIC_EnableIRQ(TIM6_IRQn);
/* Return function status */
return status;
@@ -102,25 +111,25 @@ HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
/**
* @brief Suspend Tick increment.
* @note Disable the tick increment by disabling TIM1 update interrupt.
* @note Disable the tick increment by disabling TIM6 update interrupt.
* @param None
* @retval None
*/
void HAL_SuspendTick(void)
{
/* Disable TIM1 update Interrupt */
__HAL_TIM_DISABLE_IT(&htim1, TIM_IT_UPDATE);
/* Disable TIM6 update Interrupt */
__HAL_TIM_DISABLE_IT(&htim6, TIM_IT_UPDATE);
}
/**
* @brief Resume Tick increment.
* @note Enable the tick increment by Enabling TIM1 update interrupt.
* @note Enable the tick increment by Enabling TIM6 update interrupt.
* @param None
* @retval None
*/
void HAL_ResumeTick(void)
{
/* Enable TIM1 Update interrupt */
__HAL_TIM_ENABLE_IT(&htim1, TIM_IT_UPDATE);
/* Enable TIM6 Update interrupt */
__HAL_TIM_ENABLE_IT(&htim6, TIM_IT_UPDATE);
}

156
Core/Src/stm32h5xx_it.c
View File

@@ -22,6 +22,7 @@
#include "stm32h5xx_it.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "headfile.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -55,7 +56,20 @@
/* USER CODE END 0 */
/* External variables --------------------------------------------------------*/
extern TIM_HandleTypeDef htim1;
extern TIM_HandleTypeDef htim2;
extern TIM_HandleTypeDef htim3;
extern TIM_HandleTypeDef htim5;
extern DMA_NodeTypeDef Node_GPDMA1_Channel5;
extern DMA_QListTypeDef List_GPDMA1_Channel5;
extern DMA_HandleTypeDef handle_GPDMA1_Channel5;
extern DMA_HandleTypeDef handle_GPDMA1_Channel4;
extern DMA_NodeTypeDef Node_GPDMA1_Channel3;
extern DMA_QListTypeDef List_GPDMA1_Channel3;
extern DMA_HandleTypeDef handle_GPDMA1_Channel3;
extern UART_HandleTypeDef huart4;
extern UART_HandleTypeDef huart2;
extern UART_HandleTypeDef huart3;
extern TIM_HandleTypeDef htim6;
/* USER CODE BEGIN EV */
@@ -160,17 +174,143 @@ void DebugMon_Handler(void)
/******************************************************************************/
/**
* @brief This function handles TIM1 Update interrupt.
* @brief This function handles GPDMA1 Channel 3 global interrupt.
*/
void TIM1_UP_IRQHandler(void)
void GPDMA1_Channel3_IRQHandler(void)
{
/* USER CODE BEGIN TIM1_UP_IRQn 0 */
/* USER CODE BEGIN GPDMA1_Channel3_IRQn 0 */
/* USER CODE END TIM1_UP_IRQn 0 */
HAL_TIM_IRQHandler(&htim1);
/* USER CODE BEGIN TIM1_UP_IRQn 1 */
/* USER CODE END GPDMA1_Channel3_IRQn 0 */
HAL_DMA_IRQHandler(&handle_GPDMA1_Channel3);
/* USER CODE BEGIN GPDMA1_Channel3_IRQn 1 */
/* USER CODE END TIM1_UP_IRQn 1 */
/* USER CODE END GPDMA1_Channel3_IRQn 1 */
}
/**
* @brief This function handles GPDMA1 Channel 4 global interrupt.
*/
void GPDMA1_Channel4_IRQHandler(void)
{
/* USER CODE BEGIN GPDMA1_Channel4_IRQn 0 */
/* USER CODE END GPDMA1_Channel4_IRQn 0 */
HAL_DMA_IRQHandler(&handle_GPDMA1_Channel4);
/* USER CODE BEGIN GPDMA1_Channel4_IRQn 1 */
/* USER CODE END GPDMA1_Channel4_IRQn 1 */
}
/**
* @brief This function handles GPDMA1 Channel 5 global interrupt.
*/
void GPDMA1_Channel5_IRQHandler(void)
{
/* USER CODE BEGIN GPDMA1_Channel5_IRQn 0 */
/* USER CODE END GPDMA1_Channel5_IRQn 0 */
HAL_DMA_IRQHandler(&handle_GPDMA1_Channel5);
/* USER CODE BEGIN GPDMA1_Channel5_IRQn 1 */
/* USER CODE END GPDMA1_Channel5_IRQn 1 */
}
/**
* @brief This function handles TIM2 global interrupt.
*/
void TIM2_IRQHandler(void)
{
/* USER CODE BEGIN TIM2_IRQn 0 */
/* USER CODE END TIM2_IRQn 0 */
HAL_TIM_IRQHandler(&htim2);
/* USER CODE BEGIN TIM2_IRQn 1 */
/* USER CODE END TIM2_IRQn 1 */
}
/**
* @brief This function handles TIM3 global interrupt.
*/
void TIM3_IRQHandler(void)
{
/* USER CODE BEGIN TIM3_IRQn 0 */
/* USER CODE END TIM3_IRQn 0 */
HAL_TIM_IRQHandler(&htim3);
/* USER CODE BEGIN TIM3_IRQn 1 */
/* USER CODE END TIM3_IRQn 1 */
}
/**
* @brief This function handles TIM5 global interrupt.
*/
void TIM5_IRQHandler(void)
{
/* USER CODE BEGIN TIM5_IRQn 0 */
/* USER CODE END TIM5_IRQn 0 */
HAL_TIM_IRQHandler(&htim5);
/* USER CODE BEGIN TIM5_IRQn 1 */
/* USER CODE END TIM5_IRQn 1 */
}
/**
* @brief This function handles TIM6 global interrupt.
*/
void TIM6_IRQHandler(void)
{
/* USER CODE BEGIN TIM6_IRQn 0 */
/* USER CODE END TIM6_IRQn 0 */
HAL_TIM_IRQHandler(&htim6);
/* USER CODE BEGIN TIM6_IRQn 1 */
/* USER CODE END TIM6_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 */
}
/* USER CODE BEGIN 1 */

608
Core/Src/tim.c Normal file
View File

@@ -0,0 +1,608 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file tim.c
* @brief This file provides code for the configuration
* of the TIM instances.
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "tim.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim4;
TIM_HandleTypeDef htim5;
TIM_HandleTypeDef htim8;
/* TIM1 init function */
void MX_TIM1_Init(void)
{
/* USER CODE BEGIN TIM1_Init 0 */
/* USER CODE END TIM1_Init 0 */
TIM_Encoder_InitTypeDef sConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
/* USER CODE BEGIN TIM1_Init 1 */
/* USER CODE END TIM1_Init 1 */
htim1.Instance = TIM1;
htim1.Init.Prescaler = 0;
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
htim1.Init.Period = 65535;
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim1.Init.RepetitionCounter = 0;
htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sConfig.IC1Filter = 0;
sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sConfig.IC2Filter = 0;
if (HAL_TIM_Encoder_Init(&htim1, &sConfig) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM1_Init 2 */
/* USER CODE END TIM1_Init 2 */
}
/* TIM2 init function */
void MX_TIM2_Init(void)
{
/* USER CODE BEGIN TIM2_Init 0 */
/* USER CODE END TIM2_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
/* USER CODE BEGIN TIM2_Init 1 */
/* USER CODE END TIM2_Init 1 */
htim2.Instance = TIM2;
htim2.Init.Prescaler = 250 - 1;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 4294967295;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM2_Init 2 */
/* USER CODE END TIM2_Init 2 */
}
/* TIM3 init function */
void MX_TIM3_Init(void)
{
/* USER CODE BEGIN TIM3_Init 0 */
/* USER CODE END TIM3_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
/* USER CODE BEGIN TIM3_Init 1 */
/* USER CODE END TIM3_Init 1 */
htim3.Instance = TIM3;
htim3.Init.Prescaler = 48;
htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
htim3.Init.Period = 255;
htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM3_Init 2 */
/* USER CODE END TIM3_Init 2 */
HAL_TIM_MspPostInit(&htim3);
}
/* TIM4 init function */
void MX_TIM4_Init(void)
{
/* USER CODE BEGIN TIM4_Init 0 */
/* USER CODE END TIM4_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
/* USER CODE BEGIN TIM4_Init 1 */
/* USER CODE END TIM4_Init 1 */
htim4.Instance = TIM4;
htim4.Init.Prescaler = 48;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
htim4.Init.Period = 255;
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM4_Init 2 */
/* USER CODE END TIM4_Init 2 */
HAL_TIM_MspPostInit(&htim4);
}
/* TIM5 init function */
void MX_TIM5_Init(void)
{
/* USER CODE BEGIN TIM5_Init 0 */
/* USER CODE END TIM5_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_IC_InitTypeDef sConfigIC = {0};
/* USER CODE BEGIN TIM5_Init 1 */
/* USER CODE END TIM5_Init 1 */
htim5.Instance = TIM5;
htim5.Init.Prescaler = 250-1;
htim5.Init.CounterMode = TIM_COUNTERMODE_UP;
htim5.Init.Period = 4294967295;
htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim5.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim5) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim5, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_IC_Init(&htim5) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim5, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
sConfigIC.ICFilter = 0;
if (HAL_TIM_IC_ConfigChannel(&htim5, &sConfigIC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM5_Init 2 */
/* USER CODE END TIM5_Init 2 */
}
/* TIM8 init function */
void MX_TIM8_Init(void)
{
/* USER CODE BEGIN TIM8_Init 0 */
/* USER CODE END TIM8_Init 0 */
TIM_Encoder_InitTypeDef sConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
/* USER CODE BEGIN TIM8_Init 1 */
/* USER CODE END TIM8_Init 1 */
htim8.Instance = TIM8;
htim8.Init.Prescaler = 0;
htim8.Init.CounterMode = TIM_COUNTERMODE_UP;
htim8.Init.Period = 65535;
htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim8.Init.RepetitionCounter = 0;
htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sConfig.IC1Filter = 0;
sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sConfig.IC2Filter = 0;
if (HAL_TIM_Encoder_Init(&htim8, &sConfig) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim8, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM8_Init 2 */
/* USER CODE END TIM8_Init 2 */
}
void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(tim_encoderHandle->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspInit 0 */
/* USER CODE END TIM1_MspInit 0 */
/* TIM1 clock enable */
__HAL_RCC_TIM1_CLK_ENABLE();
__HAL_RCC_GPIOE_CLK_ENABLE();
/**TIM1 GPIO Configuration
PE9 ------> TIM1_CH1
PE11 ------> TIM1_CH2
*/
GPIO_InitStruct.Pin = E1A_Pin|E1B_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
/* USER CODE BEGIN TIM1_MspInit 1 */
/* USER CODE END TIM1_MspInit 1 */
}
else if(tim_encoderHandle->Instance==TIM8)
{
/* USER CODE BEGIN TIM8_MspInit 0 */
/* USER CODE END TIM8_MspInit 0 */
/* TIM8 clock enable */
__HAL_RCC_TIM8_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
/**TIM8 GPIO Configuration
PC6 ------> TIM8_CH1
PC7 ------> TIM8_CH2
*/
GPIO_InitStruct.Pin = E2A_Pin|E2B_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/* USER CODE BEGIN TIM8_MspInit 1 */
/* USER CODE END TIM8_MspInit 1 */
}
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(tim_baseHandle->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspInit 0 */
/* USER CODE END TIM2_MspInit 0 */
/* TIM2 clock enable */
__HAL_RCC_TIM2_CLK_ENABLE();
/* TIM2 interrupt Init */
HAL_NVIC_SetPriority(TIM2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM2_IRQn);
/* USER CODE BEGIN TIM2_MspInit 1 */
/* USER CODE END TIM2_MspInit 1 */
}
else if(tim_baseHandle->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspInit 0 */
/* USER CODE END TIM3_MspInit 0 */
/* TIM3 clock enable */
__HAL_RCC_TIM3_CLK_ENABLE();
/* TIM3 interrupt Init */
HAL_NVIC_SetPriority(TIM3_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM3_IRQn);
/* USER CODE BEGIN TIM3_MspInit 1 */
/* USER CODE END TIM3_MspInit 1 */
}
else if(tim_baseHandle->Instance==TIM4)
{
/* USER CODE BEGIN TIM4_MspInit 0 */
/* USER CODE END TIM4_MspInit 0 */
/* TIM4 clock enable */
__HAL_RCC_TIM4_CLK_ENABLE();
/* USER CODE BEGIN TIM4_MspInit 1 */
/* USER CODE END TIM4_MspInit 1 */
}
else if(tim_baseHandle->Instance==TIM5)
{
/* USER CODE BEGIN TIM5_MspInit 0 */
/* USER CODE END TIM5_MspInit 0 */
/* TIM5 clock enable */
__HAL_RCC_TIM5_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**TIM5 GPIO Configuration
PA0 ------> TIM5_CH1
*/
GPIO_InitStruct.Pin = HC_Echo_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM5;
HAL_GPIO_Init(HC_Echo_GPIO_Port, &GPIO_InitStruct);
/* TIM5 interrupt Init */
HAL_NVIC_SetPriority(TIM5_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM5_IRQn);
/* USER CODE BEGIN TIM5_MspInit 1 */
/* USER CODE END TIM5_MspInit 1 */
}
}
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(timHandle->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspPostInit 0 */
/* USER CODE END TIM3_MspPostInit 0 */
__HAL_RCC_GPIOB_CLK_ENABLE();
/**TIM3 GPIO Configuration
PB1 ------> TIM3_CH4
*/
GPIO_InitStruct.Pin = PWMB_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
HAL_GPIO_Init(PWMB_GPIO_Port, &GPIO_InitStruct);
/* USER CODE BEGIN TIM3_MspPostInit 1 */
/* USER CODE END TIM3_MspPostInit 1 */
}
else if(timHandle->Instance==TIM4)
{
/* USER CODE BEGIN TIM4_MspPostInit 0 */
/* USER CODE END TIM4_MspPostInit 0 */
__HAL_RCC_GPIOC_CLK_ENABLE();
/**TIM4 GPIO Configuration
PC2 ------> TIM4_CH4
*/
GPIO_InitStruct.Pin = PWMA_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
HAL_GPIO_Init(PWMA_GPIO_Port, &GPIO_InitStruct);
/* USER CODE BEGIN TIM4_MspPostInit 1 */
/* USER CODE END TIM4_MspPostInit 1 */
}
}
void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* tim_encoderHandle)
{
if(tim_encoderHandle->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspDeInit 0 */
/* USER CODE END TIM1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM1_CLK_DISABLE();
/**TIM1 GPIO Configuration
PE9 ------> TIM1_CH1
PE11 ------> TIM1_CH2
*/
HAL_GPIO_DeInit(GPIOE, E1A_Pin|E1B_Pin);
/* USER CODE BEGIN TIM1_MspDeInit 1 */
/* USER CODE END TIM1_MspDeInit 1 */
}
else if(tim_encoderHandle->Instance==TIM8)
{
/* USER CODE BEGIN TIM8_MspDeInit 0 */
/* USER CODE END TIM8_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM8_CLK_DISABLE();
/**TIM8 GPIO Configuration
PC6 ------> TIM8_CH1
PC7 ------> TIM8_CH2
*/
HAL_GPIO_DeInit(GPIOC, E2A_Pin|E2B_Pin);
/* USER CODE BEGIN TIM8_MspDeInit 1 */
/* USER CODE END TIM8_MspDeInit 1 */
}
}
void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
{
if(tim_baseHandle->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspDeInit 0 */
/* USER CODE END TIM2_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM2_CLK_DISABLE();
/* TIM2 interrupt Deinit */
HAL_NVIC_DisableIRQ(TIM2_IRQn);
/* USER CODE BEGIN TIM2_MspDeInit 1 */
/* USER CODE END TIM2_MspDeInit 1 */
}
else if(tim_baseHandle->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspDeInit 0 */
/* USER CODE END TIM3_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM3_CLK_DISABLE();
/* TIM3 interrupt Deinit */
HAL_NVIC_DisableIRQ(TIM3_IRQn);
/* USER CODE BEGIN TIM3_MspDeInit 1 */
/* USER CODE END TIM3_MspDeInit 1 */
}
else if(tim_baseHandle->Instance==TIM4)
{
/* USER CODE BEGIN TIM4_MspDeInit 0 */
/* USER CODE END TIM4_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM4_CLK_DISABLE();
/* USER CODE BEGIN TIM4_MspDeInit 1 */
/* USER CODE END TIM4_MspDeInit 1 */
}
else if(tim_baseHandle->Instance==TIM5)
{
/* USER CODE BEGIN TIM5_MspDeInit 0 */
/* USER CODE END TIM5_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM5_CLK_DISABLE();
/**TIM5 GPIO Configuration
PA0 ------> TIM5_CH1
*/
HAL_GPIO_DeInit(HC_Echo_GPIO_Port, HC_Echo_Pin);
/* TIM5 interrupt Deinit */
HAL_NVIC_DisableIRQ(TIM5_IRQn);
/* USER CODE BEGIN TIM5_MspDeInit 1 */
/* USER CODE END TIM5_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

