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[chore] 初始化16DOF分支目录结构

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04_firmware/README.md
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# 嵌入式固件
本目录保存运行在 MCU 上的固件源码和构建工程。Keil 工程属于 firmware；编译生成的 `.hex`、`.bin`、`.axf` 等属于构建产物。
本目录用于保存运行在 MCU 或其他嵌入式控制器上的固件源码和构建工程。
```text
04_firmware/
└─ stm32/
└─ dji_a_board/
├─ RCPROyuan/
└─ rc_/
```
两个目录均包含 STM32F427、FreeRTOS、RS02 电机控制和 Keil MDK 工程。当前保留原名，待确认中期检查实际烧录版本后再决定是否改为 `baseline`、`midterm` 等语义名称。
工程入口均为：
```text
Project/RoboMentors_Board.uvprojx
```
根目录 `.gitignore` 排除 Keil 编译输出和用户状态文件。预编译库 `Inc/RoboMentors_Board1_3.lib` 暂时保留以维持原工程依赖，其再分发条件仍需确认。
编译生成的 `.hex`、`.bin`、`.elf`、`.axf` 等文件不进入源码目录，可在需要时作为 Release 附件发布。
04_firmware/stm32/dji_a_board/RCPROyuan/.gitignore
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.idea
.DS*
.git
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/FreeRTOSConfig.h
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/*
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
This file is part of the FreeRTOS distribution.
FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
***************************************************************************
>>! NOTE: The modification to the GPL is included to allow you to !<<
>>! distribute a combined work that includes FreeRTOS without being !<<
>>! obliged to provide the source code for proprietary components !<<
>>! outside of the FreeRTOS kernel. !<<
***************************************************************************
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. Full license text is available on the following
link: http://www.freertos.org/a00114.html
***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that is more than just the market leader, it *
* is the industry's de facto standard. *
* *
* Help yourself get started quickly while simultaneously helping *
* to support the FreeRTOS project by purchasing a FreeRTOS *
* tutorial book, reference manual, or both: *
* http://www.FreeRTOS.org/Documentation *
* *
***************************************************************************
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
the FAQ page "My application does not run, what could be wrong?". Have you
defined configASSERT()?
http://www.FreeRTOS.org/support - In return for receiving this top quality
embedded software for free we request you assist our global community by
participating in the support forum.
http://www.FreeRTOS.org/training - Investing in training allows your team to
be as productive as possible as early as possible. Now you can receive
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
Ltd, and the world's leading authority on the world's leading RTOS.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and commercial middleware.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
1 tab == 4 spaces!
*/
#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H
/*-----------------------------------------------------------
* Application specific definitions.
*
* These definitions should be adjusted for your particular hardware and
* application requirements.
*
* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
*
* See http://www.freertos.org/a00110.html.
*----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* Section where include file can be added */
/* USER CODE END Includes */
/* Ensure stdint is only used by the compiler, and not the assembler. */
#if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
#include <stdint.h>
#include "main.h"
extern uint32_t SystemCoreClock;
#endif
#define configUSE_PREEMPTION 1
#define configSUPPORT_STATIC_ALLOCATION 0
#define configSUPPORT_DYNAMIC_ALLOCATION 1
#define configUSE_IDLE_HOOK 0
#define configUSE_TICK_HOOK 0
#define configCPU_CLOCK_HZ ( SystemCoreClock )
#define configTICK_RATE_HZ ((TickType_t)1000)
#define configMAX_PRIORITIES ( 7 )
#define configMINIMAL_STACK_SIZE ((uint16_t)128)
#define configTOTAL_HEAP_SIZE ((size_t)15360)
#define configMAX_TASK_NAME_LEN ( 16 )
#define configUSE_16_BIT_TICKS 0
#define configUSE_MUTEXES 1
#define configQUEUE_REGISTRY_SIZE 8
#define configCHECK_FOR_STACK_OVERFLOW 1
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_COUNTING_SEMAPHORES 1
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
/* Co-routine definitions. */
#define configUSE_CO_ROUTINES 0
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */
#define INCLUDE_vTaskPrioritySet 1
#define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskCleanUpResources 0
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
#define INCLUDE_xTaskGetSchedulerState 1
#define INCLUDE_uxTaskGetStackHighWaterMark 1
/* Cortex-M specific definitions. */
#ifdef __NVIC_PRIO_BITS
/* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
#define configPRIO_BITS __NVIC_PRIO_BITS
#else
#define configPRIO_BITS 4
#endif
/* The lowest interrupt priority that can be used in a call to a "set priority"
function. */
#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 15
/* The highest interrupt priority that can be used by any interrupt service
routine that makes calls to interrupt safe FreeRTOS API functions. DO NOT CALL
INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
PRIORITY THAN THIS! (higher priorities are lower numeric values. */
#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
/* Interrupt priorities used by the kernel port layer itself. These are generic
to all Cortex-M ports, and do not rely on any particular library functions. */
#define configKERNEL_INTERRUPT_PRIORITY ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
#define configMAX_SYSCALL_INTERRUPT_PRIORITY ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
/* Normal assert() semantics without relying on the provision of an assert.h
header file. */
/* USER CODE BEGIN 1 */
#define configASSERT( x ) if ((x) == 0) {taskDISABLE_INTERRUPTS(); for( ;; );}
/* USER CODE END 1 */
/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
standard names. */
#define vPortSVCHandler SVC_Handler
#define xPortPendSVHandler PendSV_Handler
/* IMPORTANT: This define MUST be commented when used with STM32Cube firmware,
to prevent overwriting SysTick_Handler defined within STM32Cube HAL */
/* #define xPortSysTickHandler SysTick_Handler */
/* USER CODE BEGIN Defines */
/* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */
/* USER CODE END Defines */
#endif /* FREERTOS_CONFIG_H */
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/RoboMentors_Board1_3.lib
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04_firmware/stm32/dji_a_board/RCPROyuan/Inc/adc.h
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/**
******************************************************************************
* File Name : ADC.h
* Description : This file provides code for the configuration
* of the ADC instances.
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2018 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __adc_H
#define __adc_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern ADC_HandleTypeDef hadc1;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
extern void _Error_Handler(char *, int);
void MX_ADC1_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /*__ adc_H */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/can.h
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/**
******************************************************************************
* File Name : CAN.h
* Description : This file provides code for the configuration
* of the CAN instances.
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2018 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __can_H
#define __can_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern CAN_HandleTypeDef hcan1;
extern CAN_HandleTypeDef hcan2;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
extern void _Error_Handler(char *, int);
void MX_CAN1_Init(void);
void MX_CAN2_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /*__ can_H */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/cpu_utils.h
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/**
******************************************************************************
* @file cpu_utils.h
* @author MCD Application Team
* @version V1.1.0
* @date 20-November-2014
* @brief Header for cpu_utils module
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef _CPU_UTILS_H__
#define _CPU_UTILS_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "cmsis_os.h"
#include "stm32f4xx_hal.h"
/* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/
/* Exported variables --------------------------------------------------------*/
/* Exported macro ------------------------------------------------------------*/
#define CALCULATION_PERIOD 1000
/* Exported functions ------------------------------------------------------- */
uint16_t osGetCPUUsage(void);
#ifdef __cplusplus
}
#endif
#endif /* _CPU_UTILS_H__ */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/dma.h
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/**
******************************************************************************
* File Name : dma.h
* Description : This file contains all the function prototypes for
* the dma.c file
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2018 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __dma_H
#define __dma_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"
#include "main.h"
/* DMA memory to memory transfer handles -------------------------------------*/
extern void _Error_Handler(char*, int);
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_DMA_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __dma_H */
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/gpio.h
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/**
******************************************************************************
* File Name : gpio.h
* Description : This file contains all the functions prototypes for
* the gpio
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2018 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __gpio_H
#define __gpio_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_GPIO_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /*__ pinoutConfig_H */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/hal_inc/Legacy/stm32_hal_legacy.h
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04_firmware/stm32/dji_a_board/RCPROyuan/Inc/hal_inc/stm32f4xx_hal.h
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/**
******************************************************************************
* @file stm32f4xx_hal.h
* @author MCD Application Team
* @version V1.7.1
* @date 14-April-2017
* @brief This file contains all the functions prototypes for the HAL
* module driver.
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32F4xx_HAL_H
#define __STM32F4xx_HAL_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal_conf.h"
/** @addtogroup STM32F4xx_HAL_Driver
* @{
*/
/** @addtogroup HAL
* @{
*/
/* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/
/* Exported macro ------------------------------------------------------------*/
/** @defgroup HAL_Exported_Macros HAL Exported Macros
* @{
*/
/** @brief Freeze/Unfreeze Peripherals in Debug mode
*/
#define __HAL_DBGMCU_FREEZE_TIM2() (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_TIM2_STOP))
#define __HAL_DBGMCU_FREEZE_TIM3() (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_TIM3_STOP))
#define __HAL_DBGMCU_FREEZE_TIM4() (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_TIM4_STOP))
#define __HAL_DBGMCU_FREEZE_TIM5() (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_TIM5_STOP))
#define __HAL_DBGMCU_FREEZE_TIM6() (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_TIM6_STOP))
#define __HAL_DBGMCU_FREEZE_TIM7() (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_TIM7_STOP))
#define __HAL_DBGMCU_FREEZE_TIM12() (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_TIM12_STOP))
#define __HAL_DBGMCU_FREEZE_TIM13() (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_TIM13_STOP))
#define __HAL_DBGMCU_FREEZE_TIM14() (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_TIM14_STOP))
#define __HAL_DBGMCU_FREEZE_RTC() (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_RTC_STOP))
#define __HAL_DBGMCU_FREEZE_WWDG() (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_WWDG_STOP))
#define __HAL_DBGMCU_FREEZE_IWDG() (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_IWDG_STOP))
#define __HAL_DBGMCU_FREEZE_I2C1_TIMEOUT() (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_I2C1_SMBUS_TIMEOUT))
#define __HAL_DBGMCU_FREEZE_I2C2_TIMEOUT() (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_I2C2_SMBUS_TIMEOUT))
#define __HAL_DBGMCU_FREEZE_I2C3_TIMEOUT() (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_I2C3_SMBUS_TIMEOUT))
#define __HAL_DBGMCU_FREEZE_CAN1() (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_CAN1_STOP))
#define __HAL_DBGMCU_FREEZE_CAN2() (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_CAN2_STOP))
#define __HAL_DBGMCU_FREEZE_TIM1() (DBGMCU->APB2FZ |= (DBGMCU_APB2_FZ_DBG_TIM1_STOP))
#define __HAL_DBGMCU_FREEZE_TIM8() (DBGMCU->APB2FZ |= (DBGMCU_APB2_FZ_DBG_TIM8_STOP))
#define __HAL_DBGMCU_FREEZE_TIM9() (DBGMCU->APB2FZ |= (DBGMCU_APB2_FZ_DBG_TIM9_STOP))
#define __HAL_DBGMCU_FREEZE_TIM10() (DBGMCU->APB2FZ |= (DBGMCU_APB2_FZ_DBG_TIM10_STOP))
#define __HAL_DBGMCU_FREEZE_TIM11() (DBGMCU->APB2FZ |= (DBGMCU_APB2_FZ_DBG_TIM11_STOP))
#define __HAL_DBGMCU_UNFREEZE_TIM2() (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_TIM2_STOP))
#define __HAL_DBGMCU_UNFREEZE_TIM3() (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_TIM3_STOP))
#define __HAL_DBGMCU_UNFREEZE_TIM4() (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_TIM4_STOP))
#define __HAL_DBGMCU_UNFREEZE_TIM5() (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_TIM5_STOP))
#define __HAL_DBGMCU_UNFREEZE_TIM6() (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_TIM6_STOP))
#define __HAL_DBGMCU_UNFREEZE_TIM7() (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_TIM7_STOP))
#define __HAL_DBGMCU_UNFREEZE_TIM12() (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_TIM12_STOP))
#define __HAL_DBGMCU_UNFREEZE_TIM13() (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_TIM13_STOP))
#define __HAL_DBGMCU_UNFREEZE_TIM14() (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_TIM14_STOP))
#define __HAL_DBGMCU_UNFREEZE_RTC() (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_RTC_STOP))
#define __HAL_DBGMCU_UNFREEZE_WWDG() (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_WWDG_STOP))
#define __HAL_DBGMCU_UNFREEZE_IWDG() (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_IWDG_STOP))
#define __HAL_DBGMCU_UNFREEZE_I2C1_TIMEOUT() (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_I2C1_SMBUS_TIMEOUT))
#define __HAL_DBGMCU_UNFREEZE_I2C2_TIMEOUT() (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_I2C2_SMBUS_TIMEOUT))
#define __HAL_DBGMCU_UNFREEZE_I2C3_TIMEOUT() (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_I2C3_SMBUS_TIMEOUT))
#define __HAL_DBGMCU_UNFREEZE_CAN1() (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_CAN1_STOP))
#define __HAL_DBGMCU_UNFREEZE_CAN2() (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_CAN2_STOP))
#define __HAL_DBGMCU_UNFREEZE_TIM1() (DBGMCU->APB2FZ &= ~(DBGMCU_APB2_FZ_DBG_TIM1_STOP))
#define __HAL_DBGMCU_UNFREEZE_TIM8() (DBGMCU->APB2FZ &= ~(DBGMCU_APB2_FZ_DBG_TIM8_STOP))
#define __HAL_DBGMCU_UNFREEZE_TIM9() (DBGMCU->APB2FZ &= ~(DBGMCU_APB2_FZ_DBG_TIM9_STOP))
#define __HAL_DBGMCU_UNFREEZE_TIM10() (DBGMCU->APB2FZ &= ~(DBGMCU_APB2_FZ_DBG_TIM10_STOP))
#define __HAL_DBGMCU_UNFREEZE_TIM11() (DBGMCU->APB2FZ &= ~(DBGMCU_APB2_FZ_DBG_TIM11_STOP))
/** @brief Main Flash memory mapped at 0x00000000
*/
#define __HAL_SYSCFG_REMAPMEMORY_FLASH() (SYSCFG->MEMRMP &= ~(SYSCFG_MEMRMP_MEM_MODE))
/** @brief System Flash memory mapped at 0x00000000
*/
#define __HAL_SYSCFG_REMAPMEMORY_SYSTEMFLASH() do {SYSCFG->MEMRMP &= ~(SYSCFG_MEMRMP_MEM_MODE);\
SYSCFG->MEMRMP |= SYSCFG_MEMRMP_MEM_MODE_0;\
}while(0);
/** @brief Embedded SRAM mapped at 0x00000000
*/
#define __HAL_SYSCFG_REMAPMEMORY_SRAM() do {SYSCFG->MEMRMP &= ~(SYSCFG_MEMRMP_MEM_MODE);\
SYSCFG->MEMRMP |= (SYSCFG_MEMRMP_MEM_MODE_0 | SYSCFG_MEMRMP_MEM_MODE_1);\
}while(0);
#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx)|| defined(STM32F417xx)
/** @brief FSMC Bank1 (NOR/PSRAM 1 and 2) mapped at 0x00000000
*/
#define __HAL_SYSCFG_REMAPMEMORY_FSMC() do {SYSCFG->MEMRMP &= ~(SYSCFG_MEMRMP_MEM_MODE);\
SYSCFG->MEMRMP |= (SYSCFG_MEMRMP_MEM_MODE_1);\
}while(0);
#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx */
#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx)|| defined(STM32F439xx) ||\
defined(STM32F469xx) || defined(STM32F479xx)
/** @brief FMC Bank1 (NOR/PSRAM 1 and 2) mapped at 0x00000000
*/
#define __HAL_SYSCFG_REMAPMEMORY_FMC() do {SYSCFG->MEMRMP &= ~(SYSCFG_MEMRMP_MEM_MODE);\
SYSCFG->MEMRMP |= (SYSCFG_MEMRMP_MEM_MODE_1);\
}while(0);
/** @brief FMC/SDRAM Bank 1 and 2 mapped at 0x00000000
*/
#define __HAL_SYSCFG_REMAPMEMORY_FMC_SDRAM() do {SYSCFG->MEMRMP &= ~(SYSCFG_MEMRMP_MEM_MODE);\
SYSCFG->MEMRMP |= (SYSCFG_MEMRMP_MEM_MODE_2);\
}while(0);
#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */
#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) || defined(STM32F413xx) || defined(STM32F423xx)
/** @defgroup Cortex_Lockup_Enable Cortex Lockup Enable
* @{
*/
/** @brief SYSCFG Break Lockup lock
* Enables and locks the connection of Cortex-M4 LOCKUP (Hardfault) output to TIM1/8 input
* @note The selected configuration is locked and can be unlocked by system reset
*/
#define __HAL_SYSCFG_BREAK_PVD_LOCK() do {SYSCFG->CFGR2 &= ~(SYSCFG_CFGR2_PVD_LOCK); \
SYSCFG->CFGR2 |= SYSCFG_CFGR2_PVD_LOCK; \
}while(0)
/**
* @}
*/
/** @defgroup PVD_Lock_Enable PVD Lock
* @{
*/
/** @brief SYSCFG Break PVD lock
* Enables and locks the PVD connection with Timer1/8 Break Input, , as well as the PVDE and PLS[2:0] in the PWR_CR register
* @note The selected configuration is locked and can be unlocked by system reset
*/
#define __HAL_SYSCFG_BREAK_LOCKUP_LOCK() do {SYSCFG->CFGR2 &= ~(SYSCFG_CFGR2_LOCKUP_LOCK); \
SYSCFG->CFGR2 |= SYSCFG_CFGR2_LOCKUP_LOCK; \
}while(0)
/**
* @}
*/
#endif /* STM32F410Tx || STM32F410Cx || STM32F410Rx || STM32F413xx || STM32F423xx */
/**
* @}
*/
/* Exported functions --------------------------------------------------------*/
/** @addtogroup HAL_Exported_Functions
* @{
*/
/** @addtogroup HAL_Exported_Functions_Group1
* @{
*/
/* Initialization and de-initialization functions ******************************/
HAL_StatusTypeDef HAL_Init(void);
HAL_StatusTypeDef HAL_DeInit(void);
void HAL_MspInit(void);
void HAL_MspDeInit(void);
HAL_StatusTypeDef HAL_InitTick (uint32_t TickPriority);
/**
* @}
*/
/** @addtogroup HAL_Exported_Functions_Group2
* @{
*/
/* Peripheral Control functions ************************************************/
void HAL_IncTick(void);
void HAL_Delay(__IO uint32_t Delay);
uint32_t HAL_GetTick(void);
void HAL_SuspendTick(void);
void HAL_ResumeTick(void);
uint32_t HAL_GetHalVersion(void);
uint32_t HAL_GetREVID(void);
uint32_t HAL_GetDEVID(void);
void HAL_DBGMCU_EnableDBGSleepMode(void);
void HAL_DBGMCU_DisableDBGSleepMode(void);
void HAL_DBGMCU_EnableDBGStopMode(void);
void HAL_DBGMCU_DisableDBGStopMode(void);
void HAL_DBGMCU_EnableDBGStandbyMode(void);
void HAL_DBGMCU_DisableDBGStandbyMode(void);
void HAL_EnableCompensationCell(void);
void HAL_DisableCompensationCell(void);
void HAL_GetUID(uint32_t *UID);
#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx)|| defined(STM32F439xx) ||\
defined(STM32F469xx) || defined(STM32F479xx)
void HAL_EnableMemorySwappingBank(void);
void HAL_DisableMemorySwappingBank(void);
#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */
/**
* @}
*/
/**
* @}
*/
/* Private types -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/** @defgroup HAL_Private_Variables HAL Private Variables
* @{
*/
/**
* @}
*/
/* Private constants ---------------------------------------------------------*/
/** @defgroup HAL_Private_Constants HAL Private Constants
* @{
*/
/**
* @}
*/
/* Private macros ------------------------------------------------------------*/
/* Private functions ---------------------------------------------------------*/
/**
* @}
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* __STM32F4xx_HAL_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/hal_inc/stm32f4xx_hal_can.h
-787
View File
@@ -1,787 +0,0 @@
/**
******************************************************************************
* @file stm32f4xx_hal_can.h
* @author MCD Application Team
* @version V1.7.1
* @date 14-April-2017
* @brief Header file of CAN HAL module.
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32F4xx_HAL_CAN_H
#define __STM32F4xx_HAL_CAN_H
#ifdef __cplusplus
extern "C" {
#endif
#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) ||\
defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\
defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) ||\
defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) ||\
defined(STM32F423xx)
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal_def.h"
/** @addtogroup STM32F4xx_HAL_Driver
* @{
*/
/** @addtogroup CAN
* @{
*/
/* Exported types ------------------------------------------------------------*/
/** @defgroup CAN_Exported_Types CAN Exported Types
* @{
*/
/**
* @brief HAL State structures definition
*/
typedef enum
{
HAL_CAN_STATE_RESET = 0x00U, /*!< CAN not yet initialized or disabled */
HAL_CAN_STATE_READY = 0x01U, /*!< CAN initialized and ready for use */
HAL_CAN_STATE_BUSY = 0x02U, /*!< CAN process is ongoing */
HAL_CAN_STATE_BUSY_TX = 0x12U, /*!< CAN process is ongoing */
HAL_CAN_STATE_BUSY_RX0 = 0x22U, /*!< CAN process is ongoing */
HAL_CAN_STATE_BUSY_RX1 = 0x32U, /*!< CAN process is ongoing */
HAL_CAN_STATE_BUSY_TX_RX0 = 0x42U, /*!< CAN process is ongoing */
HAL_CAN_STATE_BUSY_TX_RX1 = 0x52U, /*!< CAN process is ongoing */
HAL_CAN_STATE_BUSY_RX0_RX1 = 0x62U, /*!< CAN process is ongoing */
HAL_CAN_STATE_BUSY_TX_RX0_RX1 = 0x72U, /*!< CAN process is ongoing */
HAL_CAN_STATE_TIMEOUT = 0x03U, /*!< CAN in Timeout state */
HAL_CAN_STATE_ERROR = 0x04U /*!< CAN error state */
}HAL_CAN_StateTypeDef;
/**
* @brief CAN init structure definition
*/
typedef struct
{
uint32_t Prescaler; /*!< Specifies the length of a time quantum.
This parameter must be a number between Min_Data = 1 and Max_Data = 1024 */
uint32_t Mode; /*!< Specifies the CAN operating mode.
This parameter can be a value of @ref CAN_operating_mode */
uint32_t SJW; /*!< Specifies the maximum number of time quanta
the CAN hardware is allowed to lengthen or
shorten a bit to perform resynchronization.
This parameter can be a value of @ref CAN_synchronisation_jump_width */
uint32_t BS1; /*!< Specifies the number of time quanta in Bit Segment 1.
This parameter can be a value of @ref CAN_time_quantum_in_bit_segment_1 */
uint32_t BS2; /*!< Specifies the number of time quanta in Bit Segment 2.
This parameter can be a value of @ref CAN_time_quantum_in_bit_segment_2 */
uint32_t TTCM; /*!< Enable or disable the time triggered communication mode.
This parameter can be set to ENABLE or DISABLE. */
uint32_t ABOM; /*!< Enable or disable the automatic bus-off management.
This parameter can be set to ENABLE or DISABLE */
uint32_t AWUM; /*!< Enable or disable the automatic wake-up mode.
This parameter can be set to ENABLE or DISABLE */
uint32_t NART; /*!< Enable or disable the non-automatic retransmission mode.
This parameter can be set to ENABLE or DISABLE */
uint32_t RFLM; /*!< Enable or disable the receive FIFO Locked mode.
This parameter can be set to ENABLE or DISABLE */
uint32_t TXFP; /*!< Enable or disable the transmit FIFO priority.
This parameter can be set to ENABLE or DISABLE */
}CAN_InitTypeDef;
/**
* @brief CAN filter configuration structure definition
*/
typedef struct
{
uint32_t FilterIdHigh; /*!< Specifies the filter identification number (MSBs for a 32-bit
configuration, first one for a 16-bit configuration).
This parameter must be a number between Min_Data = 0x0000 and Max_Data = 0xFFFF */
uint32_t FilterIdLow; /*!< Specifies the filter identification number (LSBs for a 32-bit
configuration, second one for a 16-bit configuration).
This parameter must be a number between Min_Data = 0x0000 and Max_Data = 0xFFFF */
uint32_t FilterMaskIdHigh; /*!< Specifies the filter mask number or identification number,
according to the mode (MSBs for a 32-bit configuration,
first one for a 16-bit configuration).
This parameter must be a number between Min_Data = 0x0000 and Max_Data = 0xFFFF */
uint32_t FilterMaskIdLow; /*!< Specifies the filter mask number or identification number,
according to the mode (LSBs for a 32-bit configuration,
second one for a 16-bit configuration).
This parameter must be a number between Min_Data = 0x0000 and Max_Data = 0xFFFF */
uint32_t FilterFIFOAssignment; /*!< Specifies the FIFO (0 or 1) which will be assigned to the filter.
This parameter can be a value of @ref CAN_filter_FIFO */
uint32_t FilterNumber; /*!< Specifies the filter which will be initialized.
This parameter must be a number between Min_Data = 0 and Max_Data = 27 */
uint32_t FilterMode; /*!< Specifies the filter mode to be initialized.
This parameter can be a value of @ref CAN_filter_mode */
uint32_t FilterScale; /*!< Specifies the filter scale.
This parameter can be a value of @ref CAN_filter_scale */
uint32_t FilterActivation; /*!< Enable or disable the filter.
This parameter can be set to ENABLE or DISABLE. */
uint32_t BankNumber; /*!< Select the start slave bank filter.
This parameter must be a number between Min_Data = 0 and Max_Data = 28 */
}CAN_FilterConfTypeDef;
/**
* @brief CAN Tx message structure definition
*/
typedef struct
{
uint32_t StdId; /*!< Specifies the standard identifier.
This parameter must be a number between Min_Data = 0 and Max_Data = 0x7FF */
uint32_t ExtId; /*!< Specifies the extended identifier.
This parameter must be a number between Min_Data = 0 and Max_Data = 0x1FFFFFFF */
uint32_t IDE; /*!< Specifies the type of identifier for the message that will be transmitted.
This parameter can be a value of @ref CAN_Identifier_Type */
uint32_t RTR; /*!< Specifies the type of frame for the message that will be transmitted.
This parameter can be a value of @ref CAN_remote_transmission_request */
uint32_t DLC; /*!< Specifies the length of the frame that will be transmitted.
This parameter must be a number between Min_Data = 0 and Max_Data = 8 */
uint8_t Data[8]; /*!< Contains the data to be transmitted.
This parameter must be a number between Min_Data = 0 and Max_Data = 0xFF */
}CanTxMsgTypeDef;
/**
* @brief CAN Rx message structure definition
*/
typedef struct
{
uint32_t StdId; /*!< Specifies the standard identifier.
This parameter must be a number between Min_Data = 0 and Max_Data = 0x7FF */
uint32_t ExtId; /*!< Specifies the extended identifier.
This parameter must be a number between Min_Data = 0 and Max_Data = 0x1FFFFFFF */
uint32_t IDE; /*!< Specifies the type of identifier for the message that will be received.
This parameter can be a value of @ref CAN_Identifier_Type */
uint32_t RTR; /*!< Specifies the type of frame for the received message.
This parameter can be a value of @ref CAN_remote_transmission_request */
uint32_t DLC; /*!< Specifies the length of the frame that will be received.
This parameter must be a number between Min_Data = 0 and Max_Data = 8 */
uint8_t Data[8]; /*!< Contains the data to be received.
This parameter must be a number between Min_Data = 0 and Max_Data = 0xFF */
uint32_t FMI; /*!< Specifies the index of the filter the message stored in the mailbox passes through.
This parameter must be a number between Min_Data = 0 and Max_Data = 0xFF */
uint32_t FIFONumber; /*!< Specifies the receive FIFO number.
This parameter can be CAN_FIFO0 or CAN_FIFO1 */
}CanRxMsgTypeDef;
/**
* @brief CAN handle Structure definition
*/
typedef struct
{
CAN_TypeDef *Instance; /*!< Register base address */
CAN_InitTypeDef Init; /*!< CAN required parameters */
CanTxMsgTypeDef* pTxMsg; /*!< Pointer to transmit structure */
CanRxMsgTypeDef* pRxMsg; /*!< Pointer to reception structure for RX FIFO0 msg */
CanRxMsgTypeDef* pRx1Msg; /*!< Pointer to reception structure for RX FIFO1 msg */
__IO HAL_CAN_StateTypeDef State; /*!< CAN communication state */
HAL_LockTypeDef Lock; /*!< CAN locking object */
__IO uint32_t ErrorCode; /*!< CAN Error code */
}CAN_HandleTypeDef;
/**
* @}
*/
/* Exported constants --------------------------------------------------------*/
/** @defgroup CAN_Exported_Constants CAN Exported Constants
* @{
*/
/** @defgroup CAN_Error_Code CAN Error Code
* @{
*/
#define HAL_CAN_ERROR_NONE 0x00000000U /*!< No error */
#define HAL_CAN_ERROR_EWG 0x00000001U /*!< EWG error */
#define HAL_CAN_ERROR_EPV 0x00000002U /*!< EPV error */
#define HAL_CAN_ERROR_BOF 0x00000004U /*!< BOF error */
#define HAL_CAN_ERROR_STF 0x00000008U /*!< Stuff error */
#define HAL_CAN_ERROR_FOR 0x00000010U /*!< Form error */
#define HAL_CAN_ERROR_ACK 0x00000020U /*!< Acknowledgment error */
#define HAL_CAN_ERROR_BR 0x00000040U /*!< Bit recessive */
#define HAL_CAN_ERROR_BD 0x00000080U /*!< LEC dominant */
#define HAL_CAN_ERROR_CRC 0x00000100U /*!< LEC transfer error */
#define HAL_CAN_ERROR_FOV0 0x00000200U /*!< FIFO0 overrun error */
#define HAL_CAN_ERROR_FOV1 0x00000400U /*!< FIFO1 overrun error */
#define HAL_CAN_ERROR_TXFAIL 0x00000800U /*!< Transmit failure */
/**
* @}
*/
/** @defgroup CAN_InitStatus CAN InitStatus
* @{
*/
#define CAN_INITSTATUS_FAILED ((uint8_t)0x00) /*!< CAN initialization failed */
#define CAN_INITSTATUS_SUCCESS ((uint8_t)0x01) /*!< CAN initialization OK */
/**
* @}
*/
/** @defgroup CAN_operating_mode CAN Operating Mode
* @{
*/
#define CAN_MODE_NORMAL 0x00000000U /*!< Normal mode */
#define CAN_MODE_LOOPBACK ((uint32_t)CAN_BTR_LBKM) /*!< Loopback mode */
#define CAN_MODE_SILENT ((uint32_t)CAN_BTR_SILM) /*!< Silent mode */
#define CAN_MODE_SILENT_LOOPBACK ((uint32_t)(CAN_BTR_LBKM | CAN_BTR_SILM)) /*!< Loopback combined with silent mode */
/**
* @}
*/
/** @defgroup CAN_synchronisation_jump_width CAN Synchronisation Jump Width
* @{
*/
#define CAN_SJW_1TQ 0x00000000U /*!< 1 time quantum */
#define CAN_SJW_2TQ ((uint32_t)CAN_BTR_SJW_0) /*!< 2 time quantum */
#define CAN_SJW_3TQ ((uint32_t)CAN_BTR_SJW_1) /*!< 3 time quantum */
#define CAN_SJW_4TQ ((uint32_t)CAN_BTR_SJW) /*!< 4 time quantum */
/**
* @}
*/
/** @defgroup CAN_time_quantum_in_bit_segment_1 CAN Time Quantum in bit segment 1
* @{
*/
#define CAN_BS1_1TQ 0x00000000U /*!< 1 time quantum */
#define CAN_BS1_2TQ ((uint32_t)CAN_BTR_TS1_0) /*!< 2 time quantum */
#define CAN_BS1_3TQ ((uint32_t)CAN_BTR_TS1_1) /*!< 3 time quantum */
#define CAN_BS1_4TQ ((uint32_t)(CAN_BTR_TS1_1 | CAN_BTR_TS1_0)) /*!< 4 time quantum */
#define CAN_BS1_5TQ ((uint32_t)CAN_BTR_TS1_2) /*!< 5 time quantum */
#define CAN_BS1_6TQ ((uint32_t)(CAN_BTR_TS1_2 | CAN_BTR_TS1_0)) /*!< 6 time quantum */
#define CAN_BS1_7TQ ((uint32_t)(CAN_BTR_TS1_2 | CAN_BTR_TS1_1)) /*!< 7 time quantum */
#define CAN_BS1_8TQ ((uint32_t)(CAN_BTR_TS1_2 | CAN_BTR_TS1_1 | CAN_BTR_TS1_0)) /*!< 8 time quantum */
#define CAN_BS1_9TQ ((uint32_t)CAN_BTR_TS1_3) /*!< 9 time quantum */
#define CAN_BS1_10TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_0)) /*!< 10 time quantum */
#define CAN_BS1_11TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_1)) /*!< 11 time quantum */
#define CAN_BS1_12TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_1 | CAN_BTR_TS1_0)) /*!< 12 time quantum */
#define CAN_BS1_13TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_2)) /*!< 13 time quantum */
#define CAN_BS1_14TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_2 | CAN_BTR_TS1_0)) /*!< 14 time quantum */
#define CAN_BS1_15TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_2 | CAN_BTR_TS1_1)) /*!< 15 time quantum */
#define CAN_BS1_16TQ ((uint32_t)CAN_BTR_TS1) /*!< 16 time quantum */
/**
* @}
*/
/** @defgroup CAN_time_quantum_in_bit_segment_2 CAN Time Quantum in bit segment 2
* @{
*/
#define CAN_BS2_1TQ 0x00000000U /*!< 1 time quantum */
#define CAN_BS2_2TQ ((uint32_t)CAN_BTR_TS2_0) /*!< 2 time quantum */
#define CAN_BS2_3TQ ((uint32_t)CAN_BTR_TS2_1) /*!< 3 time quantum */
#define CAN_BS2_4TQ ((uint32_t)(CAN_BTR_TS2_1 | CAN_BTR_TS2_0)) /*!< 4 time quantum */
#define CAN_BS2_5TQ ((uint32_t)CAN_BTR_TS2_2) /*!< 5 time quantum */
#define CAN_BS2_6TQ ((uint32_t)(CAN_BTR_TS2_2 | CAN_BTR_TS2_0)) /*!< 6 time quantum */
#define CAN_BS2_7TQ ((uint32_t)(CAN_BTR_TS2_2 | CAN_BTR_TS2_1)) /*!< 7 time quantum */
#define CAN_BS2_8TQ ((uint32_t)CAN_BTR_TS2) /*!< 8 time quantum */
/**
* @}
*/
/** @defgroup CAN_filter_mode CAN Filter Mode
* @{
*/
#define CAN_FILTERMODE_IDMASK ((uint8_t)0x00) /*!< Identifier mask mode */
#define CAN_FILTERMODE_IDLIST ((uint8_t)0x01) /*!< Identifier list mode */
/**
* @}
*/
/** @defgroup CAN_filter_scale CAN Filter Scale
* @{
*/
#define CAN_FILTERSCALE_16BIT ((uint8_t)0x00) /*!< Two 16-bit filters */
#define CAN_FILTERSCALE_32BIT ((uint8_t)0x01) /*!< One 32-bit filter */
/**
* @}
*/
/** @defgroup CAN_filter_FIFO CAN Filter FIFO
* @{
*/
#define CAN_FILTER_FIFO0 ((uint8_t)0x00) /*!< Filter FIFO 0 assignment for filter x */
#define CAN_FILTER_FIFO1 ((uint8_t)0x01) /*!< Filter FIFO 1 assignment for filter x */
/**
* @}
*/
/** @defgroup CAN_Identifier_Type CAN Identifier Type
* @{
*/
#define CAN_ID_STD 0x00000000U /*!< Standard Id */
#define CAN_ID_EXT 0x00000004U /*!< Extended Id */
/**
* @}
*/
/** @defgroup CAN_remote_transmission_request CAN Remote Transmission Request
* @{
*/
#define CAN_RTR_DATA 0x00000000U /*!< Data frame */
#define CAN_RTR_REMOTE 0x00000002U /*!< Remote frame */
/**
* @}
*/
/** @defgroup CAN_receive_FIFO_number_constants CAN Receive FIFO Number Constants
* @{
*/
#define CAN_FIFO0 ((uint8_t)0x00) /*!< CAN FIFO 0 used to receive */
#define CAN_FIFO1 ((uint8_t)0x01) /*!< CAN FIFO 1 used to receive */
/**
* @}
*/
/** @defgroup CAN_flags CAN Flags
* @{
*/
/* If the flag is 0x3XXXXXXX, it means that it can be used with CAN_GetFlagStatus()
and CAN_ClearFlag() functions. */
/* If the flag is 0x1XXXXXXX, it means that it can only be used with
CAN_GetFlagStatus() function. */
/* Transmit Flags */
#define CAN_FLAG_RQCP0 0x00000500U /*!< Request MailBox0 flag */
#define CAN_FLAG_RQCP1 0x00000508U /*!< Request MailBox1 flag */
#define CAN_FLAG_RQCP2 0x00000510U /*!< Request MailBox2 flag */
#define CAN_FLAG_TXOK0 0x00000501U /*!< Transmission OK MailBox0 flag */
#define CAN_FLAG_TXOK1 0x00000509U /*!< Transmission OK MailBox1 flag */
#define CAN_FLAG_TXOK2 0x00000511U /*!< Transmission OK MailBox2 flag */
#define CAN_FLAG_TME0 0x0000051AU /*!< Transmit mailbox 0 empty flag */
#define CAN_FLAG_TME1 0x0000051BU /*!< Transmit mailbox 0 empty flag */
#define CAN_FLAG_TME2 0x0000051CU /*!< Transmit mailbox 0 empty flag */
/* Receive Flags */
#define CAN_FLAG_FF0 0x00000203U /*!< FIFO 0 Full flag */
#define CAN_FLAG_FOV0 0x00000204U /*!< FIFO 0 Overrun flag */
#define CAN_FLAG_FF1 0x00000403U /*!< FIFO 1 Full flag */
#define CAN_FLAG_FOV1 0x00000404U /*!< FIFO 1 Overrun flag */
/* Operating Mode Flags */
#define CAN_FLAG_INAK 0x00000100U /*!< Initialization acknowledge flag */
#define CAN_FLAG_SLAK 0x00000101U /*!< Sleep acknowledge flag */
#define CAN_FLAG_ERRI 0x00000102U /*!< Error flag */
#define CAN_FLAG_WKU 0x00000103U /*!< Wake up flag */
#define CAN_FLAG_SLAKI 0x00000104U /*!< Sleep acknowledge flag */
/* @note When SLAK interrupt is disabled (SLKIE=0), no polling on SLAKI is possible.
In this case the SLAK bit can be polled.*/
/* Error Flags */
#define CAN_FLAG_EWG 0x00000300U /*!< Error warning flag */
#define CAN_FLAG_EPV 0x00000301U /*!< Error passive flag */
#define CAN_FLAG_BOF 0x00000302U /*!< Bus-Off flag */
/**
* @}
*/
/** @defgroup CAN_Interrupts CAN Interrupts
* @{
*/
#define CAN_IT_TME ((uint32_t)CAN_IER_TMEIE) /*!< Transmit mailbox empty interrupt */
/* Receive Interrupts */
#define CAN_IT_FMP0 ((uint32_t)CAN_IER_FMPIE0) /*!< FIFO 0 message pending interrupt */
#define CAN_IT_FF0 ((uint32_t)CAN_IER_FFIE0) /*!< FIFO 0 full interrupt */
#define CAN_IT_FOV0 ((uint32_t)CAN_IER_FOVIE0) /*!< FIFO 0 overrun interrupt */
#define CAN_IT_FMP1 ((uint32_t)CAN_IER_FMPIE1) /*!< FIFO 1 message pending interrupt */
#define CAN_IT_FF1 ((uint32_t)CAN_IER_FFIE1) /*!< FIFO 1 full interrupt */
#define CAN_IT_FOV1 ((uint32_t)CAN_IER_FOVIE1) /*!< FIFO 1 overrun interrupt */
/* Operating Mode Interrupts */
#define CAN_IT_WKU ((uint32_t)CAN_IER_WKUIE) /*!< Wake-up interrupt */
#define CAN_IT_SLK ((uint32_t)CAN_IER_SLKIE) /*!< Sleep acknowledge interrupt */
/* Error Interrupts */
#define CAN_IT_EWG ((uint32_t)CAN_IER_EWGIE) /*!< Error warning interrupt */
#define CAN_IT_EPV ((uint32_t)CAN_IER_EPVIE) /*!< Error passive interrupt */
#define CAN_IT_BOF ((uint32_t)CAN_IER_BOFIE) /*!< Bus-off interrupt */
#define CAN_IT_LEC ((uint32_t)CAN_IER_LECIE) /*!< Last error code interrupt */
#define CAN_IT_ERR ((uint32_t)CAN_IER_ERRIE) /*!< Error Interrupt */
/**
* @}
*/
/** @defgroup CAN_Mailboxes_Definition CAN Mailboxes Definition
* @{
*/
#define CAN_TXMAILBOX_0 ((uint8_t)0x00)
#define CAN_TXMAILBOX_1 ((uint8_t)0x01)
#define CAN_TXMAILBOX_2 ((uint8_t)0x02)
/**
* @}
*/
/**
* @}
*/
/* Exported macro ------------------------------------------------------------*/
/** @defgroup CAN_Exported_Macros CAN Exported Macros
* @{
*/
/** @brief Reset CAN handle state
* @param __HANDLE__: specifies the CAN Handle.
* @retval None
*/
#define __HAL_CAN_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_CAN_STATE_RESET)
/**
* @brief Enable the specified CAN interrupts.
* @param __HANDLE__: CAN handle
* @param __INTERRUPT__: CAN Interrupt
* @retval None
*/
#define __HAL_CAN_ENABLE_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->IER) |= (__INTERRUPT__))
/**
* @brief Disable the specified CAN interrupts.
* @param __HANDLE__: CAN handle
* @param __INTERRUPT__: CAN Interrupt
* @retval None
*/
#define __HAL_CAN_DISABLE_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->IER) &= ~(__INTERRUPT__))
/**
* @brief Return the number of pending received messages.
* @param __HANDLE__: CAN handle
* @param __FIFONUMBER__: Receive FIFO number, CAN_FIFO0 or CAN_FIFO1.
* @retval The number of pending message.
*/
#define __HAL_CAN_MSG_PENDING(__HANDLE__, __FIFONUMBER__) (((__FIFONUMBER__) == CAN_FIFO0)? \
((uint8_t)((__HANDLE__)->Instance->RF0R&0x03U)) : ((uint8_t)((__HANDLE__)->Instance->RF1R & 0x03U)))
/** @brief Check whether the specified CAN flag is set or not.
* @param __HANDLE__: CAN Handle
* @param __FLAG__: specifies the flag to check.
* This parameter can be one of the following values:
* @arg CAN_TSR_RQCP0: Request MailBox0 Flag
* @arg CAN_TSR_RQCP1: Request MailBox1 Flag
* @arg CAN_TSR_RQCP2: Request MailBox2 Flag
* @arg CAN_FLAG_TXOK0: Transmission OK MailBox0 Flag
* @arg CAN_FLAG_TXOK1: Transmission OK MailBox1 Flag
* @arg CAN_FLAG_TXOK2: Transmission OK MailBox2 Flag
* @arg CAN_FLAG_TME0: Transmit mailbox 0 empty Flag
* @arg CAN_FLAG_TME1: Transmit mailbox 1 empty Flag
* @arg CAN_FLAG_TME2: Transmit mailbox 2 empty Flag
* @arg CAN_FLAG_FMP0: FIFO 0 Message Pending Flag
* @arg CAN_FLAG_FF0: FIFO 0 Full Flag
* @arg CAN_FLAG_FOV0: FIFO 0 Overrun Flag
* @arg CAN_FLAG_FMP1: FIFO 1 Message Pending Flag
* @arg CAN_FLAG_FF1: FIFO 1 Full Flag
* @arg CAN_FLAG_FOV1: FIFO 1 Overrun Flag
* @arg CAN_FLAG_WKU: Wake up Flag
* @arg CAN_FLAG_SLAK: Sleep acknowledge Flag
* @arg CAN_FLAG_SLAKI: Sleep acknowledge Flag
* @arg CAN_FLAG_EWG: Error Warning Flag
* @arg CAN_FLAG_EPV: Error Passive Flag
* @arg CAN_FLAG_BOF: Bus-Off Flag
* @retval The new state of __FLAG__ (TRUE or FALSE).
*/
#define __HAL_CAN_GET_FLAG(__HANDLE__, __FLAG__) \
((((__FLAG__) >> 8U) == 5U)? ((((__HANDLE__)->Instance->TSR) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))): \
(((__FLAG__) >> 8U) == 2U)? ((((__HANDLE__)->Instance->RF0R) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))): \
(((__FLAG__) >> 8U) == 4U)? ((((__HANDLE__)->Instance->RF1R) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))): \
(((__FLAG__) >> 8U) == 1U)? ((((__HANDLE__)->Instance->MSR) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))): \
((((__HANDLE__)->Instance->ESR) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))))
/** @brief Clear the specified CAN pending flag.
* @param __HANDLE__: CAN Handle.
* @param __FLAG__: specifies the flag to check.
* This parameter can be one of the following values:
* @arg CAN_TSR_RQCP0: Request MailBox0 Flag
* @arg CAN_TSR_RQCP1: Request MailBox1 Flag
* @arg CAN_TSR_RQCP2: Request MailBox2 Flag
* @arg CAN_FLAG_TXOK0: Transmission OK MailBox0 Flag
* @arg CAN_FLAG_TXOK1: Transmission OK MailBox1 Flag
* @arg CAN_FLAG_TXOK2: Transmission OK MailBox2 Flag
* @arg CAN_FLAG_TME0: Transmit mailbox 0 empty Flag
* @arg CAN_FLAG_TME1: Transmit mailbox 1 empty Flag
* @arg CAN_FLAG_TME2: Transmit mailbox 2 empty Flag
* @arg CAN_FLAG_FMP0: FIFO 0 Message Pending Flag
* @arg CAN_FLAG_FF0: FIFO 0 Full Flag
* @arg CAN_FLAG_FOV0: FIFO 0 Overrun Flag
* @arg CAN_FLAG_FMP1: FIFO 1 Message Pending Flag
* @arg CAN_FLAG_FF1: FIFO 1 Full Flag
* @arg CAN_FLAG_FOV1: FIFO 1 Overrun Flag
* @arg CAN_FLAG_WKU: Wake up Flag
* @arg CAN_FLAG_SLAK: Sleep acknowledge Flag
* @arg CAN_FLAG_SLAKI: Sleep acknowledge Flag
* @retval The new state of __FLAG__ (TRUE or FALSE).
*/
#define __HAL_CAN_CLEAR_FLAG(__HANDLE__, __FLAG__) \
((((__FLAG__) >> 8U) == 5U)? (((__HANDLE__)->Instance->TSR) = (1U << ((__FLAG__) & CAN_FLAG_MASK))): \
(((__FLAG__) >> 8U) == 2U)? (((__HANDLE__)->Instance->RF0R) = (1U << ((__FLAG__) & CAN_FLAG_MASK))): \
(((__FLAG__) >> 8U) == 4U)? (((__HANDLE__)->Instance->RF1R) = (1U << ((__FLAG__) & CAN_FLAG_MASK))): \
(((__HANDLE__)->Instance->MSR) = ((uint32_t)1U << ((__FLAG__) & CAN_FLAG_MASK))))
/** @brief Check if the specified CAN interrupt source is enabled or disabled.
* @param __HANDLE__: CAN Handle
* @param __INTERRUPT__: specifies the CAN interrupt source to check.
* This parameter can be one of the following values:
* @arg CAN_IT_TME: Transmit mailbox empty interrupt enable
* @arg CAN_IT_FMP0: FIFO0 message pending interrupt enable
* @arg CAN_IT_FMP1: FIFO1 message pending interrupt enable
* @retval The new state of __IT__ (TRUE or FALSE).
*/
#define __HAL_CAN_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) ((((__HANDLE__)->Instance->IER & (__INTERRUPT__)) == (__INTERRUPT__)) ? SET : RESET)
/**
* @brief Check the transmission status of a CAN Frame.
* @param __HANDLE__: CAN Handle
* @param __TRANSMITMAILBOX__: the number of the mailbox that is used for transmission.
* @retval The new status of transmission (TRUE or FALSE).
*/
#define __HAL_CAN_TRANSMIT_STATUS(__HANDLE__, __TRANSMITMAILBOX__)\
(((__TRANSMITMAILBOX__) == CAN_TXMAILBOX_0)? ((((__HANDLE__)->Instance->TSR) & (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0)) == (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0)) :\
((__TRANSMITMAILBOX__) == CAN_TXMAILBOX_1)? ((((__HANDLE__)->Instance->TSR) & (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1)) == (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1)) :\
((((__HANDLE__)->Instance->TSR) & (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2)) == (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2)))
/**
* @brief Release the specified receive FIFO.
* @param __HANDLE__: CAN handle
* @param __FIFONUMBER__: Receive FIFO number, CAN_FIFO0 or CAN_FIFO1.
* @retval None
*/
#define __HAL_CAN_FIFO_RELEASE(__HANDLE__, __FIFONUMBER__) (((__FIFONUMBER__) == CAN_FIFO0)? \
((__HANDLE__)->Instance->RF0R = CAN_RF0R_RFOM0) : ((__HANDLE__)->Instance->RF1R = CAN_RF1R_RFOM1))
/**
* @brief Cancel a transmit request.
* @param __HANDLE__: CAN Handle
* @param __TRANSMITMAILBOX__: the number of the mailbox that is used for transmission.
* @retval None
*/
#define __HAL_CAN_CANCEL_TRANSMIT(__HANDLE__, __TRANSMITMAILBOX__)\
(((__TRANSMITMAILBOX__) == CAN_TXMAILBOX_0)? ((__HANDLE__)->Instance->TSR = CAN_TSR_ABRQ0) :\
((__TRANSMITMAILBOX__) == CAN_TXMAILBOX_1)? ((__HANDLE__)->Instance->TSR = CAN_TSR_ABRQ1) :\
((__HANDLE__)->Instance->TSR = CAN_TSR_ABRQ2))
/**
* @brief Enable or disable the DBG Freeze for CAN.
* @param __HANDLE__: CAN Handle
* @param __NEWSTATE__: new state of the CAN peripheral.
* This parameter can be: ENABLE (CAN reception/transmission is frozen
* during debug. Reception FIFOs can still be accessed/controlled normally)
* or DISABLE (CAN is working during debug).
* @retval None
*/
#define __HAL_CAN_DBG_FREEZE(__HANDLE__, __NEWSTATE__) (((__NEWSTATE__) == ENABLE)? \
((__HANDLE__)->Instance->MCR |= CAN_MCR_DBF) : ((__HANDLE__)->Instance->MCR &= ~CAN_MCR_DBF))
/**
* @}
*/
/* Exported functions --------------------------------------------------------*/
/** @addtogroup CAN_Exported_Functions
* @{
*/
/** @addtogroup CAN_Exported_Functions_Group1
* @{
*/
/* Initialization/de-initialization functions ***********************************/
HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef* hcan);
HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef* hcan, CAN_FilterConfTypeDef* sFilterConfig);
HAL_StatusTypeDef HAL_CAN_DeInit(CAN_HandleTypeDef* hcan);
void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan);
void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan);
/**
* @}
*/
/** @addtogroup CAN_Exported_Functions_Group2
* @{
*/
/* I/O operation functions ******************************************************/
HAL_StatusTypeDef HAL_CAN_Transmit(CAN_HandleTypeDef *hcan, uint32_t Timeout);
HAL_StatusTypeDef HAL_CAN_Transmit_IT(CAN_HandleTypeDef *hcan);
HAL_StatusTypeDef HAL_CAN_Receive(CAN_HandleTypeDef *hcan, uint8_t FIFONumber, uint32_t Timeout);
HAL_StatusTypeDef HAL_CAN_Receive_IT(CAN_HandleTypeDef *hcan, uint8_t FIFONumber);
HAL_StatusTypeDef HAL_CAN_Sleep(CAN_HandleTypeDef *hcan);
HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef *hcan);
void HAL_CAN_IRQHandler(CAN_HandleTypeDef* hcan);
void HAL_CAN_TxCpltCallback(CAN_HandleTypeDef* hcan);
void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan);
void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan);
/**
* @}
*/
/** @addtogroup CAN_Exported_Functions_Group3
* @{
*/
/* Peripheral State functions ***************************************************/
uint32_t HAL_CAN_GetError(CAN_HandleTypeDef *hcan);
HAL_CAN_StateTypeDef HAL_CAN_GetState(CAN_HandleTypeDef* hcan);
/**
* @}
*/
/**
* @}
*/
/* Private types -------------------------------------------------------------*/
/** @defgroup CAN_Private_Types CAN Private Types
* @{
*/
/**
* @}
*/
/* Private variables ---------------------------------------------------------*/
/** @defgroup CAN_Private_Variables CAN Private Variables
* @{
*/
/**
* @}
*/
/* Private constants ---------------------------------------------------------*/
/** @defgroup CAN_Private_Constants CAN Private Constants
* @{
*/
#define CAN_TXSTATUS_NOMAILBOX ((uint8_t)0x04) /*!< CAN cell did not provide CAN_TxStatus_NoMailBox */
#define CAN_FLAG_MASK 0x000000FFU
/**
* @}
*/
/* Private macros ------------------------------------------------------------*/
/** @defgroup CAN_Private_Macros CAN Private Macros
* @{
*/
#define IS_CAN_MODE(MODE) (((MODE) == CAN_MODE_NORMAL) || \
((MODE) == CAN_MODE_LOOPBACK)|| \
((MODE) == CAN_MODE_SILENT) || \
((MODE) == CAN_MODE_SILENT_LOOPBACK))
#define IS_CAN_SJW(SJW) (((SJW) == CAN_SJW_1TQ) || ((SJW) == CAN_SJW_2TQ)|| \
((SJW) == CAN_SJW_3TQ) || ((SJW) == CAN_SJW_4TQ))
#define IS_CAN_BS1(BS1) ((BS1) <= CAN_BS1_16TQ)
#define IS_CAN_BS2(BS2) ((BS2) <= CAN_BS2_8TQ)
#define IS_CAN_PRESCALER(PRESCALER) (((PRESCALER) >= 1U) && ((PRESCALER) <= 1024U))
#define IS_CAN_FILTER_NUMBER(NUMBER) ((NUMBER) <= 27U)
#define IS_CAN_FILTER_MODE(MODE) (((MODE) == CAN_FILTERMODE_IDMASK) || \
((MODE) == CAN_FILTERMODE_IDLIST))
#define IS_CAN_FILTER_SCALE(SCALE) (((SCALE) == CAN_FILTERSCALE_16BIT) || \
((SCALE) == CAN_FILTERSCALE_32BIT))
#define IS_CAN_FILTER_FIFO(FIFO) (((FIFO) == CAN_FILTER_FIFO0) || \
((FIFO) == CAN_FILTER_FIFO1))
#define IS_CAN_BANKNUMBER(BANKNUMBER) ((BANKNUMBER) <= 28U)
#define IS_CAN_TRANSMITMAILBOX(TRANSMITMAILBOX) ((TRANSMITMAILBOX) <= ((uint8_t)0x02))
#define IS_CAN_STDID(STDID) ((STDID) <= ((uint32_t)0x7FFU))
#define IS_CAN_EXTID(EXTID) ((EXTID) <= 0x1FFFFFFFU)
#define IS_CAN_DLC(DLC) ((DLC) <= ((uint8_t)0x08))
#define IS_CAN_IDTYPE(IDTYPE) (((IDTYPE) == CAN_ID_STD) || \
((IDTYPE) == CAN_ID_EXT))
#define IS_CAN_RTR(RTR) (((RTR) == CAN_RTR_DATA) || ((RTR) == CAN_RTR_REMOTE))
#define IS_CAN_FIFO(FIFO) (((FIFO) == CAN_FIFO0) || ((FIFO) == CAN_FIFO1))
/**
* @}
*/
/* Private functions ---------------------------------------------------------*/
/** @defgroup CAN_Private_Functions CAN Private Functions
* @{
*/
/**
* @}
*/
#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F427xx || STM32F437xx ||\
STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx || STM32F412Zx ||\
STM32F412Vx || STM32F412Rx || STM32F412Cx || STM32F413xx || STM32F423xx */
/**
* @}
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* __STM32F4xx_CAN_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/hal_inc/stm32f4xx_hal_cortex.h
-428
View File
@@ -1,428 +0,0 @@
/**
******************************************************************************
* @file stm32f4xx_hal_cortex.h
* @author MCD Application Team
* @version V1.7.1
* @date 14-April-2017
* @brief Header file of CORTEX HAL module.
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32F4xx_HAL_CORTEX_H
#define __STM32F4xx_HAL_CORTEX_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal_def.h"
/** @addtogroup STM32F4xx_HAL_Driver
* @{
*/
/** @addtogroup CORTEX
* @{
*/
/* Exported types ------------------------------------------------------------*/
/** @defgroup CORTEX_Exported_Types Cortex Exported Types
* @{
*/
#if (__MPU_PRESENT == 1U)
/** @defgroup CORTEX_MPU_Region_Initialization_Structure_definition MPU Region Initialization Structure Definition
* @brief MPU Region initialization structure
* @{
*/
typedef struct
{
uint8_t Enable; /*!< Specifies the status of the region.
This parameter can be a value of @ref CORTEX_MPU_Region_Enable */
uint8_t Number; /*!< Specifies the number of the region to protect.
This parameter can be a value of @ref CORTEX_MPU_Region_Number */
uint32_t BaseAddress; /*!< Specifies the base address of the region to protect. */
uint8_t Size; /*!< Specifies the size of the region to protect.
This parameter can be a value of @ref CORTEX_MPU_Region_Size */
uint8_t SubRegionDisable; /*!< Specifies the number of the subregion protection to disable.
This parameter must be a number between Min_Data = 0x00 and Max_Data = 0xFF */
uint8_t TypeExtField; /*!< Specifies the TEX field level.
This parameter can be a value of @ref CORTEX_MPU_TEX_Levels */
uint8_t AccessPermission; /*!< Specifies the region access permission type.
This parameter can be a value of @ref CORTEX_MPU_Region_Permission_Attributes */
uint8_t DisableExec; /*!< Specifies the instruction access status.
This parameter can be a value of @ref CORTEX_MPU_Instruction_Access */
uint8_t IsShareable; /*!< Specifies the shareability status of the protected region.
This parameter can be a value of @ref CORTEX_MPU_Access_Shareable */
uint8_t IsCacheable; /*!< Specifies the cacheable status of the region protected.
This parameter can be a value of @ref CORTEX_MPU_Access_Cacheable */
uint8_t IsBufferable; /*!< Specifies the bufferable status of the protected region.
This parameter can be a value of @ref CORTEX_MPU_Access_Bufferable */
}MPU_Region_InitTypeDef;
/**
* @}
*/
#endif /* __MPU_PRESENT */
/**
* @}
*/
/* Exported constants --------------------------------------------------------*/
/** @defgroup CORTEX_Exported_Constants CORTEX Exported Constants
* @{
*/
/** @defgroup CORTEX_Preemption_Priority_Group CORTEX Preemption Priority Group
* @{
*/
#define NVIC_PRIORITYGROUP_0 0x00000007U /*!< 0 bits for pre-emption priority
4 bits for subpriority */
#define NVIC_PRIORITYGROUP_1 0x00000006U /*!< 1 bits for pre-emption priority
3 bits for subpriority */
#define NVIC_PRIORITYGROUP_2 0x00000005U /*!< 2 bits for pre-emption priority
2 bits for subpriority */
#define NVIC_PRIORITYGROUP_3 0x00000004U /*!< 3 bits for pre-emption priority
1 bits for subpriority */
#define NVIC_PRIORITYGROUP_4 0x00000003U /*!< 4 bits for pre-emption priority
0 bits for subpriority */
/**
* @}
*/
/** @defgroup CORTEX_SysTick_clock_source CORTEX _SysTick clock source
* @{
*/
#define SYSTICK_CLKSOURCE_HCLK_DIV8 0x00000000U
#define SYSTICK_CLKSOURCE_HCLK 0x00000004U
/**
* @}
*/
#if (__MPU_PRESENT == 1)
/** @defgroup CORTEX_MPU_HFNMI_PRIVDEF_Control MPU HFNMI and PRIVILEGED Access control
* @{
*/
#define MPU_HFNMI_PRIVDEF_NONE 0x00000000U
#define MPU_HARDFAULT_NMI MPU_CTRL_HFNMIENA_Msk
#define MPU_PRIVILEGED_DEFAULT MPU_CTRL_PRIVDEFENA_Msk
#define MPU_HFNMI_PRIVDEF (MPU_CTRL_HFNMIENA_Msk | MPU_CTRL_PRIVDEFENA_Msk)
/**
* @}
*/
/** @defgroup CORTEX_MPU_Region_Enable CORTEX MPU Region Enable
* @{
*/
#define MPU_REGION_ENABLE ((uint8_t)0x01)
#define MPU_REGION_DISABLE ((uint8_t)0x00)
/**
* @}
*/
/** @defgroup CORTEX_MPU_Instruction_Access CORTEX MPU Instruction Access
* @{
*/
#define MPU_INSTRUCTION_ACCESS_ENABLE ((uint8_t)0x00)
#define MPU_INSTRUCTION_ACCESS_DISABLE ((uint8_t)0x01)
/**
* @}
*/
/** @defgroup CORTEX_MPU_Access_Shareable CORTEX MPU Instruction Access Shareable
* @{
*/
#define MPU_ACCESS_SHAREABLE ((uint8_t)0x01)
#define MPU_ACCESS_NOT_SHAREABLE ((uint8_t)0x00)
/**
* @}
*/
/** @defgroup CORTEX_MPU_Access_Cacheable CORTEX MPU Instruction Access Cacheable
* @{
*/
#define MPU_ACCESS_CACHEABLE ((uint8_t)0x01)
#define MPU_ACCESS_NOT_CACHEABLE ((uint8_t)0x00)
/**
* @}
*/
/** @defgroup CORTEX_MPU_Access_Bufferable CORTEX MPU Instruction Access Bufferable
* @{
*/
#define MPU_ACCESS_BUFFERABLE ((uint8_t)0x01)
#define MPU_ACCESS_NOT_BUFFERABLE ((uint8_t)0x00)
/**
* @}
*/
/** @defgroup CORTEX_MPU_TEX_Levels MPU TEX Levels
* @{
*/
#define MPU_TEX_LEVEL0 ((uint8_t)0x00)
#define MPU_TEX_LEVEL1 ((uint8_t)0x01)
#define MPU_TEX_LEVEL2 ((uint8_t)0x02)
/**
* @}
*/
/** @defgroup CORTEX_MPU_Region_Size CORTEX MPU Region Size
* @{
*/
#define MPU_REGION_SIZE_32B ((uint8_t)0x04)
#define MPU_REGION_SIZE_64B ((uint8_t)0x05)
#define MPU_REGION_SIZE_128B ((uint8_t)0x06)
#define MPU_REGION_SIZE_256B ((uint8_t)0x07)
#define MPU_REGION_SIZE_512B ((uint8_t)0x08)
#define MPU_REGION_SIZE_1KB ((uint8_t)0x09)
#define MPU_REGION_SIZE_2KB ((uint8_t)0x0A)
#define MPU_REGION_SIZE_4KB ((uint8_t)0x0B)
#define MPU_REGION_SIZE_8KB ((uint8_t)0x0C)
#define MPU_REGION_SIZE_16KB ((uint8_t)0x0D)
#define MPU_REGION_SIZE_32KB ((uint8_t)0x0E)
#define MPU_REGION_SIZE_64KB ((uint8_t)0x0F)
#define MPU_REGION_SIZE_128KB ((uint8_t)0x10)
#define MPU_REGION_SIZE_256KB ((uint8_t)0x11)
#define MPU_REGION_SIZE_512KB ((uint8_t)0x12)
#define MPU_REGION_SIZE_1MB ((uint8_t)0x13)
#define MPU_REGION_SIZE_2MB ((uint8_t)0x14)
#define MPU_REGION_SIZE_4MB ((uint8_t)0x15)
#define MPU_REGION_SIZE_8MB ((uint8_t)0x16)
#define MPU_REGION_SIZE_16MB ((uint8_t)0x17)
#define MPU_REGION_SIZE_32MB ((uint8_t)0x18)
#define MPU_REGION_SIZE_64MB ((uint8_t)0x19)
#define MPU_REGION_SIZE_128MB ((uint8_t)0x1A)
#define MPU_REGION_SIZE_256MB ((uint8_t)0x1B)
#define MPU_REGION_SIZE_512MB ((uint8_t)0x1C)
#define MPU_REGION_SIZE_1GB ((uint8_t)0x1D)
#define MPU_REGION_SIZE_2GB ((uint8_t)0x1E)
#define MPU_REGION_SIZE_4GB ((uint8_t)0x1F)
/**
* @}
*/
/** @defgroup CORTEX_MPU_Region_Permission_Attributes CORTEX MPU Region Permission Attributes
* @{
*/
#define MPU_REGION_NO_ACCESS ((uint8_t)0x00)
#define MPU_REGION_PRIV_RW ((uint8_t)0x01)
#define MPU_REGION_PRIV_RW_URO ((uint8_t)0x02)
#define MPU_REGION_FULL_ACCESS ((uint8_t)0x03)
#define MPU_REGION_PRIV_RO ((uint8_t)0x05)
#define MPU_REGION_PRIV_RO_URO ((uint8_t)0x06)
/**
* @}
*/
/** @defgroup CORTEX_MPU_Region_Number CORTEX MPU Region Number
* @{
*/
#define MPU_REGION_NUMBER0 ((uint8_t)0x00)
#define MPU_REGION_NUMBER1 ((uint8_t)0x01)
#define MPU_REGION_NUMBER2 ((uint8_t)0x02)
#define MPU_REGION_NUMBER3 ((uint8_t)0x03)
#define MPU_REGION_NUMBER4 ((uint8_t)0x04)
#define MPU_REGION_NUMBER5 ((uint8_t)0x05)
#define MPU_REGION_NUMBER6 ((uint8_t)0x06)
#define MPU_REGION_NUMBER7 ((uint8_t)0x07)
/**
* @}
*/
#endif /* __MPU_PRESENT */
/**
* @}
*/
/* Exported Macros -----------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
/** @addtogroup CORTEX_Exported_Functions
* @{
*/
/** @addtogroup CORTEX_Exported_Functions_Group1
* @{
*/
/* Initialization and de-initialization functions *****************************/
void HAL_NVIC_SetPriorityGrouping(uint32_t PriorityGroup);
void HAL_NVIC_SetPriority(IRQn_Type IRQn, uint32_t PreemptPriority, uint32_t SubPriority);
void HAL_NVIC_EnableIRQ(IRQn_Type IRQn);
void HAL_NVIC_DisableIRQ(IRQn_Type IRQn);
void HAL_NVIC_SystemReset(void);
uint32_t HAL_SYSTICK_Config(uint32_t TicksNumb);
/**
* @}
*/
/** @addtogroup CORTEX_Exported_Functions_Group2
* @{
*/
/* Peripheral Control functions ***********************************************/
uint32_t HAL_NVIC_GetPriorityGrouping(void);
void HAL_NVIC_GetPriority(IRQn_Type IRQn, uint32_t PriorityGroup, uint32_t* pPreemptPriority, uint32_t* pSubPriority);
uint32_t HAL_NVIC_GetPendingIRQ(IRQn_Type IRQn);
void HAL_NVIC_SetPendingIRQ(IRQn_Type IRQn);
void HAL_NVIC_ClearPendingIRQ(IRQn_Type IRQn);
uint32_t HAL_NVIC_GetActive(IRQn_Type IRQn);
void HAL_SYSTICK_CLKSourceConfig(uint32_t CLKSource);
void HAL_SYSTICK_IRQHandler(void);
void HAL_SYSTICK_Callback(void);
#if (__MPU_PRESENT == 1U)
void HAL_MPU_Enable(uint32_t MPU_Control);
void HAL_MPU_Disable(void);
void HAL_MPU_ConfigRegion(MPU_Region_InitTypeDef *MPU_Init);
#endif /* __MPU_PRESENT */
/**
* @}
*/
/**
* @}
*/
/* Private types -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/* Private constants ---------------------------------------------------------*/
/* Private macros ------------------------------------------------------------*/
/** @defgroup CORTEX_Private_Macros CORTEX Private Macros
* @{
*/
#define IS_NVIC_PRIORITY_GROUP(GROUP) (((GROUP) == NVIC_PRIORITYGROUP_0) || \
((GROUP) == NVIC_PRIORITYGROUP_1) || \
((GROUP) == NVIC_PRIORITYGROUP_2) || \
((GROUP) == NVIC_PRIORITYGROUP_3) || \
((GROUP) == NVIC_PRIORITYGROUP_4))
#define IS_NVIC_PREEMPTION_PRIORITY(PRIORITY) ((PRIORITY) < 0x10U)
#define IS_NVIC_SUB_PRIORITY(PRIORITY) ((PRIORITY) < 0x10U)
#define IS_NVIC_DEVICE_IRQ(IRQ) ((IRQ) >= (IRQn_Type)0x00U)
#define IS_SYSTICK_CLK_SOURCE(SOURCE) (((SOURCE) == SYSTICK_CLKSOURCE_HCLK) || \
((SOURCE) == SYSTICK_CLKSOURCE_HCLK_DIV8))
#if (__MPU_PRESENT == 1U)
#define IS_MPU_REGION_ENABLE(STATE) (((STATE) == MPU_REGION_ENABLE) || \
((STATE) == MPU_REGION_DISABLE))
#define IS_MPU_INSTRUCTION_ACCESS(STATE) (((STATE) == MPU_INSTRUCTION_ACCESS_ENABLE) || \
((STATE) == MPU_INSTRUCTION_ACCESS_DISABLE))
#define IS_MPU_ACCESS_SHAREABLE(STATE) (((STATE) == MPU_ACCESS_SHAREABLE) || \
((STATE) == MPU_ACCESS_NOT_SHAREABLE))
#define IS_MPU_ACCESS_CACHEABLE(STATE) (((STATE) == MPU_ACCESS_CACHEABLE) || \
((STATE) == MPU_ACCESS_NOT_CACHEABLE))
#define IS_MPU_ACCESS_BUFFERABLE(STATE) (((STATE) == MPU_ACCESS_BUFFERABLE) || \
((STATE) == MPU_ACCESS_NOT_BUFFERABLE))
#define IS_MPU_TEX_LEVEL(TYPE) (((TYPE) == MPU_TEX_LEVEL0) || \
((TYPE) == MPU_TEX_LEVEL1) || \
((TYPE) == MPU_TEX_LEVEL2))
#define IS_MPU_REGION_PERMISSION_ATTRIBUTE(TYPE) (((TYPE) == MPU_REGION_NO_ACCESS) || \
((TYPE) == MPU_REGION_PRIV_RW) || \
((TYPE) == MPU_REGION_PRIV_RW_URO) || \
((TYPE) == MPU_REGION_FULL_ACCESS) || \
((TYPE) == MPU_REGION_PRIV_RO) || \
((TYPE) == MPU_REGION_PRIV_RO_URO))
#define IS_MPU_REGION_NUMBER(NUMBER) (((NUMBER) == MPU_REGION_NUMBER0) || \
((NUMBER) == MPU_REGION_NUMBER1) || \
((NUMBER) == MPU_REGION_NUMBER2) || \
((NUMBER) == MPU_REGION_NUMBER3) || \
((NUMBER) == MPU_REGION_NUMBER4) || \
((NUMBER) == MPU_REGION_NUMBER5) || \
((NUMBER) == MPU_REGION_NUMBER6) || \
((NUMBER) == MPU_REGION_NUMBER7))
#define IS_MPU_REGION_SIZE(SIZE) (((SIZE) == MPU_REGION_SIZE_32B) || \
((SIZE) == MPU_REGION_SIZE_64B) || \
((SIZE) == MPU_REGION_SIZE_128B) || \
((SIZE) == MPU_REGION_SIZE_256B) || \
((SIZE) == MPU_REGION_SIZE_512B) || \
((SIZE) == MPU_REGION_SIZE_1KB) || \
((SIZE) == MPU_REGION_SIZE_2KB) || \
((SIZE) == MPU_REGION_SIZE_4KB) || \
((SIZE) == MPU_REGION_SIZE_8KB) || \
((SIZE) == MPU_REGION_SIZE_16KB) || \
((SIZE) == MPU_REGION_SIZE_32KB) || \
((SIZE) == MPU_REGION_SIZE_64KB) || \
((SIZE) == MPU_REGION_SIZE_128KB) || \
((SIZE) == MPU_REGION_SIZE_256KB) || \
((SIZE) == MPU_REGION_SIZE_512KB) || \
((SIZE) == MPU_REGION_SIZE_1MB) || \
((SIZE) == MPU_REGION_SIZE_2MB) || \
((SIZE) == MPU_REGION_SIZE_4MB) || \
((SIZE) == MPU_REGION_SIZE_8MB) || \
((SIZE) == MPU_REGION_SIZE_16MB) || \
((SIZE) == MPU_REGION_SIZE_32MB) || \
((SIZE) == MPU_REGION_SIZE_64MB) || \
((SIZE) == MPU_REGION_SIZE_128MB) || \
((SIZE) == MPU_REGION_SIZE_256MB) || \
((SIZE) == MPU_REGION_SIZE_512MB) || \
((SIZE) == MPU_REGION_SIZE_1GB) || \
((SIZE) == MPU_REGION_SIZE_2GB) || \
((SIZE) == MPU_REGION_SIZE_4GB))
#define IS_MPU_SUB_REGION_DISABLE(SUBREGION) ((SUBREGION) < (uint16_t)0x00FF)
#endif /* __MPU_PRESENT */
/**
* @}
*/
/* Private functions ---------------------------------------------------------*/
/**
* @}
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* __STM32F4xx_HAL_CORTEX_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/hal_inc/stm32f4xx_hal_def.h
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@@ -1,214 +0,0 @@
/**
******************************************************************************
* @file stm32f4xx_hal_def.h
* @author MCD Application Team
* @version V1.7.1
* @date 14-April-2017
* @brief This file contains HAL common defines, enumeration, macros and
* structures definitions.
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32F4xx_HAL_DEF
#define __STM32F4xx_HAL_DEF
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx.h"
#include "Legacy/stm32_hal_legacy.h"
#include <stdio.h>
/* Exported types ------------------------------------------------------------*/
/**
* @brief HAL Status structures definition
*/
typedef enum
{
HAL_OK = 0x00U,
HAL_ERROR = 0x01U,
HAL_BUSY = 0x02U,
HAL_TIMEOUT = 0x03U
} HAL_StatusTypeDef;
/**
* @brief HAL Lock structures definition
*/
typedef enum
{
HAL_UNLOCKED = 0x00U,
HAL_LOCKED = 0x01U
} HAL_LockTypeDef;
/* Exported macro ------------------------------------------------------------*/
#define HAL_MAX_DELAY 0xFFFFFFFFU
#define HAL_IS_BIT_SET(REG, BIT) (((REG) & (BIT)) != RESET)
#define HAL_IS_BIT_CLR(REG, BIT) (((REG) & (BIT)) == RESET)
#define __HAL_LINKDMA(__HANDLE__, __PPP_DMA_FIELD__, __DMA_HANDLE__) \
do{ \
(__HANDLE__)->__PPP_DMA_FIELD__ = &(__DMA_HANDLE__); \
(__DMA_HANDLE__).Parent = (__HANDLE__); \
} while(0)
#define UNUSED(x) ((void)(x))
/** @brief Reset the Handle's State field.
* @param __HANDLE__: specifies the Peripheral Handle.
* @note This macro can be used for the following purpose:
* - When the Handle is declared as local variable; before passing it as parameter
* to HAL_PPP_Init() for the first time, it is mandatory to use this macro
* to set to 0 the Handle's "State" field.
* Otherwise, "State" field may have any random value and the first time the function
* HAL_PPP_Init() is called, the low level hardware initialization will be missed
* (i.e. HAL_PPP_MspInit() will not be executed).
* - When there is a need to reconfigure the low level hardware: instead of calling
* HAL_PPP_DeInit() then HAL_PPP_Init(), user can make a call to this macro then HAL_PPP_Init().
* In this later function, when the Handle's "State" field is set to 0, it will execute the function
* HAL_PPP_MspInit() which will reconfigure the low level hardware.
* @retval None
*/
#define __HAL_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = 0U)
#if (USE_RTOS == 1U)
/* Reserved for future use */
#error "USE_RTOS should be 0 in the current HAL release"
#else
#define __HAL_LOCK(__HANDLE__) \
do{ \
if((__HANDLE__)->Lock == HAL_LOCKED) \
{ \
return HAL_BUSY; \
} \
else \
{ \
(__HANDLE__)->Lock = HAL_LOCKED; \
} \
}while (0U)
#define __HAL_UNLOCK(__HANDLE__) \
do{ \
(__HANDLE__)->Lock = HAL_UNLOCKED; \
}while (0U)
#endif /* USE_RTOS */
#if defined ( __GNUC__ )
#ifndef __weak
#define __weak __attribute__((weak))
#endif /* __weak */
#ifndef __packed
#define __packed __attribute__((__packed__))
#endif /* __packed */
#endif /* __GNUC__ */
/* Macro to get variable aligned on 4-bytes, for __ICCARM__ the directive "#pragma data_alignment=4" must be used instead */
#if defined (__GNUC__) /* GNU Compiler */
#ifndef __ALIGN_END
#define __ALIGN_END __attribute__ ((aligned (4)))
#endif /* __ALIGN_END */
#ifndef __ALIGN_BEGIN
#define __ALIGN_BEGIN
#endif /* __ALIGN_BEGIN */
#else
#ifndef __ALIGN_END
#define __ALIGN_END
#endif /* __ALIGN_END */
#ifndef __ALIGN_BEGIN
#if defined (__CC_ARM) /* ARM Compiler */
#define __ALIGN_BEGIN __align(4)
#elif defined (__ICCARM__) /* IAR Compiler */
#define __ALIGN_BEGIN
#endif /* __CC_ARM */
#endif /* __ALIGN_BEGIN */
#endif /* __GNUC__ */
/**
* @brief __RAM_FUNC definition
*/
#if defined ( __CC_ARM )
/* ARM Compiler
------------
RAM functions are defined using the toolchain options.
Functions that are executed in RAM should reside in a separate source module.
Using the 'Options for File' dialog you can simply change the 'Code / Const'
area of a module to a memory space in physical RAM.
Available memory areas are declared in the 'Target' tab of the 'Options for Target'
dialog.
*/
#define __RAM_FUNC HAL_StatusTypeDef
#elif defined ( __ICCARM__ )
/* ICCARM Compiler
---------------
RAM functions are defined using a specific toolchain keyword "__ramfunc".
*/
#define __RAM_FUNC __ramfunc HAL_StatusTypeDef
#elif defined ( __GNUC__ )
/* GNU Compiler
------------
RAM functions are defined using a specific toolchain attribute
"__attribute__((section(".RamFunc")))".
*/
#define __RAM_FUNC HAL_StatusTypeDef __attribute__((section(".RamFunc")))
#endif
/**
* @brief __NOINLINE definition
*/
#if defined ( __CC_ARM ) || defined ( __GNUC__ )
/* ARM & GNUCompiler
----------------
*/
#define __NOINLINE __attribute__ ( (noinline) )
#elif defined ( __ICCARM__ )
/* ICCARM Compiler
---------------
*/
#define __NOINLINE _Pragma("optimize = no_inline")
#endif
#ifdef __cplusplus
}
#endif
#endif /* ___STM32F4xx_HAL_DEF */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/hal_inc/stm32f4xx_hal_dma.h
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@@ -1,822 +0,0 @@
/**
******************************************************************************
* @file stm32f4xx_hal_dma.h
* @author MCD Application Team
* @version V1.7.1
* @date 14-April-2017
* @brief Header file of DMA HAL module.
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32F4xx_HAL_DMA_H
#define __STM32F4xx_HAL_DMA_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal_def.h"
/** @addtogroup STM32F4xx_HAL_Driver
* @{
*/
/** @addtogroup DMA
* @{
*/
/* Exported types ------------------------------------------------------------*/
/** @defgroup DMA_Exported_Types DMA Exported Types
* @brief DMA Exported Types
* @{
*/
/**
* @brief DMA Configuration Structure definition
*/
typedef struct
{
uint32_t Channel; /*!< Specifies the channel used for the specified stream.
This parameter can be a value of @ref DMA_Channel_selection */
uint32_t Direction; /*!< Specifies if the data will be transferred from memory to peripheral,
from memory to memory or from peripheral to memory.
This parameter can be a value of @ref DMA_Data_transfer_direction */
uint32_t PeriphInc; /*!< Specifies whether the Peripheral address register should be incremented or not.
This parameter can be a value of @ref DMA_Peripheral_incremented_mode */
uint32_t MemInc; /*!< Specifies whether the memory address register should be incremented or not.
This parameter can be a value of @ref DMA_Memory_incremented_mode */
uint32_t PeriphDataAlignment; /*!< Specifies the Peripheral data width.
This parameter can be a value of @ref DMA_Peripheral_data_size */
uint32_t MemDataAlignment; /*!< Specifies the Memory data width.
This parameter can be a value of @ref DMA_Memory_data_size */
uint32_t Mode; /*!< Specifies the operation mode of the DMAy Streamx.
This parameter can be a value of @ref DMA_mode
@note The circular buffer mode cannot be used if the memory-to-memory
data transfer is configured on the selected Stream */
uint32_t Priority; /*!< Specifies the software priority for the DMAy Streamx.
This parameter can be a value of @ref DMA_Priority_level */
uint32_t FIFOMode; /*!< Specifies if the FIFO mode or Direct mode will be used for the specified stream.
This parameter can be a value of @ref DMA_FIFO_direct_mode
@note The Direct mode (FIFO mode disabled) cannot be used if the
memory-to-memory data transfer is configured on the selected stream */
uint32_t FIFOThreshold; /*!< Specifies the FIFO threshold level.
This parameter can be a value of @ref DMA_FIFO_threshold_level */
uint32_t MemBurst; /*!< Specifies the Burst transfer configuration for the memory transfers.
It specifies the amount of data to be transferred in a single non interruptible
transaction.
This parameter can be a value of @ref DMA_Memory_burst
@note The burst mode is possible only if the address Increment mode is enabled. */
uint32_t PeriphBurst; /*!< Specifies the Burst transfer configuration for the peripheral transfers.