512
Core/Src/usart.c Normal file
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file usart.c
* @brief This file provides code for the configuration
* of the USART instances.
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "usart.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
UART_HandleTypeDef huart4;
UART_HandleTypeDef huart2;
UART_HandleTypeDef huart3;
DMA_NodeTypeDef Node_GPDMA1_Channel5;
DMA_QListTypeDef List_GPDMA1_Channel5;
DMA_HandleTypeDef handle_GPDMA1_Channel5;
DMA_HandleTypeDef handle_GPDMA1_Channel4;
DMA_NodeTypeDef Node_GPDMA1_Channel3;
DMA_QListTypeDef List_GPDMA1_Channel3;
DMA_HandleTypeDef handle_GPDMA1_Channel3;
/* 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 = 9600;
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 */
}
/* 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 = 9600;
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 */
}
void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
DMA_NodeConfTypeDef NodeConfig= {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.Uart4ClockSelection = RCC_UART4CLKSOURCE_PCLK1;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
{
Error_Handler();
}
/* UART4 clock enable */
__HAL_RCC_UART4_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/**UART4 GPIO Configuration
PB8 ------> UART4_RX
PB9 ------> UART4_TX
*/
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_AF8_UART4;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* UART4 DMA Init */
/* GPDMA1_REQUEST_UART4_RX Init */
NodeConfig.NodeType = DMA_GPDMA_LINEAR_NODE;
NodeConfig.Init.Request = GPDMA1_REQUEST_UART4_RX;
NodeConfig.Init.BlkHWRequest = DMA_BREQ_SINGLE_BURST;
NodeConfig.Init.Direction = DMA_PERIPH_TO_MEMORY;
NodeConfig.Init.SrcInc = DMA_SINC_FIXED;
NodeConfig.Init.DestInc = DMA_DINC_FIXED;
NodeConfig.Init.SrcDataWidth = DMA_SRC_DATAWIDTH_BYTE;
NodeConfig.Init.DestDataWidth = DMA_DEST_DATAWIDTH_BYTE;
NodeConfig.Init.SrcBurstLength = 1;
NodeConfig.Init.DestBurstLength = 1;
NodeConfig.Init.TransferAllocatedPort = DMA_SRC_ALLOCATED_PORT1|DMA_DEST_ALLOCATED_PORT1;
NodeConfig.Init.TransferEventMode = DMA_TCEM_BLOCK_TRANSFER;
NodeConfig.Init.Mode = DMA_NORMAL;
NodeConfig.TriggerConfig.TriggerPolarity = DMA_TRIG_POLARITY_MASKED;
NodeConfig.DataHandlingConfig.DataExchange = DMA_EXCHANGE_NONE;
NodeConfig.DataHandlingConfig.DataAlignment = DMA_DATA_RIGHTALIGN_ZEROPADDED;
if (HAL_DMAEx_List_BuildNode(&NodeConfig, &Node_GPDMA1_Channel5) != HAL_OK)
{
Error_Handler();
}
if (HAL_DMAEx_List_InsertNode(&List_GPDMA1_Channel5, NULL, &Node_GPDMA1_Channel5) != HAL_OK)
{
Error_Handler();
}
if (HAL_DMAEx_List_SetCircularMode(&List_GPDMA1_Channel5) != HAL_OK)
{
Error_Handler();
}
handle_GPDMA1_Channel5.Instance = GPDMA1_Channel5;
handle_GPDMA1_Channel5.InitLinkedList.Priority = DMA_LOW_PRIORITY_LOW_WEIGHT;
handle_GPDMA1_Channel5.InitLinkedList.LinkStepMode = DMA_LSM_FULL_EXECUTION;
handle_GPDMA1_Channel5.InitLinkedList.LinkAllocatedPort = DMA_LINK_ALLOCATED_PORT1;
handle_GPDMA1_Channel5.InitLinkedList.TransferEventMode = DMA_TCEM_BLOCK_TRANSFER;
handle_GPDMA1_Channel5.InitLinkedList.LinkedListMode = DMA_LINKEDLIST_CIRCULAR;
if (HAL_DMAEx_List_Init(&handle_GPDMA1_Channel5) != HAL_OK)
{
Error_Handler();
}
if (HAL_DMAEx_List_LinkQ(&handle_GPDMA1_Channel5, &List_GPDMA1_Channel5) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(uartHandle, hdmarx, handle_GPDMA1_Channel5);
if (HAL_DMA_ConfigChannelAttributes(&handle_GPDMA1_Channel5, DMA_CHANNEL_NPRIV) != HAL_OK)
{
Error_Handler();
}
/* GPDMA1_REQUEST_UART4_TX Init */
handle_GPDMA1_Channel4.Instance = GPDMA1_Channel4;
handle_GPDMA1_Channel4.Init.Request = GPDMA1_REQUEST_UART4_TX;
handle_GPDMA1_Channel4.Init.BlkHWRequest = DMA_BREQ_SINGLE_BURST;
handle_GPDMA1_Channel4.Init.Direction = DMA_MEMORY_TO_PERIPH;
handle_GPDMA1_Channel4.Init.SrcInc = DMA_SINC_INCREMENTED;
handle_GPDMA1_Channel4.Init.DestInc = DMA_DINC_FIXED;
handle_GPDMA1_Channel4.Init.SrcDataWidth = DMA_SRC_DATAWIDTH_BYTE;
handle_GPDMA1_Channel4.Init.DestDataWidth = DMA_DEST_DATAWIDTH_BYTE;
handle_GPDMA1_Channel4.Init.Priority = DMA_LOW_PRIORITY_LOW_WEIGHT;
handle_GPDMA1_Channel4.Init.SrcBurstLength = 1;
handle_GPDMA1_Channel4.Init.DestBurstLength = 1;
handle_GPDMA1_Channel4.Init.TransferAllocatedPort = DMA_SRC_ALLOCATED_PORT0|DMA_DEST_ALLOCATED_PORT0;
handle_GPDMA1_Channel4.Init.TransferEventMode = DMA_TCEM_BLOCK_TRANSFER;
handle_GPDMA1_Channel4.Init.Mode = DMA_NORMAL;
if (HAL_DMA_Init(&handle_GPDMA1_Channel4) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(uartHandle, hdmatx, handle_GPDMA1_Channel4);
if (HAL_DMA_ConfigChannelAttributes(&handle_GPDMA1_Channel4, DMA_CHANNEL_NPRIV) != HAL_OK)
{
Error_Handler();
}
/* UART4 interrupt Init */
HAL_NVIC_SetPriority(UART4_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(UART4_IRQn);
/* USER CODE BEGIN UART4_MspInit 1 */
/* USER CODE END UART4_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.Usart2ClockSelection = RCC_USART2CLKSOURCE_PCLK1;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
{
Error_Handler();
}
/* USART2 clock enable */
__HAL_RCC_USART2_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
/**USART2 GPIO Configuration
PD5 ------> USART2_TX
PD6 ------> USART2_RX
*/
GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF7_USART2;
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
/* USART2 DMA Init */
/* GPDMA1_REQUEST_USART2_RX Init */
NodeConfig.NodeType = DMA_GPDMA_LINEAR_NODE;
NodeConfig.Init.Request = GPDMA1_REQUEST_USART2_RX;
NodeConfig.Init.BlkHWRequest = DMA_BREQ_SINGLE_BURST;
NodeConfig.Init.Direction = DMA_PERIPH_TO_MEMORY;
NodeConfig.Init.SrcInc = DMA_SINC_FIXED;
NodeConfig.Init.DestInc = DMA_DINC_FIXED;
NodeConfig.Init.SrcDataWidth = DMA_SRC_DATAWIDTH_BYTE;
NodeConfig.Init.DestDataWidth = DMA_DEST_DATAWIDTH_BYTE;
NodeConfig.Init.SrcBurstLength = 1;
NodeConfig.Init.DestBurstLength = 1;
NodeConfig.Init.TransferAllocatedPort = DMA_SRC_ALLOCATED_PORT0|DMA_DEST_ALLOCATED_PORT0;
NodeConfig.Init.TransferEventMode = DMA_TCEM_BLOCK_TRANSFER;
NodeConfig.Init.Mode = DMA_NORMAL;
NodeConfig.TriggerConfig.TriggerPolarity = DMA_TRIG_POLARITY_MASKED;
NodeConfig.DataHandlingConfig.DataExchange = DMA_EXCHANGE_NONE;
NodeConfig.DataHandlingConfig.DataAlignment = DMA_DATA_RIGHTALIGN_ZEROPADDED;
if (HAL_DMAEx_List_BuildNode(&NodeConfig, &Node_GPDMA1_Channel3) != HAL_OK)
{
Error_Handler();
}
if (HAL_DMAEx_List_InsertNode(&List_GPDMA1_Channel3, NULL, &Node_GPDMA1_Channel3) != HAL_OK)
{
Error_Handler();
}
if (HAL_DMAEx_List_SetCircularMode(&List_GPDMA1_Channel3) != HAL_OK)
{
Error_Handler();
}
handle_GPDMA1_Channel3.Instance = GPDMA1_Channel3;
handle_GPDMA1_Channel3.InitLinkedList.Priority = DMA_LOW_PRIORITY_LOW_WEIGHT;
handle_GPDMA1_Channel3.InitLinkedList.LinkStepMode = DMA_LSM_FULL_EXECUTION;
handle_GPDMA1_Channel3.InitLinkedList.LinkAllocatedPort = DMA_LINK_ALLOCATED_PORT0;
handle_GPDMA1_Channel3.InitLinkedList.TransferEventMode = DMA_TCEM_BLOCK_TRANSFER;
handle_GPDMA1_Channel3.InitLinkedList.LinkedListMode = DMA_LINKEDLIST_CIRCULAR;
if (HAL_DMAEx_List_Init(&handle_GPDMA1_Channel3) != HAL_OK)
{
Error_Handler();
}
if (HAL_DMAEx_List_LinkQ(&handle_GPDMA1_Channel3, &List_GPDMA1_Channel3) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(uartHandle, hdmarx, handle_GPDMA1_Channel3);
if (HAL_DMA_ConfigChannelAttributes(&handle_GPDMA1_Channel3, DMA_CHANNEL_NPRIV) != HAL_OK)
{
Error_Handler();
}
/* USART2 interrupt Init */
HAL_NVIC_SetPriority(USART2_IRQn, 0, 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.Usart3ClockSelection = RCC_USART3CLKSOURCE_PCLK1;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
{
Error_Handler();
}
/* USART3 clock enable */
__HAL_RCC_USART3_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
/**USART3 GPIO Configuration
PB10 ------> USART3_TX
PC11 ------> USART3_RX
*/
GPIO_InitStruct.Pin = GPIO_PIN_10;
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(GPIOB, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_11;
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(GPIOC, &GPIO_InitStruct);
/* USART3 interrupt Init */
HAL_NVIC_SetPriority(USART3_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(USART3_IRQn);
/* USER CODE BEGIN USART3_MspInit 1 */
/* USER CODE END USART3_MspInit 1 */
}
}
void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
{
if(uartHandle->Instance==UART4)
{
/* USER CODE BEGIN UART4_MspDeInit 0 */
/* USER CODE END UART4_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_UART4_CLK_DISABLE();
/**UART4 GPIO Configuration
PB8 ------> UART4_RX
PB9 ------> UART4_TX
*/
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_8|GPIO_PIN_9);
/* UART4 DMA DeInit */
HAL_DMA_DeInit(uartHandle->hdmarx);
HAL_DMA_DeInit(uartHandle->hdmatx);
/* UART4 interrupt Deinit */
HAL_NVIC_DisableIRQ(UART4_IRQn);
/* USER CODE BEGIN UART4_MspDeInit 1 */
/* USER CODE END UART4_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
PD5 ------> USART2_TX
PD6 ------> USART2_RX
*/
HAL_GPIO_DeInit(GPIOD, GPIO_PIN_5|GPIO_PIN_6);
/* 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
PB10 ------> USART3_TX
PC11 ------> USART3_RX
*/
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_10);
HAL_GPIO_DeInit(GPIOC, GPIO_PIN_11);
/* USART3 interrupt Deinit */
HAL_NVIC_DisableIRQ(USART3_IRQn);
/* USER CODE BEGIN USART3_MspDeInit 1 */
/* USER CODE END USART3_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

300
Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_icache.h
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@@ -1,300 +0,0 @@
/**
******************************************************************************
* @file stm32h5xx_hal_icache.h
* @author MCD Application Team
* @brief Header file of ICACHE HAL module.
******************************************************************************
* @attention
*
* Copyright (c) 2023 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.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion ------------------------------------*/
#ifndef STM32H5xx_HAL_ICACHE_H
#define STM32H5xx_HAL_ICACHE_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes -----------------------------------------------------------------*/
#include "stm32h5xx_hal_def.h"
#if defined(ICACHE)
/** @addtogroup STM32H5xx_HAL_Driver
* @{
*/
/** @addtogroup ICACHE
* @{
*/
/* Exported types -----------------------------------------------------------*/
#if defined(ICACHE_CRRx_REN)
/** @defgroup ICACHE_Exported_Types ICACHE Exported Types
* @{
*/
/**
* @brief HAL ICACHE region configuration structure definition
*/
typedef struct
{
uint32_t BaseAddress; /*!< Configures the Base address of Region i to be remapped */
uint32_t RemapAddress; /*!< Configures the Remap address of Region i to be remapped */
uint32_t Size; /*!< Configures the Region size.
This parameter can be a value of @ref ICACHE_Region_Size */
uint32_t TrafficRoute; /*!< Selects the traffic route.
This parameter can be a value of @ref ICACHE_Traffic_Route */
uint32_t OutputBurstType; /*!< Selects the output burst type.
This parameter can be a value of @ref ICACHE_Output_Burst_Type */
} ICACHE_RegionConfigTypeDef;
/**
* @}
*/
#endif /* ICACHE_CRRx_REN */
/* Exported constants -------------------------------------------------------*/
/** @defgroup ICACHE_Exported_Constants ICACHE Exported Constants
* @{
*/
/** @defgroup ICACHE_WaysSelection Ways selection
* @{
*/
#define ICACHE_1WAY 0U /*!< 1-way cache (direct mapped cache) */
#define ICACHE_2WAYS ICACHE_CR_WAYSEL /*!< 2-ways set associative cache (default) */
/**
* @}
*/
/** @defgroup ICACHE_Monitor_Type Monitor type
* @{
*/
#define ICACHE_MONITOR_HIT_MISS (ICACHE_CR_HITMEN | ICACHE_CR_MISSMEN) /*!< Hit & Miss monitoring */
#define ICACHE_MONITOR_HIT ICACHE_CR_HITMEN /*!< Hit monitoring */
#define ICACHE_MONITOR_MISS ICACHE_CR_MISSMEN /*!< Miss monitoring */
/**
* @}
*/
#if defined(ICACHE_CRRx_REN)
/** @defgroup ICACHE_Region Remapped Region number
* @{
*/
#define ICACHE_REGION_0 0U /*!< Region 0 */
#define ICACHE_REGION_1 1U /*!< Region 1 */
#define ICACHE_REGION_2 2U /*!< Region 2 */
#define ICACHE_REGION_3 3U /*!< Region 3 */
/**
* @}
*/
/** @defgroup ICACHE_Region_Size Remapped Region size
* @{
*/
#define ICACHE_REGIONSIZE_2MB 1U /*!< Region size 2MB */
#define ICACHE_REGIONSIZE_4MB 2U /*!< Region size 4MB */
#define ICACHE_REGIONSIZE_8MB 3U /*!< Region size 8MB */
#define ICACHE_REGIONSIZE_16MB 4U /*!< Region size 16MB */
#define ICACHE_REGIONSIZE_32MB 5U /*!< Region size 32MB */
#define ICACHE_REGIONSIZE_64MB 6U /*!< Region size 64MB */
#define ICACHE_REGIONSIZE_128MB 7U /*!< Region size 128MB */
/**
* @}
*/
/** @defgroup ICACHE_Traffic_Route Remapped Traffic route
* @{
*/
#define ICACHE_MASTER1_PORT 0U /*!< Master1 port */
#define ICACHE_MASTER2_PORT ICACHE_CRRx_MSTSEL /*!< Master2 port */
/**
* @}
*/
/** @defgroup ICACHE_Output_Burst_Type Remapped Output burst type
* @{
*/
#define ICACHE_OUTPUT_BURST_WRAP 0U /*!< WRAP */
#define ICACHE_OUTPUT_BURST_INCR ICACHE_CRRx_HBURST /*!< INCR */
/**
* @}
*/
#endif /* ICACHE_CRRx_REN */
/** @defgroup ICACHE_Interrupts Interrupts
* @{
*/
#define ICACHE_IT_BUSYEND ICACHE_IER_BSYENDIE /*!< Busy end interrupt */
#define ICACHE_IT_ERROR ICACHE_IER_ERRIE /*!< Cache error interrupt */
/**
* @}
*/
/** @defgroup ICACHE_Flags Flags
* @{
*/
#define ICACHE_FLAG_BUSY ICACHE_SR_BUSYF /*!< Busy flag */
#define ICACHE_FLAG_BUSYEND ICACHE_SR_BSYENDF /*!< Busy end flag */
#define ICACHE_FLAG_ERROR ICACHE_SR_ERRF /*!< Cache error flag */
/**
* @}
*/
/**
* @}
*/
/* Exported macros ----------------------------------------------------------*/
/** @defgroup ICACHE_Exported_Macros ICACHE Exported Macros
* @{
*/
/** @defgroup ICACHE_Flags_Interrupts_Management Flags and Interrupts Management
* @brief macros to manage the specified ICACHE flags and interrupts.
* @{
*/
/** @brief Enable ICACHE interrupts.
* @param __INTERRUPT__ specifies the ICACHE interrupt sources to be enabled.
* This parameter can be any combination of the following values:
* @arg @ref ICACHE_IT_BUSYEND Busy end interrupt
* @arg @ref ICACHE_IT_ERROR Cache error interrupt
*/
#define __HAL_ICACHE_ENABLE_IT(__INTERRUPT__) SET_BIT(ICACHE->IER, (__INTERRUPT__))
/** @brief Disable ICACHE interrupts.
* @param __INTERRUPT__ specifies the ICACHE interrupt sources to be disabled.
* This parameter can be any combination of the following values:
* @arg @ref ICACHE_IT_BUSYEND Busy end interrupt
* @arg @ref ICACHE_IT_ERROR Cache error interrupt
*/
#define __HAL_ICACHE_DISABLE_IT(__INTERRUPT__) CLEAR_BIT(ICACHE->IER, (__INTERRUPT__))
/** @brief Check whether the specified ICACHE interrupt source is enabled or not.
* @param __INTERRUPT__ specifies the ICACHE interrupt source to check.
* This parameter can be any combination of the following values:
* @arg @ref ICACHE_IT_BUSYEND Busy end interrupt
* @arg @ref ICACHE_IT_ERROR Cache error interrupt
* @retval The state of __INTERRUPT__ (0 or 1).
*/
#define __HAL_ICACHE_GET_IT_SOURCE(__INTERRUPT__) \
((READ_BIT(ICACHE->IER, (__INTERRUPT__)) == (__INTERRUPT__)) ? 1U : 0U)
/** @brief Check whether the selected ICACHE flag is set or not.
* @param __FLAG__ specifies the flag to check.
* This parameter can be one of the following values:
* @arg @ref ICACHE_FLAG_BUSY Busy flag
* @arg @ref ICACHE_FLAG_BUSYEND Busy end flag
* @arg @ref ICACHE_FLAG_ERROR Cache error flag
* @retval The state of __FLAG__ (0 or 1).
*/
#define __HAL_ICACHE_GET_FLAG(__FLAG__) ((READ_BIT(ICACHE->SR, (__FLAG__)) != 0U) ? 1U : 0U)
/** @brief Clear the selected ICACHE flags.
* @param __FLAG__ specifies the ICACHE flags to clear.
* This parameter can be any combination of the following values:
* @arg @ref ICACHE_FLAG_BUSYEND Busy end flag
* @arg @ref ICACHE_FLAG_ERROR Cache error flag
*/
#define __HAL_ICACHE_CLEAR_FLAG(__FLAG__) WRITE_REG(ICACHE->FCR, (__FLAG__))
/**
* @}
*/
/**
* @}
*/
/* Exported functions -------------------------------------------------------*/
/** @addtogroup ICACHE_Exported_Functions
* @{
*/
/** @addtogroup ICACHE_Exported_Functions_Group1
* @brief Initialization and control functions
* @{
*/
/* Peripheral Control functions **********************************************/
HAL_StatusTypeDef HAL_ICACHE_Enable(void);
HAL_StatusTypeDef HAL_ICACHE_Disable(void);
uint32_t HAL_ICACHE_IsEnabled(void);
HAL_StatusTypeDef HAL_ICACHE_ConfigAssociativityMode(uint32_t AssociativityMode);
HAL_StatusTypeDef HAL_ICACHE_DeInit(void);
/******* Invalidate in blocking mode (Polling) */
HAL_StatusTypeDef HAL_ICACHE_Invalidate(void);
/******* Invalidate in non-blocking mode (Interrupt) */
HAL_StatusTypeDef HAL_ICACHE_Invalidate_IT(void);
/******* Wait for Invalidate complete in blocking mode (Polling) */
HAL_StatusTypeDef HAL_ICACHE_WaitForInvalidateComplete(void);
/******* Performance instruction cache monitoring functions */
HAL_StatusTypeDef HAL_ICACHE_Monitor_Start(uint32_t MonitorType);
HAL_StatusTypeDef HAL_ICACHE_Monitor_Stop(uint32_t MonitorType);
HAL_StatusTypeDef HAL_ICACHE_Monitor_Reset(uint32_t MonitorType);
uint32_t HAL_ICACHE_Monitor_GetHitValue(void);
uint32_t HAL_ICACHE_Monitor_GetMissValue(void);
/**
* @}
*/
/** @addtogroup ICACHE_Exported_Functions_Group2
* @brief IRQ and callback functions
* @{
*/
/******* IRQHandler and Callbacks used in non-blocking mode (Interrupt) */
void HAL_ICACHE_IRQHandler(void);
void HAL_ICACHE_InvalidateCompleteCallback(void);
void HAL_ICACHE_ErrorCallback(void);
/**
* @}
*/
#if defined(ICACHE_CRRx_REN)
/** @addtogroup ICACHE_Exported_Functions_Group3
* @brief Memory remapped regions functions
* @{
*/
/******* Memory remapped regions functions */
HAL_StatusTypeDef HAL_ICACHE_EnableRemapRegion(uint32_t Region, const ICACHE_RegionConfigTypeDef *const pRegionConfig);
HAL_StatusTypeDef HAL_ICACHE_DisableRemapRegion(uint32_t Region);
/**
* @}
*/
#endif /* ICACHE_CRRx_REN */
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
#endif /* ICACHE */
#ifdef __cplusplus
}
#endif
#endif /* STM32H5xx_HAL_ICACHE_H */

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Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_uart.h Normal file
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Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_hal_uart_ex.h Normal file
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/**
******************************************************************************
* @file stm32h5xx_hal_uart_ex.h
* @author MCD Application Team
* @brief Header file of UART HAL Extended module.
******************************************************************************
* @attention
*
* Copyright (c) 2023 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.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef STM32H5xx_HAL_UART_EX_H
#define STM32H5xx_HAL_UART_EX_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32h5xx_hal_def.h"
/** @addtogroup STM32H5xx_HAL_Driver
* @{
*/
/** @addtogroup UARTEx
* @{
*/
/* Exported types ------------------------------------------------------------*/
/** @defgroup UARTEx_Exported_Types UARTEx Exported Types
* @{
*/
/**
* @brief UART wake up from stop mode parameters
*/
typedef struct
{
uint32_t WakeUpEvent; /*!< Specifies which event will activate the Wakeup from Stop mode flag (WUF).
This parameter can be a value of @ref UART_WakeUp_from_Stop_Selection.
If set to UART_WAKEUP_ON_ADDRESS, the two other fields below must
be filled up. */
uint16_t AddressLength; /*!< Specifies whether the address is 4 or 7-bit long.
This parameter can be a value of @ref UARTEx_WakeUp_Address_Length. */
uint8_t Address; /*!< UART/USART node address (7-bit long max). */
} UART_WakeUpTypeDef;
/**
* @}
*/
/* Exported constants --------------------------------------------------------*/
/** @defgroup UARTEx_Exported_Constants UARTEx Exported Constants
* @{
*/
/** @defgroup UARTEx_Word_Length UARTEx Word Length
* @{
*/
#define UART_WORDLENGTH_7B USART_CR1_M1 /*!< 7-bit long UART frame */
#define UART_WORDLENGTH_8B 0x00000000U /*!< 8-bit long UART frame */
#define UART_WORDLENGTH_9B USART_CR1_M0 /*!< 9-bit long UART frame */
/**
* @}
*/
/** @defgroup UARTEx_WakeUp_Address_Length UARTEx WakeUp Address Length
* @{
*/
#define UART_ADDRESS_DETECT_4B 0x00000000U /*!< 4-bit long wake-up address */
#define UART_ADDRESS_DETECT_7B USART_CR2_ADDM7 /*!< 7-bit long wake-up address */
/**
* @}
*/
/** @defgroup UARTEx_FIFO_mode UARTEx FIFO mode
* @brief UART FIFO mode
* @{
*/
#define UART_FIFOMODE_DISABLE 0x00000000U /*!< FIFO mode disable */
#define UART_FIFOMODE_ENABLE USART_CR1_FIFOEN /*!< FIFO mode enable */
/**
* @}
*/
/** @defgroup UARTEx_TXFIFO_threshold_level UARTEx TXFIFO threshold level
* @brief UART TXFIFO threshold level
* @{
*/
#define UART_TXFIFO_THRESHOLD_1_8 0x00000000U /*!< TX FIFO reaches 1/8 of its depth */
#define UART_TXFIFO_THRESHOLD_1_4 USART_CR3_TXFTCFG_0 /*!< TX FIFO reaches 1/4 of its depth */
#define UART_TXFIFO_THRESHOLD_1_2 USART_CR3_TXFTCFG_1 /*!< TX FIFO reaches 1/2 of its depth */
#define UART_TXFIFO_THRESHOLD_3_4 (USART_CR3_TXFTCFG_0|USART_CR3_TXFTCFG_1) /*!< TX FIFO reaches 3/4 of its depth */
#define UART_TXFIFO_THRESHOLD_7_8 USART_CR3_TXFTCFG_2 /*!< TX FIFO reaches 7/8 of its depth */
#define UART_TXFIFO_THRESHOLD_8_8 (USART_CR3_TXFTCFG_2|USART_CR3_TXFTCFG_0) /*!< TX FIFO becomes empty */
/**
* @}
*/
/** @defgroup UARTEx_RXFIFO_threshold_level UARTEx RXFIFO threshold level
* @brief UART RXFIFO threshold level
* @{
*/
#define UART_RXFIFO_THRESHOLD_1_8 0x00000000U /*!< RX FIFO reaches 1/8 of its depth */
#define UART_RXFIFO_THRESHOLD_1_4 USART_CR3_RXFTCFG_0 /*!< RX FIFO reaches 1/4 of its depth */
#define UART_RXFIFO_THRESHOLD_1_2 USART_CR3_RXFTCFG_1 /*!< RX FIFO reaches 1/2 of its depth */
#define UART_RXFIFO_THRESHOLD_3_4 (USART_CR3_RXFTCFG_0|USART_CR3_RXFTCFG_1) /*!< RX FIFO reaches 3/4 of its depth */
#define UART_RXFIFO_THRESHOLD_7_8 USART_CR3_RXFTCFG_2 /*!< RX FIFO reaches 7/8 of its depth */
#define UART_RXFIFO_THRESHOLD_8_8 (USART_CR3_RXFTCFG_2|USART_CR3_RXFTCFG_0) /*!< RX FIFO becomes full */
/**
* @}
*/
/**
* @}
*/
/* Exported macros -----------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
/** @addtogroup UARTEx_Exported_Functions
* @{
*/
/** @addtogroup UARTEx_Exported_Functions_Group1
* @{
*/
/* Initialization and de-initialization functions ****************************/
HAL_StatusTypeDef HAL_RS485Ex_Init(UART_HandleTypeDef *huart, uint32_t Polarity, uint32_t AssertionTime,
uint32_t DeassertionTime);
/**
* @}
*/
/** @addtogroup UARTEx_Exported_Functions_Group2
* @{
*/
void HAL_UARTEx_WakeupCallback(UART_HandleTypeDef *huart);
void HAL_UARTEx_RxFifoFullCallback(UART_HandleTypeDef *huart);
void HAL_UARTEx_TxFifoEmptyCallback(UART_HandleTypeDef *huart);
/**
* @}
*/
/** @addtogroup UARTEx_Exported_Functions_Group3
* @{
*/
/* Peripheral Control functions **********************************************/
HAL_StatusTypeDef HAL_UARTEx_StopModeWakeUpSourceConfig(UART_HandleTypeDef *huart, UART_WakeUpTypeDef WakeUpSelection);
HAL_StatusTypeDef HAL_UARTEx_EnableStopMode(UART_HandleTypeDef *huart);
HAL_StatusTypeDef HAL_UARTEx_DisableStopMode(UART_HandleTypeDef *huart);
HAL_StatusTypeDef HAL_MultiProcessorEx_AddressLength_Set(UART_HandleTypeDef *huart, uint32_t AddressLength);
HAL_StatusTypeDef HAL_UARTEx_EnableFifoMode(UART_HandleTypeDef *huart);
HAL_StatusTypeDef HAL_UARTEx_DisableFifoMode(UART_HandleTypeDef *huart);
HAL_StatusTypeDef HAL_UARTEx_SetTxFifoThreshold(UART_HandleTypeDef *huart, uint32_t Threshold);
HAL_StatusTypeDef HAL_UARTEx_SetRxFifoThreshold(UART_HandleTypeDef *huart, uint32_t Threshold);
HAL_StatusTypeDef HAL_UARTEx_ReceiveToIdle(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size, uint16_t *RxLen,
uint32_t Timeout);
HAL_StatusTypeDef HAL_UARTEx_ReceiveToIdle_IT(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size);
#if defined(HAL_DMA_MODULE_ENABLED)
HAL_StatusTypeDef HAL_UARTEx_ReceiveToIdle_DMA(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size);
#endif /* HAL_DMA_MODULE_ENABLED */
HAL_UART_RxEventTypeTypeDef HAL_UARTEx_GetRxEventType(const UART_HandleTypeDef *huart);
/**
* @}
*/
/**
* @}
*/
/* Private macros ------------------------------------------------------------*/
/** @defgroup UARTEx_Private_Macros UARTEx Private Macros
* @{
*/
/** @brief Report the UART clock source.
* @param __HANDLE__ specifies the UART Handle.
* @param __CLOCKSOURCE__ output variable.
* @retval UART clocking source, written in __CLOCKSOURCE__.
*/
#if (defined(STM32H573xx) || defined(STM32H563xx) || defined(STM32H562xx))
#define UART_GETCLOCKSOURCE(__HANDLE__,__CLOCKSOURCE__) \
do { \
if((__HANDLE__)->Instance == USART1) \
{ \
(__CLOCKSOURCE__) = (uint32_t)RCC_PERIPHCLK_USART1; \
} \
else if((__HANDLE__)->Instance == USART2) \
{ \
(__CLOCKSOURCE__) = (uint32_t)RCC_PERIPHCLK_USART2; \
} \
else if((__HANDLE__)->Instance == USART3) \
{ \
(__CLOCKSOURCE__) = (uint32_t)RCC_PERIPHCLK_USART3; \
} \
else if((__HANDLE__)->Instance == UART4) \
{ \
(__CLOCKSOURCE__) = (uint32_t)RCC_PERIPHCLK_UART4; \
} \
else if((__HANDLE__)->Instance == UART5) \
{ \
(__CLOCKSOURCE__) = (uint32_t)RCC_PERIPHCLK_UART5; \
} \
else if((__HANDLE__)->Instance == USART6) \
{ \
(__CLOCKSOURCE__) = (uint32_t)RCC_PERIPHCLK_USART6; \
} \
else if((__HANDLE__)->Instance == UART7) \
{ \
(__CLOCKSOURCE__) = (uint32_t)RCC_PERIPHCLK_UART7; \
} \
else if((__HANDLE__)->Instance == UART8) \
{ \
(__CLOCKSOURCE__) = (uint32_t)RCC_PERIPHCLK_UART8; \
} \
else if((__HANDLE__)->Instance == UART9) \
{ \
(__CLOCKSOURCE__) = (uint32_t)RCC_PERIPHCLK_UART9; \
} \
else if((__HANDLE__)->Instance == USART10) \
{ \
(__CLOCKSOURCE__) = (uint32_t)RCC_PERIPHCLK_USART10; \
} \
else if((__HANDLE__)->Instance == USART11) \
{ \
(__CLOCKSOURCE__) = (uint32_t)RCC_PERIPHCLK_USART11; \
} \
else if((__HANDLE__)->Instance == UART12) \
{ \
(__CLOCKSOURCE__) = (uint32_t)RCC_PERIPHCLK_UART12; \
} \
else if((__HANDLE__)->Instance == LPUART1) \
{ \
(__CLOCKSOURCE__) = (uint32_t)RCC_PERIPHCLK_LPUART1; \
} \
else \
{ \
(__CLOCKSOURCE__) = 0U; \
} \
} while(0U)
#elif (defined(STM32H523xx) || defined(STM32H533xx))
#define UART_GETCLOCKSOURCE(__HANDLE__,__CLOCKSOURCE__) \
do { \
if((__HANDLE__)->Instance == USART1) \
{ \
(__CLOCKSOURCE__) = (uint32_t)RCC_PERIPHCLK_USART1; \
} \
else if((__HANDLE__)->Instance == USART2) \
{ \
(__CLOCKSOURCE__) = (uint32_t)RCC_PERIPHCLK_USART2; \
} \
else if((__HANDLE__)->Instance == USART3) \
{ \
(__CLOCKSOURCE__) = (uint32_t)RCC_PERIPHCLK_USART3; \
} \
else if((__HANDLE__)->Instance == UART4) \
{ \
(__CLOCKSOURCE__) = (uint32_t)RCC_PERIPHCLK_UART4; \
} \
else if((__HANDLE__)->Instance == UART5) \
{ \
(__CLOCKSOURCE__) = (uint32_t)RCC_PERIPHCLK_UART5; \
} \
else if((__HANDLE__)->Instance == USART6) \
{ \
(__CLOCKSOURCE__) = (uint32_t)RCC_PERIPHCLK_USART6; \
} \
else if((__HANDLE__)->Instance == LPUART1) \
{ \
(__CLOCKSOURCE__) = (uint32_t)RCC_PERIPHCLK_LPUART1; \
} \
else \
{ \
(__CLOCKSOURCE__) = 0U; \
} \
} while(0U)
#else
#define UART_GETCLOCKSOURCE(__HANDLE__,__CLOCKSOURCE__) \
do { \
if((__HANDLE__)->Instance == USART1) \
{ \
(__CLOCKSOURCE__) = (uint32_t)RCC_PERIPHCLK_USART1; \
} \
else if((__HANDLE__)->Instance == USART2) \
{ \
(__CLOCKSOURCE__) = (uint32_t)RCC_PERIPHCLK_USART2; \
} \
else if((__HANDLE__)->Instance == USART3) \
{ \
(__CLOCKSOURCE__) = (uint32_t)RCC_PERIPHCLK_USART3; \
} \
else if((__HANDLE__)->Instance == LPUART1) \
{ \
(__CLOCKSOURCE__) = (uint32_t)RCC_PERIPHCLK_LPUART1; \
} \
else \
{ \
(__CLOCKSOURCE__) = 0U; \
} \
} while(0U)
#endif /* (defined(STM32H573xx) || defined(STM32H563xx) || defined(STM32H562xx) */
/** @brief Report the UART mask to apply to retrieve the received data
* according to the word length and to the parity bits activation.
* @note If PCE = 1, the parity bit is not included in the data extracted
* by the reception API().
* This masking operation is not carried out in the case of
* DMA transfers.
* @param __HANDLE__ specifies the UART Handle.
* @retval None, the mask to apply to UART RDR register is stored in (__HANDLE__)->Mask field.
*/
#define UART_MASK_COMPUTATION(__HANDLE__) \
do { \
if ((__HANDLE__)->Init.WordLength == UART_WORDLENGTH_9B) \
{ \
if ((__HANDLE__)->Init.Parity == UART_PARITY_NONE) \
{ \
(__HANDLE__)->Mask = 0x01FFU ; \
} \
else \
{ \
(__HANDLE__)->Mask = 0x00FFU ; \
} \
} \
else if ((__HANDLE__)->Init.WordLength == UART_WORDLENGTH_8B) \
{ \
if ((__HANDLE__)->Init.Parity == UART_PARITY_NONE) \
{ \
(__HANDLE__)->Mask = 0x00FFU ; \
} \
else \
{ \
(__HANDLE__)->Mask = 0x007FU ; \
} \
} \
else if ((__HANDLE__)->Init.WordLength == UART_WORDLENGTH_7B) \
{ \
if ((__HANDLE__)->Init.Parity == UART_PARITY_NONE) \
{ \
(__HANDLE__)->Mask = 0x007FU ; \
} \
else \
{ \
(__HANDLE__)->Mask = 0x003FU ; \
} \
} \
else \
{ \
(__HANDLE__)->Mask = 0x0000U; \
} \
} while(0U)
/**
* @brief Ensure that UART frame length is valid.
* @param __LENGTH__ UART frame length.
* @retval SET (__LENGTH__ is valid) or RESET (__LENGTH__ is invalid)
*/
#define IS_UART_WORD_LENGTH(__LENGTH__) (((__LENGTH__) == UART_WORDLENGTH_7B) || \
((__LENGTH__) == UART_WORDLENGTH_8B) || \
((__LENGTH__) == UART_WORDLENGTH_9B))
/**
* @brief Ensure that UART wake-up address length is valid.
* @param __ADDRESS__ UART wake-up address length.
* @retval SET (__ADDRESS__ is valid) or RESET (__ADDRESS__ is invalid)
*/
#define IS_UART_ADDRESSLENGTH_DETECT(__ADDRESS__) (((__ADDRESS__) == UART_ADDRESS_DETECT_4B) || \
((__ADDRESS__) == UART_ADDRESS_DETECT_7B))
/**
* @brief Ensure that UART TXFIFO threshold level is valid.
* @param __THRESHOLD__ UART TXFIFO threshold level.
* @retval SET (__THRESHOLD__ is valid) or RESET (__THRESHOLD__ is invalid)
*/
#define IS_UART_TXFIFO_THRESHOLD(__THRESHOLD__) (((__THRESHOLD__) == UART_TXFIFO_THRESHOLD_1_8) || \
((__THRESHOLD__) == UART_TXFIFO_THRESHOLD_1_4) || \
((__THRESHOLD__) == UART_TXFIFO_THRESHOLD_1_2) || \
((__THRESHOLD__) == UART_TXFIFO_THRESHOLD_3_4) || \
((__THRESHOLD__) == UART_TXFIFO_THRESHOLD_7_8) || \
((__THRESHOLD__) == UART_TXFIFO_THRESHOLD_8_8))
/**
* @brief Ensure that UART RXFIFO threshold level is valid.
* @param __THRESHOLD__ UART RXFIFO threshold level.
* @retval SET (__THRESHOLD__ is valid) or RESET (__THRESHOLD__ is invalid)
*/
#define IS_UART_RXFIFO_THRESHOLD(__THRESHOLD__) (((__THRESHOLD__) == UART_RXFIFO_THRESHOLD_1_8) || \
((__THRESHOLD__) == UART_RXFIFO_THRESHOLD_1_4) || \
((__THRESHOLD__) == UART_RXFIFO_THRESHOLD_1_2) || \
((__THRESHOLD__) == UART_RXFIFO_THRESHOLD_3_4) || \
((__THRESHOLD__) == UART_RXFIFO_THRESHOLD_7_8) || \
((__THRESHOLD__) == UART_RXFIFO_THRESHOLD_8_8))
/**
* @}
*/
/* Private functions ---------------------------------------------------------*/
/**
* @}
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* STM32H5xx_HAL_UART_EX_H */