It specifies the amount of data to be transferred in a single non interruptible
transaction.
This parameter can be a value of @ref DMA_Peripheral_burst
@note The burst mode is possible only if the address Increment mode is enabled. */
}DMA_InitTypeDef;
/**
* @brief HAL DMA State structures definition
*/
typedef enum
{
HAL_DMA_STATE_RESET = 0x00U, /*!< DMA not yet initialized or disabled */
HAL_DMA_STATE_READY = 0x01U, /*!< DMA initialized and ready for use */
HAL_DMA_STATE_BUSY = 0x02U, /*!< DMA process is ongoing */
HAL_DMA_STATE_TIMEOUT = 0x03U, /*!< DMA timeout state */
HAL_DMA_STATE_ERROR = 0x04U, /*!< DMA error state */
HAL_DMA_STATE_ABORT = 0x05U, /*!< DMA Abort state */
}HAL_DMA_StateTypeDef;
/**
* @brief HAL DMA Error Code structure definition
*/
typedef enum
{
HAL_DMA_FULL_TRANSFER = 0x00U, /*!< Full transfer */
HAL_DMA_HALF_TRANSFER = 0x01U /*!< Half Transfer */
}HAL_DMA_LevelCompleteTypeDef;
/**
* @brief HAL DMA Error Code structure definition
*/
typedef enum
{
HAL_DMA_XFER_CPLT_CB_ID = 0x00U, /*!< Full transfer */
HAL_DMA_XFER_HALFCPLT_CB_ID = 0x01U, /*!< Half Transfer */
HAL_DMA_XFER_M1CPLT_CB_ID = 0x02U, /*!< M1 Full Transfer */
HAL_DMA_XFER_M1HALFCPLT_CB_ID = 0x03U, /*!< M1 Half Transfer */
HAL_DMA_XFER_ERROR_CB_ID = 0x04U, /*!< Error */
HAL_DMA_XFER_ABORT_CB_ID = 0x05U, /*!< Abort */
HAL_DMA_XFER_ALL_CB_ID = 0x06U /*!< All */
}HAL_DMA_CallbackIDTypeDef;
/**
* @brief DMA handle Structure definition
*/
typedef struct __DMA_HandleTypeDef
{
DMA_Stream_TypeDef *Instance; /*!< Register base address */
DMA_InitTypeDef Init; /*!< DMA communication parameters */
HAL_LockTypeDef Lock; /*!< DMA locking object */
__IO HAL_DMA_StateTypeDef State; /*!< DMA transfer state */
void *Parent; /*!< Parent object state */
void (* XferCpltCallback)( struct __DMA_HandleTypeDef * hdma); /*!< DMA transfer complete callback */
void (* XferHalfCpltCallback)( struct __DMA_HandleTypeDef * hdma); /*!< DMA Half transfer complete callback */
void (* XferM1CpltCallback)( struct __DMA_HandleTypeDef * hdma); /*!< DMA transfer complete Memory1 callback */
void (* XferM1HalfCpltCallback)( struct __DMA_HandleTypeDef * hdma); /*!< DMA transfer Half complete Memory1 callback */
void (* XferErrorCallback)( struct __DMA_HandleTypeDef * hdma); /*!< DMA transfer error callback */
void (* XferAbortCallback)( struct __DMA_HandleTypeDef * hdma); /*!< DMA transfer Abort callback */
__IO uint32_t ErrorCode; /*!< DMA Error code */
uint32_t StreamBaseAddress; /*!< DMA Stream Base Address */
uint32_t StreamIndex; /*!< DMA Stream Index */
}DMA_HandleTypeDef;
/**
* @}
*/
/* Exported constants --------------------------------------------------------*/
/** @defgroup DMA_Exported_Constants DMA Exported Constants
* @brief DMA Exported constants
* @{
*/
/** @defgroup DMA_Error_Code DMA Error Code
* @brief DMA Error Code
* @{
*/
#define HAL_DMA_ERROR_NONE 0x00000000U /*!< No error */
#define HAL_DMA_ERROR_TE 0x00000001U /*!< Transfer error */
#define HAL_DMA_ERROR_FE 0x00000002U /*!< FIFO error */
#define HAL_DMA_ERROR_DME 0x00000004U /*!< Direct Mode error */
#define HAL_DMA_ERROR_TIMEOUT 0x00000020U /*!< Timeout error */
#define HAL_DMA_ERROR_PARAM 0x00000040U /*!< Parameter error */
#define HAL_DMA_ERROR_NO_XFER 0x00000080U /*!< Abort requested with no Xfer ongoing */
#define HAL_DMA_ERROR_NOT_SUPPORTED 0x00000100U /*!< Not supported mode */
/**
* @}
*/
/** @defgroup DMA_Channel_selection DMA Channel selection
* @brief DMA channel selection
* @{
*/
#define DMA_CHANNEL_0 0x00000000U /*!< DMA Channel 0 */
#define DMA_CHANNEL_1 0x02000000U /*!< DMA Channel 1 */
#define DMA_CHANNEL_2 0x04000000U /*!< DMA Channel 2 */
#define DMA_CHANNEL_3 0x06000000U /*!< DMA Channel 3 */
#define DMA_CHANNEL_4 0x08000000U /*!< DMA Channel 4 */
#define DMA_CHANNEL_5 0x0A000000U /*!< DMA Channel 5 */
#define DMA_CHANNEL_6 0x0C000000U /*!< DMA Channel 6 */
#define DMA_CHANNEL_7 0x0E000000U /*!< DMA Channel 7 */
#if defined (DMA_SxCR_CHSEL_3)
#define DMA_CHANNEL_8 0x10000000U /*!< DMA Channel 8 */
#define DMA_CHANNEL_9 0x12000000U /*!< DMA Channel 9 */
#define DMA_CHANNEL_10 0x14000000U /*!< DMA Channel 10 */
#define DMA_CHANNEL_11 0x16000000U /*!< DMA Channel 11 */
#define DMA_CHANNEL_12 0x18000000U /*!< DMA Channel 12 */
#define DMA_CHANNEL_13 0x1A000000U /*!< DMA Channel 13 */
#define DMA_CHANNEL_14 0x1C000000U /*!< DMA Channel 14 */
#define DMA_CHANNEL_15 0x1E000000U /*!< DMA Channel 15 */
#endif /* DMA_SxCR_CHSEL_3 */
/**
* @}
*/
/** @defgroup DMA_Data_transfer_direction DMA Data transfer direction
* @brief DMA data transfer direction
* @{
*/
#define DMA_PERIPH_TO_MEMORY 0x00000000U /*!< Peripheral to memory direction */
#define DMA_MEMORY_TO_PERIPH ((uint32_t)DMA_SxCR_DIR_0) /*!< Memory to peripheral direction */
#define DMA_MEMORY_TO_MEMORY ((uint32_t)DMA_SxCR_DIR_1) /*!< Memory to memory direction */
/**
* @}
*/
/** @defgroup DMA_Peripheral_incremented_mode DMA Peripheral incremented mode
* @brief DMA peripheral incremented mode
* @{
*/
#define DMA_PINC_ENABLE ((uint32_t)DMA_SxCR_PINC) /*!< Peripheral increment mode enable */
#define DMA_PINC_DISABLE 0x00000000U /*!< Peripheral increment mode disable */
/**
* @}
*/
/** @defgroup DMA_Memory_incremented_mode DMA Memory incremented mode
* @brief DMA memory incremented mode
* @{
*/
#define DMA_MINC_ENABLE ((uint32_t)DMA_SxCR_MINC) /*!< Memory increment mode enable */
#define DMA_MINC_DISABLE 0x00000000U /*!< Memory increment mode disable */
/**
* @}
*/
/** @defgroup DMA_Peripheral_data_size DMA Peripheral data size
* @brief DMA peripheral data size
* @{
*/
#define DMA_PDATAALIGN_BYTE 0x00000000U /*!< Peripheral data alignment: Byte */
#define DMA_PDATAALIGN_HALFWORD ((uint32_t)DMA_SxCR_PSIZE_0) /*!< Peripheral data alignment: HalfWord */
#define DMA_PDATAALIGN_WORD ((uint32_t)DMA_SxCR_PSIZE_1) /*!< Peripheral data alignment: Word */
/**
* @}
*/
/** @defgroup DMA_Memory_data_size DMA Memory data size
* @brief DMA memory data size
* @{
*/
#define DMA_MDATAALIGN_BYTE 0x00000000U /*!< Memory data alignment: Byte */
#define DMA_MDATAALIGN_HALFWORD ((uint32_t)DMA_SxCR_MSIZE_0) /*!< Memory data alignment: HalfWord */
#define DMA_MDATAALIGN_WORD ((uint32_t)DMA_SxCR_MSIZE_1) /*!< Memory data alignment: Word */
/**
* @}
*/
/** @defgroup DMA_mode DMA mode
* @brief DMA mode
* @{
*/
#define DMA_NORMAL 0x00000000U /*!< Normal mode */
#define DMA_CIRCULAR ((uint32_t)DMA_SxCR_CIRC) /*!< Circular mode */
#define DMA_PFCTRL ((uint32_t)DMA_SxCR_PFCTRL) /*!< Peripheral flow control mode */
/**
* @}
*/
/** @defgroup DMA_Priority_level DMA Priority level
* @brief DMA priority levels
* @{
*/
#define DMA_PRIORITY_LOW 0x00000000U /*!< Priority level: Low */
#define DMA_PRIORITY_MEDIUM ((uint32_t)DMA_SxCR_PL_0) /*!< Priority level: Medium */
#define DMA_PRIORITY_HIGH ((uint32_t)DMA_SxCR_PL_1) /*!< Priority level: High */
#define DMA_PRIORITY_VERY_HIGH ((uint32_t)DMA_SxCR_PL) /*!< Priority level: Very High */
/**
* @}
*/
/** @defgroup DMA_FIFO_direct_mode DMA FIFO direct mode
* @brief DMA FIFO direct mode
* @{
*/
#define DMA_FIFOMODE_DISABLE 0x00000000U /*!< FIFO mode disable */
#define DMA_FIFOMODE_ENABLE ((uint32_t)DMA_SxFCR_DMDIS) /*!< FIFO mode enable */
/**
* @}
*/
/** @defgroup DMA_FIFO_threshold_level DMA FIFO threshold level
* @brief DMA FIFO level
* @{
*/
#define DMA_FIFO_THRESHOLD_1QUARTERFULL 0x00000000U /*!< FIFO threshold 1 quart full configuration */
#define DMA_FIFO_THRESHOLD_HALFFULL ((uint32_t)DMA_SxFCR_FTH_0) /*!< FIFO threshold half full configuration */
#define DMA_FIFO_THRESHOLD_3QUARTERSFULL ((uint32_t)DMA_SxFCR_FTH_1) /*!< FIFO threshold 3 quarts full configuration */
#define DMA_FIFO_THRESHOLD_FULL ((uint32_t)DMA_SxFCR_FTH) /*!< FIFO threshold full configuration */
/**
* @}
*/
/** @defgroup DMA_Memory_burst DMA Memory burst
* @brief DMA memory burst
* @{
*/
#define DMA_MBURST_SINGLE 0x00000000U
#define DMA_MBURST_INC4 ((uint32_t)DMA_SxCR_MBURST_0)
#define DMA_MBURST_INC8 ((uint32_t)DMA_SxCR_MBURST_1)
#define DMA_MBURST_INC16 ((uint32_t)DMA_SxCR_MBURST)
/**
* @}
*/
/** @defgroup DMA_Peripheral_burst DMA Peripheral burst
* @brief DMA peripheral burst
* @{
*/
#define DMA_PBURST_SINGLE 0x00000000U
#define DMA_PBURST_INC4 ((uint32_t)DMA_SxCR_PBURST_0)
#define DMA_PBURST_INC8 ((uint32_t)DMA_SxCR_PBURST_1)
#define DMA_PBURST_INC16 ((uint32_t)DMA_SxCR_PBURST)
/**
* @}
*/
/** @defgroup DMA_interrupt_enable_definitions DMA interrupt enable definitions
* @brief DMA interrupts definition
* @{
*/
#define DMA_IT_TC ((uint32_t)DMA_SxCR_TCIE)
#define DMA_IT_HT ((uint32_t)DMA_SxCR_HTIE)
#define DMA_IT_TE ((uint32_t)DMA_SxCR_TEIE)
#define DMA_IT_DME ((uint32_t)DMA_SxCR_DMEIE)
#define DMA_IT_FE 0x00000080U
/**
* @}
*/
/** @defgroup DMA_flag_definitions DMA flag definitions
* @brief DMA flag definitions
* @{
*/
#define DMA_FLAG_FEIF0_4 0x00800001U
#define DMA_FLAG_DMEIF0_4 0x00800004U
#define DMA_FLAG_TEIF0_4 0x00000008U
#define DMA_FLAG_HTIF0_4 0x00000010U
#define DMA_FLAG_TCIF0_4 0x00000020U
#define DMA_FLAG_FEIF1_5 0x00000040U
#define DMA_FLAG_DMEIF1_5 0x00000100U
#define DMA_FLAG_TEIF1_5 0x00000200U
#define DMA_FLAG_HTIF1_5 0x00000400U
#define DMA_FLAG_TCIF1_5 0x00000800U
#define DMA_FLAG_FEIF2_6 0x00010000U
#define DMA_FLAG_DMEIF2_6 0x00040000U
#define DMA_FLAG_TEIF2_6 0x00080000U
#define DMA_FLAG_HTIF2_6 0x00100000U
#define DMA_FLAG_TCIF2_6 0x00200000U
#define DMA_FLAG_FEIF3_7 0x00400000U
#define DMA_FLAG_DMEIF3_7 0x01000000U
#define DMA_FLAG_TEIF3_7 0x02000000U
#define DMA_FLAG_HTIF3_7 0x04000000U
#define DMA_FLAG_TCIF3_7 0x08000000U
/**
* @}
*/
/**
* @}
*/
/* Exported macro ------------------------------------------------------------*/
/** @brief Reset DMA handle state
* @param __HANDLE__: specifies the DMA handle.
* @retval None
*/
#define __HAL_DMA_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_DMA_STATE_RESET)
/**
* @brief Return the current DMA Stream FIFO filled level.
* @param __HANDLE__: DMA handle
* @retval The FIFO filling state.
* - DMA_FIFOStatus_Less1QuarterFull: when FIFO is less than 1 quarter-full
* and not empty.
* - DMA_FIFOStatus_1QuarterFull: if more than 1 quarter-full.
* - DMA_FIFOStatus_HalfFull: if more than 1 half-full.
* - DMA_FIFOStatus_3QuartersFull: if more than 3 quarters-full.
* - DMA_FIFOStatus_Empty: when FIFO is empty
* - DMA_FIFOStatus_Full: when FIFO is full
*/
#define __HAL_DMA_GET_FS(__HANDLE__) (((__HANDLE__)->Instance->FCR & (DMA_SxFCR_FS)))
/**
* @brief Enable the specified DMA Stream.
* @param __HANDLE__: DMA handle
* @retval None
*/
#define __HAL_DMA_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR |= DMA_SxCR_EN)
/**
* @brief Disable the specified DMA Stream.
* @param __HANDLE__: DMA handle
* @retval None
*/
#define __HAL_DMA_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->CR &= ~DMA_SxCR_EN)
/* Interrupt & Flag management */
/**
* @brief Return the current DMA Stream transfer complete flag.
* @param __HANDLE__: DMA handle
* @retval The specified transfer complete flag index.
*/
#define __HAL_DMA_GET_TC_FLAG_INDEX(__HANDLE__) \
(((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream0))? DMA_FLAG_TCIF0_4 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream0))? DMA_FLAG_TCIF0_4 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream4))? DMA_FLAG_TCIF0_4 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream4))? DMA_FLAG_TCIF0_4 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream1))? DMA_FLAG_TCIF1_5 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream1))? DMA_FLAG_TCIF1_5 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream5))? DMA_FLAG_TCIF1_5 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream5))? DMA_FLAG_TCIF1_5 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream2))? DMA_FLAG_TCIF2_6 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream2))? DMA_FLAG_TCIF2_6 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream6))? DMA_FLAG_TCIF2_6 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream6))? DMA_FLAG_TCIF2_6 :\
DMA_FLAG_TCIF3_7)
/**
* @brief Return the current DMA Stream half transfer complete flag.
* @param __HANDLE__: DMA handle
* @retval The specified half transfer complete flag index.
*/
#define __HAL_DMA_GET_HT_FLAG_INDEX(__HANDLE__)\
(((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream0))? DMA_FLAG_HTIF0_4 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream0))? DMA_FLAG_HTIF0_4 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream4))? DMA_FLAG_HTIF0_4 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream4))? DMA_FLAG_HTIF0_4 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream1))? DMA_FLAG_HTIF1_5 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream1))? DMA_FLAG_HTIF1_5 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream5))? DMA_FLAG_HTIF1_5 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream5))? DMA_FLAG_HTIF1_5 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream2))? DMA_FLAG_HTIF2_6 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream2))? DMA_FLAG_HTIF2_6 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream6))? DMA_FLAG_HTIF2_6 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream6))? DMA_FLAG_HTIF2_6 :\
DMA_FLAG_HTIF3_7)
/**
* @brief Return the current DMA Stream transfer error flag.
* @param __HANDLE__: DMA handle
* @retval The specified transfer error flag index.
*/
#define __HAL_DMA_GET_TE_FLAG_INDEX(__HANDLE__)\
(((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream0))? DMA_FLAG_TEIF0_4 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream0))? DMA_FLAG_TEIF0_4 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream4))? DMA_FLAG_TEIF0_4 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream4))? DMA_FLAG_TEIF0_4 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream1))? DMA_FLAG_TEIF1_5 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream1))? DMA_FLAG_TEIF1_5 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream5))? DMA_FLAG_TEIF1_5 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream5))? DMA_FLAG_TEIF1_5 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream2))? DMA_FLAG_TEIF2_6 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream2))? DMA_FLAG_TEIF2_6 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream6))? DMA_FLAG_TEIF2_6 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream6))? DMA_FLAG_TEIF2_6 :\
DMA_FLAG_TEIF3_7)
/**
* @brief Return the current DMA Stream FIFO error flag.
* @param __HANDLE__: DMA handle
* @retval The specified FIFO error flag index.
*/
#define __HAL_DMA_GET_FE_FLAG_INDEX(__HANDLE__)\
(((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream0))? DMA_FLAG_FEIF0_4 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream0))? DMA_FLAG_FEIF0_4 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream4))? DMA_FLAG_FEIF0_4 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream4))? DMA_FLAG_FEIF0_4 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream1))? DMA_FLAG_FEIF1_5 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream1))? DMA_FLAG_FEIF1_5 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream5))? DMA_FLAG_FEIF1_5 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream5))? DMA_FLAG_FEIF1_5 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream2))? DMA_FLAG_FEIF2_6 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream2))? DMA_FLAG_FEIF2_6 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream6))? DMA_FLAG_FEIF2_6 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream6))? DMA_FLAG_FEIF2_6 :\
DMA_FLAG_FEIF3_7)
/**
* @brief Return the current DMA Stream direct mode error flag.
* @param __HANDLE__: DMA handle
* @retval The specified direct mode error flag index.
*/
#define __HAL_DMA_GET_DME_FLAG_INDEX(__HANDLE__)\
(((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream0))? DMA_FLAG_DMEIF0_4 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream0))? DMA_FLAG_DMEIF0_4 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream4))? DMA_FLAG_DMEIF0_4 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream4))? DMA_FLAG_DMEIF0_4 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream1))? DMA_FLAG_DMEIF1_5 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream1))? DMA_FLAG_DMEIF1_5 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream5))? DMA_FLAG_DMEIF1_5 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream5))? DMA_FLAG_DMEIF1_5 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream2))? DMA_FLAG_DMEIF2_6 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream2))? DMA_FLAG_DMEIF2_6 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream6))? DMA_FLAG_DMEIF2_6 :\
((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream6))? DMA_FLAG_DMEIF2_6 :\
DMA_FLAG_DMEIF3_7)
/**
* @brief Get the DMA Stream pending flags.
* @param __HANDLE__: DMA handle
* @param __FLAG__: Get the specified flag.
* This parameter can be any combination of the following values:
* @arg DMA_FLAG_TCIFx: Transfer complete flag.
* @arg DMA_FLAG_HTIFx: Half transfer complete flag.
* @arg DMA_FLAG_TEIFx: Transfer error flag.
* @arg DMA_FLAG_DMEIFx: Direct mode error flag.
* @arg DMA_FLAG_FEIFx: FIFO error flag.
* Where x can be 0_4, 1_5, 2_6 or 3_7 to select the DMA Stream flag.
* @retval The state of FLAG (SET or RESET).
*/
#define __HAL_DMA_GET_FLAG(__HANDLE__, __FLAG__)\
(((uint32_t)((__HANDLE__)->Instance) > (uint32_t)DMA2_Stream3)? (DMA2->HISR & (__FLAG__)) :\
((uint32_t)((__HANDLE__)->Instance) > (uint32_t)DMA1_Stream7)? (DMA2->LISR & (__FLAG__)) :\
((uint32_t)((__HANDLE__)->Instance) > (uint32_t)DMA1_Stream3)? (DMA1->HISR & (__FLAG__)) : (DMA1->LISR & (__FLAG__)))
/**
* @brief Clear the DMA Stream pending flags.
* @param __HANDLE__: DMA handle
* @param __FLAG__: specifies the flag to clear.
* This parameter can be any combination of the following values:
* @arg DMA_FLAG_TCIFx: Transfer complete flag.
* @arg DMA_FLAG_HTIFx: Half transfer complete flag.
* @arg DMA_FLAG_TEIFx: Transfer error flag.
* @arg DMA_FLAG_DMEIFx: Direct mode error flag.
* @arg DMA_FLAG_FEIFx: FIFO error flag.
* Where x can be 0_4, 1_5, 2_6 or 3_7 to select the DMA Stream flag.
* @retval None
*/
#define __HAL_DMA_CLEAR_FLAG(__HANDLE__, __FLAG__) \
(((uint32_t)((__HANDLE__)->Instance) > (uint32_t)DMA2_Stream3)? (DMA2->HIFCR = (__FLAG__)) :\
((uint32_t)((__HANDLE__)->Instance) > (uint32_t)DMA1_Stream7)? (DMA2->LIFCR = (__FLAG__)) :\
((uint32_t)((__HANDLE__)->Instance) > (uint32_t)DMA1_Stream3)? (DMA1->HIFCR = (__FLAG__)) : (DMA1->LIFCR = (__FLAG__)))
/**
* @brief Enable the specified DMA Stream interrupts.
* @param __HANDLE__: DMA handle
* @param __INTERRUPT__: specifies the DMA interrupt sources to be enabled or disabled.
* This parameter can be any combination of the following values:
* @arg DMA_IT_TC: Transfer complete interrupt mask.
* @arg DMA_IT_HT: Half transfer complete interrupt mask.
* @arg DMA_IT_TE: Transfer error interrupt mask.
* @arg DMA_IT_FE: FIFO error interrupt mask.
* @arg DMA_IT_DME: Direct mode error interrupt.
* @retval None
*/
#define __HAL_DMA_ENABLE_IT(__HANDLE__, __INTERRUPT__) (((__INTERRUPT__) != DMA_IT_FE)? \
((__HANDLE__)->Instance->CR |= (__INTERRUPT__)) : ((__HANDLE__)->Instance->FCR |= (__INTERRUPT__)))
/**
* @brief Disable the specified DMA Stream interrupts.
* @param __HANDLE__: DMA handle
* @param __INTERRUPT__: specifies the DMA interrupt sources to be enabled or disabled.
* This parameter can be any combination of the following values:
* @arg DMA_IT_TC: Transfer complete interrupt mask.
* @arg DMA_IT_HT: Half transfer complete interrupt mask.
* @arg DMA_IT_TE: Transfer error interrupt mask.
* @arg DMA_IT_FE: FIFO error interrupt mask.
* @arg DMA_IT_DME: Direct mode error interrupt.
* @retval None
*/
#define __HAL_DMA_DISABLE_IT(__HANDLE__, __INTERRUPT__) (((__INTERRUPT__) != DMA_IT_FE)? \
((__HANDLE__)->Instance->CR &= ~(__INTERRUPT__)) : ((__HANDLE__)->Instance->FCR &= ~(__INTERRUPT__)))
/**
* @brief Check whether the specified DMA Stream interrupt is enabled or disabled.
* @param __HANDLE__: DMA handle
* @param __INTERRUPT__: specifies the DMA interrupt source to check.
* This parameter can be one of the following values:
* @arg DMA_IT_TC: Transfer complete interrupt mask.
* @arg DMA_IT_HT: Half transfer complete interrupt mask.
* @arg DMA_IT_TE: Transfer error interrupt mask.
* @arg DMA_IT_FE: FIFO error interrupt mask.
* @arg DMA_IT_DME: Direct mode error interrupt.
* @retval The state of DMA_IT.
*/
#define __HAL_DMA_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) (((__INTERRUPT__) != DMA_IT_FE)? \
((__HANDLE__)->Instance->CR & (__INTERRUPT__)) : \
((__HANDLE__)->Instance->FCR & (__INTERRUPT__)))
/**
* @brief Writes the number of data units to be transferred on the DMA Stream.
* @param __HANDLE__: DMA handle
* @param __COUNTER__: Number of data units to be transferred (from 0 to 65535)
* Number of data items depends only on the Peripheral data format.
*
* @note If Peripheral data format is Bytes: number of data units is equal
* to total number of bytes to be transferred.
*
* @note If Peripheral data format is Half-Word: number of data units is
* equal to total number of bytes to be transferred / 2.
*
* @note If Peripheral data format is Word: number of data units is equal
* to total number of bytes to be transferred / 4.
*
* @retval The number of remaining data units in the current DMAy Streamx transfer.
*/
#define __HAL_DMA_SET_COUNTER(__HANDLE__, __COUNTER__) ((__HANDLE__)->Instance->NDTR = (uint16_t)(__COUNTER__))
/**
* @brief Returns the number of remaining data units in the current DMAy Streamx transfer.
* @param __HANDLE__: DMA handle
*
* @retval The number of remaining data units in the current DMA Stream transfer.
*/
#define __HAL_DMA_GET_COUNTER(__HANDLE__) ((__HANDLE__)->Instance->NDTR)
/* Include DMA HAL Extension module */
#include "stm32f4xx_hal_dma_ex.h"
/* Exported functions --------------------------------------------------------*/
/** @defgroup DMA_Exported_Functions DMA Exported Functions
* @brief DMA Exported functions
* @{
*/
/** @defgroup DMA_Exported_Functions_Group1 Initialization and de-initialization functions
* @brief Initialization and de-initialization functions
* @{
*/
HAL_StatusTypeDef HAL_DMA_Init(DMA_HandleTypeDef *hdma);
HAL_StatusTypeDef HAL_DMA_DeInit(DMA_HandleTypeDef *hdma);
/**
* @}
*/
/** @defgroup DMA_Exported_Functions_Group2 I/O operation functions
* @brief I/O operation functions
* @{
*/
HAL_StatusTypeDef HAL_DMA_Start (DMA_HandleTypeDef *hdma, uint32_t SrcAddress, uint32_t DstAddress, uint32_t DataLength);
HAL_StatusTypeDef HAL_DMA_Start_IT(DMA_HandleTypeDef *hdma, uint32_t SrcAddress, uint32_t DstAddress, uint32_t DataLength);
HAL_StatusTypeDef HAL_DMA_Abort(DMA_HandleTypeDef *hdma);
HAL_StatusTypeDef HAL_DMA_Abort_IT(DMA_HandleTypeDef *hdma);
HAL_StatusTypeDef HAL_DMA_PollForTransfer(DMA_HandleTypeDef *hdma, HAL_DMA_LevelCompleteTypeDef CompleteLevel, uint32_t Timeout);
void HAL_DMA_IRQHandler(DMA_HandleTypeDef *hdma);
HAL_StatusTypeDef HAL_DMA_CleanCallbacks(DMA_HandleTypeDef *hdma);
HAL_StatusTypeDef HAL_DMA_RegisterCallback(DMA_HandleTypeDef *hdma, HAL_DMA_CallbackIDTypeDef CallbackID, void (* pCallback)(DMA_HandleTypeDef *_hdma));
HAL_StatusTypeDef HAL_DMA_UnRegisterCallback(DMA_HandleTypeDef *hdma, HAL_DMA_CallbackIDTypeDef CallbackID);
/**
* @}
*/
/** @defgroup DMA_Exported_Functions_Group3 Peripheral State functions
* @brief Peripheral State functions
* @{
*/
HAL_DMA_StateTypeDef HAL_DMA_GetState(DMA_HandleTypeDef *hdma);
uint32_t HAL_DMA_GetError(DMA_HandleTypeDef *hdma);
/**
* @}
*/
/**
* @}
*/
/* Private Constants -------------------------------------------------------------*/
/** @defgroup DMA_Private_Constants DMA Private Constants
* @brief DMA private defines and constants
* @{
*/
/**
* @}
*/
/* Private macros ------------------------------------------------------------*/
/** @defgroup DMA_Private_Macros DMA Private Macros
* @brief DMA private macros
* @{
*/
#if defined (DMA_SxCR_CHSEL_3)
#define IS_DMA_CHANNEL(CHANNEL) (((CHANNEL) == DMA_CHANNEL_0) || \
((CHANNEL) == DMA_CHANNEL_1) || \
((CHANNEL) == DMA_CHANNEL_2) || \
((CHANNEL) == DMA_CHANNEL_3) || \
((CHANNEL) == DMA_CHANNEL_4) || \
((CHANNEL) == DMA_CHANNEL_5) || \
((CHANNEL) == DMA_CHANNEL_6) || \
((CHANNEL) == DMA_CHANNEL_7) || \
((CHANNEL) == DMA_CHANNEL_8) || \
((CHANNEL) == DMA_CHANNEL_9) || \
((CHANNEL) == DMA_CHANNEL_10)|| \
((CHANNEL) == DMA_CHANNEL_11)|| \
((CHANNEL) == DMA_CHANNEL_12)|| \
((CHANNEL) == DMA_CHANNEL_13)|| \
((CHANNEL) == DMA_CHANNEL_14)|| \
((CHANNEL) == DMA_CHANNEL_15))
#else
#define IS_DMA_CHANNEL(CHANNEL) (((CHANNEL) == DMA_CHANNEL_0) || \
((CHANNEL) == DMA_CHANNEL_1) || \
((CHANNEL) == DMA_CHANNEL_2) || \
((CHANNEL) == DMA_CHANNEL_3) || \
((CHANNEL) == DMA_CHANNEL_4) || \
((CHANNEL) == DMA_CHANNEL_5) || \
((CHANNEL) == DMA_CHANNEL_6) || \
((CHANNEL) == DMA_CHANNEL_7))
#endif /* DMA_SxCR_CHSEL_3 */
#define IS_DMA_DIRECTION(DIRECTION) (((DIRECTION) == DMA_PERIPH_TO_MEMORY ) || \
((DIRECTION) == DMA_MEMORY_TO_PERIPH) || \
((DIRECTION) == DMA_MEMORY_TO_MEMORY))
#define IS_DMA_BUFFER_SIZE(SIZE) (((SIZE) >= 0x01U) && ((SIZE) < 0x10000U))
#define IS_DMA_PERIPHERAL_INC_STATE(STATE) (((STATE) == DMA_PINC_ENABLE) || \
((STATE) == DMA_PINC_DISABLE))
#define IS_DMA_MEMORY_INC_STATE(STATE) (((STATE) == DMA_MINC_ENABLE) || \
((STATE) == DMA_MINC_DISABLE))
#define IS_DMA_PERIPHERAL_DATA_SIZE(SIZE) (((SIZE) == DMA_PDATAALIGN_BYTE) || \
((SIZE) == DMA_PDATAALIGN_HALFWORD) || \
((SIZE) == DMA_PDATAALIGN_WORD))
#define IS_DMA_MEMORY_DATA_SIZE(SIZE) (((SIZE) == DMA_MDATAALIGN_BYTE) || \
((SIZE) == DMA_MDATAALIGN_HALFWORD) || \
((SIZE) == DMA_MDATAALIGN_WORD ))
#define IS_DMA_MODE(MODE) (((MODE) == DMA_NORMAL ) || \
((MODE) == DMA_CIRCULAR) || \
((MODE) == DMA_PFCTRL))
#define IS_DMA_PRIORITY(PRIORITY) (((PRIORITY) == DMA_PRIORITY_LOW ) || \
((PRIORITY) == DMA_PRIORITY_MEDIUM) || \
((PRIORITY) == DMA_PRIORITY_HIGH) || \
((PRIORITY) == DMA_PRIORITY_VERY_HIGH))
#define IS_DMA_FIFO_MODE_STATE(STATE) (((STATE) == DMA_FIFOMODE_DISABLE ) || \
((STATE) == DMA_FIFOMODE_ENABLE))
#define IS_DMA_FIFO_THRESHOLD(THRESHOLD) (((THRESHOLD) == DMA_FIFO_THRESHOLD_1QUARTERFULL ) || \
((THRESHOLD) == DMA_FIFO_THRESHOLD_HALFFULL) || \
((THRESHOLD) == DMA_FIFO_THRESHOLD_3QUARTERSFULL) || \
((THRESHOLD) == DMA_FIFO_THRESHOLD_FULL))
#define IS_DMA_MEMORY_BURST(BURST) (((BURST) == DMA_MBURST_SINGLE) || \
((BURST) == DMA_MBURST_INC4) || \
((BURST) == DMA_MBURST_INC8) || \
((BURST) == DMA_MBURST_INC16))
#define IS_DMA_PERIPHERAL_BURST(BURST) (((BURST) == DMA_PBURST_SINGLE) || \
((BURST) == DMA_PBURST_INC4) || \
((BURST) == DMA_PBURST_INC8) || \
((BURST) == DMA_PBURST_INC16))
/**
* @}
*/
/* Private functions ---------------------------------------------------------*/
/** @defgroup DMA_Private_Functions DMA Private Functions
* @brief DMA private functions
* @{
*/
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* __STM32F4xx_HAL_DMA_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/hal_inc/stm32f4xx_hal_dma_ex.h
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/**
******************************************************************************
* @file stm32f4xx_hal_dma_ex.h
* @author MCD Application Team
* @version V1.7.1
* @date 14-April-2017
* @brief Header file of DMA HAL extension module.
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32F4xx_HAL_DMA_EX_H
#define __STM32F4xx_HAL_DMA_EX_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal_def.h"
/** @addtogroup STM32F4xx_HAL_Driver
* @{
*/
/** @addtogroup DMAEx
* @{
*/
/* Exported types ------------------------------------------------------------*/
/** @defgroup DMAEx_Exported_Types DMAEx Exported Types
* @brief DMAEx Exported types
* @{
*/
/**
* @brief HAL DMA Memory definition
*/
typedef enum
{
MEMORY0 = 0x00U, /*!< Memory 0 */
MEMORY1 = 0x01U /*!< Memory 1 */
}HAL_DMA_MemoryTypeDef;
/**
* @}
*/
/* Exported functions --------------------------------------------------------*/
/** @defgroup DMAEx_Exported_Functions DMAEx Exported Functions
* @brief DMAEx Exported functions
* @{
*/
/** @defgroup DMAEx_Exported_Functions_Group1 Extended features functions
* @brief Extended features functions
* @{
*/
/* IO operation functions *******************************************************/
HAL_StatusTypeDef HAL_DMAEx_MultiBufferStart(DMA_HandleTypeDef *hdma, uint32_t SrcAddress, uint32_t DstAddress, uint32_t SecondMemAddress, uint32_t DataLength);
HAL_StatusTypeDef HAL_DMAEx_MultiBufferStart_IT(DMA_HandleTypeDef *hdma, uint32_t SrcAddress, uint32_t DstAddress, uint32_t SecondMemAddress, uint32_t DataLength);
HAL_StatusTypeDef HAL_DMAEx_ChangeMemory(DMA_HandleTypeDef *hdma, uint32_t Address, HAL_DMA_MemoryTypeDef memory);
/**
* @}
*/
/**
* @}
*/
/* Private functions ---------------------------------------------------------*/
/** @defgroup DMAEx_Private_Functions DMAEx Private Functions
* @brief DMAEx Private functions
* @{
*/
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /*__STM32F4xx_HAL_DMA_EX_H*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/hal_inc/stm32f4xx_hal_flash.h
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/**
******************************************************************************
* @file stm32f4xx_hal_flash.h
* @author MCD Application Team
* @version V1.7.1
* @date 14-April-2017
* @brief Header file of FLASH HAL module.
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32F4xx_HAL_FLASH_H
#define __STM32F4xx_HAL_FLASH_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal_def.h"
/** @addtogroup STM32F4xx_HAL_Driver
* @{
*/
/** @addtogroup FLASH
* @{
*/
/* Exported types ------------------------------------------------------------*/
/** @defgroup FLASH_Exported_Types FLASH Exported Types
* @{
*/
/**
* @brief FLASH Procedure structure definition
*/
typedef enum
{
FLASH_PROC_NONE = 0U,
FLASH_PROC_SECTERASE,
FLASH_PROC_MASSERASE,
FLASH_PROC_PROGRAM
} FLASH_ProcedureTypeDef;
/**
* @brief FLASH handle Structure definition
*/
typedef struct
{
__IO FLASH_ProcedureTypeDef ProcedureOnGoing; /*Internal variable to indicate which procedure is ongoing or not in IT context*/
__IO uint32_t NbSectorsToErase; /*Internal variable to save the remaining sectors to erase in IT context*/
__IO uint8_t VoltageForErase; /*Internal variable to provide voltage range selected by user in IT context*/
__IO uint32_t Sector; /*Internal variable to define the current sector which is erasing*/
__IO uint32_t Bank; /*Internal variable to save current bank selected during mass erase*/
__IO uint32_t Address; /*Internal variable to save address selected for program*/
HAL_LockTypeDef Lock; /* FLASH locking object */
__IO uint32_t ErrorCode; /* FLASH error code */
}FLASH_ProcessTypeDef;
/**
* @}
*/
/* Exported constants --------------------------------------------------------*/
/** @defgroup FLASH_Exported_Constants FLASH Exported Constants
* @{
*/
/** @defgroup FLASH_Error_Code FLASH Error Code
* @brief FLASH Error Code
* @{
*/
#define HAL_FLASH_ERROR_NONE 0x00000000U /*!< No error */
#define HAL_FLASH_ERROR_RD 0x00000001U /*!< Read Protection error */
#define HAL_FLASH_ERROR_PGS 0x00000002U /*!< Programming Sequence error */
#define HAL_FLASH_ERROR_PGP 0x00000004U /*!< Programming Parallelism error */
#define HAL_FLASH_ERROR_PGA 0x00000008U /*!< Programming Alignment error */
#define HAL_FLASH_ERROR_WRP 0x00000010U /*!< Write protection error */
#define HAL_FLASH_ERROR_OPERATION 0x00000020U /*!< Operation Error */
/**
* @}
*/
/** @defgroup FLASH_Type_Program FLASH Type Program
* @{
*/
#define FLASH_TYPEPROGRAM_BYTE 0x00000000U /*!< Program byte (8-bit) at a specified address */
#define FLASH_TYPEPROGRAM_HALFWORD 0x00000001U /*!< Program a half-word (16-bit) at a specified address */
#define FLASH_TYPEPROGRAM_WORD 0x00000002U /*!< Program a word (32-bit) at a specified address */
#define FLASH_TYPEPROGRAM_DOUBLEWORD 0x00000003U /*!< Program a double word (64-bit) at a specified address */
/**
* @}
*/
/** @defgroup FLASH_Flag_definition FLASH Flag definition
* @brief Flag definition
* @{
*/
#define FLASH_FLAG_EOP FLASH_SR_EOP /*!< FLASH End of Operation flag */
#define FLASH_FLAG_OPERR FLASH_SR_SOP /*!< FLASH operation Error flag */
#define FLASH_FLAG_WRPERR FLASH_SR_WRPERR /*!< FLASH Write protected error flag */
#define FLASH_FLAG_PGAERR FLASH_SR_PGAERR /*!< FLASH Programming Alignment error flag */
#define FLASH_FLAG_PGPERR FLASH_SR_PGPERR /*!< FLASH Programming Parallelism error flag */
#define FLASH_FLAG_PGSERR FLASH_SR_PGSERR /*!< FLASH Programming Sequence error flag */
#if defined(FLASH_SR_RDERR)
#define FLASH_FLAG_RDERR FLASH_SR_RDERR /*!< Read Protection error flag (PCROP) */
#endif /* FLASH_SR_RDERR */
#define FLASH_FLAG_BSY FLASH_SR_BSY /*!< FLASH Busy flag */
/**
* @}
*/
/** @defgroup FLASH_Interrupt_definition FLASH Interrupt definition
* @brief FLASH Interrupt definition
* @{
*/
#define FLASH_IT_EOP FLASH_CR_EOPIE /*!< End of FLASH Operation Interrupt source */
#define FLASH_IT_ERR 0x02000000U /*!< Error Interrupt source */
/**
* @}
*/
/** @defgroup FLASH_Program_Parallelism FLASH Program Parallelism
* @{
*/
#define FLASH_PSIZE_BYTE 0x00000000U
#define FLASH_PSIZE_HALF_WORD 0x00000100U
#define FLASH_PSIZE_WORD 0x00000200U
#define FLASH_PSIZE_DOUBLE_WORD 0x00000300U
#define CR_PSIZE_MASK 0xFFFFFCFFU
/**
* @}
*/
/** @defgroup FLASH_Keys FLASH Keys
* @{
*/
#define RDP_KEY ((uint16_t)0x00A5)
#define FLASH_KEY1 0x45670123U
#define FLASH_KEY2 0xCDEF89ABU
#define FLASH_OPT_KEY1 0x08192A3BU
#define FLASH_OPT_KEY2 0x4C5D6E7FU
/**
* @}
*/
/**
* @}
*/
/* Exported macro ------------------------------------------------------------*/
/** @defgroup FLASH_Exported_Macros FLASH Exported Macros
* @{
*/
/**
* @brief Set the FLASH Latency.
* @param __LATENCY__: FLASH Latency
* The value of this parameter depend on device used within the same series
* @retval none
*/
#define __HAL_FLASH_SET_LATENCY(__LATENCY__) (*(__IO uint8_t *)ACR_BYTE0_ADDRESS = (uint8_t)(__LATENCY__))
/**
* @brief Get the FLASH Latency.
* @retval FLASH Latency
* The value of this parameter depend on device used within the same series
*/
#define __HAL_FLASH_GET_LATENCY() (READ_BIT((FLASH->ACR), FLASH_ACR_LATENCY))
/**
* @brief Enable the FLASH prefetch buffer.
* @retval none
*/
#define __HAL_FLASH_PREFETCH_BUFFER_ENABLE() (FLASH->ACR |= FLASH_ACR_PRFTEN)
/**
* @brief Disable the FLASH prefetch buffer.
* @retval none
*/
#define __HAL_FLASH_PREFETCH_BUFFER_DISABLE() (FLASH->ACR &= (~FLASH_ACR_PRFTEN))
/**
* @brief Enable the FLASH instruction cache.
* @retval none
*/
#define __HAL_FLASH_INSTRUCTION_CACHE_ENABLE() (FLASH->ACR |= FLASH_ACR_ICEN)
/**
* @brief Disable the FLASH instruction cache.
* @retval none
*/
#define __HAL_FLASH_INSTRUCTION_CACHE_DISABLE() (FLASH->ACR &= (~FLASH_ACR_ICEN))
/**
* @brief Enable the FLASH data cache.
* @retval none
*/
#define __HAL_FLASH_DATA_CACHE_ENABLE() (FLASH->ACR |= FLASH_ACR_DCEN)
/**
* @brief Disable the FLASH data cache.
* @retval none
*/
#define __HAL_FLASH_DATA_CACHE_DISABLE() (FLASH->ACR &= (~FLASH_ACR_DCEN))
/**
* @brief Resets the FLASH instruction Cache.
* @note This function must be used only when the Instruction Cache is disabled.
* @retval None
*/
#define __HAL_FLASH_INSTRUCTION_CACHE_RESET() do {FLASH->ACR |= FLASH_ACR_ICRST; \
FLASH->ACR &= ~FLASH_ACR_ICRST; \
}while(0U)
/**
* @brief Resets the FLASH data Cache.
* @note This function must be used only when the data Cache is disabled.
* @retval None
*/
#define __HAL_FLASH_DATA_CACHE_RESET() do {FLASH->ACR |= FLASH_ACR_DCRST; \
FLASH->ACR &= ~FLASH_ACR_DCRST; \
}while(0U)
/**
* @brief Enable the specified FLASH interrupt.
* @param __INTERRUPT__ : FLASH interrupt
* This parameter can be any combination of the following values:
* @arg FLASH_IT_EOP: End of FLASH Operation Interrupt
* @arg FLASH_IT_ERR: Error Interrupt
* @retval none
*/
#define __HAL_FLASH_ENABLE_IT(__INTERRUPT__) (FLASH->CR |= (__INTERRUPT__))
/**
* @brief Disable the specified FLASH interrupt.
* @param __INTERRUPT__ : FLASH interrupt
* This parameter can be any combination of the following values:
* @arg FLASH_IT_EOP: End of FLASH Operation Interrupt
* @arg FLASH_IT_ERR: Error Interrupt
* @retval none
*/
#define __HAL_FLASH_DISABLE_IT(__INTERRUPT__) (FLASH->CR &= ~(uint32_t)(__INTERRUPT__))
/**
* @brief Get the specified FLASH flag status.
* @param __FLAG__: specifies the FLASH flags to check.
* This parameter can be any combination of the following values:
* @arg FLASH_FLAG_EOP : FLASH End of Operation flag
* @arg FLASH_FLAG_OPERR : FLASH operation Error flag
* @arg FLASH_FLAG_WRPERR: FLASH Write protected error flag
* @arg FLASH_FLAG_PGAERR: FLASH Programming Alignment error flag
* @arg FLASH_FLAG_PGPERR: FLASH Programming Parallelism error flag
* @arg FLASH_FLAG_PGSERR: FLASH Programming Sequence error flag
* @arg FLASH_FLAG_RDERR : FLASH Read Protection error flag (PCROP) (*)
* @arg FLASH_FLAG_BSY : FLASH Busy flag
* (*) FLASH_FLAG_RDERR is not available for STM32F405xx/407xx/415xx/417xx devices
* @retval The new state of __FLAG__ (SET or RESET).
*/
#define __HAL_FLASH_GET_FLAG(__FLAG__) ((FLASH->SR & (__FLAG__)))
/**
* @brief Clear the specified FLASH flags.
* @param __FLAG__: specifies the FLASH flags to clear.
* This parameter can be any combination of the following values:
* @arg FLASH_FLAG_EOP : FLASH End of Operation flag
* @arg FLASH_FLAG_OPERR : FLASH operation Error flag
* @arg FLASH_FLAG_WRPERR: FLASH Write protected error flag
* @arg FLASH_FLAG_PGAERR: FLASH Programming Alignment error flag
* @arg FLASH_FLAG_PGPERR: FLASH Programming Parallelism error flag
* @arg FLASH_FLAG_PGSERR: FLASH Programming Sequence error flag
* @arg FLASH_FLAG_RDERR : FLASH Read Protection error flag (PCROP) (*)
* (*) FLASH_FLAG_RDERR is not available for STM32F405xx/407xx/415xx/417xx devices
* @retval none
*/
#define __HAL_FLASH_CLEAR_FLAG(__FLAG__) (FLASH->SR = (__FLAG__))
/**
* @}
*/
/* Include FLASH HAL Extension module */
#include "stm32f4xx_hal_flash_ex.h"
#include "stm32f4xx_hal_flash_ramfunc.h"
/* Exported functions --------------------------------------------------------*/
/** @addtogroup FLASH_Exported_Functions
* @{
*/
/** @addtogroup FLASH_Exported_Functions_Group1
* @{
*/
/* Program operation functions ***********************************************/
HAL_StatusTypeDef HAL_FLASH_Program(uint32_t TypeProgram, uint32_t Address, uint64_t Data);
HAL_StatusTypeDef HAL_FLASH_Program_IT(uint32_t TypeProgram, uint32_t Address, uint64_t Data);
/* FLASH IRQ handler method */
void HAL_FLASH_IRQHandler(void);
/* Callbacks in non blocking modes */
void HAL_FLASH_EndOfOperationCallback(uint32_t ReturnValue);
void HAL_FLASH_OperationErrorCallback(uint32_t ReturnValue);
/**
* @}
*/
/** @addtogroup FLASH_Exported_Functions_Group2
* @{
*/
/* Peripheral Control functions **********************************************/
HAL_StatusTypeDef HAL_FLASH_Unlock(void);
HAL_StatusTypeDef HAL_FLASH_Lock(void);
HAL_StatusTypeDef HAL_FLASH_OB_Unlock(void);
HAL_StatusTypeDef HAL_FLASH_OB_Lock(void);
/* Option bytes control */
HAL_StatusTypeDef HAL_FLASH_OB_Launch(void);
/**
* @}
*/
/** @addtogroup FLASH_Exported_Functions_Group3
* @{
*/
/* Peripheral State functions ************************************************/
uint32_t HAL_FLASH_GetError(void);
HAL_StatusTypeDef FLASH_WaitForLastOperation(uint32_t Timeout);
/**
* @}
*/
/**
* @}
*/
/* Private types -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/** @defgroup FLASH_Private_Variables FLASH Private Variables
* @{
*/
/**
* @}
*/
/* Private constants ---------------------------------------------------------*/
/** @defgroup FLASH_Private_Constants FLASH Private Constants
* @{
*/
/**
* @brief ACR register byte 0 (Bits[7:0]) base address
*/
#define ACR_BYTE0_ADDRESS 0x40023C00U
/**
* @brief OPTCR register byte 0 (Bits[7:0]) base address
*/
#define OPTCR_BYTE0_ADDRESS 0x40023C14U
/**
* @brief OPTCR register byte 1 (Bits[15:8]) base address
*/
#define OPTCR_BYTE1_ADDRESS 0x40023C15U
/**
* @brief OPTCR register byte 2 (Bits[23:16]) base address
*/
#define OPTCR_BYTE2_ADDRESS 0x40023C16U
/**
* @brief OPTCR register byte 3 (Bits[31:24]) base address
*/
#define OPTCR_BYTE3_ADDRESS 0x40023C17U
/**
* @}
*/
/* Private macros ------------------------------------------------------------*/
/** @defgroup FLASH_Private_Macros FLASH Private Macros
* @{
*/
/** @defgroup FLASH_IS_FLASH_Definitions FLASH Private macros to check input parameters
* @{
*/
#define IS_FLASH_TYPEPROGRAM(VALUE)(((VALUE) == FLASH_TYPEPROGRAM_BYTE) || \
((VALUE) == FLASH_TYPEPROGRAM_HALFWORD) || \
((VALUE) == FLASH_TYPEPROGRAM_WORD) || \
((VALUE) == FLASH_TYPEPROGRAM_DOUBLEWORD))
/**
* @}
*/
/**
* @}
*/
/* Private functions ---------------------------------------------------------*/
/** @defgroup FLASH_Private_Functions FLASH Private Functions
* @{
*/
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* __STM32F4xx_HAL_FLASH_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/hal_inc/stm32f4xx_hal_flash_ex.h
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@@ -1,97 +0,0 @@
/**
******************************************************************************
* @file stm32f4xx_hal_flash_ramfunc.h
* @author MCD Application Team
* @version V1.7.1
* @date 14-April-2017
* @brief Header file of FLASH RAMFUNC driver.
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32F4xx_FLASH_RAMFUNC_H
#define __STM32F4xx_FLASH_RAMFUNC_H
#ifdef __cplusplus
extern "C" {
#endif
#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) || defined(STM32F411xE) || defined(STM32F446xx) || defined(STM32F412Zx) ||\
defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx)
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal_def.h"
/** @addtogroup STM32F4xx_HAL_Driver
* @{
*/
/** @addtogroup FLASH_RAMFUNC
* @{
*/
/* Exported types ------------------------------------------------------------*/
/* Exported macro ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
/** @addtogroup FLASH_RAMFUNC_Exported_Functions
* @{
*/
/** @addtogroup FLASH_RAMFUNC_Exported_Functions_Group1
* @{
*/
__RAM_FUNC HAL_FLASHEx_StopFlashInterfaceClk(void);
__RAM_FUNC HAL_FLASHEx_StartFlashInterfaceClk(void);
__RAM_FUNC HAL_FLASHEx_EnableFlashSleepMode(void);
__RAM_FUNC HAL_FLASHEx_DisableFlashSleepMode(void);
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
#endif /* STM32F410xx || STM32F411xE || STM32F446xx || STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx */
#ifdef __cplusplus
}
#endif
#endif /* __STM32F4xx_FLASH_RAMFUNC_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/hal_inc/stm32f4xx_hal_gpio.h
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/**
******************************************************************************
* @file stm32f4xx_hal_gpio.h
* @author MCD Application Team
* @version V1.7.1
* @date 14-April-2017
* @brief Header file of GPIO HAL module.
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32F4xx_HAL_GPIO_H
#define __STM32F4xx_HAL_GPIO_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal_def.h"
/** @addtogroup STM32F4xx_HAL_Driver
* @{
*/
/** @addtogroup GPIO
* @{
*/
/* Exported types ------------------------------------------------------------*/
/** @defgroup GPIO_Exported_Types GPIO Exported Types
* @{
*/
/**
* @brief GPIO Init structure definition
*/
typedef struct
{
uint32_t Pin; /*!< Specifies the GPIO pins to be configured.
This parameter can be any value of @ref GPIO_pins_define */
uint32_t Mode; /*!< Specifies the operating mode for the selected pins.
This parameter can be a value of @ref GPIO_mode_define */
uint32_t Pull; /*!< Specifies the Pull-up or Pull-Down activation for the selected pins.
This parameter can be a value of @ref GPIO_pull_define */
uint32_t Speed; /*!< Specifies the speed for the selected pins.
This parameter can be a value of @ref GPIO_speed_define */
uint32_t Alternate; /*!< Peripheral to be connected to the selected pins.
This parameter can be a value of @ref GPIO_Alternate_function_selection */
}GPIO_InitTypeDef;
/**
* @brief GPIO Bit SET and Bit RESET enumeration
*/
typedef enum
{
GPIO_PIN_RESET = 0,
GPIO_PIN_SET
}GPIO_PinState;
/**
* @}
*/
/* Exported constants --------------------------------------------------------*/
/** @defgroup GPIO_Exported_Constants GPIO Exported Constants
* @{
*/
/** @defgroup GPIO_pins_define GPIO pins define
* @{
*/
#define GPIO_PIN_0 ((uint16_t)0x0001) /* Pin 0 selected */
#define GPIO_PIN_1 ((uint16_t)0x0002) /* Pin 1 selected */
#define GPIO_PIN_2 ((uint16_t)0x0004) /* Pin 2 selected */
#define GPIO_PIN_3 ((uint16_t)0x0008) /* Pin 3 selected */
#define GPIO_PIN_4 ((uint16_t)0x0010) /* Pin 4 selected */
#define GPIO_PIN_5 ((uint16_t)0x0020) /* Pin 5 selected */
#define GPIO_PIN_6 ((uint16_t)0x0040) /* Pin 6 selected */
#define GPIO_PIN_7 ((uint16_t)0x0080) /* Pin 7 selected */
#define GPIO_PIN_8 ((uint16_t)0x0100) /* Pin 8 selected */
#define GPIO_PIN_9 ((uint16_t)0x0200) /* Pin 9 selected */
#define GPIO_PIN_10 ((uint16_t)0x0400) /* Pin 10 selected */
#define GPIO_PIN_11 ((uint16_t)0x0800) /* Pin 11 selected */
#define GPIO_PIN_12 ((uint16_t)0x1000) /* Pin 12 selected */
#define GPIO_PIN_13 ((uint16_t)0x2000) /* Pin 13 selected */
#define GPIO_PIN_14 ((uint16_t)0x4000) /* Pin 14 selected */
#define GPIO_PIN_15 ((uint16_t)0x8000) /* Pin 15 selected */
#define GPIO_PIN_All ((uint16_t)0xFFFF) /* All pins selected */
#define GPIO_PIN_MASK 0x0000FFFFU /* PIN mask for assert test */
/**
* @}
*/
/** @defgroup GPIO_mode_define GPIO mode define
* @brief GPIO Configuration Mode
* Elements values convention: 0xX0yz00YZ
* - X : GPIO mode or EXTI Mode
* - y : External IT or Event trigger detection
* - z : IO configuration on External IT or Event
* - Y : Output type (Push Pull or Open Drain)
* - Z : IO Direction mode (Input, Output, Alternate or Analog)
* @{
*/
#define GPIO_MODE_INPUT 0x00000000U /*!< Input Floating Mode */
#define GPIO_MODE_OUTPUT_PP 0x00000001U /*!< Output Push Pull Mode */
#define GPIO_MODE_OUTPUT_OD 0x00000011U /*!< Output Open Drain Mode */
#define GPIO_MODE_AF_PP 0x00000002U /*!< Alternate Function Push Pull Mode */
#define GPIO_MODE_AF_OD 0x00000012U /*!< Alternate Function Open Drain Mode */
#define GPIO_MODE_ANALOG 0x00000003U /*!< Analog Mode */
#define GPIO_MODE_IT_RISING 0x10110000U /*!< External Interrupt Mode with Rising edge trigger detection */
#define GPIO_MODE_IT_FALLING 0x10210000U /*!< External Interrupt Mode with Falling edge trigger detection */
#define GPIO_MODE_IT_RISING_FALLING 0x10310000U /*!< External Interrupt Mode with Rising/Falling edge trigger detection */
#define GPIO_MODE_EVT_RISING 0x10120000U /*!< External Event Mode with Rising edge trigger detection */
#define GPIO_MODE_EVT_FALLING 0x10220000U /*!< External Event Mode with Falling edge trigger detection */
#define GPIO_MODE_EVT_RISING_FALLING 0x10320000U /*!< External Event Mode with Rising/Falling edge trigger detection */
/**
* @}
*/
/** @defgroup GPIO_speed_define GPIO speed define
* @brief GPIO Output Maximum frequency
* @{
*/
#define GPIO_SPEED_FREQ_LOW 0x00000000U /*!< IO works at 2 MHz, please refer to the product datasheet */
#define GPIO_SPEED_FREQ_MEDIUM 0x00000001U /*!< range 12,5 MHz to 50 MHz, please refer to the product datasheet */
#define GPIO_SPEED_FREQ_HIGH 0x00000002U /*!< range 25 MHz to 100 MHz, please refer to the product datasheet */
#define GPIO_SPEED_FREQ_VERY_HIGH 0x00000003U /*!< range 50 MHz to 200 MHz, please refer to the product datasheet */
/**
* @}
*/
/** @defgroup GPIO_pull_define GPIO pull define
* @brief GPIO Pull-Up or Pull-Down Activation
* @{
*/
#define GPIO_NOPULL 0x00000000U /*!< No Pull-up or Pull-down activation */
#define GPIO_PULLUP 0x00000001U /*!< Pull-up activation */
#define GPIO_PULLDOWN 0x00000002U /*!< Pull-down activation */
/**
* @}
*/
/**
* @}
*/
/* Exported macro ------------------------------------------------------------*/
/** @defgroup GPIO_Exported_Macros GPIO Exported Macros
* @{
*/
/**
* @brief Checks whether the specified EXTI line flag is set or not.
* @param __EXTI_LINE__: specifies the EXTI line flag to check.
* This parameter can be GPIO_PIN_x where x can be(0..15)
* @retval The new state of __EXTI_LINE__ (SET or RESET).
*/
#define __HAL_GPIO_EXTI_GET_FLAG(__EXTI_LINE__) (EXTI->PR & (__EXTI_LINE__))
/**
* @brief Clears the EXTI's line pending flags.
* @param __EXTI_LINE__: specifies the EXTI lines flags to clear.
* This parameter can be any combination of GPIO_PIN_x where x can be (0..15)
* @retval None
*/
#define __HAL_GPIO_EXTI_CLEAR_FLAG(__EXTI_LINE__) (EXTI->PR = (__EXTI_LINE__))
/**
* @brief Checks whether the specified EXTI line is asserted or not.
* @param __EXTI_LINE__: specifies the EXTI line to check.
* This parameter can be GPIO_PIN_x where x can be(0..15)
* @retval The new state of __EXTI_LINE__ (SET or RESET).
*/
#define __HAL_GPIO_EXTI_GET_IT(__EXTI_LINE__) (EXTI->PR & (__EXTI_LINE__))
/**
* @brief Clears the EXTI's line pending bits.
* @param __EXTI_LINE__: specifies the EXTI lines to clear.
* This parameter can be any combination of GPIO_PIN_x where x can be (0..15)
* @retval None
*/
#define __HAL_GPIO_EXTI_CLEAR_IT(__EXTI_LINE__) (EXTI->PR = (__EXTI_LINE__))
/**
* @brief Generates a Software interrupt on selected EXTI line.
* @param __EXTI_LINE__: specifies the EXTI line to check.
* This parameter can be GPIO_PIN_x where x can be(0..15)
* @retval None
*/
#define __HAL_GPIO_EXTI_GENERATE_SWIT(__EXTI_LINE__) (EXTI->SWIER |= (__EXTI_LINE__))
/**
* @}
*/
/* Include GPIO HAL Extension module */
#include "stm32f4xx_hal_gpio_ex.h"
/* Exported functions --------------------------------------------------------*/
/** @addtogroup GPIO_Exported_Functions
* @{
*/
/** @addtogroup GPIO_Exported_Functions_Group1
* @{
*/
/* Initialization and de-initialization functions *****************************/
void HAL_GPIO_Init(GPIO_TypeDef *GPIOx, GPIO_InitTypeDef *GPIO_Init);
void HAL_GPIO_DeInit(GPIO_TypeDef *GPIOx, uint32_t GPIO_Pin);
/**
* @}
*/
/** @addtogroup GPIO_Exported_Functions_Group2
* @{
*/
/* IO operation functions *****************************************************/
GPIO_PinState HAL_GPIO_ReadPin(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin);
void HAL_GPIO_WritePin(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin, GPIO_PinState PinState);
void HAL_GPIO_TogglePin(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin);
HAL_StatusTypeDef HAL_GPIO_LockPin(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin);
void HAL_GPIO_EXTI_IRQHandler(uint16_t GPIO_Pin);
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin);
/**
* @}
*/
/**
* @}
*/
/* Private types -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/* Private constants ---------------------------------------------------------*/
/** @defgroup GPIO_Private_Constants GPIO Private Constants
* @{
*/
/**
* @}
*/
/* Private macros ------------------------------------------------------------*/
/** @defgroup GPIO_Private_Macros GPIO Private Macros
* @{
*/
#define IS_GPIO_PIN_ACTION(ACTION) (((ACTION) == GPIO_PIN_RESET) || ((ACTION) == GPIO_PIN_SET))
#define IS_GPIO_PIN(PIN) ((((PIN) & GPIO_PIN_MASK ) != 0x00U) && (((PIN) & ~GPIO_PIN_MASK) == 0x00U))
#define IS_GPIO_MODE(MODE) (((MODE) == GPIO_MODE_INPUT) ||\
((MODE) == GPIO_MODE_OUTPUT_PP) ||\
((MODE) == GPIO_MODE_OUTPUT_OD) ||\
((MODE) == GPIO_MODE_AF_PP) ||\
((MODE) == GPIO_MODE_AF_OD) ||\
((MODE) == GPIO_MODE_IT_RISING) ||\
((MODE) == GPIO_MODE_IT_FALLING) ||\
((MODE) == GPIO_MODE_IT_RISING_FALLING) ||\
((MODE) == GPIO_MODE_EVT_RISING) ||\
((MODE) == GPIO_MODE_EVT_FALLING) ||\
((MODE) == GPIO_MODE_EVT_RISING_FALLING) ||\
((MODE) == GPIO_MODE_ANALOG))
#define IS_GPIO_SPEED(SPEED) (((SPEED) == GPIO_SPEED_FREQ_LOW) || ((SPEED) == GPIO_SPEED_FREQ_MEDIUM) || \
((SPEED) == GPIO_SPEED_FREQ_HIGH) || ((SPEED) == GPIO_SPEED_FREQ_VERY_HIGH))
#define IS_GPIO_PULL(PULL) (((PULL) == GPIO_NOPULL) || ((PULL) == GPIO_PULLUP) || \
((PULL) == GPIO_PULLDOWN))
/**
* @}
*/
/* Private functions ---------------------------------------------------------*/
/** @defgroup GPIO_Private_Functions GPIO Private Functions
* @{
*/
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* __STM32F4xx_HAL_GPIO_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/hal_inc/stm32f4xx_hal_gpio_ex.h
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04_firmware/stm32/dji_a_board/RCPROyuan/Inc/hal_inc/stm32f4xx_hal_pwr.h
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/**
******************************************************************************
* @file stm32f4xx_hal_pwr.h
* @author MCD Application Team
* @version V1.7.1
* @date 14-April-2017
* @brief Header file of PWR HAL module.
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32F4xx_HAL_PWR_H
#define __STM32F4xx_HAL_PWR_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal_def.h"
/** @addtogroup STM32F4xx_HAL_Driver
* @{
*/
/** @addtogroup PWR
* @{
*/
/* Exported types ------------------------------------------------------------*/
/** @defgroup PWR_Exported_Types PWR Exported Types
* @{
*/
/**
* @brief PWR PVD configuration structure definition
*/
typedef struct
{
uint32_t PVDLevel; /*!< PVDLevel: Specifies the PVD detection level.
This parameter can be a value of @ref PWR_PVD_detection_level */
uint32_t Mode; /*!< Mode: Specifies the operating mode for the selected pins.
This parameter can be a value of @ref PWR_PVD_Mode */
}PWR_PVDTypeDef;
/**
* @}
*/
/* Exported constants --------------------------------------------------------*/
/** @defgroup PWR_Exported_Constants PWR Exported Constants
* @{
*/
/** @defgroup PWR_WakeUp_Pins PWR WakeUp Pins
* @{
*/
#define PWR_WAKEUP_PIN1 0x00000100U
/**
* @}
*/
/** @defgroup PWR_PVD_detection_level PWR PVD detection level
* @{
*/
#define PWR_PVDLEVEL_0 PWR_CR_PLS_LEV0
#define PWR_PVDLEVEL_1 PWR_CR_PLS_LEV1
#define PWR_PVDLEVEL_2 PWR_CR_PLS_LEV2
#define PWR_PVDLEVEL_3 PWR_CR_PLS_LEV3
#define PWR_PVDLEVEL_4 PWR_CR_PLS_LEV4
#define PWR_PVDLEVEL_5 PWR_CR_PLS_LEV5
#define PWR_PVDLEVEL_6 PWR_CR_PLS_LEV6
#define PWR_PVDLEVEL_7 PWR_CR_PLS_LEV7/* External input analog voltage
(Compare internally to VREFINT) */
/**
* @}
*/
/** @defgroup PWR_PVD_Mode PWR PVD Mode
* @{
*/
#define PWR_PVD_MODE_NORMAL 0x00000000U /*!< basic mode is used */
#define PWR_PVD_MODE_IT_RISING 0x00010001U /*!< External Interrupt Mode with Rising edge trigger detection */
#define PWR_PVD_MODE_IT_FALLING 0x00010002U /*!< External Interrupt Mode with Falling edge trigger detection */
#define PWR_PVD_MODE_IT_RISING_FALLING 0x00010003U /*!< External Interrupt Mode with Rising/Falling edge trigger detection */
#define PWR_PVD_MODE_EVENT_RISING 0x00020001U /*!< Event Mode with Rising edge trigger detection */
#define PWR_PVD_MODE_EVENT_FALLING 0x00020002U /*!< Event Mode with Falling edge trigger detection */
#define PWR_PVD_MODE_EVENT_RISING_FALLING 0x00020003U /*!< Event Mode with Rising/Falling edge trigger detection */
/**
* @}
*/
/** @defgroup PWR_Regulator_state_in_STOP_mode PWR Regulator state in SLEEP/STOP mode
* @{
*/
#define PWR_MAINREGULATOR_ON 0x00000000U
#define PWR_LOWPOWERREGULATOR_ON PWR_CR_LPDS
/**
* @}
*/
/** @defgroup PWR_SLEEP_mode_entry PWR SLEEP mode entry
* @{
*/
#define PWR_SLEEPENTRY_WFI ((uint8_t)0x01)
#define PWR_SLEEPENTRY_WFE ((uint8_t)0x02)
/**
* @}
*/
/** @defgroup PWR_STOP_mode_entry PWR STOP mode entry
* @{
*/
#define PWR_STOPENTRY_WFI ((uint8_t)0x01)
#define PWR_STOPENTRY_WFE ((uint8_t)0x02)
/**
* @}
*/
/** @defgroup PWR_Flag PWR Flag
* @{
*/
#define PWR_FLAG_WU PWR_CSR_WUF
#define PWR_FLAG_SB PWR_CSR_SBF
#define PWR_FLAG_PVDO PWR_CSR_PVDO
#define PWR_FLAG_BRR PWR_CSR_BRR
#define PWR_FLAG_VOSRDY PWR_CSR_VOSRDY
/**
* @}
*/
/**
* @}
*/
/* Exported macro ------------------------------------------------------------*/
/** @defgroup PWR_Exported_Macro PWR Exported Macro
* @{
*/
/** @brief Check PWR flag is set or not.
* @param __FLAG__: specifies the flag to check.
* This parameter can be one of the following values:
* @arg PWR_FLAG_WU: Wake Up flag. This flag indicates that a wakeup event
* was received from the WKUP pin or from the RTC alarm (Alarm A
* or Alarm B), RTC Tamper event, RTC TimeStamp event or RTC Wakeup.
* An additional wakeup event is detected if the WKUP pin is enabled
* (by setting the EWUP bit) when the WKUP pin level is already high.
* @arg PWR_FLAG_SB: StandBy flag. This flag indicates that the system was
* resumed from StandBy mode.
* @arg PWR_FLAG_PVDO: PVD Output. This flag is valid only if PVD is enabled
* by the HAL_PWR_EnablePVD() function. The PVD is stopped by Standby mode
* For this reason, this bit is equal to 0 after Standby or reset
* until the PVDE bit is set.
* @arg PWR_FLAG_BRR: Backup regulator ready flag. This bit is not reset
* when the device wakes up from Standby mode or by a system reset
* or power reset.
* @arg PWR_FLAG_VOSRDY: This flag indicates that the Regulator voltage
* scaling output selection is ready.
* @retval The new state of __FLAG__ (TRUE or FALSE).
*/
#define __HAL_PWR_GET_FLAG(__FLAG__) ((PWR->CSR & (__FLAG__)) == (__FLAG__))
/** @brief Clear the PWR's pending flags.
* @param __FLAG__: specifies the flag to clear.
* This parameter can be one of the following values:
* @arg PWR_FLAG_WU: Wake Up flag
* @arg PWR_FLAG_SB: StandBy flag
*/
#define __HAL_PWR_CLEAR_FLAG(__FLAG__) (PWR->CR |= (__FLAG__) << 2U)
/**
* @brief Enable the PVD Exti Line 16.
* @retval None.
*/
#define __HAL_PWR_PVD_EXTI_ENABLE_IT() (EXTI->IMR |= (PWR_EXTI_LINE_PVD))
/**
* @brief Disable the PVD EXTI Line 16.
* @retval None.
*/
#define __HAL_PWR_PVD_EXTI_DISABLE_IT() (EXTI->IMR &= ~(PWR_EXTI_LINE_PVD))
/**
* @brief Enable event on PVD Exti Line 16.
* @retval None.
*/
#define __HAL_PWR_PVD_EXTI_ENABLE_EVENT() (EXTI->EMR |= (PWR_EXTI_LINE_PVD))
/**
* @brief Disable event on PVD Exti Line 16.
* @retval None.
*/
#define __HAL_PWR_PVD_EXTI_DISABLE_EVENT() (EXTI->EMR &= ~(PWR_EXTI_LINE_PVD))
/**
* @brief Enable the PVD Extended Interrupt Rising Trigger.
* @retval None.
*/
#define __HAL_PWR_PVD_EXTI_ENABLE_RISING_EDGE() SET_BIT(EXTI->RTSR, PWR_EXTI_LINE_PVD)
/**
* @brief Disable the PVD Extended Interrupt Rising Trigger.
* @retval None.
*/
#define __HAL_PWR_PVD_EXTI_DISABLE_RISING_EDGE() CLEAR_BIT(EXTI->RTSR, PWR_EXTI_LINE_PVD)
/**
* @brief Enable the PVD Extended Interrupt Falling Trigger.
* @retval None.
*/
#define __HAL_PWR_PVD_EXTI_ENABLE_FALLING_EDGE() SET_BIT(EXTI->FTSR, PWR_EXTI_LINE_PVD)
/**
* @brief Disable the PVD Extended Interrupt Falling Trigger.
* @retval None.
*/
#define __HAL_PWR_PVD_EXTI_DISABLE_FALLING_EDGE() CLEAR_BIT(EXTI->FTSR, PWR_EXTI_LINE_PVD)
/**
* @brief PVD EXTI line configuration: set rising & falling edge trigger.
* @retval None.
*/
#define __HAL_PWR_PVD_EXTI_ENABLE_RISING_FALLING_EDGE() do{__HAL_PWR_PVD_EXTI_ENABLE_RISING_EDGE();\
__HAL_PWR_PVD_EXTI_ENABLE_FALLING_EDGE();\
}while(0U)
/**
* @brief Disable the PVD Extended Interrupt Rising & Falling Trigger.
* This parameter can be:
* @retval None.
*/
#define __HAL_PWR_PVD_EXTI_DISABLE_RISING_FALLING_EDGE() do{__HAL_PWR_PVD_EXTI_DISABLE_RISING_EDGE();\
__HAL_PWR_PVD_EXTI_DISABLE_FALLING_EDGE();\
}while(0U)
/**
* @brief checks whether the specified PVD Exti interrupt flag is set or not.
* @retval EXTI PVD Line Status.
*/
#define __HAL_PWR_PVD_EXTI_GET_FLAG() (EXTI->PR & (PWR_EXTI_LINE_PVD))
/**
* @brief Clear the PVD Exti flag.
* @retval None.
*/
#define __HAL_PWR_PVD_EXTI_CLEAR_FLAG() (EXTI->PR = (PWR_EXTI_LINE_PVD))
/**
* @brief Generates a Software interrupt on PVD EXTI line.
* @retval None
*/
#define __HAL_PWR_PVD_EXTI_GENERATE_SWIT() (EXTI->SWIER |= (PWR_EXTI_LINE_PVD))
/**
* @}
*/
/* Include PWR HAL Extension module */
#include "stm32f4xx_hal_pwr_ex.h"
/* Exported functions --------------------------------------------------------*/
/** @addtogroup PWR_Exported_Functions PWR Exported Functions
* @{
*/
/** @addtogroup PWR_Exported_Functions_Group1 Initialization and de-initialization functions
* @{
*/
/* Initialization and de-initialization functions *****************************/
void HAL_PWR_DeInit(void);
void HAL_PWR_EnableBkUpAccess(void);
void HAL_PWR_DisableBkUpAccess(void);
/**
* @}
*/
/** @addtogroup PWR_Exported_Functions_Group2 Peripheral Control functions
* @{
*/
/* Peripheral Control functions **********************************************/
/* PVD configuration */
void HAL_PWR_ConfigPVD(PWR_PVDTypeDef *sConfigPVD);
void HAL_PWR_EnablePVD(void);
void HAL_PWR_DisablePVD(void);
/* WakeUp pins configuration */
void HAL_PWR_EnableWakeUpPin(uint32_t WakeUpPinx);
void HAL_PWR_DisableWakeUpPin(uint32_t WakeUpPinx);
/* Low Power modes entry */
void HAL_PWR_EnterSTOPMode(uint32_t Regulator, uint8_t STOPEntry);
void HAL_PWR_EnterSLEEPMode(uint32_t Regulator, uint8_t SLEEPEntry);
void HAL_PWR_EnterSTANDBYMode(void);
/* Power PVD IRQ Handler */
void HAL_PWR_PVD_IRQHandler(void);
void HAL_PWR_PVDCallback(void);
/* Cortex System Control functions *******************************************/
void HAL_PWR_EnableSleepOnExit(void);
void HAL_PWR_DisableSleepOnExit(void);
void HAL_PWR_EnableSEVOnPend(void);
void HAL_PWR_DisableSEVOnPend(void);
/**
* @}
*/
/**
* @}
*/
/* Private types -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/* Private constants ---------------------------------------------------------*/
/** @defgroup PWR_Private_Constants PWR Private Constants
* @{
*/
/** @defgroup PWR_PVD_EXTI_Line PWR PVD EXTI Line
* @{
*/
#define PWR_EXTI_LINE_PVD ((uint32_t)EXTI_IMR_MR16) /*!< External interrupt line 16 Connected to the PVD EXTI Line */
/**
* @}
*/
/** @defgroup PWR_register_alias_address PWR Register alias address
* @{
*/
/* ------------- PWR registers bit address in the alias region ---------------*/
#define PWR_OFFSET (PWR_BASE - PERIPH_BASE)
#define PWR_CR_OFFSET 0x00U
#define PWR_CSR_OFFSET 0x04U
#define PWR_CR_OFFSET_BB (PWR_OFFSET + PWR_CR_OFFSET)
#define PWR_CSR_OFFSET_BB (PWR_OFFSET + PWR_CSR_OFFSET)
/**
* @}
*/
/** @defgroup PWR_CR_register_alias PWR CR Register alias address
* @{
*/
/* --- CR Register ---*/
/* Alias word address of DBP bit */
#define DBP_BIT_NUMBER POSITION_VAL(PWR_CR_DBP)
#define CR_DBP_BB (uint32_t)(PERIPH_BB_BASE + (PWR_CR_OFFSET_BB * 32U) + (DBP_BIT_NUMBER * 4U))
/* Alias word address of PVDE bit */
#define PVDE_BIT_NUMBER POSITION_VAL(PWR_CR_PVDE)
#define CR_PVDE_BB (uint32_t)(PERIPH_BB_BASE + (PWR_CR_OFFSET_BB * 32U) + (PVDE_BIT_NUMBER * 4U))
/* Alias word address of PMODE bit */
#define PMODE_BIT_NUMBER POSITION_VAL(PWR_CR_PMODE)
#define CR_PMODE_BB (uint32_t)(PERIPH_BB_BASE + (PWR_CR_OFFSET_BB * 32U) + (PMODE_BIT_NUMBER * 4U))
/**
* @}
*/
/** @defgroup PWR_CSR_register_alias PWR CSR Register alias address
* @{
*/
/* --- CSR Register ---*/
/* Alias word address of EWUP bit */
#define EWUP_BIT_NUMBER POSITION_VAL(PWR_CSR_EWUP)
#define CSR_EWUP_BB (PERIPH_BB_BASE + (PWR_CSR_OFFSET_BB * 32U) + (EWUP_BIT_NUMBER * 4U))
/**
* @}
*/
/**
* @}
*/
/* Private macros ------------------------------------------------------------*/
/** @defgroup PWR_Private_Macros PWR Private Macros
* @{
*/
/** @defgroup PWR_IS_PWR_Definitions PWR Private macros to check input parameters
* @{
*/
#define IS_PWR_PVD_LEVEL(LEVEL) (((LEVEL) == PWR_PVDLEVEL_0) || ((LEVEL) == PWR_PVDLEVEL_1)|| \
((LEVEL) == PWR_PVDLEVEL_2) || ((LEVEL) == PWR_PVDLEVEL_3)|| \
((LEVEL) == PWR_PVDLEVEL_4) || ((LEVEL) == PWR_PVDLEVEL_5)|| \
((LEVEL) == PWR_PVDLEVEL_6) || ((LEVEL) == PWR_PVDLEVEL_7))
#define IS_PWR_PVD_MODE(MODE) (((MODE) == PWR_PVD_MODE_IT_RISING)|| ((MODE) == PWR_PVD_MODE_IT_FALLING) || \
((MODE) == PWR_PVD_MODE_IT_RISING_FALLING) || ((MODE) == PWR_PVD_MODE_EVENT_RISING) || \
((MODE) == PWR_PVD_MODE_EVENT_FALLING) || ((MODE) == PWR_PVD_MODE_EVENT_RISING_FALLING) || \
((MODE) == PWR_PVD_MODE_NORMAL))
#define IS_PWR_REGULATOR(REGULATOR) (((REGULATOR) == PWR_MAINREGULATOR_ON) || \
((REGULATOR) == PWR_LOWPOWERREGULATOR_ON))
#define IS_PWR_SLEEP_ENTRY(ENTRY) (((ENTRY) == PWR_SLEEPENTRY_WFI) || ((ENTRY) == PWR_SLEEPENTRY_WFE))
#define IS_PWR_STOP_ENTRY(ENTRY) (((ENTRY) == PWR_STOPENTRY_WFI) || ((ENTRY) == PWR_STOPENTRY_WFE))
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* __STM32F4xx_HAL_PWR_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/hal_inc/stm32f4xx_hal_pwr_ex.h
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/**
******************************************************************************
* @file stm32f4xx_hal_pwr_ex.h
* @author MCD Application Team
* @version V1.7.1
* @date 14-April-2017
* @brief Header file of PWR HAL Extension module.