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Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_ll_icache.h
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@@ -1,788 +0,0 @@
/**
******************************************************************************
* @file stm32h5xx_ll_icache.h
* @author MCD Application Team
* @brief Header file of ICACHE LL module.
******************************************************************************
* @attention
*
* Copyright (c) 2023 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.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion ------------------------------------*/
#ifndef STM32H5xx_LL_ICACHE_H
#define STM32H5xx_LL_ICACHE_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes -----------------------------------------------------------------*/
#include "stm32h5xx.h"
/** @addtogroup STM32H5xx_LL_Driver
* @{
*/
#if defined(ICACHE)
/** @defgroup ICACHE_LL ICACHE
* @{
*/
/* Private types -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/* Private constants ---------------------------------------------------------*/
/* Private macros ------------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
#if defined(ICACHE_CRRx_REN)
/** @defgroup ICACHE_LL_REGION_CONFIG ICACHE Exported Configuration structure
* @{
*/
/**
* @brief LL ICACHE region configuration structure definition
*/
typedef struct
{
uint32_t BaseAddress; /*!< Configures the C-AHB base address to be remapped */
uint32_t RemapAddress; /*!< Configures the remap address to be remapped */
uint32_t Size; /*!< Configures the region size.
This parameter can be a value of @ref ICACHE_LL_EC_Region_Size */
uint32_t TrafficRoute; /*!< Selects the traffic route.
This parameter can be a value of @ref ICACHE_LL_EC_Traffic_Route */
uint32_t OutputBurstType; /*!< Selects the output burst type.
This parameter can be a value of @ref ICACHE_LL_EC_Output_Burst_Type */
} LL_ICACHE_RegionTypeDef;
/**
* @}
*/
#endif /* ICACHE_CRRx_REN */
/* Exported constants -------------------------------------------------------*/
/** @defgroup ICACHE_LL_Exported_Constants ICACHE Exported Constants
* @{
*/
/** @defgroup ICACHE_LL_EC_WaysSelection Ways selection
* @{
*/
#define LL_ICACHE_1WAY 0U /*!< 1-way cache (direct mapped cache) */
#define LL_ICACHE_2WAYS ICACHE_CR_WAYSEL /*!< 2-ways set associative cache (default) */
/**
* @}
*/
/** @defgroup ICACHE_LL_EC_Monitor_Type Monitor type
* @{
*/
#define LL_ICACHE_MONITOR_HIT ICACHE_CR_HITMEN /*!< Hit monitor counter */
#define LL_ICACHE_MONITOR_MISS ICACHE_CR_MISSMEN /*!< Miss monitor counter */
#define LL_ICACHE_MONITOR_ALL (ICACHE_CR_HITMEN | ICACHE_CR_MISSMEN) /*!< All monitors counters */
/**
* @}
*/
/** @defgroup ICACHE_LL_EC_GET_FLAG Get Flags Defines
* @brief Flags defines which can be used with LL_ICACHE_ReadReg function
* @{
*/
#define LL_ICACHE_SR_BUSYF ICACHE_SR_BUSYF /*!< Busy flag */
#define LL_ICACHE_SR_BSYENDF ICACHE_SR_BSYENDF /*!< Busy end flag */
#define LL_ICACHE_SR_ERRF ICACHE_SR_ERRF /*!< Cache error flag */
/**
* @}
*/
/** @defgroup ICACHE_LL_EC_CLEAR_FLAG Clear Flags Defines
* @brief Flags defines which can be used with LL_ICACHE_WriteReg function
* @{
*/
#define LL_ICACHE_FCR_CBSYENDF ICACHE_FCR_CBSYENDF /*!< Busy end flag */
#define LL_ICACHE_FCR_CERRF ICACHE_FCR_CERRF /*!< Cache error flag */
/**
* @}
*/
/** @defgroup ICACHE_LL_EC_IT IT Defines
* @brief IT defines which can be used with LL_ICACHE_ReadReg and LL_ICACHE_WriteReg functions
* @{
*/
#define LL_ICACHE_IER_BSYENDIE ICACHE_IER_BSYENDIE /*!< Busy end interrupt */
#define LL_ICACHE_IER_ERRIE ICACHE_IER_ERRIE /*!< Cache error interrupt */
/**
* @}
*/
#if defined(ICACHE_CRRx_REN)
/** @defgroup ICACHE_LL_EC_Region Remapped Region number
* @{
*/
#define LL_ICACHE_REGION_0 0U /*!< Region 0 */
#define LL_ICACHE_REGION_1 1U /*!< Region 1 */
#define LL_ICACHE_REGION_2 2U /*!< Region 2 */
#define LL_ICACHE_REGION_3 3U /*!< Region 3 */
/**
* @}
*/
/** @defgroup ICACHE_LL_EC_Region_Size Remapped Region size
* @{
*/
#define LL_ICACHE_REGIONSIZE_2MB 1U /*!< Region size 2MB */
#define LL_ICACHE_REGIONSIZE_4MB 2U /*!< Region size 4MB */
#define LL_ICACHE_REGIONSIZE_8MB 3U /*!< Region size 8MB */
#define LL_ICACHE_REGIONSIZE_16MB 4U /*!< Region size 16MB */
#define LL_ICACHE_REGIONSIZE_32MB 5U /*!< Region size 32MB */
#define LL_ICACHE_REGIONSIZE_64MB 6U /*!< Region size 64MB */
#define LL_ICACHE_REGIONSIZE_128MB 7U /*!< Region size 128MB */
/**
* @}
*/
/** @defgroup ICACHE_LL_EC_Traffic_Route Remapped Traffic route
* @{
*/
#define LL_ICACHE_MASTER1_PORT 0U /*!< Master1 port */
#define LL_ICACHE_MASTER2_PORT ICACHE_CRRx_MSTSEL /*!< Master2 port */
/**
* @}
*/
/** @defgroup ICACHE_LL_EC_Output_Burst_Type Remapped Output burst type
* @{
*/
#define LL_ICACHE_OUTPUT_BURST_WRAP 0U /*!< WRAP */
#define LL_ICACHE_OUTPUT_BURST_INCR ICACHE_CRRx_HBURST /*!< INCR */
/**
* @}
*/
#endif /* ICACHE_CRRx_REN */
/**
* @}
*/
/* Exported macros ----------------------------------------------------------*/
/** @defgroup ICACHE_LL_Exported_Macros ICACHE Exported Macros
* @{
*/
/** @defgroup ICACHE_LL_EM_WRITE_READ Common write and read registers Macros
* @{
*/
/**
* @brief Write a value in ICACHE register
* @param __REG__ Register to be written
* @param __VALUE__ Value to be written in the register
* @retval None
*/
#define LL_ICACHE_WriteReg(__REG__, __VALUE__) WRITE_REG(ICACHE->__REG__, (__VALUE__))
/**
* @brief Read a value in ICACHE register
* @param __REG__ Register to be read
* @retval Register value
*/
#define LL_ICACHE_ReadReg(__REG__) READ_REG(ICACHE->__REG__)
/**
* @}
*/
/**
* @}
*/
/* Exported functions --------------------------------------------------------*/
/** @defgroup ICACHE_LL_Exported_Functions ICACHE Exported Functions
* @{
*/
/** @defgroup ICACHE_LL_EF_Configuration Configuration
* @{
*/
/**
* @brief Enable the ICACHE.
* @rmtoll CR EN LL_ICACHE_Enable
* @retval None
*/
__STATIC_INLINE void LL_ICACHE_Enable(void)
{
SET_BIT(ICACHE->CR, ICACHE_CR_EN);
}
/**
* @brief Disable the ICACHE.
* @rmtoll CR EN LL_ICACHE_Disable
* @retval None
*/
__STATIC_INLINE void LL_ICACHE_Disable(void)
{
CLEAR_BIT(ICACHE->CR, ICACHE_CR_EN);
}
/**
* @brief Return if ICACHE is enabled or not.
* @rmtoll CR EN LL_ICACHE_IsEnabled
* @retval State of bit (1 or 0).
*/
__STATIC_INLINE uint32_t LL_ICACHE_IsEnabled(void)
{
return ((READ_BIT(ICACHE->CR, ICACHE_CR_EN) == (ICACHE_CR_EN)) ? 1UL : 0UL);
}
/**
* @brief Select the ICACHE operating mode.
* @rmtoll CR WAYSEL LL_ICACHE_SetMode
* @param Mode This parameter can be one of the following values:
* @arg @ref LL_ICACHE_1WAY
* @arg @ref LL_ICACHE_2WAYS
* @retval None
*/
__STATIC_INLINE void LL_ICACHE_SetMode(uint32_t Mode)
{
MODIFY_REG(ICACHE->CR, ICACHE_CR_WAYSEL, Mode);
}
/**
* @brief Get the selected ICACHE operating mode.
* @rmtoll CR WAYSEL LL_ICACHE_GetMode
* @retval Returned value can be one of the following values:
* @arg @ref LL_ICACHE_1WAY
* @arg @ref LL_ICACHE_2WAYS
*/
__STATIC_INLINE uint32_t LL_ICACHE_GetMode(void)
{
return (READ_BIT(ICACHE->CR, ICACHE_CR_WAYSEL));
}
/**
* @brief Invalidate the ICACHE.
* @note Until the BSYEND flag is set, the cache is bypassed.
* @rmtoll CR CACHEINV LL_ICACHE_Invalidate
* @retval None
*/
__STATIC_INLINE void LL_ICACHE_Invalidate(void)
{
SET_BIT(ICACHE->CR, ICACHE_CR_CACHEINV);
}
/**
* @}
*/
/** @defgroup ICACHE_LL_EF_Monitors Monitors
* @{
*/
/**
* @brief Enable the hit/miss monitor(s).
* @rmtoll CR HITMEN LL_ICACHE_EnableMonitors
* @rmtoll CR MISSMEN LL_ICACHE_EnableMonitors
* @param Monitors This parameter can be one or a combination of the following values:
* @arg @ref LL_ICACHE_MONITOR_HIT
* @arg @ref LL_ICACHE_MONITOR_MISS
* @arg @ref LL_ICACHE_MONITOR_ALL
* @retval None
*/
__STATIC_INLINE void LL_ICACHE_EnableMonitors(uint32_t Monitors)
{
SET_BIT(ICACHE->CR, Monitors);
}
/**
* @brief Disable the hit/miss monitor(s).
* @rmtoll CR HITMEN LL_ICACHE_DisableMonitors
* @rmtoll CR MISSMEN LL_ICACHE_DisableMonitors
* @param Monitors This parameter can be one or a combination of the following values:
* @arg @ref LL_ICACHE_MONITOR_HIT
* @arg @ref LL_ICACHE_MONITOR_MISS
* @arg @ref LL_ICACHE_MONITOR_ALL
* @retval None
*/
__STATIC_INLINE void LL_ICACHE_DisableMonitors(uint32_t Monitors)
{
CLEAR_BIT(ICACHE->CR, Monitors);
}
/**
* @brief Check if the monitor(s) is(are) enabled or disabled.
* @rmtoll CR HITMEN LL_ICACHE_IsEnabledMonitors
* @rmtoll CR MISSMEN LL_ICACHE_IsEnabledMonitors
* @param Monitors This parameter can be one or a combination of the following values:
* @arg @ref LL_ICACHE_MONITOR_HIT
* @arg @ref LL_ICACHE_MONITOR_MISS
* @arg @ref LL_ICACHE_MONITOR_ALL
* @retval State of parameter value (1 or 0).
*/
__STATIC_INLINE uint32_t LL_ICACHE_IsEnabledMonitors(uint32_t Monitors)
{
return ((READ_BIT(ICACHE->CR, Monitors) == (Monitors)) ? 1UL : 0UL);
}
/**
* @brief Reset the hit/miss monitor(s).
* @rmtoll CR HITMRST LL_ICACHE_ResetMonitors
* @rmtoll CR MISSMRST LL_ICACHE_ResetMonitors
* @param Monitors This parameter can be one or a combination of the following values:
* @arg @ref LL_ICACHE_MONITOR_HIT
* @arg @ref LL_ICACHE_MONITOR_MISS
* @arg @ref LL_ICACHE_MONITOR_ALL
* @retval None
*/
__STATIC_INLINE void LL_ICACHE_ResetMonitors(uint32_t Monitors)
{
/* Reset */
SET_BIT(ICACHE->CR, (Monitors << 2U));
/* Release reset */
CLEAR_BIT(ICACHE->CR, (Monitors << 2U));
}
/**
* @brief Get the Hit monitor.
* @note Upon reaching the 32-bit maximum value, hit monitor does not wrap.
* @rmtoll HMONR HITMON LL_ICACHE_GetHitMonitor
* @retval Value between Min_Data=0 and Max_Data=0xFFFFFFFF
*/
__STATIC_INLINE uint32_t LL_ICACHE_GetHitMonitor(void)
{
return (ICACHE->HMONR);
}
/**
* @brief Get the Miss monitor.
* @note Upon reaching the 16-bit maximum value, miss monitor does not wrap.
* @rmtoll MMONR MISSMON LL_ICACHE_GetMissMonitor
* @retval Value between Min_Data=0 and Max_Data=0xFFFF
*/
__STATIC_INLINE uint32_t LL_ICACHE_GetMissMonitor(void)
{
return (ICACHE->MMONR);
}
/**
* @}
*/
/** @defgroup ICACHE_LL_EF_IT_Management IT_Management
* @{
*/
/**
* @brief Enable BSYEND interrupt.
* @rmtoll IER BSYENDIE LL_ICACHE_EnableIT_BSYEND
* @retval None
*/
__STATIC_INLINE void LL_ICACHE_EnableIT_BSYEND(void)
{
SET_BIT(ICACHE->IER, ICACHE_IER_BSYENDIE);
}
/**
* @brief Disable BSYEND interrupt.
* @rmtoll IER BSYENDIE LL_ICACHE_DisableIT_BSYEND
* @retval None
*/
__STATIC_INLINE void LL_ICACHE_DisableIT_BSYEND(void)
{
CLEAR_BIT(ICACHE->IER, ICACHE_IER_BSYENDIE);
}
/**
* @brief Check if the BSYEND Interrupt is enabled or disabled.
* @rmtoll IER BSYENDIE LL_ICACHE_IsEnabledIT_BSYEND
* @retval State of bit (1 or 0).
*/
__STATIC_INLINE uint32_t LL_ICACHE_IsEnabledIT_BSYEND(void)
{
return ((READ_BIT(ICACHE->IER, ICACHE_IER_BSYENDIE) == (ICACHE_IER_BSYENDIE)) ? 1UL : 0UL);
}
/**
* @brief Enable ERR interrupt.
* @rmtoll IER ERRIE LL_ICACHE_EnableIT_ERR
* @retval None
*/
__STATIC_INLINE void LL_ICACHE_EnableIT_ERR(void)
{
SET_BIT(ICACHE->IER, ICACHE_IER_ERRIE);
}
/**
* @brief Disable ERR interrupt.
* @rmtoll IER ERRIE LL_ICACHE_DisableIT_ERR
* @retval None
*/
__STATIC_INLINE void LL_ICACHE_DisableIT_ERR(void)
{
CLEAR_BIT(ICACHE->IER, ICACHE_IER_ERRIE);
}
/**
* @brief Check if the ERR Interrupt is enabled or disabled.
* @rmtoll IER ERRIE LL_ICACHE_IsEnabledIT_ERR
* @retval State of bit (1 or 0).
*/
__STATIC_INLINE uint32_t LL_ICACHE_IsEnabledIT_ERR(void)
{
return ((READ_BIT(ICACHE->IER, ICACHE_IER_ERRIE) == (ICACHE_IER_ERRIE)) ? 1UL : 0UL);
}
/**
* @}
*/
/** @defgroup ICACHE_LL_EF_FLAG_Management FLAG_Management
* @{
*/
/**
* @brief Indicate the status of an ongoing operation flag.
* @rmtoll SR BUSYF LL_ICACHE_IsActiveFlag_BUSY
* @retval State of bit (1 or 0).
*/
__STATIC_INLINE uint32_t LL_ICACHE_IsActiveFlag_BUSY(void)
{
return ((READ_BIT(ICACHE->SR, ICACHE_SR_BUSYF) == (ICACHE_SR_BUSYF)) ? 1UL : 0UL);
}
/**
* @brief Indicate the status of an operation end flag.
* @rmtoll SR BSYEND LL_ICACHE_IsActiveFlag_BSYEND
* @retval State of bit (1 or 0).
*/
__STATIC_INLINE uint32_t LL_ICACHE_IsActiveFlag_BSYEND(void)
{
return ((READ_BIT(ICACHE->SR, ICACHE_SR_BSYENDF) == (ICACHE_SR_BSYENDF)) ? 1UL : 0UL);
}
/**
* @brief Indicate the status of an error flag.
* @rmtoll SR ERRF LL_ICACHE_IsActiveFlag_ERR
* @retval State of bit (1 or 0).
*/
__STATIC_INLINE uint32_t LL_ICACHE_IsActiveFlag_ERR(void)
{
return ((READ_BIT(ICACHE->SR, ICACHE_SR_ERRF) == (ICACHE_SR_ERRF)) ? 1UL : 0UL);
}
/**
* @brief Clear busy end of operation flag.
* @rmtoll FCR CBSYENDF LL_ICACHE_ClearFlag_BSYEND
* @retval None
*/
__STATIC_INLINE void LL_ICACHE_ClearFlag_BSYEND(void)
{
WRITE_REG(ICACHE->FCR, ICACHE_FCR_CBSYENDF);
}
/**
* @brief Clear error flag.
* @rmtoll FCR ERRF LL_ICACHE_ClearFlag_ERR
* @retval None
*/
__STATIC_INLINE void LL_ICACHE_ClearFlag_ERR(void)
{
WRITE_REG(ICACHE->FCR, ICACHE_FCR_CERRF);
}
/**
* @}
*/
#if defined(ICACHE_CRRx_REN)
/** @defgroup ICACHE_LL_EF_REGION_Management REGION_Management
* @{
*/
/**
* @brief Enable the remapped memory region.
* @note The region must have been already configured.
* @rmtoll CRRx REN LL_ICACHE_EnableRegion
* @param Region This parameter can be one of the following values:
* @arg @ref LL_ICACHE_REGION_0
* @arg @ref LL_ICACHE_REGION_1
* @arg @ref LL_ICACHE_REGION_2
* @arg @ref LL_ICACHE_REGION_3
* @retval None
*/
__STATIC_INLINE void LL_ICACHE_EnableRegion(uint32_t Region)
{
SET_BIT(*((__IO uint32_t *)(&(ICACHE->CRR0) + (1U * Region))), \
ICACHE_CRRx_REN);
}
/**
* @brief Disable the remapped memory region.
* @rmtoll CRRx REN LL_ICACHE_DisableRegion
* @param Region This parameter can be one of the following values:
* @arg @ref LL_ICACHE_REGION_0
* @arg @ref LL_ICACHE_REGION_1
* @arg @ref LL_ICACHE_REGION_2
* @arg @ref LL_ICACHE_REGION_3
* @retval None
*/
__STATIC_INLINE void LL_ICACHE_DisableRegion(uint32_t Region)
{
CLEAR_BIT(*((__IO uint32_t *)(&(ICACHE->CRR0) + (1U * Region))), \
ICACHE_CRRx_REN);
}
/**
* @brief Return if remapped memory region is enabled or not.
* @rmtoll CRRx REN LL_ICACHE_IsEnabledRegion
* @param Region This parameter can be one of the following values:
* @arg @ref LL_ICACHE_REGION_0
* @arg @ref LL_ICACHE_REGION_1
* @arg @ref LL_ICACHE_REGION_2
* @arg @ref LL_ICACHE_REGION_3
* @retval State of bit (1 or 0).
*/
__STATIC_INLINE uint32_t LL_ICACHE_IsEnabledRegion(uint32_t Region)
{
return ((READ_BIT(*((__IO uint32_t *)(&(ICACHE->CRR0) + (1U * Region))), \
ICACHE_CRRx_REN) == (ICACHE_CRRx_REN)) ? 1UL : 0UL);
}
/**
* @brief Select the memory remapped region base address.
* @note The useful bits depends on RSIZE as described in the Reference Manual.
* @rmtoll CRRx BASEADDR LL_ICACHE_SetRegionBaseAddress
* @param Region This parameter can be one of the following values:
* @arg @ref LL_ICACHE_REGION_0
* @arg @ref LL_ICACHE_REGION_1
* @arg @ref LL_ICACHE_REGION_2
* @arg @ref LL_ICACHE_REGION_3
* @param Address Alias address in the Code region
* @retval None
*/
__STATIC_INLINE void LL_ICACHE_SetRegionBaseAddress(uint32_t Region, uint32_t Address)
{
MODIFY_REG(*((__IO uint32_t *)(&(ICACHE->CRR0) + (1U * Region))), \
ICACHE_CRRx_BASEADDR, ((Address & 0x1FFFFFFFU) >> 21U));
}
/**
* @brief Get the memory remapped region base address.
* @note The base address is the alias in the Code region.
* @note The useful bits depends on RSIZE as described in the Reference Manual.
* @rmtoll CRRx BASEADDR LL_ICACHE_GetRegionBaseAddress
* @param Region This parameter can be one of the following values:
* @arg @ref LL_ICACHE_REGION_0
* @arg @ref LL_ICACHE_REGION_1
* @arg @ref LL_ICACHE_REGION_2
* @arg @ref LL_ICACHE_REGION_3
* @retval Address Alias address in the Code region
*/
__STATIC_INLINE uint32_t LL_ICACHE_GetRegionBaseAddress(uint32_t Region)
{
return (READ_BIT(*((__IO uint32_t *)(&(ICACHE->CRR0) + (1U * Region))), \
ICACHE_CRRx_BASEADDR) << 21U);
}
/**
* @brief Select the memory remapped region address.
* @note The useful bits depends on RSIZE as described in the Reference Manual.
* @rmtoll CRRx REMAPADDR LL_ICACHE_SetRegionRemapAddress
* @param Region This parameter can be one of the following values:
* @arg @ref LL_ICACHE_REGION_0
* @arg @ref LL_ICACHE_REGION_1
* @arg @ref LL_ICACHE_REGION_2
* @arg @ref LL_ICACHE_REGION_3
* @param Address Memory address to remap
* @retval None
*/
__STATIC_INLINE void LL_ICACHE_SetRegionRemapAddress(uint32_t Region, uint32_t Address)
{
MODIFY_REG(*((__IO uint32_t *)(&(ICACHE->CRR0) + (1U * Region))), \
ICACHE_CRRx_REMAPADDR, ((Address >> 21U) << ICACHE_CRRx_REMAPADDR_Pos));
}
/**
* @brief Get the memory remapped region address.
* @note The useful bits depends on RSIZE as described in the Reference Manual.
* @rmtoll CRRx REMAPADDR LL_ICACHE_GetRegionRemapAddress
* @param Region This parameter can be one of the following values:
* @arg @ref LL_ICACHE_REGION_0
* @arg @ref LL_ICACHE_REGION_1
* @arg @ref LL_ICACHE_REGION_2
* @arg @ref LL_ICACHE_REGION_3
* @retval Address Remapped memory address
*/
__STATIC_INLINE uint32_t LL_ICACHE_GetRegionRemapAddress(uint32_t Region)
{
return ((READ_BIT(*((__IO uint32_t *)(&(ICACHE->CRR0) + (1U * Region))), \
ICACHE_CRRx_REMAPADDR) >> ICACHE_CRRx_REMAPADDR_Pos) << 21U);
}
/**
* @brief Select the memory remapped region size.
* @rmtoll CRRx RSIZE LL_ICACHE_SetRegionSize
* @param Region This parameter can be one of the following values:
* @arg @ref LL_ICACHE_REGION_0
* @arg @ref LL_ICACHE_REGION_1
* @arg @ref LL_ICACHE_REGION_2
* @arg @ref LL_ICACHE_REGION_3
* @param Size This parameter can be one of the following values:
* @arg @ref LL_ICACHE_REGIONSIZE_2MB
* @arg @ref LL_ICACHE_REGIONSIZE_4MB
* @arg @ref LL_ICACHE_REGIONSIZE_8MB
* @arg @ref LL_ICACHE_REGIONSIZE_16MB
* @arg @ref LL_ICACHE_REGIONSIZE_32MB
* @arg @ref LL_ICACHE_REGIONSIZE_64MB
* @arg @ref LL_ICACHE_REGIONSIZE_128MB
* @retval None
*/
__STATIC_INLINE void LL_ICACHE_SetRegionSize(uint32_t Region, uint32_t Size)
{
MODIFY_REG(*((__IO uint32_t *)(&(ICACHE->CRR0) + (1U * Region))), \
ICACHE_CRRx_RSIZE, (Size << ICACHE_CRRx_RSIZE_Pos));
}
/**
* @brief Get the selected the memory remapped region size.
* @rmtoll CRRx RSIZE LL_ICACHE_GetRegionSize
* @param Region This parameter can be one of the following values:
* @arg @ref LL_ICACHE_REGION_0
* @arg @ref LL_ICACHE_REGION_1
* @arg @ref LL_ICACHE_REGION_2
* @arg @ref LL_ICACHE_REGION_3
* @retval Returned value can be one of the following values:
* @arg @ref LL_ICACHE_REGIONSIZE_2MB
* @arg @ref LL_ICACHE_REGIONSIZE_4MB
* @arg @ref LL_ICACHE_REGIONSIZE_8MB
* @arg @ref LL_ICACHE_REGIONSIZE_16MB
* @arg @ref LL_ICACHE_REGIONSIZE_32MB
* @arg @ref LL_ICACHE_REGIONSIZE_64MB
* @arg @ref LL_ICACHE_REGIONSIZE_128MB
*/
__STATIC_INLINE uint32_t LL_ICACHE_GetRegionSize(uint32_t Region)
{
return (READ_BIT(*((__IO uint32_t *)(&(ICACHE->CRR0) + (1U * Region))), \
ICACHE_CRRx_RSIZE) >> ICACHE_CRRx_RSIZE_Pos);
}
/**
* @brief Select the memory remapped region output burst type.
* @rmtoll CRRx HBURST LL_ICACHE_SetRegionOutputBurstType
* @param Region This parameter can be one of the following values:
* @arg @ref LL_ICACHE_REGION_0
* @arg @ref LL_ICACHE_REGION_1
* @arg @ref LL_ICACHE_REGION_2
* @arg @ref LL_ICACHE_REGION_3
* @param Type This parameter can be one of the following values:
* @arg @ref LL_ICACHE_OUTPUT_BURST_WRAP
* @arg @ref LL_ICACHE_OUTPUT_BURST_INCR
* @retval None
*/
__STATIC_INLINE void LL_ICACHE_SetRegionOutputBurstType(uint32_t Region, uint32_t Type)
{
MODIFY_REG(*((__IO uint32_t *)(&(ICACHE->CRR0) + (1U * Region))), \
ICACHE_CRRx_HBURST, Type);
}
/**
* @brief Get the selected the memory remapped region output burst type.
* @rmtoll CRRx HBURST LL_ICACHE_GetRegionOutputBurstType
* @param Region This parameter can be one of the following values:
* @arg @ref LL_ICACHE_REGION_0
* @arg @ref LL_ICACHE_REGION_1
* @arg @ref LL_ICACHE_REGION_2
* @arg @ref LL_ICACHE_REGION_3
* @retval Returned value can be one of the following values:
* @arg @ref LL_ICACHE_OUTPUT_BURST_WRAP
* @arg @ref LL_ICACHE_OUTPUT_BURST_INCR
*/
__STATIC_INLINE uint32_t LL_ICACHE_GetRegionOutputBurstType(uint32_t Region)
{
return (READ_BIT(*((__IO uint32_t *)(&(ICACHE->CRR0) + (1U * Region))), \
ICACHE_CRRx_HBURST));
}
/**
* @brief Select the memory remapped region cache master port.
* @rmtoll CRRx MSTSEL LL_ICACHE_SetRegionMasterPort
* @param Region This parameter can be one of the following values:
* @arg @ref LL_ICACHE_REGION_0
* @arg @ref LL_ICACHE_REGION_1
* @arg @ref LL_ICACHE_REGION_2
* @arg @ref LL_ICACHE_REGION_3
* @param Port This parameter can be one of the following values:
* @arg @ref LL_ICACHE_MASTER1_PORT
* @arg @ref LL_ICACHE_MASTER2_PORT
* @retval None
*/
__STATIC_INLINE void LL_ICACHE_SetRegionMasterPort(uint32_t Region, uint32_t Port)
{
MODIFY_REG(*((__IO uint32_t *)(&(ICACHE->CRR0) + (1U * Region))), \
ICACHE_CRRx_MSTSEL, Port);
}
/**
* @brief Get the selected the memory remapped region cache master port.
* @rmtoll CRRx MSTSEL LL_ICACHE_GetRegionMasterPort
* @param Region This parameter can be one of the following values:
* @arg @ref LL_ICACHE_REGION_0
* @arg @ref LL_ICACHE_REGION_1
* @arg @ref LL_ICACHE_REGION_2
* @arg @ref LL_ICACHE_REGION_3
* @retval Returned value can be one of the following values:
* @arg @ref LL_ICACHE_MASTER1_PORT
* @arg @ref LL_ICACHE_MASTER2_PORT
*/
__STATIC_INLINE uint32_t LL_ICACHE_GetRegionMasterPort(uint32_t Region)
{
return (READ_BIT(*((__IO uint32_t *)(&(ICACHE->CRR0) + (1U * Region))), \
ICACHE_CRRx_MSTSEL));
}
/**
* @}
*/
#if defined(USE_FULL_LL_DRIVER)
/** @defgroup ICACHE_LL_EF_REGION_Init Region Initialization functions
* @{
*/
void LL_ICACHE_ConfigRegion(uint32_t Region, const LL_ICACHE_RegionTypeDef *const pICACHE_RegionStruct);
/**
* @}
*/
#endif /* USE_FULL_LL_DRIVER */
#endif /* ICACHE_CRRx_REN */
/**
* @}
*/
/**
* @}
*/
#endif /* ICACHE */
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* STM32H5xx_LL_ICACHE_H */