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32F4xx_HAL_PWR_EX_H
#define __STM32F4xx_HAL_PWR_EX_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal_def.h"
/** @addtogroup STM32F4xx_HAL_Driver
* @{
*/
/** @addtogroup PWREx
* @{
*/
/* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/
/** @defgroup PWREx_Exported_Constants PWREx Exported Constants
* @{
*/
#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\
defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx)
/** @defgroup PWREx_Regulator_state_in_UnderDrive_mode PWREx Regulator state in UnderDrive mode
* @{
*/
#define PWR_MAINREGULATOR_UNDERDRIVE_ON PWR_CR_MRUDS
#define PWR_LOWPOWERREGULATOR_UNDERDRIVE_ON ((uint32_t)(PWR_CR_LPDS | PWR_CR_LPUDS))
/**
* @}
*/
/** @defgroup PWREx_Over_Under_Drive_Flag PWREx Over Under Drive Flag
* @{
*/
#define PWR_FLAG_ODRDY PWR_CSR_ODRDY
#define PWR_FLAG_ODSWRDY PWR_CSR_ODSWRDY
#define PWR_FLAG_UDRDY PWR_CSR_UDSWRDY
/**
* @}
*/
#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx */
/** @defgroup PWREx_Regulator_Voltage_Scale PWREx Regulator Voltage Scale
* @{
*/
#if defined(STM32F405xx) || defined(STM32F407xx) || defined(STM32F415xx) || defined(STM32F417xx)
#define PWR_REGULATOR_VOLTAGE_SCALE1 PWR_CR_VOS /* Scale 1 mode(default value at reset): the maximum value of fHCLK = 168 MHz. */
#define PWR_REGULATOR_VOLTAGE_SCALE2 0x00000000U /* Scale 2 mode: the maximum value of fHCLK = 144 MHz. */
#else
#define PWR_REGULATOR_VOLTAGE_SCALE1 PWR_CR_VOS /* Scale 1 mode(default value at reset): the maximum value of fHCLK is 168 MHz. It can be extended to
180 MHz by activating the over-drive mode. */
#define PWR_REGULATOR_VOLTAGE_SCALE2 PWR_CR_VOS_1 /* Scale 2 mode: the maximum value of fHCLK is 144 MHz. It can be extended to
168 MHz by activating the over-drive mode. */
#define PWR_REGULATOR_VOLTAGE_SCALE3 PWR_CR_VOS_0 /* Scale 3 mode: the maximum value of fHCLK is 120 MHz. */
#endif /* STM32F405xx || STM32F407xx || STM32F415xx || STM32F417xx */
/**
* @}
*/
#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) || defined(STM32F446xx) || defined(STM32F412Zx) || defined(STM32F412Vx) || \
defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx)
/** @defgroup PWREx_WakeUp_Pins PWREx WakeUp Pins
* @{
*/
#define PWR_WAKEUP_PIN2 0x00000080U
#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) || defined(STM32F412Zx) || defined(STM32F412Vx) || \
defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx)
#define PWR_WAKEUP_PIN3 0x00000040U
#endif /* STM32F410xx || STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Zx || STM32F412Vx || \
STM32F412Rx || STM32F412Cx || STM32F413xx || STM32F423xx */
/**
* @}
*/
#endif /* STM32F410xx || STM32F446xx || STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx ||
STM32F413xx || STM32F423xx */
/**
* @}
*/
/* Exported macro ------------------------------------------------------------*/
/** @defgroup PWREx_Exported_Constants PWREx Exported Constants
* @{
*/
#if defined(STM32F405xx) || defined(STM32F407xx) || defined(STM32F415xx) || defined(STM32F417xx)
/** @brief macros configure the main internal regulator output voltage.
* @param __REGULATOR__: specifies the regulator output voltage to achieve
* a tradeoff between performance and power consumption when the device does
* not operate at the maximum frequency (refer to the datasheets for more details).
* This parameter can be one of the following values:
* @arg PWR_REGULATOR_VOLTAGE_SCALE1: Regulator voltage output Scale 1 mode
* @arg PWR_REGULATOR_VOLTAGE_SCALE2: Regulator voltage output Scale 2 mode
* @retval None
*/
#define __HAL_PWR_VOLTAGESCALING_CONFIG(__REGULATOR__) do { \
__IO uint32_t tmpreg = 0x00U; \
MODIFY_REG(PWR->CR, PWR_CR_VOS, (__REGULATOR__)); \
/* Delay after an RCC peripheral clock enabling */ \
tmpreg = READ_BIT(PWR->CR, PWR_CR_VOS); \
UNUSED(tmpreg); \
} while(0U)
#else
/** @brief macros configure the main internal regulator output voltage.
* @param __REGULATOR__: specifies the regulator output voltage to achieve
* a tradeoff between performance and power consumption when the device does
* not operate at the maximum frequency (refer to the datasheets for more details).
* This parameter can be one of the following values:
* @arg PWR_REGULATOR_VOLTAGE_SCALE1: Regulator voltage output Scale 1 mode
* @arg PWR_REGULATOR_VOLTAGE_SCALE2: Regulator voltage output Scale 2 mode
* @arg PWR_REGULATOR_VOLTAGE_SCALE3: Regulator voltage output Scale 3 mode
* @retval None
*/
#define __HAL_PWR_VOLTAGESCALING_CONFIG(__REGULATOR__) do { \
__IO uint32_t tmpreg = 0x00U; \
MODIFY_REG(PWR->CR, PWR_CR_VOS, (__REGULATOR__)); \
/* Delay after an RCC peripheral clock enabling */ \
tmpreg = READ_BIT(PWR->CR, PWR_CR_VOS); \
UNUSED(tmpreg); \
} while(0U)
#endif /* STM32F405xx || STM32F407xx || STM32F415xx || STM32F417xx */
#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\
defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx)
/** @brief Macros to enable or disable the Over drive mode.
* @note These macros can be used only for STM32F42xx/STM3243xx devices.
*/
#define __HAL_PWR_OVERDRIVE_ENABLE() (*(__IO uint32_t *) CR_ODEN_BB = ENABLE)
#define __HAL_PWR_OVERDRIVE_DISABLE() (*(__IO uint32_t *) CR_ODEN_BB = DISABLE)
/** @brief Macros to enable or disable the Over drive switching.
* @note These macros can be used only for STM32F42xx/STM3243xx devices.
*/
#define __HAL_PWR_OVERDRIVESWITCHING_ENABLE() (*(__IO uint32_t *) CR_ODSWEN_BB = ENABLE)
#define __HAL_PWR_OVERDRIVESWITCHING_DISABLE() (*(__IO uint32_t *) CR_ODSWEN_BB = DISABLE)
/** @brief Macros to enable or disable the Under drive mode.
* @note This mode is enabled only with STOP low power mode.
* In this mode, the 1.2V domain is preserved in reduced leakage mode. This
* mode is only available when the main regulator or the low power regulator
* is in low voltage mode.
* @note If the Under-drive mode was enabled, it is automatically disabled after
* exiting Stop mode.
* When the voltage regulator operates in Under-drive mode, an additional
* startup delay is induced when waking up from Stop mode.
*/
#define __HAL_PWR_UNDERDRIVE_ENABLE() (PWR->CR |= (uint32_t)PWR_CR_UDEN)
#define __HAL_PWR_UNDERDRIVE_DISABLE() (PWR->CR &= (uint32_t)(~PWR_CR_UDEN))
/** @brief Check PWR flag is set or not.
* @note These macros can be used only for STM32F42xx/STM3243xx devices.
* @param __FLAG__: specifies the flag to check.
* This parameter can be one of the following values:
* @arg PWR_FLAG_ODRDY: This flag indicates that the Over-drive mode
* is ready
* @arg PWR_FLAG_ODSWRDY: This flag indicates that the Over-drive mode
* switching is ready
* @arg PWR_FLAG_UDRDY: This flag indicates that the Under-drive mode
* is enabled in Stop mode
* @retval The new state of __FLAG__ (TRUE or FALSE).
*/
#define __HAL_PWR_GET_ODRUDR_FLAG(__FLAG__) ((PWR->CSR & (__FLAG__)) == (__FLAG__))
/** @brief Clear the Under-Drive Ready flag.
* @note These macros can be used only for STM32F42xx/STM3243xx devices.
*/
#define __HAL_PWR_CLEAR_ODRUDR_FLAG() (PWR->CSR |= PWR_FLAG_UDRDY)
#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx */
/**
* @}
*/
/* Exported functions --------------------------------------------------------*/
/** @addtogroup PWREx_Exported_Functions PWREx Exported Functions
* @{
*/
/** @addtogroup PWREx_Exported_Functions_Group1
* @{
*/
void HAL_PWREx_EnableFlashPowerDown(void);
void HAL_PWREx_DisableFlashPowerDown(void);
HAL_StatusTypeDef HAL_PWREx_EnableBkUpReg(void);
HAL_StatusTypeDef HAL_PWREx_DisableBkUpReg(void);
uint32_t HAL_PWREx_GetVoltageRange(void);
HAL_StatusTypeDef HAL_PWREx_ControlVoltageScaling(uint32_t VoltageScaling);
#if defined(STM32F469xx) || defined(STM32F479xx)
void HAL_PWREx_EnableWakeUpPinPolarityRisingEdge(void);
void HAL_PWREx_EnableWakeUpPinPolarityFallingEdge(void);
#endif /* STM32F469xx || STM32F479xx */
#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) || defined(STM32F401xC) ||\
defined(STM32F401xE) || defined(STM32F411xE) || defined(STM32F412Zx) || defined(STM32F412Vx) ||\
defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx)
void HAL_PWREx_EnableMainRegulatorLowVoltage(void);
void HAL_PWREx_DisableMainRegulatorLowVoltage(void);
void HAL_PWREx_EnableLowRegulatorLowVoltage(void);
void HAL_PWREx_DisableLowRegulatorLowVoltage(void);
#endif /* STM32F410xx || STM32F401xC || STM32F401xE || STM32F411xE || STM32F412Zx || STM32F412Vx ||\
STM32F412Rx || STM32F412Cx || STM32F413xx || STM32F423xx */
#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) || defined(STM32F446xx) ||\
defined(STM32F469xx) || defined(STM32F479xx)
HAL_StatusTypeDef HAL_PWREx_EnableOverDrive(void);
HAL_StatusTypeDef HAL_PWREx_DisableOverDrive(void);
HAL_StatusTypeDef HAL_PWREx_EnterUnderDriveSTOPMode(uint32_t Regulator, uint8_t STOPEntry);
#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx */
/**
* @}
*/
/**
* @}
*/
/* Private types -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/* Private constants ---------------------------------------------------------*/
/** @defgroup PWREx_Private_Constants PWREx Private Constants
* @{
*/
/** @defgroup PWREx_register_alias_address PWREx Register alias address
* @{
*/
/* ------------- PWR registers bit address in the alias region ---------------*/
/* --- CR Register ---*/
/* Alias word address of FPDS bit */
#define FPDS_BIT_NUMBER POSITION_VAL(PWR_CR_FPDS)
#define CR_FPDS_BB (uint32_t)(PERIPH_BB_BASE + (PWR_CR_OFFSET_BB * 32U) + (FPDS_BIT_NUMBER * 4U))
/* Alias word address of ODEN bit */
#define ODEN_BIT_NUMBER POSITION_VAL(PWR_CR_ODEN)
#define CR_ODEN_BB (uint32_t)(PERIPH_BB_BASE + (PWR_CR_OFFSET_BB * 32U) + (ODEN_BIT_NUMBER * 4U))
/* Alias word address of ODSWEN bit */
#define ODSWEN_BIT_NUMBER POSITION_VAL(PWR_CR_ODSWEN)
#define CR_ODSWEN_BB (uint32_t)(PERIPH_BB_BASE + (PWR_CR_OFFSET_BB * 32U) + (ODSWEN_BIT_NUMBER * 4U))
/* Alias word address of MRLVDS bit */
#define MRLVDS_BIT_NUMBER POSITION_VAL(PWR_CR_MRLVDS)
#define CR_MRLVDS_BB (uint32_t)(PERIPH_BB_BASE + (PWR_CR_OFFSET_BB * 32U) + (MRLVDS_BIT_NUMBER * 4U))
/* Alias word address of LPLVDS bit */
#define LPLVDS_BIT_NUMBER POSITION_VAL(PWR_CR_LPLVDS)
#define CR_LPLVDS_BB (uint32_t)(PERIPH_BB_BASE + (PWR_CR_OFFSET_BB * 32U) + (LPLVDS_BIT_NUMBER * 4U))
/**
* @}
*/
/** @defgroup PWREx_CSR_register_alias PWRx CSR Register alias address
* @{
*/
/* --- CSR Register ---*/
/* Alias word address of BRE bit */
#define BRE_BIT_NUMBER POSITION_VAL(PWR_CSR_BRE)
#define CSR_BRE_BB (uint32_t)(PERIPH_BB_BASE + (PWR_CSR_OFFSET_BB * 32U) + (BRE_BIT_NUMBER * 4U))
#if defined(STM32F469xx) || defined(STM32F479xx)
/* Alias word address of WUPP bit */
#define WUPP_BIT_NUMBER POSITION_VAL(PWR_CSR_WUPP)
#define CSR_WUPP_BB (PERIPH_BB_BASE + (PWR_CSR_OFFSET_BB * 32U) + (WUPP_BIT_NUMBER * 4U))
#endif /* STM32F469xx || STM32F479xx */
/**
* @}
*/
/**
* @}
*/
/* Private macros ------------------------------------------------------------*/
/** @defgroup PWREx_Private_Macros PWREx Private Macros
* @{
*/
/** @defgroup PWREx_IS_PWR_Definitions PWREx Private macros to check input parameters
* @{
*/
#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\
defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx)
#define IS_PWR_REGULATOR_UNDERDRIVE(REGULATOR) (((REGULATOR) == PWR_MAINREGULATOR_UNDERDRIVE_ON) || \
((REGULATOR) == PWR_LOWPOWERREGULATOR_UNDERDRIVE_ON))
#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx */
#if defined(STM32F405xx) || defined(STM32F407xx) || defined(STM32F415xx) || defined(STM32F417xx)
#define IS_PWR_VOLTAGE_SCALING_RANGE(VOLTAGE) (((VOLTAGE) == PWR_REGULATOR_VOLTAGE_SCALE1) || \
((VOLTAGE) == PWR_REGULATOR_VOLTAGE_SCALE2))
#else
#define IS_PWR_VOLTAGE_SCALING_RANGE(VOLTAGE) (((VOLTAGE) == PWR_REGULATOR_VOLTAGE_SCALE1) || \
((VOLTAGE) == PWR_REGULATOR_VOLTAGE_SCALE2) || \
((VOLTAGE) == PWR_REGULATOR_VOLTAGE_SCALE3))
#endif /* STM32F405xx || STM32F407xx || STM32F415xx || STM32F417xx */
#if defined(STM32F446xx)
#define IS_PWR_WAKEUP_PIN(PIN) (((PIN) == PWR_WAKEUP_PIN1) || ((PIN) == PWR_WAKEUP_PIN2))
#elif defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) || defined(STM32F412Zx) ||\
defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) ||\
defined(STM32F423xx)
#define IS_PWR_WAKEUP_PIN(PIN) (((PIN) == PWR_WAKEUP_PIN1) || ((PIN) == PWR_WAKEUP_PIN2) || \
((PIN) == PWR_WAKEUP_PIN3))
#else
#define IS_PWR_WAKEUP_PIN(PIN) ((PIN) == PWR_WAKEUP_PIN1)
#endif /* STM32F446xx */
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* __STM32F4xx_HAL_PWR_EX_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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/**
******************************************************************************
* @file stm32f4xx_hal_rtc.h
* @author MCD Application Team
* @version V1.7.1
* @date 14-April-2017
* @brief Header file of RTC HAL module.
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32F4xx_HAL_RTC_H
#define __STM32F4xx_HAL_RTC_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal_def.h"
/** @addtogroup STM32F4xx_HAL_Driver
* @{
*/
/** @addtogroup RTC
* @{
*/
/* Exported types ------------------------------------------------------------*/
/** @defgroup RTC_Exported_Types RTC Exported Types
* @{
*/
/**
* @brief HAL State structures definition
*/
typedef enum
{
HAL_RTC_STATE_RESET = 0x00U, /*!< RTC not yet initialized or disabled */
HAL_RTC_STATE_READY = 0x01U, /*!< RTC initialized and ready for use */
HAL_RTC_STATE_BUSY = 0x02U, /*!< RTC process is ongoing */
HAL_RTC_STATE_TIMEOUT = 0x03U, /*!< RTC timeout state */
HAL_RTC_STATE_ERROR = 0x04U /*!< RTC error state */
}HAL_RTCStateTypeDef;
/**
* @brief RTC Configuration Structure definition
*/
typedef struct
{
uint32_t HourFormat; /*!< Specifies the RTC Hour Format.
This parameter can be a value of @ref RTC_Hour_Formats */
uint32_t AsynchPrediv; /*!< Specifies the RTC Asynchronous Predivider value.
This parameter must be a number between Min_Data = 0x00 and Max_Data = 0x7F */
uint32_t SynchPrediv; /*!< Specifies the RTC Synchronous Predivider value.
This parameter must be a number between Min_Data = 0x00 and Max_Data = 0x7FFFU */
uint32_t OutPut; /*!< Specifies which signal will be routed to the RTC output.
This parameter can be a value of @ref RTC_Output_selection_Definitions */
uint32_t OutPutPolarity; /*!< Specifies the polarity of the output signal.
This parameter can be a value of @ref RTC_Output_Polarity_Definitions */
uint32_t OutPutType; /*!< Specifies the RTC Output Pin mode.
This parameter can be a value of @ref RTC_Output_Type_ALARM_OUT */
}RTC_InitTypeDef;
/**
* @brief RTC Time structure definition
*/
typedef struct
{
uint8_t Hours; /*!< Specifies the RTC Time Hour.
This parameter must be a number between Min_Data = 0 and Max_Data = 12 if the RTC_HourFormat_12 is selected.
This parameter must be a number between Min_Data = 0 and Max_Data = 23 if the RTC_HourFormat_24 is selected */
uint8_t Minutes; /*!< Specifies the RTC Time Minutes.
This parameter must be a number between Min_Data = 0 and Max_Data = 59 */
uint8_t Seconds; /*!< Specifies the RTC Time Seconds.
This parameter must be a number between Min_Data = 0 and Max_Data = 59 */
uint8_t TimeFormat; /*!< Specifies the RTC AM/PM Time.
This parameter can be a value of @ref RTC_AM_PM_Definitions */
uint32_t SubSeconds; /*!< Specifies the RTC_SSR RTC Sub Second register content.
This parameter corresponds to a time unit range between [0-1] Second
with [1 Sec / SecondFraction +1] granularity */
uint32_t SecondFraction; /*!< Specifies the range or granularity of Sub Second register content
corresponding to Synchronous pre-scaler factor value (PREDIV_S)
This parameter corresponds to a time unit range between [0-1] Second
with [1 Sec / SecondFraction +1] granularity.
This field will be used only by HAL_RTC_GetTime function */
uint32_t DayLightSaving; /*!< Specifies DayLight Save Operation.
This parameter can be a value of @ref RTC_DayLightSaving_Definitions */
uint32_t StoreOperation; /*!< Specifies RTC_StoreOperation value to be written in the BCK bit
in CR register to store the operation.
This parameter can be a value of @ref RTC_StoreOperation_Definitions */
}RTC_TimeTypeDef;
/**
* @brief RTC Date structure definition
*/
typedef struct
{
uint8_t WeekDay; /*!< Specifies the RTC Date WeekDay.
This parameter can be a value of @ref RTC_WeekDay_Definitions */
uint8_t Month; /*!< Specifies the RTC Date Month (in BCD format).
This parameter can be a value of @ref RTC_Month_Date_Definitions */
uint8_t Date; /*!< Specifies the RTC Date.
This parameter must be a number between Min_Data = 1 and Max_Data = 31 */
uint8_t Year; /*!< Specifies the RTC Date Year.
This parameter must be a number between Min_Data = 0 and Max_Data = 99 */
}RTC_DateTypeDef;
/**
* @brief RTC Alarm structure definition
*/
typedef struct
{
RTC_TimeTypeDef AlarmTime; /*!< Specifies the RTC Alarm Time members */
uint32_t AlarmMask; /*!< Specifies the RTC Alarm Masks.
This parameter can be a value of @ref RTC_AlarmMask_Definitions */
uint32_t AlarmSubSecondMask; /*!< Specifies the RTC Alarm SubSeconds Masks.
This parameter can be a value of @ref RTC_Alarm_Sub_Seconds_Masks_Definitions */
uint32_t AlarmDateWeekDaySel; /*!< Specifies the RTC Alarm is on Date or WeekDay.
This parameter can be a value of @ref RTC_AlarmDateWeekDay_Definitions */
uint8_t AlarmDateWeekDay; /*!< Specifies the RTC Alarm Date/WeekDay.
If the Alarm Date is selected, this parameter must be set to a value in the 1-31 range.
If the Alarm WeekDay is selected, this parameter can be a value of @ref RTC_WeekDay_Definitions */
uint32_t Alarm; /*!< Specifies the alarm .
This parameter can be a value of @ref RTC_Alarms_Definitions */
}RTC_AlarmTypeDef;
/**
* @brief RTC Handle Structure definition
*/
typedef struct
{
RTC_TypeDef *Instance; /*!< Register base address */
RTC_InitTypeDef Init; /*!< RTC required parameters */
HAL_LockTypeDef Lock; /*!< RTC locking object */
__IO HAL_RTCStateTypeDef State; /*!< Time communication state */
}RTC_HandleTypeDef;
/**
* @}
*/
/* Exported constants --------------------------------------------------------*/
/** @defgroup RTC_Exported_Constants RTC Exported Constants
* @{
*/
/** @defgroup RTC_Hour_Formats RTC Hour Formats
* @{
*/
#define RTC_HOURFORMAT_24 0x00000000U
#define RTC_HOURFORMAT_12 0x00000040U
/**
* @}
*/
/** @defgroup RTC_Output_selection_Definitions RTC Output Selection Definitions
* @{
*/
#define RTC_OUTPUT_DISABLE 0x00000000U
#define RTC_OUTPUT_ALARMA 0x00200000U
#define RTC_OUTPUT_ALARMB 0x00400000U
#define RTC_OUTPUT_WAKEUP 0x00600000U
/**
* @}
*/
/** @defgroup RTC_Output_Polarity_Definitions RTC Output Polarity Definitions
* @{
*/
#define RTC_OUTPUT_POLARITY_HIGH 0x00000000U
#define RTC_OUTPUT_POLARITY_LOW 0x00100000U
/**
* @}
*/
/** @defgroup RTC_Output_Type_ALARM_OUT RTC Output Type ALARM OUT
* @{
*/
#define RTC_OUTPUT_TYPE_OPENDRAIN 0x00000000U
#define RTC_OUTPUT_TYPE_PUSHPULL 0x00040000U
/**
* @}
*/
/** @defgroup RTC_AM_PM_Definitions RTC AM PM Definitions
* @{
*/
#define RTC_HOURFORMAT12_AM ((uint8_t)0x00)
#define RTC_HOURFORMAT12_PM ((uint8_t)0x40)
/**
* @}
*/
/** @defgroup RTC_DayLightSaving_Definitions RTC DayLight Saving Definitions
* @{
*/
#define RTC_DAYLIGHTSAVING_SUB1H 0x00020000U
#define RTC_DAYLIGHTSAVING_ADD1H 0x00010000U
#define RTC_DAYLIGHTSAVING_NONE 0x00000000U
/**
* @}
*/
/** @defgroup RTC_StoreOperation_Definitions RTC Store Operation Definitions
* @{
*/
#define RTC_STOREOPERATION_RESET 0x00000000U
#define RTC_STOREOPERATION_SET 0x00040000U
/**
* @}
*/
/** @defgroup RTC_Input_parameter_format_definitions RTC Input Parameter Format Definitions
* @{
*/
#define RTC_FORMAT_BIN 0x00000000U
#define RTC_FORMAT_BCD 0x00000001U
/**
* @}
*/
/** @defgroup RTC_Month_Date_Definitions RTC Month Date Definitions
* @{
*/
/* Coded in BCD format */
#define RTC_MONTH_JANUARY ((uint8_t)0x01)
#define RTC_MONTH_FEBRUARY ((uint8_t)0x02)
#define RTC_MONTH_MARCH ((uint8_t)0x03)
#define RTC_MONTH_APRIL ((uint8_t)0x04)
#define RTC_MONTH_MAY ((uint8_t)0x05)
#define RTC_MONTH_JUNE ((uint8_t)0x06)
#define RTC_MONTH_JULY ((uint8_t)0x07)
#define RTC_MONTH_AUGUST ((uint8_t)0x08)
#define RTC_MONTH_SEPTEMBER ((uint8_t)0x09)
#define RTC_MONTH_OCTOBER ((uint8_t)0x10)
#define RTC_MONTH_NOVEMBER ((uint8_t)0x11)
#define RTC_MONTH_DECEMBER ((uint8_t)0x12)
/**
* @}
*/
/** @defgroup RTC_WeekDay_Definitions RTC WeekDay Definitions
* @{
*/
#define RTC_WEEKDAY_MONDAY ((uint8_t)0x01)
#define RTC_WEEKDAY_TUESDAY ((uint8_t)0x02)
#define RTC_WEEKDAY_WEDNESDAY ((uint8_t)0x03)
#define RTC_WEEKDAY_THURSDAY ((uint8_t)0x04)
#define RTC_WEEKDAY_FRIDAY ((uint8_t)0x05)
#define RTC_WEEKDAY_SATURDAY ((uint8_t)0x06)
#define RTC_WEEKDAY_SUNDAY ((uint8_t)0x07)
/**
* @}
*/
/** @defgroup RTC_AlarmDateWeekDay_Definitions RTC Alarm Date WeekDay Definitions
* @{
*/
#define RTC_ALARMDATEWEEKDAYSEL_DATE 0x00000000U
#define RTC_ALARMDATEWEEKDAYSEL_WEEKDAY 0x40000000U
/**
* @}
*/
/** @defgroup RTC_AlarmMask_Definitions RTC Alarm Mask Definitions
* @{
*/
#define RTC_ALARMMASK_NONE 0x00000000U
#define RTC_ALARMMASK_DATEWEEKDAY RTC_ALRMAR_MSK4
#define RTC_ALARMMASK_HOURS RTC_ALRMAR_MSK3
#define RTC_ALARMMASK_MINUTES RTC_ALRMAR_MSK2
#define RTC_ALARMMASK_SECONDS RTC_ALRMAR_MSK1
#define RTC_ALARMMASK_ALL 0x80808080U
/**
* @}
*/
/** @defgroup RTC_Alarms_Definitions RTC Alarms Definitions
* @{
*/
#define RTC_ALARM_A RTC_CR_ALRAE
#define RTC_ALARM_B RTC_CR_ALRBE
/**
* @}
*/
/** @defgroup RTC_Alarm_Sub_Seconds_Masks_Definitions RTC Alarm Sub Seconds Masks Definitions
* @{
*/
#define RTC_ALARMSUBSECONDMASK_ALL 0x00000000U /*!< All Alarm SS fields are masked.
There is no comparison on sub seconds
for Alarm */
#define RTC_ALARMSUBSECONDMASK_SS14_1 0x01000000U /*!< SS[14:1] are don't care in Alarm
comparison. Only SS[0] is compared. */
#define RTC_ALARMSUBSECONDMASK_SS14_2 0x02000000U /*!< SS[14:2] are don't care in Alarm
comparison. Only SS[1:0] are compared */
#define RTC_ALARMSUBSECONDMASK_SS14_3 0x03000000U /*!< SS[14:3] are don't care in Alarm
comparison. Only SS[2:0] are compared */
#define RTC_ALARMSUBSECONDMASK_SS14_4 0x04000000U /*!< SS[14:4] are don't care in Alarm
comparison. Only SS[3:0] are compared */
#define RTC_ALARMSUBSECONDMASK_SS14_5 0x05000000U /*!< SS[14:5] are don't care in Alarm
comparison. Only SS[4:0] are compared */
#define RTC_ALARMSUBSECONDMASK_SS14_6 0x06000000U /*!< SS[14:6] are don't care in Alarm
comparison. Only SS[5:0] are compared */
#define RTC_ALARMSUBSECONDMASK_SS14_7 0x07000000U /*!< SS[14:7] are don't care in Alarm
comparison. Only SS[6:0] are compared */
#define RTC_ALARMSUBSECONDMASK_SS14_8 0x08000000U /*!< SS[14:8] are don't care in Alarm
comparison. Only SS[7:0] are compared */
#define RTC_ALARMSUBSECONDMASK_SS14_9 0x09000000U /*!< SS[14:9] are don't care in Alarm
comparison. Only SS[8:0] are compared */
#define RTC_ALARMSUBSECONDMASK_SS14_10 0x0A000000U /*!< SS[14:10] are don't care in Alarm
comparison. Only SS[9:0] are compared */
#define RTC_ALARMSUBSECONDMASK_SS14_11 0x0B000000U /*!< SS[14:11] are don't care in Alarm
comparison. Only SS[10:0] are compared */
#define RTC_ALARMSUBSECONDMASK_SS14_12 0x0C000000U /*!< SS[14:12] are don't care in Alarm
comparison.Only SS[11:0] are compared */
#define RTC_ALARMSUBSECONDMASK_SS14_13 0x0D000000U /*!< SS[14:13] are don't care in Alarm
comparison. Only SS[12:0] are compared */
#define RTC_ALARMSUBSECONDMASK_SS14 0x0E000000U /*!< SS[14] is don't care in Alarm
comparison.Only SS[13:0] are compared */
#define RTC_ALARMSUBSECONDMASK_NONE 0x0F000000U /*!< SS[14:0] are compared and must match
to activate alarm. */
/**
* @}
*/
/** @defgroup RTC_Interrupts_Definitions RTC Interrupts Definitions
* @{
*/
#define RTC_IT_TS 0x00008000U
#define RTC_IT_WUT 0x00004000U
#define RTC_IT_ALRB 0x00002000U
#define RTC_IT_ALRA 0x00001000U
#define RTC_IT_TAMP 0x00000004U /* Used only to Enable the Tamper Interrupt */
#define RTC_IT_TAMP1 0x00020000U
#define RTC_IT_TAMP2 0x00040000U
/**
* @}
*/
/** @defgroup RTC_Flags_Definitions RTC Flags Definitions
* @{
*/
#define RTC_FLAG_RECALPF 0x00010000U
#define RTC_FLAG_TAMP2F 0x00004000U
#define RTC_FLAG_TAMP1F 0x00002000U
#define RTC_FLAG_TSOVF 0x00001000U
#define RTC_FLAG_TSF 0x00000800U
#define RTC_FLAG_WUTF 0x00000400U
#define RTC_FLAG_ALRBF 0x00000200U
#define RTC_FLAG_ALRAF 0x00000100U
#define RTC_FLAG_INITF 0x00000040U
#define RTC_FLAG_RSF 0x00000020U
#define RTC_FLAG_INITS 0x00000010U
#define RTC_FLAG_SHPF 0x00000008U
#define RTC_FLAG_WUTWF 0x00000004U
#define RTC_FLAG_ALRBWF 0x00000002U
#define RTC_FLAG_ALRAWF 0x00000001U
/**
* @}
*/
/**
* @}
*/
/* Exported macro ------------------------------------------------------------*/
/** @defgroup RTC_Exported_Macros RTC Exported Macros
* @{
*/
/** @brief Reset RTC handle state
* @param __HANDLE__: specifies the RTC handle.
* @retval None
*/
#define __HAL_RTC_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_RTC_STATE_RESET)
/**
* @brief Disable the write protection for RTC registers.
* @param __HANDLE__: specifies the RTC handle.
* @retval None
*/
#define __HAL_RTC_WRITEPROTECTION_DISABLE(__HANDLE__) \
do{ \
(__HANDLE__)->Instance->WPR = 0xCAU; \
(__HANDLE__)->Instance->WPR = 0x53U; \
} while(0U)
/**
* @brief Enable the write protection for RTC registers.
* @param __HANDLE__: specifies the RTC handle.
* @retval None
*/
#define __HAL_RTC_WRITEPROTECTION_ENABLE(__HANDLE__) \
do{ \
(__HANDLE__)->Instance->WPR = 0xFFU; \
} while(0U)
/**
* @brief Enable the RTC ALARMA peripheral.
* @param __HANDLE__: specifies the RTC handle.
* @retval None
*/
#define __HAL_RTC_ALARMA_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR |= (RTC_CR_ALRAE))
/**
* @brief Disable the RTC ALARMA peripheral.
* @param __HANDLE__: specifies the RTC handle.
* @retval None
*/
#define __HAL_RTC_ALARMA_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->CR &= ~(RTC_CR_ALRAE))
/**
* @brief Enable the RTC ALARMB peripheral.
* @param __HANDLE__: specifies the RTC handle.
* @retval None
*/
#define __HAL_RTC_ALARMB_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR |= (RTC_CR_ALRBE))
/**
* @brief Disable the RTC ALARMB peripheral.
* @param __HANDLE__: specifies the RTC handle.
* @retval None
*/
#define __HAL_RTC_ALARMB_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->CR &= ~(RTC_CR_ALRBE))
/**
* @brief Enable the RTC Alarm interrupt.
* @param __HANDLE__: specifies the RTC handle.
* @param __INTERRUPT__: specifies the RTC Alarm interrupt sources to be enabled or disabled.
* This parameter can be any combination of the following values:
* @arg RTC_IT_ALRA: Alarm A interrupt
* @arg RTC_IT_ALRB: Alarm B interrupt
* @retval None
*/
#define __HAL_RTC_ALARM_ENABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->CR |= (__INTERRUPT__))
/**
* @brief Disable the RTC Alarm interrupt.
* @param __HANDLE__: specifies the RTC handle.
* @param __INTERRUPT__: specifies the RTC Alarm interrupt sources to be enabled or disabled.
* This parameter can be any combination of the following values:
* @arg RTC_IT_ALRA: Alarm A interrupt
* @arg RTC_IT_ALRB: Alarm B interrupt
* @retval None
*/
#define __HAL_RTC_ALARM_DISABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->CR &= ~(__INTERRUPT__))
/**
* @brief Check whether the specified RTC Alarm interrupt has occurred or not.
* @param __HANDLE__: specifies the RTC handle.
* @param __INTERRUPT__: specifies the RTC Alarm interrupt to check.
* This parameter can be:
* @arg RTC_IT_ALRA: Alarm A interrupt
* @arg RTC_IT_ALRB: Alarm B interrupt
* @retval None
*/
#define __HAL_RTC_ALARM_GET_IT(__HANDLE__, __INTERRUPT__) (((((__HANDLE__)->Instance->ISR)& ((__INTERRUPT__)>> 4U)) != RESET)? SET : RESET)
/**
* @brief Get the selected RTC Alarm's flag status.
* @param __HANDLE__: specifies the RTC handle.
* @param __FLAG__: specifies the RTC Alarm Flag to check.
* This parameter can be:
* @arg RTC_FLAG_ALRAF
* @arg RTC_FLAG_ALRBF
* @arg RTC_FLAG_ALRAWF
* @arg RTC_FLAG_ALRBWF
* @retval None
*/
#define __HAL_RTC_ALARM_GET_FLAG(__HANDLE__, __FLAG__) (((((__HANDLE__)->Instance->ISR) & (__FLAG__)) != RESET)? SET : RESET)
/**
* @brief Clear the RTC Alarm's pending flags.
* @param __HANDLE__: specifies the RTC handle.
* @param __FLAG__: specifies the RTC Alarm Flag sources to be enabled or disabled.
* This parameter can be:
* @arg RTC_FLAG_ALRAF
* @arg RTC_FLAG_ALRBF
* @retval None
*/
#define __HAL_RTC_ALARM_CLEAR_FLAG(__HANDLE__, __FLAG__) ((__HANDLE__)->Instance->ISR) = (~((__FLAG__) | RTC_ISR_INIT)|((__HANDLE__)->Instance->ISR & RTC_ISR_INIT))
/**
* @brief Check whether the specified RTC Alarm interrupt has been enabled or not.
* @param __HANDLE__: specifies the RTC handle.
* @param __INTERRUPT__: specifies the RTC Alarm interrupt sources to check.
* This parameter can be:
* @arg RTC_IT_ALRA: Alarm A interrupt
* @arg RTC_IT_ALRB: Alarm B interrupt
* @retval None
*/
#define __HAL_RTC_ALARM_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) (((((__HANDLE__)->Instance->CR) & (__INTERRUPT__)) != RESET) ? SET : RESET)
/**
* @brief Enable interrupt on the RTC Alarm associated Exti line.
* @retval None
*/
#define __HAL_RTC_ALARM_EXTI_ENABLE_IT() (EXTI->IMR |= RTC_EXTI_LINE_ALARM_EVENT)
/**
* @brief Disable interrupt on the RTC Alarm associated Exti line.
* @retval None
*/
#define __HAL_RTC_ALARM_EXTI_DISABLE_IT() (EXTI->IMR &= ~(RTC_EXTI_LINE_ALARM_EVENT))
/**
* @brief Enable event on the RTC Alarm associated Exti line.
* @retval None.
*/
#define __HAL_RTC_ALARM_EXTI_ENABLE_EVENT() (EXTI->EMR |= RTC_EXTI_LINE_ALARM_EVENT)
/**
* @brief Disable event on the RTC Alarm associated Exti line.
* @retval None.
*/
#define __HAL_RTC_ALARM_EXTI_DISABLE_EVENT() (EXTI->EMR &= ~(RTC_EXTI_LINE_ALARM_EVENT))
/**
* @brief Enable falling edge trigger on the RTC Alarm associated Exti line.
* @retval None.
*/
#define __HAL_RTC_ALARM_EXTI_ENABLE_FALLING_EDGE() (EXTI->FTSR |= RTC_EXTI_LINE_ALARM_EVENT)
/**
* @brief Disable falling edge trigger on the RTC Alarm associated Exti line.
* @retval None.
*/
#define __HAL_RTC_ALARM_EXTI_DISABLE_FALLING_EDGE() (EXTI->FTSR &= ~(RTC_EXTI_LINE_ALARM_EVENT))
/**
* @brief Enable rising edge trigger on the RTC Alarm associated Exti line.
* @retval None.
*/
#define __HAL_RTC_ALARM_EXTI_ENABLE_RISING_EDGE() (EXTI->RTSR |= RTC_EXTI_LINE_ALARM_EVENT)
/**
* @brief Disable rising edge trigger on the RTC Alarm associated Exti line.
* @retval None.
*/
#define __HAL_RTC_ALARM_EXTI_DISABLE_RISING_EDGE() (EXTI->RTSR &= ~(RTC_EXTI_LINE_ALARM_EVENT))
/**
* @brief Enable rising & falling edge trigger on the RTC Alarm associated Exti line.
* @retval None.
*/
#define __HAL_RTC_ALARM_EXTI_ENABLE_RISING_FALLING_EDGE() do { __HAL_RTC_ALARM_EXTI_ENABLE_RISING_EDGE(); \
__HAL_RTC_ALARM_EXTI_ENABLE_FALLING_EDGE();\
} while(0U)
/**
* @brief Disable rising & falling edge trigger on the RTC Alarm associated Exti line.
* @retval None.
*/
#define __HAL_RTC_ALARM_EXTI_DISABLE_RISING_FALLING_EDGE() do { __HAL_RTC_ALARM_EXTI_DISABLE_RISING_EDGE();\
__HAL_RTC_ALARM_EXTI_DISABLE_FALLING_EDGE();\
} while(0U)
/**
* @brief Check whether the RTC Alarm associated Exti line interrupt flag is set or not.
* @retval Line Status.
*/
#define __HAL_RTC_ALARM_EXTI_GET_FLAG() (EXTI->PR & RTC_EXTI_LINE_ALARM_EVENT)
/**
* @brief Clear the RTC Alarm associated Exti line flag.
* @retval None.
*/
#define __HAL_RTC_ALARM_EXTI_CLEAR_FLAG() (EXTI->PR = RTC_EXTI_LINE_ALARM_EVENT)
/**
* @brief Generate a Software interrupt on RTC Alarm associated Exti line.
* @retval None.
*/
#define __HAL_RTC_ALARM_EXTI_GENERATE_SWIT() (EXTI->SWIER |= RTC_EXTI_LINE_ALARM_EVENT)
/**
* @}
*/
/* Include RTC HAL Extension module */
#include "stm32f4xx_hal_rtc_ex.h"
/* Exported functions --------------------------------------------------------*/
/** @addtogroup RTC_Exported_Functions
* @{
*/
/** @addtogroup RTC_Exported_Functions_Group1
* @{
*/
/* Initialization and de-initialization functions ****************************/
HAL_StatusTypeDef HAL_RTC_Init(RTC_HandleTypeDef *hrtc);
HAL_StatusTypeDef HAL_RTC_DeInit(RTC_HandleTypeDef *hrtc);
void HAL_RTC_MspInit(RTC_HandleTypeDef *hrtc);
void HAL_RTC_MspDeInit(RTC_HandleTypeDef *hrtc);
/**
* @}
*/
/** @addtogroup RTC_Exported_Functions_Group2
* @{
*/
/* RTC Time and Date functions ************************************************/
HAL_StatusTypeDef HAL_RTC_SetTime(RTC_HandleTypeDef *hrtc, RTC_TimeTypeDef *sTime, uint32_t Format);
HAL_StatusTypeDef HAL_RTC_GetTime(RTC_HandleTypeDef *hrtc, RTC_TimeTypeDef *sTime, uint32_t Format);
HAL_StatusTypeDef HAL_RTC_SetDate(RTC_HandleTypeDef *hrtc, RTC_DateTypeDef *sDate, uint32_t Format);
HAL_StatusTypeDef HAL_RTC_GetDate(RTC_HandleTypeDef *hrtc, RTC_DateTypeDef *sDate, uint32_t Format);
/**
* @}
*/
/** @addtogroup RTC_Exported_Functions_Group3
* @{
*/
/* RTC Alarm functions ********************************************************/
HAL_StatusTypeDef HAL_RTC_SetAlarm(RTC_HandleTypeDef *hrtc, RTC_AlarmTypeDef *sAlarm, uint32_t Format);
HAL_StatusTypeDef HAL_RTC_SetAlarm_IT(RTC_HandleTypeDef *hrtc, RTC_AlarmTypeDef *sAlarm, uint32_t Format);
HAL_StatusTypeDef HAL_RTC_DeactivateAlarm(RTC_HandleTypeDef *hrtc, uint32_t Alarm);
HAL_StatusTypeDef HAL_RTC_GetAlarm(RTC_HandleTypeDef *hrtc, RTC_AlarmTypeDef *sAlarm, uint32_t Alarm, uint32_t Format);
void HAL_RTC_AlarmIRQHandler(RTC_HandleTypeDef *hrtc);
HAL_StatusTypeDef HAL_RTC_PollForAlarmAEvent(RTC_HandleTypeDef *hrtc, uint32_t Timeout);
void HAL_RTC_AlarmAEventCallback(RTC_HandleTypeDef *hrtc);
/**
* @}
*/
/** @addtogroup RTC_Exported_Functions_Group4
* @{
*/
/* Peripheral Control functions ***********************************************/
HAL_StatusTypeDef HAL_RTC_WaitForSynchro(RTC_HandleTypeDef* hrtc);
/**
* @}
*/
/** @addtogroup RTC_Exported_Functions_Group5
* @{
*/
/* Peripheral State functions *************************************************/
HAL_RTCStateTypeDef HAL_RTC_GetState(RTC_HandleTypeDef *hrtc);
/**
* @}
*/
/**
* @}
*/
/* Private types -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/* Private constants ---------------------------------------------------------*/
/** @defgroup RTC_Private_Constants RTC Private Constants
* @{
*/
/* Masks Definition */
#define RTC_TR_RESERVED_MASK 0x007F7F7FU
#define RTC_DR_RESERVED_MASK 0x00FFFF3FU
#define RTC_INIT_MASK 0xFFFFFFFFU
#define RTC_RSF_MASK 0xFFFFFF5FU
#define RTC_FLAGS_MASK ((uint32_t)(RTC_FLAG_TSOVF | RTC_FLAG_TSF | RTC_FLAG_WUTF | \
RTC_FLAG_ALRBF | RTC_FLAG_ALRAF | RTC_FLAG_INITF | \
RTC_FLAG_RSF | RTC_FLAG_INITS | RTC_FLAG_WUTWF | \
RTC_FLAG_ALRBWF | RTC_FLAG_ALRAWF | RTC_FLAG_TAMP1F | \
RTC_FLAG_RECALPF | RTC_FLAG_SHPF))
#define RTC_TIMEOUT_VALUE 1000
#define RTC_EXTI_LINE_ALARM_EVENT ((uint32_t)EXTI_IMR_MR17) /*!< External interrupt line 17 Connected to the RTC Alarm event */
/**
* @}
*/
/* Private macros ------------------------------------------------------------*/
/** @defgroup RTC_Private_Macros RTC Private Macros
* @{
*/
/** @defgroup RTC_IS_RTC_Definitions RTC Private macros to check input parameters
* @{
*/
#define IS_RTC_HOUR_FORMAT(FORMAT) (((FORMAT) == RTC_HOURFORMAT_12) || \
((FORMAT) == RTC_HOURFORMAT_24))
#define IS_RTC_OUTPUT(OUTPUT) (((OUTPUT) == RTC_OUTPUT_DISABLE) || \
((OUTPUT) == RTC_OUTPUT_ALARMA) || \
((OUTPUT) == RTC_OUTPUT_ALARMB) || \
((OUTPUT) == RTC_OUTPUT_WAKEUP))
#define IS_RTC_OUTPUT_POL(POL) (((POL) == RTC_OUTPUT_POLARITY_HIGH) || \
((POL) == RTC_OUTPUT_POLARITY_LOW))
#define IS_RTC_OUTPUT_TYPE(TYPE) (((TYPE) == RTC_OUTPUT_TYPE_OPENDRAIN) || \
((TYPE) == RTC_OUTPUT_TYPE_PUSHPULL))
#define IS_RTC_HOUR12(HOUR) (((HOUR) > 0U) && ((HOUR) <= 12U))
#define IS_RTC_HOUR24(HOUR) ((HOUR) <= 23U)
#define IS_RTC_ASYNCH_PREDIV(PREDIV) ((PREDIV) <= 0x7FU)
#define IS_RTC_SYNCH_PREDIV(PREDIV) ((PREDIV) <= 0x7FFFU)
#define IS_RTC_MINUTES(MINUTES) ((MINUTES) <= 59U)
#define IS_RTC_SECONDS(SECONDS) ((SECONDS) <= 59U)
#define IS_RTC_HOURFORMAT12(PM) (((PM) == RTC_HOURFORMAT12_AM) || ((PM) == RTC_HOURFORMAT12_PM))
#define IS_RTC_DAYLIGHT_SAVING(SAVE) (((SAVE) == RTC_DAYLIGHTSAVING_SUB1H) || \
((SAVE) == RTC_DAYLIGHTSAVING_ADD1H) || \
((SAVE) == RTC_DAYLIGHTSAVING_NONE))
#define IS_RTC_STORE_OPERATION(OPERATION) (((OPERATION) == RTC_STOREOPERATION_RESET) || \
((OPERATION) == RTC_STOREOPERATION_SET))
#define IS_RTC_FORMAT(FORMAT) (((FORMAT) == RTC_FORMAT_BIN) || ((FORMAT) == RTC_FORMAT_BCD))
#define IS_RTC_YEAR(YEAR) ((YEAR) <= 99U)
#define IS_RTC_MONTH(MONTH) (((MONTH) >= 1U) && ((MONTH) <= 12U))
#define IS_RTC_DATE(DATE) (((DATE) >= 1U) && ((DATE) <= 31U))
#define IS_RTC_WEEKDAY(WEEKDAY) (((WEEKDAY) == RTC_WEEKDAY_MONDAY) || \
((WEEKDAY) == RTC_WEEKDAY_TUESDAY) || \
((WEEKDAY) == RTC_WEEKDAY_WEDNESDAY) || \
((WEEKDAY) == RTC_WEEKDAY_THURSDAY) || \
((WEEKDAY) == RTC_WEEKDAY_FRIDAY) || \
((WEEKDAY) == RTC_WEEKDAY_SATURDAY) || \
((WEEKDAY) == RTC_WEEKDAY_SUNDAY))
#define IS_RTC_ALARM_DATE_WEEKDAY_DATE(DATE) (((DATE) > 0U) && ((DATE) <= 31U))
#define IS_RTC_ALARM_DATE_WEEKDAY_WEEKDAY(WEEKDAY) (((WEEKDAY) == RTC_WEEKDAY_MONDAY) || \
((WEEKDAY) == RTC_WEEKDAY_TUESDAY) || \
((WEEKDAY) == RTC_WEEKDAY_WEDNESDAY) || \
((WEEKDAY) == RTC_WEEKDAY_THURSDAY) || \
((WEEKDAY) == RTC_WEEKDAY_FRIDAY) || \
((WEEKDAY) == RTC_WEEKDAY_SATURDAY) || \
((WEEKDAY) == RTC_WEEKDAY_SUNDAY))
#define IS_RTC_ALARM_DATE_WEEKDAY_SEL(SEL) (((SEL) == RTC_ALARMDATEWEEKDAYSEL_DATE) || \
((SEL) == RTC_ALARMDATEWEEKDAYSEL_WEEKDAY))
#define IS_RTC_ALARM_MASK(MASK) (((MASK) & 0x7F7F7F7FU) == (uint32_t)RESET)
#define IS_RTC_ALARM(ALARM) (((ALARM) == RTC_ALARM_A) || ((ALARM) == RTC_ALARM_B))
#define IS_RTC_ALARM_SUB_SECOND_VALUE(VALUE) ((VALUE) <= 0x00007FFFU)
#define IS_RTC_ALARM_SUB_SECOND_MASK(MASK) (((MASK) == RTC_ALARMSUBSECONDMASK_ALL) || \
((MASK) == RTC_ALARMSUBSECONDMASK_SS14_1) || \
((MASK) == RTC_ALARMSUBSECONDMASK_SS14_2) || \
((MASK) == RTC_ALARMSUBSECONDMASK_SS14_3) || \
((MASK) == RTC_ALARMSUBSECONDMASK_SS14_4) || \
((MASK) == RTC_ALARMSUBSECONDMASK_SS14_5) || \
((MASK) == RTC_ALARMSUBSECONDMASK_SS14_6) || \
((MASK) == RTC_ALARMSUBSECONDMASK_SS14_7) || \
((MASK) == RTC_ALARMSUBSECONDMASK_SS14_8) || \
((MASK) == RTC_ALARMSUBSECONDMASK_SS14_9) || \
((MASK) == RTC_ALARMSUBSECONDMASK_SS14_10) || \
((MASK) == RTC_ALARMSUBSECONDMASK_SS14_11) || \
((MASK) == RTC_ALARMSUBSECONDMASK_SS14_12) || \
((MASK) == RTC_ALARMSUBSECONDMASK_SS14_13) || \
((MASK) == RTC_ALARMSUBSECONDMASK_SS14) || \
((MASK) == RTC_ALARMSUBSECONDMASK_NONE))
/**
* @}
*/
/**
* @}
*/
/* Private functions ---------------------------------------------------------*/
/** @defgroup RTC_Private_Functions RTC Private Functions
* @{
*/
HAL_StatusTypeDef RTC_EnterInitMode(RTC_HandleTypeDef* hrtc);
uint8_t RTC_ByteToBcd2(uint8_t Value);
uint8_t RTC_Bcd2ToByte(uint8_t Value);
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* __STM32F4xx_HAL_RTC_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/hal_inc/stm32f4xx_hal_rtc_ex.h
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/**
******************************************************************************
* @file stm32f4xx_hal_spi.h
* @author MCD Application Team
* @version V1.7.1
* @date 14-April-2017
* @brief Header file of SPI HAL module.
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32F4xx_HAL_SPI_H
#define __STM32F4xx_HAL_SPI_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal_def.h"
/** @addtogroup STM32F4xx_HAL_Driver
* @{
*/
/** @addtogroup SPI
* @{
*/
/* Exported types ------------------------------------------------------------*/
/** @defgroup SPI_Exported_Types SPI Exported Types
* @{
*/
/**
* @brief SPI Configuration Structure definition
*/
typedef struct
{
uint32_t Mode; /*!< Specifies the SPI operating mode.
This parameter can be a value of @ref SPI_Mode */
uint32_t Direction; /*!< Specifies the SPI bidirectional mode state.
This parameter can be a value of @ref SPI_Direction */
uint32_t DataSize; /*!< Specifies the SPI data size.
This parameter can be a value of @ref SPI_Data_Size */
uint32_t CLKPolarity; /*!< Specifies the serial clock steady state.
This parameter can be a value of @ref SPI_Clock_Polarity */
uint32_t CLKPhase; /*!< Specifies the clock active edge for the bit capture.
This parameter can be a value of @ref SPI_Clock_Phase */
uint32_t NSS; /*!< Specifies whether the NSS signal is managed by
hardware (NSS pin) or by software using the SSI bit.
This parameter can be a value of @ref SPI_Slave_Select_management */
uint32_t BaudRatePrescaler; /*!< Specifies the Baud Rate prescaler value which will be
used to configure the transmit and receive SCK clock.
This parameter can be a value of @ref SPI_BaudRate_Prescaler
@note The communication clock is derived from the master
clock. The slave clock does not need to be set. */
uint32_t FirstBit; /*!< Specifies whether data transfers start from MSB or LSB bit.
This parameter can be a value of @ref SPI_MSB_LSB_transmission */
uint32_t TIMode; /*!< Specifies if the TI mode is enabled or not.
This parameter can be a value of @ref SPI_TI_mode */
uint32_t CRCCalculation; /*!< Specifies if the CRC calculation is enabled or not.
This parameter can be a value of @ref SPI_CRC_Calculation */
uint32_t CRCPolynomial; /*!< Specifies the polynomial used for the CRC calculation.
This parameter must be a number between Min_Data = 0 and Max_Data = 65535 */
}SPI_InitTypeDef;
/**
* @brief HAL SPI State structure definition
*/
typedef enum
{
HAL_SPI_STATE_RESET = 0x00U, /*!< Peripheral not Initialized */
HAL_SPI_STATE_READY = 0x01U, /*!< Peripheral Initialized and ready for use */
HAL_SPI_STATE_BUSY = 0x02U, /*!< an internal process is ongoing */
HAL_SPI_STATE_BUSY_TX = 0x03U, /*!< Data Transmission process is ongoing */
HAL_SPI_STATE_BUSY_RX = 0x04U, /*!< Data Reception process is ongoing */
HAL_SPI_STATE_BUSY_TX_RX = 0x05U, /*!< Data Transmission and Reception process is ongoing */
HAL_SPI_STATE_ERROR = 0x06U /*!< SPI error state */
}HAL_SPI_StateTypeDef;
/**
* @brief SPI handle Structure definition
*/
typedef struct __SPI_HandleTypeDef
{
SPI_TypeDef *Instance; /* SPI registers base address */
SPI_InitTypeDef Init; /* SPI communication parameters */
uint8_t *pTxBuffPtr; /* Pointer to SPI Tx transfer Buffer */
uint16_t TxXferSize; /* SPI Tx Transfer size */
__IO uint16_t TxXferCount; /* SPI Tx Transfer Counter */
uint8_t *pRxBuffPtr; /* Pointer to SPI Rx transfer Buffer */
uint16_t RxXferSize; /* SPI Rx Transfer size */
__IO uint16_t RxXferCount; /* SPI Rx Transfer Counter */
void (*RxISR)(struct __SPI_HandleTypeDef * hspi); /* function pointer on Rx ISR */
void (*TxISR)(struct __SPI_HandleTypeDef * hspi); /* function pointer on Tx ISR */
DMA_HandleTypeDef *hdmatx; /* SPI Tx DMA Handle parameters */
DMA_HandleTypeDef *hdmarx; /* SPI Rx DMA Handle parameters */
HAL_LockTypeDef Lock; /* Locking object */
__IO HAL_SPI_StateTypeDef State; /* SPI communication state */
__IO uint32_t ErrorCode; /* SPI Error code */
}SPI_HandleTypeDef;
/**
* @}
*/
/* Exported constants --------------------------------------------------------*/
/** @defgroup SPI_Exported_Constants SPI Exported Constants
* @{
*/
/** @defgroup SPI_Error_Code SPI Error Code
* @{
*/
#define HAL_SPI_ERROR_NONE 0x00000000U /*!< No error */
#define HAL_SPI_ERROR_MODF 0x00000001U /*!< MODF error */
#define HAL_SPI_ERROR_CRC 0x00000002U /*!< CRC error */
#define HAL_SPI_ERROR_OVR 0x00000004U /*!< OVR error */
#define HAL_SPI_ERROR_FRE 0x00000008U /*!< FRE error */
#define HAL_SPI_ERROR_DMA 0x00000010U /*!< DMA transfer error */
#define HAL_SPI_ERROR_FLAG 0x00000020U /*!< Flag: RXNE,TXE, BSY */
/**
* @}
*/
/** @defgroup SPI_Mode SPI Mode
* @{
*/
#define SPI_MODE_SLAVE 0x00000000U
#define SPI_MODE_MASTER (SPI_CR1_MSTR | SPI_CR1_SSI)
/**
* @}
*/
/** @defgroup SPI_Direction SPI Direction Mode
* @{
*/
#define SPI_DIRECTION_2LINES 0x00000000U
#define SPI_DIRECTION_2LINES_RXONLY SPI_CR1_RXONLY
#define SPI_DIRECTION_1LINE SPI_CR1_BIDIMODE
/**
* @}
*/
/** @defgroup SPI_Data_Size SPI Data Size
* @{
*/
#define SPI_DATASIZE_8BIT 0x00000000U
#define SPI_DATASIZE_16BIT SPI_CR1_DFF
/**
* @}
*/
/** @defgroup SPI_Clock_Polarity SPI Clock Polarity
* @{
*/
#define SPI_POLARITY_LOW 0x00000000U
#define SPI_POLARITY_HIGH SPI_CR1_CPOL
/**
* @}
*/
/** @defgroup SPI_Clock_Phase SPI Clock Phase
* @{
*/
#define SPI_PHASE_1EDGE 0x00000000U
#define SPI_PHASE_2EDGE SPI_CR1_CPHA
/**
* @}
*/
/** @defgroup SPI_Slave_Select_management SPI Slave Select Management
* @{
*/
#define SPI_NSS_SOFT SPI_CR1_SSM
#define SPI_NSS_HARD_INPUT 0x00000000U
#define SPI_NSS_HARD_OUTPUT 0x00040000U
/**
* @}
*/
/** @defgroup SPI_BaudRate_Prescaler SPI BaudRate Prescaler
* @{
*/
#define SPI_BAUDRATEPRESCALER_2 0x00000000U
#define SPI_BAUDRATEPRESCALER_4 0x00000008U
#define SPI_BAUDRATEPRESCALER_8 0x00000010U
#define SPI_BAUDRATEPRESCALER_16 0x00000018U
#define SPI_BAUDRATEPRESCALER_32 0x00000020U
#define SPI_BAUDRATEPRESCALER_64 0x00000028U
#define SPI_BAUDRATEPRESCALER_128 0x00000030U
#define SPI_BAUDRATEPRESCALER_256 0x00000038U
/**
* @}
*/
/** @defgroup SPI_MSB_LSB_transmission SPI MSB LSB Transmission
* @{
*/
#define SPI_FIRSTBIT_MSB 0x00000000U
#define SPI_FIRSTBIT_LSB SPI_CR1_LSBFIRST
/**
* @}
*/
/** @defgroup SPI_TI_mode SPI TI Mode
* @{
*/
#define SPI_TIMODE_DISABLE 0x00000000U
#define SPI_TIMODE_ENABLE SPI_CR2_FRF
/**
* @}
*/
/** @defgroup SPI_CRC_Calculation SPI CRC Calculation
* @{
*/
#define SPI_CRCCALCULATION_DISABLE 0x00000000U
#define SPI_CRCCALCULATION_ENABLE SPI_CR1_CRCEN
/**
* @}
*/
/** @defgroup SPI_Interrupt_definition SPI Interrupt Definition
* @{
*/
#define SPI_IT_TXE SPI_CR2_TXEIE
#define SPI_IT_RXNE SPI_CR2_RXNEIE
#define SPI_IT_ERR SPI_CR2_ERRIE
/**
* @}
*/
/** @defgroup SPI_Flags_definition SPI Flags Definition
* @{
*/
#define SPI_FLAG_RXNE SPI_SR_RXNE /* SPI status flag: Rx buffer not empty flag */
#define SPI_FLAG_TXE SPI_SR_TXE /* SPI status flag: Tx buffer empty flag */
#define SPI_FLAG_BSY SPI_SR_BSY /* SPI status flag: Busy flag */
#define SPI_FLAG_CRCERR SPI_SR_CRCERR /* SPI Error flag: CRC error flag */
#define SPI_FLAG_MODF SPI_SR_MODF /* SPI Error flag: Mode fault flag */
#define SPI_FLAG_OVR SPI_SR_OVR /* SPI Error flag: Overrun flag */
#define SPI_FLAG_FRE SPI_SR_FRE /* SPI Error flag: TI mode frame format error flag */
/**
* @}
*/
/**
* @}
*/
/* Exported macro ------------------------------------------------------------*/
/** @defgroup SPI_Exported_Macros SPI Exported Macros
* @{
*/
/** @brief Reset SPI handle state.
* @param __HANDLE__: specifies the SPI Handle.
* This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral.
* @retval None
*/
#define __HAL_SPI_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_SPI_STATE_RESET)
/** @brief Enable or disable the specified SPI interrupts.
* @param __HANDLE__: specifies the SPI Handle.
* This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral.
* @param __INTERRUPT__: specifies the interrupt source to enable or disable.
* This parameter can be one of the following values:
* @arg SPI_IT_TXE: Tx buffer empty interrupt enable
* @arg SPI_IT_RXNE: RX buffer not empty interrupt enable
* @arg SPI_IT_ERR: Error interrupt enable
* @retval None
*/
#define __HAL_SPI_ENABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->CR2 |= (__INTERRUPT__))
#define __HAL_SPI_DISABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->CR2 &= (~(__INTERRUPT__)))
/** @brief Check whether the specified SPI interrupt source is enabled or not.
* @param __HANDLE__: specifies the SPI Handle.
* This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral.
* @param __INTERRUPT__: specifies the SPI interrupt source to check.
* This parameter can be one of the following values:
* @arg SPI_IT_TXE: Tx buffer empty interrupt enable
* @arg SPI_IT_RXNE: RX buffer not empty interrupt enable
* @arg SPI_IT_ERR: Error interrupt enable
* @retval The new state of __IT__ (TRUE or FALSE).
*/
#define __HAL_SPI_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) ((((__HANDLE__)->Instance->CR2 & (__INTERRUPT__)) == (__INTERRUPT__)) ? SET : RESET)
/** @brief Check whether the specified SPI flag is set or not.
* @param __HANDLE__: specifies the SPI Handle.
* This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral.
* @param __FLAG__: specifies the flag to check.
* This parameter can be one of the following values:
* @arg SPI_FLAG_RXNE: Receive buffer not empty flag
* @arg SPI_FLAG_TXE: Transmit buffer empty flag
* @arg SPI_FLAG_CRCERR: CRC error flag
* @arg SPI_FLAG_MODF: Mode fault flag
* @arg SPI_FLAG_OVR: Overrun flag
* @arg SPI_FLAG_BSY: Busy flag
* @arg SPI_FLAG_FRE: Frame format error flag
* @retval The new state of __FLAG__ (TRUE or FALSE).
*/
#define __HAL_SPI_GET_FLAG(__HANDLE__, __FLAG__) ((((__HANDLE__)->Instance->SR) & (__FLAG__)) == (__FLAG__))
/** @brief Clear the SPI CRCERR pending flag.
* @param __HANDLE__: specifies the SPI Handle.
* This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral.
* @retval None
*/
#define __HAL_SPI_CLEAR_CRCERRFLAG(__HANDLE__) ((__HANDLE__)->Instance->SR = (uint16_t)(~SPI_FLAG_CRCERR))
/** @brief Clear the SPI MODF pending flag.
* @param __HANDLE__: specifies the SPI Handle.
* This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral.
* @retval None
*/
#define __HAL_SPI_CLEAR_MODFFLAG(__HANDLE__) \
do{ \
__IO uint32_t tmpreg_modf = 0x00U; \
tmpreg_modf = (__HANDLE__)->Instance->SR; \
(__HANDLE__)->Instance->CR1 &= (~SPI_CR1_SPE); \
UNUSED(tmpreg_modf); \
} while(0U)
/** @brief Clear the SPI OVR pending flag.
* @param __HANDLE__: specifies the SPI Handle.
* This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral.
* @retval None
*/
#define __HAL_SPI_CLEAR_OVRFLAG(__HANDLE__) \
do{ \
__IO uint32_t tmpreg_ovr = 0x00U; \
tmpreg_ovr = (__HANDLE__)->Instance->DR; \
tmpreg_ovr = (__HANDLE__)->Instance->SR; \
UNUSED(tmpreg_ovr); \
} while(0U)
/** @brief Clear the SPI FRE pending flag.
* @param __HANDLE__: specifies the SPI Handle.
* This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral.
* @retval None
*/
#define __HAL_SPI_CLEAR_FREFLAG(__HANDLE__) \
do{ \
__IO uint32_t tmpreg_fre = 0x00U; \
tmpreg_fre = (__HANDLE__)->Instance->SR; \
UNUSED(tmpreg_fre); \
}while(0U)
/** @brief Enable the SPI peripheral.
* @param __HANDLE__: specifies the SPI Handle.
* This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral.
* @retval None
*/
#define __HAL_SPI_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR1 |= SPI_CR1_SPE)
/** @brief Disable the SPI peripheral.
* @param __HANDLE__: specifies the SPI Handle.
* This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral.
* @retval None
*/
#define __HAL_SPI_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->CR1 &= (~SPI_CR1_SPE))
/**
* @}
*/
/* Exported functions --------------------------------------------------------*/
/** @addtogroup SPI_Exported_Functions
* @{
*/
/** @addtogroup SPI_Exported_Functions_Group1
* @{
*/
/* Initialization/de-initialization functions **********************************/
HAL_StatusTypeDef HAL_SPI_Init(SPI_HandleTypeDef *hspi);
HAL_StatusTypeDef HAL_SPI_DeInit (SPI_HandleTypeDef *hspi);
void HAL_SPI_MspInit(SPI_HandleTypeDef *hspi);
void HAL_SPI_MspDeInit(SPI_HandleTypeDef *hspi);
/**
* @}
*/
/** @addtogroup SPI_Exported_Functions_Group2
* @{
*/
/* I/O operation functions *****************************************************/
HAL_StatusTypeDef HAL_SPI_Transmit(SPI_HandleTypeDef *hspi, uint8_t *pData, uint16_t Size, uint32_t Timeout);
HAL_StatusTypeDef HAL_SPI_Receive(SPI_HandleTypeDef *hspi, uint8_t *pData, uint16_t Size, uint32_t Timeout);
HAL_StatusTypeDef HAL_SPI_TransmitReceive(SPI_HandleTypeDef *hspi, uint8_t *pTxData, uint8_t *pRxData, uint16_t Size, uint32_t Timeout);
HAL_StatusTypeDef HAL_SPI_Transmit_IT(SPI_HandleTypeDef *hspi, uint8_t *pData, uint16_t Size);
HAL_StatusTypeDef HAL_SPI_Receive_IT(SPI_HandleTypeDef *hspi, uint8_t *pData, uint16_t Size);
HAL_StatusTypeDef HAL_SPI_TransmitReceive_IT(SPI_HandleTypeDef *hspi, uint8_t *pTxData, uint8_t *pRxData, uint16_t Size);
HAL_StatusTypeDef HAL_SPI_Transmit_DMA(SPI_HandleTypeDef *hspi, uint8_t *pData, uint16_t Size);
HAL_StatusTypeDef HAL_SPI_Receive_DMA(SPI_HandleTypeDef *hspi, uint8_t *pData, uint16_t Size);
HAL_StatusTypeDef HAL_SPI_TransmitReceive_DMA(SPI_HandleTypeDef *hspi, uint8_t *pTxData, uint8_t *pRxData, uint16_t Size);
HAL_StatusTypeDef HAL_SPI_DMAPause(SPI_HandleTypeDef *hspi);
HAL_StatusTypeDef HAL_SPI_DMAResume(SPI_HandleTypeDef *hspi);
HAL_StatusTypeDef HAL_SPI_DMAStop(SPI_HandleTypeDef *hspi);
/* Transfer Abort functions */
HAL_StatusTypeDef HAL_SPI_Abort(SPI_HandleTypeDef *hspi);
HAL_StatusTypeDef HAL_SPI_Abort_IT(SPI_HandleTypeDef *hspi);
void HAL_SPI_IRQHandler(SPI_HandleTypeDef *hspi);
void HAL_SPI_TxCpltCallback(SPI_HandleTypeDef *hspi);
void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef *hspi);
void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi);
void HAL_SPI_TxHalfCpltCallback(SPI_HandleTypeDef *hspi);
void HAL_SPI_RxHalfCpltCallback(SPI_HandleTypeDef *hspi);
void HAL_SPI_TxRxHalfCpltCallback(SPI_HandleTypeDef *hspi);
void HAL_SPI_ErrorCallback(SPI_HandleTypeDef *hspi);
void HAL_SPI_AbortCpltCallback(SPI_HandleTypeDef *hspi);
/**
* @}
*/
/** @addtogroup SPI_Exported_Functions_Group3
* @{
*/
/* Peripheral State and Error functions ***************************************/
HAL_SPI_StateTypeDef HAL_SPI_GetState(SPI_HandleTypeDef *hspi);
uint32_t HAL_SPI_GetError(SPI_HandleTypeDef *hspi);
/**
* @}
*/
/**
* @}
*/
/* Private types -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/* Private constants ---------------------------------------------------------*/
/* Private macros ------------------------------------------------------------*/
/** @defgroup SPI_Private_Macros SPI Private Macros
* @{
*/
/** @brief Set the SPI transmit-only mode.
* @param __HANDLE__: specifies the SPI Handle.
* This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral.
* @retval None
*/
#define SPI_1LINE_TX(__HANDLE__) ((__HANDLE__)->Instance->CR1 |= SPI_CR1_BIDIOE)
/** @brief Set the SPI receive-only mode.
* @param __HANDLE__: specifies the SPI Handle.
* This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral.
* @retval None
*/
#define SPI_1LINE_RX(__HANDLE__) ((__HANDLE__)->Instance->CR1 &= (~SPI_CR1_BIDIOE))
/** @brief Reset the CRC calculation of the SPI.
* @param __HANDLE__: specifies the SPI Handle.
* This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral.
* @retval None
*/
#define SPI_RESET_CRC(__HANDLE__) do{(__HANDLE__)->Instance->CR1 &= (uint16_t)(~SPI_CR1_CRCEN);\
(__HANDLE__)->Instance->CR1 |= SPI_CR1_CRCEN;}while(0U)
#define IS_SPI_MODE(MODE) (((MODE) == SPI_MODE_SLAVE) || \
((MODE) == SPI_MODE_MASTER))
#define IS_SPI_DIRECTION(MODE) (((MODE) == SPI_DIRECTION_2LINES) || \
((MODE) == SPI_DIRECTION_2LINES_RXONLY) || \
((MODE) == SPI_DIRECTION_1LINE))
#define IS_SPI_DIRECTION_2LINES(MODE) ((MODE) == SPI_DIRECTION_2LINES)
#define IS_SPI_DIRECTION_2LINES_OR_1LINE(MODE) (((MODE) == SPI_DIRECTION_2LINES) || \
((MODE) == SPI_DIRECTION_1LINE))
#define IS_SPI_DATASIZE(DATASIZE) (((DATASIZE) == SPI_DATASIZE_16BIT) || \
((DATASIZE) == SPI_DATASIZE_8BIT))
#define IS_SPI_CPOL(CPOL) (((CPOL) == SPI_POLARITY_LOW) || \
((CPOL) == SPI_POLARITY_HIGH))
#define IS_SPI_CPHA(CPHA) (((CPHA) == SPI_PHASE_1EDGE) || \
((CPHA) == SPI_PHASE_2EDGE))
#define IS_SPI_NSS(NSS) (((NSS) == SPI_NSS_SOFT) || \
((NSS) == SPI_NSS_HARD_INPUT) || \
((NSS) == SPI_NSS_HARD_OUTPUT))
#define IS_SPI_BAUDRATE_PRESCALER(PRESCALER) (((PRESCALER) == SPI_BAUDRATEPRESCALER_2) || \
((PRESCALER) == SPI_BAUDRATEPRESCALER_4) || \
((PRESCALER) == SPI_BAUDRATEPRESCALER_8) || \
((PRESCALER) == SPI_BAUDRATEPRESCALER_16) || \
((PRESCALER) == SPI_BAUDRATEPRESCALER_32) || \
((PRESCALER) == SPI_BAUDRATEPRESCALER_64) || \
((PRESCALER) == SPI_BAUDRATEPRESCALER_128) || \
((PRESCALER) == SPI_BAUDRATEPRESCALER_256))
#define IS_SPI_FIRST_BIT(BIT) (((BIT) == SPI_FIRSTBIT_MSB) || \
((BIT) == SPI_FIRSTBIT_LSB))
#define IS_SPI_TIMODE(MODE) (((MODE) == SPI_TIMODE_DISABLE) || \
((MODE) == SPI_TIMODE_ENABLE))
#define IS_SPI_CRC_CALCULATION(CALCULATION) (((CALCULATION) == SPI_CRCCALCULATION_DISABLE) || \
((CALCULATION) == SPI_CRCCALCULATION_ENABLE))
#define IS_SPI_CRC_POLYNOMIAL(POLYNOMIAL) (((POLYNOMIAL) >= 0x01U) && ((POLYNOMIAL) <= 0xFFFFU))
/**
* @}
*/
/* Private functions ---------------------------------------------------------*/
/** @defgroup SPI_Private_Functions SPI Private Functions
* @{
*/
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* __STM32F4xx_HAL_SPI_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/hal_inc/stm32f4xx_hal_tim.h
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04_firmware/stm32/dji_a_board/RCPROyuan/Inc/hal_inc/stm32f4xx_hal_tim_ex.h
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/**
******************************************************************************
* @file stm32f4xx_hal_tim_ex.h
* @author MCD Application Team
* @version V1.7.1
* @date 14-April-2017
* @brief Header file of TIM HAL Extension module.
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32F4xx_HAL_TIM_EX_H
#define __STM32F4xx_HAL_TIM_EX_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal_def.h"
/** @addtogroup STM32F4xx_HAL_Driver
* @{
*/
/** @addtogroup TIMEx
* @{
*/
/* Exported types ------------------------------------------------------------*/
/** @defgroup TIMEx_Exported_Types TIM Exported Types
* @{
*/
/**
* @brief TIM Hall sensor Configuration Structure definition
*/
typedef struct
{
uint32_t IC1Polarity; /*!< Specifies the active edge of the input signal.
This parameter can be a value of @ref TIM_Input_Capture_Polarity */
uint32_t IC1Prescaler; /*!< Specifies the Input Capture Prescaler.
This parameter can be a value of @ref TIM_Input_Capture_Prescaler */
uint32_t IC1Filter; /*!< Specifies the input capture filter.
This parameter can be a number between Min_Data = 0x0 and Max_Data = 0xF */
uint32_t Commutation_Delay; /*!< Specifies the pulse value to be loaded into the Capture Compare Register.
This parameter can be a number between Min_Data = 0x0000U and Max_Data = 0xFFFFU */
} TIM_HallSensor_InitTypeDef;
/**
* @brief TIM Master configuration Structure definition
*/
typedef struct {
uint32_t MasterOutputTrigger; /*!< Trigger output (TRGO) selection.
This parameter can be a value of @ref TIM_Master_Mode_Selection */
uint32_t MasterSlaveMode; /*!< Master/slave mode selection.
This parameter can be a value of @ref TIM_Master_Slave_Mode */
}TIM_MasterConfigTypeDef;
/**
* @brief TIM Break and Dead time configuration Structure definition
*/
typedef struct
{
uint32_t OffStateRunMode; /*!< TIM off state in run mode.
This parameter can be a value of @ref TIM_OSSR_Off_State_Selection_for_Run_mode_state */
uint32_t OffStateIDLEMode; /*!< TIM off state in IDLE mode.
This parameter can be a value of @ref TIM_OSSI_Off_State_Selection_for_Idle_mode_state */
uint32_t LockLevel; /*!< TIM Lock level.
This parameter can be a value of @ref TIM_Lock_level */
uint32_t DeadTime; /*!< TIM dead Time.
This parameter can be a number between Min_Data = 0x00 and Max_Data = 0xFF */
uint32_t BreakState; /*!< TIM Break State.
This parameter can be a value of @ref TIM_Break_Input_enable_disable */
uint32_t BreakPolarity; /*!< TIM Break input polarity.
This parameter can be a value of @ref TIM_Break_Polarity */
uint32_t AutomaticOutput; /*!< TIM Automatic Output Enable state.