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/**
******************************************************************************
* @file stm32h5xx_hal_icache.c
* @author MCD Application Team
* @brief ICACHE HAL module driver.
* This file provides firmware functions to manage the following
* functionalities of the Instruction Cache (ICACHE).
* + Initialization and Configuration
* + Invalidate functions
* + Monitoring management
* + Memory address remap management
******************************************************************************
* @attention
*
* Copyright (c) 2023 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.
*
******************************************************************************
@verbatim
==============================================================================
##### ICACHE main features #####
==============================================================================
[..]
The Instruction Cache (ICACHE) is introduced on C-AHB code bus of
Cortex-M33 processor to improve performance when fetching instruction
and data from both internal and external memories. It allows close to
zero wait states performance.
(+) The ICACHE provides two performance counters (Hit and Miss),
cache invalidate maintenance operation, error management and TrustZone
security support.
(+) The ICACHE provides additionally the possibility to remap input address
falling into up to four memory regions (used to remap aliased code in
external memories to the internal Code region, for execution)
===============================================================================
##### How to use this driver #####
===============================================================================
[..]
The ICACHE HAL driver can be used as follows:
(#) Optionally configure the Instruction Cache mode with
HAL_ICACHE_ConfigAssociativityMode() if the default configuration
does not suit the application requirements.
(#) Enable and disable the Instruction Cache with respectively
HAL_ICACHE_Enable() and HAL_ICACHE_Disable().
Use HAL_ICACHE_IsEnabled() to get the Instruction Cache status.
To ensure a deterministic cache behavior after power on, system reset or after
a call to @ref HAL_ICACHE_Disable(), the application must call
@ref HAL_ICACHE_WaitForInvalidateComplete(). Indeed on power on, system reset
or cache disable, an automatic cache invalidation procedure is launched and the
cache is bypassed until the operation completes.
(#) Initiate the cache maintenance invalidation procedure with either
HAL_ICACHE_Invalidate() (blocking mode) or HAL_ICACHE_Invalidate_IT()
(interrupt mode). When interrupt mode is used, the callback function
HAL_ICACHE_InvalidateCompleteCallback() is called when the invalidate
procedure is complete. The function HAL_ICACHE_WaitForInvalidateComplete()
may be called to wait for the end of the invalidate procedure automatically
initiated when disabling the Instruction Cache with HAL_ICACHE_Disable().
The cache operation is bypassed during the invalidation procedure.
(#) Use the performance monitoring counters for Hit and Miss with the following
functions: HAL_ICACHE_Monitor_Start(), HAL_ICACHE_Monitor_Stop(),
HAL_ICACHE_Monitor_Reset(), HAL_ICACHE_Monitor_GetHitValue() and
HAL_ICACHE_Monitor_GetMissValue()
(#) Enable and disable up to four regions to remap input address from external
memories to the internal Code region for execution with
HAL_ICACHE_EnableRemapRegion() and HAL_ICACHE_DisableRemapRegion()
@endverbatim
*/
/* Includes ------------------------------------------------------------------*/
#include "stm32h5xx_hal.h"
/** @addtogroup STM32H5xx_HAL_Driver
* @{
*/
/** @defgroup ICACHE ICACHE
* @brief HAL ICACHE module driver
* @{
*/
#if defined(ICACHE) && defined (HAL_ICACHE_MODULE_ENABLED)
/* Private typedef -----------------------------------------------------------*/
/* Private constants ---------------------------------------------------------*/
/** @addtogroup ICACHE_Private_Constants ICACHE Private Constants
* @{
*/
#define ICACHE_INVALIDATE_TIMEOUT_VALUE 1U /* 1ms */
#define ICACHE_DISABLE_TIMEOUT_VALUE 1U /* 1ms */
/**
* @}
*/
/* Private macros ------------------------------------------------------------*/
/** @defgroup ICACHE_Private_Macros ICACHE Private Macros
* @{
*/
#define IS_ICACHE_ASSOCIATIVITY_MODE(__MODE__) (((__MODE__) == ICACHE_1WAY) || \
((__MODE__) == ICACHE_2WAYS))
#define IS_ICACHE_MONITOR_TYPE(__TYPE__) (((__TYPE__) == ICACHE_MONITOR_HIT_MISS) || \
((__TYPE__) == ICACHE_MONITOR_HIT) || \
((__TYPE__) == ICACHE_MONITOR_MISS))
#if defined(ICACHE_CRRx_REN)
#define IS_ICACHE_REGION_NUMBER(__NUMBER__) ((__NUMBER__) < 4U)
#define IS_ICACHE_REGION_SIZE(__SIZE__) (((__SIZE__) == ICACHE_REGIONSIZE_2MB) || \
((__SIZE__) == ICACHE_REGIONSIZE_4MB) || \
((__SIZE__) == ICACHE_REGIONSIZE_8MB) || \
((__SIZE__) == ICACHE_REGIONSIZE_16MB) || \
((__SIZE__) == ICACHE_REGIONSIZE_32MB) || \
((__SIZE__) == ICACHE_REGIONSIZE_64MB) || \
((__SIZE__) == ICACHE_REGIONSIZE_128MB))
#define IS_ICACHE_REGION_TRAFFIC_ROUTE(__TRAFFICROUTE__) (((__TRAFFICROUTE__) == ICACHE_MASTER1_PORT) || \
((__TRAFFICROUTE__) == ICACHE_MASTER2_PORT))
#define IS_ICACHE_REGION_OUTPUT_BURST_TYPE(__OUTPUTBURSTTYPE_) (((__OUTPUTBURSTTYPE_) == ICACHE_OUTPUT_BURST_WRAP) || \
((__OUTPUTBURSTTYPE_) == ICACHE_OUTPUT_BURST_INCR))
#endif /* ICACHE_CRRx_REN */
/**
* @}
*/
/* Private variables ---------------------------------------------------------*/
/* Private function prototypes -----------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
/** @defgroup ICACHE_Exported_Functions ICACHE Exported Functions
* @{
*/
/** @defgroup ICACHE_Exported_Functions_Group1 Initialization and control functions
* @brief Initialization and control functions
*
@verbatim
==============================================================================
##### Initialization and control functions #####
==============================================================================
[..]
This section provides functions allowing to initialize and control the
Instruction Cache (mode, invalidate procedure, performance counters).
@endverbatim
* @{
*/
/**
* @brief Configure the Instruction Cache cache associativity mode selection.
* @param AssociativityMode Associativity mode selection
* This parameter can be one of the following values:
* @arg ICACHE_1WAY 1-way cache (direct mapped cache)
* @arg ICACHE_2WAYS 2-ways set associative cache (default)
* @retval HAL status (HAL_OK/HAL_ERROR)
*/
HAL_StatusTypeDef HAL_ICACHE_ConfigAssociativityMode(uint32_t AssociativityMode)
{
HAL_StatusTypeDef status = HAL_OK;
/* Check the parameters */
assert_param(IS_ICACHE_ASSOCIATIVITY_MODE(AssociativityMode));
/* Check cache is not enabled */
if (READ_BIT(ICACHE->CR, ICACHE_CR_EN) != 0U)
{
status = HAL_ERROR;
}
else
{
MODIFY_REG(ICACHE->CR, ICACHE_CR_WAYSEL, AssociativityMode);
}
return status;
}
/**
* @brief DeInitialize the Instruction Cache.
* @retval HAL status (HAL_OK)
*/
HAL_StatusTypeDef HAL_ICACHE_DeInit(void)
{
/* Reset interrupt enable value */
WRITE_REG(ICACHE->IER, 0U);
/* Clear any pending flags */
WRITE_REG(ICACHE->FCR, ICACHE_FCR_CBSYENDF | ICACHE_FCR_CERRF);
/* Disable cache then set default associative mode value */
CLEAR_BIT(ICACHE->CR, ICACHE_CR_EN);
WRITE_REG(ICACHE->CR, ICACHE_CR_WAYSEL);
/* Stop monitor and reset monitor values */
CLEAR_BIT(ICACHE->CR, ICACHE_MONITOR_HIT_MISS);
SET_BIT(ICACHE->CR, (ICACHE_MONITOR_HIT_MISS << 2U));
CLEAR_BIT(ICACHE->CR, (ICACHE_MONITOR_HIT_MISS << 2U));
#if defined(ICACHE_CRRx_REN)
/* Reset regions configuration values */
WRITE_REG(ICACHE->CRR0, ICACHE_REGIONSIZE_2MB << ICACHE_CRRx_RSIZE_Pos);
WRITE_REG(ICACHE->CRR1, ICACHE_REGIONSIZE_2MB << ICACHE_CRRx_RSIZE_Pos);
WRITE_REG(ICACHE->CRR2, ICACHE_REGIONSIZE_2MB << ICACHE_CRRx_RSIZE_Pos);
WRITE_REG(ICACHE->CRR3, ICACHE_REGIONSIZE_2MB << ICACHE_CRRx_RSIZE_Pos);
#endif /* ICACHE_CRRx_REN */
return HAL_OK;
}
/**
* @brief Enable the Instruction Cache.
* @note This function always returns HAL_OK even if there is any ongoing
* cache operation. The Instruction Cache is bypassed until the
* cache operation completes.
* @retval HAL status (HAL_OK)
*/
HAL_StatusTypeDef HAL_ICACHE_Enable(void)
{
SET_BIT(ICACHE->CR, ICACHE_CR_EN);
return HAL_OK;
}
/**
* @brief Disable the Instruction Cache.
* @note This function waits for the cache being disabled but
* not for the end of the automatic cache invalidation procedure.
* @retval HAL status (HAL_OK/HAL_TIMEOUT)
*/
HAL_StatusTypeDef HAL_ICACHE_Disable(void)
{
HAL_StatusTypeDef status = HAL_OK;
uint32_t tickstart;
/* Make sure BSYENDF is reset before to disable the instruction cache */
/* as it automatically starts a cache invalidation procedure */
WRITE_REG(ICACHE->FCR, ICACHE_FCR_CBSYENDF);
CLEAR_BIT(ICACHE->CR, ICACHE_CR_EN);
/* Get tick */
tickstart = HAL_GetTick();
/* Wait for instruction cache being disabled */
while (READ_BIT(ICACHE->CR, ICACHE_CR_EN) != 0U)
{
if ((HAL_GetTick() - tickstart) > ICACHE_DISABLE_TIMEOUT_VALUE)
{
/* New check to avoid false timeout detection in case of preemption */
if (READ_BIT(ICACHE->CR, ICACHE_CR_EN) != 0U)
{
status = HAL_TIMEOUT;
break;
}
}
}
return status;
}
/**
* @brief Check whether the Instruction Cache is enabled or not.
* @retval Status (0: disabled, 1: enabled)
*/
uint32_t HAL_ICACHE_IsEnabled(void)
{
return ((READ_BIT(ICACHE->CR, ICACHE_CR_EN) != 0U) ? 1UL : 0UL);
}
/**
* @brief Invalidate the Instruction Cache.
* @note This function waits for the end of cache invalidation procedure
* and clears the associated BSYENDF flag.
* @retval HAL status (HAL_OK/HAL_ERROR/HAL_TIMEOUT)
*/
HAL_StatusTypeDef HAL_ICACHE_Invalidate(void)
{
HAL_StatusTypeDef status;
/* Check if no ongoing operation */
if (READ_BIT(ICACHE->SR, ICACHE_SR_BUSYF) == 0U)
{
/* Launch cache invalidation */
SET_BIT(ICACHE->CR, ICACHE_CR_CACHEINV);
}
status = HAL_ICACHE_WaitForInvalidateComplete();
return status;
}
/**
* @brief Invalidate the Instruction Cache with interrupt.
* @note This function launches cache invalidation and returns.
* User application shall resort to interrupt generation to check
* the end of the cache invalidation with the BSYENDF flag and the
* HAL_ICACHE_InvalidateCompleteCallback() callback.
* @retval HAL status (HAL_OK/HAL_ERROR)
*/
HAL_StatusTypeDef HAL_ICACHE_Invalidate_IT(void)
{
HAL_StatusTypeDef status = HAL_OK;
/* Check no ongoing operation */
if (READ_BIT(ICACHE->SR, ICACHE_SR_BUSYF) != 0U)
{
status = HAL_ERROR;
}
else
{
/* Make sure BSYENDF is reset before to start cache invalidation */
WRITE_REG(ICACHE->FCR, ICACHE_FCR_CBSYENDF);
/* Enable end of cache invalidation interrupt */
SET_BIT(ICACHE->IER, ICACHE_IER_BSYENDIE);
/* Launch cache invalidation */
SET_BIT(ICACHE->CR, ICACHE_CR_CACHEINV);
}
return status;
}
/**
* @brief Wait for the end of the Instruction Cache invalidate procedure.
* @note This function checks and clears the BSYENDF flag when set.
* @retval HAL status (HAL_OK/HAL_TIMEOUT)
*/
HAL_StatusTypeDef HAL_ICACHE_WaitForInvalidateComplete(void)
{
HAL_StatusTypeDef status = HAL_OK;
uint32_t tickstart;
/* Check if ongoing invalidation operation */
if (READ_BIT(ICACHE->SR, ICACHE_SR_BUSYF) != 0U)
{
/* Get tick */
tickstart = HAL_GetTick();
/* Wait for end of cache invalidation */
while (READ_BIT(ICACHE->SR, ICACHE_SR_BSYENDF) == 0U)
{
if ((HAL_GetTick() - tickstart) > ICACHE_INVALIDATE_TIMEOUT_VALUE)
{
/* New check to avoid false timeout detection in case of preemption */
if (READ_BIT(ICACHE->SR, ICACHE_SR_BSYENDF) == 0U)
{
status = HAL_TIMEOUT;
break;
}
}
}
}
/* Clear BSYENDF */
WRITE_REG(ICACHE->FCR, ICACHE_FCR_CBSYENDF);
return status;
}
/**
* @brief Start the Instruction Cache performance monitoring.
* @param MonitorType Monitoring type
* This parameter can be one of the following values:
* @arg ICACHE_MONITOR_HIT_MISS Hit & Miss monitoring
* @arg ICACHE_MONITOR_HIT Hit monitoring
* @arg ICACHE_MONITOR_MISS Miss monitoring
* @retval HAL status (HAL_OK)
*/
HAL_StatusTypeDef HAL_ICACHE_Monitor_Start(uint32_t MonitorType)
{
/* Check the parameters */
assert_param(IS_ICACHE_MONITOR_TYPE(MonitorType));
SET_BIT(ICACHE->CR, MonitorType);
return HAL_OK;
}
/**
* @brief Stop the Instruction Cache performance monitoring.
* @note Stopping the monitoring does not reset the values.
* @param MonitorType Monitoring type
* This parameter can be one of the following values:
* @arg ICACHE_MONITOR_HIT_MISS Hit & Miss monitoring
* @arg ICACHE_MONITOR_HIT Hit monitoring
* @arg ICACHE_MONITOR_MISS Miss monitoring
* @retval HAL status (HAL_OK)
*/
HAL_StatusTypeDef HAL_ICACHE_Monitor_Stop(uint32_t MonitorType)
{
/* Check the parameters */
assert_param(IS_ICACHE_MONITOR_TYPE(MonitorType));
CLEAR_BIT(ICACHE->CR, MonitorType);
return HAL_OK;
}
/**
* @brief Reset the Instruction Cache performance monitoring values.
* @param MonitorType Monitoring type
* This parameter can be one of the following values:
* @arg ICACHE_MONITOR_HIT_MISS Hit & Miss monitoring
* @arg ICACHE_MONITOR_HIT Hit monitoring
* @arg ICACHE_MONITOR_MISS Miss monitoring
* @retval HAL status (HAL_OK)
*/
HAL_StatusTypeDef HAL_ICACHE_Monitor_Reset(uint32_t MonitorType)
{
/* Check the parameters */
assert_param(IS_ICACHE_MONITOR_TYPE(MonitorType));
/* Force/Release reset */
SET_BIT(ICACHE->CR, (MonitorType << 2U));
CLEAR_BIT(ICACHE->CR, (MonitorType << 2U));
return HAL_OK;
}
/**
* @brief Get the Instruction Cache performance Hit monitoring value.
* @note Upon reaching the 32-bit maximum value, monitor does not wrap.
* @retval Hit monitoring value
*/
uint32_t HAL_ICACHE_Monitor_GetHitValue(void)
{
return (ICACHE->HMONR);
}
/**
* @brief Get the Instruction Cache performance Miss monitoring value.
* @note Upon reaching the 32-bit maximum value, monitor does not wrap.
* @retval Miss monitoring value
*/
uint32_t HAL_ICACHE_Monitor_GetMissValue(void)
{
return (ICACHE->MMONR);
}
/**
* @}
*/
/** @defgroup ICACHE_Exported_Functions_Group2 IRQ and callback functions
* @brief IRQ and callback functions
*
@verbatim
==============================================================================
##### IRQ and callback functions #####
==============================================================================
[..]
This section provides functions allowing to handle ICACHE global interrupt
and the associated callback functions.
@endverbatim
* @{
*/
/**
* @brief Handle the Instruction Cache interrupt request.
* @note This function should be called under the ICACHE_IRQHandler().
* @note This function respectively disables the interrupt and clears the
* flag of any pending flag before calling the associated user callback.
* @retval None
*/
void HAL_ICACHE_IRQHandler(void)
{
/* Get current interrupt flags and interrupt sources value */
uint32_t itflags = READ_REG(ICACHE->SR);
uint32_t itsources = READ_REG(ICACHE->IER);
/* Check Instruction cache Error interrupt flag */
if (((itflags & itsources) & ICACHE_FLAG_ERROR) != 0U)
{
/* Disable error interrupt */
CLEAR_BIT(ICACHE->IER, ICACHE_IER_ERRIE);
/* Clear ERR pending flag */
WRITE_REG(ICACHE->FCR, ICACHE_FCR_CERRF);
/* Instruction cache error interrupt user callback */
HAL_ICACHE_ErrorCallback();
}
/* Check Instruction cache BusyEnd interrupt flag */
if (((itflags & itsources) & ICACHE_FLAG_BUSYEND) != 0U)
{
/* Disable end of cache invalidation interrupt */
CLEAR_BIT(ICACHE->IER, ICACHE_IER_BSYENDIE);
/* Clear BSYENDF pending flag */
WRITE_REG(ICACHE->FCR, ICACHE_FCR_CBSYENDF);
/* Instruction cache busyend interrupt user callback */
HAL_ICACHE_InvalidateCompleteCallback();
}
}
/**
* @brief Cache invalidation complete callback.
*/
__weak void HAL_ICACHE_InvalidateCompleteCallback(void)
{
/* NOTE : This function should not be modified, when the callback is needed,
the HAL_ICACHE_InvalidateCompleteCallback() should be implemented in the user file
*/
}
/**
* @brief Error callback.
*/
__weak void HAL_ICACHE_ErrorCallback(void)
{
/* NOTE : This function should not be modified, when the callback is needed,
the HAL_ICACHE_ErrorCallback() should be implemented in the user file
*/
}
/**
* @}
*/
#if defined(ICACHE_CRRx_REN)
/** @defgroup ICACHE_Exported_Functions_Group3 Memory remapped regions functions
* @brief Memory remapped regions functions
*
@verbatim
==============================================================================
##### Memory remapped regions functions #####
==============================================================================
[..]
This section provides functions allowing to manage the remapping of
external memories to internal Code for execution.
@endverbatim
* @{
*/
/**
* @brief Configure and enable a region for memory remapping.
* @note The Instruction Cache and the region must be disabled.
* @param Region Region number
This parameter can be a value of @arg @ref ICACHE_Region
* @param pRegionConfig Pointer to structure of ICACHE region configuration parameters
* @retval HAL status (HAL_OK/HAL_ERROR)
*/
HAL_StatusTypeDef HAL_ICACHE_EnableRemapRegion(uint32_t Region, const ICACHE_RegionConfigTypeDef *const pRegionConfig)
{
HAL_StatusTypeDef status = HAL_OK;
__IO uint32_t *p_reg;
uint32_t value;
/* Check the parameters */
assert_param(IS_ICACHE_REGION_NUMBER(Region));
assert_param(IS_ICACHE_REGION_SIZE(pRegionConfig->Size));
assert_param(IS_ICACHE_REGION_TRAFFIC_ROUTE(pRegionConfig->TrafficRoute));
assert_param(IS_ICACHE_REGION_OUTPUT_BURST_TYPE(pRegionConfig->OutputBurstType));
/* Check cache is not enabled */
if (READ_BIT(ICACHE->CR, ICACHE_CR_EN) != 0U)
{
status = HAL_ERROR;
}
else
{
/* Get region control register address */
p_reg = &(ICACHE->CRR0) + (1U * Region);
/* Check region is not already enabled */
if ((*p_reg & ICACHE_CRRx_REN) != 0U)
{
status = HAL_ERROR;
}
else
{
/* Region 2MB: BaseAddress size 8 bits, RemapAddress size 11 bits */
/* Region 4MB: BaseAddress size 7 bits, RemapAddress size 10 bits */
/* Region 8MB: BaseAddress size 6 bits, RemapAddress size 9 bits */
/* Region 16MB: BaseAddress size 5 bits, RemapAddress size 8 bits */
/* Region 32MB: BaseAddress size 4 bits, RemapAddress size 7 bits */
/* Region 64MB: BaseAddress size 3 bits, RemapAddress size 6 bits */
/* Region 128MB: BaseAddress size 2 bits, RemapAddress size 5 bits */
value = ((pRegionConfig->BaseAddress & 0x1FFFFFFFU) >> 21U) & \
(0xFFU & ~(pRegionConfig->Size - 1U));
value |= ((pRegionConfig->RemapAddress >> 5U) & \
((uint32_t)(0x7FFU & ~(pRegionConfig->Size - 1U)) << ICACHE_CRRx_REMAPADDR_Pos));
value |= (pRegionConfig->Size << ICACHE_CRRx_RSIZE_Pos) | pRegionConfig->TrafficRoute | \
pRegionConfig->OutputBurstType;
*p_reg = (value | ICACHE_CRRx_REN);
}
}
return status;
}
/**
* @brief Disable the memory remapping for a predefined region.
* @param Region Region number
This parameter can be a value of @arg @ref ICACHE_Region
* @retval HAL status (HAL_OK/HAL_ERROR)
*/
HAL_StatusTypeDef HAL_ICACHE_DisableRemapRegion(uint32_t Region)
{
HAL_StatusTypeDef status = HAL_OK;
__IO uint32_t *p_reg;
/* Check the parameters */
assert_param(IS_ICACHE_REGION_NUMBER(Region));
/* Check cache is not enabled */
if (READ_BIT(ICACHE->CR, ICACHE_CR_EN) != 0U)
{
status = HAL_ERROR;
}
else
{
/* Get region control register address */
p_reg = &(ICACHE->CRR0) + (1U * Region);
*p_reg &= ~ICACHE_CRRx_REN;
}
return status;
}
/**
* @}
*/
#endif /* ICACHE_CRRx_REN */
/**
* @}
*/
#endif /* ICACHE && HAL_ICACHE_MODULE_ENABLED */
/**
* @}
*/
/**
* @}
*/