This parameter can be a value of @ref TIM_AOE_Bit_Set_Reset */
}TIM_BreakDeadTimeConfigTypeDef;
/**
* @}
*/
/* Exported constants --------------------------------------------------------*/
/** @defgroup TIMEx_Exported_Constants TIM Exported Constants
* @{
*/
/** @defgroup TIMEx_Remap TIM Remap
* @{
*/
#define TIM_TIM2_TIM8_TRGO 0x00000000U
#define TIM_TIM2_ETH_PTP 0x00000400U
#define TIM_TIM2_USBFS_SOF 0x00000800U
#define TIM_TIM2_USBHS_SOF 0x00000C00U
#define TIM_TIM5_GPIO 0x00000000U
#define TIM_TIM5_LSI 0x00000040U
#define TIM_TIM5_LSE 0x00000080U
#define TIM_TIM5_RTC 0x000000C0U
#define TIM_TIM11_GPIO 0x00000000U
#define TIM_TIM11_HSE 0x00000002U
#if defined(STM32F413xx) || defined(STM32F423xx)
#define TIM_TIM9_TIM3_TRGO 0x10000000U
#define TIM_TIM9_LPTIM 0x10000010U
#define TIM_TIM5_TIM3_TRGO 0x10000000U
#define TIM_TIM5_LPTIM 0x10000008U
#define TIM_TIM1_TIM3_TRGO 0x10000000U
#define TIM_TIM1_LPTIM 0x10000004U
#endif /* STM32F413xx | STM32F423xx */
#if defined (STM32F446xx)
#define TIM_TIM11_SPDIFRX 0x00000001U
#endif /* STM32F446xx */
/**
* @}
*/
#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) || defined(STM32F413xx) || defined(STM32F423xx)
/** @defgroup TIMEx_SystemBreakInput TIM System Break Input
* @{
*/
#define TIM_SYSTEMBREAKINPUT_HARDFAULT 0x00000001U /* Core Lockup lock output(Hardfault) is connected to Break Input of TIM1 and TIM8 */
#define TIM_SYSTEMBREAKINPUT_PVD 0x00000004U /* PVD Interrupt is connected to Break Input of TIM1 and TIM8 */
#define TIM_SYSTEMBREAKINPUT_HARDFAULT_PVD 0x00000005U /* Core Lockup lock output(Hardfault) and PVD Interrupt are connected to Break Input of TIM1 and TIM8 */
/**
* @}
*/
#endif /* STM32F410Tx || STM32F410Cx || STM32F410Rx || STM32F413xx || STM32F423xx */
/**
* @}
*/
/* Exported macro ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
/** @addtogroup TIMEx_Exported_Functions
* @{
*/
/** @addtogroup TIMEx_Exported_Functions_Group1
* @{
*/
/* Timer Hall Sensor functions **********************************************/
HAL_StatusTypeDef HAL_TIMEx_HallSensor_Init(TIM_HandleTypeDef* htim, TIM_HallSensor_InitTypeDef* sConfig);
HAL_StatusTypeDef HAL_TIMEx_HallSensor_DeInit(TIM_HandleTypeDef* htim);
void HAL_TIMEx_HallSensor_MspInit(TIM_HandleTypeDef* htim);
void HAL_TIMEx_HallSensor_MspDeInit(TIM_HandleTypeDef* htim);
/* Blocking mode: Polling */
HAL_StatusTypeDef HAL_TIMEx_HallSensor_Start(TIM_HandleTypeDef* htim);
HAL_StatusTypeDef HAL_TIMEx_HallSensor_Stop(TIM_HandleTypeDef* htim);
/* Non-Blocking mode: Interrupt */
HAL_StatusTypeDef HAL_TIMEx_HallSensor_Start_IT(TIM_HandleTypeDef* htim);
HAL_StatusTypeDef HAL_TIMEx_HallSensor_Stop_IT(TIM_HandleTypeDef* htim);
/* Non-Blocking mode: DMA */
HAL_StatusTypeDef HAL_TIMEx_HallSensor_Start_DMA(TIM_HandleTypeDef* htim, uint32_t *pData, uint16_t Length);
HAL_StatusTypeDef HAL_TIMEx_HallSensor_Stop_DMA(TIM_HandleTypeDef* htim);
/**
* @}
*/
/** @addtogroup TIMEx_Exported_Functions_Group2
* @{
*/
/* Timer Complementary Output Compare functions *****************************/
/* Blocking mode: Polling */
HAL_StatusTypeDef HAL_TIMEx_OCN_Start(TIM_HandleTypeDef* htim, uint32_t Channel);
HAL_StatusTypeDef HAL_TIMEx_OCN_Stop(TIM_HandleTypeDef* htim, uint32_t Channel);
/* Non-Blocking mode: Interrupt */
HAL_StatusTypeDef HAL_TIMEx_OCN_Start_IT(TIM_HandleTypeDef* htim, uint32_t Channel);
HAL_StatusTypeDef HAL_TIMEx_OCN_Stop_IT(TIM_HandleTypeDef* htim, uint32_t Channel);
/* Non-Blocking mode: DMA */
HAL_StatusTypeDef HAL_TIMEx_OCN_Start_DMA(TIM_HandleTypeDef* htim, uint32_t Channel, uint32_t *pData, uint16_t Length);
HAL_StatusTypeDef HAL_TIMEx_OCN_Stop_DMA(TIM_HandleTypeDef* htim, uint32_t Channel);
/**
* @}
*/
/** @addtogroup TIMEx_Exported_Functions_Group3
* @{
*/
/* Timer Complementary PWM functions ****************************************/
/* Blocking mode: Polling */
HAL_StatusTypeDef HAL_TIMEx_PWMN_Start(TIM_HandleTypeDef* htim, uint32_t Channel);
HAL_StatusTypeDef HAL_TIMEx_PWMN_Stop(TIM_HandleTypeDef* htim, uint32_t Channel);
/* Non-Blocking mode: Interrupt */
HAL_StatusTypeDef HAL_TIMEx_PWMN_Start_IT(TIM_HandleTypeDef* htim, uint32_t Channel);
HAL_StatusTypeDef HAL_TIMEx_PWMN_Stop_IT(TIM_HandleTypeDef* htim, uint32_t Channel);
/* Non-Blocking mode: DMA */
HAL_StatusTypeDef HAL_TIMEx_PWMN_Start_DMA(TIM_HandleTypeDef* htim, uint32_t Channel, uint32_t *pData, uint16_t Length);
HAL_StatusTypeDef HAL_TIMEx_PWMN_Stop_DMA(TIM_HandleTypeDef* htim, uint32_t Channel);
/**
* @}
*/
/** @addtogroup TIMEx_Exported_Functions_Group4
* @{
*/
/* Timer Complementary One Pulse functions **********************************/
/* Blocking mode: Polling */
HAL_StatusTypeDef HAL_TIMEx_OnePulseN_Start(TIM_HandleTypeDef* htim, uint32_t OutputChannel);
HAL_StatusTypeDef HAL_TIMEx_OnePulseN_Stop(TIM_HandleTypeDef* htim, uint32_t OutputChannel);
/* Non-Blocking mode: Interrupt */
HAL_StatusTypeDef HAL_TIMEx_OnePulseN_Start_IT(TIM_HandleTypeDef* htim, uint32_t OutputChannel);
HAL_StatusTypeDef HAL_TIMEx_OnePulseN_Stop_IT(TIM_HandleTypeDef* htim, uint32_t OutputChannel);
/**
* @}
*/
/** @addtogroup TIMEx_Exported_Functions_Group5
* @{
*/
/* Extension Control functions ************************************************/
HAL_StatusTypeDef HAL_TIMEx_ConfigCommutationEvent(TIM_HandleTypeDef* htim, uint32_t InputTrigger, uint32_t CommutationSource);
HAL_StatusTypeDef HAL_TIMEx_ConfigCommutationEvent_IT(TIM_HandleTypeDef* htim, uint32_t InputTrigger, uint32_t CommutationSource);
HAL_StatusTypeDef HAL_TIMEx_ConfigCommutationEvent_DMA(TIM_HandleTypeDef* htim, uint32_t InputTrigger, uint32_t CommutationSource);
HAL_StatusTypeDef HAL_TIMEx_MasterConfigSynchronization(TIM_HandleTypeDef* htim, TIM_MasterConfigTypeDef * sMasterConfig);
HAL_StatusTypeDef HAL_TIMEx_ConfigBreakDeadTime(TIM_HandleTypeDef* htim, TIM_BreakDeadTimeConfigTypeDef *sBreakDeadTimeConfig);
HAL_StatusTypeDef HAL_TIMEx_RemapConfig(TIM_HandleTypeDef* htim, uint32_t Remap);
/**
* @}
*/
/** @addtogroup TIMEx_Exported_Functions_Group6
* @{
*/
/* Extension Callback *********************************************************/
void HAL_TIMEx_CommutationCallback(TIM_HandleTypeDef* htim);
void HAL_TIMEx_BreakCallback(TIM_HandleTypeDef* htim);
void TIMEx_DMACommutationCplt(DMA_HandleTypeDef *hdma);
/**
* @}
*/
/** @addtogroup TIMEx_Exported_Functions_Group7
* @{
*/
/* Extension Peripheral State functions **************************************/
HAL_TIM_StateTypeDef HAL_TIMEx_HallSensor_GetState(TIM_HandleTypeDef* htim);
/**
* @}
*/
/**
* @}
*/
/* Private types -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/* Private constants ---------------------------------------------------------*/
/* Private macros ------------------------------------------------------------*/
/** @defgroup TIMEx_Private_Macros TIM Private Macros
* @{
*/
#if defined (STM32F446xx)
#define IS_TIM_REMAP(TIM_REMAP) (((TIM_REMAP) == TIM_TIM2_TIM8_TRGO)||\
((TIM_REMAP) == TIM_TIM2_ETH_PTP)||\
((TIM_REMAP) == TIM_TIM2_USBFS_SOF)||\
((TIM_REMAP) == TIM_TIM2_USBHS_SOF)||\
((TIM_REMAP) == TIM_TIM5_GPIO)||\
((TIM_REMAP) == TIM_TIM5_LSI)||\
((TIM_REMAP) == TIM_TIM5_LSE)||\
((TIM_REMAP) == TIM_TIM5_RTC)||\
((TIM_REMAP) == TIM_TIM11_GPIO)||\
((TIM_REMAP) == TIM_TIM11_SPDIFRX)||\
((TIM_REMAP) == TIM_TIM11_HSE))
#elif defined(STM32F413xx) || defined(STM32F423xx)
#define IS_TIM_REMAP(TIM_REMAP) (((TIM_REMAP) == TIM_TIM2_TIM8_TRGO)||\
((TIM_REMAP) == TIM_TIM2_ETH_PTP)||\
((TIM_REMAP) == TIM_TIM2_USBFS_SOF)||\
((TIM_REMAP) == TIM_TIM2_USBHS_SOF)||\
((TIM_REMAP) == TIM_TIM5_GPIO)||\
((TIM_REMAP) == TIM_TIM5_LSI)||\
((TIM_REMAP) == TIM_TIM5_LSE)||\
((TIM_REMAP) == TIM_TIM5_RTC)||\
((TIM_REMAP) == TIM_TIM11_GPIO)||\
((TIM_REMAP) == TIM_TIM11_HSE)||\
((TIM_REMAP) == TIM_TIM9_TIM3_TRGO)||\
((TIM_REMAP) == TIM_TIM9_LPTIM)||\
((TIM_REMAP) == TIM_TIM5_TIM3_TRGO)||\
((TIM_REMAP) == TIM_TIM5_LPTIM)||\
((TIM_REMAP) == TIM_TIM1_TIM3_TRGO)||\
((TIM_REMAP) == TIM_TIM1_LPTIM))
#else
#define IS_TIM_REMAP(TIM_REMAP) (((TIM_REMAP) == TIM_TIM2_TIM8_TRGO)||\
((TIM_REMAP) == TIM_TIM2_ETH_PTP)||\
((TIM_REMAP) == TIM_TIM2_USBFS_SOF)||\
((TIM_REMAP) == TIM_TIM2_USBHS_SOF)||\
((TIM_REMAP) == TIM_TIM5_GPIO)||\
((TIM_REMAP) == TIM_TIM5_LSI)||\
((TIM_REMAP) == TIM_TIM5_LSE)||\
((TIM_REMAP) == TIM_TIM5_RTC)||\
((TIM_REMAP) == TIM_TIM11_GPIO)||\
((TIM_REMAP) == TIM_TIM11_HSE))
#endif /* STM32F446xx */
#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) || defined(STM32F413xx) || defined(STM32F423xx)
#define IS_TIM_SYSTEMBREAKINPUT(BREAKINPUT) (((BREAKINPUT) == TIM_SYSTEMBREAKINPUT_HARDFAULT)||\
((BREAKINPUT) == TIM_SYSTEMBREAKINPUT_PVD)||\
((BREAKINPUT) == TIM_SYSTEMBREAKINPUT_HARDFAULT_PVD))
#endif /* STM32F410Tx || STM32F410Cx || STM32F410Rx || STM32F413xx || STM32F423xx */
#define IS_TIM_DEADTIME(DEADTIME) ((DEADTIME) <= 0xFFU)
/**
* @}
*/
/* Private functions ---------------------------------------------------------*/
/** @defgroup TIMEx_Private_Functions TIM Private Functions
* @{
*/
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* __STM32F4xx_HAL_TIM_EX_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/hal_inc/stm32f4xx_hal_uart.h
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/**
******************************************************************************
* @file stm32f4xx_hal_uart.h
* @author MCD Application Team
* @version V1.7.1
* @date 14-April-2017
* @brief Header file of UART HAL module.
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32F4xx_HAL_UART_H
#define __STM32F4xx_HAL_UART_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal_def.h"
/** @addtogroup STM32F4xx_HAL_Driver
* @{
*/
/** @addtogroup UART
* @{
*/
/* Exported types ------------------------------------------------------------*/
/** @defgroup UART_Exported_Types UART Exported Types
* @{
*/
/**
* @brief UART Init Structure definition
*/
typedef struct
{
uint32_t BaudRate; /*!< This member configures the UART communication baud rate.
The baud rate is computed using the following formula:
- IntegerDivider = ((PCLKx) / (8 * (OVR8+1) * (huart->Init.BaudRate)))
- FractionalDivider = ((IntegerDivider - ((uint32_t) IntegerDivider)) * 8 * (OVR8+1)) + 0.5
Where OVR8 is the "oversampling by 8 mode" configuration bit in the CR1 register. */
uint32_t WordLength; /*!< Specifies the number of data bits transmitted or received in a frame.
This parameter can be a value of @ref UART_Word_Length */
uint32_t StopBits; /*!< Specifies the number of stop bits transmitted.
This parameter can be a value of @ref UART_Stop_Bits */
uint32_t Parity; /*!< Specifies the parity mode.
This parameter can be a value of @ref UART_Parity
@note When parity is enabled, the computed parity is inserted
at the MSB position of the transmitted data (9th bit when
the word length is set to 9 data bits; 8th bit when the
word length is set to 8 data bits). */
uint32_t Mode; /*!< Specifies whether the Receive or Transmit mode is enabled or disabled.
This parameter can be a value of @ref UART_Mode */
uint32_t HwFlowCtl; /*!< Specifies whether the hardware flow control mode is enabled
or disabled.
This parameter can be a value of @ref UART_Hardware_Flow_Control */
uint32_t OverSampling; /*!< Specifies whether the Over sampling 8 is enabled or disabled, to achieve higher speed (up to fPCLK/8).
This parameter can be a value of @ref UART_Over_Sampling */
}UART_InitTypeDef;
/**
* @brief HAL UART State structures definition
* @note HAL UART State value is a combination of 2 different substates: gState and RxState.
* - gState contains UART state information related to global Handle management
* and also information related to Tx operations.
* gState value coding follow below described bitmap :
* b7-b6 Error information
* 00 : No Error
* 01 : (Not Used)
* 10 : Timeout
* 11 : Error
* b5 IP initilisation status
* 0 : Reset (IP not initialized)
* 1 : Init done (IP not initialized. HAL UART Init function already called)
* b4-b3 (not used)
* xx : Should be set to 00
* b2 Intrinsic process state
* 0 : Ready
* 1 : Busy (IP busy with some configuration or internal operations)
* b1 (not used)
* x : Should be set to 0
* b0 Tx state
* 0 : Ready (no Tx operation ongoing)
* 1 : Busy (Tx operation ongoing)
* - RxState contains information related to Rx operations.
* RxState value coding follow below described bitmap :
* b7-b6 (not used)
* xx : Should be set to 00
* b5 IP initilisation status
* 0 : Reset (IP not initialized)
* 1 : Init done (IP not initialized)
* b4-b2 (not used)
* xxx : Should be set to 000
* b1 Rx state
* 0 : Ready (no Rx operation ongoing)
* 1 : Busy (Rx operation ongoing)
* b0 (not used)
* x : Should be set to 0.
*/
typedef enum
{
HAL_UART_STATE_RESET = 0x00U, /*!< Peripheral is not yet Initialized
Value is allowed for gState and RxState */
HAL_UART_STATE_READY = 0x20U, /*!< Peripheral Initialized and ready for use
Value is allowed for gState and RxState */
HAL_UART_STATE_BUSY = 0x24U, /*!< an internal process is ongoing
Value is allowed for gState only */
HAL_UART_STATE_BUSY_TX = 0x21U, /*!< Data Transmission process is ongoing
Value is allowed for gState only */
HAL_UART_STATE_BUSY_RX = 0x22U, /*!< Data Reception process is ongoing
Value is allowed for RxState only */
HAL_UART_STATE_BUSY_TX_RX = 0x23U, /*!< Data Transmission and Reception process is ongoing
Not to be used for neither gState nor RxState.
Value is result of combination (Or) between gState and RxState values */
HAL_UART_STATE_TIMEOUT = 0xA0U, /*!< Timeout state
Value is allowed for gState only */
HAL_UART_STATE_ERROR = 0xE0U /*!< Error
Value is allowed for gState only */
}HAL_UART_StateTypeDef;
/**
* @brief UART handle Structure definition
*/
typedef struct
{
USART_TypeDef *Instance; /*!< UART registers base address */
UART_InitTypeDef Init; /*!< UART communication parameters */
uint8_t *pTxBuffPtr; /*!< Pointer to UART Tx transfer Buffer */
uint16_t TxXferSize; /*!< UART Tx Transfer size */
__IO uint16_t TxXferCount; /*!< UART Tx Transfer Counter */
uint8_t *pRxBuffPtr; /*!< Pointer to UART Rx transfer Buffer */
uint16_t RxXferSize; /*!< UART Rx Transfer size */
__IO uint16_t RxXferCount; /*!< UART Rx Transfer Counter */
DMA_HandleTypeDef *hdmatx; /*!< UART Tx DMA Handle parameters */
DMA_HandleTypeDef *hdmarx; /*!< UART Rx DMA Handle parameters */
HAL_LockTypeDef Lock; /*!< Locking object */
__IO HAL_UART_StateTypeDef gState; /*!< UART state information related to global Handle management
and also related to Tx operations.
This parameter can be a value of @ref HAL_UART_StateTypeDef */
__IO HAL_UART_StateTypeDef RxState; /*!< UART state information related to Rx operations.
This parameter can be a value of @ref HAL_UART_StateTypeDef */
__IO uint32_t ErrorCode; /*!< UART Error code */
}UART_HandleTypeDef;
/**
* @}
*/
/* Exported constants --------------------------------------------------------*/
/** @defgroup UART_Exported_Constants UART Exported constants
* @{
*/
/** @defgroup UART_Error_Code UART Error Code
* @brief UART Error Code
* @{
*/
#define HAL_UART_ERROR_NONE 0x00000000U /*!< No error */
#define HAL_UART_ERROR_PE 0x00000001U /*!< Parity error */
#define HAL_UART_ERROR_NE 0x00000002U /*!< Noise error */
#define HAL_UART_ERROR_FE 0x00000004U /*!< Frame error */
#define HAL_UART_ERROR_ORE 0x00000008U /*!< Overrun error */
#define HAL_UART_ERROR_DMA 0x00000010U /*!< DMA transfer error */
/**
* @}
*/
/** @defgroup UART_Word_Length UART Word Length
* @{
*/
#define UART_WORDLENGTH_8B 0x00000000U
#define UART_WORDLENGTH_9B ((uint32_t)USART_CR1_M)
/**
* @}
*/
/** @defgroup UART_Stop_Bits UART Number of Stop Bits
* @{
*/
#define UART_STOPBITS_1 0x00000000U
#define UART_STOPBITS_2 ((uint32_t)USART_CR2_STOP_1)
/**
* @}
*/
/** @defgroup UART_Parity UART Parity
* @{
*/
#define UART_PARITY_NONE 0x00000000U
#define UART_PARITY_EVEN ((uint32_t)USART_CR1_PCE)
#define UART_PARITY_ODD ((uint32_t)(USART_CR1_PCE | USART_CR1_PS))
/**
* @}
*/
/** @defgroup UART_Hardware_Flow_Control UART Hardware Flow Control
* @{
*/
#define UART_HWCONTROL_NONE 0x00000000U
#define UART_HWCONTROL_RTS ((uint32_t)USART_CR3_RTSE)
#define UART_HWCONTROL_CTS ((uint32_t)USART_CR3_CTSE)
#define UART_HWCONTROL_RTS_CTS ((uint32_t)(USART_CR3_RTSE | USART_CR3_CTSE))
/**
* @}
*/
/** @defgroup UART_Mode UART Transfer Mode
* @{
*/
#define UART_MODE_RX ((uint32_t)USART_CR1_RE)
#define UART_MODE_TX ((uint32_t)USART_CR1_TE)
#define UART_MODE_TX_RX ((uint32_t)(USART_CR1_TE |USART_CR1_RE))
/**
* @}
*/
/** @defgroup UART_State UART State
* @{
*/
#define UART_STATE_DISABLE 0x00000000U
#define UART_STATE_ENABLE ((uint32_t)USART_CR1_UE)
/**
* @}
*/
/** @defgroup UART_Over_Sampling UART Over Sampling
* @{
*/
#define UART_OVERSAMPLING_16 0x00000000U
#define UART_OVERSAMPLING_8 ((uint32_t)USART_CR1_OVER8)
/**
* @}
*/
/** @defgroup UART_LIN_Break_Detection_Length UART LIN Break Detection Length
* @{
*/
#define UART_LINBREAKDETECTLENGTH_10B 0x00000000U
#define UART_LINBREAKDETECTLENGTH_11B 0x00000020U
/**
* @}
*/
/** @defgroup UART_WakeUp_functions UART Wakeup Functions
* @{
*/
#define UART_WAKEUPMETHOD_IDLELINE 0x00000000U
#define UART_WAKEUPMETHOD_ADDRESSMARK 0x00000800U
/**
* @}
*/
/** @defgroup UART_Flags UART FLags
* Elements values convention: 0xXXXX
* - 0xXXXX : Flag mask in the SR register
* @{
*/
#define UART_FLAG_CTS ((uint32_t)USART_SR_CTS)
#define UART_FLAG_LBD ((uint32_t)USART_SR_LBD)
#define UART_FLAG_TXE ((uint32_t)USART_SR_TXE)
#define UART_FLAG_TC ((uint32_t)USART_SR_TC)
#define UART_FLAG_RXNE ((uint32_t)USART_SR_RXNE)
#define UART_FLAG_IDLE ((uint32_t)USART_SR_IDLE)
#define UART_FLAG_ORE ((uint32_t)USART_SR_ORE)
#define UART_FLAG_NE ((uint32_t)USART_SR_NE)
#define UART_FLAG_FE ((uint32_t)USART_SR_FE)
#define UART_FLAG_PE ((uint32_t)USART_SR_PE)
/**
* @}
*/
/** @defgroup UART_Interrupt_definition UART Interrupt Definitions
* Elements values convention: 0xY000XXXX
* - XXXX : Interrupt mask (16 bits) in the Y register
* - Y : Interrupt source register (2bits)
* - 0001: CR1 register
* - 0010: CR2 register
* - 0011: CR3 register
*
* @{
*/
#define UART_IT_PE ((uint32_t)(UART_CR1_REG_INDEX << 28U | USART_CR1_PEIE))
#define UART_IT_TXE ((uint32_t)(UART_CR1_REG_INDEX << 28U | USART_CR1_TXEIE))
#define UART_IT_TC ((uint32_t)(UART_CR1_REG_INDEX << 28U | USART_CR1_TCIE))
#define UART_IT_RXNE ((uint32_t)(UART_CR1_REG_INDEX << 28U | USART_CR1_RXNEIE))
#define UART_IT_IDLE ((uint32_t)(UART_CR1_REG_INDEX << 28U | USART_CR1_IDLEIE))
#define UART_IT_LBD ((uint32_t)(UART_CR2_REG_INDEX << 28U | USART_CR2_LBDIE))
#define UART_IT_CTS ((uint32_t)(UART_CR3_REG_INDEX << 28U | USART_CR3_CTSIE))
#define UART_IT_ERR ((uint32_t)(UART_CR3_REG_INDEX << 28U | USART_CR3_EIE))
/**
* @}
*/
/**
* @}
*/
/* Exported macro ------------------------------------------------------------*/
/** @defgroup UART_Exported_Macros UART Exported Macros
* @{
*/
/** @brief Reset UART handle gstate & RxState
* @param __HANDLE__: specifies the UART Handle.
* This parameter can be UARTx where x: 1, 2, 3, 4, 5, 6, 7 or 8 to select the USART or
* UART peripheral.
* @retval None
*/
#define __HAL_UART_RESET_HANDLE_STATE(__HANDLE__) do{ \
(__HANDLE__)->gState = HAL_UART_STATE_RESET; \
(__HANDLE__)->RxState = HAL_UART_STATE_RESET; \
} while(0U)
/** @brief Flushes the UART DR register
* @param __HANDLE__: specifies the UART Handle.
*/
#define __HAL_UART_FLUSH_DRREGISTER(__HANDLE__) ((__HANDLE__)->Instance->DR)
/** @brief Checks whether the specified UART flag is set or not.
* @param __HANDLE__: specifies the UART Handle.
* This parameter can be UARTx where x: 1, 2, 3, 4, 5, 6, 7 or 8 to select the USART or
* UART peripheral.
* @param __FLAG__: specifies the flag to check.
* This parameter can be one of the following values:
* @arg UART_FLAG_CTS: CTS Change flag (not available for UART4 and UART5)
* @arg UART_FLAG_LBD: LIN Break detection flag
* @arg UART_FLAG_TXE: Transmit data register empty flag
* @arg UART_FLAG_TC: Transmission Complete flag
* @arg UART_FLAG_RXNE: Receive data register not empty flag
* @arg UART_FLAG_IDLE: Idle Line detection flag
* @arg UART_FLAG_ORE: Overrun Error flag
* @arg UART_FLAG_NE: Noise Error flag
* @arg UART_FLAG_FE: Framing Error flag
* @arg UART_FLAG_PE: Parity Error flag
* @retval The new state of __FLAG__ (TRUE or FALSE).
*/
#define __HAL_UART_GET_FLAG(__HANDLE__, __FLAG__) (((__HANDLE__)->Instance->SR & (__FLAG__)) == (__FLAG__))
/** @brief Clears the specified UART pending flag.
* @param __HANDLE__: specifies the UART Handle.
* This parameter can be UARTx where x: 1, 2, 3, 4, 5, 6, 7 or 8 to select the USART or
* UART peripheral.
* @param __FLAG__: specifies the flag to check.
* This parameter can be any combination of the following values:
* @arg UART_FLAG_CTS: CTS Change flag (not available for UART4 and UART5).
* @arg UART_FLAG_LBD: LIN Break detection flag.
* @arg UART_FLAG_TC: Transmission Complete flag.
* @arg UART_FLAG_RXNE: Receive data register not empty flag.
*
* @note PE (Parity error), FE (Framing error), NE (Noise error), ORE (Overrun
* error) and IDLE (Idle line detected) flags are cleared by software
* sequence: a read operation to USART_SR register followed by a read
* operation to USART_DR register.
* @note RXNE flag can be also cleared by a read to the USART_DR register.
* @note TC flag can be also cleared by software sequence: a read operation to
* USART_SR register followed by a write operation to USART_DR register.
* @note TXE flag is cleared only by a write to the USART_DR register.
*
* @retval None
*/
#define __HAL_UART_CLEAR_FLAG(__HANDLE__, __FLAG__) ((__HANDLE__)->Instance->SR = ~(__FLAG__))
/** @brief Clear the UART PE pending flag.
* @param __HANDLE__: specifies the UART Handle.
* This parameter can be UARTx where x: 1, 2, 3, 4, 5, 6, 7 or 8 to select the USART or
* UART peripheral.
* @retval None
*/
#define __HAL_UART_CLEAR_PEFLAG(__HANDLE__) \
do{ \
__IO uint32_t tmpreg = 0x00U; \
tmpreg = (__HANDLE__)->Instance->SR; \
tmpreg = (__HANDLE__)->Instance->DR; \
UNUSED(tmpreg); \
} while(0U)
/** @brief Clear the UART FE pending flag.
* @param __HANDLE__: specifies the UART Handle.
* This parameter can be UARTx where x: 1, 2, 3, 4, 5, 6, 7 or 8 to select the USART or
* UART peripheral.
* @retval None
*/
#define __HAL_UART_CLEAR_FEFLAG(__HANDLE__) __HAL_UART_CLEAR_PEFLAG(__HANDLE__)
/** @brief Clear the UART NE pending flag.
* @param __HANDLE__: specifies the UART Handle.
* This parameter can be UARTx where x: 1, 2, 3, 4, 5, 6, 7 or 8 to select the USART or
* UART peripheral.
* @retval None
*/
#define __HAL_UART_CLEAR_NEFLAG(__HANDLE__) __HAL_UART_CLEAR_PEFLAG(__HANDLE__)
/** @brief Clear the UART ORE pending flag.
* @param __HANDLE__: specifies the UART Handle.
* This parameter can be UARTx where x: 1, 2, 3, 4, 5, 6, 7 or 8 to select the USART or
* UART peripheral.
* @retval None
*/
#define __HAL_UART_CLEAR_OREFLAG(__HANDLE__) __HAL_UART_CLEAR_PEFLAG(__HANDLE__)
/** @brief Clear the UART IDLE pending flag.
* @param __HANDLE__: specifies the UART Handle.
* This parameter can be UARTx where x: 1, 2, 3, 4, 5, 6, 7 or 8 to select the USART or
* UART peripheral.
* @retval None
*/
#define __HAL_UART_CLEAR_IDLEFLAG(__HANDLE__) __HAL_UART_CLEAR_PEFLAG(__HANDLE__)
/** @brief Enable the specified UART interrupt.
* @param __HANDLE__: specifies the UART Handle.
* This parameter can be UARTx where x: 1, 2, 3, 4, 5, 6, 7 or 8 to select the USART or
* UART peripheral.
* @param __INTERRUPT__: specifies the UART interrupt source to enable.
* This parameter can be one of the following values:
* @arg UART_IT_CTS: CTS change interrupt
* @arg UART_IT_LBD: LIN Break detection interrupt
* @arg UART_IT_TXE: Transmit Data Register empty interrupt
* @arg UART_IT_TC: Transmission complete interrupt
* @arg UART_IT_RXNE: Receive Data register not empty interrupt
* @arg UART_IT_IDLE: Idle line detection interrupt
* @arg UART_IT_PE: Parity Error interrupt
* @arg UART_IT_ERR: Error interrupt(Frame error, noise error, overrun error)
* @retval None
*/
#define UART_IT_MASK 0x0000FFFFU
#define __HAL_UART_ENABLE_IT(__HANDLE__, __INTERRUPT__) ((((__INTERRUPT__) >> 28U) == 1U)? ((__HANDLE__)->Instance->CR1 |= ((__INTERRUPT__) & UART_IT_MASK)): \
(((__INTERRUPT__) >> 28U) == 2U)? ((__HANDLE__)->Instance->CR2 |= ((__INTERRUPT__) & UART_IT_MASK)): \
((__HANDLE__)->Instance->CR3 |= ((__INTERRUPT__) & UART_IT_MASK)))
/** @brief Disable the specified UART interrupt.
* @param __HANDLE__: specifies the UART Handle.
* This parameter can be UARTx where x: 1, 2, 3, 4, 5, 6, 7 or 8 to select the USART or
* UART peripheral.
* @param __INTERRUPT__: specifies the UART interrupt source to disable.
* This parameter can be one of the following values:
* @arg UART_IT_CTS: CTS change interrupt
* @arg UART_IT_LBD: LIN Break detection interrupt
* @arg UART_IT_TXE: Transmit Data Register empty interrupt
* @arg UART_IT_TC: Transmission complete interrupt
* @arg UART_IT_RXNE: Receive Data register not empty interrupt
* @arg UART_IT_IDLE: Idle line detection interrupt
* @arg UART_IT_PE: Parity Error interrupt
* @arg UART_IT_ERR: Error interrupt(Frame error, noise error, overrun error)
* @retval None
*/
#define __HAL_UART_DISABLE_IT(__HANDLE__, __INTERRUPT__) ((((__INTERRUPT__) >> 28U) == 1U)? ((__HANDLE__)->Instance->CR1 &= ~((__INTERRUPT__) & UART_IT_MASK)): \
(((__INTERRUPT__) >> 28U) == 2U)? ((__HANDLE__)->Instance->CR2 &= ~((__INTERRUPT__) & UART_IT_MASK)): \
((__HANDLE__)->Instance->CR3 &= ~ ((__INTERRUPT__) & UART_IT_MASK)))
/** @brief Checks whether the specified UART interrupt has occurred or not.
* @param __HANDLE__: specifies the UART Handle.
* This parameter can be UARTx where x: 1, 2, 3, 4, 5, 6, 7 or 8 to select the USART or
* UART peripheral.
* @param __IT__: specifies the UART interrupt source to check.
* This parameter can be one of the following values:
* @arg UART_IT_CTS: CTS change interrupt (not available for UART4 and UART5)
* @arg UART_IT_LBD: LIN Break detection interrupt
* @arg UART_IT_TXE: Transmit Data Register empty interrupt
* @arg UART_IT_TC: Transmission complete interrupt
* @arg UART_IT_RXNE: Receive Data register not empty interrupt
* @arg UART_IT_IDLE: Idle line detection interrupt
* @arg USART_IT_ERR: Error interrupt
* @retval The new state of __IT__ (TRUE or FALSE).
*/
#define __HAL_UART_GET_IT_SOURCE(__HANDLE__, __IT__) (((((__IT__) >> 28U) == 1U)? (__HANDLE__)->Instance->CR1:(((((uint32_t)(__IT__)) >> 28U) == 2U)? \
(__HANDLE__)->Instance->CR2 : (__HANDLE__)->Instance->CR3)) & (((uint32_t)(__IT__)) & UART_IT_MASK))
/** @brief Enable CTS flow control
* This macro allows to enable CTS hardware flow control for a given UART instance,
* without need to call HAL_UART_Init() function.
* As involving direct access to UART registers, usage of this macro should be fully endorsed by user.
* @note As macro is expected to be used for modifying CTS Hw flow control feature activation, without need
* for USART instance Deinit/Init, following conditions for macro call should be fulfilled :
* - UART instance should have already been initialised (through call of HAL_UART_Init() )
* - macro could only be called when corresponding UART instance is disabled (i.e __HAL_UART_DISABLE(__HANDLE__))
* and should be followed by an Enable macro (i.e __HAL_UART_ENABLE(__HANDLE__)).
* @param __HANDLE__: specifies the UART Handle.
* The Handle Instance can be USART1, USART2 or LPUART.
* @retval None
*/
#define __HAL_UART_HWCONTROL_CTS_ENABLE(__HANDLE__) \
do{ \
SET_BIT((__HANDLE__)->Instance->CR3, USART_CR3_CTSE); \
(__HANDLE__)->Init.HwFlowCtl |= USART_CR3_CTSE; \
} while(0U)
/** @brief Disable CTS flow control
* This macro allows to disable CTS hardware flow control for a given UART instance,
* without need to call HAL_UART_Init() function.
* As involving direct access to UART registers, usage of this macro should be fully endorsed by user.
* @note As macro is expected to be used for modifying CTS Hw flow control feature activation, without need
* for USART instance Deinit/Init, following conditions for macro call should be fulfilled :
* - UART instance should have already been initialised (through call of HAL_UART_Init() )
* - macro could only be called when corresponding UART instance is disabled (i.e __HAL_UART_DISABLE(__HANDLE__))
* and should be followed by an Enable macro (i.e __HAL_UART_ENABLE(__HANDLE__)).
* @param __HANDLE__: specifies the UART Handle.
* The Handle Instance can be USART1, USART2 or LPUART.
* @retval None
*/
#define __HAL_UART_HWCONTROL_CTS_DISABLE(__HANDLE__) \
do{ \
CLEAR_BIT((__HANDLE__)->Instance->CR3, USART_CR3_CTSE); \
(__HANDLE__)->Init.HwFlowCtl &= ~(USART_CR3_CTSE); \
} while(0U)
/** @brief Enable RTS flow control
* This macro allows to enable RTS hardware flow control for a given UART instance,
* without need to call HAL_UART_Init() function.
* As involving direct access to UART registers, usage of this macro should be fully endorsed by user.
* @note As macro is expected to be used for modifying RTS Hw flow control feature activation, without need
* for USART instance Deinit/Init, following conditions for macro call should be fulfilled :
* - UART instance should have already been initialised (through call of HAL_UART_Init() )
* - macro could only be called when corresponding UART instance is disabled (i.e __HAL_UART_DISABLE(__HANDLE__))
* and should be followed by an Enable macro (i.e __HAL_UART_ENABLE(__HANDLE__)).
* @param __HANDLE__: specifies the UART Handle.
* The Handle Instance can be USART1, USART2 or LPUART.
* @retval None
*/
#define __HAL_UART_HWCONTROL_RTS_ENABLE(__HANDLE__) \
do{ \
SET_BIT((__HANDLE__)->Instance->CR3, USART_CR3_RTSE); \
(__HANDLE__)->Init.HwFlowCtl |= USART_CR3_RTSE; \
} while(0U)
/** @brief Disable RTS flow control
* This macro allows to disable RTS hardware flow control for a given UART instance,
* without need to call HAL_UART_Init() function.
* As involving direct access to UART registers, usage of this macro should be fully endorsed by user.
* @note As macro is expected to be used for modifying RTS Hw flow control feature activation, without need
* for USART instance Deinit/Init, following conditions for macro call should be fulfilled :
* - UART instance should have already been initialised (through call of HAL_UART_Init() )
* - macro could only be called when corresponding UART instance is disabled (i.e __HAL_UART_DISABLE(__HANDLE__))
* and should be followed by an Enable macro (i.e __HAL_UART_ENABLE(__HANDLE__)).
* @param __HANDLE__: specifies the UART Handle.
* The Handle Instance can be USART1, USART2 or LPUART.
* @retval None
*/
#define __HAL_UART_HWCONTROL_RTS_DISABLE(__HANDLE__) \
do{ \
CLEAR_BIT((__HANDLE__)->Instance->CR3, USART_CR3_RTSE);\
(__HANDLE__)->Init.HwFlowCtl &= ~(USART_CR3_RTSE); \
} while(0U)
/** @brief macros to enables the UART's one bit sample method
* @param __HANDLE__: specifies the UART Handle.
* @retval None
*/
#define __HAL_UART_ONE_BIT_SAMPLE_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR3|= USART_CR3_ONEBIT)
/** @brief macros to disables the UART's one bit sample method
* @param __HANDLE__: specifies the UART Handle.
* @retval None
*/
#define __HAL_UART_ONE_BIT_SAMPLE_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->CR3 &= (uint16_t)~((uint16_t)USART_CR3_ONEBIT))
/** @brief Enable UART
* @param __HANDLE__: specifies the UART Handle.
* @retval None
*/
#define __HAL_UART_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR1 |= USART_CR1_UE)
/** @brief Disable UART
* @param __HANDLE__: specifies the UART Handle.
* @retval None
*/
#define __HAL_UART_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->CR1 &= ~USART_CR1_UE)
/**
* @}
*/
/* Exported functions --------------------------------------------------------*/
/** @addtogroup UART_Exported_Functions
* @{
*/
/** @addtogroup UART_Exported_Functions_Group1
* @{
*/
/* Initialization/de-initialization functions **********************************/
HAL_StatusTypeDef HAL_UART_Init(UART_HandleTypeDef *huart);
HAL_StatusTypeDef HAL_HalfDuplex_Init(UART_HandleTypeDef *huart);
HAL_StatusTypeDef HAL_LIN_Init(UART_HandleTypeDef *huart, uint32_t BreakDetectLength);
HAL_StatusTypeDef HAL_MultiProcessor_Init(UART_HandleTypeDef *huart, uint8_t Address, uint32_t WakeUpMethod);
HAL_StatusTypeDef HAL_UART_DeInit (UART_HandleTypeDef *huart);
void HAL_UART_MspInit(UART_HandleTypeDef *huart);
void HAL_UART_MspDeInit(UART_HandleTypeDef *huart);
/**
* @}
*/
/** @addtogroup UART_Exported_Functions_Group2
* @{
*/
/* IO operation functions *******************************************************/
HAL_StatusTypeDef HAL_UART_Transmit(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size, uint32_t Timeout);
HAL_StatusTypeDef HAL_UART_Receive(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size, uint32_t Timeout);
HAL_StatusTypeDef HAL_UART_Transmit_IT(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size);
HAL_StatusTypeDef HAL_UART_Receive_IT(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size);
HAL_StatusTypeDef HAL_UART_Transmit_DMA(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size);
HAL_StatusTypeDef HAL_UART_Receive_DMA(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size);
HAL_StatusTypeDef HAL_UART_DMAPause(UART_HandleTypeDef *huart);
HAL_StatusTypeDef HAL_UART_DMAResume(UART_HandleTypeDef *huart);
HAL_StatusTypeDef HAL_UART_DMAStop(UART_HandleTypeDef *huart);
/* Transfer Abort functions */
HAL_StatusTypeDef HAL_UART_Abort(UART_HandleTypeDef *huart);
HAL_StatusTypeDef HAL_UART_AbortTransmit(UART_HandleTypeDef *huart);
HAL_StatusTypeDef HAL_UART_AbortReceive(UART_HandleTypeDef *huart);
HAL_StatusTypeDef HAL_UART_Abort_IT(UART_HandleTypeDef *huart);
HAL_StatusTypeDef HAL_UART_AbortTransmit_IT(UART_HandleTypeDef *huart);
HAL_StatusTypeDef HAL_UART_AbortReceive_IT(UART_HandleTypeDef *huart);
void HAL_UART_IRQHandler(UART_HandleTypeDef *huart);
void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart);
void HAL_UART_TxHalfCpltCallback(UART_HandleTypeDef *huart);
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart);
void HAL_UART_RxHalfCpltCallback(UART_HandleTypeDef *huart);
void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart);
void HAL_UART_AbortCpltCallback (UART_HandleTypeDef *huart);
void HAL_UART_AbortTransmitCpltCallback (UART_HandleTypeDef *huart);
void HAL_UART_AbortReceiveCpltCallback (UART_HandleTypeDef *huart);
/**
* @}
*/
/** @addtogroup UART_Exported_Functions_Group3
* @{
*/
/* Peripheral Control functions ************************************************/
HAL_StatusTypeDef HAL_LIN_SendBreak(UART_HandleTypeDef *huart);
HAL_StatusTypeDef HAL_MultiProcessor_EnterMuteMode(UART_HandleTypeDef *huart);
HAL_StatusTypeDef HAL_MultiProcessor_ExitMuteMode(UART_HandleTypeDef *huart);
HAL_StatusTypeDef HAL_HalfDuplex_EnableTransmitter(UART_HandleTypeDef *huart);
HAL_StatusTypeDef HAL_HalfDuplex_EnableReceiver(UART_HandleTypeDef *huart);
/**
* @}
*/
/** @addtogroup UART_Exported_Functions_Group4
* @{
*/
/* Peripheral State functions **************************************************/
HAL_UART_StateTypeDef HAL_UART_GetState(UART_HandleTypeDef *huart);
uint32_t HAL_UART_GetError(UART_HandleTypeDef *huart);
/**
* @}
*/
/**
* @}
*/
/* Private types -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/* Private constants ---------------------------------------------------------*/
/** @defgroup UART_Private_Constants UART Private Constants
* @{
*/
/** @brief UART interruptions flag mask
*
*/
#define UART_CR1_REG_INDEX 1U
#define UART_CR2_REG_INDEX 2U
#define UART_CR3_REG_INDEX 3U
/**
* @}
*/
/* Private macros ------------------------------------------------------------*/
/** @defgroup UART_Private_Macros UART Private Macros
* @{
*/
#define IS_UART_WORD_LENGTH(LENGTH) (((LENGTH) == UART_WORDLENGTH_8B) || \
((LENGTH) == UART_WORDLENGTH_9B))
#define IS_UART_LIN_WORD_LENGTH(LENGTH) (((LENGTH) == UART_WORDLENGTH_8B))
#define IS_UART_STOPBITS(STOPBITS) (((STOPBITS) == UART_STOPBITS_1) || \
((STOPBITS) == UART_STOPBITS_2))
#define IS_UART_PARITY(PARITY) (((PARITY) == UART_PARITY_NONE) || \
((PARITY) == UART_PARITY_EVEN) || \
((PARITY) == UART_PARITY_ODD))
#define IS_UART_HARDWARE_FLOW_CONTROL(CONTROL)\
(((CONTROL) == UART_HWCONTROL_NONE) || \
((CONTROL) == UART_HWCONTROL_RTS) || \
((CONTROL) == UART_HWCONTROL_CTS) || \
((CONTROL) == UART_HWCONTROL_RTS_CTS))
#define IS_UART_MODE(MODE) ((((MODE) & 0x0000FFF3U) == 0x00U) && ((MODE) != 0x00U))
#define IS_UART_STATE(STATE) (((STATE) == UART_STATE_DISABLE) || \
((STATE) == UART_STATE_ENABLE))
#define IS_UART_OVERSAMPLING(SAMPLING) (((SAMPLING) == UART_OVERSAMPLING_16) || \
((SAMPLING) == UART_OVERSAMPLING_8))
#define IS_UART_LIN_OVERSAMPLING(SAMPLING) (((SAMPLING) == UART_OVERSAMPLING_16))
#define IS_UART_LIN_BREAK_DETECT_LENGTH(LENGTH) (((LENGTH) == UART_LINBREAKDETECTLENGTH_10B) || \
((LENGTH) == UART_LINBREAKDETECTLENGTH_11B))
#define IS_UART_WAKEUPMETHOD(WAKEUP) (((WAKEUP) == UART_WAKEUPMETHOD_IDLELINE) || \
((WAKEUP) == UART_WAKEUPMETHOD_ADDRESSMARK))
#define IS_UART_BAUDRATE(BAUDRATE) ((BAUDRATE) < 10500001U)
#define IS_UART_ADDRESS(ADDRESS) ((ADDRESS) <= 0x0FU)
#define UART_DIV_SAMPLING16(_PCLK_, _BAUD_) (((_PCLK_)*25U)/(4U*(_BAUD_)))
#define UART_DIVMANT_SAMPLING16(_PCLK_, _BAUD_) (UART_DIV_SAMPLING16((_PCLK_), (_BAUD_))/100U)
#define UART_DIVFRAQ_SAMPLING16(_PCLK_, _BAUD_) (((UART_DIV_SAMPLING16((_PCLK_), (_BAUD_)) - (UART_DIVMANT_SAMPLING16((_PCLK_), (_BAUD_)) * 100U)) * 16U + 50U) / 100U)
/* UART BRR = mantissa + overflow + fraction
= (UART DIVMANT << 4) + (UART DIVFRAQ & 0xF0) + (UART DIVFRAQ & 0x0FU) */
#define UART_BRR_SAMPLING16(_PCLK_, _BAUD_) (((UART_DIVMANT_SAMPLING16((_PCLK_), (_BAUD_)) << 4U) + \
(UART_DIVFRAQ_SAMPLING16((_PCLK_), (_BAUD_)) & 0xF0U)) + \
(UART_DIVFRAQ_SAMPLING16((_PCLK_), (_BAUD_)) & 0x0FU))
#define UART_DIV_SAMPLING8(_PCLK_, _BAUD_) (((_PCLK_)*25U)/(2U*(_BAUD_)))
#define UART_DIVMANT_SAMPLING8(_PCLK_, _BAUD_) (UART_DIV_SAMPLING8((_PCLK_), (_BAUD_))/100U)
#define UART_DIVFRAQ_SAMPLING8(_PCLK_, _BAUD_) (((UART_DIV_SAMPLING8((_PCLK_), (_BAUD_)) - (UART_DIVMANT_SAMPLING8((_PCLK_), (_BAUD_)) * 100U)) * 8U + 50U) / 100U)
/* UART BRR = mantissa + overflow + fraction
= (UART DIVMANT << 4) + ((UART DIVFRAQ & 0xF8) << 1) + (UART DIVFRAQ & 0x07U) */
#define UART_BRR_SAMPLING8(_PCLK_, _BAUD_) (((UART_DIVMANT_SAMPLING8((_PCLK_), (_BAUD_)) << 4U) + \
((UART_DIVFRAQ_SAMPLING8((_PCLK_), (_BAUD_)) & 0xF8U) << 1U)) + \
(UART_DIVFRAQ_SAMPLING8((_PCLK_), (_BAUD_)) & 0x07U))
/**
* @}
*/
/* Private functions ---------------------------------------------------------*/
/** @defgroup UART_Private_Functions UART Private Functions
* @{
*/
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* __STM32F4xx_HAL_UART_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/m3_inc/arm_common_tables.h
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/* ----------------------------------------------------------------------
* Copyright (C) 2010-2014 ARM Limited. All rights reserved.
*
* $Date: 19. October 2015
* $Revision: V.1.4.5 a
*
* Project: CMSIS DSP Library
* Title: arm_common_tables.h
*
* Description: This file has extern declaration for common tables like Bitreverse, reciprocal etc which are used across different functions
*
* Target Processor: Cortex-M4/Cortex-M3
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* - Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* - Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* - Neither the name of ARM LIMITED nor the names of its contributors
* may be used to endorse or promote products derived from this
* software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
* -------------------------------------------------------------------- */
#ifndef _ARM_COMMON_TABLES_H
#define _ARM_COMMON_TABLES_H
#include "arm_math.h"
extern const uint16_t armBitRevTable[1024];
extern const q15_t armRecipTableQ15[64];
extern const q31_t armRecipTableQ31[64];
/* extern const q31_t realCoefAQ31[1024]; */
/* extern const q31_t realCoefBQ31[1024]; */
extern const float32_t twiddleCoef_16[32];
extern const float32_t twiddleCoef_32[64];
extern const float32_t twiddleCoef_64[128];
extern const float32_t twiddleCoef_128[256];
extern const float32_t twiddleCoef_256[512];
extern const float32_t twiddleCoef_512[1024];
extern const float32_t twiddleCoef_1024[2048];
extern const float32_t twiddleCoef_2048[4096];
extern const float32_t twiddleCoef_4096[8192];
#define twiddleCoef twiddleCoef_4096
extern const q31_t twiddleCoef_16_q31[24];
extern const q31_t twiddleCoef_32_q31[48];
extern const q31_t twiddleCoef_64_q31[96];
extern const q31_t twiddleCoef_128_q31[192];
extern const q31_t twiddleCoef_256_q31[384];
extern const q31_t twiddleCoef_512_q31[768];
extern const q31_t twiddleCoef_1024_q31[1536];
extern const q31_t twiddleCoef_2048_q31[3072];
extern const q31_t twiddleCoef_4096_q31[6144];
extern const q15_t twiddleCoef_16_q15[24];
extern const q15_t twiddleCoef_32_q15[48];
extern const q15_t twiddleCoef_64_q15[96];
extern const q15_t twiddleCoef_128_q15[192];
extern const q15_t twiddleCoef_256_q15[384];
extern const q15_t twiddleCoef_512_q15[768];
extern const q15_t twiddleCoef_1024_q15[1536];
extern const q15_t twiddleCoef_2048_q15[3072];
extern const q15_t twiddleCoef_4096_q15[6144];
extern const float32_t twiddleCoef_rfft_32[32];
extern const float32_t twiddleCoef_rfft_64[64];
extern const float32_t twiddleCoef_rfft_128[128];
extern const float32_t twiddleCoef_rfft_256[256];
extern const float32_t twiddleCoef_rfft_512[512];
extern const float32_t twiddleCoef_rfft_1024[1024];
extern const float32_t twiddleCoef_rfft_2048[2048];
extern const float32_t twiddleCoef_rfft_4096[4096];
/* floating-point bit reversal tables */
#define ARMBITREVINDEXTABLE__16_TABLE_LENGTH ((uint16_t)20 )
#define ARMBITREVINDEXTABLE__32_TABLE_LENGTH ((uint16_t)48 )
#define ARMBITREVINDEXTABLE__64_TABLE_LENGTH ((uint16_t)56 )
#define ARMBITREVINDEXTABLE_128_TABLE_LENGTH ((uint16_t)208 )
#define ARMBITREVINDEXTABLE_256_TABLE_LENGTH ((uint16_t)440 )
#define ARMBITREVINDEXTABLE_512_TABLE_LENGTH ((uint16_t)448 )
#define ARMBITREVINDEXTABLE1024_TABLE_LENGTH ((uint16_t)1800)
#define ARMBITREVINDEXTABLE2048_TABLE_LENGTH ((uint16_t)3808)
#define ARMBITREVINDEXTABLE4096_TABLE_LENGTH ((uint16_t)4032)
extern const uint16_t armBitRevIndexTable16[ARMBITREVINDEXTABLE__16_TABLE_LENGTH];
extern const uint16_t armBitRevIndexTable32[ARMBITREVINDEXTABLE__32_TABLE_LENGTH];
extern const uint16_t armBitRevIndexTable64[ARMBITREVINDEXTABLE__64_TABLE_LENGTH];
extern const uint16_t armBitRevIndexTable128[ARMBITREVINDEXTABLE_128_TABLE_LENGTH];
extern const uint16_t armBitRevIndexTable256[ARMBITREVINDEXTABLE_256_TABLE_LENGTH];
extern const uint16_t armBitRevIndexTable512[ARMBITREVINDEXTABLE_512_TABLE_LENGTH];
extern const uint16_t armBitRevIndexTable1024[ARMBITREVINDEXTABLE1024_TABLE_LENGTH];
extern const uint16_t armBitRevIndexTable2048[ARMBITREVINDEXTABLE2048_TABLE_LENGTH];
extern const uint16_t armBitRevIndexTable4096[ARMBITREVINDEXTABLE4096_TABLE_LENGTH];
/* fixed-point bit reversal tables */
#define ARMBITREVINDEXTABLE_FIXED___16_TABLE_LENGTH ((uint16_t)12 )
#define ARMBITREVINDEXTABLE_FIXED___32_TABLE_LENGTH ((uint16_t)24 )
#define ARMBITREVINDEXTABLE_FIXED___64_TABLE_LENGTH ((uint16_t)56 )
#define ARMBITREVINDEXTABLE_FIXED__128_TABLE_LENGTH ((uint16_t)112 )
#define ARMBITREVINDEXTABLE_FIXED__256_TABLE_LENGTH ((uint16_t)240 )
#define ARMBITREVINDEXTABLE_FIXED__512_TABLE_LENGTH ((uint16_t)480 )
#define ARMBITREVINDEXTABLE_FIXED_1024_TABLE_LENGTH ((uint16_t)992 )
#define ARMBITREVINDEXTABLE_FIXED_2048_TABLE_LENGTH ((uint16_t)1984)
#define ARMBITREVINDEXTABLE_FIXED_4096_TABLE_LENGTH ((uint16_t)4032)
extern const uint16_t armBitRevIndexTable_fixed_16[ARMBITREVINDEXTABLE_FIXED___16_TABLE_LENGTH];
extern const uint16_t armBitRevIndexTable_fixed_32[ARMBITREVINDEXTABLE_FIXED___32_TABLE_LENGTH];
extern const uint16_t armBitRevIndexTable_fixed_64[ARMBITREVINDEXTABLE_FIXED___64_TABLE_LENGTH];
extern const uint16_t armBitRevIndexTable_fixed_128[ARMBITREVINDEXTABLE_FIXED__128_TABLE_LENGTH];
extern const uint16_t armBitRevIndexTable_fixed_256[ARMBITREVINDEXTABLE_FIXED__256_TABLE_LENGTH];
extern const uint16_t armBitRevIndexTable_fixed_512[ARMBITREVINDEXTABLE_FIXED__512_TABLE_LENGTH];
extern const uint16_t armBitRevIndexTable_fixed_1024[ARMBITREVINDEXTABLE_FIXED_1024_TABLE_LENGTH];
extern const uint16_t armBitRevIndexTable_fixed_2048[ARMBITREVINDEXTABLE_FIXED_2048_TABLE_LENGTH];
extern const uint16_t armBitRevIndexTable_fixed_4096[ARMBITREVINDEXTABLE_FIXED_4096_TABLE_LENGTH];
/* Tables for Fast Math Sine and Cosine */
extern const float32_t sinTable_f32[FAST_MATH_TABLE_SIZE + 1];
extern const q31_t sinTable_q31[FAST_MATH_TABLE_SIZE + 1];
extern const q15_t sinTable_q15[FAST_MATH_TABLE_SIZE + 1];
#endif /* ARM_COMMON_TABLES_H */
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/m3_inc/arm_const_structs.h
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/* ----------------------------------------------------------------------
* Copyright (C) 2010-2014 ARM Limited. All rights reserved.
*
* $Date: 19. March 2015
* $Revision: V.1.4.5
*
* Project: CMSIS DSP Library
* Title: arm_const_structs.h
*
* Description: This file has constant structs that are initialized for
* user convenience. For example, some can be given as
* arguments to the arm_cfft_f32() function.
*
* Target Processor: Cortex-M4/Cortex-M3
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* - Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* - Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* - Neither the name of ARM LIMITED nor the names of its contributors
* may be used to endorse or promote products derived from this
* software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
* -------------------------------------------------------------------- */
#ifndef _ARM_CONST_STRUCTS_H
#define _ARM_CONST_STRUCTS_H
#include "arm_math.h"
#include "arm_common_tables.h"
extern const arm_cfft_instance_f32 arm_cfft_sR_f32_len16;
extern const arm_cfft_instance_f32 arm_cfft_sR_f32_len32;
extern const arm_cfft_instance_f32 arm_cfft_sR_f32_len64;
extern const arm_cfft_instance_f32 arm_cfft_sR_f32_len128;
extern const arm_cfft_instance_f32 arm_cfft_sR_f32_len256;
extern const arm_cfft_instance_f32 arm_cfft_sR_f32_len512;
extern const arm_cfft_instance_f32 arm_cfft_sR_f32_len1024;
extern const arm_cfft_instance_f32 arm_cfft_sR_f32_len2048;
extern const arm_cfft_instance_f32 arm_cfft_sR_f32_len4096;
extern const arm_cfft_instance_q31 arm_cfft_sR_q31_len16;
extern const arm_cfft_instance_q31 arm_cfft_sR_q31_len32;
extern const arm_cfft_instance_q31 arm_cfft_sR_q31_len64;
extern const arm_cfft_instance_q31 arm_cfft_sR_q31_len128;
extern const arm_cfft_instance_q31 arm_cfft_sR_q31_len256;
extern const arm_cfft_instance_q31 arm_cfft_sR_q31_len512;
extern const arm_cfft_instance_q31 arm_cfft_sR_q31_len1024;
extern const arm_cfft_instance_q31 arm_cfft_sR_q31_len2048;
extern const arm_cfft_instance_q31 arm_cfft_sR_q31_len4096;
extern const arm_cfft_instance_q15 arm_cfft_sR_q15_len16;
extern const arm_cfft_instance_q15 arm_cfft_sR_q15_len32;
extern const arm_cfft_instance_q15 arm_cfft_sR_q15_len64;
extern const arm_cfft_instance_q15 arm_cfft_sR_q15_len128;
extern const arm_cfft_instance_q15 arm_cfft_sR_q15_len256;
extern const arm_cfft_instance_q15 arm_cfft_sR_q15_len512;
extern const arm_cfft_instance_q15 arm_cfft_sR_q15_len1024;
extern const arm_cfft_instance_q15 arm_cfft_sR_q15_len2048;
extern const arm_cfft_instance_q15 arm_cfft_sR_q15_len4096;
#endif
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/m3_inc/arm_math.h
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04_firmware/stm32/dji_a_board/RCPROyuan/Inc/m3_inc/cmsis_armcc.h
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/**************************************************************************//**
* @file cmsis_armcc.h
* @brief CMSIS Cortex-M Core Function/Instruction Header File
* @version V4.30
* @date 20. October 2015
******************************************************************************/
/* Copyright (c) 2009 - 2015 ARM LIMITED
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
- Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
- Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
- Neither the name of ARM nor the names of its contributors may be used
to endorse or promote products derived from this software without
specific prior written permission.
*
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.
---------------------------------------------------------------------------*/
#ifndef __CMSIS_ARMCC_H
#define __CMSIS_ARMCC_H
#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION < 400677)
#error "Please use ARM Compiler Toolchain V4.0.677 or later!"
#endif
/* ########################### Core Function Access ########################### */
/** \ingroup CMSIS_Core_FunctionInterface
\defgroup CMSIS_Core_RegAccFunctions CMSIS Core Register Access Functions
@{
*/
/* intrinsic void __enable_irq(); */
/* intrinsic void __disable_irq(); */
/**
\brief Get Control Register
\details Returns the content of the Control Register.
\return Control Register value
*/
__STATIC_INLINE uint32_t __get_CONTROL(void)
{
register uint32_t __regControl __ASM("control");
return(__regControl);
}
/**
\brief Set Control Register
\details Writes the given value to the Control Register.
\param [in] control Control Register value to set
*/
__STATIC_INLINE void __set_CONTROL(uint32_t control)
{
register uint32_t __regControl __ASM("control");
__regControl = control;
}
/**
\brief Get IPSR Register
\details Returns the content of the IPSR Register.
\return IPSR Register value
*/
__STATIC_INLINE uint32_t __get_IPSR(void)
{
register uint32_t __regIPSR __ASM("ipsr");
return(__regIPSR);
}
/**
\brief Get APSR Register
\details Returns the content of the APSR Register.
\return APSR Register value
*/
__STATIC_INLINE uint32_t __get_APSR(void)
{
register uint32_t __regAPSR __ASM("apsr");
return(__regAPSR);
}
/**
\brief Get xPSR Register
\details Returns the content of the xPSR Register.
\return xPSR Register value
*/
__STATIC_INLINE uint32_t __get_xPSR(void)
{
register uint32_t __regXPSR __ASM("xpsr");
return(__regXPSR);
}
/**
\brief Get Process Stack Pointer
\details Returns the current value of the Process Stack Pointer (PSP).
\return PSP Register value
*/
__STATIC_INLINE uint32_t __get_PSP(void)
{
register uint32_t __regProcessStackPointer __ASM("psp");
return(__regProcessStackPointer);
}
/**
\brief Set Process Stack Pointer
\details Assigns the given value to the Process Stack Pointer (PSP).
\param [in] topOfProcStack Process Stack Pointer value to set
*/
__STATIC_INLINE void __set_PSP(uint32_t topOfProcStack)
{
register uint32_t __regProcessStackPointer __ASM("psp");
__regProcessStackPointer = topOfProcStack;
}
/**
\brief Get Main Stack Pointer
\details Returns the current value of the Main Stack Pointer (MSP).
\return MSP Register value
*/
__STATIC_INLINE uint32_t __get_MSP(void)
{
register uint32_t __regMainStackPointer __ASM("msp");
return(__regMainStackPointer);
}
/**
\brief Set Main Stack Pointer
\details Assigns the given value to the Main Stack Pointer (MSP).
\param [in] topOfMainStack Main Stack Pointer value to set
*/
__STATIC_INLINE void __set_MSP(uint32_t topOfMainStack)
{
register uint32_t __regMainStackPointer __ASM("msp");
__regMainStackPointer = topOfMainStack;
}
/**
\brief Get Priority Mask
\details Returns the current state of the priority mask bit from the Priority Mask Register.
\return Priority Mask value
*/
__STATIC_INLINE uint32_t __get_PRIMASK(void)
{
register uint32_t __regPriMask __ASM("primask");
return(__regPriMask);
}
/**
\brief Set Priority Mask
\details Assigns the given value to the Priority Mask Register.
\param [in] priMask Priority Mask
*/
__STATIC_INLINE void __set_PRIMASK(uint32_t priMask)
{
register uint32_t __regPriMask __ASM("primask");
__regPriMask = (priMask);
}
#if (__CORTEX_M >= 0x03U) || (__CORTEX_SC >= 300U)
/**
\brief Enable FIQ
\details Enables FIQ interrupts by clearing the F-bit in the CPSR.
Can only be executed in Privileged modes.
*/
#define __enable_fault_irq __enable_fiq
/**
\brief Disable FIQ
\details Disables FIQ interrupts by setting the F-bit in the CPSR.
Can only be executed in Privileged modes.
*/
#define __disable_fault_irq __disable_fiq
/**
\brief Get Base Priority
\details Returns the current value of the Base Priority register.
\return Base Priority register value
*/
__STATIC_INLINE uint32_t __get_BASEPRI(void)
{
register uint32_t __regBasePri __ASM("basepri");
return(__regBasePri);
}
/**
\brief Set Base Priority
\details Assigns the given value to the Base Priority register.
\param [in] basePri Base Priority value to set
*/
__STATIC_INLINE void __set_BASEPRI(uint32_t basePri)
{
register uint32_t __regBasePri __ASM("basepri");
__regBasePri = (basePri & 0xFFU);
}
/**
\brief Set Base Priority with condition
\details Assigns the given value to the Base Priority register only if BASEPRI masking is disabled,
or the new value increases the BASEPRI priority level.
\param [in] basePri Base Priority value to set
*/
__STATIC_INLINE void __set_BASEPRI_MAX(uint32_t basePri)
{
register uint32_t __regBasePriMax __ASM("basepri_max");
__regBasePriMax = (basePri & 0xFFU);
}
/**
\brief Get Fault Mask
\details Returns the current value of the Fault Mask register.
\return Fault Mask register value
*/
__STATIC_INLINE uint32_t __get_FAULTMASK(void)
{
register uint32_t __regFaultMask __ASM("faultmask");
return(__regFaultMask);
}
/**
\brief Set Fault Mask
\details Assigns the given value to the Fault Mask register.
\param [in] faultMask Fault Mask value to set
*/
__STATIC_INLINE void __set_FAULTMASK(uint32_t faultMask)
{
register uint32_t __regFaultMask __ASM("faultmask");
__regFaultMask = (faultMask & (uint32_t)1);
}
#endif /* (__CORTEX_M >= 0x03U) || (__CORTEX_SC >= 300U) */
#if (__CORTEX_M == 0x04U) || (__CORTEX_M == 0x07U)
/**
\brief Get FPSCR
\details Returns the current value of the Floating Point Status/Control register.
\return Floating Point Status/Control register value
*/
__STATIC_INLINE uint32_t __get_FPSCR(void)
{
#if (__FPU_PRESENT == 1U) && (__FPU_USED == 1U)
register uint32_t __regfpscr __ASM("fpscr");
return(__regfpscr);
#else
return(0U);
#endif
}
/**
\brief Set FPSCR
\details Assigns the given value to the Floating Point Status/Control register.
\param [in] fpscr Floating Point Status/Control value to set
*/
__STATIC_INLINE void __set_FPSCR(uint32_t fpscr)
{
#if (__FPU_PRESENT == 1U) && (__FPU_USED == 1U)
register uint32_t __regfpscr __ASM("fpscr");
__regfpscr = (fpscr);
#endif
}
#endif /* (__CORTEX_M == 0x04U) || (__CORTEX_M == 0x07U) */
/*@} end of CMSIS_Core_RegAccFunctions */
/* ########################## Core Instruction Access ######################### */
/** \defgroup CMSIS_Core_InstructionInterface CMSIS Core Instruction Interface
Access to dedicated instructions
@{
*/
/**
\brief No Operation
\details No Operation does nothing. This instruction can be used for code alignment purposes.
*/
#define __NOP __nop
/**
\brief Wait For Interrupt
\details Wait For Interrupt is a hint instruction that suspends execution until one of a number of events occurs.
*/
#define __WFI __wfi
/**
\brief Wait For Event
\details Wait For Event is a hint instruction that permits the processor to enter
a low-power state until one of a number of events occurs.
*/
#define __WFE __wfe
/**
\brief Send Event
\details Send Event is a hint instruction. It causes an event to be signaled to the CPU.
*/
#define __SEV __sev
/**
\brief Instruction Synchronization Barrier
\details Instruction Synchronization Barrier flushes the pipeline in the processor,
so that all instructions following the ISB are fetched from cache or memory,
after the instruction has been completed.
*/
#define __ISB() do {\
__schedule_barrier();\
__isb(0xF);\
__schedule_barrier();\
} while (0U)
/**
\brief Data Synchronization Barrier
\details Acts as a special kind of Data Memory Barrier.
It completes when all explicit memory accesses before this instruction complete.
*/
#define __DSB() do {\
__schedule_barrier();\
__dsb(0xF);\
__schedule_barrier();\
} while (0U)
/**
\brief Data Memory Barrier
\details Ensures the apparent order of the explicit memory operations before
and after the instruction, without ensuring their completion.
*/
#define __DMB() do {\
__schedule_barrier();\
__dmb(0xF);\
__schedule_barrier();\
} while (0U)
/**
\brief Reverse byte order (32 bit)
\details Reverses the byte order in integer value.
\param [in] value Value to reverse
\return Reversed value
*/
#define __REV __rev
/**
\brief Reverse byte order (16 bit)
\details Reverses the byte order in two unsigned short values.
\param [in] value Value to reverse
\return Reversed value
*/
#ifndef __NO_EMBEDDED_ASM
__attribute__((section(".rev16_text"))) __STATIC_INLINE __ASM uint32_t __REV16(uint32_t value)
{
rev16 r0, r0
bx lr
}
#endif
/**
\brief Reverse byte order in signed short value
\details Reverses the byte order in a signed short value with sign extension to integer.
\param [in] value Value to reverse
\return Reversed value
*/
#ifndef __NO_EMBEDDED_ASM
__attribute__((section(".revsh_text"))) __STATIC_INLINE __ASM int32_t __REVSH(int32_t value)
{
revsh r0, r0
bx lr
}
#endif
/**
\brief Rotate Right in unsigned value (32 bit)
\details Rotate Right (immediate) provides the value of the contents of a register rotated by a variable number of bits.
\param [in] value Value to rotate
\param [in] value Number of Bits to rotate
\return Rotated value
*/
#define __ROR __ror
/**
\brief Breakpoint
\details Causes the processor to enter Debug state.
Debug tools can use this to investigate system state when the instruction at a particular address is reached.
\param [in] value is ignored by the processor.
If required, a debugger can use it to store additional information about the breakpoint.
*/
#define __BKPT(value) __breakpoint(value)
/**
\brief Reverse bit order of value
\details Reverses the bit order of the given value.
\param [in] value Value to reverse
\return Reversed value
*/
#if (__CORTEX_M >= 0x03U) || (__CORTEX_SC >= 300U)
#define __RBIT __rbit
#else
__attribute__((always_inline)) __STATIC_INLINE uint32_t __RBIT(uint32_t value)
{
uint32_t result;
int32_t s = 4 /*sizeof(v)*/ * 8 - 1; /* extra shift needed at end */
result = value; /* r will be reversed bits of v; first get LSB of v */
for (value >>= 1U; value; value >>= 1U)
{
result <<= 1U;
result |= value & 1U;
s--;
}
result <<= s; /* shift when v's highest bits are zero */
return(result);
}
#endif
/**
\brief Count leading zeros
\details Counts the number of leading zeros of a data value.
\param [in] value Value to count the leading zeros
\return number of leading zeros in value
*/
#define __CLZ __clz
#if (__CORTEX_M >= 0x03U) || (__CORTEX_SC >= 300U)
/**
\brief LDR Exclusive (8 bit)
\details Executes a exclusive LDR instruction for 8 bit value.
\param [in] ptr Pointer to data
\return value of type uint8_t at (*ptr)
*/
#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION < 5060020)
#define __LDREXB(ptr) ((uint8_t ) __ldrex(ptr))
#else
#define __LDREXB(ptr) _Pragma("push") _Pragma("diag_suppress 3731") ((uint8_t ) __ldrex(ptr)) _Pragma("pop")
#endif
/**
\brief LDR Exclusive (16 bit)
\details Executes a exclusive LDR instruction for 16 bit values.
\param [in] ptr Pointer to data
\return value of type uint16_t at (*ptr)
*/
#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION < 5060020)
#define __LDREXH(ptr) ((uint16_t) __ldrex(ptr))
#else
#define __LDREXH(ptr) _Pragma("push") _Pragma("diag_suppress 3731") ((uint16_t) __ldrex(ptr)) _Pragma("pop")
#endif
/**
\brief LDR Exclusive (32 bit)
\details Executes a exclusive LDR instruction for 32 bit values.
\param [in] ptr Pointer to data
\return value of type uint32_t at (*ptr)
*/
#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION < 5060020)
#define __LDREXW(ptr) ((uint32_t ) __ldrex(ptr))
#else
#define __LDREXW(ptr) _Pragma("push") _Pragma("diag_suppress 3731") ((uint32_t ) __ldrex(ptr)) _Pragma("pop")
#endif
/**
\brief STR Exclusive (8 bit)
\details Executes a exclusive STR instruction for 8 bit values.
\param [in] value Value to store
\param [in] ptr Pointer to location
\return 0 Function succeeded
\return 1 Function failed
*/
#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION < 5060020)
#define __STREXB(value, ptr) __strex(value, ptr)
#else
#define __STREXB(value, ptr) _Pragma("push") _Pragma("diag_suppress 3731") __strex(value, ptr) _Pragma("pop")
#endif
/**
\brief STR Exclusive (16 bit)
\details Executes a exclusive STR instruction for 16 bit values.
\param [in] value Value to store
\param [in] ptr Pointer to location
\return 0 Function succeeded
\return 1 Function failed
*/
#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION < 5060020)
#define __STREXH(value, ptr) __strex(value, ptr)
#else
#define __STREXH(value, ptr) _Pragma("push") _Pragma("diag_suppress 3731") __strex(value, ptr) _Pragma("pop")
#endif
/**
\brief STR Exclusive (32 bit)
\details Executes a exclusive STR instruction for 32 bit values.
\param [in] value Value to store
\param [in] ptr Pointer to location
\return 0 Function succeeded
\return 1 Function failed
*/
#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION < 5060020)
#define __STREXW(value, ptr) __strex(value, ptr)
#else
#define __STREXW(value, ptr) _Pragma("push") _Pragma("diag_suppress 3731") __strex(value, ptr) _Pragma("pop")
#endif
/**
\brief Remove the exclusive lock
\details Removes the exclusive lock which is created by LDREX.
*/
#define __CLREX __clrex
/**
\brief Signed Saturate
\details Saturates a signed value.
\param [in] value Value to be saturated
\param [in] sat Bit position to saturate to (1..32)
\return Saturated value
*/
#define __SSAT __ssat
/**
\brief Unsigned Saturate
\details Saturates an unsigned value.
\param [in] value Value to be saturated
\param [in] sat Bit position to saturate to (0..31)
\return Saturated value
*/
#define __USAT __usat
/**
\brief Rotate Right with Extend (32 bit)
\details Moves each bit of a bitstring right by one bit.
The carry input is shifted in at the left end of the bitstring.
\param [in] value Value to rotate
\return Rotated value
*/
#ifndef __NO_EMBEDDED_ASM
__attribute__((section(".rrx_text"))) __STATIC_INLINE __ASM uint32_t __RRX(uint32_t value)
{
rrx r0, r0
bx lr
}
#endif
/**
\brief LDRT Unprivileged (8 bit)
\details Executes a Unprivileged LDRT instruction for 8 bit value.
\param [in] ptr Pointer to data
\return value of type uint8_t at (*ptr)
*/
#define __LDRBT(ptr) ((uint8_t ) __ldrt(ptr))
/**
\brief LDRT Unprivileged (16 bit)
\details Executes a Unprivileged LDRT instruction for 16 bit values.
\param [in] ptr Pointer to data
\return value of type uint16_t at (*ptr)
*/
#define __LDRHT(ptr) ((uint16_t) __ldrt(ptr))
/**
\brief LDRT Unprivileged (32 bit)
\details Executes a Unprivileged LDRT instruction for 32 bit values.
\param [in] ptr Pointer to data
\return value of type uint32_t at (*ptr)
*/
#define __LDRT(ptr) ((uint32_t ) __ldrt(ptr))
/**
\brief STRT Unprivileged (8 bit)
\details Executes a Unprivileged STRT instruction for 8 bit values.
\param [in] value Value to store
\param [in] ptr Pointer to location
*/
#define __STRBT(value, ptr) __strt(value, ptr)
/**
\brief STRT Unprivileged (16 bit)
\details Executes a Unprivileged STRT instruction for 16 bit values.
\param [in] value Value to store
\param [in] ptr Pointer to location
*/
#define __STRHT(value, ptr) __strt(value, ptr)
/**
\brief STRT Unprivileged (32 bit)
\details Executes a Unprivileged STRT instruction for 32 bit values.
\param [in] value Value to store
\param [in] ptr Pointer to location
*/
#define __STRT(value, ptr) __strt(value, ptr)
#endif /* (__CORTEX_M >= 0x03U) || (__CORTEX_SC >= 300U) */
/*@}*/ /* end of group CMSIS_Core_InstructionInterface */
/* ################### Compiler specific Intrinsics ########################### */
/** \defgroup CMSIS_SIMD_intrinsics CMSIS SIMD Intrinsics
Access to dedicated SIMD instructions
@{
*/
#if (__CORTEX_M >= 0x04U) /* only for Cortex-M4 and above */
#define __SADD8 __sadd8
#define __QADD8 __qadd8
#define __SHADD8 __shadd8
#define __UADD8 __uadd8
#define __UQADD8 __uqadd8
#define __UHADD8 __uhadd8
#define __SSUB8 __ssub8
#define __QSUB8 __qsub8
#define __SHSUB8 __shsub8
#define __USUB8 __usub8
#define __UQSUB8 __uqsub8
#define __UHSUB8 __uhsub8
#define __SADD16 __sadd16
#define __QADD16 __qadd16
#define __SHADD16 __shadd16
#define __UADD16 __uadd16
#define __UQADD16 __uqadd16
#define __UHADD16 __uhadd16
#define __SSUB16 __ssub16
#define __QSUB16 __qsub16
#define __SHSUB16 __shsub16
#define __USUB16 __usub16
#define __UQSUB16 __uqsub16
#define __UHSUB16 __uhsub16
#define __SASX __sasx
#define __QASX __qasx
#define __SHASX __shasx
#define __UASX __uasx
#define __UQASX __uqasx
#define __UHASX __uhasx
#define __SSAX __ssax
#define __QSAX __qsax
#define __SHSAX __shsax
#define __USAX __usax
#define __UQSAX __uqsax
#define __UHSAX __uhsax
#define __USAD8 __usad8
#define __USADA8 __usada8
#define __SSAT16 __ssat16
#define __USAT16 __usat16
#define __UXTB16 __uxtb16
#define __UXTAB16 __uxtab16
#define __SXTB16 __sxtb16
#define __SXTAB16 __sxtab16
#define __SMUAD __smuad
#define __SMUADX __smuadx
#define __SMLAD __smlad
#define __SMLADX __smladx
#define __SMLALD __smlald
#define __SMLALDX __smlaldx
#define __SMUSD __smusd
#define __SMUSDX __smusdx
#define __SMLSD __smlsd
#define __SMLSDX __smlsdx
#define __SMLSLD __smlsld
#define __SMLSLDX __smlsldx
#define __SEL __sel
#define __QADD __qadd
#define __QSUB __qsub
#define __PKHBT(ARG1,ARG2,ARG3) ( ((((uint32_t)(ARG1)) ) & 0x0000FFFFUL) | \
((((uint32_t)(ARG2)) << (ARG3)) & 0xFFFF0000UL) )
#define __PKHTB(ARG1,ARG2,ARG3) ( ((((uint32_t)(ARG1)) ) & 0xFFFF0000UL) | \
((((uint32_t)(ARG2)) >> (ARG3)) & 0x0000FFFFUL) )
#define __SMMLA(ARG1,ARG2,ARG3) ( (int32_t)((((int64_t)(ARG1) * (ARG2)) + \
((int64_t)(ARG3) << 32U) ) >> 32U))
#endif /* (__CORTEX_M >= 0x04) */
/*@} end of group CMSIS_SIMD_intrinsics */
#endif /* __CMSIS_ARMCC_H */
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/**************************************************************************//**
* @file core_cm0.h
* @brief CMSIS Cortex-M0 Core Peripheral Access Layer Header File
* @version V4.30
* @date 20. October 2015
******************************************************************************/
/* Copyright (c) 2009 - 2015 ARM LIMITED
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
- Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
- Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
- Neither the name of ARM nor the names of its contributors may be used
to endorse or promote products derived from this software without
specific prior written permission.
*
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.
---------------------------------------------------------------------------*/
#if defined ( __ICCARM__ )
#pragma system_include /* treat file as system include file for MISRA check */
#elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
#pragma clang system_header /* treat file as system include file */
#endif
#ifndef __CORE_CM0_H_GENERIC
#define __CORE_CM0_H_GENERIC
#include <stdint.h>
#ifdef __cplusplus
extern "C" {
#endif
/**
\page CMSIS_MISRA_Exceptions MISRA-C:2004 Compliance Exceptions
CMSIS violates the following MISRA-C:2004 rules:
\li Required Rule 8.5, object/function definition in header file.<br>
Function definitions in header files are used to allow 'inlining'.
\li Required Rule 18.4, declaration of union type or object of union type: '{...}'.<br>
Unions are used for effective representation of core registers.
\li Advisory Rule 19.7, Function-like macro defined.<br>
Function-like macros are used to allow more efficient code.
*/
/*******************************************************************************
* CMSIS definitions
******************************************************************************/
/**
\ingroup Cortex_M0
@{
*/
/* CMSIS CM0 definitions */
#define __CM0_CMSIS_VERSION_MAIN (0x04U) /*!< [31:16] CMSIS HAL main version */
#define __CM0_CMSIS_VERSION_SUB (0x1EU) /*!< [15:0] CMSIS HAL sub version */
#define __CM0_CMSIS_VERSION ((__CM0_CMSIS_VERSION_MAIN << 16U) | \
__CM0_CMSIS_VERSION_SUB ) /*!< CMSIS HAL version number */
#define __CORTEX_M (0x00U) /*!< Cortex-M Core */
#if defined ( __CC_ARM )
#define __ASM __asm /*!< asm keyword for ARM Compiler */
#define __INLINE __inline /*!< inline keyword for ARM Compiler */
#define __STATIC_INLINE static __inline
#elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
#define __ASM __asm /*!< asm keyword for ARM Compiler */
#define __INLINE __inline /*!< inline keyword for ARM Compiler */
#define __STATIC_INLINE static __inline
#elif defined ( __GNUC__ )
#define __ASM __asm /*!< asm keyword for GNU Compiler */
#define __INLINE inline /*!< inline keyword for GNU Compiler */
#define __STATIC_INLINE static inline
#elif defined ( __ICCARM__ )
#define __ASM __asm /*!< asm keyword for IAR Compiler */
#define __INLINE inline /*!< inline keyword for IAR Compiler. Only available in High optimization mode! */
#define __STATIC_INLINE static inline
#elif defined ( __TMS470__ )
#define __ASM __asm /*!< asm keyword for TI CCS Compiler */
#define __STATIC_INLINE static inline
#elif defined ( __TASKING__ )
#define __ASM __asm /*!< asm keyword for TASKING Compiler */
#define __INLINE inline /*!< inline keyword for TASKING Compiler */
#define __STATIC_INLINE static inline
#elif defined ( __CSMC__ )
#define __packed
#define __ASM _asm /*!< asm keyword for COSMIC Compiler */
#define __INLINE inline /*!< inline keyword for COSMIC Compiler. Use -pc99 on compile line */
#define __STATIC_INLINE static inline
#else
#error Unknown compiler
#endif
/** __FPU_USED indicates whether an FPU is used or not.
This core does not support an FPU at all
*/
#define __FPU_USED 0U
#if defined ( __CC_ARM )
#if defined __TARGET_FPU_VFP
#error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
#endif
#elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
#if defined __ARM_PCS_VFP
#error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
#endif
#elif defined ( __GNUC__ )
#if defined (__VFP_FP__) && !defined(__SOFTFP__)
#error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
#endif
#elif defined ( __ICCARM__ )
#if defined __ARMVFP__
#error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
#endif
#elif defined ( __TMS470__ )
#if defined __TI_VFP_SUPPORT__
#error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
#endif
#elif defined ( __TASKING__ )
#if defined __FPU_VFP__
#error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
#endif
#elif defined ( __CSMC__ )
#if ( __CSMC__ & 0x400U)
#error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
#endif
#endif
#include "core_cmInstr.h" /* Core Instruction Access */
#include "core_cmFunc.h" /* Core Function Access */
#ifdef __cplusplus
}
#endif
#endif /* __CORE_CM0_H_GENERIC */
#ifndef __CMSIS_GENERIC
#ifndef __CORE_CM0_H_DEPENDANT
#define __CORE_CM0_H_DEPENDANT
#ifdef __cplusplus
extern "C" {
#endif
/* check device defines and use defaults */
#if defined __CHECK_DEVICE_DEFINES
#ifndef __CM0_REV
#define __CM0_REV 0x0000U
#warning "__CM0_REV not defined in device header file; using default!"
#endif
#ifndef __NVIC_PRIO_BITS
#define __NVIC_PRIO_BITS 2U
#warning "__NVIC_PRIO_BITS not defined in device header file; using default!"
#endif
#ifndef __Vendor_SysTickConfig
#define __Vendor_SysTickConfig 0U
#warning "__Vendor_SysTickConfig not defined in device header file; using default!"
#endif
#endif
/* IO definitions (access restrictions to peripheral registers) */
/**
\defgroup CMSIS_glob_defs CMSIS Global Defines
<strong>IO Type Qualifiers</strong> are used
\li to specify the access to peripheral variables.
\li for automatic generation of peripheral register debug information.
*/
#ifdef __cplusplus
#define __I volatile /*!< Defines 'read only' permissions */
#else
#define __I volatile const /*!< Defines 'read only' permissions */
#endif
#define __O volatile /*!< Defines 'write only' permissions */
#define __IO volatile /*!< Defines 'read / write' permissions */
/* following defines should be used for structure members */
#define __IM volatile const /*! Defines 'read only' structure member permissions */
#define __OM volatile /*! Defines 'write only' structure member permissions */
#define __IOM volatile /*! Defines 'read / write' structure member permissions */
/*@} end of group Cortex_M0 */
/*******************************************************************************
* Register Abstraction
Core Register contain:
- Core Register
- Core NVIC Register
- Core SCB Register
- Core SysTick Register
******************************************************************************/
/**
\defgroup CMSIS_core_register Defines and Type Definitions
\brief Type definitions and defines for Cortex-M processor based devices.
*/
/**
\ingroup CMSIS_core_register
\defgroup CMSIS_CORE Status and Control Registers
\brief Core Register type definitions.
@{
*/
/**
\brief Union type to access the Application Program Status Register (APSR).
*/
typedef union
{
struct
{
uint32_t _reserved0:28; /*!< bit: 0..27 Reserved */
uint32_t V:1; /*!< bit: 28 Overflow condition code flag */
uint32_t C:1; /*!< bit: 29 Carry condition code flag */
uint32_t Z:1; /*!< bit: 30 Zero condition code flag */
uint32_t N:1; /*!< bit: 31 Negative condition code flag */
} b; /*!< Structure used for bit access */
uint32_t w; /*!< Type used for word access */
} APSR_Type;
/* APSR Register Definitions */
#define APSR_N_Pos 31U /*!< APSR: N Position */
#define APSR_N_Msk (1UL << APSR_N_Pos) /*!< APSR: N Mask */
#define APSR_Z_Pos 30U /*!< APSR: Z Position */
#define APSR_Z_Msk (1UL << APSR_Z_Pos) /*!< APSR: Z Mask */
#define APSR_C_Pos 29U /*!< APSR: C Position */
#define APSR_C_Msk (1UL << APSR_C_Pos) /*!< APSR: C Mask */
#define APSR_V_Pos 28U /*!< APSR: V Position */
#define APSR_V_Msk (1UL << APSR_V_Pos) /*!< APSR: V Mask */
/**
\brief Union type to access the Interrupt Program Status Register (IPSR).
*/
typedef union
{
struct
{
uint32_t ISR:9; /*!< bit: 0.. 8 Exception number */
uint32_t _reserved0:23; /*!< bit: 9..31 Reserved */
} b; /*!< Structure used for bit access */
uint32_t w; /*!< Type used for word access */
} IPSR_Type;
/* IPSR Register Definitions */
#define IPSR_ISR_Pos 0U /*!< IPSR: ISR Position */
#define IPSR_ISR_Msk (0x1FFUL /*<< IPSR_ISR_Pos*/) /*!< IPSR: ISR Mask */
/**
\brief Union type to access the Special-Purpose Program Status Registers (xPSR).