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"d:\\advance_stick\\AutoGuideStick\\Drivers\\CMSIS\\Device\\ST\\STM32H5xx\\Include",
"d:\\advance_stick\\AutoGuideStick\\Middlewares\\ST\\threadx\\ports\\cortex_m33\\ac6\\inc",
"d:\\advance_stick\\AutoGuideStick\\Drivers\\CMSIS\\Include",
"d:\\advance_stick\\AutoGuideStick\\fun",
"D:\\keil5\\ARM\\ARMCLANG\\include",
"D:\\keil5\\ARM\\ARMCLANG\\include\\arm_linux",
"D:\\keil5\\ARM\\ARMCLANG\\include\\arm_linux_compat",

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[info] Log at : 2025/6/4|21:10:03|GMT+0800
[info] Log at : 2025/6/6|21:03:44|GMT+0800
[info] Log at : 2025/6/7|15:16:44|GMT+0800
[info] Log at : 2025/6/7|16:13:28|GMT+0800
[info] Log at : 2025/6/7|22:48:28|GMT+0800
[info] Log at : 2025/6/7|22:48:50|GMT+0800
[info] Log at : 2025/6/7|23:59:46|GMT+0800
[info] Log at : 2025/6/8|20:26:47|GMT+0800
[info] Log at : 2025/6/8|20:30:10|GMT+0800
[info] Log at : 2025/6/8|20:31:15|GMT+0800
[info] Log at : 2025/6/8|20:32:47|GMT+0800
[info] project closed: AutoGuideStick
[info] Log at : 2025/6/8|20:33:15|GMT+0800
[info] Log at : 2025/6/8|20:34:25|GMT+0800
[info] project closed: AutoGuideStick
[info] Log at : 2025/6/8|20:51:48|GMT+0800
[info] project closed: AutoGuideStick
[info] Log at : 2025/6/8|20:57:54|GMT+0800
[info] Log at : 2025/6/8|21:00:00|GMT+0800
[info] Log at : 2025/6/9|21:24:00|GMT+0800
[info] Log at : 2025/6/9|21:25:14|GMT+0800
[info] Log at : 2025/6/9|21:25:19|GMT+0800
[info] Log at : 2025/6/9|21:52:22|GMT+0800

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*** Using Compiler 'V6.21', folder: 'D:\keil5\ARM\ARMCLANG\Bin'
Build target 'AutoGuideStick'
compiling memorymap.c...
compiling app_azure_rtos.c...
compiling gpdma.c...
compiling usart.c...
compiling gpio.c...
compiling stm32h5xx_hal_tim_ex.c...
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compiling main.c...
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compiling tx_mutex_cleanup.c...
compiling tx_mutex_create.c...
compiling tx_mutex_delete.c...
compiling tx_mutex_get.c...
compiling tx_mutex_info_get.c...
compiling tx_mutex_initialize.c...
compiling tx_mutex_prioritize.c...
compiling tx_mutex_priority_change.c...
compiling tx_mutex_put.c...
compiling tx_queue_cleanup.c...
compiling tx_queue_create.c...
compiling tx_queue_delete.c...
compiling tx_queue_flush.c...
compiling tx_queue_front_send.c...
compiling tx_queue_info_get.c...
compiling tx_queue_initialize.c...
compiling tx_queue_prioritize.c...
compiling tx_queue_receive.c...
compiling tx_queue_send.c...
compiling tx_queue_send_notify.c...
compiling tx_semaphore_ceiling_put.c...
compiling tx_semaphore_cleanup.c...
compiling tx_semaphore_create.c...
compiling tx_semaphore_delete.c...
compiling tx_semaphore_get.c...
compiling tx_semaphore_info_get.c...
compiling tx_semaphore_initialize.c...
compiling tx_semaphore_prioritize.c...
compiling tx_semaphore_put.c...
compiling tx_semaphore_put_notify.c...
compiling tx_thread_create.c...
compiling tx_thread_delete.c...
compiling tx_thread_entry_exit_notify.c...
compiling tx_thread_identify.c...
compiling tx_thread_info_get.c...
compiling tx_thread_initialize.c...
compiling tx_thread_preemption_change.c...
compiling tx_thread_priority_change.c...
compiling tx_thread_relinquish.c...
compiling tx_thread_reset.c...
compiling tx_thread_shell_entry.c...
compiling tx_thread_resume.c...
compiling tx_thread_sleep.c...
compiling tx_thread_stack_analyze.c...
compiling tx_thread_suspend.c...
compiling tx_thread_system_preempt_check.c...
compiling tx_thread_system_suspend.c...
compiling tx_thread_terminate.c...
compiling tx_thread_time_slice.c...
compiling tx_thread_time_slice_change.c...
compiling tx_thread_timeout.c...
compiling tx_thread_wait_abort.c...
compiling tx_time_get.c...
compiling tx_time_set.c...
compiling txe_block_allocate.c...
compiling txe_block_pool_create.c...
compiling txe_block_pool_delete.c...
compiling txe_block_pool_info_get.c...
compiling txe_block_pool_prioritize.c...
compiling txe_block_release.c...
compiling txe_byte_allocate.c...
compiling txe_byte_pool_create.c...
compiling txe_byte_pool_delete.c...
compiling txe_byte_pool_info_get.c...
compiling txe_byte_pool_prioritize.c...
compiling txe_byte_release.c...
compiling txe_event_flags_create.c...
compiling txe_event_flags_delete.c...
compiling txe_event_flags_get.c...
compiling txe_event_flags_info_get.c...
compiling txe_event_flags_set.c...
compiling txe_event_flags_set_notify.c...
compiling txe_mutex_create.c...
compiling txe_mutex_delete.c...
compiling txe_mutex_get.c...
compiling txe_mutex_info_get.c...
compiling txe_mutex_prioritize.c...
compiling txe_mutex_put.c...
compiling txe_queue_create.c...
compiling txe_queue_delete.c...
compiling txe_queue_flush.c...
compiling txe_queue_front_send.c...
compiling txe_queue_info_get.c...
compiling txe_queue_prioritize.c...
compiling txe_queue_receive.c...
compiling txe_queue_send.c...
compiling txe_queue_send_notify.c...
compiling txe_semaphore_ceiling_put.c...
compiling txe_semaphore_create.c...
compiling txe_semaphore_delete.c...
compiling txe_semaphore_get.c...
compiling txe_semaphore_info_get.c...
compiling txe_semaphore_prioritize.c...
compiling txe_semaphore_put.c...
compiling txe_semaphore_put_notify.c...
compiling txe_thread_create.c...
compiling txe_thread_delete.c...
compiling txe_thread_entry_exit_notify.c...
compiling txe_thread_info_get.c...
compiling txe_thread_preemption_change.c...
compiling txe_thread_priority_change.c...
compiling txe_thread_relinquish.c...
compiling txe_thread_reset.c...
compiling txe_thread_resume.c...
compiling txe_thread_suspend.c...
compiling txe_thread_terminate.c...
compiling txe_thread_time_slice_change.c...
compiling txe_thread_wait_abort.c...
compiling tx_timer_activate.c...
compiling tx_timer_change.c...
compiling tx_timer_create.c...
compiling tx_timer_deactivate.c...
compiling tx_timer_delete.c...
compiling tx_timer_expiration_process.c...
compiling tx_timer_info_get.c...
compiling tx_timer_initialize.c...
compiling tx_timer_system_activate.c...
compiling tx_timer_system_deactivate.c...
compiling tx_timer_thread_entry.c...
compiling txe_timer_activate.c...
compiling txe_timer_change.c...
compiling txe_timer_create.c...
compiling txe_timer_deactivate.c...
compiling txe_timer_delete.c...
compiling txe_timer_info_get.c...
compiling HCBle.c...
linking...
Program Size: Code=54718 RO-data=726 RW-data=16 ZI-data=5296
FromELF: creating hex file...
"AutoGuideStick\AutoGuideStick.axf" - 0 Error(s), 0 Warning(s).
Build Time Elapsed: 00:00:24

1
MDK-ARM/.vscode/uv4.log.lock vendored
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@@ -0,0 +1 @@
2025/6/9 21:28:26

3700
MDK-ARM/AutoGuideStick.uvguix.madao Normal file
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3161
MDK-ARM/AutoGuideStick.uvoptx
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File diff suppressed because it is too large Load Diff

541
MDK-ARM/AutoGuideStick.uvprojx
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@@ -1,41 +1,46 @@
<?xml version="1.0" encoding="UTF-8"?>
<Project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" noNamespaceSchemaLocation="project_projx.xsd">
<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
<Project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_projx.xsd">
<SchemaVersion>2.1</SchemaVersion>
<Header>### uVision Project, (C) Keil Software</Header>
<Targets>
<Target>
<TargetName>AutoGuideStick</TargetName>
<ToolsetNumber>0x4</ToolsetNumber>
<ToolsetName>ARM-ADS</ToolsetName>
<pCCUsed>6140001::V6.14.1::ARMCLANG</pCCUsed>
<pCCUsed>6210000::V6.21::ARMCLANG</pCCUsed>
<uAC6>1</uAC6>
<TargetOption>
<TargetCommonOption>
<Device>STM32H563ZITx</Device>
<Vendor>STMicroelectronics</Vendor>
<PackID>Keil.STM32H5xx_DFP.1.3.0</PackID>
<PackURL>https://www.keil.com/pack/</PackURL>
<Cpu>IRAM(0x20000000-0x2009FFFF) IROM(0x08000000-0x81FFFFF) CLOCK(8000000) FPU3(SFPU) CPUTYPE("Cortex-M33") ELITTLE TZ DSP</Cpu>
<FlashUtilSpec />
<StartupFile />
<FlashDriverDll />
<FlashUtilSpec></FlashUtilSpec>
<StartupFile></StartupFile>
<FlashDriverDll></FlashDriverDll>
<DeviceId>0</DeviceId>
<RegisterFile />
<MemoryEnv />
<Cmp />
<Asm />
<Linker />
<OHString />
<InfinionOptionDll />
<SLE66CMisc />
<SLE66AMisc />
<SLE66LinkerMisc />
<SFDFile />
<RegisterFile></RegisterFile>
<MemoryEnv></MemoryEnv>
<Cmp></Cmp>
<Asm></Asm>
<Linker></Linker>
<OHString></OHString>
<InfinionOptionDll></InfinionOptionDll>
<SLE66CMisc></SLE66CMisc>
<SLE66AMisc></SLE66AMisc>
<SLE66LinkerMisc></SLE66LinkerMisc>
<SFDFile>$$Device:STM32H563ZITx$CMSIS\SVD\STM32H563.svd</SFDFile>
<bCustSvd>0</bCustSvd>
<UseEnv>0</UseEnv>
<BinPath />
<IncludePath />
<LibPath />
<RegisterFilePath />
<DBRegisterFilePath />
<BinPath></BinPath>
<IncludePath></IncludePath>
<LibPath></LibPath>
<RegisterFilePath></RegisterFilePath>
<DBRegisterFilePath></DBRegisterFilePath>
<TargetStatus>
<Error>0</Error>
<ExitCodeStop>0</ExitCodeStop>
@@ -50,15 +55,15 @@
<CreateHexFile>1</CreateHexFile>
<DebugInformation>1</DebugInformation>
<BrowseInformation>1</BrowseInformation>
<ListingPath>./AutoGuideStick/</ListingPath>
<ListingPath></ListingPath>
<HexFormatSelection>1</HexFormatSelection>
<Merge32K>0</Merge32K>
<CreateBatchFile>0</CreateBatchFile>
<BeforeCompile>
<RunUserProg1>0</RunUserProg1>
<RunUserProg2>0</RunUserProg2>
<UserProg1Name />
<UserProg2Name />
<UserProg1Name></UserProg1Name>
<UserProg2Name></UserProg2Name>
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
<nStopU1X>0</nStopU1X>
@@ -67,8 +72,8 @@
<BeforeMake>
<RunUserProg1>0</RunUserProg1>
<RunUserProg2>0</RunUserProg2>
<UserProg1Name />
<UserProg2Name />
<UserProg1Name></UserProg1Name>
<UserProg2Name></UserProg2Name>
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
<nStopB1X>0</nStopB1X>
@@ -77,15 +82,15 @@
<AfterMake>
<RunUserProg1>0</RunUserProg1>
<RunUserProg2>1</RunUserProg2>
<UserProg1Name />
<UserProg2Name />
<UserProg1Name></UserProg1Name>
<UserProg2Name></UserProg2Name>
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
<nStopA1X>0</nStopA1X>
<nStopA2X>0</nStopA2X>
</AfterMake>
<SelectedForBatchBuild>1</SelectedForBatchBuild>
<SVCSIdString />
<SVCSIdString></SVCSIdString>
</TargetCommonOption>
<CommonProperty>
<UseCPPCompiler>0</UseCPPCompiler>
@@ -99,15 +104,15 @@
<AssembleAssemblyFile>0</AssembleAssemblyFile>
<PublicsOnly>0</PublicsOnly>
<StopOnExitCode>3</StopOnExitCode>
<CustomArgument />
<IncludeLibraryModules />
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>0</ComprImg>
</CommonProperty>
<DllOption>
<SimDllName />
<SimDllArguments />
<SimDlgDll />
<SimDlgDllArguments />
<SimDllName></SimDllName>
<SimDllArguments></SimDllArguments>
<SimDlgDll></SimDlgDll>
<SimDlgDllArguments></SimDlgDllArguments>
<TargetDllName>SARMV8M.DLL</TargetDllName>
<TargetDllArguments>-MPU</TargetDllArguments>
<TargetDlgDll>TCM.DLL</TargetDlgDll>
@@ -133,11 +138,11 @@
</Flash1>
<bUseTDR>1</bUseTDR>
<Flash2>BIN\UL2V8M.DLL</Flash2>
<Flash3 />
<Flash4 />
<pFcarmOut />
<pFcarmGrp />
<pFcArmRoot />
<Flash3>"" ()</Flash3>
<Flash4></Flash4>
<pFcarmOut></pFcarmOut>
<pFcarmGrp></pFcarmGrp>
<pFcArmRoot></pFcArmRoot>
<FcArmLst>0</FcArmLst>
</Utilities>
<TargetArmAds>
@@ -170,7 +175,7 @@
<RvctClst>0</RvctClst>
<GenPPlst>0</GenPPlst>
<AdsCpuType>"Cortex-M33"</AdsCpuType>
<RvctDeviceName />
<RvctDeviceName></RvctDeviceName>
<mOS>0</mOS>
<uocRom>0</uocRom>
<uocRam>0</uocRam>
@@ -181,10 +186,11 @@
<RvdsVP>2</RvdsVP>
<RvdsMve>0</RvdsMve>
<RvdsCdeCp>0</RvdsCdeCp>
<nBranchProt>0</nBranchProt>
<hadIRAM2>0</hadIRAM2>
<hadIROM2>1</hadIROM2>
<hadIROM2>0</hadIROM2>
<StupSel>8</StupSel>
<useUlib>0</useUlib>
<useUlib>1</useUlib>
<EndSel>0</EndSel>
<uLtcg>0</uLtcg>
<nSecure>0</nSecure>
@@ -201,7 +207,7 @@
<Ro2Chk>0</Ro2Chk>
<Ro3Chk>0</Ro3Chk>
<Ir1Chk>1</Ir1Chk>
<Ir2Chk>1</Ir2Chk>
<Ir2Chk>0</Ir2Chk>
<Ra1Chk>0</Ra1Chk>
<Ra2Chk>0</Ra2Chk>
<Ra3Chk>0</Ra3Chk>
@@ -240,13 +246,13 @@
</Ocm6>
<IRAM>
<Type>0</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
<StartAddress>0x20000000</StartAddress>
<Size>0xa0000</Size>
</IRAM>
<IROM>
<Type>1</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
<StartAddress>0x8000000</StartAddress>
<Size>0x200000</Size>
</IROM>
<XRAM>
<Type>0</Type>
@@ -270,8 +276,8 @@
</OCR_RVCT3>
<OCR_RVCT4>
<Type>1</Type>
<StartAddress />
<Size />
<StartAddress>0x8000000</StartAddress>
<Size>0x200000</Size>
</OCR_RVCT4>
<OCR_RVCT5>
<Type>1</Type>
@@ -295,8 +301,8 @@
</OCR_RVCT8>
<OCR_RVCT9>
<Type>0</Type>
<StartAddress />
<Size />
<StartAddress>0x20000000</StartAddress>
<Size>0xa0000</Size>
</OCR_RVCT9>
<OCR_RVCT10>
<Type>0</Type>
@@ -304,11 +310,11 @@
<Size>0x0</Size>
</OCR_RVCT10>
</OnChipMemories>
<RvctStartVector />
<RvctStartVector></RvctStartVector>
</ArmAdsMisc>
<Cads>
<interw>1</interw>
<Optim>4</Optim>
<Optim>1</Optim>
<oTime>0</oTime>
<SplitLS>0</SplitLS>
<OneElfS>1</OneElfS>
@@ -331,10 +337,10 @@
<v6WtE>0</v6WtE>
<v6Rtti>0</v6Rtti>
<VariousControls>
<MiscControls />
<MiscControls></MiscControls>
<Define>TX_INCLUDE_USER_DEFINE_FILE,TX_SINGLE_MODE_NON_SECURE=1,USE_HAL_DRIVER,STM32H563xx</Define>
<Undefine />
<IncludePath>../Core/Inc;../AZURE_RTOS/App;../Drivers/STM32H5xx_HAL_Driver/Inc;../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy;../Middlewares/ST/threadx/common/inc;../Drivers/CMSIS/Device/ST/STM32H5xx/Include;../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc;../Drivers/CMSIS/Include</IncludePath>
<Undefine></Undefine>
<IncludePath>../Core/Inc;../AZURE_RTOS/App;../Drivers/STM32H5xx_HAL_Driver/Inc;../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy;../Middlewares/ST/threadx/common/inc;../Drivers/CMSIS/Device/ST/STM32H5xx/Include;../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc;../Drivers/CMSIS/Include;../fun</IncludePath>
</VariousControls>
</Cads>
<Aads>
@@ -349,9 +355,9 @@
<useXO>0</useXO>
<ClangAsOpt>1</ClangAsOpt>
<VariousControls>
<MiscControls />
<MiscControls></MiscControls>
<Define>TX_SINGLE_MODE_NON_SECURE=1</Define>
<Undefine />
<Undefine></Undefine>
<IncludePath>../Core/Inc;../AZURE_RTOS/App;../Drivers/STM32H5xx_HAL_Driver/Inc;../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy;../Middlewares/ST/threadx/common/inc;../Drivers/CMSIS/Device/ST/STM32H5xx/Include;../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc;../Drivers/CMSIS/Include</IncludePath>
</VariousControls>
</Aads>
@@ -362,15 +368,15 @@
<noStLib>0</noStLib>
<RepFail>1</RepFail>
<useFile>0</useFile>
<TextAddressRange />
<DataAddressRange />
<pXoBase />
<ScatterFile />
<IncludeLibs />
<IncludeLibsPath />
<Misc />
<LinkerInputFile />
<DisabledWarnings />
<TextAddressRange></TextAddressRange>
<DataAddressRange></DataAddressRange>
<pXoBase></pXoBase>
<ScatterFile></ScatterFile>
<IncludeLibs></IncludeLibs>
<IncludeLibsPath></IncludeLibsPath>
<Misc></Misc>
<LinkerInputFile></LinkerInputFile>
<DisabledWarnings></DisabledWarnings>
</LDads>
</TargetArmAds>
</TargetOption>
@@ -404,9 +410,60 @@
<FilePath>../Core/Src/gpio.c</FilePath>
</File>
<File>
<FileName>icache.c</FileName>
<FileName>gpdma.c</FileName>
<FileType>1</FileType>
<FilePath>../Core/Src/icache.c</FilePath>
<FilePath>../Core/Src/gpdma.c</FilePath>
<FileOption>
<CommonProperty>
<UseCPPCompiler>2</UseCPPCompiler>
<RVCTCodeConst>0</RVCTCodeConst>
<RVCTZI>0</RVCTZI>
<RVCTOtherData>0</RVCTOtherData>
<ModuleSelection>0</ModuleSelection>
<IncludeInBuild>1</IncludeInBuild>
<AlwaysBuild>2</AlwaysBuild>
<GenerateAssemblyFile>2</GenerateAssemblyFile>
<AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty>
<FileArmAds>
<Cads>
<interw>2</interw>
<Optim>0</Optim>
<oTime>2</oTime>
<SplitLS>2</SplitLS>
<OneElfS>2</OneElfS>
<Strict>2</Strict>
<EnumInt>2</EnumInt>
<PlainCh>2</PlainCh>
<Ropi>2</Ropi>
<Rwpi>2</Rwpi>
<wLevel>0</wLevel>
<uThumb>2</uThumb>
<uSurpInc>2</uSurpInc>
<uC99>2</uC99>
<uGnu>2</uGnu>
<useXO>2</useXO>
<v6Lang>0</v6Lang>
<v6LangP>0</v6LangP>
<vShortEn>2</vShortEn>
<vShortWch>2</vShortWch>
<v6Lto>2</v6Lto>
<v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads>
</FileArmAds>
</FileOption>
</File>
<File>
<FileName>memorymap.c</FileName>
@@ -418,6 +475,118 @@
<FileType>1</FileType>
<FilePath>../Core/Src/app_threadx.c</FilePath>
</File>
<File>
<FileName>tim.c</FileName>
<FileType>1</FileType>
<FilePath>../Core/Src/tim.c</FilePath>
<FileOption>
<CommonProperty>
<UseCPPCompiler>2</UseCPPCompiler>
<RVCTCodeConst>0</RVCTCodeConst>
<RVCTZI>0</RVCTZI>
<RVCTOtherData>0</RVCTOtherData>
<ModuleSelection>0</ModuleSelection>
<IncludeInBuild>1</IncludeInBuild>
<AlwaysBuild>2</AlwaysBuild>
<GenerateAssemblyFile>2</GenerateAssemblyFile>
<AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty>
<FileArmAds>
<Cads>
<interw>2</interw>
<Optim>0</Optim>
<oTime>2</oTime>
<SplitLS>2</SplitLS>
<OneElfS>2</OneElfS>
<Strict>2</Strict>
<EnumInt>2</EnumInt>
<PlainCh>2</PlainCh>
<Ropi>2</Ropi>
<Rwpi>2</Rwpi>
<wLevel>0</wLevel>
<uThumb>2</uThumb>
<uSurpInc>2</uSurpInc>
<uC99>2</uC99>
<uGnu>2</uGnu>
<useXO>2</useXO>
<v6Lang>0</v6Lang>
<v6LangP>0</v6LangP>
<vShortEn>2</vShortEn>
<vShortWch>2</vShortWch>
<v6Lto>2</v6Lto>
<v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads>
</FileArmAds>
</FileOption>
</File>
<File>
<FileName>usart.c</FileName>
<FileType>1</FileType>
<FilePath>../Core/Src/usart.c</FilePath>
<FileOption>
<CommonProperty>
<UseCPPCompiler>2</UseCPPCompiler>
<RVCTCodeConst>0</RVCTCodeConst>
<RVCTZI>0</RVCTZI>
<RVCTOtherData>0</RVCTOtherData>
<ModuleSelection>0</ModuleSelection>
<IncludeInBuild>1</IncludeInBuild>
<AlwaysBuild>2</AlwaysBuild>
<GenerateAssemblyFile>2</GenerateAssemblyFile>
<AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty>
<FileArmAds>
<Cads>
<interw>2</interw>
<Optim>0</Optim>
<oTime>2</oTime>
<SplitLS>2</SplitLS>
<OneElfS>2</OneElfS>
<Strict>2</Strict>
<EnumInt>2</EnumInt>
<PlainCh>2</PlainCh>
<Ropi>2</Ropi>
<Rwpi>2</Rwpi>
<wLevel>0</wLevel>
<uThumb>2</uThumb>
<uSurpInc>2</uSurpInc>
<uC99>2</uC99>
<uGnu>2</uGnu>
<useXO>2</useXO>
<v6Lang>0</v6Lang>
<v6LangP>0</v6LangP>
<vShortEn>2</vShortEn>
<vShortWch>2</vShortWch>
<v6Lto>2</v6Lto>
<v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads>
</FileArmAds>
</FileOption>
</File>
<File>
<FileName>stm32h5xx_it.c</FileName>
<FileType>1</FileType>
@@ -519,9 +688,116 @@
<FilePath>../Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_exti.c</FilePath>
</File>
<File>
<FileName>stm32h5xx_hal_icache.c</FileName>
<FileName>stm32h5xx_hal_uart.c</FileName>
<FileType>1</FileType>
<FilePath>../Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_icache.c</FilePath>
<FilePath>../Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_uart.c</FilePath>
<FileOption>
<CommonProperty>
<UseCPPCompiler>2</UseCPPCompiler>
<RVCTCodeConst>0</RVCTCodeConst>
<RVCTZI>0</RVCTZI>
<RVCTOtherData>0</RVCTOtherData>
<ModuleSelection>0</ModuleSelection>
<IncludeInBuild>1</IncludeInBuild>
<AlwaysBuild>2</AlwaysBuild>
<GenerateAssemblyFile>2</GenerateAssemblyFile>
<AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty>
<FileArmAds>
<Cads>
<interw>2</interw>
<Optim>0</Optim>
<oTime>2</oTime>
<SplitLS>2</SplitLS>
<OneElfS>2</OneElfS>
<Strict>2</Strict>
<EnumInt>2</EnumInt>
<PlainCh>2</PlainCh>
<Ropi>2</Ropi>
<Rwpi>2</Rwpi>
<wLevel>0</wLevel>
<uThumb>2</uThumb>
<uSurpInc>2</uSurpInc>
<uC99>2</uC99>
<uGnu>2</uGnu>
<useXO>2</useXO>
<v6Lang>0</v6Lang>
<v6LangP>0</v6LangP>
<vShortEn>2</vShortEn>
<vShortWch>2</vShortWch>
<v6Lto>2</v6Lto>
<v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads>
</FileArmAds>
</FileOption>
</File>
<File>
<FileName>stm32h5xx_hal_uart_ex.c</FileName>
<FileType>1</FileType>
<FilePath>../Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_uart_ex.c</FilePath>
<FileOption>
<CommonProperty>
<UseCPPCompiler>2</UseCPPCompiler>
<RVCTCodeConst>0</RVCTCodeConst>
<RVCTZI>0</RVCTZI>
<RVCTOtherData>0</RVCTOtherData>
<ModuleSelection>0</ModuleSelection>
<IncludeInBuild>1</IncludeInBuild>
<AlwaysBuild>2</AlwaysBuild>
<GenerateAssemblyFile>2</GenerateAssemblyFile>
<AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty>
<FileArmAds>
<Cads>
<interw>2</interw>
<Optim>0</Optim>
<oTime>2</oTime>
<SplitLS>2</SplitLS>
<OneElfS>2</OneElfS>
<Strict>2</Strict>
<EnumInt>2</EnumInt>
<PlainCh>2</PlainCh>
<Ropi>2</Ropi>
<Rwpi>2</Rwpi>
<wLevel>0</wLevel>
<uThumb>2</uThumb>
<uSurpInc>2</uSurpInc>
<uC99>2</uC99>
<uGnu>2</uGnu>
<useXO>2</useXO>
<v6Lang>0</v6Lang>
<v6LangP>0</v6LangP>
<vShortEn>2</vShortEn>
<vShortWch>2</vShortWch>
<v6Lto>2</v6Lto>
<v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads>
</FileArmAds>
</FileOption>
</File>
</Files>
</Group>
@@ -1365,20 +1641,129 @@
</File>
</Files>
</Group>
<Group>
<GroupName>fun</GroupName>
<Files>
<File>
<FileName>HCBle.c</FileName>
<FileType>1</FileType>
<FilePath>..\fun\HCBle.c</FilePath>
</File>
<File>
<FileName>HCBle.h</FileName>
<FileType>5</FileType>
<FilePath>..\fun\HCBle.h</FilePath>
</File>
<File>
<FileName>headfile.h</FileName>
<FileType>5</FileType>
<FilePath>..\fun\headfile.h</FilePath>
</File>
<File>
<FileName>gps.c</FileName>
<FileType>1</FileType>
<FilePath>..\fun\gps.c</FilePath>
</File>
<File>
<FileName>gps.h</FileName>
<FileType>5</FileType>
<FilePath>..\fun\gps.h</FilePath>
</File>
<File>
<FileName>Buzzer.c</FileName>
<FileType>1</FileType>
<FilePath>..\fun\Buzzer.c</FilePath>
</File>
<File>
<FileName>Buzzer.h</FileName>
<FileType>5</FileType>
<FilePath>..\fun\Buzzer.h</FilePath>
</File>
<File>
<FileName>Shake_Motor.c</FileName>
<FileType>1</FileType>
<FilePath>..\fun\Shake_Motor.c</FilePath>
</File>
<File>
<FileName>Shake_Motor.h</FileName>
<FileType>5</FileType>
<FilePath>..\fun\Shake_Motor.h</FilePath>
</File>
<File>
<FileName>Ultrasound.c</FileName>
<FileType>1</FileType>
<FilePath>..\fun\Ultrasound.c</FilePath>
</File>
<File>
<FileName>Ultrasound.h</FileName>
<FileType>5</FileType>
<FilePath>..\fun\Ultrasound.h</FilePath>
</File>
<File>
<FileName>IMU.c</FileName>
<FileType>1</FileType>
<FilePath>..\fun\IMU.c</FilePath>
</File>
<File>
<FileName>IMU.h</FileName>
<FileType>5</FileType>
<FilePath>..\fun\IMU.h</FilePath>
</File>
<File>
<FileName>Motor.c</FileName>
<FileType>1</FileType>
<FilePath>..\fun\Motor.c</FilePath>
</File>
<File>
<FileName>Motor.h</FileName>
<FileType>5</FileType>
<FilePath>..\fun\Motor.h</FilePath>
</File>
<File>
<FileName>imu948.c</FileName>
<FileType>1</FileType>
<FilePath>..\fun\imu948.c</FilePath>
</File>
<File>
<FileName>imu948.h</FileName>
<FileType>5</FileType>
<FilePath>..\fun\imu948.h</FilePath>
</File>
<File>
<FileName>value.h</FileName>
<FileType>5</FileType>
<FilePath>..\fun\value.h</FilePath>
</File>
<File>
<FileName>encoder.c</FileName>
<FileType>1</FileType>
<FilePath>..\fun\encoder.c</FilePath>
</File>
<File>
<FileName>encoder.h</FileName>
<FileType>5</FileType>
<FilePath>..\fun\encoder.h</FilePath>
</File>
</Files>
</Group>
<Group>
<GroupName>::CMSIS</GroupName>
</Group>
</Groups>
</Target>
</Targets>
<RTE>
<apis />
<apis/>
<components>
<component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="4.3.0" condition="CMSIS Core">
<package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="4.5.0" />
<package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="4.5.0"/>
<targetInfos>
<targetInfo name="AutoGuideStick" />
<targetInfo name="AutoGuideStick"/>
</targetInfos>
</component>
</components>
<files />
<files/>
</RTE>
</Project>
</Project>

BIN
MDK-ARM/AutoGuideStick/AutoGuideStick.axf Normal file
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MDK-ARM/AutoGuideStick/AutoGuideStick.build_log.htm Normal file
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@@ -0,0 +1,57 @@
<html>
<body>
<pre>
<h1><EFBFBD>Vision Build Log</h1>
<h2>Tool Versions:</h2>
IDE-Version: <20><>Vision V5.39.0.0
Copyright (C) 2023 ARM Ltd and ARM Germany GmbH. All rights reserved.
License Information: manba man, fffffff, LIC=IK1BF-6Y3R7-CXQU6-DU1PR-6YJSL-ZDVC8
Tool Versions:
Toolchain: MDK-ARM Plus Version: 5.39.0.0
Toolchain Path: D:\keil5\ARM\ARMCLANG\Bin
C Compiler: ArmClang.exe V6.21
Assembler: Armasm.exe V6.21
Linker/Locator: ArmLink.exe V6.21
Library Manager: ArmAr.exe V6.21
Hex Converter: FromElf.exe V6.21
CPU DLL:
Dialog DLL:
Target DLL: STLink\ST-LINKIII-KEIL_SWO.dll V3.2.0.0
Dialog DLL: TCM.DLL V1.56.4.0
<h2>Project:</h2>
D:\advance_stick\AutoGuideStick\MDK-ARM\AutoGuideStick.uvprojx
Project File Date: 07/02/2025
<h2>Output:</h2>
*** Using Compiler 'V6.21', folder: 'D:\keil5\ARM\ARMCLANG\Bin'
Build target 'AutoGuideStick'
"AutoGuideStick\AutoGuideStick.axf" - 0 Error(s), 0 Warning(s).
<h2>Software Packages used:</h2>
Package Vendor: ARM
http://www.keil.com/pack/ARM.CMSIS.5.9.0.pack
ARM::CMSIS@5.9.0
CMSIS (Common Microcontroller Software Interface Standard)
* Component: CORE Version: 5.6.0
Package Vendor: Keil
https://www.keil.com/pack/Keil.STM32H5xx_DFP.1.3.0.pack
Keil::STM32H5xx_DFP@1.3.0
STMicroelectronics STM32H5 Series Device Support
<h2>Collection of Component include folders:</h2>
./RTE/_AutoGuideStick
D:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include
D:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include
<h2>Collection of Component Files used:</h2>
* Component: ARM::CMSIS:CORE@5.6.0
Include file: CMSIS/Core/Include/tz_context.h
Build Time Elapsed: 00:00:02
</pre>
</body>
</html>