*/
typedef union
{
struct
{
uint32_t ISR:9; /*!< bit: 0.. 8 Exception number */
uint32_t _reserved0:15; /*!< bit: 9..23 Reserved */
uint32_t T:1; /*!< bit: 24 Thumb bit (read 0) */
uint32_t _reserved1:3; /*!< bit: 25..27 Reserved */
uint32_t V:1; /*!< bit: 28 Overflow condition code flag */
uint32_t C:1; /*!< bit: 29 Carry condition code flag */
uint32_t Z:1; /*!< bit: 30 Zero condition code flag */
uint32_t N:1; /*!< bit: 31 Negative condition code flag */
} b; /*!< Structure used for bit access */
uint32_t w; /*!< Type used for word access */
} xPSR_Type;
/* xPSR Register Definitions */
#define xPSR_N_Pos 31U /*!< xPSR: N Position */
#define xPSR_N_Msk (1UL << xPSR_N_Pos) /*!< xPSR: N Mask */
#define xPSR_Z_Pos 30U /*!< xPSR: Z Position */
#define xPSR_Z_Msk (1UL << xPSR_Z_Pos) /*!< xPSR: Z Mask */
#define xPSR_C_Pos 29U /*!< xPSR: C Position */
#define xPSR_C_Msk (1UL << xPSR_C_Pos) /*!< xPSR: C Mask */
#define xPSR_V_Pos 28U /*!< xPSR: V Position */
#define xPSR_V_Msk (1UL << xPSR_V_Pos) /*!< xPSR: V Mask */
#define xPSR_T_Pos 24U /*!< xPSR: T Position */
#define xPSR_T_Msk (1UL << xPSR_T_Pos) /*!< xPSR: T Mask */
#define xPSR_ISR_Pos 0U /*!< xPSR: ISR Position */
#define xPSR_ISR_Msk (0x1FFUL /*<< xPSR_ISR_Pos*/) /*!< xPSR: ISR Mask */
/**
\brief Union type to access the Control Registers (CONTROL).
*/
typedef union
{
struct
{
uint32_t _reserved0:1; /*!< bit: 0 Reserved */
uint32_t SPSEL:1; /*!< bit: 1 Stack to be used */
uint32_t _reserved1:30; /*!< bit: 2..31 Reserved */
} b; /*!< Structure used for bit access */
uint32_t w; /*!< Type used for word access */
} CONTROL_Type;
/* CONTROL Register Definitions */
#define CONTROL_SPSEL_Pos 1U /*!< CONTROL: SPSEL Position */
#define CONTROL_SPSEL_Msk (1UL << CONTROL_SPSEL_Pos) /*!< CONTROL: SPSEL Mask */
/*@} end of group CMSIS_CORE */
/**
\ingroup CMSIS_core_register
\defgroup CMSIS_NVIC Nested Vectored Interrupt Controller (NVIC)
\brief Type definitions for the NVIC Registers
@{
*/
/**
\brief Structure type to access the Nested Vectored Interrupt Controller (NVIC).
*/
typedef struct
{
__IOM uint32_t ISER[1U]; /*!< Offset: 0x000 (R/W) Interrupt Set Enable Register */
uint32_t RESERVED0[31U];
__IOM uint32_t ICER[1U]; /*!< Offset: 0x080 (R/W) Interrupt Clear Enable Register */
uint32_t RSERVED1[31U];
__IOM uint32_t ISPR[1U]; /*!< Offset: 0x100 (R/W) Interrupt Set Pending Register */
uint32_t RESERVED2[31U];
__IOM uint32_t ICPR[1U]; /*!< Offset: 0x180 (R/W) Interrupt Clear Pending Register */
uint32_t RESERVED3[31U];
uint32_t RESERVED4[64U];
__IOM uint32_t IP[8U]; /*!< Offset: 0x300 (R/W) Interrupt Priority Register */
} NVIC_Type;
/*@} end of group CMSIS_NVIC */
/**
\ingroup CMSIS_core_register
\defgroup CMSIS_SCB System Control Block (SCB)
\brief Type definitions for the System Control Block Registers
@{
*/
/**
\brief Structure type to access the System Control Block (SCB).
*/
typedef struct
{
__IM uint32_t CPUID; /*!< Offset: 0x000 (R/ ) CPUID Base Register */
__IOM uint32_t ICSR; /*!< Offset: 0x004 (R/W) Interrupt Control and State Register */
uint32_t RESERVED0;
__IOM uint32_t AIRCR; /*!< Offset: 0x00C (R/W) Application Interrupt and Reset Control Register */
__IOM uint32_t SCR; /*!< Offset: 0x010 (R/W) System Control Register */
__IOM uint32_t CCR; /*!< Offset: 0x014 (R/W) Configuration Control Register */
uint32_t RESERVED1;
__IOM uint32_t SHP[2U]; /*!< Offset: 0x01C (R/W) System Handlers Priority Registers. [0] is RESERVED */
__IOM uint32_t SHCSR; /*!< Offset: 0x024 (R/W) System Handler Control and State Register */
} SCB_Type;
/* SCB CPUID Register Definitions */
#define SCB_CPUID_IMPLEMENTER_Pos 24U /*!< SCB CPUID: IMPLEMENTER Position */
#define SCB_CPUID_IMPLEMENTER_Msk (0xFFUL << SCB_CPUID_IMPLEMENTER_Pos) /*!< SCB CPUID: IMPLEMENTER Mask */
#define SCB_CPUID_VARIANT_Pos 20U /*!< SCB CPUID: VARIANT Position */
#define SCB_CPUID_VARIANT_Msk (0xFUL << SCB_CPUID_VARIANT_Pos) /*!< SCB CPUID: VARIANT Mask */
#define SCB_CPUID_ARCHITECTURE_Pos 16U /*!< SCB CPUID: ARCHITECTURE Position */
#define SCB_CPUID_ARCHITECTURE_Msk (0xFUL << SCB_CPUID_ARCHITECTURE_Pos) /*!< SCB CPUID: ARCHITECTURE Mask */
#define SCB_CPUID_PARTNO_Pos 4U /*!< SCB CPUID: PARTNO Position */
#define SCB_CPUID_PARTNO_Msk (0xFFFUL << SCB_CPUID_PARTNO_Pos) /*!< SCB CPUID: PARTNO Mask */
#define SCB_CPUID_REVISION_Pos 0U /*!< SCB CPUID: REVISION Position */
#define SCB_CPUID_REVISION_Msk (0xFUL /*<< SCB_CPUID_REVISION_Pos*/) /*!< SCB CPUID: REVISION Mask */
/* SCB Interrupt Control State Register Definitions */
#define SCB_ICSR_NMIPENDSET_Pos 31U /*!< SCB ICSR: NMIPENDSET Position */
#define SCB_ICSR_NMIPENDSET_Msk (1UL << SCB_ICSR_NMIPENDSET_Pos) /*!< SCB ICSR: NMIPENDSET Mask */
#define SCB_ICSR_PENDSVSET_Pos 28U /*!< SCB ICSR: PENDSVSET Position */
#define SCB_ICSR_PENDSVSET_Msk (1UL << SCB_ICSR_PENDSVSET_Pos) /*!< SCB ICSR: PENDSVSET Mask */
#define SCB_ICSR_PENDSVCLR_Pos 27U /*!< SCB ICSR: PENDSVCLR Position */
#define SCB_ICSR_PENDSVCLR_Msk (1UL << SCB_ICSR_PENDSVCLR_Pos) /*!< SCB ICSR: PENDSVCLR Mask */
#define SCB_ICSR_PENDSTSET_Pos 26U /*!< SCB ICSR: PENDSTSET Position */
#define SCB_ICSR_PENDSTSET_Msk (1UL << SCB_ICSR_PENDSTSET_Pos) /*!< SCB ICSR: PENDSTSET Mask */
#define SCB_ICSR_PENDSTCLR_Pos 25U /*!< SCB ICSR: PENDSTCLR Position */
#define SCB_ICSR_PENDSTCLR_Msk (1UL << SCB_ICSR_PENDSTCLR_Pos) /*!< SCB ICSR: PENDSTCLR Mask */
#define SCB_ICSR_ISRPREEMPT_Pos 23U /*!< SCB ICSR: ISRPREEMPT Position */
#define SCB_ICSR_ISRPREEMPT_Msk (1UL << SCB_ICSR_ISRPREEMPT_Pos) /*!< SCB ICSR: ISRPREEMPT Mask */
#define SCB_ICSR_ISRPENDING_Pos 22U /*!< SCB ICSR: ISRPENDING Position */
#define SCB_ICSR_ISRPENDING_Msk (1UL << SCB_ICSR_ISRPENDING_Pos) /*!< SCB ICSR: ISRPENDING Mask */
#define SCB_ICSR_VECTPENDING_Pos 12U /*!< SCB ICSR: VECTPENDING Position */
#define SCB_ICSR_VECTPENDING_Msk (0x1FFUL << SCB_ICSR_VECTPENDING_Pos) /*!< SCB ICSR: VECTPENDING Mask */
#define SCB_ICSR_VECTACTIVE_Pos 0U /*!< SCB ICSR: VECTACTIVE Position */
#define SCB_ICSR_VECTACTIVE_Msk (0x1FFUL /*<< SCB_ICSR_VECTACTIVE_Pos*/) /*!< SCB ICSR: VECTACTIVE Mask */
/* SCB Application Interrupt and Reset Control Register Definitions */
#define SCB_AIRCR_VECTKEY_Pos 16U /*!< SCB AIRCR: VECTKEY Position */
#define SCB_AIRCR_VECTKEY_Msk (0xFFFFUL << SCB_AIRCR_VECTKEY_Pos) /*!< SCB AIRCR: VECTKEY Mask */
#define SCB_AIRCR_VECTKEYSTAT_Pos 16U /*!< SCB AIRCR: VECTKEYSTAT Position */
#define SCB_AIRCR_VECTKEYSTAT_Msk (0xFFFFUL << SCB_AIRCR_VECTKEYSTAT_Pos) /*!< SCB AIRCR: VECTKEYSTAT Mask */
#define SCB_AIRCR_ENDIANESS_Pos 15U /*!< SCB AIRCR: ENDIANESS Position */
#define SCB_AIRCR_ENDIANESS_Msk (1UL << SCB_AIRCR_ENDIANESS_Pos) /*!< SCB AIRCR: ENDIANESS Mask */
#define SCB_AIRCR_SYSRESETREQ_Pos 2U /*!< SCB AIRCR: SYSRESETREQ Position */
#define SCB_AIRCR_SYSRESETREQ_Msk (1UL << SCB_AIRCR_SYSRESETREQ_Pos) /*!< SCB AIRCR: SYSRESETREQ Mask */
#define SCB_AIRCR_VECTCLRACTIVE_Pos 1U /*!< SCB AIRCR: VECTCLRACTIVE Position */
#define SCB_AIRCR_VECTCLRACTIVE_Msk (1UL << SCB_AIRCR_VECTCLRACTIVE_Pos) /*!< SCB AIRCR: VECTCLRACTIVE Mask */
/* SCB System Control Register Definitions */
#define SCB_SCR_SEVONPEND_Pos 4U /*!< SCB SCR: SEVONPEND Position */
#define SCB_SCR_SEVONPEND_Msk (1UL << SCB_SCR_SEVONPEND_Pos) /*!< SCB SCR: SEVONPEND Mask */
#define SCB_SCR_SLEEPDEEP_Pos 2U /*!< SCB SCR: SLEEPDEEP Position */
#define SCB_SCR_SLEEPDEEP_Msk (1UL << SCB_SCR_SLEEPDEEP_Pos) /*!< SCB SCR: SLEEPDEEP Mask */
#define SCB_SCR_SLEEPONEXIT_Pos 1U /*!< SCB SCR: SLEEPONEXIT Position */
#define SCB_SCR_SLEEPONEXIT_Msk (1UL << SCB_SCR_SLEEPONEXIT_Pos) /*!< SCB SCR: SLEEPONEXIT Mask */
/* SCB Configuration Control Register Definitions */
#define SCB_CCR_STKALIGN_Pos 9U /*!< SCB CCR: STKALIGN Position */
#define SCB_CCR_STKALIGN_Msk (1UL << SCB_CCR_STKALIGN_Pos) /*!< SCB CCR: STKALIGN Mask */
#define SCB_CCR_UNALIGN_TRP_Pos 3U /*!< SCB CCR: UNALIGN_TRP Position */
#define SCB_CCR_UNALIGN_TRP_Msk (1UL << SCB_CCR_UNALIGN_TRP_Pos) /*!< SCB CCR: UNALIGN_TRP Mask */
/* SCB System Handler Control and State Register Definitions */
#define SCB_SHCSR_SVCALLPENDED_Pos 15U /*!< SCB SHCSR: SVCALLPENDED Position */
#define SCB_SHCSR_SVCALLPENDED_Msk (1UL << SCB_SHCSR_SVCALLPENDED_Pos) /*!< SCB SHCSR: SVCALLPENDED Mask */
/*@} end of group CMSIS_SCB */
/**
\ingroup CMSIS_core_register
\defgroup CMSIS_SysTick System Tick Timer (SysTick)
\brief Type definitions for the System Timer Registers.
@{
*/
/**
\brief Structure type to access the System Timer (SysTick).
*/
typedef struct
{
__IOM uint32_t CTRL; /*!< Offset: 0x000 (R/W) SysTick Control and Status Register */
__IOM uint32_t LOAD; /*!< Offset: 0x004 (R/W) SysTick Reload Value Register */
__IOM uint32_t VAL; /*!< Offset: 0x008 (R/W) SysTick Current Value Register */
__IM uint32_t CALIB; /*!< Offset: 0x00C (R/ ) SysTick Calibration Register */
} SysTick_Type;
/* SysTick Control / Status Register Definitions */
#define SysTick_CTRL_COUNTFLAG_Pos 16U /*!< SysTick CTRL: COUNTFLAG Position */
#define SysTick_CTRL_COUNTFLAG_Msk (1UL << SysTick_CTRL_COUNTFLAG_Pos) /*!< SysTick CTRL: COUNTFLAG Mask */
#define SysTick_CTRL_CLKSOURCE_Pos 2U /*!< SysTick CTRL: CLKSOURCE Position */
#define SysTick_CTRL_CLKSOURCE_Msk (1UL << SysTick_CTRL_CLKSOURCE_Pos) /*!< SysTick CTRL: CLKSOURCE Mask */
#define SysTick_CTRL_TICKINT_Pos 1U /*!< SysTick CTRL: TICKINT Position */
#define SysTick_CTRL_TICKINT_Msk (1UL << SysTick_CTRL_TICKINT_Pos) /*!< SysTick CTRL: TICKINT Mask */
#define SysTick_CTRL_ENABLE_Pos 0U /*!< SysTick CTRL: ENABLE Position */
#define SysTick_CTRL_ENABLE_Msk (1UL /*<< SysTick_CTRL_ENABLE_Pos*/) /*!< SysTick CTRL: ENABLE Mask */
/* SysTick Reload Register Definitions */
#define SysTick_LOAD_RELOAD_Pos 0U /*!< SysTick LOAD: RELOAD Position */
#define SysTick_LOAD_RELOAD_Msk (0xFFFFFFUL /*<< SysTick_LOAD_RELOAD_Pos*/) /*!< SysTick LOAD: RELOAD Mask */
/* SysTick Current Register Definitions */
#define SysTick_VAL_CURRENT_Pos 0U /*!< SysTick VAL: CURRENT Position */
#define SysTick_VAL_CURRENT_Msk (0xFFFFFFUL /*<< SysTick_VAL_CURRENT_Pos*/) /*!< SysTick VAL: CURRENT Mask */
/* SysTick Calibration Register Definitions */
#define SysTick_CALIB_NOREF_Pos 31U /*!< SysTick CALIB: NOREF Position */
#define SysTick_CALIB_NOREF_Msk (1UL << SysTick_CALIB_NOREF_Pos) /*!< SysTick CALIB: NOREF Mask */
#define SysTick_CALIB_SKEW_Pos 30U /*!< SysTick CALIB: SKEW Position */
#define SysTick_CALIB_SKEW_Msk (1UL << SysTick_CALIB_SKEW_Pos) /*!< SysTick CALIB: SKEW Mask */
#define SysTick_CALIB_TENMS_Pos 0U /*!< SysTick CALIB: TENMS Position */
#define SysTick_CALIB_TENMS_Msk (0xFFFFFFUL /*<< SysTick_CALIB_TENMS_Pos*/) /*!< SysTick CALIB: TENMS Mask */
/*@} end of group CMSIS_SysTick */
/**
\ingroup CMSIS_core_register
\defgroup CMSIS_CoreDebug Core Debug Registers (CoreDebug)
\brief Cortex-M0 Core Debug Registers (DCB registers, SHCSR, and DFSR) are only accessible over DAP and not via processor.
Therefore they are not covered by the Cortex-M0 header file.
@{
*/
/*@} end of group CMSIS_CoreDebug */
/**
\ingroup CMSIS_core_register
\defgroup CMSIS_core_bitfield Core register bit field macros
\brief Macros for use with bit field definitions (xxx_Pos, xxx_Msk).
@{
*/
/**
\brief Mask and shift a bit field value for use in a register bit range.
\param[in] field Name of the register bit field.
\param[in] value Value of the bit field.
\return Masked and shifted value.
*/
#define _VAL2FLD(field, value) ((value << field ## _Pos) & field ## _Msk)
/**
\brief Mask and shift a register value to extract a bit filed value.
\param[in] field Name of the register bit field.
\param[in] value Value of register.
\return Masked and shifted bit field value.
*/
#define _FLD2VAL(field, value) ((value & field ## _Msk) >> field ## _Pos)
/*@} end of group CMSIS_core_bitfield */
/**
\ingroup CMSIS_core_register
\defgroup CMSIS_core_base Core Definitions
\brief Definitions for base addresses, unions, and structures.
@{
*/
/* Memory mapping of Cortex-M0 Hardware */
#define SCS_BASE (0xE000E000UL) /*!< System Control Space Base Address */
#define SysTick_BASE (SCS_BASE + 0x0010UL) /*!< SysTick Base Address */
#define NVIC_BASE (SCS_BASE + 0x0100UL) /*!< NVIC Base Address */
#define SCB_BASE (SCS_BASE + 0x0D00UL) /*!< System Control Block Base Address */
#define SCB ((SCB_Type *) SCB_BASE ) /*!< SCB configuration struct */
#define SysTick ((SysTick_Type *) SysTick_BASE ) /*!< SysTick configuration struct */
#define NVIC ((NVIC_Type *) NVIC_BASE ) /*!< NVIC configuration struct */
/*@} */
/*******************************************************************************
* Hardware Abstraction Layer
Core Function Interface contains:
- Core NVIC Functions
- Core SysTick Functions
- Core Register Access Functions
******************************************************************************/
/**
\defgroup CMSIS_Core_FunctionInterface Functions and Instructions Reference
*/
/* ########################## NVIC functions #################################### */
/**
\ingroup CMSIS_Core_FunctionInterface
\defgroup CMSIS_Core_NVICFunctions NVIC Functions
\brief Functions that manage interrupts and exceptions via the NVIC.
@{
*/
/* Interrupt Priorities are WORD accessible only under ARMv6M */
/* The following MACROS handle generation of the register offset and byte masks */
#define _BIT_SHIFT(IRQn) ( ((((uint32_t)(int32_t)(IRQn)) ) & 0x03UL) * 8UL)
#define _SHP_IDX(IRQn) ( (((((uint32_t)(int32_t)(IRQn)) & 0x0FUL)-8UL) >> 2UL) )
#define _IP_IDX(IRQn) ( (((uint32_t)(int32_t)(IRQn)) >> 2UL) )
/**
\brief Enable External Interrupt
\details Enables a device-specific interrupt in the NVIC interrupt controller.
\param [in] IRQn External interrupt number. Value cannot be negative.
*/
__STATIC_INLINE void NVIC_EnableIRQ(IRQn_Type IRQn)
{
NVIC->ISER[0U] = (uint32_t)(1UL << (((uint32_t)(int32_t)IRQn) & 0x1FUL));
}
/**
\brief Disable External Interrupt
\details Disables a device-specific interrupt in the NVIC interrupt controller.
\param [in] IRQn External interrupt number. Value cannot be negative.
*/
__STATIC_INLINE void NVIC_DisableIRQ(IRQn_Type IRQn)
{
NVIC->ICER[0U] = (uint32_t)(1UL << (((uint32_t)(int32_t)IRQn) & 0x1FUL));
}
/**
\brief Get Pending Interrupt
\details Reads the pending register in the NVIC and returns the pending bit for the specified interrupt.
\param [in] IRQn Interrupt number.
\return 0 Interrupt status is not pending.
\return 1 Interrupt status is pending.
*/
__STATIC_INLINE uint32_t NVIC_GetPendingIRQ(IRQn_Type IRQn)
{
return((uint32_t)(((NVIC->ISPR[0U] & (1UL << (((uint32_t)(int32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL));
}
/**
\brief Set Pending Interrupt
\details Sets the pending bit of an external interrupt.
\param [in] IRQn Interrupt number. Value cannot be negative.
*/
__STATIC_INLINE void NVIC_SetPendingIRQ(IRQn_Type IRQn)
{
NVIC->ISPR[0U] = (uint32_t)(1UL << (((uint32_t)(int32_t)IRQn) & 0x1FUL));
}
/**
\brief Clear Pending Interrupt
\details Clears the pending bit of an external interrupt.
\param [in] IRQn External interrupt number. Value cannot be negative.
*/
__STATIC_INLINE void NVIC_ClearPendingIRQ(IRQn_Type IRQn)
{
NVIC->ICPR[0U] = (uint32_t)(1UL << (((uint32_t)(int32_t)IRQn) & 0x1FUL));
}
/**
\brief Set Interrupt Priority
\details Sets the priority of an interrupt.
\note The priority cannot be set for every core interrupt.
\param [in] IRQn Interrupt number.
\param [in] priority Priority to set.
*/
__STATIC_INLINE void NVIC_SetPriority(IRQn_Type IRQn, uint32_t priority)
{
if ((int32_t)(IRQn) < 0)
{
SCB->SHP[_SHP_IDX(IRQn)] = ((uint32_t)(SCB->SHP[_SHP_IDX(IRQn)] & ~(0xFFUL << _BIT_SHIFT(IRQn))) |
(((priority << (8U - __NVIC_PRIO_BITS)) & (uint32_t)0xFFUL) << _BIT_SHIFT(IRQn)));
}
else
{
NVIC->IP[_IP_IDX(IRQn)] = ((uint32_t)(NVIC->IP[_IP_IDX(IRQn)] & ~(0xFFUL << _BIT_SHIFT(IRQn))) |
(((priority << (8U - __NVIC_PRIO_BITS)) & (uint32_t)0xFFUL) << _BIT_SHIFT(IRQn)));
}
}
/**
\brief Get Interrupt Priority
\details Reads the priority of an interrupt.
The interrupt number can be positive to specify an external (device specific) interrupt,
or negative to specify an internal (core) interrupt.
\param [in] IRQn Interrupt number.
\return Interrupt Priority.
Value is aligned automatically to the implemented priority bits of the microcontroller.
*/
__STATIC_INLINE uint32_t NVIC_GetPriority(IRQn_Type IRQn)
{
if ((int32_t)(IRQn) < 0)
{
return((uint32_t)(((SCB->SHP[_SHP_IDX(IRQn)] >> _BIT_SHIFT(IRQn) ) & (uint32_t)0xFFUL) >> (8U - __NVIC_PRIO_BITS)));
}
else
{
return((uint32_t)(((NVIC->IP[ _IP_IDX(IRQn)] >> _BIT_SHIFT(IRQn) ) & (uint32_t)0xFFUL) >> (8U - __NVIC_PRIO_BITS)));
}
}
/**
\brief System Reset
\details Initiates a system reset request to reset the MCU.
*/
__STATIC_INLINE void NVIC_SystemReset(void)
{
__DSB(); /* Ensure all outstanding memory accesses included
buffered write are completed before reset */
SCB->AIRCR = ((0x5FAUL << SCB_AIRCR_VECTKEY_Pos) |
SCB_AIRCR_SYSRESETREQ_Msk);
__DSB(); /* Ensure completion of memory access */
for(;;) /* wait until reset */
{
__NOP();
}
}
/*@} end of CMSIS_Core_NVICFunctions */
/* ################################## SysTick function ############################################ */
/**
\ingroup CMSIS_Core_FunctionInterface
\defgroup CMSIS_Core_SysTickFunctions SysTick Functions
\brief Functions that configure the System.
@{
*/
#if (__Vendor_SysTickConfig == 0U)
/**
\brief System Tick Configuration
\details Initializes the System Timer and its interrupt, and starts the System Tick Timer.
Counter is in free running mode to generate periodic interrupts.
\param [in] ticks Number of ticks between two interrupts.
\return 0 Function succeeded.
\return 1 Function failed.
\note When the variable <b>__Vendor_SysTickConfig</b> is set to 1, then the
function <b>SysTick_Config</b> is not included. In this case, the file <b><i>device</i>.h</b>
must contain a vendor-specific implementation of this function.
*/
__STATIC_INLINE uint32_t SysTick_Config(uint32_t ticks)
{
if ((ticks - 1UL) > SysTick_LOAD_RELOAD_Msk)
{
return (1UL); /* Reload value impossible */
}
SysTick->LOAD = (uint32_t)(ticks - 1UL); /* set reload register */
NVIC_SetPriority (SysTick_IRQn, (1UL << __NVIC_PRIO_BITS) - 1UL); /* set Priority for Systick Interrupt */
SysTick->VAL = 0UL; /* Load the SysTick Counter Value */
SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk |
SysTick_CTRL_TICKINT_Msk |
SysTick_CTRL_ENABLE_Msk; /* Enable SysTick IRQ and SysTick Timer */
return (0UL); /* Function successful */
}
#endif
/*@} end of CMSIS_Core_SysTickFunctions */
#ifdef __cplusplus
}
#endif
#endif /* __CORE_CM0_H_DEPENDANT */
#endif /* __CMSIS_GENERIC */
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/m3_inc/core_cm0plus.h
-914
View File
@@ -1,914 +0,0 @@
/**************************************************************************//**
* @file core_cm0plus.h
* @brief CMSIS Cortex-M0+ Core Peripheral Access Layer Header File
* @version V4.30
* @date 20. October 2015
******************************************************************************/
/* Copyright (c) 2009 - 2015 ARM LIMITED
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
- Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
- Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
- Neither the name of ARM nor the names of its contributors may be used
to endorse or promote products derived from this software without
specific prior written permission.
*
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.
---------------------------------------------------------------------------*/
#if defined ( __ICCARM__ )
#pragma system_include /* treat file as system include file for MISRA check */
#elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
#pragma clang system_header /* treat file as system include file */
#endif
#ifndef __CORE_CM0PLUS_H_GENERIC
#define __CORE_CM0PLUS_H_GENERIC
#include <stdint.h>
#ifdef __cplusplus
extern "C" {
#endif
/**
\page CMSIS_MISRA_Exceptions MISRA-C:2004 Compliance Exceptions
CMSIS violates the following MISRA-C:2004 rules:
\li Required Rule 8.5, object/function definition in header file.<br>
Function definitions in header files are used to allow 'inlining'.
\li Required Rule 18.4, declaration of union type or object of union type: '{...}'.<br>
Unions are used for effective representation of core registers.
\li Advisory Rule 19.7, Function-like macro defined.<br>
Function-like macros are used to allow more efficient code.
*/
/*******************************************************************************
* CMSIS definitions
******************************************************************************/
/**
\ingroup Cortex-M0+
@{
*/
/* CMSIS CM0+ definitions */
#define __CM0PLUS_CMSIS_VERSION_MAIN (0x04U) /*!< [31:16] CMSIS HAL main version */
#define __CM0PLUS_CMSIS_VERSION_SUB (0x1EU) /*!< [15:0] CMSIS HAL sub version */
#define __CM0PLUS_CMSIS_VERSION ((__CM0PLUS_CMSIS_VERSION_MAIN << 16U) | \
__CM0PLUS_CMSIS_VERSION_SUB ) /*!< CMSIS HAL version number */
#define __CORTEX_M (0x00U) /*!< Cortex-M Core */
#if defined ( __CC_ARM )
#define __ASM __asm /*!< asm keyword for ARM Compiler */
#define __INLINE __inline /*!< inline keyword for ARM Compiler */
#define __STATIC_INLINE static __inline
#elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
#define __ASM __asm /*!< asm keyword for ARM Compiler */
#define __INLINE __inline /*!< inline keyword for ARM Compiler */
#define __STATIC_INLINE static __inline
#elif defined ( __GNUC__ )
#define __ASM __asm /*!< asm keyword for GNU Compiler */
#define __INLINE inline /*!< inline keyword for GNU Compiler */
#define __STATIC_INLINE static inline
#elif defined ( __ICCARM__ )
#define __ASM __asm /*!< asm keyword for IAR Compiler */
#define __INLINE inline /*!< inline keyword for IAR Compiler. Only available in High optimization mode! */
#define __STATIC_INLINE static inline
#elif defined ( __TMS470__ )
#define __ASM __asm /*!< asm keyword for TI CCS Compiler */
#define __STATIC_INLINE static inline
#elif defined ( __TASKING__ )
#define __ASM __asm /*!< asm keyword for TASKING Compiler */
#define __INLINE inline /*!< inline keyword for TASKING Compiler */
#define __STATIC_INLINE static inline
#elif defined ( __CSMC__ )
#define __packed
#define __ASM _asm /*!< asm keyword for COSMIC Compiler */
#define __INLINE inline /*!< inline keyword for COSMIC Compiler. Use -pc99 on compile line */
#define __STATIC_INLINE static inline
#else
#error Unknown compiler
#endif
/** __FPU_USED indicates whether an FPU is used or not.
This core does not support an FPU at all
*/
#define __FPU_USED 0U
#if defined ( __CC_ARM )
#if defined __TARGET_FPU_VFP
#error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
#endif
#elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
#if defined __ARM_PCS_VFP
#error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
#endif
#elif defined ( __GNUC__ )
#if defined (__VFP_FP__) && !defined(__SOFTFP__)
#error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
#endif
#elif defined ( __ICCARM__ )
#if defined __ARMVFP__
#error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
#endif
#elif defined ( __TMS470__ )
#if defined __TI_VFP_SUPPORT__
#error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
#endif
#elif defined ( __TASKING__ )
#if defined __FPU_VFP__
#error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
#endif
#elif defined ( __CSMC__ )
#if ( __CSMC__ & 0x400U)
#error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
#endif
#endif
#include "core_cmInstr.h" /* Core Instruction Access */
#include "core_cmFunc.h" /* Core Function Access */
#ifdef __cplusplus
}
#endif
#endif /* __CORE_CM0PLUS_H_GENERIC */
#ifndef __CMSIS_GENERIC
#ifndef __CORE_CM0PLUS_H_DEPENDANT
#define __CORE_CM0PLUS_H_DEPENDANT
#ifdef __cplusplus
extern "C" {
#endif
/* check device defines and use defaults */
#if defined __CHECK_DEVICE_DEFINES
#ifndef __CM0PLUS_REV
#define __CM0PLUS_REV 0x0000U
#warning "__CM0PLUS_REV not defined in device header file; using default!"
#endif
#ifndef __MPU_PRESENT
#define __MPU_PRESENT 0U
#warning "__MPU_PRESENT not defined in device header file; using default!"
#endif
#ifndef __VTOR_PRESENT
#define __VTOR_PRESENT 0U
#warning "__VTOR_PRESENT not defined in device header file; using default!"
#endif
#ifndef __NVIC_PRIO_BITS
#define __NVIC_PRIO_BITS 2U
#warning "__NVIC_PRIO_BITS not defined in device header file; using default!"
#endif
#ifndef __Vendor_SysTickConfig
#define __Vendor_SysTickConfig 0U
#warning "__Vendor_SysTickConfig not defined in device header file; using default!"
#endif
#endif
/* IO definitions (access restrictions to peripheral registers) */
/**
\defgroup CMSIS_glob_defs CMSIS Global Defines
<strong>IO Type Qualifiers</strong> are used
\li to specify the access to peripheral variables.
\li for automatic generation of peripheral register debug information.
*/
#ifdef __cplusplus
#define __I volatile /*!< Defines 'read only' permissions */
#else
#define __I volatile const /*!< Defines 'read only' permissions */
#endif
#define __O volatile /*!< Defines 'write only' permissions */
#define __IO volatile /*!< Defines 'read / write' permissions */
/* following defines should be used for structure members */
#define __IM volatile const /*! Defines 'read only' structure member permissions */
#define __OM volatile /*! Defines 'write only' structure member permissions */
#define __IOM volatile /*! Defines 'read / write' structure member permissions */
/*@} end of group Cortex-M0+ */
/*******************************************************************************
* Register Abstraction
Core Register contain:
- Core Register
- Core NVIC Register
- Core SCB Register
- Core SysTick Register
- Core MPU Register
******************************************************************************/
/**
\defgroup CMSIS_core_register Defines and Type Definitions
\brief Type definitions and defines for Cortex-M processor based devices.
*/
/**
\ingroup CMSIS_core_register
\defgroup CMSIS_CORE Status and Control Registers
\brief Core Register type definitions.
@{
*/
/**
\brief Union type to access the Application Program Status Register (APSR).
*/
typedef union
{
struct
{
uint32_t _reserved0:28; /*!< bit: 0..27 Reserved */
uint32_t V:1; /*!< bit: 28 Overflow condition code flag */
uint32_t C:1; /*!< bit: 29 Carry condition code flag */
uint32_t Z:1; /*!< bit: 30 Zero condition code flag */
uint32_t N:1; /*!< bit: 31 Negative condition code flag */
} b; /*!< Structure used for bit access */
uint32_t w; /*!< Type used for word access */
} APSR_Type;
/* APSR Register Definitions */
#define APSR_N_Pos 31U /*!< APSR: N Position */
#define APSR_N_Msk (1UL << APSR_N_Pos) /*!< APSR: N Mask */
#define APSR_Z_Pos 30U /*!< APSR: Z Position */
#define APSR_Z_Msk (1UL << APSR_Z_Pos) /*!< APSR: Z Mask */
#define APSR_C_Pos 29U /*!< APSR: C Position */
#define APSR_C_Msk (1UL << APSR_C_Pos) /*!< APSR: C Mask */
#define APSR_V_Pos 28U /*!< APSR: V Position */
#define APSR_V_Msk (1UL << APSR_V_Pos) /*!< APSR: V Mask */
/**
\brief Union type to access the Interrupt Program Status Register (IPSR).
*/
typedef union
{
struct
{
uint32_t ISR:9; /*!< bit: 0.. 8 Exception number */
uint32_t _reserved0:23; /*!< bit: 9..31 Reserved */
} b; /*!< Structure used for bit access */
uint32_t w; /*!< Type used for word access */
} IPSR_Type;
/* IPSR Register Definitions */
#define IPSR_ISR_Pos 0U /*!< IPSR: ISR Position */
#define IPSR_ISR_Msk (0x1FFUL /*<< IPSR_ISR_Pos*/) /*!< IPSR: ISR Mask */
/**
\brief Union type to access the Special-Purpose Program Status Registers (xPSR).
*/
typedef union
{
struct
{
uint32_t ISR:9; /*!< bit: 0.. 8 Exception number */
uint32_t _reserved0:15; /*!< bit: 9..23 Reserved */
uint32_t T:1; /*!< bit: 24 Thumb bit (read 0) */
uint32_t _reserved1:3; /*!< bit: 25..27 Reserved */
uint32_t V:1; /*!< bit: 28 Overflow condition code flag */
uint32_t C:1; /*!< bit: 29 Carry condition code flag */
uint32_t Z:1; /*!< bit: 30 Zero condition code flag */
uint32_t N:1; /*!< bit: 31 Negative condition code flag */
} b; /*!< Structure used for bit access */
uint32_t w; /*!< Type used for word access */
} xPSR_Type;
/* xPSR Register Definitions */
#define xPSR_N_Pos 31U /*!< xPSR: N Position */
#define xPSR_N_Msk (1UL << xPSR_N_Pos) /*!< xPSR: N Mask */
#define xPSR_Z_Pos 30U /*!< xPSR: Z Position */
#define xPSR_Z_Msk (1UL << xPSR_Z_Pos) /*!< xPSR: Z Mask */
#define xPSR_C_Pos 29U /*!< xPSR: C Position */
#define xPSR_C_Msk (1UL << xPSR_C_Pos) /*!< xPSR: C Mask */
#define xPSR_V_Pos 28U /*!< xPSR: V Position */
#define xPSR_V_Msk (1UL << xPSR_V_Pos) /*!< xPSR: V Mask */
#define xPSR_T_Pos 24U /*!< xPSR: T Position */
#define xPSR_T_Msk (1UL << xPSR_T_Pos) /*!< xPSR: T Mask */
#define xPSR_ISR_Pos 0U /*!< xPSR: ISR Position */
#define xPSR_ISR_Msk (0x1FFUL /*<< xPSR_ISR_Pos*/) /*!< xPSR: ISR Mask */
/**
\brief Union type to access the Control Registers (CONTROL).
*/
typedef union
{
struct
{
uint32_t nPRIV:1; /*!< bit: 0 Execution privilege in Thread mode */
uint32_t SPSEL:1; /*!< bit: 1 Stack to be used */
uint32_t _reserved1:30; /*!< bit: 2..31 Reserved */
} b; /*!< Structure used for bit access */
uint32_t w; /*!< Type used for word access */
} CONTROL_Type;
/* CONTROL Register Definitions */
#define CONTROL_SPSEL_Pos 1U /*!< CONTROL: SPSEL Position */
#define CONTROL_SPSEL_Msk (1UL << CONTROL_SPSEL_Pos) /*!< CONTROL: SPSEL Mask */
#define CONTROL_nPRIV_Pos 0U /*!< CONTROL: nPRIV Position */
#define CONTROL_nPRIV_Msk (1UL /*<< CONTROL_nPRIV_Pos*/) /*!< CONTROL: nPRIV Mask */
/*@} end of group CMSIS_CORE */
/**
\ingroup CMSIS_core_register
\defgroup CMSIS_NVIC Nested Vectored Interrupt Controller (NVIC)
\brief Type definitions for the NVIC Registers
@{
*/
/**
\brief Structure type to access the Nested Vectored Interrupt Controller (NVIC).
*/
typedef struct
{
__IOM uint32_t ISER[1U]; /*!< Offset: 0x000 (R/W) Interrupt Set Enable Register */
uint32_t RESERVED0[31U];
__IOM uint32_t ICER[1U]; /*!< Offset: 0x080 (R/W) Interrupt Clear Enable Register */
uint32_t RSERVED1[31U];
__IOM uint32_t ISPR[1U]; /*!< Offset: 0x100 (R/W) Interrupt Set Pending Register */
uint32_t RESERVED2[31U];
__IOM uint32_t ICPR[1U]; /*!< Offset: 0x180 (R/W) Interrupt Clear Pending Register */
uint32_t RESERVED3[31U];
uint32_t RESERVED4[64U];
__IOM uint32_t IP[8U]; /*!< Offset: 0x300 (R/W) Interrupt Priority Register */
} NVIC_Type;
/*@} end of group CMSIS_NVIC */
/**
\ingroup CMSIS_core_register
\defgroup CMSIS_SCB System Control Block (SCB)
\brief Type definitions for the System Control Block Registers
@{
*/
/**
\brief Structure type to access the System Control Block (SCB).
*/
typedef struct
{
__IM uint32_t CPUID; /*!< Offset: 0x000 (R/ ) CPUID Base Register */
__IOM uint32_t ICSR; /*!< Offset: 0x004 (R/W) Interrupt Control and State Register */
#if (__VTOR_PRESENT == 1U)
__IOM uint32_t VTOR; /*!< Offset: 0x008 (R/W) Vector Table Offset Register */
#else
uint32_t RESERVED0;
#endif
__IOM uint32_t AIRCR; /*!< Offset: 0x00C (R/W) Application Interrupt and Reset Control Register */
__IOM uint32_t SCR; /*!< Offset: 0x010 (R/W) System Control Register */
__IOM uint32_t CCR; /*!< Offset: 0x014 (R/W) Configuration Control Register */
uint32_t RESERVED1;
__IOM uint32_t SHP[2U]; /*!< Offset: 0x01C (R/W) System Handlers Priority Registers. [0] is RESERVED */
__IOM uint32_t SHCSR; /*!< Offset: 0x024 (R/W) System Handler Control and State Register */
} SCB_Type;
/* SCB CPUID Register Definitions */
#define SCB_CPUID_IMPLEMENTER_Pos 24U /*!< SCB CPUID: IMPLEMENTER Position */
#define SCB_CPUID_IMPLEMENTER_Msk (0xFFUL << SCB_CPUID_IMPLEMENTER_Pos) /*!< SCB CPUID: IMPLEMENTER Mask */
#define SCB_CPUID_VARIANT_Pos 20U /*!< SCB CPUID: VARIANT Position */
#define SCB_CPUID_VARIANT_Msk (0xFUL << SCB_CPUID_VARIANT_Pos) /*!< SCB CPUID: VARIANT Mask */
#define SCB_CPUID_ARCHITECTURE_Pos 16U /*!< SCB CPUID: ARCHITECTURE Position */
#define SCB_CPUID_ARCHITECTURE_Msk (0xFUL << SCB_CPUID_ARCHITECTURE_Pos) /*!< SCB CPUID: ARCHITECTURE Mask */
#define SCB_CPUID_PARTNO_Pos 4U /*!< SCB CPUID: PARTNO Position */
#define SCB_CPUID_PARTNO_Msk (0xFFFUL << SCB_CPUID_PARTNO_Pos) /*!< SCB CPUID: PARTNO Mask */
#define SCB_CPUID_REVISION_Pos 0U /*!< SCB CPUID: REVISION Position */
#define SCB_CPUID_REVISION_Msk (0xFUL /*<< SCB_CPUID_REVISION_Pos*/) /*!< SCB CPUID: REVISION Mask */
/* SCB Interrupt Control State Register Definitions */
#define SCB_ICSR_NMIPENDSET_Pos 31U /*!< SCB ICSR: NMIPENDSET Position */
#define SCB_ICSR_NMIPENDSET_Msk (1UL << SCB_ICSR_NMIPENDSET_Pos) /*!< SCB ICSR: NMIPENDSET Mask */
#define SCB_ICSR_PENDSVSET_Pos 28U /*!< SCB ICSR: PENDSVSET Position */
#define SCB_ICSR_PENDSVSET_Msk (1UL << SCB_ICSR_PENDSVSET_Pos) /*!< SCB ICSR: PENDSVSET Mask */
#define SCB_ICSR_PENDSVCLR_Pos 27U /*!< SCB ICSR: PENDSVCLR Position */
#define SCB_ICSR_PENDSVCLR_Msk (1UL << SCB_ICSR_PENDSVCLR_Pos) /*!< SCB ICSR: PENDSVCLR Mask */
#define SCB_ICSR_PENDSTSET_Pos 26U /*!< SCB ICSR: PENDSTSET Position */
#define SCB_ICSR_PENDSTSET_Msk (1UL << SCB_ICSR_PENDSTSET_Pos) /*!< SCB ICSR: PENDSTSET Mask */
#define SCB_ICSR_PENDSTCLR_Pos 25U /*!< SCB ICSR: PENDSTCLR Position */
#define SCB_ICSR_PENDSTCLR_Msk (1UL << SCB_ICSR_PENDSTCLR_Pos) /*!< SCB ICSR: PENDSTCLR Mask */
#define SCB_ICSR_ISRPREEMPT_Pos 23U /*!< SCB ICSR: ISRPREEMPT Position */
#define SCB_ICSR_ISRPREEMPT_Msk (1UL << SCB_ICSR_ISRPREEMPT_Pos) /*!< SCB ICSR: ISRPREEMPT Mask */
#define SCB_ICSR_ISRPENDING_Pos 22U /*!< SCB ICSR: ISRPENDING Position */
#define SCB_ICSR_ISRPENDING_Msk (1UL << SCB_ICSR_ISRPENDING_Pos) /*!< SCB ICSR: ISRPENDING Mask */
#define SCB_ICSR_VECTPENDING_Pos 12U /*!< SCB ICSR: VECTPENDING Position */
#define SCB_ICSR_VECTPENDING_Msk (0x1FFUL << SCB_ICSR_VECTPENDING_Pos) /*!< SCB ICSR: VECTPENDING Mask */
#define SCB_ICSR_VECTACTIVE_Pos 0U /*!< SCB ICSR: VECTACTIVE Position */
#define SCB_ICSR_VECTACTIVE_Msk (0x1FFUL /*<< SCB_ICSR_VECTACTIVE_Pos*/) /*!< SCB ICSR: VECTACTIVE Mask */
#if (__VTOR_PRESENT == 1U)
/* SCB Interrupt Control State Register Definitions */
#define SCB_VTOR_TBLOFF_Pos 8U /*!< SCB VTOR: TBLOFF Position */
#define SCB_VTOR_TBLOFF_Msk (0xFFFFFFUL << SCB_VTOR_TBLOFF_Pos) /*!< SCB VTOR: TBLOFF Mask */
#endif
/* SCB Application Interrupt and Reset Control Register Definitions */
#define SCB_AIRCR_VECTKEY_Pos 16U /*!< SCB AIRCR: VECTKEY Position */
#define SCB_AIRCR_VECTKEY_Msk (0xFFFFUL << SCB_AIRCR_VECTKEY_Pos) /*!< SCB AIRCR: VECTKEY Mask */
#define SCB_AIRCR_VECTKEYSTAT_Pos 16U /*!< SCB AIRCR: VECTKEYSTAT Position */
#define SCB_AIRCR_VECTKEYSTAT_Msk (0xFFFFUL << SCB_AIRCR_VECTKEYSTAT_Pos) /*!< SCB AIRCR: VECTKEYSTAT Mask */
#define SCB_AIRCR_ENDIANESS_Pos 15U /*!< SCB AIRCR: ENDIANESS Position */
#define SCB_AIRCR_ENDIANESS_Msk (1UL << SCB_AIRCR_ENDIANESS_Pos) /*!< SCB AIRCR: ENDIANESS Mask */
#define SCB_AIRCR_SYSRESETREQ_Pos 2U /*!< SCB AIRCR: SYSRESETREQ Position */
#define SCB_AIRCR_SYSRESETREQ_Msk (1UL << SCB_AIRCR_SYSRESETREQ_Pos) /*!< SCB AIRCR: SYSRESETREQ Mask */
#define SCB_AIRCR_VECTCLRACTIVE_Pos 1U /*!< SCB AIRCR: VECTCLRACTIVE Position */
#define SCB_AIRCR_VECTCLRACTIVE_Msk (1UL << SCB_AIRCR_VECTCLRACTIVE_Pos) /*!< SCB AIRCR: VECTCLRACTIVE Mask */
/* SCB System Control Register Definitions */
#define SCB_SCR_SEVONPEND_Pos 4U /*!< SCB SCR: SEVONPEND Position */
#define SCB_SCR_SEVONPEND_Msk (1UL << SCB_SCR_SEVONPEND_Pos) /*!< SCB SCR: SEVONPEND Mask */
#define SCB_SCR_SLEEPDEEP_Pos 2U /*!< SCB SCR: SLEEPDEEP Position */
#define SCB_SCR_SLEEPDEEP_Msk (1UL << SCB_SCR_SLEEPDEEP_Pos) /*!< SCB SCR: SLEEPDEEP Mask */
#define SCB_SCR_SLEEPONEXIT_Pos 1U /*!< SCB SCR: SLEEPONEXIT Position */
#define SCB_SCR_SLEEPONEXIT_Msk (1UL << SCB_SCR_SLEEPONEXIT_Pos) /*!< SCB SCR: SLEEPONEXIT Mask */
/* SCB Configuration Control Register Definitions */
#define SCB_CCR_STKALIGN_Pos 9U /*!< SCB CCR: STKALIGN Position */
#define SCB_CCR_STKALIGN_Msk (1UL << SCB_CCR_STKALIGN_Pos) /*!< SCB CCR: STKALIGN Mask */
#define SCB_CCR_UNALIGN_TRP_Pos 3U /*!< SCB CCR: UNALIGN_TRP Position */
#define SCB_CCR_UNALIGN_TRP_Msk (1UL << SCB_CCR_UNALIGN_TRP_Pos) /*!< SCB CCR: UNALIGN_TRP Mask */
/* SCB System Handler Control and State Register Definitions */
#define SCB_SHCSR_SVCALLPENDED_Pos 15U /*!< SCB SHCSR: SVCALLPENDED Position */
#define SCB_SHCSR_SVCALLPENDED_Msk (1UL << SCB_SHCSR_SVCALLPENDED_Pos) /*!< SCB SHCSR: SVCALLPENDED Mask */
/*@} end of group CMSIS_SCB */
/**
\ingroup CMSIS_core_register
\defgroup CMSIS_SysTick System Tick Timer (SysTick)
\brief Type definitions for the System Timer Registers.
@{
*/
/**
\brief Structure type to access the System Timer (SysTick).
*/
typedef struct
{
__IOM uint32_t CTRL; /*!< Offset: 0x000 (R/W) SysTick Control and Status Register */
__IOM uint32_t LOAD; /*!< Offset: 0x004 (R/W) SysTick Reload Value Register */
__IOM uint32_t VAL; /*!< Offset: 0x008 (R/W) SysTick Current Value Register */
__IM uint32_t CALIB; /*!< Offset: 0x00C (R/ ) SysTick Calibration Register */
} SysTick_Type;
/* SysTick Control / Status Register Definitions */
#define SysTick_CTRL_COUNTFLAG_Pos 16U /*!< SysTick CTRL: COUNTFLAG Position */
#define SysTick_CTRL_COUNTFLAG_Msk (1UL << SysTick_CTRL_COUNTFLAG_Pos) /*!< SysTick CTRL: COUNTFLAG Mask */
#define SysTick_CTRL_CLKSOURCE_Pos 2U /*!< SysTick CTRL: CLKSOURCE Position */
#define SysTick_CTRL_CLKSOURCE_Msk (1UL << SysTick_CTRL_CLKSOURCE_Pos) /*!< SysTick CTRL: CLKSOURCE Mask */
#define SysTick_CTRL_TICKINT_Pos 1U /*!< SysTick CTRL: TICKINT Position */
#define SysTick_CTRL_TICKINT_Msk (1UL << SysTick_CTRL_TICKINT_Pos) /*!< SysTick CTRL: TICKINT Mask */
#define SysTick_CTRL_ENABLE_Pos 0U /*!< SysTick CTRL: ENABLE Position */
#define SysTick_CTRL_ENABLE_Msk (1UL /*<< SysTick_CTRL_ENABLE_Pos*/) /*!< SysTick CTRL: ENABLE Mask */
/* SysTick Reload Register Definitions */
#define SysTick_LOAD_RELOAD_Pos 0U /*!< SysTick LOAD: RELOAD Position */
#define SysTick_LOAD_RELOAD_Msk (0xFFFFFFUL /*<< SysTick_LOAD_RELOAD_Pos*/) /*!< SysTick LOAD: RELOAD Mask */
/* SysTick Current Register Definitions */
#define SysTick_VAL_CURRENT_Pos 0U /*!< SysTick VAL: CURRENT Position */
#define SysTick_VAL_CURRENT_Msk (0xFFFFFFUL /*<< SysTick_VAL_CURRENT_Pos*/) /*!< SysTick VAL: CURRENT Mask */
/* SysTick Calibration Register Definitions */
#define SysTick_CALIB_NOREF_Pos 31U /*!< SysTick CALIB: NOREF Position */
#define SysTick_CALIB_NOREF_Msk (1UL << SysTick_CALIB_NOREF_Pos) /*!< SysTick CALIB: NOREF Mask */
#define SysTick_CALIB_SKEW_Pos 30U /*!< SysTick CALIB: SKEW Position */
#define SysTick_CALIB_SKEW_Msk (1UL << SysTick_CALIB_SKEW_Pos) /*!< SysTick CALIB: SKEW Mask */
#define SysTick_CALIB_TENMS_Pos 0U /*!< SysTick CALIB: TENMS Position */
#define SysTick_CALIB_TENMS_Msk (0xFFFFFFUL /*<< SysTick_CALIB_TENMS_Pos*/) /*!< SysTick CALIB: TENMS Mask */
/*@} end of group CMSIS_SysTick */
#if (__MPU_PRESENT == 1U)
/**
\ingroup CMSIS_core_register
\defgroup CMSIS_MPU Memory Protection Unit (MPU)
\brief Type definitions for the Memory Protection Unit (MPU)
@{
*/
/**
\brief Structure type to access the Memory Protection Unit (MPU).
*/
typedef struct
{
__IM uint32_t TYPE; /*!< Offset: 0x000 (R/ ) MPU Type Register */
__IOM uint32_t CTRL; /*!< Offset: 0x004 (R/W) MPU Control Register */
__IOM uint32_t RNR; /*!< Offset: 0x008 (R/W) MPU Region RNRber Register */
__IOM uint32_t RBAR; /*!< Offset: 0x00C (R/W) MPU Region Base Address Register */
__IOM uint32_t RASR; /*!< Offset: 0x010 (R/W) MPU Region Attribute and Size Register */
} MPU_Type;
/* MPU Type Register Definitions */
#define MPU_TYPE_IREGION_Pos 16U /*!< MPU TYPE: IREGION Position */
#define MPU_TYPE_IREGION_Msk (0xFFUL << MPU_TYPE_IREGION_Pos) /*!< MPU TYPE: IREGION Mask */
#define MPU_TYPE_DREGION_Pos 8U /*!< MPU TYPE: DREGION Position */
#define MPU_TYPE_DREGION_Msk (0xFFUL << MPU_TYPE_DREGION_Pos) /*!< MPU TYPE: DREGION Mask */
#define MPU_TYPE_SEPARATE_Pos 0U /*!< MPU TYPE: SEPARATE Position */
#define MPU_TYPE_SEPARATE_Msk (1UL /*<< MPU_TYPE_SEPARATE_Pos*/) /*!< MPU TYPE: SEPARATE Mask */
/* MPU Control Register Definitions */
#define MPU_CTRL_PRIVDEFENA_Pos 2U /*!< MPU CTRL: PRIVDEFENA Position */
#define MPU_CTRL_PRIVDEFENA_Msk (1UL << MPU_CTRL_PRIVDEFENA_Pos) /*!< MPU CTRL: PRIVDEFENA Mask */
#define MPU_CTRL_HFNMIENA_Pos 1U /*!< MPU CTRL: HFNMIENA Position */
#define MPU_CTRL_HFNMIENA_Msk (1UL << MPU_CTRL_HFNMIENA_Pos) /*!< MPU CTRL: HFNMIENA Mask */
#define MPU_CTRL_ENABLE_Pos 0U /*!< MPU CTRL: ENABLE Position */
#define MPU_CTRL_ENABLE_Msk (1UL /*<< MPU_CTRL_ENABLE_Pos*/) /*!< MPU CTRL: ENABLE Mask */
/* MPU Region Number Register Definitions */
#define MPU_RNR_REGION_Pos 0U /*!< MPU RNR: REGION Position */
#define MPU_RNR_REGION_Msk (0xFFUL /*<< MPU_RNR_REGION_Pos*/) /*!< MPU RNR: REGION Mask */
/* MPU Region Base Address Register Definitions */
#define MPU_RBAR_ADDR_Pos 8U /*!< MPU RBAR: ADDR Position */
#define MPU_RBAR_ADDR_Msk (0xFFFFFFUL << MPU_RBAR_ADDR_Pos) /*!< MPU RBAR: ADDR Mask */
#define MPU_RBAR_VALID_Pos 4U /*!< MPU RBAR: VALID Position */
#define MPU_RBAR_VALID_Msk (1UL << MPU_RBAR_VALID_Pos) /*!< MPU RBAR: VALID Mask */
#define MPU_RBAR_REGION_Pos 0U /*!< MPU RBAR: REGION Position */
#define MPU_RBAR_REGION_Msk (0xFUL /*<< MPU_RBAR_REGION_Pos*/) /*!< MPU RBAR: REGION Mask */
/* MPU Region Attribute and Size Register Definitions */
#define MPU_RASR_ATTRS_Pos 16U /*!< MPU RASR: MPU Region Attribute field Position */
#define MPU_RASR_ATTRS_Msk (0xFFFFUL << MPU_RASR_ATTRS_Pos) /*!< MPU RASR: MPU Region Attribute field Mask */
#define MPU_RASR_XN_Pos 28U /*!< MPU RASR: ATTRS.XN Position */
#define MPU_RASR_XN_Msk (1UL << MPU_RASR_XN_Pos) /*!< MPU RASR: ATTRS.XN Mask */
#define MPU_RASR_AP_Pos 24U /*!< MPU RASR: ATTRS.AP Position */
#define MPU_RASR_AP_Msk (0x7UL << MPU_RASR_AP_Pos) /*!< MPU RASR: ATTRS.AP Mask */
#define MPU_RASR_TEX_Pos 19U /*!< MPU RASR: ATTRS.TEX Position */
#define MPU_RASR_TEX_Msk (0x7UL << MPU_RASR_TEX_Pos) /*!< MPU RASR: ATTRS.TEX Mask */
#define MPU_RASR_S_Pos 18U /*!< MPU RASR: ATTRS.S Position */
#define MPU_RASR_S_Msk (1UL << MPU_RASR_S_Pos) /*!< MPU RASR: ATTRS.S Mask */
#define MPU_RASR_C_Pos 17U /*!< MPU RASR: ATTRS.C Position */
#define MPU_RASR_C_Msk (1UL << MPU_RASR_C_Pos) /*!< MPU RASR: ATTRS.C Mask */
#define MPU_RASR_B_Pos 16U /*!< MPU RASR: ATTRS.B Position */
#define MPU_RASR_B_Msk (1UL << MPU_RASR_B_Pos) /*!< MPU RASR: ATTRS.B Mask */
#define MPU_RASR_SRD_Pos 8U /*!< MPU RASR: Sub-Region Disable Position */
#define MPU_RASR_SRD_Msk (0xFFUL << MPU_RASR_SRD_Pos) /*!< MPU RASR: Sub-Region Disable Mask */
#define MPU_RASR_SIZE_Pos 1U /*!< MPU RASR: Region Size Field Position */
#define MPU_RASR_SIZE_Msk (0x1FUL << MPU_RASR_SIZE_Pos) /*!< MPU RASR: Region Size Field Mask */
#define MPU_RASR_ENABLE_Pos 0U /*!< MPU RASR: Region enable bit Position */
#define MPU_RASR_ENABLE_Msk (1UL /*<< MPU_RASR_ENABLE_Pos*/) /*!< MPU RASR: Region enable bit Disable Mask */
/*@} end of group CMSIS_MPU */
#endif
/**
\ingroup CMSIS_core_register
\defgroup CMSIS_CoreDebug Core Debug Registers (CoreDebug)
\brief Cortex-M0+ Core Debug Registers (DCB registers, SHCSR, and DFSR) are only accessible over DAP and not via processor.
Therefore they are not covered by the Cortex-M0+ header file.
@{
*/
/*@} end of group CMSIS_CoreDebug */
/**
\ingroup CMSIS_core_register
\defgroup CMSIS_core_bitfield Core register bit field macros
\brief Macros for use with bit field definitions (xxx_Pos, xxx_Msk).
@{
*/
/**
\brief Mask and shift a bit field value for use in a register bit range.
\param[in] field Name of the register bit field.
\param[in] value Value of the bit field.
\return Masked and shifted value.
*/
#define _VAL2FLD(field, value) ((value << field ## _Pos) & field ## _Msk)
/**
\brief Mask and shift a register value to extract a bit filed value.
\param[in] field Name of the register bit field.
\param[in] value Value of register.
\return Masked and shifted bit field value.
*/
#define _FLD2VAL(field, value) ((value & field ## _Msk) >> field ## _Pos)
/*@} end of group CMSIS_core_bitfield */
/**
\ingroup CMSIS_core_register
\defgroup CMSIS_core_base Core Definitions
\brief Definitions for base addresses, unions, and structures.
@{
*/
/* Memory mapping of Cortex-M0+ Hardware */
#define SCS_BASE (0xE000E000UL) /*!< System Control Space Base Address */
#define SysTick_BASE (SCS_BASE + 0x0010UL) /*!< SysTick Base Address */
#define NVIC_BASE (SCS_BASE + 0x0100UL) /*!< NVIC Base Address */
#define SCB_BASE (SCS_BASE + 0x0D00UL) /*!< System Control Block Base Address */
#define SCB ((SCB_Type *) SCB_BASE ) /*!< SCB configuration struct */
#define SysTick ((SysTick_Type *) SysTick_BASE ) /*!< SysTick configuration struct */
#define NVIC ((NVIC_Type *) NVIC_BASE ) /*!< NVIC configuration struct */
#if (__MPU_PRESENT == 1U)
#define MPU_BASE (SCS_BASE + 0x0D90UL) /*!< Memory Protection Unit */
#define MPU ((MPU_Type *) MPU_BASE ) /*!< Memory Protection Unit */
#endif
/*@} */
/*******************************************************************************
* Hardware Abstraction Layer
Core Function Interface contains:
- Core NVIC Functions
- Core SysTick Functions
- Core Register Access Functions
******************************************************************************/
/**
\defgroup CMSIS_Core_FunctionInterface Functions and Instructions Reference
*/
/* ########################## NVIC functions #################################### */
/**
\ingroup CMSIS_Core_FunctionInterface
\defgroup CMSIS_Core_NVICFunctions NVIC Functions
\brief Functions that manage interrupts and exceptions via the NVIC.
@{
*/
/* Interrupt Priorities are WORD accessible only under ARMv6M */
/* The following MACROS handle generation of the register offset and byte masks */
#define _BIT_SHIFT(IRQn) ( ((((uint32_t)(int32_t)(IRQn)) ) & 0x03UL) * 8UL)
#define _SHP_IDX(IRQn) ( (((((uint32_t)(int32_t)(IRQn)) & 0x0FUL)-8UL) >> 2UL) )
#define _IP_IDX(IRQn) ( (((uint32_t)(int32_t)(IRQn)) >> 2UL) )
/**
\brief Enable External Interrupt
\details Enables a device-specific interrupt in the NVIC interrupt controller.
\param [in] IRQn External interrupt number. Value cannot be negative.
*/
__STATIC_INLINE void NVIC_EnableIRQ(IRQn_Type IRQn)
{
NVIC->ISER[0U] = (uint32_t)(1UL << (((uint32_t)(int32_t)IRQn) & 0x1FUL));
}
/**
\brief Disable External Interrupt
\details Disables a device-specific interrupt in the NVIC interrupt controller.
\param [in] IRQn External interrupt number. Value cannot be negative.
*/
__STATIC_INLINE void NVIC_DisableIRQ(IRQn_Type IRQn)
{
NVIC->ICER[0U] = (uint32_t)(1UL << (((uint32_t)(int32_t)IRQn) & 0x1FUL));
}
/**
\brief Get Pending Interrupt
\details Reads the pending register in the NVIC and returns the pending bit for the specified interrupt.
\param [in] IRQn Interrupt number.
\return 0 Interrupt status is not pending.
\return 1 Interrupt status is pending.
*/
__STATIC_INLINE uint32_t NVIC_GetPendingIRQ(IRQn_Type IRQn)
{
return((uint32_t)(((NVIC->ISPR[0U] & (1UL << (((uint32_t)(int32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL));
}
/**
\brief Set Pending Interrupt
\details Sets the pending bit of an external interrupt.
\param [in] IRQn Interrupt number. Value cannot be negative.
*/
__STATIC_INLINE void NVIC_SetPendingIRQ(IRQn_Type IRQn)
{
NVIC->ISPR[0U] = (uint32_t)(1UL << (((uint32_t)(int32_t)IRQn) & 0x1FUL));
}
/**
\brief Clear Pending Interrupt
\details Clears the pending bit of an external interrupt.
\param [in] IRQn External interrupt number. Value cannot be negative.
*/
__STATIC_INLINE void NVIC_ClearPendingIRQ(IRQn_Type IRQn)
{
NVIC->ICPR[0U] = (uint32_t)(1UL << (((uint32_t)(int32_t)IRQn) & 0x1FUL));
}
/**
\brief Set Interrupt Priority
\details Sets the priority of an interrupt.
\note The priority cannot be set for every core interrupt.
\param [in] IRQn Interrupt number.
\param [in] priority Priority to set.
*/
__STATIC_INLINE void NVIC_SetPriority(IRQn_Type IRQn, uint32_t priority)
{
if ((int32_t)(IRQn) < 0)
{
SCB->SHP[_SHP_IDX(IRQn)] = ((uint32_t)(SCB->SHP[_SHP_IDX(IRQn)] & ~(0xFFUL << _BIT_SHIFT(IRQn))) |
(((priority << (8U - __NVIC_PRIO_BITS)) & (uint32_t)0xFFUL) << _BIT_SHIFT(IRQn)));
}
else
{
NVIC->IP[_IP_IDX(IRQn)] = ((uint32_t)(NVIC->IP[_IP_IDX(IRQn)] & ~(0xFFUL << _BIT_SHIFT(IRQn))) |
(((priority << (8U - __NVIC_PRIO_BITS)) & (uint32_t)0xFFUL) << _BIT_SHIFT(IRQn)));
}
}
/**
\brief Get Interrupt Priority
\details Reads the priority of an interrupt.
The interrupt number can be positive to specify an external (device specific) interrupt,
or negative to specify an internal (core) interrupt.
\param [in] IRQn Interrupt number.
\return Interrupt Priority.
Value is aligned automatically to the implemented priority bits of the microcontroller.
*/
__STATIC_INLINE uint32_t NVIC_GetPriority(IRQn_Type IRQn)
{
if ((int32_t)(IRQn) < 0)
{
return((uint32_t)(((SCB->SHP[_SHP_IDX(IRQn)] >> _BIT_SHIFT(IRQn) ) & (uint32_t)0xFFUL) >> (8U - __NVIC_PRIO_BITS)));
}
else
{
return((uint32_t)(((NVIC->IP[ _IP_IDX(IRQn)] >> _BIT_SHIFT(IRQn) ) & (uint32_t)0xFFUL) >> (8U - __NVIC_PRIO_BITS)));
}
}
/**
\brief System Reset
\details Initiates a system reset request to reset the MCU.
*/
__STATIC_INLINE void NVIC_SystemReset(void)
{
__DSB(); /* Ensure all outstanding memory accesses included
buffered write are completed before reset */
SCB->AIRCR = ((0x5FAUL << SCB_AIRCR_VECTKEY_Pos) |
SCB_AIRCR_SYSRESETREQ_Msk);
__DSB(); /* Ensure completion of memory access */
for(;;) /* wait until reset */
{
__NOP();
}
}
/*@} end of CMSIS_Core_NVICFunctions */
/* ################################## SysTick function ############################################ */
/**
\ingroup CMSIS_Core_FunctionInterface
\defgroup CMSIS_Core_SysTickFunctions SysTick Functions
\brief Functions that configure the System.
@{
*/
#if (__Vendor_SysTickConfig == 0U)
/**
\brief System Tick Configuration
\details Initializes the System Timer and its interrupt, and starts the System Tick Timer.
Counter is in free running mode to generate periodic interrupts.
\param [in] ticks Number of ticks between two interrupts.
\return 0 Function succeeded.
\return 1 Function failed.
\note When the variable <b>__Vendor_SysTickConfig</b> is set to 1, then the
function <b>SysTick_Config</b> is not included. In this case, the file <b><i>device</i>.h</b>
must contain a vendor-specific implementation of this function.
*/
__STATIC_INLINE uint32_t SysTick_Config(uint32_t ticks)
{
if ((ticks - 1UL) > SysTick_LOAD_RELOAD_Msk)
{
return (1UL); /* Reload value impossible */
}
SysTick->LOAD = (uint32_t)(ticks - 1UL); /* set reload register */
NVIC_SetPriority (SysTick_IRQn, (1UL << __NVIC_PRIO_BITS) - 1UL); /* set Priority for Systick Interrupt */
SysTick->VAL = 0UL; /* Load the SysTick Counter Value */
SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk |
SysTick_CTRL_TICKINT_Msk |
SysTick_CTRL_ENABLE_Msk; /* Enable SysTick IRQ and SysTick Timer */
return (0UL); /* Function successful */
}
#endif
/*@} end of CMSIS_Core_SysTickFunctions */
#ifdef __cplusplus
}
#endif
#endif /* __CORE_CM0PLUS_H_DEPENDANT */
#endif /* __CMSIS_GENERIC */
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04_firmware/stm32/dji_a_board/RCPROyuan/Inc/m3_inc/core_cmFunc.h
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/**************************************************************************//**
* @file core_cmFunc.h
* @brief CMSIS Cortex-M Core Function Access Header File
* @version V4.30
* @date 20. October 2015
******************************************************************************/
/* Copyright (c) 2009 - 2015 ARM LIMITED
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
- Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
- Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
- Neither the name of ARM nor the names of its contributors may be used
to endorse or promote products derived from this software without
specific prior written permission.
*
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.
---------------------------------------------------------------------------*/
#if defined ( __ICCARM__ )
#pragma system_include /* treat file as system include file for MISRA check */
#elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
#pragma clang system_header /* treat file as system include file */
#endif
#ifndef __CORE_CMFUNC_H
#define __CORE_CMFUNC_H
/* ########################### Core Function Access ########################### */
/** \ingroup CMSIS_Core_FunctionInterface
\defgroup CMSIS_Core_RegAccFunctions CMSIS Core Register Access Functions
@{
*/
/*------------------ RealView Compiler -----------------*/
#if defined ( __CC_ARM )
#include "cmsis_armcc.h"
/*------------------ ARM Compiler V6 -------------------*/
#elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
#include "cmsis_armcc_V6.h"
/*------------------ GNU Compiler ----------------------*/
#elif defined ( __GNUC__ )
#include "cmsis_gcc.h"
/*------------------ ICC Compiler ----------------------*/
#elif defined ( __ICCARM__ )
#include <cmsis_iar.h>
/*------------------ TI CCS Compiler -------------------*/
#elif defined ( __TMS470__ )
#include <cmsis_ccs.h>
/*------------------ TASKING Compiler ------------------*/
#elif defined ( __TASKING__ )
/*
* The CMSIS functions have been implemented as intrinsics in the compiler.
* Please use "carm -?i" to get an up to date list of all intrinsics,
* Including the CMSIS ones.
*/
/*------------------ COSMIC Compiler -------------------*/
#elif defined ( __CSMC__ )
#include <cmsis_csm.h>
#endif
/*@} end of CMSIS_Core_RegAccFunctions */
#endif /* __CORE_CMFUNC_H */
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/m3_inc/core_cmInstr.h
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/**************************************************************************//**
* @file core_cmInstr.h
* @brief CMSIS Cortex-M Core Instruction Access Header File
* @version V4.30
* @date 20. October 2015
******************************************************************************/
/* Copyright (c) 2009 - 2015 ARM LIMITED
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
- Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
- Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
- Neither the name of ARM nor the names of its contributors may be used
to endorse or promote products derived from this software without
specific prior written permission.
*
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.
---------------------------------------------------------------------------*/
#if defined ( __ICCARM__ )
#pragma system_include /* treat file as system include file for MISRA check */
#elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
#pragma clang system_header /* treat file as system include file */
#endif
#ifndef __CORE_CMINSTR_H
#define __CORE_CMINSTR_H
/* ########################## Core Instruction Access ######################### */
/** \defgroup CMSIS_Core_InstructionInterface CMSIS Core Instruction Interface
Access to dedicated instructions
@{
*/
/*------------------ RealView Compiler -----------------*/
#if defined ( __CC_ARM )
#include "cmsis_armcc.h"
/*------------------ ARM Compiler V6 -------------------*/
#elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
#include "cmsis_armcc_V6.h"
/*------------------ GNU Compiler ----------------------*/
#elif defined ( __GNUC__ )
#include "cmsis_gcc.h"
/*------------------ ICC Compiler ----------------------*/
#elif defined ( __ICCARM__ )
#include <cmsis_iar.h>
/*------------------ TI CCS Compiler -------------------*/
#elif defined ( __TMS470__ )
#include <cmsis_ccs.h>
/*------------------ TASKING Compiler ------------------*/
#elif defined ( __TASKING__ )
/*
* The CMSIS functions have been implemented as intrinsics in the compiler.
* Please use "carm -?i" to get an up to date list of all intrinsics,
* Including the CMSIS ones.
*/
/*------------------ COSMIC Compiler -------------------*/
#elif defined ( __CSMC__ )
#include <cmsis_csm.h>
#endif
/*@}*/ /* end of group CMSIS_Core_InstructionInterface */
#endif /* __CORE_CMINSTR_H */
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/m3_inc/core_cmSimd.h
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/**************************************************************************//**
* @file core_cmSimd.h
* @brief CMSIS Cortex-M SIMD Header File
* @version V4.30
* @date 20. October 2015
******************************************************************************/
/* Copyright (c) 2009 - 2015 ARM LIMITED
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
- Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
- Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
- Neither the name of ARM nor the names of its contributors may be used
to endorse or promote products derived from this software without
specific prior written permission.
*
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.
---------------------------------------------------------------------------*/
#if defined ( __ICCARM__ )
#pragma system_include /* treat file as system include file for MISRA check */
#elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
#pragma clang system_header /* treat file as system include file */
#endif
#ifndef __CORE_CMSIMD_H
#define __CORE_CMSIMD_H
#ifdef __cplusplus
extern "C" {
#endif
/* ################### Compiler specific Intrinsics ########################### */
/** \defgroup CMSIS_SIMD_intrinsics CMSIS SIMD Intrinsics
Access to dedicated SIMD instructions
@{
*/
/*------------------ RealView Compiler -----------------*/
#if defined ( __CC_ARM )
#include "cmsis_armcc.h"
/*------------------ ARM Compiler V6 -------------------*/
#elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
#include "cmsis_armcc_V6.h"
/*------------------ GNU Compiler ----------------------*/
#elif defined ( __GNUC__ )
#include "cmsis_gcc.h"
/*------------------ ICC Compiler ----------------------*/
#elif defined ( __ICCARM__ )
#include <cmsis_iar.h>
/*------------------ TI CCS Compiler -------------------*/
#elif defined ( __TMS470__ )
#include <cmsis_ccs.h>
/*------------------ TASKING Compiler ------------------*/
#elif defined ( __TASKING__ )
/*
* The CMSIS functions have been implemented as intrinsics in the compiler.
* Please use "carm -?i" to get an up to date list of all intrinsics,
* Including the CMSIS ones.
*/
/*------------------ COSMIC Compiler -------------------*/
#elif defined ( __CSMC__ )
#include <cmsis_csm.h>
#endif
/*@} end of group CMSIS_SIMD_intrinsics */
#ifdef __cplusplus
}
#endif
#endif /* __CORE_CMSIMD_H */
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/m3_inc/core_sc000.h
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/**************************************************************************//**
* @file core_sc000.h
* @brief CMSIS SC000 Core Peripheral Access Layer Header File
* @version V4.30
* @date 20. October 2015
******************************************************************************/
/* Copyright (c) 2009 - 2015 ARM LIMITED
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
- Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
- Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
- Neither the name of ARM nor the names of its contributors may be used
to endorse or promote products derived from this software without
specific prior written permission.
*
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.
---------------------------------------------------------------------------*/
#if defined ( __ICCARM__ )
#pragma system_include /* treat file as system include file for MISRA check */
#elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
#pragma clang system_header /* treat file as system include file */
#endif
#ifndef __CORE_SC000_H_GENERIC
#define __CORE_SC000_H_GENERIC
#include <stdint.h>
#ifdef __cplusplus
extern "C" {
#endif
/**
\page CMSIS_MISRA_Exceptions MISRA-C:2004 Compliance Exceptions
CMSIS violates the following MISRA-C:2004 rules:
\li Required Rule 8.5, object/function definition in header file.<br>
Function definitions in header files are used to allow 'inlining'.
\li Required Rule 18.4, declaration of union type or object of union type: '{...}'.<br>
Unions are used for effective representation of core registers.
\li Advisory Rule 19.7, Function-like macro defined.<br>
Function-like macros are used to allow more efficient code.
*/
/*******************************************************************************
* CMSIS definitions
******************************************************************************/
/**
\ingroup SC000
@{
*/
/* CMSIS SC000 definitions */
#define __SC000_CMSIS_VERSION_MAIN (0x04U) /*!< [31:16] CMSIS HAL main version */
#define __SC000_CMSIS_VERSION_SUB (0x1EU) /*!< [15:0] CMSIS HAL sub version */
#define __SC000_CMSIS_VERSION ((__SC000_CMSIS_VERSION_MAIN << 16U) | \
__SC000_CMSIS_VERSION_SUB ) /*!< CMSIS HAL version number */
#define __CORTEX_SC (000U) /*!< Cortex secure core */
#if defined ( __CC_ARM )
#define __ASM __asm /*!< asm keyword for ARM Compiler */
#define __INLINE __inline /*!< inline keyword for ARM Compiler */
#define __STATIC_INLINE static __inline
#elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
#define __ASM __asm /*!< asm keyword for ARM Compiler */
#define __INLINE __inline /*!< inline keyword for ARM Compiler */
#define __STATIC_INLINE static __inline
#elif defined ( __GNUC__ )
#define __ASM __asm /*!< asm keyword for GNU Compiler */
#define __INLINE inline /*!< inline keyword for GNU Compiler */
#define __STATIC_INLINE static inline
#elif defined ( __ICCARM__ )
#define __ASM __asm /*!< asm keyword for IAR Compiler */
#define __INLINE inline /*!< inline keyword for IAR Compiler. Only available in High optimization mode! */
#define __STATIC_INLINE static inline
#elif defined ( __TMS470__ )
#define __ASM __asm /*!< asm keyword for TI CCS Compiler */
#define __STATIC_INLINE static inline
#elif defined ( __TASKING__ )
#define __ASM __asm /*!< asm keyword for TASKING Compiler */
#define __INLINE inline /*!< inline keyword for TASKING Compiler */
#define __STATIC_INLINE static inline
#elif defined ( __CSMC__ )
#define __packed
#define __ASM _asm /*!< asm keyword for COSMIC Compiler */
#define __INLINE inline /*!< inline keyword for COSMIC Compiler. Use -pc99 on compile line */
#define __STATIC_INLINE static inline
#else
#error Unknown compiler
#endif
/** __FPU_USED indicates whether an FPU is used or not.
This core does not support an FPU at all
*/
#define __FPU_USED 0U
#if defined ( __CC_ARM )
#if defined __TARGET_FPU_VFP
#error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
#endif
#elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
#if defined __ARM_PCS_VFP
#error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
#endif
#elif defined ( __GNUC__ )
#if defined (__VFP_FP__) && !defined(__SOFTFP__)
#error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
#endif
#elif defined ( __ICCARM__ )
#if defined __ARMVFP__
#error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
#endif
#elif defined ( __TMS470__ )
#if defined __TI_VFP_SUPPORT__
#error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
#endif
#elif defined ( __TASKING__ )
#if defined __FPU_VFP__
#error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
#endif
#elif defined ( __CSMC__ )
#if ( __CSMC__ & 0x400U)
#error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
#endif
#endif
#include "core_cmInstr.h" /* Core Instruction Access */
#include "core_cmFunc.h" /* Core Function Access */
#ifdef __cplusplus
}
#endif
#endif /* __CORE_SC000_H_GENERIC */
#ifndef __CMSIS_GENERIC
#ifndef __CORE_SC000_H_DEPENDANT
#define __CORE_SC000_H_DEPENDANT
#ifdef __cplusplus
extern "C" {
#endif
/* check device defines and use defaults */
#if defined __CHECK_DEVICE_DEFINES
#ifndef __SC000_REV
#define __SC000_REV 0x0000U
#warning "__SC000_REV not defined in device header file; using default!"
#endif
#ifndef __MPU_PRESENT
#define __MPU_PRESENT 0U
#warning "__MPU_PRESENT not defined in device header file; using default!"
#endif
#ifndef __NVIC_PRIO_BITS
#define __NVIC_PRIO_BITS 2U
#warning "__NVIC_PRIO_BITS not defined in device header file; using default!"
#endif
#ifndef __Vendor_SysTickConfig
#define __Vendor_SysTickConfig 0U
#warning "__Vendor_SysTickConfig not defined in device header file; using default!"
#endif
#endif
/* IO definitions (access restrictions to peripheral registers) */
/**
\defgroup CMSIS_glob_defs CMSIS Global Defines
<strong>IO Type Qualifiers</strong> are used
\li to specify the access to peripheral variables.
\li for automatic generation of peripheral register debug information.
*/
#ifdef __cplusplus
#define __I volatile /*!< Defines 'read only' permissions */
#else
#define __I volatile const /*!< Defines 'read only' permissions */
#endif
#define __O volatile /*!< Defines 'write only' permissions */
#define __IO volatile /*!< Defines 'read / write' permissions */
/* following defines should be used for structure members */
#define __IM volatile const /*! Defines 'read only' structure member permissions */
#define __OM volatile /*! Defines 'write only' structure member permissions */
#define __IOM volatile /*! Defines 'read / write' structure member permissions */
/*@} end of group SC000 */
/*******************************************************************************
* Register Abstraction
Core Register contain:
- Core Register
- Core NVIC Register
- Core SCB Register
- Core SysTick Register
- Core MPU Register
******************************************************************************/
/**
\defgroup CMSIS_core_register Defines and Type Definitions
\brief Type definitions and defines for Cortex-M processor based devices.
*/
/**
\ingroup CMSIS_core_register
\defgroup CMSIS_CORE Status and Control Registers
\brief Core Register type definitions.
@{
*/
/**
\brief Union type to access the Application Program Status Register (APSR).
*/
typedef union
{
struct
{
uint32_t _reserved0:28; /*!< bit: 0..27 Reserved */
uint32_t V:1; /*!< bit: 28 Overflow condition code flag */
uint32_t C:1; /*!< bit: 29 Carry condition code flag */
uint32_t Z:1; /*!< bit: 30 Zero condition code flag */
uint32_t N:1; /*!< bit: 31 Negative condition code flag */
} b; /*!< Structure used for bit access */
uint32_t w; /*!< Type used for word access */
} APSR_Type;
/* APSR Register Definitions */
#define APSR_N_Pos 31U /*!< APSR: N Position */
#define APSR_N_Msk (1UL << APSR_N_Pos) /*!< APSR: N Mask */
#define APSR_Z_Pos 30U /*!< APSR: Z Position */
#define APSR_Z_Msk (1UL << APSR_Z_Pos) /*!< APSR: Z Mask */
#define APSR_C_Pos 29U /*!< APSR: C Position */
#define APSR_C_Msk (1UL << APSR_C_Pos) /*!< APSR: C Mask */
#define APSR_V_Pos 28U /*!< APSR: V Position */
#define APSR_V_Msk (1UL << APSR_V_Pos) /*!< APSR: V Mask */
/**
\brief Union type to access the Interrupt Program Status Register (IPSR).