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MDK-ARM/AutoGuideStick/AutoGuideStick.htm Normal file
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MDK-ARM/AutoGuideStick/AutoGuideStick.lnp Normal file
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@@ -0,0 +1,209 @@
--cpu=Cortex-M33
"autoguidestick\startup_stm32h563xx.o"
"autoguidestick\main.o"
"autoguidestick\tx_initialize_low_level.o"
"autoguidestick\gpio.o"
"autoguidestick\gpdma.o"
"autoguidestick\memorymap.o"
"autoguidestick\app_threadx.o"
"autoguidestick\tim.o"
"autoguidestick\usart.o"
"autoguidestick\stm32h5xx_it.o"
"autoguidestick\stm32h5xx_hal_msp.o"
"autoguidestick\stm32h5xx_hal_timebase_tim.o"
"autoguidestick\app_azure_rtos.o"
"autoguidestick\stm32h5xx_hal_tim.o"
"autoguidestick\stm32h5xx_hal_tim_ex.o"
"autoguidestick\stm32h5xx_hal_cortex.o"
"autoguidestick\stm32h5xx_hal_rcc.o"
"autoguidestick\stm32h5xx_hal_rcc_ex.o"
"autoguidestick\stm32h5xx_hal_flash.o"
"autoguidestick\stm32h5xx_hal_flash_ex.o"
"autoguidestick\stm32h5xx_hal_gpio.o"
"autoguidestick\stm32h5xx_hal_dma.o"
"autoguidestick\stm32h5xx_hal_dma_ex.o"
"autoguidestick\stm32h5xx_hal_pwr.o"
"autoguidestick\stm32h5xx_hal_pwr_ex.o"
"autoguidestick\stm32h5xx_hal.o"
"autoguidestick\stm32h5xx_hal_exti.o"
"autoguidestick\stm32h5xx_hal_uart.o"
"autoguidestick\stm32h5xx_hal_uart_ex.o"
"autoguidestick\system_stm32h5xx.o"
"autoguidestick\tx_initialize_high_level.o"
"autoguidestick\tx_initialize_kernel_enter.o"
"autoguidestick\tx_initialize_kernel_setup.o"
"autoguidestick\tx_thread_context_restore.o"
"autoguidestick\tx_thread_context_save.o"
"autoguidestick\tx_thread_interrupt_control.o"
"autoguidestick\tx_thread_interrupt_disable.o"
"autoguidestick\tx_thread_interrupt_restore.o"
"autoguidestick\tx_thread_schedule.o"
"autoguidestick\tx_thread_stack_build.o"
"autoguidestick\tx_thread_system_return.o"
"autoguidestick\tx_timer_interrupt.o"
"autoguidestick\tx_thread_stack_error_handler.o"
"autoguidestick\tx_thread_stack_error_notify.o"
"autoguidestick\tx_thread_system_resume.o"
"autoguidestick\tx_block_allocate.o"
"autoguidestick\tx_block_pool_cleanup.o"
"autoguidestick\tx_block_pool_create.o"
"autoguidestick\tx_block_pool_delete.o"
"autoguidestick\tx_block_pool_info_get.o"
"autoguidestick\tx_block_pool_initialize.o"
"autoguidestick\tx_block_pool_prioritize.o"
"autoguidestick\tx_block_release.o"
"autoguidestick\tx_byte_allocate.o"
"autoguidestick\tx_byte_pool_cleanup.o"
"autoguidestick\tx_byte_pool_create.o"
"autoguidestick\tx_byte_pool_delete.o"
"autoguidestick\tx_byte_pool_info_get.o"
"autoguidestick\tx_byte_pool_initialize.o"
"autoguidestick\tx_byte_pool_prioritize.o"
"autoguidestick\tx_byte_pool_search.o"
"autoguidestick\tx_byte_release.o"
"autoguidestick\tx_event_flags_cleanup.o"
"autoguidestick\tx_event_flags_create.o"
"autoguidestick\tx_event_flags_delete.o"
"autoguidestick\tx_event_flags_get.o"
"autoguidestick\tx_event_flags_info_get.o"
"autoguidestick\tx_event_flags_initialize.o"
"autoguidestick\tx_event_flags_set.o"
"autoguidestick\tx_event_flags_set_notify.o"
"autoguidestick\tx_mutex_cleanup.o"
"autoguidestick\tx_mutex_create.o"
"autoguidestick\tx_mutex_delete.o"
"autoguidestick\tx_mutex_get.o"
"autoguidestick\tx_mutex_info_get.o"
"autoguidestick\tx_mutex_initialize.o"
"autoguidestick\tx_mutex_prioritize.o"
"autoguidestick\tx_mutex_priority_change.o"
"autoguidestick\tx_mutex_put.o"
"autoguidestick\tx_queue_cleanup.o"
"autoguidestick\tx_queue_create.o"
"autoguidestick\tx_queue_delete.o"
"autoguidestick\tx_queue_flush.o"
"autoguidestick\tx_queue_front_send.o"
"autoguidestick\tx_queue_info_get.o"
"autoguidestick\tx_queue_initialize.o"
"autoguidestick\tx_queue_prioritize.o"
"autoguidestick\tx_queue_receive.o"
"autoguidestick\tx_queue_send.o"
"autoguidestick\tx_queue_send_notify.o"
"autoguidestick\tx_semaphore_ceiling_put.o"
"autoguidestick\tx_semaphore_cleanup.o"
"autoguidestick\tx_semaphore_create.o"
"autoguidestick\tx_semaphore_delete.o"
"autoguidestick\tx_semaphore_get.o"
"autoguidestick\tx_semaphore_info_get.o"
"autoguidestick\tx_semaphore_initialize.o"
"autoguidestick\tx_semaphore_prioritize.o"
"autoguidestick\tx_semaphore_put.o"
"autoguidestick\tx_semaphore_put_notify.o"
"autoguidestick\tx_thread_create.o"
"autoguidestick\tx_thread_delete.o"
"autoguidestick\tx_thread_entry_exit_notify.o"
"autoguidestick\tx_thread_identify.o"
"autoguidestick\tx_thread_info_get.o"
"autoguidestick\tx_thread_initialize.o"
"autoguidestick\tx_thread_preemption_change.o"
"autoguidestick\tx_thread_priority_change.o"
"autoguidestick\tx_thread_relinquish.o"
"autoguidestick\tx_thread_reset.o"
"autoguidestick\tx_thread_resume.o"
"autoguidestick\tx_thread_shell_entry.o"
"autoguidestick\tx_thread_sleep.o"
"autoguidestick\tx_thread_stack_analyze.o"
"autoguidestick\tx_thread_suspend.o"
"autoguidestick\tx_thread_system_preempt_check.o"
"autoguidestick\tx_thread_system_suspend.o"
"autoguidestick\tx_thread_terminate.o"
"autoguidestick\tx_thread_time_slice.o"
"autoguidestick\tx_thread_time_slice_change.o"
"autoguidestick\tx_thread_timeout.o"
"autoguidestick\tx_thread_wait_abort.o"
"autoguidestick\tx_time_get.o"
"autoguidestick\tx_time_set.o"
"autoguidestick\txe_block_allocate.o"
"autoguidestick\txe_block_pool_create.o"
"autoguidestick\txe_block_pool_delete.o"
"autoguidestick\txe_block_pool_info_get.o"
"autoguidestick\txe_block_pool_prioritize.o"
"autoguidestick\txe_block_release.o"
"autoguidestick\txe_byte_allocate.o"
"autoguidestick\txe_byte_pool_create.o"
"autoguidestick\txe_byte_pool_delete.o"
"autoguidestick\txe_byte_pool_info_get.o"
"autoguidestick\txe_byte_pool_prioritize.o"
"autoguidestick\txe_byte_release.o"
"autoguidestick\txe_event_flags_create.o"
"autoguidestick\txe_event_flags_delete.o"
"autoguidestick\txe_event_flags_get.o"
"autoguidestick\txe_event_flags_info_get.o"
"autoguidestick\txe_event_flags_set.o"
"autoguidestick\txe_event_flags_set_notify.o"
"autoguidestick\txe_mutex_create.o"
"autoguidestick\txe_mutex_delete.o"
"autoguidestick\txe_mutex_get.o"
"autoguidestick\txe_mutex_info_get.o"
"autoguidestick\txe_mutex_prioritize.o"
"autoguidestick\txe_mutex_put.o"
"autoguidestick\txe_queue_create.o"
"autoguidestick\txe_queue_delete.o"
"autoguidestick\txe_queue_flush.o"
"autoguidestick\txe_queue_front_send.o"
"autoguidestick\txe_queue_info_get.o"
"autoguidestick\txe_queue_prioritize.o"
"autoguidestick\txe_queue_receive.o"
"autoguidestick\txe_queue_send.o"
"autoguidestick\txe_queue_send_notify.o"
"autoguidestick\txe_semaphore_ceiling_put.o"
"autoguidestick\txe_semaphore_create.o"
"autoguidestick\txe_semaphore_delete.o"
"autoguidestick\txe_semaphore_get.o"
"autoguidestick\txe_semaphore_info_get.o"
"autoguidestick\txe_semaphore_prioritize.o"
"autoguidestick\txe_semaphore_put.o"
"autoguidestick\txe_semaphore_put_notify.o"
"autoguidestick\txe_thread_create.o"
"autoguidestick\txe_thread_delete.o"
"autoguidestick\txe_thread_entry_exit_notify.o"
"autoguidestick\txe_thread_info_get.o"
"autoguidestick\txe_thread_preemption_change.o"
"autoguidestick\txe_thread_priority_change.o"
"autoguidestick\txe_thread_relinquish.o"
"autoguidestick\txe_thread_reset.o"
"autoguidestick\txe_thread_resume.o"
"autoguidestick\txe_thread_suspend.o"
"autoguidestick\txe_thread_terminate.o"
"autoguidestick\txe_thread_time_slice_change.o"
"autoguidestick\txe_thread_wait_abort.o"
"autoguidestick\tx_timer_activate.o"
"autoguidestick\tx_timer_change.o"
"autoguidestick\tx_timer_create.o"
"autoguidestick\tx_timer_deactivate.o"
"autoguidestick\tx_timer_delete.o"
"autoguidestick\tx_timer_expiration_process.o"
"autoguidestick\tx_timer_info_get.o"
"autoguidestick\tx_timer_initialize.o"
"autoguidestick\tx_timer_system_activate.o"
"autoguidestick\tx_timer_system_deactivate.o"
"autoguidestick\tx_timer_thread_entry.o"
"autoguidestick\txe_timer_activate.o"
"autoguidestick\txe_timer_change.o"
"autoguidestick\txe_timer_create.o"
"autoguidestick\txe_timer_deactivate.o"
"autoguidestick\txe_timer_delete.o"
"autoguidestick\txe_timer_info_get.o"
"autoguidestick\hcble.o"
"autoguidestick\gps.o"
"autoguidestick\buzzer.o"
"autoguidestick\shake_motor.o"
"autoguidestick\ultrasound.o"
"autoguidestick\imu.o"
"autoguidestick\motor.o"
"autoguidestick\imu948.o"
"autoguidestick\encoder.o"
--library_type=microlib --strict --scatter "AutoGuideStick\AutoGuideStick.sct"
--summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols
--info sizes --info totals --info unused --info veneers
--list "AutoGuideStick.map" -o AutoGuideStick\AutoGuideStick.axf

6536
MDK-ARM/AutoGuideStick/AutoGuideStick.map Normal file
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16
MDK-ARM/AutoGuideStick/AutoGuideStick.sct Normal file
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@@ -0,0 +1,16 @@
; *************************************************************
; *** Scatter-Loading Description File generated by uVision ***
; *************************************************************
LR_IROM1 0x08000000 0x00200000 { ; load region size_region
ER_IROM1 0x08000000 0x00200000 { ; load address = execution address
*.o (RESET, +First)
*(InRoot$$Sections)
.ANY (+RO)
.ANY (+XO)
}
RW_IRAM1 0x20000000 0x000A0000 { ; RW data
.ANY (+RW +ZI)
}
}

2475
MDK-ARM/AutoGuideStick/AutoGuideStick_AutoGuideStick.dep Normal file
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2
MDK-ARM/AutoGuideStick/ExtDll.iex Normal file
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@@ -0,0 +1,2 @@
[EXTDLL]
Count=0

44
MDK-ARM/AutoGuideStick/app_azure_rtos.d Normal file
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@@ -0,0 +1,44 @@
autoguidestick/app_azure_rtos.o: ..\AZURE_RTOS\App\app_azure_rtos.c \
..\AZURE_RTOS\App\app_azure_rtos.h ..\Core\Inc\app_threadx.h \
..\Middlewares\ST\threadx\common\inc\tx_api.h \
..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h \
..\Core\Inc\tx_user.h D:\keil5\ARM\ARMCLANG\include\stdlib.h \
D:\keil5\ARM\ARMCLANG\include\string.h ..\fun\headfile.h \
..\Core\Inc\main.h ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h \
..\Core\Inc\stm32h5xx_hal_conf.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_def.h \
..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h5xx.h \
D:\keil5\ARM\ARMCLANG\include\math.h \
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autoguidestick/app_threadx.o: ..\Core\Src\app_threadx.c \
..\Core\Inc\app_threadx.h \
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..\fun\value.h

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autoguidestick/buzzer.o: ..\fun\Buzzer.c ..\fun\Buzzer.h \
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autoguidestick/encoder.o: ..\fun\encoder.c ..\fun\encoder.h \
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autoguidestick/gpdma.o: ..\Core\Src\gpdma.c ..\Core\Inc\gpdma.h \
..\Core\Inc\main.h ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h \
..\Core\Inc\stm32h5xx_hal_conf.h \
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autoguidestick/gpio.o: ..\Core\Src\gpio.c ..\Core\Inc\gpio.h \
..\Core\Inc\main.h ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h \
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MDK-ARM/AutoGuideStick/gps.d Normal file
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autoguidestick/gps.o: ..\fun\gps.c ..\fun\gps.h ..\fun\headfile.h \
..\Core\Inc\main.h ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h \
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D:\keil5\ARM\ARMCLANG\include\string.h \
D:\keil5\ARM\ARMCLANG\include\stdio.h \
D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h \
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..\fun\value.h

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autoguidestick/hcble.o: ..\fun\HCBle.c ..\fun\HCBle.h ..\fun\headfile.h \
..\Core\Inc\main.h ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h \
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D:\keil5\ARM\ARMCLANG\include\math.h \
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D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
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D:\keil5\ARM\ARMCLANG\include\string.h \
D:\keil5\ARM\ARMCLANG\include\stdio.h \
D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\gps.h \
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..\fun\value.h

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autoguidestick/icache.o: ..\Core\Src\icache.c ..\Core\Inc\icache.h \
..\Core\Inc\main.h ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h \
..\Core\Inc\stm32h5xx_hal_conf.h \
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d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
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D:\keil5\ARM\ARMCLANG\include\stddef.h \
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..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_icache.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma.h \
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..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash.h \
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autoguidestick/imu.o: ..\fun\IMU.c ..\fun\IMU.h ..\fun\headfile.h \
..\Core\Inc\main.h ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h \
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..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr.h \
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..\Core\Inc\tx_user.h D:\keil5\ARM\ARMCLANG\include\stdlib.h \
D:\keil5\ARM\ARMCLANG\include\string.h \
D:\keil5\ARM\ARMCLANG\include\stdio.h \
D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h ..\fun\gps.h \
..\fun\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Buzzer.h \
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autoguidestick/imu948.o: ..\fun\imu948.c ..\fun\imu948.h \
..\fun\headfile.h ..\Core\Inc\main.h \
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autoguidestick/main.o: ..\Core\Src\main.c ..\Core\Inc\app_threadx.h \
..\Middlewares\ST\threadx\common\inc\tx_api.h \
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..\Core\Inc\tx_user.h D:\keil5\ARM\ARMCLANG\include\stdlib.h \
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..\Core\Inc\stm32h5xx_hal_conf.h \
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..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_def.h \
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..\fun\value.h

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autoguidestick/memorymap.o: ..\Core\Src\memorymap.c \
..\Core\Inc\memorymap.h ..\Core\Inc\main.h \
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MDK-ARM/AutoGuideStick/motor.d Normal file
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autoguidestick/motor.o: ..\fun\Motor.c ..\fun\Motor.h ..\fun\headfile.h \
..\Core\Inc\main.h ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h \
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..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h \
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..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma.h \
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..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash_ex.h \
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..\Core\Inc\gpdma.h ..\Core\Inc\tim.h ..\Core\Inc\app_threadx.h \
..\Middlewares\ST\threadx\common\inc\tx_api.h \
..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h \
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D:\keil5\ARM\ARMCLANG\include\string.h \
D:\keil5\ARM\ARMCLANG\include\stdio.h \
D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h ..\fun\gps.h \
..\fun\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Buzzer.h ..\fun\IMU.h \
..\fun\imu948.h ..\fun\encoder.h ..\fun\value.h

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autoguidestick/shake_motor.o: ..\fun\Shake_Motor.c ..\fun\Shake_Motor.h \
..\fun\headfile.h ..\Core\Inc\main.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h \
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D:\keil5\ARM\ARMCLANG\include\math.h \
..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
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D:\keil5\ARM\ARMCLANG\include\stdint.h \
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
D:\keil5\ARM\ARMCLANG\include\stddef.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_cortex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr.h \
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..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim.h \
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..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart.h \
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..\Core\Inc\memorymap.h ..\Core\Inc\usart.h ..\Core\Inc\gpio.h \
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D:\keil5\ARM\ARMCLANG\include\string.h \
D:\keil5\ARM\ARMCLANG\include\stdio.h \
D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h ..\fun\gps.h \
..\fun\Ultrasound.h ..\fun\Buzzer.h ..\fun\Motor.h ..\fun\IMU.h \
..\fun\imu948.h ..\fun\encoder.h ..\fun\value.h

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autoguidestick/stm32h5xx_hal.o: \
..\Drivers\STM32H5xx_HAL_Driver\Src\stm32h5xx_hal.c \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h \
..\Core\Inc\stm32h5xx_hal_conf.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_def.h \
..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h5xx.h \
D:\keil5\ARM\ARMCLANG\include\math.h \
..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
..\Drivers\CMSIS\Include\core_cm33.h \
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D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
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..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
D:\keil5\ARM\ARMCLANG\include\stddef.h \
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..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio_ex.h \
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..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_exti.h

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autoguidestick/stm32h5xx_hal_cortex.o: \
..\Drivers\STM32H5xx_HAL_Driver\Src\stm32h5xx_hal_cortex.c \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h \
..\Core\Inc\stm32h5xx_hal_conf.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_def.h \
..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h5xx.h \
D:\keil5\ARM\ARMCLANG\include\math.h \
..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
..\Drivers\CMSIS\Include\core_cm33.h \
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D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
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D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
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..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
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..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio_ex.h \
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..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h \
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autoguidestick/stm32h5xx_hal_dma.o: \
..\Drivers\STM32H5xx_HAL_Driver\Src\stm32h5xx_hal_dma.c \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h \
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..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_def.h \
..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h5xx.h \
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autoguidestick/stm32h5xx_hal_dma_ex.o: \
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autoguidestick/stm32h5xx_hal_exti.o: \
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autoguidestick/stm32h5xx_hal_flash.o: \
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..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h \
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..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_cortex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_exti.h

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autoguidestick/stm32h5xx_hal_flash_ex.o: \
..\Drivers\STM32H5xx_HAL_Driver\Src\stm32h5xx_hal_flash_ex.c \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h \
..\Core\Inc\stm32h5xx_hal_conf.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_def.h \
..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h5xx.h \
D:\keil5\ARM\ARMCLANG\include\math.h \
..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
..\Drivers\CMSIS\Include\core_cm33.h \
D:\keil5\ARM\ARMCLANG\include\stdint.h \
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
D:\keil5\ARM\ARMCLANG\include\stddef.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_cortex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_exti.h

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autoguidestick/stm32h5xx_hal_gpio.o: \
..\Drivers\STM32H5xx_HAL_Driver\Src\stm32h5xx_hal_gpio.c \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h \
..\Core\Inc\stm32h5xx_hal_conf.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_def.h \
..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h5xx.h \
D:\keil5\ARM\ARMCLANG\include\math.h \
..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
..\Drivers\CMSIS\Include\core_cm33.h \
D:\keil5\ARM\ARMCLANG\include\stdint.h \
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
D:\keil5\ARM\ARMCLANG\include\stddef.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_cortex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_exti.h

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autoguidestick/stm32h5xx_hal_icache.o: \
..\Drivers\STM32H5xx_HAL_Driver\Src\stm32h5xx_hal_icache.c \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h \
..\Core\Inc\stm32h5xx_hal_conf.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_def.h \
..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h5xx.h \
D:\keil5\ARM\ARMCLANG\include\math.h \
..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
..\Drivers\CMSIS\Include\core_cm33.h \
D:\keil5\ARM\ARMCLANG\include\stdint.h \
d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
d:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
D:\keil5\ARM\ARMCLANG\include\stddef.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_icache.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_cortex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_exti.h

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autoguidestick/stm32h5xx_hal_msp.o: ..\Core\Src\stm32h5xx_hal_msp.c \
..\Core\Inc\main.h ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h \
..\Core\Inc\stm32h5xx_hal_conf.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_def.h \
..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h5xx.h \
D:\keil5\ARM\ARMCLANG\include\math.h \
..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
..\Drivers\CMSIS\Include\core_cm33.h \
D:\keil5\ARM\ARMCLANG\include\stdint.h \
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
D:\keil5\ARM\ARMCLANG\include\stddef.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_cortex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_exti.h

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autoguidestick/stm32h5xx_hal_pwr.o: \
..\Drivers\STM32H5xx_HAL_Driver\Src\stm32h5xx_hal_pwr.c \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h \
..\Core\Inc\stm32h5xx_hal_conf.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_def.h \
..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h5xx.h \
D:\keil5\ARM\ARMCLANG\include\math.h \
..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
..\Drivers\CMSIS\Include\core_cm33.h \
D:\keil5\ARM\ARMCLANG\include\stdint.h \
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
D:\keil5\ARM\ARMCLANG\include\stddef.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_cortex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_exti.h

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MDK-ARM/AutoGuideStick/stm32h5xx_hal_pwr_ex.d Normal file
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autoguidestick/stm32h5xx_hal_pwr_ex.o: \
..\Drivers\STM32H5xx_HAL_Driver\Src\stm32h5xx_hal_pwr_ex.c \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h \
..\Core\Inc\stm32h5xx_hal_conf.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_def.h \
..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h5xx.h \
D:\keil5\ARM\ARMCLANG\include\math.h \
..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
..\Drivers\CMSIS\Include\core_cm33.h \
D:\keil5\ARM\ARMCLANG\include\stdint.h \
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
D:\keil5\ARM\ARMCLANG\include\stddef.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_cortex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_exti.h

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