*/
typedef union
{
struct
{
uint32_t ISR:9; /*!< bit: 0.. 8 Exception number */
uint32_t _reserved0:23; /*!< bit: 9..31 Reserved */
} b; /*!< Structure used for bit access */
uint32_t w; /*!< Type used for word access */
} IPSR_Type;
/* IPSR Register Definitions */
#define IPSR_ISR_Pos 0U /*!< IPSR: ISR Position */
#define IPSR_ISR_Msk (0x1FFUL /*<< IPSR_ISR_Pos*/) /*!< IPSR: ISR Mask */
/**
\brief Union type to access the Special-Purpose Program Status Registers (xPSR).
*/
typedef union
{
struct
{
uint32_t ISR:9; /*!< bit: 0.. 8 Exception number */
uint32_t _reserved0:15; /*!< bit: 9..23 Reserved */
uint32_t T:1; /*!< bit: 24 Thumb bit (read 0) */
uint32_t _reserved1:3; /*!< bit: 25..27 Reserved */
uint32_t V:1; /*!< bit: 28 Overflow condition code flag */
uint32_t C:1; /*!< bit: 29 Carry condition code flag */
uint32_t Z:1; /*!< bit: 30 Zero condition code flag */
uint32_t N:1; /*!< bit: 31 Negative condition code flag */
} b; /*!< Structure used for bit access */
uint32_t w; /*!< Type used for word access */
} xPSR_Type;
/* xPSR Register Definitions */
#define xPSR_N_Pos 31U /*!< xPSR: N Position */
#define xPSR_N_Msk (1UL << xPSR_N_Pos) /*!< xPSR: N Mask */
#define xPSR_Z_Pos 30U /*!< xPSR: Z Position */
#define xPSR_Z_Msk (1UL << xPSR_Z_Pos) /*!< xPSR: Z Mask */
#define xPSR_C_Pos 29U /*!< xPSR: C Position */
#define xPSR_C_Msk (1UL << xPSR_C_Pos) /*!< xPSR: C Mask */
#define xPSR_V_Pos 28U /*!< xPSR: V Position */
#define xPSR_V_Msk (1UL << xPSR_V_Pos) /*!< xPSR: V Mask */
#define xPSR_T_Pos 24U /*!< xPSR: T Position */
#define xPSR_T_Msk (1UL << xPSR_T_Pos) /*!< xPSR: T Mask */
#define xPSR_ISR_Pos 0U /*!< xPSR: ISR Position */
#define xPSR_ISR_Msk (0x1FFUL /*<< xPSR_ISR_Pos*/) /*!< xPSR: ISR Mask */
/**
\brief Union type to access the Control Registers (CONTROL).
*/
typedef union
{
struct
{
uint32_t _reserved0:1; /*!< bit: 0 Reserved */
uint32_t SPSEL:1; /*!< bit: 1 Stack to be used */
uint32_t _reserved1:30; /*!< bit: 2..31 Reserved */
} b; /*!< Structure used for bit access */
uint32_t w; /*!< Type used for word access */
} CONTROL_Type;
/* CONTROL Register Definitions */
#define CONTROL_SPSEL_Pos 1U /*!< CONTROL: SPSEL Position */
#define CONTROL_SPSEL_Msk (1UL << CONTROL_SPSEL_Pos) /*!< CONTROL: SPSEL Mask */
/*@} end of group CMSIS_CORE */
/**
\ingroup CMSIS_core_register
\defgroup CMSIS_NVIC Nested Vectored Interrupt Controller (NVIC)
\brief Type definitions for the NVIC Registers
@{
*/
/**
\brief Structure type to access the Nested Vectored Interrupt Controller (NVIC).
*/
typedef struct
{
__IOM uint32_t ISER[1U]; /*!< Offset: 0x000 (R/W) Interrupt Set Enable Register */
uint32_t RESERVED0[31U];
__IOM uint32_t ICER[1U]; /*!< Offset: 0x080 (R/W) Interrupt Clear Enable Register */
uint32_t RSERVED1[31U];
__IOM uint32_t ISPR[1U]; /*!< Offset: 0x100 (R/W) Interrupt Set Pending Register */
uint32_t RESERVED2[31U];
__IOM uint32_t ICPR[1U]; /*!< Offset: 0x180 (R/W) Interrupt Clear Pending Register */
uint32_t RESERVED3[31U];
uint32_t RESERVED4[64U];
__IOM uint32_t IP[8U]; /*!< Offset: 0x300 (R/W) Interrupt Priority Register */
} NVIC_Type;
/*@} end of group CMSIS_NVIC */
/**
\ingroup CMSIS_core_register
\defgroup CMSIS_SCB System Control Block (SCB)
\brief Type definitions for the System Control Block Registers
@{
*/
/**
\brief Structure type to access the System Control Block (SCB).
*/
typedef struct
{
__IM uint32_t CPUID; /*!< Offset: 0x000 (R/ ) CPUID Base Register */
__IOM uint32_t ICSR; /*!< Offset: 0x004 (R/W) Interrupt Control and State Register */
__IOM uint32_t VTOR; /*!< Offset: 0x008 (R/W) Vector Table Offset Register */
__IOM uint32_t AIRCR; /*!< Offset: 0x00C (R/W) Application Interrupt and Reset Control Register */
__IOM uint32_t SCR; /*!< Offset: 0x010 (R/W) System Control Register */
__IOM uint32_t CCR; /*!< Offset: 0x014 (R/W) Configuration Control Register */
uint32_t RESERVED0[1U];
__IOM uint32_t SHP[2U]; /*!< Offset: 0x01C (R/W) System Handlers Priority Registers. [0] is RESERVED */
__IOM uint32_t SHCSR; /*!< Offset: 0x024 (R/W) System Handler Control and State Register */
uint32_t RESERVED1[154U];
__IOM uint32_t SFCR; /*!< Offset: 0x290 (R/W) Security Features Control Register */
} SCB_Type;
/* SCB CPUID Register Definitions */
#define SCB_CPUID_IMPLEMENTER_Pos 24U /*!< SCB CPUID: IMPLEMENTER Position */
#define SCB_CPUID_IMPLEMENTER_Msk (0xFFUL << SCB_CPUID_IMPLEMENTER_Pos) /*!< SCB CPUID: IMPLEMENTER Mask */
#define SCB_CPUID_VARIANT_Pos 20U /*!< SCB CPUID: VARIANT Position */
#define SCB_CPUID_VARIANT_Msk (0xFUL << SCB_CPUID_VARIANT_Pos) /*!< SCB CPUID: VARIANT Mask */
#define SCB_CPUID_ARCHITECTURE_Pos 16U /*!< SCB CPUID: ARCHITECTURE Position */
#define SCB_CPUID_ARCHITECTURE_Msk (0xFUL << SCB_CPUID_ARCHITECTURE_Pos) /*!< SCB CPUID: ARCHITECTURE Mask */
#define SCB_CPUID_PARTNO_Pos 4U /*!< SCB CPUID: PARTNO Position */
#define SCB_CPUID_PARTNO_Msk (0xFFFUL << SCB_CPUID_PARTNO_Pos) /*!< SCB CPUID: PARTNO Mask */
#define SCB_CPUID_REVISION_Pos 0U /*!< SCB CPUID: REVISION Position */
#define SCB_CPUID_REVISION_Msk (0xFUL /*<< SCB_CPUID_REVISION_Pos*/) /*!< SCB CPUID: REVISION Mask */
/* SCB Interrupt Control State Register Definitions */
#define SCB_ICSR_NMIPENDSET_Pos 31U /*!< SCB ICSR: NMIPENDSET Position */
#define SCB_ICSR_NMIPENDSET_Msk (1UL << SCB_ICSR_NMIPENDSET_Pos) /*!< SCB ICSR: NMIPENDSET Mask */
#define SCB_ICSR_PENDSVSET_Pos 28U /*!< SCB ICSR: PENDSVSET Position */
#define SCB_ICSR_PENDSVSET_Msk (1UL << SCB_ICSR_PENDSVSET_Pos) /*!< SCB ICSR: PENDSVSET Mask */
#define SCB_ICSR_PENDSVCLR_Pos 27U /*!< SCB ICSR: PENDSVCLR Position */
#define SCB_ICSR_PENDSVCLR_Msk (1UL << SCB_ICSR_PENDSVCLR_Pos) /*!< SCB ICSR: PENDSVCLR Mask */
#define SCB_ICSR_PENDSTSET_Pos 26U /*!< SCB ICSR: PENDSTSET Position */
#define SCB_ICSR_PENDSTSET_Msk (1UL << SCB_ICSR_PENDSTSET_Pos) /*!< SCB ICSR: PENDSTSET Mask */
#define SCB_ICSR_PENDSTCLR_Pos 25U /*!< SCB ICSR: PENDSTCLR Position */
#define SCB_ICSR_PENDSTCLR_Msk (1UL << SCB_ICSR_PENDSTCLR_Pos) /*!< SCB ICSR: PENDSTCLR Mask */
#define SCB_ICSR_ISRPREEMPT_Pos 23U /*!< SCB ICSR: ISRPREEMPT Position */
#define SCB_ICSR_ISRPREEMPT_Msk (1UL << SCB_ICSR_ISRPREEMPT_Pos) /*!< SCB ICSR: ISRPREEMPT Mask */
#define SCB_ICSR_ISRPENDING_Pos 22U /*!< SCB ICSR: ISRPENDING Position */
#define SCB_ICSR_ISRPENDING_Msk (1UL << SCB_ICSR_ISRPENDING_Pos) /*!< SCB ICSR: ISRPENDING Mask */
#define SCB_ICSR_VECTPENDING_Pos 12U /*!< SCB ICSR: VECTPENDING Position */
#define SCB_ICSR_VECTPENDING_Msk (0x1FFUL << SCB_ICSR_VECTPENDING_Pos) /*!< SCB ICSR: VECTPENDING Mask */
#define SCB_ICSR_VECTACTIVE_Pos 0U /*!< SCB ICSR: VECTACTIVE Position */
#define SCB_ICSR_VECTACTIVE_Msk (0x1FFUL /*<< SCB_ICSR_VECTACTIVE_Pos*/) /*!< SCB ICSR: VECTACTIVE Mask */
/* SCB Interrupt Control State Register Definitions */
#define SCB_VTOR_TBLOFF_Pos 7U /*!< SCB VTOR: TBLOFF Position */
#define SCB_VTOR_TBLOFF_Msk (0x1FFFFFFUL << SCB_VTOR_TBLOFF_Pos) /*!< SCB VTOR: TBLOFF Mask */
/* SCB Application Interrupt and Reset Control Register Definitions */
#define SCB_AIRCR_VECTKEY_Pos 16U /*!< SCB AIRCR: VECTKEY Position */
#define SCB_AIRCR_VECTKEY_Msk (0xFFFFUL << SCB_AIRCR_VECTKEY_Pos) /*!< SCB AIRCR: VECTKEY Mask */
#define SCB_AIRCR_VECTKEYSTAT_Pos 16U /*!< SCB AIRCR: VECTKEYSTAT Position */
#define SCB_AIRCR_VECTKEYSTAT_Msk (0xFFFFUL << SCB_AIRCR_VECTKEYSTAT_Pos) /*!< SCB AIRCR: VECTKEYSTAT Mask */
#define SCB_AIRCR_ENDIANESS_Pos 15U /*!< SCB AIRCR: ENDIANESS Position */
#define SCB_AIRCR_ENDIANESS_Msk (1UL << SCB_AIRCR_ENDIANESS_Pos) /*!< SCB AIRCR: ENDIANESS Mask */
#define SCB_AIRCR_SYSRESETREQ_Pos 2U /*!< SCB AIRCR: SYSRESETREQ Position */
#define SCB_AIRCR_SYSRESETREQ_Msk (1UL << SCB_AIRCR_SYSRESETREQ_Pos) /*!< SCB AIRCR: SYSRESETREQ Mask */
#define SCB_AIRCR_VECTCLRACTIVE_Pos 1U /*!< SCB AIRCR: VECTCLRACTIVE Position */
#define SCB_AIRCR_VECTCLRACTIVE_Msk (1UL << SCB_AIRCR_VECTCLRACTIVE_Pos) /*!< SCB AIRCR: VECTCLRACTIVE Mask */
/* SCB System Control Register Definitions */
#define SCB_SCR_SEVONPEND_Pos 4U /*!< SCB SCR: SEVONPEND Position */
#define SCB_SCR_SEVONPEND_Msk (1UL << SCB_SCR_SEVONPEND_Pos) /*!< SCB SCR: SEVONPEND Mask */
#define SCB_SCR_SLEEPDEEP_Pos 2U /*!< SCB SCR: SLEEPDEEP Position */
#define SCB_SCR_SLEEPDEEP_Msk (1UL << SCB_SCR_SLEEPDEEP_Pos) /*!< SCB SCR: SLEEPDEEP Mask */
#define SCB_SCR_SLEEPONEXIT_Pos 1U /*!< SCB SCR: SLEEPONEXIT Position */
#define SCB_SCR_SLEEPONEXIT_Msk (1UL << SCB_SCR_SLEEPONEXIT_Pos) /*!< SCB SCR: SLEEPONEXIT Mask */
/* SCB Configuration Control Register Definitions */
#define SCB_CCR_STKALIGN_Pos 9U /*!< SCB CCR: STKALIGN Position */
#define SCB_CCR_STKALIGN_Msk (1UL << SCB_CCR_STKALIGN_Pos) /*!< SCB CCR: STKALIGN Mask */
#define SCB_CCR_UNALIGN_TRP_Pos 3U /*!< SCB CCR: UNALIGN_TRP Position */
#define SCB_CCR_UNALIGN_TRP_Msk (1UL << SCB_CCR_UNALIGN_TRP_Pos) /*!< SCB CCR: UNALIGN_TRP Mask */
/* SCB System Handler Control and State Register Definitions */
#define SCB_SHCSR_SVCALLPENDED_Pos 15U /*!< SCB SHCSR: SVCALLPENDED Position */
#define SCB_SHCSR_SVCALLPENDED_Msk (1UL << SCB_SHCSR_SVCALLPENDED_Pos) /*!< SCB SHCSR: SVCALLPENDED Mask */
/*@} end of group CMSIS_SCB */
/**
\ingroup CMSIS_core_register
\defgroup CMSIS_SCnSCB System Controls not in SCB (SCnSCB)
\brief Type definitions for the System Control and ID Register not in the SCB
@{
*/
/**
\brief Structure type to access the System Control and ID Register not in the SCB.
*/
typedef struct
{
uint32_t RESERVED0[2U];
__IOM uint32_t ACTLR; /*!< Offset: 0x008 (R/W) Auxiliary Control Register */
} SCnSCB_Type;
/* Auxiliary Control Register Definitions */
#define SCnSCB_ACTLR_DISMCYCINT_Pos 0U /*!< ACTLR: DISMCYCINT Position */
#define SCnSCB_ACTLR_DISMCYCINT_Msk (1UL /*<< SCnSCB_ACTLR_DISMCYCINT_Pos*/) /*!< ACTLR: DISMCYCINT Mask */
/*@} end of group CMSIS_SCnotSCB */
/**
\ingroup CMSIS_core_register
\defgroup CMSIS_SysTick System Tick Timer (SysTick)
\brief Type definitions for the System Timer Registers.
@{
*/
/**
\brief Structure type to access the System Timer (SysTick).
*/
typedef struct
{
__IOM uint32_t CTRL; /*!< Offset: 0x000 (R/W) SysTick Control and Status Register */
__IOM uint32_t LOAD; /*!< Offset: 0x004 (R/W) SysTick Reload Value Register */
__IOM uint32_t VAL; /*!< Offset: 0x008 (R/W) SysTick Current Value Register */
__IM uint32_t CALIB; /*!< Offset: 0x00C (R/ ) SysTick Calibration Register */
} SysTick_Type;
/* SysTick Control / Status Register Definitions */
#define SysTick_CTRL_COUNTFLAG_Pos 16U /*!< SysTick CTRL: COUNTFLAG Position */
#define SysTick_CTRL_COUNTFLAG_Msk (1UL << SysTick_CTRL_COUNTFLAG_Pos) /*!< SysTick CTRL: COUNTFLAG Mask */
#define SysTick_CTRL_CLKSOURCE_Pos 2U /*!< SysTick CTRL: CLKSOURCE Position */
#define SysTick_CTRL_CLKSOURCE_Msk (1UL << SysTick_CTRL_CLKSOURCE_Pos) /*!< SysTick CTRL: CLKSOURCE Mask */
#define SysTick_CTRL_TICKINT_Pos 1U /*!< SysTick CTRL: TICKINT Position */
#define SysTick_CTRL_TICKINT_Msk (1UL << SysTick_CTRL_TICKINT_Pos) /*!< SysTick CTRL: TICKINT Mask */
#define SysTick_CTRL_ENABLE_Pos 0U /*!< SysTick CTRL: ENABLE Position */
#define SysTick_CTRL_ENABLE_Msk (1UL /*<< SysTick_CTRL_ENABLE_Pos*/) /*!< SysTick CTRL: ENABLE Mask */
/* SysTick Reload Register Definitions */
#define SysTick_LOAD_RELOAD_Pos 0U /*!< SysTick LOAD: RELOAD Position */
#define SysTick_LOAD_RELOAD_Msk (0xFFFFFFUL /*<< SysTick_LOAD_RELOAD_Pos*/) /*!< SysTick LOAD: RELOAD Mask */
/* SysTick Current Register Definitions */
#define SysTick_VAL_CURRENT_Pos 0U /*!< SysTick VAL: CURRENT Position */
#define SysTick_VAL_CURRENT_Msk (0xFFFFFFUL /*<< SysTick_VAL_CURRENT_Pos*/) /*!< SysTick VAL: CURRENT Mask */
/* SysTick Calibration Register Definitions */
#define SysTick_CALIB_NOREF_Pos 31U /*!< SysTick CALIB: NOREF Position */
#define SysTick_CALIB_NOREF_Msk (1UL << SysTick_CALIB_NOREF_Pos) /*!< SysTick CALIB: NOREF Mask */
#define SysTick_CALIB_SKEW_Pos 30U /*!< SysTick CALIB: SKEW Position */
#define SysTick_CALIB_SKEW_Msk (1UL << SysTick_CALIB_SKEW_Pos) /*!< SysTick CALIB: SKEW Mask */
#define SysTick_CALIB_TENMS_Pos 0U /*!< SysTick CALIB: TENMS Position */
#define SysTick_CALIB_TENMS_Msk (0xFFFFFFUL /*<< SysTick_CALIB_TENMS_Pos*/) /*!< SysTick CALIB: TENMS Mask */
/*@} end of group CMSIS_SysTick */
#if (__MPU_PRESENT == 1U)
/**
\ingroup CMSIS_core_register
\defgroup CMSIS_MPU Memory Protection Unit (MPU)
\brief Type definitions for the Memory Protection Unit (MPU)
@{
*/
/**
\brief Structure type to access the Memory Protection Unit (MPU).
*/
typedef struct
{
__IM uint32_t TYPE; /*!< Offset: 0x000 (R/ ) MPU Type Register */
__IOM uint32_t CTRL; /*!< Offset: 0x004 (R/W) MPU Control Register */
__IOM uint32_t RNR; /*!< Offset: 0x008 (R/W) MPU Region RNRber Register */
__IOM uint32_t RBAR; /*!< Offset: 0x00C (R/W) MPU Region Base Address Register */
__IOM uint32_t RASR; /*!< Offset: 0x010 (R/W) MPU Region Attribute and Size Register */
} MPU_Type;
/* MPU Type Register Definitions */
#define MPU_TYPE_IREGION_Pos 16U /*!< MPU TYPE: IREGION Position */
#define MPU_TYPE_IREGION_Msk (0xFFUL << MPU_TYPE_IREGION_Pos) /*!< MPU TYPE: IREGION Mask */
#define MPU_TYPE_DREGION_Pos 8U /*!< MPU TYPE: DREGION Position */
#define MPU_TYPE_DREGION_Msk (0xFFUL << MPU_TYPE_DREGION_Pos) /*!< MPU TYPE: DREGION Mask */
#define MPU_TYPE_SEPARATE_Pos 0U /*!< MPU TYPE: SEPARATE Position */
#define MPU_TYPE_SEPARATE_Msk (1UL /*<< MPU_TYPE_SEPARATE_Pos*/) /*!< MPU TYPE: SEPARATE Mask */
/* MPU Control Register Definitions */
#define MPU_CTRL_PRIVDEFENA_Pos 2U /*!< MPU CTRL: PRIVDEFENA Position */
#define MPU_CTRL_PRIVDEFENA_Msk (1UL << MPU_CTRL_PRIVDEFENA_Pos) /*!< MPU CTRL: PRIVDEFENA Mask */
#define MPU_CTRL_HFNMIENA_Pos 1U /*!< MPU CTRL: HFNMIENA Position */
#define MPU_CTRL_HFNMIENA_Msk (1UL << MPU_CTRL_HFNMIENA_Pos) /*!< MPU CTRL: HFNMIENA Mask */
#define MPU_CTRL_ENABLE_Pos 0U /*!< MPU CTRL: ENABLE Position */
#define MPU_CTRL_ENABLE_Msk (1UL /*<< MPU_CTRL_ENABLE_Pos*/) /*!< MPU CTRL: ENABLE Mask */
/* MPU Region Number Register Definitions */
#define MPU_RNR_REGION_Pos 0U /*!< MPU RNR: REGION Position */
#define MPU_RNR_REGION_Msk (0xFFUL /*<< MPU_RNR_REGION_Pos*/) /*!< MPU RNR: REGION Mask */
/* MPU Region Base Address Register Definitions */
#define MPU_RBAR_ADDR_Pos 8U /*!< MPU RBAR: ADDR Position */
#define MPU_RBAR_ADDR_Msk (0xFFFFFFUL << MPU_RBAR_ADDR_Pos) /*!< MPU RBAR: ADDR Mask */
#define MPU_RBAR_VALID_Pos 4U /*!< MPU RBAR: VALID Position */
#define MPU_RBAR_VALID_Msk (1UL << MPU_RBAR_VALID_Pos) /*!< MPU RBAR: VALID Mask */
#define MPU_RBAR_REGION_Pos 0U /*!< MPU RBAR: REGION Position */
#define MPU_RBAR_REGION_Msk (0xFUL /*<< MPU_RBAR_REGION_Pos*/) /*!< MPU RBAR: REGION Mask */
/* MPU Region Attribute and Size Register Definitions */
#define MPU_RASR_ATTRS_Pos 16U /*!< MPU RASR: MPU Region Attribute field Position */
#define MPU_RASR_ATTRS_Msk (0xFFFFUL << MPU_RASR_ATTRS_Pos) /*!< MPU RASR: MPU Region Attribute field Mask */
#define MPU_RASR_XN_Pos 28U /*!< MPU RASR: ATTRS.XN Position */
#define MPU_RASR_XN_Msk (1UL << MPU_RASR_XN_Pos) /*!< MPU RASR: ATTRS.XN Mask */
#define MPU_RASR_AP_Pos 24U /*!< MPU RASR: ATTRS.AP Position */
#define MPU_RASR_AP_Msk (0x7UL << MPU_RASR_AP_Pos) /*!< MPU RASR: ATTRS.AP Mask */
#define MPU_RASR_TEX_Pos 19U /*!< MPU RASR: ATTRS.TEX Position */
#define MPU_RASR_TEX_Msk (0x7UL << MPU_RASR_TEX_Pos) /*!< MPU RASR: ATTRS.TEX Mask */
#define MPU_RASR_S_Pos 18U /*!< MPU RASR: ATTRS.S Position */
#define MPU_RASR_S_Msk (1UL << MPU_RASR_S_Pos) /*!< MPU RASR: ATTRS.S Mask */
#define MPU_RASR_C_Pos 17U /*!< MPU RASR: ATTRS.C Position */
#define MPU_RASR_C_Msk (1UL << MPU_RASR_C_Pos) /*!< MPU RASR: ATTRS.C Mask */
#define MPU_RASR_B_Pos 16U /*!< MPU RASR: ATTRS.B Position */
#define MPU_RASR_B_Msk (1UL << MPU_RASR_B_Pos) /*!< MPU RASR: ATTRS.B Mask */
#define MPU_RASR_SRD_Pos 8U /*!< MPU RASR: Sub-Region Disable Position */
#define MPU_RASR_SRD_Msk (0xFFUL << MPU_RASR_SRD_Pos) /*!< MPU RASR: Sub-Region Disable Mask */
#define MPU_RASR_SIZE_Pos 1U /*!< MPU RASR: Region Size Field Position */
#define MPU_RASR_SIZE_Msk (0x1FUL << MPU_RASR_SIZE_Pos) /*!< MPU RASR: Region Size Field Mask */
#define MPU_RASR_ENABLE_Pos 0U /*!< MPU RASR: Region enable bit Position */
#define MPU_RASR_ENABLE_Msk (1UL /*<< MPU_RASR_ENABLE_Pos*/) /*!< MPU RASR: Region enable bit Disable Mask */
/*@} end of group CMSIS_MPU */
#endif
/**
\ingroup CMSIS_core_register
\defgroup CMSIS_CoreDebug Core Debug Registers (CoreDebug)
\brief SC000 Core Debug Registers (DCB registers, SHCSR, and DFSR) are only accessible over DAP and not via processor.
Therefore they are not covered by the SC000 header file.
@{
*/
/*@} end of group CMSIS_CoreDebug */
/**
\ingroup CMSIS_core_register
\defgroup CMSIS_core_bitfield Core register bit field macros
\brief Macros for use with bit field definitions (xxx_Pos, xxx_Msk).
@{
*/
/**
\brief Mask and shift a bit field value for use in a register bit range.
\param[in] field Name of the register bit field.
\param[in] value Value of the bit field.
\return Masked and shifted value.
*/
#define _VAL2FLD(field, value) ((value << field ## _Pos) & field ## _Msk)
/**
\brief Mask and shift a register value to extract a bit filed value.
\param[in] field Name of the register bit field.
\param[in] value Value of register.
\return Masked and shifted bit field value.
*/
#define _FLD2VAL(field, value) ((value & field ## _Msk) >> field ## _Pos)
/*@} end of group CMSIS_core_bitfield */
/**
\ingroup CMSIS_core_register
\defgroup CMSIS_core_base Core Definitions
\brief Definitions for base addresses, unions, and structures.
@{
*/
/* Memory mapping of SC000 Hardware */
#define SCS_BASE (0xE000E000UL) /*!< System Control Space Base Address */
#define SysTick_BASE (SCS_BASE + 0x0010UL) /*!< SysTick Base Address */
#define NVIC_BASE (SCS_BASE + 0x0100UL) /*!< NVIC Base Address */
#define SCB_BASE (SCS_BASE + 0x0D00UL) /*!< System Control Block Base Address */
#define SCnSCB ((SCnSCB_Type *) SCS_BASE ) /*!< System control Register not in SCB */
#define SCB ((SCB_Type *) SCB_BASE ) /*!< SCB configuration struct */
#define SysTick ((SysTick_Type *) SysTick_BASE ) /*!< SysTick configuration struct */
#define NVIC ((NVIC_Type *) NVIC_BASE ) /*!< NVIC configuration struct */
#if (__MPU_PRESENT == 1U)
#define MPU_BASE (SCS_BASE + 0x0D90UL) /*!< Memory Protection Unit */
#define MPU ((MPU_Type *) MPU_BASE ) /*!< Memory Protection Unit */
#endif
/*@} */
/*******************************************************************************
* Hardware Abstraction Layer
Core Function Interface contains:
- Core NVIC Functions
- Core SysTick Functions
- Core Register Access Functions
******************************************************************************/
/**
\defgroup CMSIS_Core_FunctionInterface Functions and Instructions Reference
*/
/* ########################## NVIC functions #################################### */
/**
\ingroup CMSIS_Core_FunctionInterface
\defgroup CMSIS_Core_NVICFunctions NVIC Functions
\brief Functions that manage interrupts and exceptions via the NVIC.
@{
*/
/* Interrupt Priorities are WORD accessible only under ARMv6M */
/* The following MACROS handle generation of the register offset and byte masks */
#define _BIT_SHIFT(IRQn) ( ((((uint32_t)(int32_t)(IRQn)) ) & 0x03UL) * 8UL)
#define _SHP_IDX(IRQn) ( (((((uint32_t)(int32_t)(IRQn)) & 0x0FUL)-8UL) >> 2UL) )
#define _IP_IDX(IRQn) ( (((uint32_t)(int32_t)(IRQn)) >> 2UL) )
/**
\brief Enable External Interrupt
\details Enables a device-specific interrupt in the NVIC interrupt controller.
\param [in] IRQn External interrupt number. Value cannot be negative.
*/
__STATIC_INLINE void NVIC_EnableIRQ(IRQn_Type IRQn)
{
NVIC->ISER[0U] = (uint32_t)(1UL << (((uint32_t)(int32_t)IRQn) & 0x1FUL));
}
/**
\brief Disable External Interrupt
\details Disables a device-specific interrupt in the NVIC interrupt controller.
\param [in] IRQn External interrupt number. Value cannot be negative.
*/
__STATIC_INLINE void NVIC_DisableIRQ(IRQn_Type IRQn)
{
NVIC->ICER[0U] = (uint32_t)(1UL << (((uint32_t)(int32_t)IRQn) & 0x1FUL));
}
/**
\brief Get Pending Interrupt
\details Reads the pending register in the NVIC and returns the pending bit for the specified interrupt.
\param [in] IRQn Interrupt number.
\return 0 Interrupt status is not pending.
\return 1 Interrupt status is pending.
*/
__STATIC_INLINE uint32_t NVIC_GetPendingIRQ(IRQn_Type IRQn)
{
return((uint32_t)(((NVIC->ISPR[0U] & (1UL << (((uint32_t)(int32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL));
}
/**
\brief Set Pending Interrupt
\details Sets the pending bit of an external interrupt.
\param [in] IRQn Interrupt number. Value cannot be negative.
*/
__STATIC_INLINE void NVIC_SetPendingIRQ(IRQn_Type IRQn)
{
NVIC->ISPR[0U] = (uint32_t)(1UL << (((uint32_t)(int32_t)IRQn) & 0x1FUL));
}
/**
\brief Clear Pending Interrupt
\details Clears the pending bit of an external interrupt.
\param [in] IRQn External interrupt number. Value cannot be negative.
*/
__STATIC_INLINE void NVIC_ClearPendingIRQ(IRQn_Type IRQn)
{
NVIC->ICPR[0U] = (uint32_t)(1UL << (((uint32_t)(int32_t)IRQn) & 0x1FUL));
}
/**
\brief Set Interrupt Priority
\details Sets the priority of an interrupt.
\note The priority cannot be set for every core interrupt.
\param [in] IRQn Interrupt number.
\param [in] priority Priority to set.
*/
__STATIC_INLINE void NVIC_SetPriority(IRQn_Type IRQn, uint32_t priority)
{
if ((int32_t)(IRQn) < 0)
{
SCB->SHP[_SHP_IDX(IRQn)] = ((uint32_t)(SCB->SHP[_SHP_IDX(IRQn)] & ~(0xFFUL << _BIT_SHIFT(IRQn))) |
(((priority << (8U - __NVIC_PRIO_BITS)) & (uint32_t)0xFFUL) << _BIT_SHIFT(IRQn)));
}
else
{
NVIC->IP[_IP_IDX(IRQn)] = ((uint32_t)(NVIC->IP[_IP_IDX(IRQn)] & ~(0xFFUL << _BIT_SHIFT(IRQn))) |
(((priority << (8U - __NVIC_PRIO_BITS)) & (uint32_t)0xFFUL) << _BIT_SHIFT(IRQn)));
}
}
/**
\brief Get Interrupt Priority
\details Reads the priority of an interrupt.
The interrupt number can be positive to specify an external (device specific) interrupt,
or negative to specify an internal (core) interrupt.
\param [in] IRQn Interrupt number.
\return Interrupt Priority.
Value is aligned automatically to the implemented priority bits of the microcontroller.
*/
__STATIC_INLINE uint32_t NVIC_GetPriority(IRQn_Type IRQn)
{
if ((int32_t)(IRQn) < 0)
{
return((uint32_t)(((SCB->SHP[_SHP_IDX(IRQn)] >> _BIT_SHIFT(IRQn) ) & (uint32_t)0xFFUL) >> (8U - __NVIC_PRIO_BITS)));
}
else
{
return((uint32_t)(((NVIC->IP[ _IP_IDX(IRQn)] >> _BIT_SHIFT(IRQn) ) & (uint32_t)0xFFUL) >> (8U - __NVIC_PRIO_BITS)));
}
}
/**
\brief System Reset
\details Initiates a system reset request to reset the MCU.
*/
__STATIC_INLINE void NVIC_SystemReset(void)
{
__DSB(); /* Ensure all outstanding memory accesses included
buffered write are completed before reset */
SCB->AIRCR = ((0x5FAUL << SCB_AIRCR_VECTKEY_Pos) |
SCB_AIRCR_SYSRESETREQ_Msk);
__DSB(); /* Ensure completion of memory access */
for(;;) /* wait until reset */
{
__NOP();
}
}
/*@} end of CMSIS_Core_NVICFunctions */
/* ################################## SysTick function ############################################ */
/**
\ingroup CMSIS_Core_FunctionInterface
\defgroup CMSIS_Core_SysTickFunctions SysTick Functions
\brief Functions that configure the System.
@{
*/
#if (__Vendor_SysTickConfig == 0U)
/**
\brief System Tick Configuration
\details Initializes the System Timer and its interrupt, and starts the System Tick Timer.
Counter is in free running mode to generate periodic interrupts.
\param [in] ticks Number of ticks between two interrupts.
\return 0 Function succeeded.
\return 1 Function failed.
\note When the variable <b>__Vendor_SysTickConfig</b> is set to 1, then the
function <b>SysTick_Config</b> is not included. In this case, the file <b><i>device</i>.h</b>
must contain a vendor-specific implementation of this function.
*/
__STATIC_INLINE uint32_t SysTick_Config(uint32_t ticks)
{
if ((ticks - 1UL) > SysTick_LOAD_RELOAD_Msk)
{
return (1UL); /* Reload value impossible */
}
SysTick->LOAD = (uint32_t)(ticks - 1UL); /* set reload register */
NVIC_SetPriority (SysTick_IRQn, (1UL << __NVIC_PRIO_BITS) - 1UL); /* set Priority for Systick Interrupt */
SysTick->VAL = 0UL; /* Load the SysTick Counter Value */
SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk |
SysTick_CTRL_TICKINT_Msk |
SysTick_CTRL_ENABLE_Msk; /* Enable SysTick IRQ and SysTick Timer */
return (0UL); /* Function successful */
}
#endif
/*@} end of CMSIS_Core_SysTickFunctions */
#ifdef __cplusplus
}
#endif
#endif /* __CORE_SC000_H_DEPENDANT */
#endif /* __CMSIS_GENERIC */
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/m3_inc/core_sc300.h
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04_firmware/stm32/dji_a_board/RCPROyuan/Inc/m3_inc/stm32f4xx.h
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/**
******************************************************************************
* @file stm32f4xx.h
* @author MCD Application Team
* @version V2.6.1
* @date 14-February-2017
* @brief CMSIS STM32F4xx Device Peripheral Access Layer Header File.
*
* The file is the unique include file that the application programmer
* is using in the C source code, usually in main.c. This file contains:
* - Configuration section that allows to select:
* - The STM32F4xx device used in the target application
* - To use or not the peripheral’s drivers in application code(i.e.
* code will be based on direct access to peripheral’s registers
* rather than drivers API), this option is controlled by
* "#define USE_HAL_DRIVER"
*
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/** @addtogroup CMSIS
* @{
*/
/** @addtogroup stm32f4xx
* @{
*/
#ifndef __STM32F4xx_H
#define __STM32F4xx_H
#ifdef __cplusplus
extern "C" {
#endif /* __cplusplus */
/** @addtogroup Library_configuration_section
* @{
*/
/**
* @brief STM32 Family
*/
#if !defined (STM32F4)
#define STM32F4
#endif /* STM32F4 */
/* Uncomment the line below according to the target STM32 device used in your
application
*/
#if !defined (STM32F405xx) && !defined (STM32F415xx) && !defined (STM32F407xx) && !defined (STM32F417xx) && \
!defined (STM32F427xx) && !defined (STM32F437xx) && !defined (STM32F429xx) && !defined (STM32F439xx) && \
!defined (STM32F401xC) && !defined (STM32F401xE) && !defined (STM32F410Tx) && !defined (STM32F410Cx) && \
!defined (STM32F410Rx) && !defined (STM32F411xE) && !defined (STM32F446xx) && !defined (STM32F469xx) && \
!defined (STM32F479xx) && !defined (STM32F412Cx) && !defined (STM32F412Rx) && !defined (STM32F412Vx) && \
!defined (STM32F412Zx) && !defined (STM32F413xx) && !defined (STM32F423xx)
/* #define STM32F405xx */ /*!< STM32F405RG, STM32F405VG and STM32F405ZG Devices */
/* #define STM32F415xx */ /*!< STM32F415RG, STM32F415VG and STM32F415ZG Devices */
/* #define STM32F407xx */ /*!< STM32F407VG, STM32F407VE, STM32F407ZG, STM32F407ZE, STM32F407IG and STM32F407IE Devices */
/* #define STM32F417xx */ /*!< STM32F417VG, STM32F417VE, STM32F417ZG, STM32F417ZE, STM32F417IG and STM32F417IE Devices */
/* #define STM32F427xx */ /*!< STM32F427VG, STM32F427VI, STM32F427ZG, STM32F427ZI, STM32F427IG and STM32F427II Devices */
/* #define STM32F437xx */ /*!< STM32F437VG, STM32F437VI, STM32F437ZG, STM32F437ZI, STM32F437IG and STM32F437II Devices */
/* #define STM32F429xx */ /*!< STM32F429VG, STM32F429VI, STM32F429ZG, STM32F429ZI, STM32F429BG, STM32F429BI, STM32F429NG,
STM32F439NI, STM32F429IG and STM32F429II Devices */
/* #define STM32F439xx */ /*!< STM32F439VG, STM32F439VI, STM32F439ZG, STM32F439ZI, STM32F439BG, STM32F439BI, STM32F439NG,
STM32F439NI, STM32F439IG and STM32F439II Devices */
/* #define STM32F401xC */ /*!< STM32F401CB, STM32F401CC, STM32F401RB, STM32F401RC, STM32F401VB and STM32F401VC Devices */
/* #define STM32F401xE */ /*!< STM32F401CD, STM32F401RD, STM32F401VD, STM32F401CE, STM32F401RE and STM32F401VE Devices */
/* #define STM32F410Tx */ /*!< STM32F410T8 and STM32F410TB Devices */
/* #define STM32F410Cx */ /*!< STM32F410C8 and STM32F410CB Devices */
/* #define STM32F410Rx */ /*!< STM32F410R8 and STM32F410RB Devices */
/* #define STM32F411xE */ /*!< STM32F411CC, STM32F411RC, STM32F411VC, STM32F411CE, STM32F411RE and STM32F411VE Devices */
/* #define STM32F446xx */ /*!< STM32F446MC, STM32F446ME, STM32F446RC, STM32F446RE, STM32F446VC, STM32F446VE, STM32F446ZC,
and STM32F446ZE Devices */
/* #define STM32F469xx */ /*!< STM32F469AI, STM32F469II, STM32F469BI, STM32F469NI, STM32F469AG, STM32F469IG, STM32F469BG,
STM32F469NG, STM32F469AE, STM32F469IE, STM32F469BE and STM32F469NE Devices */
/* #define STM32F479xx */ /*!< STM32F479AI, STM32F479II, STM32F479BI, STM32F479NI, STM32F479AG, STM32F479IG, STM32F479BG
and STM32F479NG Devices */
/* #define STM32F412Cx */ /*!< STM32F412CEU and STM32F412CGU Devices */
/* #define STM32F412Zx */ /*!< STM32F412ZET, STM32F412ZGT, STM32F412ZEJ and STM32F412ZGJ Devices */
/* #define STM32F412Vx */ /*!< STM32F412VET, STM32F412VGT, STM32F412VEH and STM32F412VGH Devices */
/* #define STM32F412Rx */ /*!< STM32F412RET, STM32F412RGT, STM32F412REY and STM32F412RGY Devices */
/* #define STM32F413xx */ /*!< STM32F413CH, STM32F413MH, STM32F413RH, STM32F413VH, STM32F413ZH, STM32F413CG, STM32F413MG,
STM32F413RG, STM32F413VG and STM32F413ZG Devices */
/* #define STM32F423xx */ /*!< STM32F423CH, STM32F423RH, STM32F423VH and STM32F423ZH Devices */
#endif
/* Tip: To avoid modifying this file each time you need to switch between these
devices, you can define the device in your toolchain compiler preprocessor.
*/
#if !defined (USE_HAL_DRIVER)
/**
* @brief Comment the line below if you will not use the peripherals drivers.
In this case, these drivers will not be included and the application code will
be based on direct access to peripherals registers
*/
/*#define USE_HAL_DRIVER */
#endif /* USE_HAL_DRIVER */
/**
* @brief CMSIS version number V2.6.1
*/
#define __STM32F4xx_CMSIS_VERSION_MAIN (0x02U) /*!< [31:24] main version */
#define __STM32F4xx_CMSIS_VERSION_SUB1 (0x06U) /*!< [23:16] sub1 version */
#define __STM32F4xx_CMSIS_VERSION_SUB2 (0x01U) /*!< [15:8] sub2 version */
#define __STM32F4xx_CMSIS_VERSION_RC (0x00U) /*!< [7:0] release candidate */
#define __STM32F4xx_CMSIS_VERSION ((__STM32F4xx_CMSIS_VERSION_MAIN << 24)\
|(__STM32F4xx_CMSIS_VERSION_SUB1 << 16)\
|(__STM32F4xx_CMSIS_VERSION_SUB2 << 8 )\
|(__STM32F4xx_CMSIS_VERSION))
/**
* @}
*/
/** @addtogroup Device_Included
* @{
*/
#if defined(STM32F405xx)
#include "stm32f405xx.h"
#elif defined(STM32F415xx)
#include "stm32f415xx.h"
#elif defined(STM32F407xx)
#include "stm32f407xx.h"
#elif defined(STM32F417xx)
#include "stm32f417xx.h"
#elif defined(STM32F427xx)
#include "stm32f427xx.h"
#elif defined(STM32F437xx)
#include "stm32f437xx.h"
#elif defined(STM32F429xx)
#include "stm32f429xx.h"
#elif defined(STM32F439xx)
#include "stm32f439xx.h"
#elif defined(STM32F401xC)
#include "stm32f401xc.h"
#elif defined(STM32F401xE)
#include "stm32f401xe.h"
#elif defined(STM32F410Tx)
#include "stm32f410tx.h"
#elif defined(STM32F410Cx)
#include "stm32f410cx.h"
#elif defined(STM32F410Rx)
#include "stm32f410rx.h"
#elif defined(STM32F411xE)
#include "stm32f411xe.h"
#elif defined(STM32F446xx)
#include "stm32f446xx.h"
#elif defined(STM32F469xx)
#include "stm32f469xx.h"
#elif defined(STM32F479xx)
#include "stm32f479xx.h"
#elif defined(STM32F412Cx)
#include "stm32f412cx.h"
#elif defined(STM32F412Zx)
#include "stm32f412zx.h"
#elif defined(STM32F412Rx)
#include "stm32f412rx.h"
#elif defined(STM32F412Vx)
#include "stm32f412vx.h"
#elif defined(STM32F413xx)
#include "stm32f413xx.h"
#elif defined(STM32F423xx)
#include "stm32f423xx.h"
#else
#error "Please select first the target STM32F4xx device used in your application (in stm32f4xx.h file)"
#endif
/**
* @}
*/
/** @addtogroup Exported_types
* @{
*/
typedef enum
{
RESET = 0U,
SET = !RESET
} FlagStatus, ITStatus;
typedef enum
{
DISABLE = 0U,
ENABLE = !DISABLE
} FunctionalState;
#define IS_FUNCTIONAL_STATE(STATE) (((STATE) == DISABLE) || ((STATE) == ENABLE))
typedef enum
{
ERROR = 0U,
SUCCESS = !ERROR
} ErrorStatus;
/**
* @}
*/
/** @addtogroup Exported_macro
* @{
*/
#define SET_BIT(REG, BIT) ((REG) |= (BIT))
#define CLEAR_BIT(REG, BIT) ((REG) &= ~(BIT))
#define READ_BIT(REG, BIT) ((REG) & (BIT))
#define CLEAR_REG(REG) ((REG) = (0x0))
#define WRITE_REG(REG, VAL) ((REG) = (VAL))
#define READ_REG(REG) ((REG))
#define MODIFY_REG(REG, CLEARMASK, SETMASK) WRITE_REG((REG), (((READ_REG(REG)) & (~(CLEARMASK))) | (SETMASK)))
#define POSITION_VAL(VAL) (__CLZ(__RBIT(VAL)))
/**
* @}
*/
#if defined (USE_HAL_DRIVER)
#include "stm32f4xx_hal.h"
#endif /* USE_HAL_DRIVER */
#ifdef __cplusplus
}
#endif /* __cplusplus */
#endif /* __STM32F4xx_H */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/m3_inc/system_stm32f4xx.h
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/**
******************************************************************************
* @file system_stm32f4xx.h
* @author MCD Application Team
* @version V2.6.1
* @date 14-February-2017
* @brief CMSIS Cortex-M4 Device System Source File for STM32F4xx devices.
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/** @addtogroup CMSIS
* @{
*/
/** @addtogroup stm32f4xx_system
* @{
*/
/**
* @brief Define to prevent recursive inclusion
*/
#ifndef __SYSTEM_STM32F4XX_H
#define __SYSTEM_STM32F4XX_H
#ifdef __cplusplus
extern "C" {
#endif
/** @addtogroup STM32F4xx_System_Includes
* @{
*/
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Exported_types
* @{
*/
/* This variable is updated in three ways:
1) by calling CMSIS function SystemCoreClockUpdate()
2) by calling HAL API function HAL_RCC_GetSysClockFreq()
3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency
Note: If you use this function to configure the system clock; then there
is no need to call the 2 first functions listed above, since SystemCoreClock
variable is updated automatically.
*/
extern uint32_t SystemCoreClock; /*!< System Clock Frequency (Core Clock) */
extern const uint8_t AHBPrescTable[16]; /*!< AHB prescalers table values */
extern const uint8_t APBPrescTable[8]; /*!< APB prescalers table values */
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Exported_Constants
* @{
*/
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Exported_Macros
* @{
*/
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Exported_Functions
* @{
*/
extern void SystemInit(void);
extern void SystemCoreClockUpdate(void);
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /*__SYSTEM_STM32F4XX_H */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/main.h
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/**
******************************************************************************
* File Name : main.h
* Description : This file contains the common defines of the application
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2018 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __MAIN_H
#define __MAIN_H
/* Includes ------------------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private define ------------------------------------------------------------*/
#define PWR1_Pin GPIO_PIN_2
#define PWR1_GPIO_Port GPIOH
#define PWR2_Pin GPIO_PIN_3
#define PWR2_GPIO_Port GPIOH
#define PWR3_Pin GPIO_PIN_4
#define PWR3_GPIO_Port GPIOH
#define PWR4_Pin GPIO_PIN_5
#define PWR4_GPIO_Port GPIOH
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void _Error_Handler(char *, int);
#define Error_Handler() _Error_Handler(__FILE__, __LINE__)
/**
* @}
*/
/**
* @}
*/
#endif /* __MAIN_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/os_inc/FreeRTOS.h
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/*
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
This file is part of the FreeRTOS distribution.
FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
***************************************************************************
>>! NOTE: The modification to the GPL is included to allow you to !<<
>>! distribute a combined work that includes FreeRTOS without being !<<
>>! obliged to provide the source code for proprietary components !<<
>>! outside of the FreeRTOS kernel. !<<
***************************************************************************
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. Full license text is available on the following
link: http://www.freertos.org/a00114.html
***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that is more than just the market leader, it *
* is the industry's de facto standard. *
* *
* Help yourself get started quickly while simultaneously helping *
* to support the FreeRTOS project by purchasing a FreeRTOS *
* tutorial book, reference manual, or both: *
* http://www.FreeRTOS.org/Documentation *
* *
***************************************************************************
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
the FAQ page "My application does not run, what could be wrong?". Have you
defined configASSERT()?
http://www.FreeRTOS.org/support - In return for receiving this top quality
embedded software for free we request you assist our global community by
participating in the support forum.
http://www.FreeRTOS.org/training - Investing in training allows your team to
be as productive as possible as early as possible. Now you can receive
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
Ltd, and the world's leading authority on the world's leading RTOS.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and commercial middleware.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
1 tab == 4 spaces!
*/
#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H
/*-----------------------------------------------------------
* Application specific definitions.
*
* These definitions should be adjusted for your particular hardware and
* application requirements.
*
* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
*
* See http://www.freertos.org/a00110.html.
*----------------------------------------------------------*/
/* Ensure stdint is only used by the compiler, and not the assembler. */
#if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
#include <stdint.h>
extern uint32_t SystemCoreClock;
#endif
#define configUSE_PREEMPTION 1
#define configUSE_IDLE_HOOK 0
#define configUSE_TICK_HOOK 0
#define configCPU_CLOCK_HZ (SystemCoreClock)
#define configTICK_RATE_HZ ((TickType_t)1000)
#define configMAX_PRIORITIES (7)
#define configMINIMAL_STACK_SIZE ((uint16_t)128)
#define configTOTAL_HEAP_SIZE ((size_t)(15 * 1024))
#define configMAX_TASK_NAME_LEN (16)
#define configUSE_TRACE_FACILITY 1
#define configUSE_16_BIT_TICKS 0
#define configIDLE_SHOULD_YIELD 1
#define configUSE_MUTEXES 1
#define configQUEUE_REGISTRY_SIZE 8
#define configCHECK_FOR_STACK_OVERFLOW 0
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_MALLOC_FAILED_HOOK 0
#define configUSE_APPLICATION_TASK_TAG 0
#define configUSE_COUNTING_SEMAPHORES 1
#define configGENERATE_RUN_TIME_STATS 0
/* Co-routine definitions. */
#define configUSE_CO_ROUTINES 0
#define configMAX_CO_ROUTINE_PRIORITIES (2)
/* Software timer definitions. */
#define configUSE_TIMERS 0
#define configTIMER_TASK_PRIORITY (2)
#define configTIMER_QUEUE_LENGTH 10
#define configTIMER_TASK_STACK_DEPTH (configMINIMAL_STACK_SIZE * 2)
/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */
#define INCLUDE_vTaskPrioritySet 1
#define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskCleanUpResources 0
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_vTaskDelayUntil 0
#define INCLUDE_vTaskDelay 1
#define INCLUDE_xTaskGetSchedulerState 1
/* Cortex-M specific definitions. */
#ifdef __NVIC_PRIO_BITS
/* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
#define configPRIO_BITS __NVIC_PRIO_BITS
#else
#define configPRIO_BITS 4 /* 15 priority levels */
#endif
/* The lowest interrupt priority that can be used in a call to a "set priority"
function. */
#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 0xf
/* The highest interrupt priority that can be used by any interrupt service
routine that makes calls to interrupt safe FreeRTOS API functions. DO NOT CALL
INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
PRIORITY THAN THIS! (higher priorities are lower numeric values. */
#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
/* Interrupt priorities used by the kernel port layer itself. These are generic
to all Cortex-M ports, and do not rely on any particular library functions. */
#define configKERNEL_INTERRUPT_PRIORITY ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
#define configMAX_SYSCALL_INTERRUPT_PRIORITY ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
/* Normal assert() semantics without relying on the provision of an assert.h
header file. */
#define configASSERT( x ) if( ( x ) == 0 ) { taskDISABLE_INTERRUPTS(); for( ;; ); }
/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
standard names. */
#define vPortSVCHandler SVC_Handler
#define xPortPendSVHandler PendSV_Handler
/* IMPORTANT: This define MUST be commented when used with STM32Cube firmware,
to prevent overwriting SysTick_Handler defined within STM32Cube HAL */
/* #define xPortSysTickHandler SysTick_Handler */
#endif /* FREERTOS_CONFIG_H */
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/os_inc/StackMacros.h
-171
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@@ -1,171 +0,0 @@
/*
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
This file is part of the FreeRTOS distribution.
FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
***************************************************************************
>>! NOTE: The modification to the GPL is included to allow you to !<<
>>! distribute a combined work that includes FreeRTOS without being !<<
>>! obliged to provide the source code for proprietary components !<<
>>! outside of the FreeRTOS kernel. !<<
***************************************************************************
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. Full license text is available on the following
link: http://www.freertos.org/a00114.html
***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that is more than just the market leader, it *
* is the industry's de facto standard. *
* *
* Help yourself get started quickly while simultaneously helping *
* to support the FreeRTOS project by purchasing a FreeRTOS *
* tutorial book, reference manual, or both: *
* http://www.FreeRTOS.org/Documentation *
* *
***************************************************************************
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
the FAQ page "My application does not run, what could be wrong?". Have you
defined configASSERT()?
http://www.FreeRTOS.org/support - In return for receiving this top quality
embedded software for free we request you assist our global community by
participating in the support forum.
http://www.FreeRTOS.org/training - Investing in training allows your team to
be as productive as possible as early as possible. Now you can receive
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
Ltd, and the world's leading authority on the world's leading RTOS.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and commercial middleware.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
1 tab == 4 spaces!
*/
#ifndef STACK_MACROS_H
#define STACK_MACROS_H
/*
* Call the stack overflow hook function if the stack of the task being swapped
* out is currently overflowed, or looks like it might have overflowed in the
* past.
*
* Setting configCHECK_FOR_STACK_OVERFLOW to 1 will cause the macro to check
* the current stack state only - comparing the current top of stack value to
* the stack limit. Setting configCHECK_FOR_STACK_OVERFLOW to greater than 1
* will also cause the last few stack bytes to be checked to ensure the value
* to which the bytes were set when the task was created have not been
* overwritten. Note this second test does not guarantee that an overflowed
* stack will always be recognised.
*/
/*-----------------------------------------------------------*/
#if( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH < 0 ) )
/* Only the current stack state is to be checked. */
#define taskCHECK_FOR_STACK_OVERFLOW() \
{ \
/* Is the currently saved stack pointer within the stack limit? */ \
if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack ) \
{ \
vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
} \
}
#endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
/*-----------------------------------------------------------*/
#if( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH > 0 ) )
/* Only the current stack state is to be checked. */
#define taskCHECK_FOR_STACK_OVERFLOW() \
{ \
\
/* Is the currently saved stack pointer within the stack limit? */ \
if( pxCurrentTCB->pxTopOfStack >= pxCurrentTCB->pxEndOfStack ) \
{ \
vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
} \
}
#endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
/*-----------------------------------------------------------*/
#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH < 0 ) )
#define taskCHECK_FOR_STACK_OVERFLOW() \
{ \
const uint32_t * const pulStack = ( uint32_t * ) pxCurrentTCB->pxStack; \
const uint32_t ulCheckValue = ( uint32_t ) 0xa5a5a5a5; \
\
if( ( pulStack[ 0 ] != ulCheckValue ) || \
( pulStack[ 1 ] != ulCheckValue ) || \
( pulStack[ 2 ] != ulCheckValue ) || \
( pulStack[ 3 ] != ulCheckValue ) ) \
{ \
vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
} \
}
#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
/*-----------------------------------------------------------*/
#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH > 0 ) )
#define taskCHECK_FOR_STACK_OVERFLOW() \
{ \
int8_t *pcEndOfStack = ( int8_t * ) pxCurrentTCB->pxEndOfStack; \
static const uint8_t ucExpectedStackBytes[] = { tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE }; \
\
\
pcEndOfStack -= sizeof( ucExpectedStackBytes ); \
\
/* Has the extremity of the task stack ever been written over? */ \
if( memcmp( ( void * ) pcEndOfStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 ) \
{ \
vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
} \
}
#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
/*-----------------------------------------------------------*/
/* Remove stack overflow macro if not being used. */
#ifndef taskCHECK_FOR_STACK_OVERFLOW
#define taskCHECK_FOR_STACK_OVERFLOW()
#endif
#endif /* STACK_MACROS_H */
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/os_inc/cmsis_os.h
-1071
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File diff suppressed because it is too large Load Diff
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/os_inc/croutine.h
-762
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@@ -1,762 +0,0 @@
/*
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
This file is part of the FreeRTOS distribution.
FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
***************************************************************************
>>! NOTE: The modification to the GPL is included to allow you to !<<
>>! distribute a combined work that includes FreeRTOS without being !<<
>>! obliged to provide the source code for proprietary components !<<
>>! outside of the FreeRTOS kernel. !<<
***************************************************************************
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. Full license text is available on the following
link: http://www.freertos.org/a00114.html
***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that is more than just the market leader, it *
* is the industry's de facto standard. *
* *
* Help yourself get started quickly while simultaneously helping *
* to support the FreeRTOS project by purchasing a FreeRTOS *
* tutorial book, reference manual, or both: *
* http://www.FreeRTOS.org/Documentation *
* *
***************************************************************************
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
the FAQ page "My application does not run, what could be wrong?". Have you
defined configASSERT()?
http://www.FreeRTOS.org/support - In return for receiving this top quality
embedded software for free we request you assist our global community by
participating in the support forum.
http://www.FreeRTOS.org/training - Investing in training allows your team to
be as productive as possible as early as possible. Now you can receive
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
Ltd, and the world's leading authority on the world's leading RTOS.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and commercial middleware.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
1 tab == 4 spaces!
*/
#ifndef CO_ROUTINE_H
#define CO_ROUTINE_H
#ifndef INC_FREERTOS_H
#error "include FreeRTOS.h must appear in source files before include croutine.h"
#endif
#include "list.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Used to hide the implementation of the co-routine control block. The
control block structure however has to be included in the header due to
the macro implementation of the co-routine functionality. */
typedef void * CoRoutineHandle_t;
/* Defines the prototype to which co-routine functions must conform. */
typedef void (*crCOROUTINE_CODE)( CoRoutineHandle_t, UBaseType_t );
typedef struct corCoRoutineControlBlock
{
crCOROUTINE_CODE pxCoRoutineFunction;
ListItem_t xGenericListItem; /*< List item used to place the CRCB in ready and blocked queues. */
ListItem_t xEventListItem; /*< List item used to place the CRCB in event lists. */
UBaseType_t uxPriority; /*< The priority of the co-routine in relation to other co-routines. */
UBaseType_t uxIndex; /*< Used to distinguish between co-routines when multiple co-routines use the same co-routine function. */
uint16_t uxState; /*< Used internally by the co-routine implementation. */
} CRCB_t; /* Co-routine control block. Note must be identical in size down to uxPriority with TCB_t. */
/**
* croutine. h
*<pre>
BaseType_t xCoRoutineCreate(
crCOROUTINE_CODE pxCoRoutineCode,
UBaseType_t uxPriority,
UBaseType_t uxIndex
);</pre>
*
* Create a new co-routine and add it to the list of co-routines that are
* ready to run.
*
* @param pxCoRoutineCode Pointer to the co-routine function. Co-routine
* functions require special syntax - see the co-routine section of the WEB
* documentation for more information.
*
* @param uxPriority The priority with respect to other co-routines at which
* the co-routine will run.
*
* @param uxIndex Used to distinguish between different co-routines that
* execute the same function. See the example below and the co-routine section
* of the WEB documentation for further information.
*
* @return pdPASS if the co-routine was successfully created and added to a ready
* list, otherwise an error code defined with ProjDefs.h.
*
* Example usage:
<pre>
// Co-routine to be created.
void vFlashCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
{
// Variables in co-routines must be declared static if they must maintain value across a blocking call.
// This may not be necessary for const variables.
static const char cLedToFlash[ 2 ] = { 5, 6 };
static const TickType_t uxFlashRates[ 2 ] = { 200, 400 };
// Must start every co-routine with a call to crSTART();
crSTART( xHandle );
for( ;; )
{
// This co-routine just delays for a fixed period, then toggles
// an LED. Two co-routines are created using this function, so
// the uxIndex parameter is used to tell the co-routine which
// LED to flash and how int32_t to delay. This assumes xQueue has
// already been created.
vParTestToggleLED( cLedToFlash[ uxIndex ] );
crDELAY( xHandle, uxFlashRates[ uxIndex ] );
}
// Must end every co-routine with a call to crEND();
crEND();
}
// Function that creates two co-routines.
void vOtherFunction( void )
{
uint8_t ucParameterToPass;
TaskHandle_t xHandle;
// Create two co-routines at priority 0. The first is given index 0
// so (from the code above) toggles LED 5 every 200 ticks. The second
// is given index 1 so toggles LED 6 every 400 ticks.
for( uxIndex = 0; uxIndex < 2; uxIndex++ )
{
xCoRoutineCreate( vFlashCoRoutine, 0, uxIndex );
}
}
</pre>
* \defgroup xCoRoutineCreate xCoRoutineCreate
* \ingroup Tasks
*/
BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, UBaseType_t uxPriority, UBaseType_t uxIndex );
/**
* croutine. h
*<pre>
void vCoRoutineSchedule( void );</pre>
*
* Run a co-routine.
*
* vCoRoutineSchedule() executes the highest priority co-routine that is able
* to run. The co-routine will execute until it either blocks, yields or is
* preempted by a task. Co-routines execute cooperatively so one
* co-routine cannot be preempted by another, but can be preempted by a task.
*
* If an application comprises of both tasks and co-routines then
* vCoRoutineSchedule should be called from the idle task (in an idle task
* hook).
*
* Example usage:
<pre>
// This idle task hook will schedule a co-routine each time it is called.
// The rest of the idle task will execute between co-routine calls.
void vApplicationIdleHook( void )
{
vCoRoutineSchedule();
}
// Alternatively, if you do not require any other part of the idle task to
// execute, the idle task hook can call vCoRoutineScheduler() within an
// infinite loop.
void vApplicationIdleHook( void )
{
for( ;; )
{
vCoRoutineSchedule();
}
}
</pre>
* \defgroup vCoRoutineSchedule vCoRoutineSchedule
* \ingroup Tasks
*/
void vCoRoutineSchedule( void );
/**
* croutine. h
* <pre>
crSTART( CoRoutineHandle_t xHandle );</pre>
*
* This macro MUST always be called at the start of a co-routine function.
*
* Example usage:
<pre>
// Co-routine to be created.
void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
{
// Variables in co-routines must be declared static if they must maintain value across a blocking call.
static int32_t ulAVariable;
// Must start every co-routine with a call to crSTART();
crSTART( xHandle );
for( ;; )
{
// Co-routine functionality goes here.
}
// Must end every co-routine with a call to crEND();
crEND();
}</pre>
* \defgroup crSTART crSTART
* \ingroup Tasks
*/
#define crSTART( pxCRCB ) switch( ( ( CRCB_t * )( pxCRCB ) )->uxState ) { case 0:
/**
* croutine. h
* <pre>
crEND();</pre>
*
* This macro MUST always be called at the end of a co-routine function.
*
* Example usage:
<pre>
// Co-routine to be created.
void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
{
// Variables in co-routines must be declared static if they must maintain value across a blocking call.
static int32_t ulAVariable;
// Must start every co-routine with a call to crSTART();
crSTART( xHandle );
for( ;; )
{
// Co-routine functionality goes here.
}
// Must end every co-routine with a call to crEND();
crEND();
}</pre>
* \defgroup crSTART crSTART
* \ingroup Tasks
*/
#define crEND() }
/*
* These macros are intended for internal use by the co-routine implementation
* only. The macros should not be used directly by application writers.
*/
#define crSET_STATE0( xHandle ) ( ( CRCB_t * )( xHandle ) )->uxState = (__LINE__ * 2); return; case (__LINE__ * 2):
#define crSET_STATE1( xHandle ) ( ( CRCB_t * )( xHandle ) )->uxState = ((__LINE__ * 2)+1); return; case ((__LINE__ * 2)+1):
/**
* croutine. h
*<pre>
crDELAY( CoRoutineHandle_t xHandle, TickType_t xTicksToDelay );</pre>
*
* Delay a co-routine for a fixed period of time.
*
* crDELAY can only be called from the co-routine function itself - not
* from within a function called by the co-routine function. This is because
* co-routines do not maintain their own stack.
*
* @param xHandle The handle of the co-routine to delay. This is the xHandle
* parameter of the co-routine function.
*
* @param xTickToDelay The number of ticks that the co-routine should delay
* for. The actual amount of time this equates to is defined by
* configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant portTICK_PERIOD_MS
* can be used to convert ticks to milliseconds.
*
* Example usage:
<pre>
// Co-routine to be created.
void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
{
// Variables in co-routines must be declared static if they must maintain value across a blocking call.
// This may not be necessary for const variables.
// We are to delay for 200ms.
static const xTickType xDelayTime = 200 / portTICK_PERIOD_MS;
// Must start every co-routine with a call to crSTART();
crSTART( xHandle );
for( ;; )
{
// Delay for 200ms.
crDELAY( xHandle, xDelayTime );
// Do something here.
}
// Must end every co-routine with a call to crEND();
crEND();
}</pre>
* \defgroup crDELAY crDELAY
* \ingroup Tasks
*/
#define crDELAY( xHandle, xTicksToDelay ) \
if( ( xTicksToDelay ) > 0 ) \
{ \
vCoRoutineAddToDelayedList( ( xTicksToDelay ), NULL ); \
} \
crSET_STATE0( ( xHandle ) );
/**
* <pre>
crQUEUE_SEND(
CoRoutineHandle_t xHandle,
QueueHandle_t pxQueue,
void *pvItemToQueue,
TickType_t xTicksToWait,
BaseType_t *pxResult
)</pre>
*
* The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine
* equivalent to the xQueueSend() and xQueueReceive() functions used by tasks.
*
* crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas
* xQueueSend() and xQueueReceive() can only be used from tasks.
*
* crQUEUE_SEND can only be called from the co-routine function itself - not
* from within a function called by the co-routine function. This is because
* co-routines do not maintain their own stack.
*
* See the co-routine section of the WEB documentation for information on
* passing data between tasks and co-routines and between ISR's and
* co-routines.
*
* @param xHandle The handle of the calling co-routine. This is the xHandle
* parameter of the co-routine function.
*
* @param pxQueue The handle of the queue on which the data will be posted.
* The handle is obtained as the return value when the queue is created using
* the xQueueCreate() API function.
*
* @param pvItemToQueue A pointer to the data being posted onto the queue.
* The number of bytes of each queued item is specified when the queue is
* created. This number of bytes is copied from pvItemToQueue into the queue
* itself.
*
* @param xTickToDelay The number of ticks that the co-routine should block
* to wait for space to become available on the queue, should space not be
* available immediately. The actual amount of time this equates to is defined
* by configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant
* portTICK_PERIOD_MS can be used to convert ticks to milliseconds (see example
* below).
*
* @param pxResult The variable pointed to by pxResult will be set to pdPASS if
* data was successfully posted onto the queue, otherwise it will be set to an
* error defined within ProjDefs.h.
*
* Example usage:
<pre>
// Co-routine function that blocks for a fixed period then posts a number onto
// a queue.
static void prvCoRoutineFlashTask( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
{
// Variables in co-routines must be declared static if they must maintain value across a blocking call.
static BaseType_t xNumberToPost = 0;
static BaseType_t xResult;
// Co-routines must begin with a call to crSTART().
crSTART( xHandle );
for( ;; )
{
// This assumes the queue has already been created.
crQUEUE_SEND( xHandle, xCoRoutineQueue, &xNumberToPost, NO_DELAY, &xResult );
if( xResult != pdPASS )
{
// The message was not posted!
}
// Increment the number to be posted onto the queue.
xNumberToPost++;
// Delay for 100 ticks.
crDELAY( xHandle, 100 );
}
// Co-routines must end with a call to crEND().
crEND();
}</pre>
* \defgroup crQUEUE_SEND crQUEUE_SEND
* \ingroup Tasks
*/
#define crQUEUE_SEND( xHandle, pxQueue, pvItemToQueue, xTicksToWait, pxResult ) \
{ \
*( pxResult ) = xQueueCRSend( ( pxQueue) , ( pvItemToQueue) , ( xTicksToWait ) ); \
if( *( pxResult ) == errQUEUE_BLOCKED ) \
{ \
crSET_STATE0( ( xHandle ) ); \
*pxResult = xQueueCRSend( ( pxQueue ), ( pvItemToQueue ), 0 ); \
} \
if( *pxResult == errQUEUE_YIELD ) \
{ \
crSET_STATE1( ( xHandle ) ); \
*pxResult = pdPASS; \
} \
}
/**
* croutine. h
* <pre>
crQUEUE_RECEIVE(
CoRoutineHandle_t xHandle,
QueueHandle_t pxQueue,
void *pvBuffer,
TickType_t xTicksToWait,
BaseType_t *pxResult
)</pre>
*
* The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine
* equivalent to the xQueueSend() and xQueueReceive() functions used by tasks.
*
* crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas
* xQueueSend() and xQueueReceive() can only be used from tasks.
*
* crQUEUE_RECEIVE can only be called from the co-routine function itself - not
* from within a function called by the co-routine function. This is because
* co-routines do not maintain their own stack.
*
* See the co-routine section of the WEB documentation for information on
* passing data between tasks and co-routines and between ISR's and
* co-routines.
*
* @param xHandle The handle of the calling co-routine. This is the xHandle
* parameter of the co-routine function.
*
* @param pxQueue The handle of the queue from which the data will be received.
* The handle is obtained as the return value when the queue is created using
* the xQueueCreate() API function.
*
* @param pvBuffer The buffer into which the received item is to be copied.
* The number of bytes of each queued item is specified when the queue is
* created. This number of bytes is copied into pvBuffer.
*
* @param xTickToDelay The number of ticks that the co-routine should block
* to wait for data to become available from the queue, should data not be
* available immediately. The actual amount of time this equates to is defined
* by configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant
* portTICK_PERIOD_MS can be used to convert ticks to milliseconds (see the
* crQUEUE_SEND example).
*
* @param pxResult The variable pointed to by pxResult will be set to pdPASS if
* data was successfully retrieved from the queue, otherwise it will be set to
* an error code as defined within ProjDefs.h.
*
* Example usage:
<pre>
// A co-routine receives the number of an LED to flash from a queue. It
// blocks on the queue until the number is received.
static void prvCoRoutineFlashWorkTask( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
{
// Variables in co-routines must be declared static if they must maintain value across a blocking call.
static BaseType_t xResult;
static UBaseType_t uxLEDToFlash;
// All co-routines must start with a call to crSTART().
crSTART( xHandle );
for( ;; )
{
// Wait for data to become available on the queue.
crQUEUE_RECEIVE( xHandle, xCoRoutineQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
if( xResult == pdPASS )
{
// We received the LED to flash - flash it!
vParTestToggleLED( uxLEDToFlash );
}
}
crEND();
}</pre>
* \defgroup crQUEUE_RECEIVE crQUEUE_RECEIVE
* \ingroup Tasks
*/
#define crQUEUE_RECEIVE( xHandle, pxQueue, pvBuffer, xTicksToWait, pxResult ) \
{ \
*( pxResult ) = xQueueCRReceive( ( pxQueue) , ( pvBuffer ), ( xTicksToWait ) ); \
if( *( pxResult ) == errQUEUE_BLOCKED ) \
{ \
crSET_STATE0( ( xHandle ) ); \
*( pxResult ) = xQueueCRReceive( ( pxQueue) , ( pvBuffer ), 0 ); \
} \
if( *( pxResult ) == errQUEUE_YIELD ) \
{ \
crSET_STATE1( ( xHandle ) ); \
*( pxResult ) = pdPASS; \
} \
}
/**
* croutine. h
* <pre>
crQUEUE_SEND_FROM_ISR(
QueueHandle_t pxQueue,
void *pvItemToQueue,
BaseType_t xCoRoutinePreviouslyWoken
)</pre>
*
* The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the
* co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR()
* functions used by tasks.
*
* crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to
* pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and
* xQueueReceiveFromISR() can only be used to pass data between a task and and
* ISR.
*
* crQUEUE_SEND_FROM_ISR can only be called from an ISR to send data to a queue
* that is being used from within a co-routine.
*
* See the co-routine section of the WEB documentation for information on
* passing data between tasks and co-routines and between ISR's and
* co-routines.
*
* @param xQueue The handle to the queue on which the item is to be posted.
*
* @param pvItemToQueue A pointer to the item that is to be placed on the
* queue. The size of the items the queue will hold was defined when the
* queue was created, so this many bytes will be copied from pvItemToQueue
* into the queue storage area.
*
* @param xCoRoutinePreviouslyWoken This is included so an ISR can post onto
* the same queue multiple times from a single interrupt. The first call
* should always pass in pdFALSE. Subsequent calls should pass in
* the value returned from the previous call.
*
* @return pdTRUE if a co-routine was woken by posting onto the queue. This is
* used by the ISR to determine if a context switch may be required following
* the ISR.
*
* Example usage:
<pre>
// A co-routine that blocks on a queue waiting for characters to be received.
static void vReceivingCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
{
char cRxedChar;
BaseType_t xResult;
// All co-routines must start with a call to crSTART().
crSTART( xHandle );
for( ;; )
{
// Wait for data to become available on the queue. This assumes the
// queue xCommsRxQueue has already been created!
crQUEUE_RECEIVE( xHandle, xCommsRxQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
// Was a character received?
if( xResult == pdPASS )
{
// Process the character here.
}
}
// All co-routines must end with a call to crEND().
crEND();
}
// An ISR that uses a queue to send characters received on a serial port to
// a co-routine.
void vUART_ISR( void )
{
char cRxedChar;
BaseType_t xCRWokenByPost = pdFALSE;
// We loop around reading characters until there are none left in the UART.
while( UART_RX_REG_NOT_EMPTY() )
{
// Obtain the character from the UART.
cRxedChar = UART_RX_REG;
// Post the character onto a queue. xCRWokenByPost will be pdFALSE
// the first time around the loop. If the post causes a co-routine
// to be woken (unblocked) then xCRWokenByPost will be set to pdTRUE.
// In this manner we can ensure that if more than one co-routine is
// blocked on the queue only one is woken by this ISR no matter how
// many characters are posted to the queue.
xCRWokenByPost = crQUEUE_SEND_FROM_ISR( xCommsRxQueue, &cRxedChar, xCRWokenByPost );
}
}</pre>
* \defgroup crQUEUE_SEND_FROM_ISR crQUEUE_SEND_FROM_ISR
* \ingroup Tasks
*/
#define crQUEUE_SEND_FROM_ISR( pxQueue, pvItemToQueue, xCoRoutinePreviouslyWoken ) xQueueCRSendFromISR( ( pxQueue ), ( pvItemToQueue ), ( xCoRoutinePreviouslyWoken ) )
/**
* croutine. h
* <pre>
crQUEUE_SEND_FROM_ISR(
QueueHandle_t pxQueue,
void *pvBuffer,
BaseType_t * pxCoRoutineWoken
)</pre>
*
* The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the
* co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR()
* functions used by tasks.
*
* crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to
* pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and
* xQueueReceiveFromISR() can only be used to pass data between a task and and
* ISR.
*
* crQUEUE_RECEIVE_FROM_ISR can only be called from an ISR to receive data
* from a queue that is being used from within a co-routine (a co-routine
* posted to the queue).
*
* See the co-routine section of the WEB documentation for information on
* passing data between tasks and co-routines and between ISR's and
* co-routines.
*
* @param xQueue The handle to the queue on which the item is to be posted.
*
* @param pvBuffer A pointer to a buffer into which the received item will be
* placed. The size of the items the queue will hold was defined when the
* queue was created, so this many bytes will be copied from the queue into
* pvBuffer.
*
* @param pxCoRoutineWoken A co-routine may be blocked waiting for space to become
* available on the queue. If crQUEUE_RECEIVE_FROM_ISR causes such a
* co-routine to unblock *pxCoRoutineWoken will get set to pdTRUE, otherwise
* *pxCoRoutineWoken will remain unchanged.
*
* @return pdTRUE an item was successfully received from the queue, otherwise
* pdFALSE.
*
* Example usage:
<pre>
// A co-routine that posts a character to a queue then blocks for a fixed
// period. The character is incremented each time.
static void vSendingCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
{
// cChar holds its value while this co-routine is blocked and must therefore
// be declared static.
static char cCharToTx = 'a';
BaseType_t xResult;
// All co-routines must start with a call to crSTART().
crSTART( xHandle );
for( ;; )
{
// Send the next character to the queue.
crQUEUE_SEND( xHandle, xCoRoutineQueue, &cCharToTx, NO_DELAY, &xResult );
if( xResult == pdPASS )
{
// The character was successfully posted to the queue.
}
else
{
// Could not post the character to the queue.
}
// Enable the UART Tx interrupt to cause an interrupt in this
// hypothetical UART. The interrupt will obtain the character
// from the queue and send it.
ENABLE_RX_INTERRUPT();
// Increment to the next character then block for a fixed period.
// cCharToTx will maintain its value across the delay as it is
// declared static.
cCharToTx++;
if( cCharToTx > 'x' )
{
cCharToTx = 'a';
}
crDELAY( 100 );
}
// All co-routines must end with a call to crEND().
crEND();
}
// An ISR that uses a queue to receive characters to send on a UART.
void vUART_ISR( void )
{
char cCharToTx;
BaseType_t xCRWokenByPost = pdFALSE;
while( UART_TX_REG_EMPTY() )
{
// Are there any characters in the queue waiting to be sent?
// xCRWokenByPost will automatically be set to pdTRUE if a co-routine
// is woken by the post - ensuring that only a single co-routine is
// woken no matter how many times we go around this loop.
if( crQUEUE_RECEIVE_FROM_ISR( pxQueue, &cCharToTx, &xCRWokenByPost ) )
{
SEND_CHARACTER( cCharToTx );
}
}
}</pre>
* \defgroup crQUEUE_RECEIVE_FROM_ISR crQUEUE_RECEIVE_FROM_ISR
* \ingroup Tasks
*/
#define crQUEUE_RECEIVE_FROM_ISR( pxQueue, pvBuffer, pxCoRoutineWoken ) xQueueCRReceiveFromISR( ( pxQueue ), ( pvBuffer ), ( pxCoRoutineWoken ) )
/*
* This function is intended for internal use by the co-routine macros only.
* The macro nature of the co-routine implementation requires that the
* prototype appears here. The function should not be used by application
* writers.
*
* Removes the current co-routine from its ready list and places it in the
* appropriate delayed list.
*/
void vCoRoutineAddToDelayedList( TickType_t xTicksToDelay, List_t *pxEventList );
/*
* This function is intended for internal use by the queue implementation only.
* The function should not be used by application writers.
*
* Removes the highest priority co-routine from the event list and places it in
* the pending ready list.
*/
BaseType_t xCoRoutineRemoveFromEventList( const List_t *pxEventList );
#ifdef __cplusplus
}
#endif
#endif /* CO_ROUTINE_H */
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/os_inc/deprecated_definitions.h
-321
View File
@@ -1,321 +0,0 @@
/*
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
This file is part of the FreeRTOS distribution.
FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
***************************************************************************
>>! NOTE: The modification to the GPL is included to allow you to !<<
>>! distribute a combined work that includes FreeRTOS without being !<<
>>! obliged to provide the source code for proprietary components !<<
>>! outside of the FreeRTOS kernel. !<<
***************************************************************************
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. Full license text is available on the following
link: http://www.freertos.org/a00114.html
***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that is more than just the market leader, it *
* is the industry's de facto standard. *
* *
* Help yourself get started quickly while simultaneously helping *
* to support the FreeRTOS project by purchasing a FreeRTOS *
* tutorial book, reference manual, or both: *
* http://www.FreeRTOS.org/Documentation *
* *
***************************************************************************
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
the FAQ page "My application does not run, what could be wrong?". Have you
defined configASSERT()?
http://www.FreeRTOS.org/support - In return for receiving this top quality
embedded software for free we request you assist our global community by
participating in the support forum.
http://www.FreeRTOS.org/training - Investing in training allows your team to
be as productive as possible as early as possible. Now you can receive
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
Ltd, and the world's leading authority on the world's leading RTOS.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and commercial middleware.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
1 tab == 4 spaces!
*/
#ifndef DEPRECATED_DEFINITIONS_H
#define DEPRECATED_DEFINITIONS_H
/* Each FreeRTOS port has a unique portmacro.h header file. Originally a
pre-processor definition was used to ensure the pre-processor found the correct
portmacro.h file for the port being used. That scheme was deprecated in favour
of setting the compiler's include path such that it found the correct
portmacro.h file - removing the need for the constant and allowing the
portmacro.h file to be located anywhere in relation to the port being used. The
definitions below remain in the code for backward compatibility only. New
projects should not use them. */
#ifdef OPEN_WATCOM_INDUSTRIAL_PC_PORT
#include "..\..\Source\portable\owatcom\16bitdos\pc\portmacro.h"
typedef void ( __interrupt __far *pxISR )();
#endif
#ifdef OPEN_WATCOM_FLASH_LITE_186_PORT
#include "..\..\Source\portable\owatcom\16bitdos\flsh186\portmacro.h"
typedef void ( __interrupt __far *pxISR )();
#endif
#ifdef GCC_MEGA_AVR
#include "../portable/GCC/ATMega323/portmacro.h"
#endif
#ifdef IAR_MEGA_AVR
#include "../portable/IAR/ATMega323/portmacro.h"
#endif
#ifdef MPLAB_PIC24_PORT
#include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h"
#endif
#ifdef MPLAB_DSPIC_PORT
#include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h"
#endif
#ifdef MPLAB_PIC18F_PORT
#include "../../Source/portable/MPLAB/PIC18F/portmacro.h"
#endif
#ifdef MPLAB_PIC32MX_PORT
#include "../../Source/portable/MPLAB/PIC32MX/portmacro.h"
#endif
#ifdef _FEDPICC
#include "libFreeRTOS/Include/portmacro.h"
#endif
#ifdef SDCC_CYGNAL
#include "../../Source/portable/SDCC/Cygnal/portmacro.h"
#endif
#ifdef GCC_ARM7
#include "../../Source/portable/GCC/ARM7_LPC2000/portmacro.h"
#endif
#ifdef GCC_ARM7_ECLIPSE
#include "portmacro.h"
#endif
#ifdef ROWLEY_LPC23xx
#include "../../Source/portable/GCC/ARM7_LPC23xx/portmacro.h"
#endif
#ifdef IAR_MSP430
#include "..\..\Source\portable\IAR\MSP430\portmacro.h"
#endif
#ifdef GCC_MSP430
#include "../../Source/portable/GCC/MSP430F449/portmacro.h"
#endif
#ifdef ROWLEY_MSP430
#include "../../Source/portable/Rowley/MSP430F449/portmacro.h"
#endif
#ifdef ARM7_LPC21xx_KEIL_RVDS
#include "..\..\Source\portable\RVDS\ARM7_LPC21xx\portmacro.h"
#endif
#ifdef SAM7_GCC
#include "../../Source/portable/GCC/ARM7_AT91SAM7S/portmacro.h"
#endif
#ifdef SAM7_IAR
#include "..\..\Source\portable\IAR\AtmelSAM7S64\portmacro.h"
#endif
#ifdef SAM9XE_IAR
#include "..\..\Source\portable\IAR\AtmelSAM9XE\portmacro.h"
#endif
#ifdef LPC2000_IAR
#include "..\..\Source\portable\IAR\LPC2000\portmacro.h"
#endif
#ifdef STR71X_IAR
#include "..\..\Source\portable\IAR\STR71x\portmacro.h"
#endif
#ifdef STR75X_IAR
#include "..\..\Source\portable\IAR\STR75x\portmacro.h"
#endif
#ifdef STR75X_GCC
#include "..\..\Source\portable\GCC\STR75x\portmacro.h"
#endif
#ifdef STR91X_IAR
#include "..\..\Source\portable\IAR\STR91x\portmacro.h"
#endif
#ifdef GCC_H8S
#include "../../Source/portable/GCC/H8S2329/portmacro.h"
#endif
#ifdef GCC_AT91FR40008
#include "../../Source/portable/GCC/ARM7_AT91FR40008/portmacro.h"
#endif
#ifdef RVDS_ARMCM3_LM3S102
#include "../../Source/portable/RVDS/ARM_CM3/portmacro.h"
#endif
#ifdef GCC_ARMCM3_LM3S102
#include "../../Source/portable/GCC/ARM_CM3/portmacro.h"
#endif
#ifdef GCC_ARMCM3
#include "../../Source/portable/GCC/ARM_CM3/portmacro.h"
#endif
#ifdef IAR_ARM_CM3
#include "../../Source/portable/IAR/ARM_CM3/portmacro.h"
#endif
#ifdef IAR_ARMCM3_LM
#include "../../Source/portable/IAR/ARM_CM3/portmacro.h"
#endif
#ifdef HCS12_CODE_WARRIOR
#include "../../Source/portable/CodeWarrior/HCS12/portmacro.h"
#endif
#ifdef MICROBLAZE_GCC
#include "../../Source/portable/GCC/MicroBlaze/portmacro.h"
#endif
#ifdef TERN_EE
#include "..\..\Source\portable\Paradigm\Tern_EE\small\portmacro.h"
#endif
#ifdef GCC_HCS12
#include "../../Source/portable/GCC/HCS12/portmacro.h"
#endif
#ifdef GCC_MCF5235
#include "../../Source/portable/GCC/MCF5235/portmacro.h"
#endif
#ifdef COLDFIRE_V2_GCC
#include "../../../Source/portable/GCC/ColdFire_V2/portmacro.h"
#endif
#ifdef COLDFIRE_V2_CODEWARRIOR
#include "../../Source/portable/CodeWarrior/ColdFire_V2/portmacro.h"
#endif
#ifdef GCC_PPC405
#include "../../Source/portable/GCC/PPC405_Xilinx/portmacro.h"
#endif
#ifdef GCC_PPC440
#include "../../Source/portable/GCC/PPC440_Xilinx/portmacro.h"
#endif
#ifdef _16FX_SOFTUNE
#include "..\..\Source\portable\Softune\MB96340\portmacro.h"
#endif
#ifdef BCC_INDUSTRIAL_PC_PORT
/* A short file name has to be used in place of the normal
FreeRTOSConfig.h when using the Borland compiler. */
#include "frconfig.h"
#include "..\portable\BCC\16BitDOS\PC\prtmacro.h"
typedef void ( __interrupt __far *pxISR )();
#endif
#ifdef BCC_FLASH_LITE_186_PORT
/* A short file name has to be used in place of the normal
FreeRTOSConfig.h when using the Borland compiler. */
#include "frconfig.h"
#include "..\portable\BCC\16BitDOS\flsh186\prtmacro.h"
typedef void ( __interrupt __far *pxISR )();
#endif
#ifdef __GNUC__
#ifdef __AVR32_AVR32A__
#include "portmacro.h"
#endif
#endif
#ifdef __ICCAVR32__
#ifdef __CORE__
#if __CORE__ == __AVR32A__
#include "portmacro.h"
#endif
#endif
#endif
#ifdef __91467D
#include "portmacro.h"
#endif
#ifdef __96340
#include "portmacro.h"
#endif
#ifdef __IAR_V850ES_Fx3__
#include "../../Source/portable/IAR/V850ES/portmacro.h"
#endif
#ifdef __IAR_V850ES_Jx3__
#include "../../Source/portable/IAR/V850ES/portmacro.h"
#endif
#ifdef __IAR_V850ES_Jx3_L__
#include "../../Source/portable/IAR/V850ES/portmacro.h"
#endif
#ifdef __IAR_V850ES_Jx2__
#include "../../Source/portable/IAR/V850ES/portmacro.h"
#endif
#ifdef __IAR_V850ES_Hx2__
#include "../../Source/portable/IAR/V850ES/portmacro.h"
#endif
#ifdef __IAR_78K0R_Kx3__
#include "../../Source/portable/IAR/78K0R/portmacro.h"
#endif
#ifdef __IAR_78K0R_Kx3L__
#include "../../Source/portable/IAR/78K0R/portmacro.h"
#endif
#endif /* DEPRECATED_DEFINITIONS_H */
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/os_inc/event_groups.h
-797
View File
@@ -1,797 +0,0 @@
/*
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
This file is part of the FreeRTOS distribution.
FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
***************************************************************************
>>! NOTE: The modification to the GPL is included to allow you to !<<
>>! distribute a combined work that includes FreeRTOS without being !<<
>>! obliged to provide the source code for proprietary components !<<
>>! outside of the FreeRTOS kernel. !<<
***************************************************************************
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. Full license text is available on the following
link: http://www.freertos.org/a00114.html
***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that is more than just the market leader, it *
* is the industry's de facto standard. *
* *
* Help yourself get started quickly while simultaneously helping *
* to support the FreeRTOS project by purchasing a FreeRTOS *
* tutorial book, reference manual, or both: *
* http://www.FreeRTOS.org/Documentation *
* *
***************************************************************************
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
the FAQ page "My application does not run, what could be wrong?". Have you
defined configASSERT()?
http://www.FreeRTOS.org/support - In return for receiving this top quality
embedded software for free we request you assist our global community by
participating in the support forum.
http://www.FreeRTOS.org/training - Investing in training allows your team to
be as productive as possible as early as possible. Now you can receive
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
Ltd, and the world's leading authority on the world's leading RTOS.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and commercial middleware.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
1 tab == 4 spaces!
*/
#ifndef EVENT_GROUPS_H
#define EVENT_GROUPS_H
#ifndef INC_FREERTOS_H
#error "include FreeRTOS.h" must appear in source files before "include event_groups.h"
#endif
/* FreeRTOS includes. */
#include "timers.h"
#ifdef __cplusplus
extern "C" {
#endif
/**
* An event group is a collection of bits to which an application can assign a
* meaning. For example, an application may create an event group to convey
* the status of various CAN bus related events in which bit 0 might mean "A CAN
* message has been received and is ready for processing", bit 1 might mean "The
* application has queued a message that is ready for sending onto the CAN
* network", and bit 2 might mean "It is time to send a SYNC message onto the
* CAN network" etc. A task can then test the bit values to see which events
* are active, and optionally enter the Blocked state to wait for a specified
* bit or a group of specified bits to be active. To continue the CAN bus
* example, a CAN controlling task can enter the Blocked state (and therefore
* not consume any processing time) until either bit 0, bit 1 or bit 2 are
* active, at which time the bit that was actually active would inform the task
* which action it had to take (process a received message, send a message, or
* send a SYNC).
*
* The event groups implementation contains intelligence to avoid race
* conditions that would otherwise occur were an application to use a simple
* variable for the same purpose. This is particularly important with respect
* to when a bit within an event group is to be cleared, and when bits have to
* be set and then tested atomically - as is the case where event groups are
* used to create a synchronisation point between multiple tasks (a
* 'rendezvous').
*
* \defgroup EventGroup
*/
/**
* event_groups.h
*
* Type by which event groups are referenced. For example, a call to
* xEventGroupCreate() returns an EventGroupHandle_t variable that can then
* be used as a parameter to other event group functions.
*
* \defgroup EventGroupHandle_t EventGroupHandle_t
* \ingroup EventGroup
*/
typedef void * EventGroupHandle_t;
/*
* The type that holds event bits always matches TickType_t - therefore the
* number of bits it holds is set by configUSE_16_BIT_TICKS (16 bits if set to 1,
* 32 bits if set to 0.
*
* \defgroup EventBits_t EventBits_t
* \ingroup EventGroup
*/
typedef TickType_t EventBits_t;
/**
* event_groups.h
*<pre>
EventGroupHandle_t xEventGroupCreate( void );
</pre>
*
* Create a new event group.
*
* Internally, within the FreeRTOS implementation, event groups use a [small]
* block of memory, in which the event group's structure is stored. If an event
* groups is created using xEventGropuCreate() then the required memory is
* automatically dynamically allocated inside the xEventGroupCreate() function.
* (see http://www.freertos.org/a00111.html). If an event group is created
* using xEventGropuCreateStatic() then the application writer must instead
* provide the memory that will get used by the event group.
* xEventGroupCreateStatic() therefore allows an event group to be created
* without using any dynamic memory allocation.
*
* Although event groups are not related to ticks, for internal implementation
* reasons the number of bits available for use in an event group is dependent
* on the configUSE_16_BIT_TICKS setting in FreeRTOSConfig.h. If
* configUSE_16_BIT_TICKS is 1 then each event group contains 8 usable bits (bit
* 0 to bit 7). If configUSE_16_BIT_TICKS is set to 0 then each event group has
* 24 usable bits (bit 0 to bit 23). The EventBits_t type is used to store
* event bits within an event group.
*
* @return If the event group was created then a handle to the event group is
* returned. If there was insufficient FreeRTOS heap available to create the
* event group then NULL is returned. See http://www.freertos.org/a00111.html
*
* Example usage:
<pre>
// Declare a variable to hold the created event group.
EventGroupHandle_t xCreatedEventGroup;
// Attempt to create the event group.
xCreatedEventGroup = xEventGroupCreate();
// Was the event group created successfully?
if( xCreatedEventGroup == NULL )
{
// The event group was not created because there was insufficient
// FreeRTOS heap available.
}
else
{
// The event group was created.
}
</pre>
* \defgroup xEventGroupCreate xEventGroupCreate
* \ingroup EventGroup
*/
#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
EventGroupHandle_t xEventGroupCreate( void ) PRIVILEGED_FUNCTION;
#endif
/**
* event_groups.h
*<pre>
EventGroupHandle_t xEventGroupCreateStatic( EventGroupHandle_t * pxEventGroupBuffer );
</pre>
*
* Create a new event group.
*
* Internally, within the FreeRTOS implementation, event groups use a [small]
* block of memory, in which the event group's structure is stored. If an event
* groups is created using xEventGropuCreate() then the required memory is
* automatically dynamically allocated inside the xEventGroupCreate() function.
* (see http://www.freertos.org/a00111.html). If an event group is created
* using xEventGropuCreateStatic() then the application writer must instead
* provide the memory that will get used by the event group.
* xEventGroupCreateStatic() therefore allows an event group to be created
* without using any dynamic memory allocation.
*
* Although event groups are not related to ticks, for internal implementation
* reasons the number of bits available for use in an event group is dependent
* on the configUSE_16_BIT_TICKS setting in FreeRTOSConfig.h. If
* configUSE_16_BIT_TICKS is 1 then each event group contains 8 usable bits (bit
* 0 to bit 7). If configUSE_16_BIT_TICKS is set to 0 then each event group has
* 24 usable bits (bit 0 to bit 23). The EventBits_t type is used to store
* event bits within an event group.
*
* @param pxEventGroupBuffer pxEventGroupBuffer must point to a variable of type
* StaticEventGroup_t, which will be then be used to hold the event group's data
* structures, removing the need for the memory to be allocated dynamically.
*
* @return If the event group was created then a handle to the event group is
* returned. If pxEventGroupBuffer was NULL then NULL is returned.
*
* Example usage:
<pre>
// StaticEventGroup_t is a publicly accessible structure that has the same
// size and alignment requirements as the real event group structure. It is
// provided as a mechanism for applications to know the size of the event
// group (which is dependent on the architecture and configuration file
// settings) without breaking the strict data hiding policy by exposing the
// real event group internals. This StaticEventGroup_t variable is passed
// into the xSemaphoreCreateEventGroupStatic() function and is used to store
// the event group's data structures
StaticEventGroup_t xEventGroupBuffer;
// Create the event group without dynamically allocating any memory.
xEventGroup = xEventGroupCreateStatic( &xEventGroupBuffer );
</pre>
*/
#if( configSUPPORT_STATIC_ALLOCATION == 1 )
EventGroupHandle_t xEventGroupCreateStatic( StaticEventGroup_t *pxEventGroupBuffer ) PRIVILEGED_FUNCTION;
#endif
/**
* event_groups.h
*<pre>
EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToWaitFor,
const BaseType_t xClearOnExit,
const BaseType_t xWaitForAllBits,
const TickType_t xTicksToWait );
</pre>
*
* [Potentially] block to wait for one or more bits to be set within a
* previously created event group.
*
* This function cannot be called from an interrupt.
*
* @param xEventGroup The event group in which the bits are being tested. The
* event group must have previously been created using a call to
* xEventGroupCreate().
*
* @param uxBitsToWaitFor A bitwise value that indicates the bit or bits to test
* inside the event group. For example, to wait for bit 0 and/or bit 2 set
* uxBitsToWaitFor to 0x05. To wait for bits 0 and/or bit 1 and/or bit 2 set
* uxBitsToWaitFor to 0x07. Etc.
*
* @param xClearOnExit If xClearOnExit is set to pdTRUE then any bits within
* uxBitsToWaitFor that are set within the event group will be cleared before
* xEventGroupWaitBits() returns if the wait condition was met (if the function
* returns for a reason other than a timeout). If xClearOnExit is set to
* pdFALSE then the bits set in the event group are not altered when the call to
* xEventGroupWaitBits() returns.
*
* @param xWaitForAllBits If xWaitForAllBits is set to pdTRUE then
* xEventGroupWaitBits() will return when either all the bits in uxBitsToWaitFor
* are set or the specified block time expires. If xWaitForAllBits is set to
* pdFALSE then xEventGroupWaitBits() will return when any one of the bits set
* in uxBitsToWaitFor is set or the specified block time expires. The block
* time is specified by the xTicksToWait parameter.
*
* @param xTicksToWait The maximum amount of time (specified in 'ticks') to wait
* for one/all (depending on the xWaitForAllBits value) of the bits specified by
* uxBitsToWaitFor to become set.
*
* @return The value of the event group at the time either the bits being waited
* for became set, or the block time expired. Test the return value to know
* which bits were set. If xEventGroupWaitBits() returned because its timeout
* expired then not all the bits being waited for will be set. If
* xEventGroupWaitBits() returned because the bits it was waiting for were set
* then the returned value is the event group value before any bits were
* automatically cleared in the case that xClearOnExit parameter was set to
* pdTRUE.
*
* Example usage:
<pre>
#define BIT_0 ( 1 << 0 )
#define BIT_4 ( 1 << 4 )
void aFunction( EventGroupHandle_t xEventGroup )
{
EventBits_t uxBits;
const TickType_t xTicksToWait = 100 / portTICK_PERIOD_MS;
// Wait a maximum of 100ms for either bit 0 or bit 4 to be set within
// the event group. Clear the bits before exiting.
uxBits = xEventGroupWaitBits(
xEventGroup, // The event group being tested.
BIT_0 | BIT_4, // The bits within the event group to wait for.
pdTRUE, // BIT_0 and BIT_4 should be cleared before returning.
pdFALSE, // Don't wait for both bits, either bit will do.
xTicksToWait ); // Wait a maximum of 100ms for either bit to be set.
if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) )
{
// xEventGroupWaitBits() returned because both bits were set.
}
else if( ( uxBits & BIT_0 ) != 0 )
{
// xEventGroupWaitBits() returned because just BIT_0 was set.
}
else if( ( uxBits & BIT_4 ) != 0 )
{
// xEventGroupWaitBits() returned because just BIT_4 was set.
}
else
{
// xEventGroupWaitBits() returned because xTicksToWait ticks passed
// without either BIT_0 or BIT_4 becoming set.
}
}
</pre>
* \defgroup xEventGroupWaitBits xEventGroupWaitBits
* \ingroup EventGroup
*/
EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToWaitFor, const BaseType_t xClearOnExit, const BaseType_t xWaitForAllBits, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
/**
* event_groups.h
*<pre>
EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear );
</pre>
*
* Clear bits within an event group. This function cannot be called from an
* interrupt.
*
* @param xEventGroup The event group in which the bits are to be cleared.
*
* @param uxBitsToClear A bitwise value that indicates the bit or bits to clear
* in the event group. For example, to clear bit 3 only, set uxBitsToClear to
* 0x08. To clear bit 3 and bit 0 set uxBitsToClear to 0x09.
*
* @return The value of the event group before the specified bits were cleared.
*
* Example usage:
<pre>
#define BIT_0 ( 1 << 0 )
#define BIT_4 ( 1 << 4 )
void aFunction( EventGroupHandle_t xEventGroup )
{
EventBits_t uxBits;
// Clear bit 0 and bit 4 in xEventGroup.
uxBits = xEventGroupClearBits(
xEventGroup, // The event group being updated.
BIT_0 | BIT_4 );// The bits being cleared.
if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) )
{
// Both bit 0 and bit 4 were set before xEventGroupClearBits() was
// called. Both will now be clear (not set).
}
else if( ( uxBits & BIT_0 ) != 0 )
{
// Bit 0 was set before xEventGroupClearBits() was called. It will
// now be clear.
}
else if( ( uxBits & BIT_4 ) != 0 )
{
// Bit 4 was set before xEventGroupClearBits() was called. It will
// now be clear.
}
else
{
// Neither bit 0 nor bit 4 were set in the first place.
}
}
</pre>
* \defgroup xEventGroupClearBits xEventGroupClearBits
* \ingroup EventGroup
*/
EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear ) PRIVILEGED_FUNCTION;
/**
* event_groups.h
*<pre>
BaseType_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet );
</pre>
*
* A version of xEventGroupClearBits() that can be called from an interrupt.
*
* Setting bits in an event group is not a deterministic operation because there
* are an unknown number of tasks that may be waiting for the bit or bits being
* set. FreeRTOS does not allow nondeterministic operations to be performed
* while interrupts are disabled, so protects event groups that are accessed
* from tasks by suspending the scheduler rather than disabling interrupts. As
* a result event groups cannot be accessed directly from an interrupt service
* routine. Therefore xEventGroupClearBitsFromISR() sends a message to the
* timer task to have the clear operation performed in the context of the timer
* task.
*
* @param xEventGroup The event group in which the bits are to be cleared.
*
* @param uxBitsToClear A bitwise value that indicates the bit or bits to clear.
* For example, to clear bit 3 only, set uxBitsToClear to 0x08. To clear bit 3
* and bit 0 set uxBitsToClear to 0x09.
*
* @return If the request to execute the function was posted successfully then
* pdPASS is returned, otherwise pdFALSE is returned. pdFALSE will be returned
* if the timer service queue was full.
*
* Example usage:
<pre>
#define BIT_0 ( 1 << 0 )
#define BIT_4 ( 1 << 4 )
// An event group which it is assumed has already been created by a call to
// xEventGroupCreate().
EventGroupHandle_t xEventGroup;
void anInterruptHandler( void )
{
// Clear bit 0 and bit 4 in xEventGroup.
xResult = xEventGroupClearBitsFromISR(
xEventGroup, // The event group being updated.
BIT_0 | BIT_4 ); // The bits being set.
if( xResult == pdPASS )
{
// The message was posted successfully.
}
}
</pre>
* \defgroup xEventGroupClearBitsFromISR xEventGroupClearBitsFromISR
* \ingroup EventGroup
*/
#if( configUSE_TRACE_FACILITY == 1 )
BaseType_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet ) PRIVILEGED_FUNCTION;
#else
#define xEventGroupClearBitsFromISR( xEventGroup, uxBitsToClear ) xTimerPendFunctionCallFromISR( vEventGroupClearBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToClear, NULL )
#endif
/**
* event_groups.h
*<pre>
EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet );
</pre>
*
* Set bits within an event group.
* This function cannot be called from an interrupt. xEventGroupSetBitsFromISR()
* is a version that can be called from an interrupt.
*
* Setting bits in an event group will automatically unblock tasks that are
* blocked waiting for the bits.
*
* @param xEventGroup The event group in which the bits are to be set.
*
* @param uxBitsToSet A bitwise value that indicates the bit or bits to set.
* For example, to set bit 3 only, set uxBitsToSet to 0x08. To set bit 3
* and bit 0 set uxBitsToSet to 0x09.
*
* @return The value of the event group at the time the call to
* xEventGroupSetBits() returns. There are two reasons why the returned value
* might have the bits specified by the uxBitsToSet parameter cleared. First,
* if setting a bit results in a task that was waiting for the bit leaving the
* blocked state then it is possible the bit will be cleared automatically
* (see the xClearBitOnExit parameter of xEventGroupWaitBits()). Second, any
* unblocked (or otherwise Ready state) task that has a priority above that of
* the task that called xEventGroupSetBits() will execute and may change the
* event group value before the call to xEventGroupSetBits() returns.
*
* Example usage:
<pre>
#define BIT_0 ( 1 << 0 )
#define BIT_4 ( 1 << 4 )
void aFunction( EventGroupHandle_t xEventGroup )
{
EventBits_t uxBits;
// Set bit 0 and bit 4 in xEventGroup.
uxBits = xEventGroupSetBits(
xEventGroup, // The event group being updated.
BIT_0 | BIT_4 );// The bits being set.
if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) )
{
// Both bit 0 and bit 4 remained set when the function returned.
}
else if( ( uxBits & BIT_0 ) != 0 )
{
// Bit 0 remained set when the function returned, but bit 4 was
// cleared. It might be that bit 4 was cleared automatically as a
// task that was waiting for bit 4 was removed from the Blocked
// state.
}
else if( ( uxBits & BIT_4 ) != 0 )
{
// Bit 4 remained set when the function returned, but bit 0 was
// cleared. It might be that bit 0 was cleared automatically as a
// task that was waiting for bit 0 was removed from the Blocked
// state.
}
else
{
// Neither bit 0 nor bit 4 remained set. It might be that a task
// was waiting for both of the bits to be set, and the bits were
// cleared as the task left the Blocked state.
}
}
</pre>
* \defgroup xEventGroupSetBits xEventGroupSetBits
* \ingroup EventGroup
*/
EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet ) PRIVILEGED_FUNCTION;
/**
* event_groups.h
*<pre>
BaseType_t xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, BaseType_t *pxHigherPriorityTaskWoken );
</pre>
*
* A version of xEventGroupSetBits() that can be called from an interrupt.
*
* Setting bits in an event group is not a deterministic operation because there
* are an unknown number of tasks that may be waiting for the bit or bits being
* set. FreeRTOS does not allow nondeterministic operations to be performed in
* interrupts or from critical sections. Therefore xEventGroupSetBitsFromISR()
* sends a message to the timer task to have the set operation performed in the
* context of the timer task - where a scheduler lock is used in place of a
* critical section.
*
* @param xEventGroup The event group in which the bits are to be set.
*
* @param uxBitsToSet A bitwise value that indicates the bit or bits to set.
* For example, to set bit 3 only, set uxBitsToSet to 0x08. To set bit 3
* and bit 0 set uxBitsToSet to 0x09.
*
* @param pxHigherPriorityTaskWoken As mentioned above, calling this function
* will result in a message being sent to the timer daemon task. If the
* priority of the timer daemon task is higher than the priority of the
* currently running task (the task the interrupt interrupted) then
* *pxHigherPriorityTaskWoken will be set to pdTRUE by
* xEventGroupSetBitsFromISR(), indicating that a context switch should be
* requested before the interrupt exits. For that reason
* *pxHigherPriorityTaskWoken must be initialised to pdFALSE. See the
* example code below.
*
* @return If the request to execute the function was posted successfully then
* pdPASS is returned, otherwise pdFALSE is returned. pdFALSE will be returned
* if the timer service queue was full.
*
* Example usage:
<pre>
#define BIT_0 ( 1 << 0 )
#define BIT_4 ( 1 << 4 )
// An event group which it is assumed has already been created by a call to
// xEventGroupCreate().
EventGroupHandle_t xEventGroup;
void anInterruptHandler( void )
{
BaseType_t xHigherPriorityTaskWoken, xResult;
// xHigherPriorityTaskWoken must be initialised to pdFALSE.
xHigherPriorityTaskWoken = pdFALSE;
// Set bit 0 and bit 4 in xEventGroup.
xResult = xEventGroupSetBitsFromISR(
xEventGroup, // The event group being updated.
BIT_0 | BIT_4 // The bits being set.
&xHigherPriorityTaskWoken );
// Was the message posted successfully?
if( xResult == pdPASS )
{
// If xHigherPriorityTaskWoken is now set to pdTRUE then a context
// switch should be requested. The macro used is port specific and
// will be either portYIELD_FROM_ISR() or portEND_SWITCHING_ISR() -
// refer to the documentation page for the port being used.
portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
}
}
</pre>
* \defgroup xEventGroupSetBitsFromISR xEventGroupSetBitsFromISR
* \ingroup EventGroup
*/
#if( configUSE_TRACE_FACILITY == 1 )
BaseType_t xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, BaseType_t *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
#else
#define xEventGroupSetBitsFromISR( xEventGroup, uxBitsToSet, pxHigherPriorityTaskWoken ) xTimerPendFunctionCallFromISR( vEventGroupSetBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToSet, pxHigherPriorityTaskWoken )
#endif
/**
* event_groups.h
*<pre>
EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup,
const EventBits_t uxBitsToSet,
const EventBits_t uxBitsToWaitFor,
TickType_t xTicksToWait );
</pre>
*
* Atomically set bits within an event group, then wait for a combination of
* bits to be set within the same event group. This functionality is typically
* used to synchronise multiple tasks, where each task has to wait for the other
* tasks to reach a synchronisation point before proceeding.
*
* This function cannot be used from an interrupt.
*
* The function will return before its block time expires if the bits specified
* by the uxBitsToWait parameter are set, or become set within that time. In
* this case all the bits specified by uxBitsToWait will be automatically
* cleared before the function returns.
*
* @param xEventGroup The event group in which the bits are being tested. The
* event group must have previously been created using a call to
* xEventGroupCreate().
*
* @param uxBitsToSet The bits to set in the event group before determining
* if, and possibly waiting for, all the bits specified by the uxBitsToWait
* parameter are set.
*
* @param uxBitsToWaitFor A bitwise value that indicates the bit or bits to test
* inside the event group. For example, to wait for bit 0 and bit 2 set
* uxBitsToWaitFor to 0x05. To wait for bits 0 and bit 1 and bit 2 set
* uxBitsToWaitFor to 0x07. Etc.
*
* @param xTicksToWait The maximum amount of time (specified in 'ticks') to wait
* for all of the bits specified by uxBitsToWaitFor to become set.
*
* @return The value of the event group at the time either the bits being waited
* for became set, or the block time expired. Test the return value to know
* which bits were set. If xEventGroupSync() returned because its timeout
* expired then not all the bits being waited for will be set. If
* xEventGroupSync() returned because all the bits it was waiting for were
* set then the returned value is the event group value before any bits were
* automatically cleared.
*
* Example usage:
<pre>
// Bits used by the three tasks.
#define TASK_0_BIT ( 1 << 0 )
#define TASK_1_BIT ( 1 << 1 )
#define TASK_2_BIT ( 1 << 2 )
#define ALL_SYNC_BITS ( TASK_0_BIT | TASK_1_BIT | TASK_2_BIT )
// Use an event group to synchronise three tasks. It is assumed this event
// group has already been created elsewhere.
EventGroupHandle_t xEventBits;
void vTask0( void *pvParameters )
{
EventBits_t uxReturn;
TickType_t xTicksToWait = 100 / portTICK_PERIOD_MS;
for( ;; )
{
// Perform task functionality here.
// Set bit 0 in the event flag to note this task has reached the
// sync point. The other two tasks will set the other two bits defined
// by ALL_SYNC_BITS. All three tasks have reached the synchronisation
// point when all the ALL_SYNC_BITS are set. Wait a maximum of 100ms
// for this to happen.
uxReturn = xEventGroupSync( xEventBits, TASK_0_BIT, ALL_SYNC_BITS, xTicksToWait );
if( ( uxReturn & ALL_SYNC_BITS ) == ALL_SYNC_BITS )
{
// All three tasks reached the synchronisation point before the call
// to xEventGroupSync() timed out.
}
}
}
void vTask1( void *pvParameters )
{
for( ;; )
{
// Perform task functionality here.
// Set bit 1 in the event flag to note this task has reached the
// synchronisation point. The other two tasks will set the other two
// bits defined by ALL_SYNC_BITS. All three tasks have reached the
// synchronisation point when all the ALL_SYNC_BITS are set. Wait
// indefinitely for this to happen.
xEventGroupSync( xEventBits, TASK_1_BIT, ALL_SYNC_BITS, portMAX_DELAY );
// xEventGroupSync() was called with an indefinite block time, so
// this task will only reach here if the syncrhonisation was made by all
// three tasks, so there is no need to test the return value.
}
}
void vTask2( void *pvParameters )
{
for( ;; )
{
// Perform task functionality here.
// Set bit 2 in the event flag to note this task has reached the
// synchronisation point. The other two tasks will set the other two
// bits defined by ALL_SYNC_BITS. All three tasks have reached the
// synchronisation point when all the ALL_SYNC_BITS are set. Wait
// indefinitely for this to happen.
xEventGroupSync( xEventBits, TASK_2_BIT, ALL_SYNC_BITS, portMAX_DELAY );
// xEventGroupSync() was called with an indefinite block time, so
// this task will only reach here if the syncrhonisation was made by all
// three tasks, so there is no need to test the return value.
}
}
</pre>
* \defgroup xEventGroupSync xEventGroupSync
* \ingroup EventGroup
*/
EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, const EventBits_t uxBitsToWaitFor, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
/**
* event_groups.h
*<pre>
EventBits_t xEventGroupGetBits( EventGroupHandle_t xEventGroup );
</pre>
*
* Returns the current value of the bits in an event group. This function
* cannot be used from an interrupt.
*
* @param xEventGroup The event group being queried.
*
* @return The event group bits at the time xEventGroupGetBits() was called.
*
* \defgroup xEventGroupGetBits xEventGroupGetBits
* \ingroup EventGroup
*/
#define xEventGroupGetBits( xEventGroup ) xEventGroupClearBits( xEventGroup, 0 )
/**
* event_groups.h
*<pre>
EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup );
</pre>
*
* A version of xEventGroupGetBits() that can be called from an ISR.
*
* @param xEventGroup The event group being queried.
*
* @return The event group bits at the time xEventGroupGetBitsFromISR() was called.
*
* \defgroup xEventGroupGetBitsFromISR xEventGroupGetBitsFromISR
* \ingroup EventGroup
*/
EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup ) PRIVILEGED_FUNCTION;
/**
* event_groups.h
*<pre>
void xEventGroupDelete( EventGroupHandle_t xEventGroup );
</pre>
*
* Delete an event group that was previously created by a call to
* xEventGroupCreate(). Tasks that are blocked on the event group will be
* unblocked and obtain 0 as the event group's value.
*
* @param xEventGroup The event group being deleted.
*/
void vEventGroupDelete( EventGroupHandle_t xEventGroup ) PRIVILEGED_FUNCTION;
/* For internal use only. */
void vEventGroupSetBitsCallback( void *pvEventGroup, const uint32_t ulBitsToSet ) PRIVILEGED_FUNCTION;
void vEventGroupClearBitsCallback( void *pvEventGroup, const uint32_t ulBitsToClear ) PRIVILEGED_FUNCTION;
#if (configUSE_TRACE_FACILITY == 1)
UBaseType_t uxEventGroupGetNumber( void* xEventGroup ) PRIVILEGED_FUNCTION;
#endif
#ifdef __cplusplus
}
#endif
#endif /* EVENT_GROUPS_H */
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/os_inc/list.h
-453
View File
@@ -1,453 +0,0 @@
/*
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
This file is part of the FreeRTOS distribution.
FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
***************************************************************************
>>! NOTE: The modification to the GPL is included to allow you to !<<
>>! distribute a combined work that includes FreeRTOS without being !<<
>>! obliged to provide the source code for proprietary components !<<
>>! outside of the FreeRTOS kernel. !<<
***************************************************************************
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. Full license text is available on the following
link: http://www.freertos.org/a00114.html
***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that is more than just the market leader, it *
* is the industry's de facto standard. *
* *
* Help yourself get started quickly while simultaneously helping *
* to support the FreeRTOS project by purchasing a FreeRTOS *
* tutorial book, reference manual, or both: *
* http://www.FreeRTOS.org/Documentation *
* *
***************************************************************************
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
the FAQ page "My application does not run, what could be wrong?". Have you
defined configASSERT()?
http://www.FreeRTOS.org/support - In return for receiving this top quality
embedded software for free we request you assist our global community by
participating in the support forum.
http://www.FreeRTOS.org/training - Investing in training allows your team to
be as productive as possible as early as possible. Now you can receive
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
Ltd, and the world's leading authority on the world's leading RTOS.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and commercial middleware.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
1 tab == 4 spaces!
*/
/*
* This is the list implementation used by the scheduler. While it is tailored
* heavily for the schedulers needs, it is also available for use by
* application code.
*
* list_ts can only store pointers to list_item_ts. Each ListItem_t contains a
* numeric value (xItemValue). Most of the time the lists are sorted in
* descending item value order.
*
* Lists are created already containing one list item. The value of this
* item is the maximum possible that can be stored, it is therefore always at
* the end of the list and acts as a marker. The list member pxHead always
* points to this marker - even though it is at the tail of the list. This
* is because the tail contains a wrap back pointer to the true head of
* the list.
*
* In addition to it's value, each list item contains a pointer to the next
* item in the list (pxNext), a pointer to the list it is in (pxContainer)
* and a pointer to back to the object that contains it. These later two
* pointers are included for efficiency of list manipulation. There is
* effectively a two way link between the object containing the list item and
* the list item itself.
*
*
* \page ListIntroduction List Implementation
* \ingroup FreeRTOSIntro
*/
#ifndef INC_FREERTOS_H
#error FreeRTOS.h must be included before list.h
#endif
#ifndef LIST_H
#define LIST_H
/*
* The list structure members are modified from within interrupts, and therefore
* by rights should be declared volatile. However, they are only modified in a
* functionally atomic way (within critical sections of with the scheduler
* suspended) and are either passed by reference into a function or indexed via
* a volatile variable. Therefore, in all use cases tested so far, the volatile
* qualifier can be omitted in order to provide a moderate performance
* improvement without adversely affecting functional behaviour. The assembly
* instructions generated by the IAR, ARM and GCC compilers when the respective
* compiler's options were set for maximum optimisation has been inspected and
* deemed to be as intended. That said, as compiler technology advances, and
* especially if aggressive cross module optimisation is used (a use case that
* has not been exercised to any great extend) then it is feasible that the
* volatile qualifier will be needed for correct optimisation. It is expected
* that a compiler removing essential code because, without the volatile
* qualifier on the list structure members and with aggressive cross module
* optimisation, the compiler deemed the code unnecessary will result in
* complete and obvious failure of the scheduler. If this is ever experienced
* then the volatile qualifier can be inserted in the relevant places within the
* list structures by simply defining configLIST_VOLATILE to volatile in
* FreeRTOSConfig.h (as per the example at the bottom of this comment block).
* If configLIST_VOLATILE is not defined then the preprocessor directives below
* will simply #define configLIST_VOLATILE away completely.
*
* To use volatile list structure members then add the following line to
* FreeRTOSConfig.h (without the quotes):
* "#define configLIST_VOLATILE volatile"
*/
#ifndef configLIST_VOLATILE
#define configLIST_VOLATILE
#endif /* configSUPPORT_CROSS_MODULE_OPTIMISATION */
#ifdef __cplusplus
extern "C" {
#endif
/* Macros that can be used to place known values within the list structures,
then check that the known values do not get corrupted during the execution of
the application. These may catch the list data structures being overwritten in
memory. They will not catch data errors caused by incorrect configuration or
use of FreeRTOS.*/
#if( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 0 )
/* Define the macros to do nothing. */
#define listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE
#define listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE
#define listFIRST_LIST_INTEGRITY_CHECK_VALUE
#define listSECOND_LIST_INTEGRITY_CHECK_VALUE
#define listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem )
#define listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem )
#define listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList )
#define listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList )
#define listTEST_LIST_ITEM_INTEGRITY( pxItem )
#define listTEST_LIST_INTEGRITY( pxList )
#else
/* Define macros that add new members into the list structures. */
#define listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE TickType_t xListItemIntegrityValue1;
#define listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE TickType_t xListItemIntegrityValue2;
#define listFIRST_LIST_INTEGRITY_CHECK_VALUE TickType_t xListIntegrityValue1;
#define listSECOND_LIST_INTEGRITY_CHECK_VALUE TickType_t xListIntegrityValue2;
/* Define macros that set the new structure members to known values. */
#define listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) ( pxItem )->xListItemIntegrityValue1 = pdINTEGRITY_CHECK_VALUE
#define listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) ( pxItem )->xListItemIntegrityValue2 = pdINTEGRITY_CHECK_VALUE
#define listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList ) ( pxList )->xListIntegrityValue1 = pdINTEGRITY_CHECK_VALUE
#define listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList ) ( pxList )->xListIntegrityValue2 = pdINTEGRITY_CHECK_VALUE
/* Define macros that will assert if one of the structure members does not
contain its expected value. */
#define listTEST_LIST_ITEM_INTEGRITY( pxItem ) configASSERT( ( ( pxItem )->xListItemIntegrityValue1 == pdINTEGRITY_CHECK_VALUE ) && ( ( pxItem )->xListItemIntegrityValue2 == pdINTEGRITY_CHECK_VALUE ) )
#define listTEST_LIST_INTEGRITY( pxList ) configASSERT( ( ( pxList )->xListIntegrityValue1 == pdINTEGRITY_CHECK_VALUE ) && ( ( pxList )->xListIntegrityValue2 == pdINTEGRITY_CHECK_VALUE ) )
#endif /* configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES */
/*
* Definition of the only type of object that a list can contain.
*/
struct xLIST_ITEM
{
listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
configLIST_VOLATILE TickType_t xItemValue; /*< The value being listed. In most cases this is used to sort the list in descending order. */
struct xLIST_ITEM * configLIST_VOLATILE pxNext; /*< Pointer to the next ListItem_t in the list. */
struct xLIST_ITEM * configLIST_VOLATILE pxPrevious; /*< Pointer to the previous ListItem_t in the list. */
void * pvOwner; /*< Pointer to the object (normally a TCB) that contains the list item. There is therefore a two way link between the object containing the list item and the list item itself. */
void * configLIST_VOLATILE pvContainer; /*< Pointer to the list in which this list item is placed (if any). */
listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
};
typedef struct xLIST_ITEM ListItem_t; /* For some reason lint wants this as two separate definitions. */
struct xMINI_LIST_ITEM
{
listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
configLIST_VOLATILE TickType_t xItemValue;
struct xLIST_ITEM * configLIST_VOLATILE pxNext;
struct xLIST_ITEM * configLIST_VOLATILE pxPrevious;
};
typedef struct xMINI_LIST_ITEM MiniListItem_t;
/*
* Definition of the type of queue used by the scheduler.
*/
typedef struct xLIST
{
listFIRST_LIST_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
configLIST_VOLATILE UBaseType_t uxNumberOfItems;
ListItem_t * configLIST_VOLATILE pxIndex; /*< Used to walk through the list. Points to the last item returned by a call to listGET_OWNER_OF_NEXT_ENTRY (). */
MiniListItem_t xListEnd; /*< List item that contains the maximum possible item value meaning it is always at the end of the list and is therefore used as a marker. */
listSECOND_LIST_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
} List_t;
/*
* Access macro to set the owner of a list item. The owner of a list item
* is the object (usually a TCB) that contains the list item.
*
* \page listSET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER
* \ingroup LinkedList
*/
#define listSET_LIST_ITEM_OWNER( pxListItem, pxOwner ) ( ( pxListItem )->pvOwner = ( void * ) ( pxOwner ) )
/*
* Access macro to get the owner of a list item. The owner of a list item
* is the object (usually a TCB) that contains the list item.
*
* \page listSET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER
* \ingroup LinkedList
*/
#define listGET_LIST_ITEM_OWNER( pxListItem ) ( ( pxListItem )->pvOwner )
/*
* Access macro to set the value of the list item. In most cases the value is
* used to sort the list in descending order.
*
* \page listSET_LIST_ITEM_VALUE listSET_LIST_ITEM_VALUE
* \ingroup LinkedList
*/
#define listSET_LIST_ITEM_VALUE( pxListItem, xValue ) ( ( pxListItem )->xItemValue = ( xValue ) )
/*
* Access macro to retrieve the value of the list item. The value can
* represent anything - for example the priority of a task, or the time at
* which a task should be unblocked.
*
* \page listGET_LIST_ITEM_VALUE listGET_LIST_ITEM_VALUE
* \ingroup LinkedList
*/
#define listGET_LIST_ITEM_VALUE( pxListItem ) ( ( pxListItem )->xItemValue )
/*
* Access macro to retrieve the value of the list item at the head of a given
* list.
*
* \page listGET_LIST_ITEM_VALUE listGET_LIST_ITEM_VALUE
* \ingroup LinkedList
*/
#define listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxList ) ( ( ( pxList )->xListEnd ).pxNext->xItemValue )
/*
* Return the list item at the head of the list.
*
* \page listGET_HEAD_ENTRY listGET_HEAD_ENTRY
* \ingroup LinkedList
*/
#define listGET_HEAD_ENTRY( pxList ) ( ( ( pxList )->xListEnd ).pxNext )
/*
* Return the list item at the head of the list.
*
* \page listGET_NEXT listGET_NEXT
* \ingroup LinkedList
*/
#define listGET_NEXT( pxListItem ) ( ( pxListItem )->pxNext )
/*
* Return the list item that marks the end of the list
*
* \page listGET_END_MARKER listGET_END_MARKER
* \ingroup LinkedList
*/
#define listGET_END_MARKER( pxList ) ( ( ListItem_t const * ) ( &( ( pxList )->xListEnd ) ) )
/*
* Access macro to determine if a list contains any items. The macro will
* only have the value true if the list is empty.
*
* \page listLIST_IS_EMPTY listLIST_IS_EMPTY
* \ingroup LinkedList
*/
#define listLIST_IS_EMPTY( pxList ) ( ( BaseType_t ) ( ( pxList )->uxNumberOfItems == ( UBaseType_t ) 0 ) )
/*
* Access macro to return the number of items in the list.
*/
#define listCURRENT_LIST_LENGTH( pxList ) ( ( pxList )->uxNumberOfItems )
/*
* Access function to obtain the owner of the next entry in a list.
*
* The list member pxIndex is used to walk through a list. Calling
* listGET_OWNER_OF_NEXT_ENTRY increments pxIndex to the next item in the list
* and returns that entry's pxOwner parameter. Using multiple calls to this
* function it is therefore possible to move through every item contained in
* a list.
*
* The pxOwner parameter of a list item is a pointer to the object that owns
* the list item. In the scheduler this is normally a task control block.
* The pxOwner parameter effectively creates a two way link between the list
* item and its owner.
*
* @param pxTCB pxTCB is set to the address of the owner of the next list item.
* @param pxList The list from which the next item owner is to be returned.
*
* \page listGET_OWNER_OF_NEXT_ENTRY listGET_OWNER_OF_NEXT_ENTRY
* \ingroup LinkedList
*/
#define listGET_OWNER_OF_NEXT_ENTRY( pxTCB, pxList ) \
{ \
List_t * const pxConstList = ( pxList ); \
/* Increment the index to the next item and return the item, ensuring */ \
/* we don't return the marker used at the end of the list. */ \
( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \
if( ( void * ) ( pxConstList )->pxIndex == ( void * ) &( ( pxConstList )->xListEnd ) ) \
{ \
( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \
} \
( pxTCB ) = ( pxConstList )->pxIndex->pvOwner; \
}
/*
* Access function to obtain the owner of the first entry in a list. Lists
* are normally sorted in ascending item value order.
*
* This function returns the pxOwner member of the first item in the list.
* The pxOwner parameter of a list item is a pointer to the object that owns
* the list item. In the scheduler this is normally a task control block.
* The pxOwner parameter effectively creates a two way link between the list
* item and its owner.
*
* @param pxList The list from which the owner of the head item is to be
* returned.
*
* \page listGET_OWNER_OF_HEAD_ENTRY listGET_OWNER_OF_HEAD_ENTRY
* \ingroup LinkedList
*/
#define listGET_OWNER_OF_HEAD_ENTRY( pxList ) ( (&( ( pxList )->xListEnd ))->pxNext->pvOwner )
/*
* Check to see if a list item is within a list. The list item maintains a
* "container" pointer that points to the list it is in. All this macro does
* is check to see if the container and the list match.
*
* @param pxList The list we want to know if the list item is within.
* @param pxListItem The list item we want to know if is in the list.
* @return pdTRUE if the list item is in the list, otherwise pdFALSE.
*/
#define listIS_CONTAINED_WITHIN( pxList, pxListItem ) ( ( BaseType_t ) ( ( pxListItem )->pvContainer == ( void * ) ( pxList ) ) )
/*
* Return the list a list item is contained within (referenced from).
*
* @param pxListItem The list item being queried.
* @return A pointer to the List_t object that references the pxListItem
*/
#define listLIST_ITEM_CONTAINER( pxListItem ) ( ( pxListItem )->pvContainer )
/*
* This provides a crude means of knowing if a list has been initialised, as
* pxList->xListEnd.xItemValue is set to portMAX_DELAY by the vListInitialise()
* function.
*/
#define listLIST_IS_INITIALISED( pxList ) ( ( pxList )->xListEnd.xItemValue == portMAX_DELAY )
/*
* Must be called before a list is used! This initialises all the members
* of the list structure and inserts the xListEnd item into the list as a
* marker to the back of the list.
*
* @param pxList Pointer to the list being initialised.
*
* \page vListInitialise vListInitialise
* \ingroup LinkedList
*/
void vListInitialise( List_t * const pxList ) PRIVILEGED_FUNCTION;
/*
* Must be called before a list item is used. This sets the list container to
* null so the item does not think that it is already contained in a list.
*
* @param pxItem Pointer to the list item being initialised.
*
* \page vListInitialiseItem vListInitialiseItem
* \ingroup LinkedList
*/
void vListInitialiseItem( ListItem_t * const pxItem ) PRIVILEGED_FUNCTION;
/*
* Insert a list item into a list. The item will be inserted into the list in
* a position determined by its item value (descending item value order).
*
* @param pxList The list into which the item is to be inserted.
*
* @param pxNewListItem The item that is to be placed in the list.
*
* \page vListInsert vListInsert
* \ingroup LinkedList
*/
void vListInsert( List_t * const pxList, ListItem_t * const pxNewListItem ) PRIVILEGED_FUNCTION;
/*
* Insert a list item into a list. The item will be inserted in a position
* such that it will be the last item within the list returned by multiple
* calls to listGET_OWNER_OF_NEXT_ENTRY.
*
* The list member pxIndex is used to walk through a list. Calling
* listGET_OWNER_OF_NEXT_ENTRY increments pxIndex to the next item in the list.
* Placing an item in a list using vListInsertEnd effectively places the item
* in the list position pointed to by pxIndex. This means that every other
* item within the list will be returned by listGET_OWNER_OF_NEXT_ENTRY before
* the pxIndex parameter again points to the item being inserted.
*
* @param pxList The list into which the item is to be inserted.
*
* @param pxNewListItem The list item to be inserted into the list.
*
* \page vListInsertEnd vListInsertEnd
* \ingroup LinkedList
*/
void vListInsertEnd( List_t * const pxList, ListItem_t * const pxNewListItem ) PRIVILEGED_FUNCTION;
/*
* Remove an item from a list. The list item has a pointer to the list that
* it is in, so only the list item need be passed into the function.
*
* @param uxListRemove The item to be removed. The item will remove itself from
* the list pointed to by it's pxContainer parameter.
*
* @return The number of items that remain in the list after the list item has
* been removed.
*
* \page uxListRemove uxListRemove
* \ingroup LinkedList
*/
UBaseType_t uxListRemove( ListItem_t * const pxItemToRemove ) PRIVILEGED_FUNCTION;
#ifdef __cplusplus
}
#endif
#endif
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/os_inc/mpu_prototypes.h
-177
View File
@@ -1,177 +0,0 @@
/*
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
This file is part of the FreeRTOS distribution.
FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
***************************************************************************
>>! NOTE: The modification to the GPL is included to allow you to !<<
>>! distribute a combined work that includes FreeRTOS without being !<<
>>! obliged to provide the source code for proprietary components !<<
>>! outside of the FreeRTOS kernel. !<<
***************************************************************************
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. Full license text is available on the following
link: http://www.freertos.org/a00114.html
***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that is more than just the market leader, it *
* is the industry's de facto standard. *
* *
* Help yourself get started quickly while simultaneously helping *
* to support the FreeRTOS project by purchasing a FreeRTOS *
* tutorial book, reference manual, or both: *
* http://www.FreeRTOS.org/Documentation *
* *
***************************************************************************
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
the FAQ page "My application does not run, what could be wrong?". Have you
defined configASSERT()?
http://www.FreeRTOS.org/support - In return for receiving this top quality
embedded software for free we request you assist our global community by
participating in the support forum.
http://www.FreeRTOS.org/training - Investing in training allows your team to
be as productive as possible as early as possible. Now you can receive
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
Ltd, and the world's leading authority on the world's leading RTOS.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and commercial middleware.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
1 tab == 4 spaces!
*/
/*
* When the MPU is used the standard (non MPU) API functions are mapped to
* equivalents that start "MPU_", the prototypes for which are defined in this
* header files. This will cause the application code to call the MPU_ version
* which wraps the non-MPU version with privilege promoting then demoting code,
* so the kernel code always runs will full privileges.
*/
#ifndef MPU_PROTOTYPES_H
#define MPU_PROTOTYPES_H
/* MPU versions of tasks.h API function. */
BaseType_t MPU_xTaskCreate( TaskFunction_t pxTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask );
TaskHandle_t MPU_xTaskCreateStatic( TaskFunction_t pxTaskCode, const char * const pcName, const uint32_t ulStackDepth, void * const pvParameters, UBaseType_t uxPriority, StackType_t * const puxStackBuffer, StaticTask_t * const pxTaskBuffer );
BaseType_t MPU_xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask );
void MPU_vTaskAllocateMPURegions( TaskHandle_t xTask, const MemoryRegion_t * const pxRegions );
void MPU_vTaskDelete( TaskHandle_t xTaskToDelete );
void MPU_vTaskDelay( const TickType_t xTicksToDelay );
void MPU_vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement );
BaseType_t MPU_xTaskAbortDelay( TaskHandle_t xTask );
UBaseType_t MPU_uxTaskPriorityGet( TaskHandle_t xTask );
eTaskState MPU_eTaskGetState( TaskHandle_t xTask );
void MPU_vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState );
void MPU_vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority );
void MPU_vTaskSuspend( TaskHandle_t xTaskToSuspend );
void MPU_vTaskResume( TaskHandle_t xTaskToResume );
void MPU_vTaskStartScheduler( void );
void MPU_vTaskSuspendAll( void );
BaseType_t MPU_xTaskResumeAll( void );
TickType_t MPU_xTaskGetTickCount( void );
UBaseType_t MPU_uxTaskGetNumberOfTasks( void );
char * MPU_pcTaskGetName( TaskHandle_t xTaskToQuery );
TaskHandle_t MPU_xTaskGetHandle( const char *pcNameToQuery );
UBaseType_t MPU_uxTaskGetStackHighWaterMark( TaskHandle_t xTask );
void MPU_vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction );
TaskHookFunction_t MPU_xTaskGetApplicationTaskTag( TaskHandle_t xTask );
void MPU_vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue );
void * MPU_pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex );
BaseType_t MPU_xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter );
TaskHandle_t MPU_xTaskGetIdleTaskHandle( void );
UBaseType_t MPU_uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime );
void MPU_vTaskList( char * pcWriteBuffer );
void MPU_vTaskGetRunTimeStats( char *pcWriteBuffer );
BaseType_t MPU_xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue );
BaseType_t MPU_xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait );
uint32_t MPU_ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait );
BaseType_t MPU_xTaskNotifyStateClear( TaskHandle_t xTask );
BaseType_t MPU_xTaskIncrementTick( void );
TaskHandle_t MPU_xTaskGetCurrentTaskHandle( void );
void MPU_vTaskSetTimeOutState( TimeOut_t * const pxTimeOut );
BaseType_t MPU_xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait );
void MPU_vTaskMissedYield( void );
BaseType_t MPU_xTaskGetSchedulerState( void );
/* MPU versions of queue.h API function. */
BaseType_t MPU_xQueueGenericSend( QueueHandle_t xQueue, const void * const pvItemToQueue, TickType_t xTicksToWait, const BaseType_t xCopyPosition );
BaseType_t MPU_xQueueGenericReceive( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait, const BaseType_t xJustPeek );
UBaseType_t MPU_uxQueueMessagesWaiting( const QueueHandle_t xQueue );
UBaseType_t MPU_uxQueueSpacesAvailable( const QueueHandle_t xQueue );
void MPU_vQueueDelete( QueueHandle_t xQueue );
QueueHandle_t MPU_xQueueCreateMutex( const uint8_t ucQueueType );
QueueHandle_t MPU_xQueueCreateMutexStatic( const uint8_t ucQueueType, StaticQueue_t *pxStaticQueue );
QueueHandle_t MPU_xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount );
QueueHandle_t MPU_xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount, StaticQueue_t *pxStaticQueue );
void* MPU_xQueueGetMutexHolder( QueueHandle_t xSemaphore );
BaseType_t MPU_xQueueTakeMutexRecursive( QueueHandle_t xMutex, TickType_t xTicksToWait );
BaseType_t MPU_xQueueGiveMutexRecursive( QueueHandle_t pxMutex );
void MPU_vQueueAddToRegistry( QueueHandle_t xQueue, const char *pcName );
void MPU_vQueueUnregisterQueue( QueueHandle_t xQueue );
const char * MPU_pcQueueGetName( QueueHandle_t xQueue );
QueueHandle_t MPU_xQueueGenericCreate( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, const uint8_t ucQueueType );
QueueHandle_t MPU_xQueueGenericCreateStatic( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, StaticQueue_t *pxStaticQueue, const uint8_t ucQueueType );
QueueSetHandle_t MPU_xQueueCreateSet( const UBaseType_t uxEventQueueLength );
BaseType_t MPU_xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet );
BaseType_t MPU_xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet );
QueueSetMemberHandle_t MPU_xQueueSelectFromSet( QueueSetHandle_t xQueueSet, const TickType_t xTicksToWait );
BaseType_t MPU_xQueueGenericReset( QueueHandle_t xQueue, BaseType_t xNewQueue );
void MPU_vQueueSetQueueNumber( QueueHandle_t xQueue, UBaseType_t uxQueueNumber );
UBaseType_t MPU_uxQueueGetQueueNumber( QueueHandle_t xQueue );
uint8_t MPU_ucQueueGetQueueType( QueueHandle_t xQueue );
/* MPU versions of timers.h API function. */
TimerHandle_t MPU_xTimerCreate( const char * const pcTimerName, const TickType_t xTimerPeriodInTicks, const UBaseType_t uxAutoReload, void * const pvTimerID, TimerCallbackFunction_t pxCallbackFunction );
TimerHandle_t MPU_xTimerCreateStatic( const char * const pcTimerName, const TickType_t xTimerPeriodInTicks, const UBaseType_t uxAutoReload, void * const pvTimerID, TimerCallbackFunction_t pxCallbackFunction, StaticTimer_t *pxTimerBuffer );
void * MPU_pvTimerGetTimerID( const TimerHandle_t xTimer );
void MPU_vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID );
BaseType_t MPU_xTimerIsTimerActive( TimerHandle_t xTimer );
TaskHandle_t MPU_xTimerGetTimerDaemonTaskHandle( void );
BaseType_t MPU_xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, TickType_t xTicksToWait );
const char * MPU_pcTimerGetName( TimerHandle_t xTimer );
TickType_t MPU_xTimerGetPeriod( TimerHandle_t xTimer );
TickType_t MPU_xTimerGetExpiryTime( TimerHandle_t xTimer );
BaseType_t MPU_xTimerCreateTimerTask( void );
BaseType_t MPU_xTimerGenericCommand( TimerHandle_t xTimer, const BaseType_t xCommandID, const TickType_t xOptionalValue, BaseType_t * const pxHigherPriorityTaskWoken, const TickType_t xTicksToWait );
/* MPU versions of event_group.h API function. */
EventGroupHandle_t MPU_xEventGroupCreate( void );
EventGroupHandle_t MPU_xEventGroupCreateStatic( StaticEventGroup_t *pxEventGroupBuffer );
EventBits_t MPU_xEventGroupWaitBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToWaitFor, const BaseType_t xClearOnExit, const BaseType_t xWaitForAllBits, TickType_t xTicksToWait );
EventBits_t MPU_xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear );
EventBits_t MPU_xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet );
EventBits_t MPU_xEventGroupSync( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, const EventBits_t uxBitsToWaitFor, TickType_t xTicksToWait );
void MPU_vEventGroupDelete( EventGroupHandle_t xEventGroup );
UBaseType_t MPU_uxEventGroupGetNumber( void* xEventGroup );
#endif /* MPU_PROTOTYPES_H */
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/os_inc/mpu_wrappers.h
-201
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@@ -1,201 +0,0 @@
/*
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
This file is part of the FreeRTOS distribution.
FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
***************************************************************************
>>! NOTE: The modification to the GPL is included to allow you to !<<
>>! distribute a combined work that includes FreeRTOS without being !<<
>>! obliged to provide the source code for proprietary components !<<
>>! outside of the FreeRTOS kernel. !<<
***************************************************************************
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. Full license text is available on the following
link: http://www.freertos.org/a00114.html
***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that is more than just the market leader, it *
* is the industry's de facto standard. *
* *
* Help yourself get started quickly while simultaneously helping *
* to support the FreeRTOS project by purchasing a FreeRTOS *
* tutorial book, reference manual, or both: *
* http://www.FreeRTOS.org/Documentation *
* *
***************************************************************************
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
the FAQ page "My application does not run, what could be wrong?". Have you
defined configASSERT()?
http://www.FreeRTOS.org/support - In return for receiving this top quality
embedded software for free we request you assist our global community by
participating in the support forum.
http://www.FreeRTOS.org/training - Investing in training allows your team to
be as productive as possible as early as possible. Now you can receive
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
Ltd, and the world's leading authority on the world's leading RTOS.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and commercial middleware.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
1 tab == 4 spaces!
*/
#ifndef MPU_WRAPPERS_H
#define MPU_WRAPPERS_H
/* This file redefines API functions to be called through a wrapper macro, but
only for ports that are using the MPU. */
#ifdef portUSING_MPU_WRAPPERS
/* MPU_WRAPPERS_INCLUDED_FROM_API_FILE will be defined when this file is
included from queue.c or task.c to prevent it from having an effect within
those files. */
#ifndef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
/*
* Map standard (non MPU) API functions to equivalents that start
* "MPU_". This will cause the application code to call the MPU_
* version, which wraps the non-MPU version with privilege promoting
* then demoting code, so the kernel code always runs will full
* privileges.
*/
/* Map standard tasks.h API functions to the MPU equivalents. */
#define xTaskCreate MPU_xTaskCreate
#define xTaskCreateStatic MPU_xTaskCreateStatic
#define xTaskCreateRestricted MPU_xTaskCreateRestricted
#define vTaskAllocateMPURegions MPU_vTaskAllocateMPURegions
#define vTaskDelete MPU_vTaskDelete
#define vTaskDelay MPU_vTaskDelay
#define vTaskDelayUntil MPU_vTaskDelayUntil
#define xTaskAbortDelay MPU_xTaskAbortDelay
#define uxTaskPriorityGet MPU_uxTaskPriorityGet
#define eTaskGetState MPU_eTaskGetState
#define vTaskGetInfo MPU_vTaskGetInfo
#define vTaskPrioritySet MPU_vTaskPrioritySet
#define vTaskSuspend MPU_vTaskSuspend
#define vTaskResume MPU_vTaskResume
#define vTaskSuspendAll MPU_vTaskSuspendAll
#define xTaskResumeAll MPU_xTaskResumeAll
#define xTaskGetTickCount MPU_xTaskGetTickCount
#define uxTaskGetNumberOfTasks MPU_uxTaskGetNumberOfTasks
#define pcTaskGetName MPU_pcTaskGetName
#define xTaskGetHandle MPU_xTaskGetHandle
#define uxTaskGetStackHighWaterMark MPU_uxTaskGetStackHighWaterMark
#define vTaskSetApplicationTaskTag MPU_vTaskSetApplicationTaskTag
#define xTaskGetApplicationTaskTag MPU_xTaskGetApplicationTaskTag
#define vTaskSetThreadLocalStoragePointer MPU_vTaskSetThreadLocalStoragePointer
#define pvTaskGetThreadLocalStoragePointer MPU_pvTaskGetThreadLocalStoragePointer
#define xTaskCallApplicationTaskHook MPU_xTaskCallApplicationTaskHook
#define xTaskGetIdleTaskHandle MPU_xTaskGetIdleTaskHandle
#define uxTaskGetSystemState MPU_uxTaskGetSystemState
#define vTaskList MPU_vTaskList
#define vTaskGetRunTimeStats MPU_vTaskGetRunTimeStats
#define xTaskGenericNotify MPU_xTaskGenericNotify
#define xTaskNotifyWait MPU_xTaskNotifyWait
#define ulTaskNotifyTake MPU_ulTaskNotifyTake
#define xTaskNotifyStateClear MPU_xTaskNotifyStateClear
#define xTaskGetCurrentTaskHandle MPU_xTaskGetCurrentTaskHandle
#define vTaskSetTimeOutState MPU_vTaskSetTimeOutState
#define xTaskCheckForTimeOut MPU_xTaskCheckForTimeOut
#define xTaskGetSchedulerState MPU_xTaskGetSchedulerState
/* Map standard queue.h API functions to the MPU equivalents. */
#define xQueueGenericSend MPU_xQueueGenericSend
#define xQueueGenericReceive MPU_xQueueGenericReceive
#define uxQueueMessagesWaiting MPU_uxQueueMessagesWaiting
#define uxQueueSpacesAvailable MPU_uxQueueSpacesAvailable
#define vQueueDelete MPU_vQueueDelete
#define xQueueCreateMutex MPU_xQueueCreateMutex
#define xQueueCreateMutexStatic MPU_xQueueCreateMutexStatic
#define xQueueCreateCountingSemaphore MPU_xQueueCreateCountingSemaphore
#define xQueueCreateCountingSemaphoreStatic MPU_xQueueCreateCountingSemaphoreStatic
#define xQueueGetMutexHolder MPU_xQueueGetMutexHolder
#define xQueueTakeMutexRecursive MPU_xQueueTakeMutexRecursive
#define xQueueGiveMutexRecursive MPU_xQueueGiveMutexRecursive
#define xQueueGenericCreate MPU_xQueueGenericCreate
#define xQueueGenericCreateStatic MPU_xQueueGenericCreateStatic
#define xQueueCreateSet MPU_xQueueCreateSet
#define xQueueAddToSet MPU_xQueueAddToSet
#define xQueueRemoveFromSet MPU_xQueueRemoveFromSet
#define xQueueSelectFromSet MPU_xQueueSelectFromSet
#define xQueueGenericReset MPU_xQueueGenericReset
#if( configQUEUE_REGISTRY_SIZE > 0 )
#define vQueueAddToRegistry MPU_vQueueAddToRegistry
#define vQueueUnregisterQueue MPU_vQueueUnregisterQueue
#define pcQueueGetName MPU_pcQueueGetName
#endif
/* Map standard timer.h API functions to the MPU equivalents. */
#define xTimerCreate MPU_xTimerCreate
#define xTimerCreateStatic MPU_xTimerCreateStatic
#define pvTimerGetTimerID MPU_pvTimerGetTimerID
#define vTimerSetTimerID MPU_vTimerSetTimerID
#define xTimerIsTimerActive MPU_xTimerIsTimerActive
#define xTimerGetTimerDaemonTaskHandle MPU_xTimerGetTimerDaemonTaskHandle
#define xTimerPendFunctionCall MPU_xTimerPendFunctionCall
#define pcTimerGetName MPU_pcTimerGetName
#define xTimerGetPeriod MPU_xTimerGetPeriod
#define xTimerGetExpiryTime MPU_xTimerGetExpiryTime
#define xTimerGenericCommand MPU_xTimerGenericCommand
/* Map standard event_group.h API functions to the MPU equivalents. */
#define xEventGroupCreate MPU_xEventGroupCreate
#define xEventGroupCreateStatic MPU_xEventGroupCreateStatic
#define xEventGroupWaitBits MPU_xEventGroupWaitBits
#define xEventGroupClearBits MPU_xEventGroupClearBits
#define xEventGroupSetBits MPU_xEventGroupSetBits
#define xEventGroupSync MPU_xEventGroupSync
#define vEventGroupDelete MPU_vEventGroupDelete
/* Remove the privileged function macro. */
#define PRIVILEGED_FUNCTION
#else /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */
/* Ensure API functions go in the privileged execution section. */
#define PRIVILEGED_FUNCTION __attribute__((section("privileged_functions")))
#define PRIVILEGED_DATA __attribute__((section("privileged_data")))
#endif /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */
#else /* portUSING_MPU_WRAPPERS */
#define PRIVILEGED_FUNCTION
#define PRIVILEGED_DATA
#define portUSING_MPU_WRAPPERS 0
#endif /* portUSING_MPU_WRAPPERS */
#endif /* MPU_WRAPPERS_H */
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/os_inc/portable.h
-207
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@@ -1,207 +0,0 @@
/*
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
This file is part of the FreeRTOS distribution.
FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
***************************************************************************
>>! NOTE: The modification to the GPL is included to allow you to !<<
>>! distribute a combined work that includes FreeRTOS without being !<<
>>! obliged to provide the source code for proprietary components !<<
>>! outside of the FreeRTOS kernel. !<<
***************************************************************************
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. Full license text is available on the following
link: http://www.freertos.org/a00114.html
***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that is more than just the market leader, it *
* is the industry's de facto standard. *
* *
* Help yourself get started quickly while simultaneously helping *
* to support the FreeRTOS project by purchasing a FreeRTOS *
* tutorial book, reference manual, or both: *
* http://www.FreeRTOS.org/Documentation *
* *
***************************************************************************
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
the FAQ page "My application does not run, what could be wrong?". Have you
defined configASSERT()?
http://www.FreeRTOS.org/support - In return for receiving this top quality
embedded software for free we request you assist our global community by
participating in the support forum.
http://www.FreeRTOS.org/training - Investing in training allows your team to
be as productive as possible as early as possible. Now you can receive
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
Ltd, and the world's leading authority on the world's leading RTOS.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and commercial middleware.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
1 tab == 4 spaces!
*/
/*-----------------------------------------------------------
* Portable layer API. Each function must be defined for each port.
*----------------------------------------------------------*/
#ifndef PORTABLE_H
#define PORTABLE_H
/* Each FreeRTOS port has a unique portmacro.h header file. Originally a
pre-processor definition was used to ensure the pre-processor found the correct
portmacro.h file for the port being used. That scheme was deprecated in favour
of setting the compiler's include path such that it found the correct
portmacro.h file - removing the need for the constant and allowing the
portmacro.h file to be located anywhere in relation to the port being used.
Purely for reasons of backward compatibility the old method is still valid, but
to make it clear that new projects should not use it, support for the port
specific constants has been moved into the deprecated_definitions.h header
file. */
#include "deprecated_definitions.h"
/* If portENTER_CRITICAL is not defined then including deprecated_definitions.h
did not result in a portmacro.h header file being included - and it should be
included here. In this case the path to the correct portmacro.h header file
must be set in the compiler's include path. */
#ifndef portENTER_CRITICAL
#include "portmacro.h"
#endif
#if portBYTE_ALIGNMENT == 32
#define portBYTE_ALIGNMENT_MASK ( 0x001f )
#endif
#if portBYTE_ALIGNMENT == 16
#define portBYTE_ALIGNMENT_MASK ( 0x000f )
#endif
#if portBYTE_ALIGNMENT == 8
#define portBYTE_ALIGNMENT_MASK ( 0x0007 )
#endif
#if portBYTE_ALIGNMENT == 4
#define portBYTE_ALIGNMENT_MASK ( 0x0003 )
#endif
#if portBYTE_ALIGNMENT == 2
#define portBYTE_ALIGNMENT_MASK ( 0x0001 )
#endif
#if portBYTE_ALIGNMENT == 1
#define portBYTE_ALIGNMENT_MASK ( 0x0000 )
#endif
#ifndef portBYTE_ALIGNMENT_MASK
#error "Invalid portBYTE_ALIGNMENT definition"
#endif
#ifndef portNUM_CONFIGURABLE_REGIONS
#define portNUM_CONFIGURABLE_REGIONS 1
#endif
#ifdef __cplusplus
extern "C" {
#endif
#include "mpu_wrappers.h"
/*
* Setup the stack of a new task so it is ready to be placed under the
* scheduler control. The registers have to be placed on the stack in
* the order that the port expects to find them.
*
*/
#if( portUSING_MPU_WRAPPERS == 1 )
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters, BaseType_t xRunPrivileged ) PRIVILEGED_FUNCTION;
#else
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) PRIVILEGED_FUNCTION;
#endif
/* Used by heap_5.c. */
typedef struct HeapRegion
{
uint8_t *pucStartAddress;
size_t xSizeInBytes;
} HeapRegion_t;
/*
* Used to define multiple heap regions for use by heap_5.c. This function
* must be called before any calls to pvPortMalloc() - not creating a task,
* queue, semaphore, mutex, software timer, event group, etc. will result in
* pvPortMalloc being called.
*
* pxHeapRegions passes in an array of HeapRegion_t structures - each of which
* defines a region of memory that can be used as the heap. The array is
* terminated by a HeapRegions_t structure that has a size of 0. The region
* with the lowest start address must appear first in the array.
*/
void vPortDefineHeapRegions( const HeapRegion_t * const pxHeapRegions ) PRIVILEGED_FUNCTION;
/*
* Map to the memory management routines required for the port.
*/
void *pvPortMalloc( size_t xSize ) PRIVILEGED_FUNCTION;
void vPortFree( void *pv ) PRIVILEGED_FUNCTION;
void vPortInitialiseBlocks( void ) PRIVILEGED_FUNCTION;
size_t xPortGetFreeHeapSize( void ) PRIVILEGED_FUNCTION;
size_t xPortGetMinimumEverFreeHeapSize( void ) PRIVILEGED_FUNCTION;
/*
* Setup the hardware ready for the scheduler to take control. This generally
* sets up a tick interrupt and sets timers for the correct tick frequency.
*/
BaseType_t xPortStartScheduler( void ) PRIVILEGED_FUNCTION;
/*
* Undo any hardware/ISR setup that was performed by xPortStartScheduler() so
* the hardware is left in its original condition after the scheduler stops
* executing.
*/
void vPortEndScheduler( void ) PRIVILEGED_FUNCTION;
/*
* The structures and methods of manipulating the MPU are contained within the
* port layer.
*
* Fills the xMPUSettings structure with the memory region information
* contained in xRegions.
*/
#if( portUSING_MPU_WRAPPERS == 1 )
struct xMEMORY_REGION;
void vPortStoreTaskMPUSettings( xMPU_SETTINGS *xMPUSettings, const struct xMEMORY_REGION * const xRegions, StackType_t *pxBottomOfStack, uint32_t ulStackDepth ) PRIVILEGED_FUNCTION;
#endif
#ifdef __cplusplus
}
#endif
#endif /* PORTABLE_H */
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/os_inc/portmacro.h
-294
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@@ -1,294 +0,0 @@
/*
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
This file is part of the FreeRTOS distribution.
FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
***************************************************************************
>>! NOTE: The modification to the GPL is included to allow you to !<<
>>! distribute a combined work that includes FreeRTOS without being !<<
>>! obliged to provide the source code for proprietary components !<<
>>! outside of the FreeRTOS kernel. !<<
***************************************************************************
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. Full license text is available on the following
link: http://www.freertos.org/a00114.html
***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that is more than just the market leader, it *
* is the industry's de facto standard. *
* *
* Help yourself get started quickly while simultaneously helping *
* to support the FreeRTOS project by purchasing a FreeRTOS *
* tutorial book, reference manual, or both: *
* http://www.FreeRTOS.org/Documentation *
* *
***************************************************************************
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
the FAQ page "My application does not run, what could be wrong?". Have you
defined configASSERT()?
http://www.FreeRTOS.org/support - In return for receiving this top quality
embedded software for free we request you assist our global community by
participating in the support forum.
http://www.FreeRTOS.org/training - Investing in training allows your team to
be as productive as possible as early as possible. Now you can receive
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
Ltd, and the world's leading authority on the world's leading RTOS.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and commercial middleware.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
1 tab == 4 spaces!
*/
#ifndef PORTMACRO_H
#define PORTMACRO_H
#ifdef __cplusplus
extern "C" {
#endif
/*-----------------------------------------------------------
* Port specific definitions.
*
* The settings in this file configure FreeRTOS correctly for the
* given hardware and compiler.
*
* These settings should not be altered.
*-----------------------------------------------------------
*/
/* Type definitions. */
#define portCHAR char
#define portFLOAT float
#define portDOUBLE double
#define portLONG long
#define portSHORT short
#define portSTACK_TYPE uint32_t
#define portBASE_TYPE long
typedef portSTACK_TYPE StackType_t;
typedef long BaseType_t;
typedef unsigned long UBaseType_t;
#if( configUSE_16_BIT_TICKS == 1 )
typedef uint16_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffff
#else
typedef uint32_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do
not need to be guarded with a critical section. */
#define portTICK_TYPE_IS_ATOMIC 1
#endif
/*-----------------------------------------------------------*/
/* Architecture specifics. */
#define portSTACK_GROWTH ( -1 )
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
#define portBYTE_ALIGNMENT 8
/* Constants used with memory barrier intrinsics. */
#define portSY_FULL_READ_WRITE ( 15 )
/*-----------------------------------------------------------*/
/* Scheduler utilities. */
#define portYIELD() \
{ \
/* Set a PendSV to request a context switch. */ \
portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \
\
/* Barriers are normally not required but do ensure the code is completely \
within the specified behaviour for the architecture. */ \
__dsb( portSY_FULL_READ_WRITE ); \
__isb( portSY_FULL_READ_WRITE ); \
}
/*-----------------------------------------------------------*/
#define portNVIC_INT_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000ed04 ) )
#define portNVIC_PENDSVSET_BIT ( 1UL << 28UL )
#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) portYIELD()
#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
/*-----------------------------------------------------------*/
/* Critical section management. */
extern void vPortEnterCritical( void );
extern void vPortExitCritical( void );
#define portDISABLE_INTERRUPTS() vPortRaiseBASEPRI()
#define portENABLE_INTERRUPTS() vPortSetBASEPRI( 0 )
#define portENTER_CRITICAL() vPortEnterCritical()
#define portEXIT_CRITICAL() vPortExitCritical()
#define portSET_INTERRUPT_MASK_FROM_ISR() ulPortRaiseBASEPRI()
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vPortSetBASEPRI(x)
/*-----------------------------------------------------------*/
/* Tickless idle/low power functionality. */
#ifndef portSUPPRESS_TICKS_AND_SLEEP
extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime );
#define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime )
#endif
/*-----------------------------------------------------------*/
/* Port specific optimisations. */
#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
#endif
#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
/* Check the configuration. */
#if( configMAX_PRIORITIES > 32 )
#error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice.
#endif
/* Store/clear the ready priorities in a bit map. */
#define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )
#define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) )
/*-----------------------------------------------------------*/
#define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - ( uint32_t ) __clz( ( uxReadyPriorities ) ) )
#endif /* taskRECORD_READY_PRIORITY */
/*-----------------------------------------------------------*/
/* Task function macros as described on the FreeRTOS.org WEB site. These are
not necessary for to use this port. They are defined so the common demo files
(which build with all the ports) will build. */
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
/*-----------------------------------------------------------*/
#ifdef configASSERT
void vPortValidateInterruptPriority( void );
#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority()
#endif
/* portNOP() is not required by this port. */
#define portNOP()
#define portINLINE __inline
#ifndef portFORCE_INLINE
#define portFORCE_INLINE __forceinline
#endif
/*-----------------------------------------------------------*/
static portFORCE_INLINE void vPortSetBASEPRI( uint32_t ulBASEPRI )
{
__asm
{
/* Barrier instructions are not used as this function is only used to
lower the BASEPRI value. */
msr basepri, ulBASEPRI
}
}
/*-----------------------------------------------------------*/
static portFORCE_INLINE void vPortRaiseBASEPRI( void )
{
uint32_t ulNewBASEPRI = configMAX_SYSCALL_INTERRUPT_PRIORITY;
__asm
{
/* Set BASEPRI to the max syscall priority to effect a critical
section. */
msr basepri, ulNewBASEPRI
dsb
isb
}
}
/*-----------------------------------------------------------*/
static portFORCE_INLINE void vPortClearBASEPRIFromISR( void )
{
__asm
{
/* Set BASEPRI to 0 so no interrupts are masked. This function is only
used to lower the mask in an interrupt, so memory barriers are not
used. */
msr basepri, #0
}
}
/*-----------------------------------------------------------*/
static portFORCE_INLINE uint32_t ulPortRaiseBASEPRI( void )
{
uint32_t ulReturn, ulNewBASEPRI = configMAX_SYSCALL_INTERRUPT_PRIORITY;
__asm
{
/* Set BASEPRI to the max syscall priority to effect a critical
section. */
mrs ulReturn, basepri
msr basepri, ulNewBASEPRI
dsb
isb
}
return ulReturn;
}
/*-----------------------------------------------------------*/
static portFORCE_INLINE BaseType_t xPortIsInsideInterrupt( void )
{
uint32_t ulCurrentInterrupt;
BaseType_t xReturn;
/* Obtain the number of the currently executing interrupt. */
__asm
{
mrs ulCurrentInterrupt, ipsr
}
if( ulCurrentInterrupt == 0 )
{
xReturn = pdFALSE;
}
else
{
xReturn = pdTRUE;
}
return xReturn;
}
#ifdef __cplusplus
}
#endif
#endif /* PORTMACRO_H */
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/os_inc/projdefs.h
-161
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@@ -1,161 +0,0 @@
/*
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
This file is part of the FreeRTOS distribution.
FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
***************************************************************************
>>! NOTE: The modification to the GPL is included to allow you to !<<
>>! distribute a combined work that includes FreeRTOS without being !<<
>>! obliged to provide the source code for proprietary components !<<
>>! outside of the FreeRTOS kernel. !<<
***************************************************************************
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. Full license text is available on the following
link: http://www.freertos.org/a00114.html
***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that is more than just the market leader, it *
* is the industry's de facto standard. *
* *
* Help yourself get started quickly while simultaneously helping *
* to support the FreeRTOS project by purchasing a FreeRTOS *
* tutorial book, reference manual, or both: *
* http://www.FreeRTOS.org/Documentation *
* *
***************************************************************************
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
the FAQ page "My application does not run, what could be wrong?". Have you
defined configASSERT()?
http://www.FreeRTOS.org/support - In return for receiving this top quality
embedded software for free we request you assist our global community by
participating in the support forum.
http://www.FreeRTOS.org/training - Investing in training allows your team to
be as productive as possible as early as possible. Now you can receive
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
Ltd, and the world's leading authority on the world's leading RTOS.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and commercial middleware.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
1 tab == 4 spaces!
*/
#ifndef PROJDEFS_H
#define PROJDEFS_H
/*
* Defines the prototype to which task functions must conform. Defined in this
* file to ensure the type is known before portable.h is included.
*/
typedef void (*TaskFunction_t)( void * );
/* Converts a time in milliseconds to a time in ticks. This macro can be
overridden by a macro of the same name defined in FreeRTOSConfig.h in case the
definition here is not suitable for your application. */
#ifndef pdMS_TO_TICKS
#define pdMS_TO_TICKS( xTimeInMs ) ( ( TickType_t ) ( ( ( TickType_t ) ( xTimeInMs ) * ( TickType_t ) configTICK_RATE_HZ ) / ( TickType_t ) 1000 ) )
#endif
#define pdFALSE ( ( BaseType_t ) 0 )
#define pdTRUE ( ( BaseType_t ) 1 )
#define pdPASS ( pdTRUE )
#define pdFAIL ( pdFALSE )
#define errQUEUE_EMPTY ( ( BaseType_t ) 0 )
#define errQUEUE_FULL ( ( BaseType_t ) 0 )
/* FreeRTOS error definitions. */
#define errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY ( -1 )
#define errQUEUE_BLOCKED ( -4 )
#define errQUEUE_YIELD ( -5 )
/* Macros used for basic data corruption checks. */
#ifndef configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES
#define configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES 0
#endif
#if( configUSE_16_BIT_TICKS == 1 )
#define pdINTEGRITY_CHECK_VALUE 0x5a5a
#else
#define pdINTEGRITY_CHECK_VALUE 0x5a5a5a5aUL
#endif
/* The following errno values are used by FreeRTOS+ components, not FreeRTOS
itself. */
#define pdFREERTOS_ERRNO_NONE 0 /* No errors */
#define pdFREERTOS_ERRNO_ENOENT 2 /* No such file or directory */
#define pdFREERTOS_ERRNO_EINTR 4 /* Interrupted system call */
#define pdFREERTOS_ERRNO_EIO 5 /* I/O error */
#define pdFREERTOS_ERRNO_ENXIO 6 /* No such device or address */
#define pdFREERTOS_ERRNO_EBADF 9 /* Bad file number */
#define pdFREERTOS_ERRNO_EAGAIN 11 /* No more processes */
#define pdFREERTOS_ERRNO_EWOULDBLOCK 11 /* Operation would block */
#define pdFREERTOS_ERRNO_ENOMEM 12 /* Not enough memory */
#define pdFREERTOS_ERRNO_EACCES 13 /* Permission denied */
#define pdFREERTOS_ERRNO_EFAULT 14 /* Bad address */
#define pdFREERTOS_ERRNO_EBUSY 16 /* Mount device busy */
#define pdFREERTOS_ERRNO_EEXIST 17 /* File exists */
#define pdFREERTOS_ERRNO_EXDEV 18 /* Cross-device link */
#define pdFREERTOS_ERRNO_ENODEV 19 /* No such device */
#define pdFREERTOS_ERRNO_ENOTDIR 20 /* Not a directory */
#define pdFREERTOS_ERRNO_EISDIR 21 /* Is a directory */
#define pdFREERTOS_ERRNO_EINVAL 22 /* Invalid argument */
#define pdFREERTOS_ERRNO_ENOSPC 28 /* No space left on device */
#define pdFREERTOS_ERRNO_ESPIPE 29 /* Illegal seek */
#define pdFREERTOS_ERRNO_EROFS 30 /* Read only file system */
#define pdFREERTOS_ERRNO_EUNATCH 42 /* Protocol driver not attached */
#define pdFREERTOS_ERRNO_EBADE 50 /* Invalid exchange */
#define pdFREERTOS_ERRNO_EFTYPE 79 /* Inappropriate file type or format */
#define pdFREERTOS_ERRNO_ENMFILE 89 /* No more files */
#define pdFREERTOS_ERRNO_ENOTEMPTY 90 /* Directory not empty */
#define pdFREERTOS_ERRNO_ENAMETOOLONG 91 /* File or path name too long */
#define pdFREERTOS_ERRNO_EOPNOTSUPP 95 /* Operation not supported on transport endpoint */
#define pdFREERTOS_ERRNO_ENOBUFS 105 /* No buffer space available */
#define pdFREERTOS_ERRNO_ENOPROTOOPT 109 /* Protocol not available */
#define pdFREERTOS_ERRNO_EADDRINUSE 112 /* Address already in use */
#define pdFREERTOS_ERRNO_ETIMEDOUT 116 /* Connection timed out */
#define pdFREERTOS_ERRNO_EINPROGRESS 119 /* Connection already in progress */
#define pdFREERTOS_ERRNO_EALREADY 120 /* Socket already connected */
#define pdFREERTOS_ERRNO_EADDRNOTAVAIL 125 /* Address not available */
#define pdFREERTOS_ERRNO_EISCONN 127 /* Socket is already connected */
#define pdFREERTOS_ERRNO_ENOTCONN 128 /* Socket is not connected */
#define pdFREERTOS_ERRNO_ENOMEDIUM 135 /* No medium inserted */
#define pdFREERTOS_ERRNO_EILSEQ 138 /* An invalid UTF-16 sequence was encountered. */
#define pdFREERTOS_ERRNO_ECANCELED 140 /* Operation canceled. */
/* The following endian values are used by FreeRTOS+ components, not FreeRTOS
itself. */
#define pdFREERTOS_LITTLE_ENDIAN 0
#define pdFREERTOS_BIG_ENDIAN 1
#endif /* PROJDEFS_H */
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/os_inc/queue.h
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04_firmware/stm32/dji_a_board/RCPROyuan/Inc/rtc.h
-91
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@@ -1,91 +0,0 @@
/**
******************************************************************************
* File Name : RTC.h
* Description : This file provides code for the configuration
* of the RTC instances.
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2018 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __rtc_H
#define __rtc_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern RTC_HandleTypeDef hrtc;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
extern void _Error_Handler(char *, int);
void MX_RTC_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /*__ rtc_H */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/spi.h
-91
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@@ -1,91 +0,0 @@
/**
******************************************************************************
* File Name : SPI.h
* Description : This file provides code for the configuration
* of the SPI instances.
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2018 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __spi_H
#define __spi_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern SPI_HandleTypeDef hspi5;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
extern void _Error_Handler(char *, int);
void MX_SPI5_Init(void);
/* USER CODE BEGIN Prototypes */
#define SPI5_NSS_Pin GPIO_PIN_6
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /*__ spi_H */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/stm32f4xx_hal_conf.h
-447
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@@ -1,447 +0,0 @@
/**
******************************************************************************
* @file stm32f4xx_hal_conf.h
* @brief HAL configuration file.
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2018 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32F4xx_HAL_CONF_H
#define __STM32F4xx_HAL_CONF_H
#ifdef __cplusplus
extern "C" {
#endif
#include "main.h"
/* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/
/* ########################## Module Selection ############################## */
/**
* @brief This is the list of modules to be used in the HAL driver
*/
#define HAL_MODULE_ENABLED
/* #define HAL_ADC_MODULE_ENABLED */
/* #define HAL_CRYP_MODULE_ENABLED */
#define HAL_CAN_MODULE_ENABLED
/* #define HAL_CRC_MODULE_ENABLED */
/* #define HAL_CRYP_MODULE_ENABLED */
/* #define HAL_DAC_MODULE_ENABLED */
/* #define HAL_DCMI_MODULE_ENABLED */
/* #define HAL_DMA2D_MODULE_ENABLED */
/* #define HAL_ETH_MODULE_ENABLED */
/* #define HAL_NAND_MODULE_ENABLED */
/* #define HAL_NOR_MODULE_ENABLED */
/* #define HAL_PCCARD_MODULE_ENABLED */
/* #define HAL_SRAM_MODULE_ENABLED */
/* #define HAL_SDRAM_MODULE_ENABLED */
/* #define HAL_HASH_MODULE_ENABLED */
/* #define HAL_I2C_MODULE_ENABLED */
/* #define HAL_I2S_MODULE_ENABLED */
/* #define HAL_IWDG_MODULE_ENABLED */
/* #define HAL_LTDC_MODULE_ENABLED */
/* #define HAL_RNG_MODULE_ENABLED */
#define HAL_RTC_MODULE_ENABLED
/* #define HAL_SAI_MODULE_ENABLED */
/* #define HAL_SD_MODULE_ENABLED */
/* #define HAL_MMC_MODULE_ENABLED */
#define HAL_SPI_MODULE_ENABLED
#define HAL_TIM_MODULE_ENABLED
#define HAL_UART_MODULE_ENABLED
/* #define HAL_USART_MODULE_ENABLED */
/* #define HAL_IRDA_MODULE_ENABLED */
/* #define HAL_SMARTCARD_MODULE_ENABLED */
/* #define HAL_WWDG_MODULE_ENABLED */
/* #define HAL_PCD_MODULE_ENABLED */
/* #define HAL_HCD_MODULE_ENABLED */
/* #define HAL_DSI_MODULE_ENABLED */
/* #define HAL_QSPI_MODULE_ENABLED */
/* #define HAL_QSPI_MODULE_ENABLED */
/* #define HAL_CEC_MODULE_ENABLED */
/* #define HAL_FMPI2C_MODULE_ENABLED */
/* #define HAL_SPDIFRX_MODULE_ENABLED */
/* #define HAL_DFSDM_MODULE_ENABLED */
/* #define HAL_LPTIM_MODULE_ENABLED */
#define HAL_GPIO_MODULE_ENABLED
#define HAL_DMA_MODULE_ENABLED
#define HAL_RCC_MODULE_ENABLED
#define HAL_FLASH_MODULE_ENABLED
#define HAL_PWR_MODULE_ENABLED
#define HAL_CORTEX_MODULE_ENABLED
/* ########################## HSE/HSI Values adaptation ##################### */
/**
* @brief Adjust the value of External High Speed oscillator (HSE) used in your application.
* This value is used by the RCC HAL module to compute the system frequency
* (when HSE is used as system clock source, directly or through the PLL).
*/
#if !defined (HSE_VALUE)
#define HSE_VALUE ((uint32_t)12000000U) /*!< Value of the External oscillator in Hz */
#endif /* HSE_VALUE */
#if !defined (HSE_STARTUP_TIMEOUT)
#define HSE_STARTUP_TIMEOUT ((uint32_t)100U) /*!< Time out for HSE start up, in ms */
#endif /* HSE_STARTUP_TIMEOUT */
/**
* @brief Internal High Speed oscillator (HSI) value.
* This value is used by the RCC HAL module to compute the system frequency
* (when HSI is used as system clock source, directly or through the PLL).
*/
#if !defined (HSI_VALUE)
#define HSI_VALUE ((uint32_t)16000000U) /*!< Value of the Internal oscillator in Hz*/
#endif /* HSI_VALUE */
/**
* @brief Internal Low Speed oscillator (LSI) value.
*/
#if !defined (LSI_VALUE)
#define LSI_VALUE ((uint32_t)32000U) /*!< LSI Typical Value in Hz*/
#endif /* LSI_VALUE */ /*!< Value of the Internal Low Speed oscillator in Hz
The real value may vary depending on the variations
in voltage and temperature.*/
/**
* @brief External Low Speed oscillator (LSE) value.
*/
#if !defined (LSE_VALUE)
#define LSE_VALUE ((uint32_t)32768U) /*!< Value of the External Low Speed oscillator in Hz */
#endif /* LSE_VALUE */
#if !defined (LSE_STARTUP_TIMEOUT)
#define LSE_STARTUP_TIMEOUT ((uint32_t)5000U) /*!< Time out for LSE start up, in ms */
#endif /* LSE_STARTUP_TIMEOUT */
/**
* @brief External clock source for I2S peripheral
* This value is used by the I2S HAL module to compute the I2S clock source
* frequency, this source is inserted directly through I2S_CKIN pad.
*/
#if !defined (EXTERNAL_CLOCK_VALUE)
#define EXTERNAL_CLOCK_VALUE ((uint32_t)12288000U) /*!< Value of the External audio frequency in Hz*/
#endif /* EXTERNAL_CLOCK_VALUE */
/* Tip: To avoid modifying this file each time you need to use different HSE,
=== you can define the HSE value in your toolchain compiler preprocessor. */
/* ########################### System Configuration ######################### */
/**
* @brief This is the HAL system configuration section
*/
#define VDD_VALUE ((uint32_t)3300U) /*!< Value of VDD in mv */
#define TICK_INT_PRIORITY ((uint32_t)0U) /*!< tick interrupt priority */
#define USE_RTOS 0U
#define PREFETCH_ENABLE 1U
#define INSTRUCTION_CACHE_ENABLE 1U
#define DATA_CACHE_ENABLE 1U
/* ########################## Assert Selection ############################## */
/**
* @brief Uncomment the line below to expanse the "assert_param" macro in the
* HAL drivers code
*/
/* #define USE_FULL_ASSERT 1U */
/* ################## Ethernet peripheral configuration ##################### */
/* Section 1 : Ethernet peripheral configuration */
/* MAC ADDRESS: MAC_ADDR0:MAC_ADDR1:MAC_ADDR2:MAC_ADDR3:MAC_ADDR4:MAC_ADDR5 */
#define MAC_ADDR0 2U
#define MAC_ADDR1 0U
#define MAC_ADDR2 0U
#define MAC_ADDR3 0U
#define MAC_ADDR4 0U
#define MAC_ADDR5 0U
/* Definition of the Ethernet driver buffers size and count */
#define ETH_RX_BUF_SIZE ETH_MAX_PACKET_SIZE /* buffer size for receive */
#define ETH_TX_BUF_SIZE ETH_MAX_PACKET_SIZE /* buffer size for transmit */
#define ETH_RXBUFNB ((uint32_t)4U) /* 4 Rx buffers of size ETH_RX_BUF_SIZE */
#define ETH_TXBUFNB ((uint32_t)4U) /* 4 Tx buffers of size ETH_TX_BUF_SIZE */
/* Section 2: PHY configuration section */
/* DP83848_PHY_ADDRESS Address*/
#define DP83848_PHY_ADDRESS 0x01U
/* PHY Reset delay these values are based on a 1 ms Systick interrupt*/
#define PHY_RESET_DELAY ((uint32_t)0x000000FFU)
/* PHY Configuration delay */
#define PHY_CONFIG_DELAY ((uint32_t)0x00000FFFU)
#define PHY_READ_TO ((uint32_t)0x0000FFFFU)
#define PHY_WRITE_TO ((uint32_t)0x0000FFFFU)
/* Section 3: Common PHY Registers */
#define PHY_BCR ((uint16_t)0x0000U) /*!< Transceiver Basic Control Register */
#define PHY_BSR ((uint16_t)0x0001U) /*!< Transceiver Basic Status Register */
#define PHY_RESET ((uint16_t)0x8000U) /*!< PHY Reset */
#define PHY_LOOPBACK ((uint16_t)0x4000U) /*!< Select loop-back mode */
#define PHY_FULLDUPLEX_100M ((uint16_t)0x2100U) /*!< Set the full-duplex mode at 100 Mb/s */
#define PHY_HALFDUPLEX_100M ((uint16_t)0x2000U) /*!< Set the half-duplex mode at 100 Mb/s */
#define PHY_FULLDUPLEX_10M ((uint16_t)0x0100U) /*!< Set the full-duplex mode at 10 Mb/s */
#define PHY_HALFDUPLEX_10M ((uint16_t)0x0000U) /*!< Set the half-duplex mode at 10 Mb/s */
#define PHY_AUTONEGOTIATION ((uint16_t)0x1000U) /*!< Enable auto-negotiation function */
#define PHY_RESTART_AUTONEGOTIATION ((uint16_t)0x0200U) /*!< Restart auto-negotiation function */
#define PHY_POWERDOWN ((uint16_t)0x0800U) /*!< Select the power down mode */
#define PHY_ISOLATE ((uint16_t)0x0400U) /*!< Isolate PHY from MII */
#define PHY_AUTONEGO_COMPLETE ((uint16_t)0x0020U) /*!< Auto-Negotiation process completed */
#define PHY_LINKED_STATUS ((uint16_t)0x0004U) /*!< Valid link established */
#define PHY_JABBER_DETECTION ((uint16_t)0x0002U) /*!< Jabber condition detected */
/* Section 4: Extended PHY Registers */
#define PHY_SR ((uint16_t)0x10U) /*!< PHY status register Offset */
#define PHY_SPEED_STATUS ((uint16_t)0x0002U) /*!< PHY Speed mask */
#define PHY_DUPLEX_STATUS ((uint16_t)0x0004U) /*!< PHY Duplex mask */
/* ################## SPI peripheral configuration ########################## */
/* CRC FEATURE: Use to activate CRC feature inside HAL SPI Driver
* Activated: CRC code is present inside driver
* Deactivated: CRC code cleaned from driver
*/
#define USE_SPI_CRC 0U
/* Includes ------------------------------------------------------------------*/
/**
* @brief Include module's header file
*/
#ifdef HAL_RCC_MODULE_ENABLED
#include "stm32f4xx_hal_rcc.h"
#endif /* HAL_RCC_MODULE_ENABLED */
#ifdef HAL_GPIO_MODULE_ENABLED
#include "stm32f4xx_hal_gpio.h"
#endif /* HAL_GPIO_MODULE_ENABLED */
#ifdef HAL_DMA_MODULE_ENABLED
#include "stm32f4xx_hal_dma.h"
#endif /* HAL_DMA_MODULE_ENABLED */
#ifdef HAL_CORTEX_MODULE_ENABLED
#include "stm32f4xx_hal_cortex.h"
#endif /* HAL_CORTEX_MODULE_ENABLED */
#ifdef HAL_ADC_MODULE_ENABLED
#include "stm32f4xx_hal_adc.h"
#endif /* HAL_ADC_MODULE_ENABLED */
#ifdef HAL_CAN_MODULE_ENABLED
#include "stm32f4xx_hal_can.h"
#endif /* HAL_CAN_MODULE_ENABLED */
#ifdef HAL_CRC_MODULE_ENABLED
#include "stm32f4xx_hal_crc.h"
#endif /* HAL_CRC_MODULE_ENABLED */
#ifdef HAL_CRYP_MODULE_ENABLED
#include "stm32f4xx_hal_cryp.h"
#endif /* HAL_CRYP_MODULE_ENABLED */
#ifdef HAL_DMA2D_MODULE_ENABLED
#include "stm32f4xx_hal_dma2d.h"
#endif /* HAL_DMA2D_MODULE_ENABLED */
#ifdef HAL_DAC_MODULE_ENABLED
#include "stm32f4xx_hal_dac.h"
#endif /* HAL_DAC_MODULE_ENABLED */
#ifdef HAL_DCMI_MODULE_ENABLED
#include "stm32f4xx_hal_dcmi.h"
#endif /* HAL_DCMI_MODULE_ENABLED */
#ifdef HAL_ETH_MODULE_ENABLED
#include "stm32f4xx_hal_eth.h"
#endif /* HAL_ETH_MODULE_ENABLED */
#ifdef HAL_FLASH_MODULE_ENABLED
#include "stm32f4xx_hal_flash.h"
#endif /* HAL_FLASH_MODULE_ENABLED */
#ifdef HAL_SRAM_MODULE_ENABLED
#include "stm32f4xx_hal_sram.h"
#endif /* HAL_SRAM_MODULE_ENABLED */
#ifdef HAL_NOR_MODULE_ENABLED
#include "stm32f4xx_hal_nor.h"
#endif /* HAL_NOR_MODULE_ENABLED */
#ifdef HAL_NAND_MODULE_ENABLED
#include "stm32f4xx_hal_nand.h"
#endif /* HAL_NAND_MODULE_ENABLED */
#ifdef HAL_PCCARD_MODULE_ENABLED
#include "stm32f4xx_hal_pccard.h"
#endif /* HAL_PCCARD_MODULE_ENABLED */
#ifdef HAL_SDRAM_MODULE_ENABLED
#include "stm32f4xx_hal_sdram.h"
#endif /* HAL_SDRAM_MODULE_ENABLED */
#ifdef HAL_HASH_MODULE_ENABLED
#include "stm32f4xx_hal_hash.h"
#endif /* HAL_HASH_MODULE_ENABLED */
#ifdef HAL_I2C_MODULE_ENABLED
#include "stm32f4xx_hal_i2c.h"
#endif /* HAL_I2C_MODULE_ENABLED */
#ifdef HAL_I2S_MODULE_ENABLED
#include "stm32f4xx_hal_i2s.h"
#endif /* HAL_I2S_MODULE_ENABLED */
#ifdef HAL_IWDG_MODULE_ENABLED
#include "stm32f4xx_hal_iwdg.h"
#endif /* HAL_IWDG_MODULE_ENABLED */
#ifdef HAL_LTDC_MODULE_ENABLED
#include "stm32f4xx_hal_ltdc.h"
#endif /* HAL_LTDC_MODULE_ENABLED */
#ifdef HAL_PWR_MODULE_ENABLED
#include "stm32f4xx_hal_pwr.h"
#endif /* HAL_PWR_MODULE_ENABLED */
#ifdef HAL_RNG_MODULE_ENABLED
#include "stm32f4xx_hal_rng.h"
#endif /* HAL_RNG_MODULE_ENABLED */
#ifdef HAL_RTC_MODULE_ENABLED
#include "stm32f4xx_hal_rtc.h"
#endif /* HAL_RTC_MODULE_ENABLED */
#ifdef HAL_SAI_MODULE_ENABLED
#include "stm32f4xx_hal_sai.h"
#endif /* HAL_SAI_MODULE_ENABLED */
#ifdef HAL_SD_MODULE_ENABLED
#include "stm32f4xx_hal_sd.h"
#endif /* HAL_SD_MODULE_ENABLED */
#ifdef HAL_MMC_MODULE_ENABLED
#include "stm32f4xx_hal_mmc.h"
#endif /* HAL_MMC_MODULE_ENABLED */
#ifdef HAL_SPI_MODULE_ENABLED
#include "stm32f4xx_hal_spi.h"
#endif /* HAL_SPI_MODULE_ENABLED */
#ifdef HAL_TIM_MODULE_ENABLED
#include "stm32f4xx_hal_tim.h"
#endif /* HAL_TIM_MODULE_ENABLED */
#ifdef HAL_UART_MODULE_ENABLED
#include "stm32f4xx_hal_uart.h"
#endif /* HAL_UART_MODULE_ENABLED */
#ifdef HAL_USART_MODULE_ENABLED
#include "stm32f4xx_hal_usart.h"
#endif /* HAL_USART_MODULE_ENABLED */
#ifdef HAL_IRDA_MODULE_ENABLED
#include "stm32f4xx_hal_irda.h"
#endif /* HAL_IRDA_MODULE_ENABLED */
#ifdef HAL_SMARTCARD_MODULE_ENABLED
#include "stm32f4xx_hal_smartcard.h"
#endif /* HAL_SMARTCARD_MODULE_ENABLED */
#ifdef HAL_WWDG_MODULE_ENABLED
#include "stm32f4xx_hal_wwdg.h"
#endif /* HAL_WWDG_MODULE_ENABLED */
#ifdef HAL_PCD_MODULE_ENABLED
#include "stm32f4xx_hal_pcd.h"
#endif /* HAL_PCD_MODULE_ENABLED */
#ifdef HAL_HCD_MODULE_ENABLED
#include "stm32f4xx_hal_hcd.h"
#endif /* HAL_HCD_MODULE_ENABLED */
#ifdef HAL_DSI_MODULE_ENABLED
#include "stm32f4xx_hal_dsi.h"
#endif /* HAL_DSI_MODULE_ENABLED */
#ifdef HAL_QSPI_MODULE_ENABLED
#include "stm32f4xx_hal_qspi.h"
#endif /* HAL_QSPI_MODULE_ENABLED */
#ifdef HAL_CEC_MODULE_ENABLED
#include "stm32f4xx_hal_cec.h"
#endif /* HAL_CEC_MODULE_ENABLED */
#ifdef HAL_FMPI2C_MODULE_ENABLED
#include "stm32f4xx_hal_fmpi2c.h"
#endif /* HAL_FMPI2C_MODULE_ENABLED */
#ifdef HAL_SPDIFRX_MODULE_ENABLED
#include "stm32f4xx_hal_spdifrx.h"
#endif /* HAL_SPDIFRX_MODULE_ENABLED */
#ifdef HAL_DFSDM_MODULE_ENABLED
#include "stm32f4xx_hal_dfsdm.h"
#endif /* HAL_DFSDM_MODULE_ENABLED */
#ifdef HAL_LPTIM_MODULE_ENABLED
#include "stm32f4xx_hal_lptim.h"
#endif /* HAL_LPTIM_MODULE_ENABLED */
/* Exported macro ------------------------------------------------------------*/
#ifdef USE_FULL_ASSERT
/**
* @brief The assert_param macro is used for function's parameters check.
* @param expr: If expr is false, it calls assert_failed function
* which reports the name of the source file and the source
* line number of the call that failed.
* If expr is true, it returns no value.
* @retval None
*/
#define assert_param(expr) ((expr) ? (void)0U : assert_failed((uint8_t *)__FILE__, __LINE__))
/* Exported functions ------------------------------------------------------- */
void assert_failed(uint8_t* file, uint32_t line);
#else
#define assert_param(expr) ((void)0U)
#endif /* USE_FULL_ASSERT */
#ifdef __cplusplus
}
#endif
#endif /* __STM32F4xx_HAL_CONF_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/stm32f4xx_it.c
-387
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@@ -1,387 +0,0 @@
/**
******************************************************************************
* @file stm32f4xx_it.c
* @brief Interrupt Service Routines.
******************************************************************************
*
* COPYRIGHT(c) 2018 STMicroelectronics
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"
#include "stm32f4xx.h"
#include "stm32f4xx_it.h"
#include "cmsis_os.h"
/* USER CODE BEGIN 0 */
void uart_recv_interrupt_callback(UART_HandleTypeDef *huart);
/* USER CODE END 0 */
/* External variables --------------------------------------------------------*/
extern CAN_HandleTypeDef hcan1;
extern CAN_HandleTypeDef hcan2;
extern DMA_HandleTypeDef hdma_uart7_rx;
extern DMA_HandleTypeDef hdma_uart8_rx;
extern DMA_HandleTypeDef hdma_usart1_rx;
extern DMA_HandleTypeDef hdma_usart3_rx;
extern DMA_HandleTypeDef hdma_usart6_rx;
extern UART_HandleTypeDef huart7;
extern UART_HandleTypeDef huart8;
extern UART_HandleTypeDef huart1;
extern UART_HandleTypeDef huart3;
extern UART_HandleTypeDef huart6;
extern TIM_HandleTypeDef htim6;
/******************************************************************************/
/* Cortex-M4 Processor Interruption and Exception Handlers */
/******************************************************************************/
/**
* @brief This function handles Non maskable interrupt.
*/
void NMI_Handler(void)
{
/* USER CODE BEGIN NonMaskableInt_IRQn 0 */
/* USER CODE END NonMaskableInt_IRQn 0 */
/* USER CODE BEGIN NonMaskableInt_IRQn 1 */
/* USER CODE END NonMaskableInt_IRQn 1 */
}
/**
* @brief This function handles Hard fault interrupt.
*/
void HardFault_Handler(void)
{
/* USER CODE BEGIN HardFault_IRQn 0 */
/* USER CODE END HardFault_IRQn 0 */
while (1)
{
}
/* USER CODE BEGIN HardFault_IRQn 1 */
/* USER CODE END HardFault_IRQn 1 */
}
/**
* @brief This function handles Memory management fault.
*/
void MemManage_Handler(void)
{
/* USER CODE BEGIN MemoryManagement_IRQn 0 */
/* USER CODE END MemoryManagement_IRQn 0 */
while (1)
{
}
/* USER CODE BEGIN MemoryManagement_IRQn 1 */
/* USER CODE END MemoryManagement_IRQn 1 */
}
/**
* @brief This function handles Pre-fetch fault, memory access fault.
*/
void BusFault_Handler(void)
{
/* USER CODE BEGIN BusFault_IRQn 0 */
/* USER CODE END BusFault_IRQn 0 */
while (1)
{
}
/* USER CODE BEGIN BusFault_IRQn 1 */
/* USER CODE END BusFault_IRQn 1 */
}
/**
* @brief This function handles Undefined instruction or illegal state.
*/
void UsageFault_Handler(void)
{
/* USER CODE BEGIN UsageFault_IRQn 0 */
/* USER CODE END UsageFault_IRQn 0 */
while (1)
{
}
/* USER CODE BEGIN UsageFault_IRQn 1 */
/* USER CODE END UsageFault_IRQn 1 */
}
/**
* @brief This function handles Debug monitor.
*/
void DebugMon_Handler(void)
{
/* USER CODE BEGIN DebugMonitor_IRQn 0 */
/* USER CODE END DebugMonitor_IRQn 0 */
/* USER CODE BEGIN DebugMonitor_IRQn 1 */
/* USER CODE END DebugMonitor_IRQn 1 */
}
/**
* @brief This function handles System tick timer.
*/
void SysTick_Handler(void)
{
/* USER CODE BEGIN SysTick_IRQn 0 */
/* USER CODE END SysTick_IRQn 0 */
osSystickHandler();
/* USER CODE BEGIN SysTick_IRQn 1 */
/* USER CODE END SysTick_IRQn 1 */
}
/******************************************************************************/
/* STM32F4xx Peripheral Interrupt Handlers */
/* Add here the Interrupt Handlers for the used peripherals. */
/* For the available peripheral interrupt handler names, */
/* please refer to the startup file (startup_stm32f4xx.s). */
/******************************************************************************/
/**
* @brief This function handles DMA1 stream1 global interrupt.
*/
void DMA1_Stream1_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Stream1_IRQn 0 */
/* USER CODE END DMA1_Stream1_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart3_rx);
/* USER CODE BEGIN DMA1_Stream1_IRQn 1 */
/* USER CODE END DMA1_Stream1_IRQn 1 */
}
/**
* @brief This function handles DMA1 stream3 global interrupt.
*/
void DMA1_Stream3_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Stream3_IRQn 0 */
/* USER CODE END DMA1_Stream3_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_uart7_rx);
/* USER CODE BEGIN DMA1_Stream3_IRQn 1 */
/* USER CODE END DMA1_Stream3_IRQn 1 */
}
/**
* @brief This function handles DMA1 stream6 global interrupt.
*/
void DMA1_Stream6_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Stream6_IRQn 0 */
/* USER CODE END DMA1_Stream6_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_uart8_rx);
/* USER CODE BEGIN DMA1_Stream6_IRQn 1 */
/* USER CODE END DMA1_Stream6_IRQn 1 */
}
/**
* @brief This function handles CAN1 TX interrupts.
*/
void CAN1_TX_IRQHandler(void)
{
/* USER CODE BEGIN CAN1_TX_IRQn 0 */
/* USER CODE END CAN1_TX_IRQn 0 */
HAL_CAN_IRQHandler(&hcan1);
/* USER CODE BEGIN CAN1_TX_IRQn 1 */
/* USER CODE END CAN1_TX_IRQn 1 */
}
/**
* @brief This function handles CAN1 RX0 interrupts.
*/
void CAN1_RX0_IRQHandler(void)
{
/* USER CODE BEGIN CAN1_RX0_IRQn 0 */
/* USER CODE END CAN1_RX0_IRQn 0 */
HAL_CAN_IRQHandler(&hcan1);
/* USER CODE BEGIN CAN1_RX0_IRQn 1 */
/* USER CODE END CAN1_RX0_IRQn 1 */
}
/**
* @brief This function handles USART1 global interrupt.
*/
void USART1_IRQHandler(void)
{
/* USER CODE BEGIN USART1_IRQn 0 */
uart_recv_interrupt_callback(&huart1);
/* USER CODE END USART1_IRQn 0 */
HAL_UART_IRQHandler(&huart1);
/* USER CODE BEGIN USART1_IRQn 1 */
/* USER CODE END USART1_IRQn 1 */
}
/**
* @brief This function handles USART3 global interrupt.
*/
void USART3_IRQHandler(void)
{
/* USER CODE BEGIN USART3_IRQn 0 */
uart_recv_interrupt_callback(&huart3);
/* USER CODE END USART3_IRQn 0 */
HAL_UART_IRQHandler(&huart3);
/* USER CODE BEGIN USART3_IRQn 1 */
/* USER CODE END USART3_IRQn 1 */
}
/**
* @brief This function handles TIM6 global interrupt, DAC1 and DAC2 underrun error interrupts.
*/
void TIM6_DAC_IRQHandler(void)
{
/* USER CODE BEGIN TIM6_DAC_IRQn 0 */
/* USER CODE END TIM6_DAC_IRQn 0 */
HAL_TIM_IRQHandler(&htim6);
/* USER CODE BEGIN TIM6_DAC_IRQn 1 */
/* USER CODE END TIM6_DAC_IRQn 1 */
}
/**
* @brief This function handles DMA2 stream1 global interrupt.
*/
void DMA2_Stream1_IRQHandler(void)
{
/* USER CODE BEGIN DMA2_Stream1_IRQn 0 */
/* USER CODE END DMA2_Stream1_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart6_rx);
/* USER CODE BEGIN DMA2_Stream1_IRQn 1 */
/* USER CODE END DMA2_Stream1_IRQn 1 */
}
/**
* @brief This function handles DMA2 stream2 global interrupt.
*/
void DMA2_Stream2_IRQHandler(void)
{
/* USER CODE BEGIN DMA2_Stream2_IRQn 0 */
/* USER CODE END DMA2_Stream2_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart1_rx);
/* USER CODE BEGIN DMA2_Stream2_IRQn 1 */
/* USER CODE END DMA2_Stream2_IRQn 1 */
}
/**
* @brief This function handles CAN2 TX interrupts.
*/
void CAN2_TX_IRQHandler(void)
{
/* USER CODE BEGIN CAN2_TX_IRQn 0 */
/* USER CODE END CAN2_TX_IRQn 0 */
HAL_CAN_IRQHandler(&hcan2);
/* USER CODE BEGIN CAN2_TX_IRQn 1 */
/* USER CODE END CAN2_TX_IRQn 1 */
}
/**
* @brief This function handles CAN2 RX0 interrupts.
*/
void CAN2_RX0_IRQHandler(void)
{
/* USER CODE BEGIN CAN2_RX0_IRQn 0 */
/* USER CODE END CAN2_RX0_IRQn 0 */
HAL_CAN_IRQHandler(&hcan2);
/* USER CODE BEGIN CAN2_RX0_IRQn 1 */
/* USER CODE END CAN2_RX0_IRQn 1 */
}
/**
* @brief This function handles USART6 global interrupt.
*/
void USART6_IRQHandler(void)
{
/* USER CODE BEGIN USART6_IRQn 0 */
uart_recv_interrupt_callback(&huart6);
/* USER CODE END USART6_IRQn 0 */
HAL_UART_IRQHandler(&huart6);
/* USER CODE BEGIN USART6_IRQn 1 */
/* USER CODE END USART6_IRQn 1 */
}
/**
* @brief This function handles UART7 global interrupt.
*/
void UART7_IRQHandler(void)
{
/* USER CODE BEGIN UART7_IRQn 0 */
uart_recv_interrupt_callback(&huart7);
/* USER CODE END UART7_IRQn 0 */
HAL_UART_IRQHandler(&huart7);
/* USER CODE BEGIN UART7_IRQn 1 */
/* USER CODE END UART7_IRQn 1 */
}
/**
* @brief This function handles UART8 global interrupt.
*/
void UART8_IRQHandler(void)
{
/* USER CODE BEGIN UART8_IRQn 0 */
uart_recv_interrupt_callback(&huart8);
/* USER CODE END UART8_IRQn 0 */
HAL_UART_IRQHandler(&huart8);
/* USER CODE BEGIN UART8_IRQn 1 */
/* USER CODE END UART8_IRQn 1 */
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/stm32f4xx_it.h
-79
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@@ -1,79 +0,0 @@
/**
******************************************************************************
* @file stm32f4xx_it.h
* @brief This file contains the headers of the interrupt handlers.
******************************************************************************
*
* COPYRIGHT(c) 2018 STMicroelectronics
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32F4xx_IT_H
#define __STM32F4xx_IT_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"
#include "main.h"
/* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/
/* Exported macro ------------------------------------------------------------*/
/* Exported functions ------------------------------------------------------- */
void NMI_Handler(void);
void HardFault_Handler(void);
void MemManage_Handler(void);
void BusFault_Handler(void);
void UsageFault_Handler(void);
void DebugMon_Handler(void);
void SysTick_Handler(void);
void DMA1_Stream1_IRQHandler(void);
void DMA1_Stream3_IRQHandler(void);
void DMA1_Stream6_IRQHandler(void);
void CAN1_TX_IRQHandler(void);
void CAN1_RX0_IRQHandler(void);
void USART1_IRQHandler(void);
void USART3_IRQHandler(void);
void TIM6_DAC_IRQHandler(void);
void DMA2_Stream1_IRQHandler(void);
void DMA2_Stream2_IRQHandler(void);
void CAN2_TX_IRQHandler(void);
void CAN2_RX0_IRQHandler(void);
void USART6_IRQHandler(void);
void UART7_IRQHandler(void);
void UART8_IRQHandler(void);
#ifdef __cplusplus
}
#endif
#endif /* __STM32F4xx_IT_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/tim.h
-102
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@@ -1,102 +0,0 @@
/**
******************************************************************************
* File Name : TIM.h
* Description : This file provides code for the configuration
* of the TIM instances.
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2018 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __tim_H
#define __tim_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
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 */
extern void _Error_Handler(char *, int);
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 */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
04_firmware/stm32/dji_a_board/RCPROyuan/Inc/usart.h
-99
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@@ -1,99 +0,0 @@
/**
******************************************************************************
* File Name : USART.h
* Description : This file provides code for the configuration
* of the USART instances.
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2018 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __usart_H
#define __usart_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern UART_HandleTypeDef huart7;
extern UART_HandleTypeDef huart8;
extern UART_HandleTypeDef huart1;
extern UART_HandleTypeDef huart3;
extern UART_HandleTypeDef huart6;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
extern void _Error_Handler(char *, int);
void MX_UART7_Init(void);
void MX_UART8_Init(void);
void MX_USART1_UART_Init(void);
void MX_USART3_UART_Init(void);
void MX_USART6_UART_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /*__ usart_H */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
04_firmware/stm32/dji_a_board/RCPROyuan/Project/RoboMentors_Board.uvprojx
-504
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@@ -1,504 +0,0 @@
<?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>RoboMentors_Board</TargetName>
<ToolsetNumber>0x4</ToolsetNumber>
<ToolsetName>ARM-ADS</ToolsetName>
<pCCUsed>5060960::V5.06 update 7 (build 960)::.\ARM_Compiler_5.06u7</pCCUsed>
<uAC6>0</uAC6>
<TargetOption>
<TargetCommonOption>
<Device>STM32F427IIHx</Device>
<Vendor>STMicroelectronics</Vendor>
<PackID>Keil.STM32F4xx_DFP.3.0.0</PackID>
<PackURL>https://www.keil.com/pack/</PackURL>
<Cpu>IRAM(0x20000000-0x2002FFFF) IRAM2(0x10000000-0x1000FFFF) IROM(0x8000000-0x81FFFFF) CLOCK(25000000) FPU2 CPUTYPE("Cortex-M4")</Cpu>
<FlashUtilSpec></FlashUtilSpec>
<StartupFile></StartupFile>
<FlashDriverDll></FlashDriverDll>
<DeviceId></DeviceId>
<RegisterFile></RegisterFile>
<MemoryEnv></MemoryEnv>
<Cmp></Cmp>
<Asm></Asm>
<Linker></Linker>
<OHString></OHString>
<InfinionOptionDll></InfinionOptionDll>
<SLE66CMisc></SLE66CMisc>
<SLE66AMisc></SLE66AMisc>
<SLE66LinkerMisc></SLE66LinkerMisc>
<SFDFile>$$Device:STM32F427IIHx$CMSIS\SVD\STM32F427x.svd</SFDFile>
<bCustSvd>0</bCustSvd>
<UseEnv>0</UseEnv>
<BinPath></BinPath>
<IncludePath></IncludePath>
<LibPath></LibPath>
<RegisterFilePath></RegisterFilePath>
<DBRegisterFilePath></DBRegisterFilePath>
<TargetStatus>
<Error>0</Error>
<ExitCodeStop>0</ExitCodeStop>
<ButtonStop>0</ButtonStop>
<NotGenerated>0</NotGenerated>
<InvalidFlash>1</InvalidFlash>
</TargetStatus>
<OutputDirectory>.\RoboMentors_Board\</OutputDirectory>
<OutputName>RoboMentors_Board</OutputName>
<CreateExecutable>1</CreateExecutable>
<CreateLib>0</CreateLib>
<CreateHexFile>1</CreateHexFile>
<DebugInformation>1</DebugInformation>
<BrowseInformation>1</BrowseInformation>
<ListingPath>.\output\</ListingPath>
<HexFormatSelection>1</HexFormatSelection>
<Merge32K>0</Merge32K>
<CreateBatchFile>0</CreateBatchFile>
<BeforeCompile>
<RunUserProg1>0</RunUserProg1>
<RunUserProg2>0</RunUserProg2>
<UserProg1Name></UserProg1Name>
<UserProg2Name></UserProg2Name>
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
<nStopU1X>0</nStopU1X>
<nStopU2X>0</nStopU2X>
</BeforeCompile>
<BeforeMake>
<RunUserProg1>0</RunUserProg1>
<RunUserProg2>0</RunUserProg2>
<UserProg1Name></UserProg1Name>
<UserProg2Name></UserProg2Name>
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
<nStopB1X>0</nStopB1X>
<nStopB2X>0</nStopB2X>
</BeforeMake>
<AfterMake>
<RunUserProg1>0</RunUserProg1>
<RunUserProg2>0</RunUserProg2>
<UserProg1Name></UserProg1Name>
<UserProg2Name></UserProg2Name>
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
<nStopA1X>0</nStopA1X>
<nStopA2X>0</nStopA2X>
</AfterMake>
<SelectedForBatchBuild>0</SelectedForBatchBuild>
<SVCSIdString></SVCSIdString>
</TargetCommonOption>
<CommonProperty>
<UseCPPCompiler>0</UseCPPCompiler>
<RVCTCodeConst>0</RVCTCodeConst>
<RVCTZI>0</RVCTZI>
<RVCTOtherData>0</RVCTOtherData>
<ModuleSelection>0</ModuleSelection>
<IncludeInBuild>1</IncludeInBuild>
<AlwaysBuild>0</AlwaysBuild>
<GenerateAssemblyFile>0</GenerateAssemblyFile>
<AssembleAssemblyFile>0</AssembleAssemblyFile>
<PublicsOnly>0</PublicsOnly>
<StopOnExitCode>3</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>0</ComprImg>
</CommonProperty>
<DllOption>
<SimDllName>SARMCM3.DLL</SimDllName>
<SimDllArguments>-REMAP -MPU</SimDllArguments>
<SimDlgDll>DCM.DLL</SimDlgDll>
<SimDlgDllArguments>-pCM4</SimDlgDllArguments>
<TargetDllName>SARMCM3.DLL</TargetDllName>
<TargetDllArguments>-MPU</TargetDllArguments>
<TargetDlgDll>TCM.DLL</TargetDlgDll>
<TargetDlgDllArguments>-pCM4</TargetDlgDllArguments>
</DllOption>
<DebugOption>
<OPTHX>
<HexSelection>1</HexSelection>
<HexRangeLowAddress>0</HexRangeLowAddress>
<HexRangeHighAddress>0</HexRangeHighAddress>
<HexOffset>0</HexOffset>
<Oh166RecLen>16</Oh166RecLen>
</OPTHX>
</DebugOption>
<Utilities>
<Flash1>
<UseTargetDll>1</UseTargetDll>
<UseExternalTool>0</UseExternalTool>
<RunIndependent>0</RunIndependent>
<UpdateFlashBeforeDebugging>1</UpdateFlashBeforeDebugging>
<Capability>1</Capability>
<DriverSelection>4096</DriverSelection>
</Flash1>
<bUseTDR>1</bUseTDR>
<Flash2>BIN\UL2CM3.DLL</Flash2>
<Flash3>"" ()</Flash3>
<Flash4></Flash4>
<pFcarmOut></pFcarmOut>
<pFcarmGrp></pFcarmGrp>
<pFcArmRoot></pFcArmRoot>
<FcArmLst>0</FcArmLst>
</Utilities>
<TargetArmAds>
<ArmAdsMisc>
<GenerateListings>0</GenerateListings>
<asHll>1</asHll>
<asAsm>1</asAsm>
<asMacX>1</asMacX>
<asSyms>1</asSyms>
<asFals>1</asFals>
<asDbgD>1</asDbgD>
<asForm>1</asForm>
<ldLst>0</ldLst>
<ldmm>1</ldmm>
<ldXref>1</ldXref>
<BigEnd>0</BigEnd>
<AdsALst>1</AdsALst>
<AdsACrf>1</AdsACrf>
<AdsANop>0</AdsANop>
<AdsANot>0</AdsANot>
<AdsLLst>1</AdsLLst>
<AdsLmap>1</AdsLmap>
<AdsLcgr>1</AdsLcgr>
<AdsLsym>1</AdsLsym>
<AdsLszi>1</AdsLszi>
<AdsLtoi>1</AdsLtoi>
<AdsLsun>1</AdsLsun>
<AdsLven>1</AdsLven>
<AdsLsxf>1</AdsLsxf>
<RvctClst>0</RvctClst>
<GenPPlst>0</GenPPlst>
<AdsCpuType>"Cortex-M4"</AdsCpuType>
<RvctDeviceName></RvctDeviceName>
<mOS>0</mOS>
<uocRom>0</uocRom>
<uocRam>0</uocRam>
<hadIROM>1</hadIROM>
<hadIRAM>1</hadIRAM>
<hadXRAM>0</hadXRAM>
<uocXRam>0</uocXRam>
<RvdsVP>2</RvdsVP>
<RvdsMve>0</RvdsMve>
<RvdsCdeCp>0</RvdsCdeCp>
<nBranchProt>0</nBranchProt>
<hadIRAM2>1</hadIRAM2>
<hadIROM2>0</hadIROM2>
<StupSel>8</StupSel>
<useUlib>0</useUlib>
<EndSel>0</EndSel>
<uLtcg>0</uLtcg>
<nSecure>0</nSecure>
<RoSelD>3</RoSelD>
<RwSelD>3</RwSelD>
<CodeSel>0</CodeSel>
<OptFeed>0</OptFeed>
<NoZi1>0</NoZi1>
<NoZi2>0</NoZi2>
<NoZi3>0</NoZi3>
<NoZi4>0</NoZi4>
<NoZi5>0</NoZi5>
<Ro1Chk>0</Ro1Chk>
<Ro2Chk>0</Ro2Chk>
<Ro3Chk>0</Ro3Chk>
<Ir1Chk>1</Ir1Chk>
<Ir2Chk>0</Ir2Chk>
<Ra1Chk>0</Ra1Chk>
<Ra2Chk>0</Ra2Chk>
<Ra3Chk>0</Ra3Chk>
<Im1Chk>1</Im1Chk>
<Im2Chk>0</Im2Chk>
<OnChipMemories>
<Ocm1>
<Type>0</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</Ocm1>
<Ocm2>
<Type>0</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</Ocm2>
<Ocm3>
<Type>0</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</Ocm3>
<Ocm4>
<Type>0</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</Ocm4>
<Ocm5>
<Type>0</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</Ocm5>
<Ocm6>
<Type>0</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</Ocm6>
<IRAM>
<Type>0</Type>
<StartAddress>0x20000000</StartAddress>
<Size>0x30000</Size>
</IRAM>
<IROM>
<Type>1</Type>
<StartAddress>0x8000000</StartAddress>
<Size>0x200000</Size>
</IROM>
<XRAM>
<Type>0</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</XRAM>
<OCR_RVCT1>
<Type>1</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</OCR_RVCT1>
<OCR_RVCT2>
<Type>1</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</OCR_RVCT2>
<OCR_RVCT3>
<Type>1</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</OCR_RVCT3>
<OCR_RVCT4>
<Type>1</Type>
<StartAddress>0x8000000</StartAddress>
<Size>0x200000</Size>
</OCR_RVCT4>
<OCR_RVCT5>
<Type>1</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</OCR_RVCT5>
<OCR_RVCT6>
<Type>0</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</OCR_RVCT6>
<OCR_RVCT7>
<Type>0</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</OCR_RVCT7>
<OCR_RVCT8>
<Type>0</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</OCR_RVCT8>
<OCR_RVCT9>
<Type>0</Type>
<StartAddress>0x20000000</StartAddress>
<Size>0x30000</Size>
</OCR_RVCT9>
<OCR_RVCT10>
<Type>0</Type>
<StartAddress>0x10000000</StartAddress>
<Size>0x10000</Size>
</OCR_RVCT10>
</OnChipMemories>
<RvctStartVector></RvctStartVector>
</ArmAdsMisc>
<Cads>
<interw>1</interw>
<Optim>1</Optim>
<oTime>0</oTime>
<SplitLS>0</SplitLS>
<OneElfS>1</OneElfS>
<Strict>0</Strict>
<EnumInt>0</EnumInt>
<PlainCh>0</PlainCh>
<Ropi>0</Ropi>
<Rwpi>0</Rwpi>
<wLevel>2</wLevel>
<uThumb>0</uThumb>
<uSurpInc>0</uSurpInc>
<uC99>0</uC99>
<uGnu>0</uGnu>
<useXO>0</useXO>
<v6Lang>1</v6Lang>
<v6LangP>1</v6LangP>
<vShortEn>1</vShortEn>
<vShortWch>1</vShortWch>
<v6Lto>0</v6Lto>
<v6WtE>0</v6WtE>
<v6Rtti>0</v6Rtti>
<VariousControls>
<MiscControls>--C99</MiscControls>
<Define>USE_HAL_DRIVER,STM32F427xx</Define>
<Undefine></Undefine>
<IncludePath>..\Inc;..\Inc\hal_inc;..\Inc\m3_inc;..\Inc\os_inc;..\Inc\hal_inc\Legacy;..\User;..\User\app;..\User\driver</IncludePath>
</VariousControls>
</Cads>
<Aads>
<interw>1</interw>
<Ropi>0</Ropi>
<Rwpi>0</Rwpi>
<thumb>0</thumb>
<SplitLS>0</SplitLS>
<SwStkChk>0</SwStkChk>
<NoWarn>0</NoWarn>
<uSurpInc>0</uSurpInc>
<useXO>0</useXO>
<ClangAsOpt>4</ClangAsOpt>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath>..\Inc</IncludePath>
</VariousControls>
</Aads>
<LDads>
<umfTarg>1</umfTarg>
<Ropi>0</Ropi>
<Rwpi>0</Rwpi>
<noStLib>0</noStLib>
<RepFail>1</RepFail>
<useFile>0</useFile>
<TextAddressRange>0x08000000</TextAddressRange>
<DataAddressRange>0x20000000</DataAddressRange>
<pXoBase></pXoBase>
<ScatterFile></ScatterFile>
<IncludeLibs></IncludeLibs>
<IncludeLibsPath></IncludeLibsPath>
<Misc>--diag_suppress=L6329</Misc>
<LinkerInputFile></LinkerInputFile>
<DisabledWarnings></DisabledWarnings>
</LDads>
</TargetArmAds>
</TargetOption>
<Groups>
<Group>
<GroupName>driver</GroupName>
<Files>
<File>
<FileName>rm_hal_lib.h</FileName>
<FileType>5</FileType>
<FilePath>..\User\rm_hal_lib.h</FilePath>
</File>
<File>
<FileName>uart_device.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\driver\uart_device.c</FilePath>
</File>
<File>
<FileName>lingzu_motor.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\driver\lingzu_motor.c</FilePath>
</File>
<File>
<FileName>lingzu_motor.h</FileName>
<FileType>5</FileType>
<FilePath>..\User\driver\lingzu_motor.h</FilePath>
</File>
<File>
<FileName>Movement.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\driver\Movement.c</FilePath>
</File>
<File>
<FileName>Movement.h</FileName>
<FileType>5</FileType>
<FilePath>..\User\driver\Movement.h</FilePath>
</File>
<File>
<FileName>leg.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\driver\leg.c</FilePath>
</File>
<File>
<FileName>leg.h</FileName>
<FileType>5</FileType>
<FilePath>..\User\driver\leg.h</FilePath>
</File>
<File>
<FileName>gait_config.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\driver\gait_config.c</FilePath>
</File>
<File>
<FileName>gait_config.h</FileName>
<FileType>5</FileType>
<FilePath>..\User\driver\gait_config.h</FilePath>
</File>
</Files>
</Group>
<Group>
<GroupName>app</GroupName>
<Files>
<File>
<FileName>startup.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\startup.c</FilePath>
</File>
<File>
<FileName>lingzu_task.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\app\lingzu_task.c</FilePath>
</File>
<File>
<FileName>lingzu_task.h</FileName>
<FileType>5</FileType>
<FilePath>..\User\app\lingzu_task.h</FilePath>
</File>
<File>
<FileName>uart_task.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\app\uart_task.c</FilePath>
</File>
<File>
<FileName>uart_task.h</FileName>
<FileType>5</FileType>
<FilePath>..\User\app\uart_task.h</FilePath>
</File>
</Files>
</Group>
<Group>
<GroupName>lib</GroupName>
<Files>
<File>
<FileName>stm32f4xx_it.c</FileName>
<FileType>1</FileType>
<FilePath>..\Inc\stm32f4xx_it.c</FilePath>
</File>
<File>
<FileName>RoboMentors_Board1_3.lib</FileName>
<FileType>4</FileType>
<FilePath>..\Inc\RoboMentors_Board1_3.lib</FilePath>
</File>
</Files>
</Group>
<Group>
<GroupName>readme</GroupName>
<Files>
<File>
<FileName>README.md</FileName>
<FileType>5</FileType>
<FilePath>..\README.md</FilePath>
</File>
</Files>
</Group>
</Groups>
</Target>
</Targets>
<RTE>
<apis/>
<components/>
<files/>
</RTE>
</Project>
04_firmware/stm32/dji_a_board/RCPROyuan/README.md
-54
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@@ -1,54 +0,0 @@
# 四足机器人项目综合指南 (Project Guide)
## 1. 项目概览
本项是一个基于 **RoboMentors Board (STM32F427IIH6)** 开发的四足机器人控制系统。核心执行器采用 **灵足 RS02** 系列关节电机，通过 CAN 总线（MIT 协议）进行控制。系统基于 **FreeRTOS** 实时操作系统构建。
## 2. 硬件架构
- **控制器**: 大疆 RoboMaster A 型板兼容主控 (STM32F427IIH6)。
- **电机**: 8 个灵足 RS02 关节电机。
- **传感器**: 板载 MPU6500 IMU (用于姿态感知)。
- **遥控器**: RadioLink AT9S Pro (通过 DBUS 接口连接)。
## 3. 电机与 CAN 总线配置
机器人共有 4 条腿，每条腿 2 个关节（大腿/小腿）。
- **CAN1 总线**: 控制前部两条腿（ID 1, 2, 3, 4）。
- **CAN2 总线**: 控制后部两条腿（ID 1, 2, 3, 4）。
### 电机 ID 映射
| 腿部位置 | 关节 ID | 总线 |
| :--- | :--- | :--- |
| 左前 (FL) | 1, 2 | CAN1 |
| 右前 (FR) | 3, 4 | CAN1 |
| 左后 (RL) | 1, 2 | CAN2 |
| 右后 (RR) | 3, 4 | CAN2 |
## 4. 遥控器操作手册 (AT9S Pro)
### 基础通道
- **左摇杆 (上下, Ch3)**: **步态使能**。推杆 (>200) 进入行走模式；回中或下拉保持站立。
- **右摇杆 (左右, Ch1)**: 预留转向。
- **右摇杆 (上下, Ch2)**: 预留前进/后退。
### 辅助开关
| 开关 | 通道 | 功能定义 | 操作说明 |
| :---: | :---: | :---: | :--- |
| **SwA** | Ch10 | **起立/趴下** | **上**: 起立 (Stand)；**下**: 趴下 (Prone) |
| **SwD** | Ch7 | **急停/使能** | **上**: 正常使能；**下**: **软急停** (切断输出) |
| **SwC** | Ch8 | **方向控制** | **下**: 前进；**中**: 原地踏步；**上**: 后退 |
| **SwG** | Ch5 | **转向控制** | **上**: 左转；**中**: 直行；**下**: 右转 |
## 5. 核心功能说明
### 5.1 零点校准模式
在 `lingzu_task.c` 中开启 `#define CALIBRATE_ZERO_POINT` 宏：
1. 上电后有 5 秒窗口期，此时电机无力矩。
2. 手动将机器人腿部摆放至标准零位。
3. 5 秒后系统自动将当前位置记录为电机的绝对零点。
### 5.2 运动控制
- **逆运动学 (IK)**: 位于 `leg.c`，负责将足端 $(x, y, z)$ 坐标转换为关节角度。
- **步态规划**: 位于 `Movement.c`，实现了 Trot (对角小跑) 步态。
## 6. 开发与调试注意事项
- **DBUS 接口**: 信号是标准 UART 的反相形式，波特率固定为 **100kbps**。
- **电机初始化**: 系统启动时会自动循环尝试使能所有电机，直到收到反馈。若电机指示灯异常，请检查物理连接并利用 SwD 开关重启使能。
- **安全第一**: 调试新步态时，请务必架空机器人，并随时准备拨动 **SwD** 执行急停。
- **软硬件匹配**: 本固件专为灵足 RS02 电机设计，不支持普通的 DJI M3508/M2006 电机作为动力关节。
04_firmware/stm32/dji_a_board/RCPROyuan/User/app/lingzu_task.c
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/**
* @file lingzu_task.c
* @brief 主控制任务 — 适配直接电机角 IK
*
* 改动:
* - IK 直接输出无符号电机角 (motor_thigh, motor_shank)
* - 偏移量校准: IK(0, PRONE_Z) 应输出 ≈ (0, 0)
* offset = encoder_reading - IK_output*sign
* - 废除 PostureConfig 相关调用
* - Quad_Prone_Crawl_Ready 合并为 Quad_Prone
*/
#include "lingzu_task.h"
#include "lingzu_motor.h"
#include "cmsis_os.h"
#include "rm_hal_lib.h"
#include <math.h>
#include "Movement.h"
#include "gait_config.h"
#include "uart_task.h"
#include "uart_device.h"
/* #define CALIBRATE_ZERO_POINT */
#define MOTOR_COUNT 8
#define PI 3.1415926535f
typedef struct {
CAN_HandleTypeDef *hcan;
Motor_CAN_Send_Struct *tx;
Motor_CAN_Recieve_Struct *rx;
float sign; /* -1(左) 或 +1(右) */
uint8_t is_thigh; /* 1=大腿, 0=小腿 */
} MotorHandle;
static MotorHandle motors[MOTOR_COUNT];
static void motors_init_handles(void)
{
motors[0] = (MotorHandle){ &hcan1, &CAN_1.ID_1_Motor_send, &CAN_1.ID_1_Motor_recieve, -1.0f, 1 }; /* FL thigh */
motors[1] = (MotorHandle){ &hcan1, &CAN_1.ID_2_Motor_send, &CAN_1.ID_2_Motor_recieve, -1.0f, 0 }; /* FL shank */
motors[2] = (MotorHandle){ &hcan1, &CAN_1.ID_3_Motor_send, &CAN_1.ID_3_Motor_recieve, 1.0f, 1 }; /* FR thigh */
motors[3] = (MotorHandle){ &hcan1, &CAN_1.ID_4_Motor_send, &CAN_1.ID_4_Motor_recieve, 1.0f, 0 }; /* FR shank */
motors[4] = (MotorHandle){ &hcan2, &CAN_2.ID_1_Motor_send, &CAN_2.ID_1_Motor_recieve, -1.0f, 1 }; /* RL thigh */
motors[5] = (MotorHandle){ &hcan2, &CAN_2.ID_2_Motor_send, &CAN_2.ID_2_Motor_recieve, -1.0f, 0 }; /* RL shank */
motors[6] = (MotorHandle){ &hcan2, &CAN_2.ID_3_Motor_send, &CAN_2.ID_3_Motor_recieve, 1.0f, 1 }; /* RR thigh */
motors[7] = (MotorHandle){ &hcan2, &CAN_2.ID_4_Motor_send, &CAN_2.ID_4_Motor_recieve, 1.0f, 0 }; /* RR shank */
}
static void motors_enable_all(void)
{
for (int i = 0; i < MOTOR_COUNT; i++) {
Motor_Enable(motors[i].hcan, motors[i].tx);
osDelay(2);
}
}
static void motors_send_control_all(void)
{
for (int i = 0; i < MOTOR_COUNT; i++) {
CAN_Send_Control(motors[i].hcan, motors[i].tx);
if ((i & 1) == 1) osDelay(1);
}
}
static void optimize_path(float *target, float current)
{
float diff = *target - current;
if (diff > PI || diff < -PI) {
diff = fmodf(diff + PI, 2.0f * PI);
if (diff < 0.0f) diff += 2.0f * PI;
diff -= PI;
*target = current + diff;
}
}
/* ============================================================
* 主任务
* ============================================================ */
void lingzu_task(const void* argu)
{
RobotGeometry geom = DEFAULT_GEOMETRY;
GaitParams gait = {
.step_length = 120.0f,
.step_height = 35.0f,
.period = 0.7f,
.start_z = STAND_Z,
.duty_cycle = 0.5f,
.turn_rate = 0.0f
};
/* ---- 初始化 ---- */
osDelay(2000);
Lingzu_Motor_Init_Structs();
osDelay(100);
motors_init_handles();
motors_enable_all();
osDelay(50);
motors_enable_all();
osDelay(50);
/* 等待电机上线 */
uint32_t init_start = HAL_GetTick();
while (HAL_GetTick() - init_start < 5000) {
uint32_t now = HAL_GetTick();
int all_ready = 1;
for (int i = 0; i < MOTOR_COUNT; i++) {
if (now - motors[i].rx->last_update_time > 200) {
Motor_Enable(motors[i].hcan, motors[i].tx);
all_ready = 0;
osDelay(2);
}
}
if (all_ready) break;
osDelay(50);
}
for (int k = 0; k < 20; k++) {
motors_send_control_all();
osDelay(10);
}
{
uint32_t now = HAL_GetTick();
for (int i = 0; i < MOTOR_COUNT; i++) {
if (now - motors[i].rx->last_update_time > 500)
Motor_Enable(motors[i].hcan, motors[i].tx);
}
}
osDelay(100);
#ifdef CALIBRATE_ZERO_POINT
uint32_t cal_start = HAL_GetTick();
int zero_done = 0;
while(1) {
if (!zero_done && (HAL_GetTick() - cal_start > 5000)) {
for (int i = 0; i < MOTOR_COUNT; i++)
Motor_Zore(motors[i].hcan, motors[i].tx);
zero_done = 1;
}
for (int i = 0; i < MOTOR_COUNT; i++) {
motors[i].tx->torque = 0; motors[i].tx->kp = 0;
motors[i].tx->kd = 0; motors[i].tx->speed = 0;
motors[i].tx->position = 0;
}
motors_send_control_all();
osDelay(10);
}
#endif
/* ---- 偏移量校准（已废弃） ---- */
float current_base_z = PRONE_Z;
{
/* 不再自动校准偏移量，完全依赖电机真实的物理零点 */
float vmc_offsets[8] = {0};
VMC_UpdateEncoderOffsets(vmc_offsets);
}
/* ---- 状态机 ---- */
enum { STATE_PRONE = 0, STATE_STAND = 1, STATE_WALK = 2 } robot_state = STATE_PRONE;
while(1)
{
/* ======= 0. 后台重连 ======= */
static uint32_t last_check = 0;
uint32_t now_tick = HAL_GetTick();
uint8_t estop = (rc.swD == RC_UP);
if (!estop && (now_tick - last_check > 500))
{
last_check = now_tick;
for (int i = 0; i < MOTOR_COUNT; i++) {
if (now_tick - motors[i].rx->last_update_time > 500) {
Motor_Enable(motors[i].hcan, motors[i].tx);
}
}
}
/* ======= 1. 队列命令 ======= */
if (led_control_queue != NULL)
{
char cmd;
if (xQueueReceive(led_control_queue, &cmd, 0) == pdTRUE)
{
static uint8_t led_st = 0;
led_st = !led_st;
write_led_io(LED_IO2, led_st ? LED_ON : LED_OFF);
switch(cmd) {
case 'q': if (robot_state != STATE_PRONE) robot_state = STATE_WALK; break;
case 's': robot_state = STATE_STAND; break;
case 'p': robot_state = STATE_PRONE; break;
case 'a': gait.turn_rate = -0.3f; break;
case 'd': gait.turn_rate = 0.3f; break;
case 'w': gait.turn_rate = 0.0f; break;
default: break;
}
}
}
/* ======= 2. 高度过渡 ======= */
if (robot_state == STATE_WALK || robot_state == STATE_STAND) {
if (current_base_z < STAND_Z) {
current_base_z += 2.0f;
if (current_base_z > STAND_Z) current_base_z = STAND_Z;
}
} else {
if (current_base_z > PRONE_Z) {
current_base_z -= 2.0f;
if (current_base_z < PRONE_Z) current_base_z = PRONE_Z;
}
}
/* ======= 3. 运动控制 ======= */
float time_s = (float)HAL_GetTick() / 1000.0f;
if (robot_state == STATE_PRONE && rc.swC == RC_MI && rc.ch4 > 200)
{
GaitParams crawl_p = gait;
crawl_p.start_z = current_base_z;
crawl_p.duty_cycle = 0.25f; /* 匍匐步态应当为真正的 4 节拍爬行, 腾空相占 0.25, 支撑相占 0.75 保证 3 腿支撑 */
Quadruped_Crawl(time_s, &crawl_p, &geom);
}
else if (robot_state == STATE_WALK && current_base_z >= STAND_Z - 5.0f)
{
GaitParams temp = gait;
temp.start_z = current_base_z;
int16_t deadzone = 100;
if (rc.ch2 < -deadzone) {
temp.step_length = fabsf(gait.step_length);
Quadruped_Forward(time_s, &temp, &geom);
} else if (rc.ch2 > deadzone) {
Quadruped_Backward(time_s, &temp, &geom);
} else if (rc.ch1 < -deadzone) {
Quadruped_SpinLeft(time_s, &temp, &geom);
} else if (rc.ch1 > deadzone) {
Quadruped_SpinRight(time_s, &temp, &geom);
} else {
Quadruped_InPlace(time_s, &temp, &geom);
}
}
else
{
float hold_kp = 180.0f, hold_kd = 6.0f;
if (robot_state == STATE_PRONE) {
Quad_Prone(&geom, current_base_z, hold_kp, hold_kd);
} else {
Quad_Stand(&geom, current_base_z, hold_kp, hold_kd);
}
}
/* ======= 5. 最短路径优化 ======= */
for (int i = 0; i < MOTOR_COUNT; i++) {
optimize_path(&motors[i].tx->position, motors[i].rx->current_position_f);
}
/* ======= 6. 急停检查 ======= */
if (estop) {
osDelay(2);
continue;
}
/* ======= 7. 发送控制指令 ======= */
motors_send_control_all();
osDelay(2);
/* ======= 8. 心跳 LED ======= */
static uint32_t led_tick = 0;
if (HAL_GetTick() - led_tick > 500) {
led_tick = HAL_GetTick();
static uint8_t led3 = 0;
led3 = !led3;
write_led_io(LED_IO3, led3 ? LED_ON : LED_OFF);
}
}
}
04_firmware/stm32/dji_a_board/RCPROyuan/User/app/lingzu_task.h
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#ifndef __LINGZU_TASK_H__
#define __LINGZU_TASK_H__
void lingzu_task(const void* argu);
#endif
04_firmware/stm32/dji_a_board/RCPROyuan/User/app/uart_task.c
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#include "uart_task.h"
#include "uart_device.h"
#include "cmsis_os.h"
#include "rm_hal_lib.h"
#include "lingzu_motor.h"
#include "usart.h"
#include <stdio.h>
#include <string.h>
#include <math.h>
QueueHandle_t led_control_queue;
static void uart8_send_motor_feedback(uint8_t can_bus, uint8_t motor_id, Motor_CAN_Recieve_Struct *motor)
{
char msg[160];
uint32_t age_ms = HAL_GetTick() - motor->last_update_time;
int pos_i = (int)motor->current_position_f;
int pos_f = (int)(fabs(motor->current_position_f - pos_i) * 10000);
int spd_i = (int)motor->current_speed_f;
int spd_f = (int)(fabs(motor->current_speed_f - spd_i) * 10000);
int tor_i = (int)motor->current_torque_f;
int tor_f = (int)(fabs(motor->current_torque_f - tor_i) * 10000);
int tmp_i = (int)motor->current_temp_f;
int tmp_f = (int)(fabs(motor->current_temp_f - tmp_i) * 10);
int len = snprintf(msg, sizeof(msg),
"CAN%u,ID%u,POS:%s%d.%04d,SPD:%s%d.%04d,TOR:%s%d.%04d,TMP:%s%d.%01d,FAULT:0x%02X,AGE:%lu\r\n",
can_bus,
motor_id,
(motor->current_position_f < 0 && pos_i == 0) ? "-" : "", pos_i, pos_f,
(motor->current_speed_f < 0 && spd_i == 0) ? "-" : "", spd_i, spd_f,
(motor->current_torque_f < 0 && tor_i == 0) ? "-" : "", tor_i, tor_f,
(motor->current_temp_f < 0 && tmp_i == 0) ? "-" : "", tmp_i, tmp_f,
motor->fault_message,
(unsigned long)age_ms);
if (len > 0)
{
HAL_UART_Transmit(&huart8, (uint8_t *)msg, (uint16_t)len, 20);
}
}
static void uart8_send_all_motor_feedback(void)
{
uart8_send_motor_feedback(1, 1, &CAN_1.ID_1_Motor_recieve);
uart8_send_motor_feedback(1, 2, &CAN_1.ID_2_Motor_recieve);
uart8_send_motor_feedback(1, 3, &CAN_1.ID_3_Motor_recieve);
uart8_send_motor_feedback(1, 4, &CAN_1.ID_4_Motor_recieve);
uart8_send_motor_feedback(2, 1, &CAN_2.ID_1_Motor_recieve);
uart8_send_motor_feedback(2, 2, &CAN_2.ID_2_Motor_recieve);
uart8_send_motor_feedback(2, 3, &CAN_2.ID_3_Motor_recieve);
uart8_send_motor_feedback(2, 4, &CAN_2.ID_4_Motor_recieve);
}
/**
* 输入: 无
* 输出: 无
* 作用: 根据遥控器 SwD 开关状态控制灵足电机使能/失能
* 约定: SwD 上=软急停(失能全部电机), SwD 下=恢复行走(使能全部电机)
*/
static void RC_SwD_Motor_StartStop_Update(void)
{
static uint8_t last_swD = 0;
if (rc.swD == 0)
{
return;
}
if (rc.swD != last_swD)
{
if (rc.swD == RC_UP)
{
LINGZU_All_Motors_Limp(); // User/driver/lingzu_motor.c
DISABLE_ALL_LINGZU_MOTORS(); // User/driver/lingzu_motor.c
}
else if (rc.swD == RC_DN)
{
ENABLE_ALL_LINGZU_MOTORS(); // User/driver/lingzu_motor.c
}
last_swD = rc.swD;
}
}
void uart_task(const void* argu)
{
/* 创建队列，深度为10，每个单元大小为char */
led_control_queue = xQueueCreate(10, sizeof(char));
while(1)
{
/*
* SwC (rc.sw3) 控制 站立/趴下
* RC_DN (2): 站立 (Stand) -> 发送 's'
* RC_UP (1) / RC_MI (3): 趴下 (Prone) -> 发送 'p'
*
* 调试信息：如果 rc.sw3 一直是 0，说明遥控器没连上或没解析到数据。
* 为了验证是否接收到数据，如果接收到任何非零数据，闪烁 LED1。
*/
// 强制闪烁逻辑：只要进入了 while(1) 循环，LED1 就以 1Hz 闪烁
// 如果遥控器有数据，则改为快闪
static int debug_cnt = 0;
debug_cnt++;
// 只要任一通道有数据，就认为连接正常
// 简化逻辑：只检查 SwA (十通) 是否有数据变化，或者检查基本通道
// 这里我们检查 SwA 是否非0 (说明已解析)，或者 ch1 (右摇杆) 是否有值
// 为了稳健，只要 rc 结构体非全0即可。这里沿用之前的风格，检查 SwA。
if (rc.swA != 0) {
// 接收到有效遥控数据
// 调试逻辑：如果 SwA 处于“下”位 (RC_DN)，则常亮 LED1
// 这样用户可以测试 SwA 是否对应“站立”指令
if (rc.swA == RC_DN) {
write_led_io(LED_IO1, LED_ON);
} else {
// 否则快闪，表示连接正常但处于趴下模式 (SwA 在上或中)
write_led_io(LED_IO1, (debug_cnt % 2) ? LED_ON : LED_OFF);
}
} else {
// 未接收到数据：慢闪
write_led_io(LED_IO1, (debug_cnt / 25) % 2 ? LED_ON : LED_OFF);
}
static char last_sent_cmd = 0;
char current_cmd = 'p';
// 逻辑：仅使用 SwA (十通) 控制
// SwA 下 (RC_DN) -> 站立/行走
// SwA 上/中 -> 趴下
if (rc.swA == RC_DN)
{
if(rc.ch4 > 200)
{
current_cmd = 'q'; // Walk
}
else
{
current_cmd = 's'; // Stand (Stop walking)
}
}
else
{
current_cmd = 'p'; // Prone
}
// 仅在状态改变时发送命令，防止队列溢出
// 添加超时重发机制 (每1秒重发一次) 以防止丢包
static int resend_cnt = 0;
resend_cnt++;
if (current_cmd != last_sent_cmd || resend_cnt > 50)
{
xQueueSend(led_control_queue, &current_cmd, 0);
last_sent_cmd = current_cmd;
resend_cnt = 0;
}
// 根据 SwD 状态控制电机启停
RC_SwD_Motor_StartStop_Update();
static uint32_t last_uart8_send_tick = 0;
uint32_t now_tick = HAL_GetTick();
if (now_tick - last_uart8_send_tick >= 100)
{
last_uart8_send_tick = now_tick;
uart8_send_all_motor_feedback();
}
/* 延时 20ms，控制发送频率 */
osDelay(20);
}
}
04_firmware/stm32/dji_a_board/RCPROyuan/User/app/uart_task.h
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#ifndef __UART_TASK_H__
#define __UART_TASK_H__
#include "FreeRTOS.h"
#include "queue.h"
extern QueueHandle_t led_control_queue;
void uart_task(const void* argu);
#endif
04_firmware/stm32/dji_a_board/RCPROyuan/User/driver/Movement.c
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/**
* @file Movement.c
* @brief 四足运动控制 — 直接电机角映射版
*
* 改动:
* - IK 直接输出无符号电机角, 不再经过 PostureConfig
* - FK/Jacobian 基于实测标定参数 (foot_offset, thigh_zero, shank_coupling_c)
* - use_full_vmc=0 时暂时关闭全状态VMC, 先验证IK
*/
#include "Movement.h"
#include <math.h>
/* ============================================================
* 编码器偏置 (从 lingzu_task.c 同步)
* ============================================================ */
static float vmc_enc_offset[LEG_COUNT][2] = {{0},{0},{0},{0}};
static uint8_t vmc_offsets_valid = 0;
void VMC_UpdateEncoderOffsets(const float offsets[8])
{
vmc_enc_offset[LEG_FL][0] = offsets[0];
vmc_enc_offset[LEG_FL][1] = offsets[1];
vmc_enc_offset[LEG_FR][0] = offsets[2];
vmc_enc_offset[LEG_FR][1] = offsets[3];
vmc_enc_offset[LEG_RL][0] = offsets[4];
vmc_enc_offset[LEG_RL][1] = offsets[5];
vmc_enc_offset[LEG_RR][0] = offsets[6];
vmc_enc_offset[LEG_RR][1] = offsets[7];
vmc_offsets_valid = 1;
}
/* ============================================================
* 底层
* ============================================================ */
void Posture(int motor_id, float position, float speed,
float kp, float kd, float torque)
{
rs02_set_target_rad((uint8_t)motor_id, position, speed, kp, kd, torque);
}
void Leg_Thigh_SetTarget(leg_index_e leg, float q, float speed,
float kp, float kd, float torque)
{
if (leg >= LEG_COUNT) return;
Posture(LEG_MOTOR_MAP[leg][0], q, speed, kp, kd, torque);
}
void Leg_Shank_SetTarget(leg_index_e leg, float q, float speed,
float kp, float kd, float torque)
{
if (leg >= LEG_COUNT) return;
Posture(LEG_MOTOR_MAP[leg][1], q, speed, kp, kd, torque);
}
void Leg_All_SetTarget(leg_index_e leg, float q1, float q2, float speed,
float kp, float kd, float torque)
{
Leg_Thigh_SetTarget(leg, q1, speed, kp, kd, torque);
Leg_Shank_SetTarget(leg, q2, speed, kp, kd, torque);
}
/* ============================================================
* 工具
* ============================================================ */
static float clampf(float v, float lo, float hi)
{
if (v < lo) return lo;
if (v > hi) return hi;
return v;
}
/* ============================================================
* VMC 力矩 — 旧版简化 (开环, 轨迹目标位置)
* ============================================================ */
static void vmc_legacy_torque(float mt_unsigned, float ms_unsigned,
float x_ref_mm, float z_ref_mm,
const RobotGeometry *geom,
const VmcConfig *cfg,
float *tau1, float *tau2)
{
*tau1 = 0.0f; *tau2 = 0.0f;
if (!cfg->enable) return;
/* FK 计算轨迹足端位置 */
float x_traj, z_traj;
FK_LegPosition(mt_unsigned, ms_unsigned, geom, &x_traj, &z_traj);
float fx = -cfg->kx * (x_traj - x_ref_mm) * 0.001f;
float fz = cfg->kz * (z_ref_mm - z_traj) * 0.001f;
/* Jacobian 转置 (基于实际角度) */
float foff = geom->foot_offset_rad;
float theta_hip = -(mt_unsigned + geom->thigh_zero);
float theta_sl = -(ms_unsigned + mt_unsigned) + geom->shank_coupling_c;
float phi = theta_sl - foff;
float cos_splay = cosf(geom->splay_angle_rad);
float L1m = geom->L1 * 0.001f;
float L2m = geom->L2 * 0.001f;
/* dx/dmt, dz/dmt 等 (见 leg.c 注释) */
float Jx_mt = -(L1m * cosf(theta_hip) + L2m * cosf(phi));
float Jx_ms = -(L2m * cosf(phi));
float Jz_mt = (L1m * sinf(theta_hip) + L2m * sinf(phi)) * cos_splay;
float Jz_ms = (L2m * sinf(phi)) * cos_splay;
/* J^T * F → τ */
*tau1 = clampf(Jx_mt * fx + Jz_mt * fz, -cfg->torque_limit, cfg->torque_limit);
*tau2 = clampf(Jx_ms * fx + Jz_ms * fz, -cfg->torque_limit, cfg->torque_limit);
}
/* ============================================================
* VMC 力矩 — 全状态闭环 (编码器反馈)
* ============================================================ */
static void vmc_full_torque(leg_index_e leg,
float x_ref_mm, float z_ref_mm,
const RobotGeometry *geom,
const VmcFullConfig *cfg,
float *tau1, float *tau2)
{
*tau1 = 0.0f; *tau2 = 0.0f;
if (!cfg->enable || !vmc_offsets_valid) return;
float sign = SIDE_SIGNS[leg];
int tid = LEG_MOTOR_MAP[leg][0];
int sid = LEG_MOTOR_MAP[leg][1];
/* 读取编码器, 去偏置, 去镜像 → 无符号电机角 */
float mt_raw = rs02_get_position_rad((uint8_t)tid);
float ms_raw = rs02_get_position_rad((uint8_t)sid);
float mt = (mt_raw - vmc_enc_offset[leg][0]) / sign;
float ms = (ms_raw - vmc_enc_offset[leg][1]) / sign;
/* FK: 实际足端位置 */
float x_act, z_act;
FK_LegPosition(mt, ms, geom, &x_act, &z_act);
/* 速度 */
float vt_raw = rs02_get_velocity_rad((uint8_t)tid);
float vs_raw = rs02_get_velocity_rad((uint8_t)sid);
float vt = vt_raw / sign;
float vs = vs_raw / sign;
float xdot, zdot;
FK_LegVelocity(mt, ms, vt, vs, geom, &xdot, &zdot);
/* 虚拟力 */
float fx = -cfg->kx * (x_act - x_ref_mm) * 0.001f - cfg->bx * xdot * 0.001f;
float fz = -cfg->kz * (z_act - z_ref_mm) * 0.001f - cfg->bz * zdot * 0.001f + cfg->gravity_ff;
/* Jacobian (基于实际角度) */
float foff = geom->foot_offset_rad;
float theta_hip = -(mt + geom->thigh_zero);
float theta_sl = -(ms + mt) + geom->shank_coupling_c;
float phi = theta_sl - foff;
float cos_splay = cosf(geom->splay_angle_rad);
float L1m = geom->L1 * 0.001f;
float L2m = geom->L2 * 0.001f;
float Jx_mt = -(L1m * cosf(theta_hip) + L2m * cosf(phi));
float Jx_ms = -(L2m * cosf(phi));
float Jz_mt = (L1m * sinf(theta_hip) + L2m * sinf(phi)) * cos_splay;
float Jz_ms = (L2m * sinf(phi)) * cos_splay;
*tau1 = clampf(Jx_mt * fx + Jz_mt * fz, -cfg->torque_limit, cfg->torque_limit);
*tau2 = clampf(Jx_ms * fx + Jz_ms * fz, -cfg->torque_limit, cfg->torque_limit);
}
/* ============================================================
* 静态姿态
* ============================================================ */
void Quad_Hold(const RobotGeometry *geom, float base_z, float kp, float kd)
{
float ratio = (base_z - PRONE_Z) / (STAND_Z - PRONE_Z + 0.1f);
if (ratio < 0.0f) ratio = 0.0f;
if (ratio > 1.0f) ratio = 1.0f;
for (int i = 0; i < LEG_COUNT; i++)
{
float target_x = LEG_STANCE_X_OFFSET[i] * ratio;
float mt, ms;
Inverse_Calculation(target_x, base_z, &mt, &ms, geom);
float q1 = mt * SIDE_SIGNS[i];
float q2 = ms * SIDE_SIGNS[i];
Leg_All_SetTarget((leg_index_e)i, q1, q2, 0.0f, kp, kd, 0.0f);
}
}
void Quad_Prone(const RobotGeometry *geom, float base_z, float kp, float kd)
{
Quad_Hold(geom, base_z, kp, kd);
}
void Quad_Stand(const RobotGeometry *geom, float base_z, float kp, float kd)
{
Quad_Hold(geom, base_z, kp, kd);
}
/* ============================================================
* Trot 步态 — 核心
* ============================================================ */
void Quadruped_Trot(float t, const GaitParams *params,
const RobotGeometry *geom, const GaitProfile *profile)
{
float period = params->period;
float start_z = params->start_z;
float step_len = params->step_length;
float step_h = fabsf(params->step_height);
float turn_rate = params->turn_rate;
float swing_ratio = params->duty_cycle;
if (swing_ratio < 0.1f || swing_ratio > 0.9f) swing_ratio = 0.5f;
float left_step = step_len * (1.0f + turn_rate);
float right_step = step_len * (1.0f - turn_rate);
if (fabsf(step_len) < 0.01f) {
/* 当基础步长为0时，使用 turn_rate 直接作为纯自旋步长差 (mm) */
left_step = turn_rate;
right_step = -turn_rate;
}
float ratio = (start_z - PRONE_Z) / (STAND_Z - PRONE_Z + 0.1f);
if (ratio < 0.0f) ratio = 0.0f;
if (ratio > 1.0f) ratio = 1.0f;
for (int i = 0; i < LEG_COUNT; i++)
{
leg_index_e leg = (leg_index_e)i;
float leg_step = (i == LEG_FL || i == LEG_RL) ? left_step : right_step;
float half = leg_step / 2.0f;
float current_phase = (t / period) + TROT_PHASES[i];
float norm_phase = fmodf(current_phase, 1.0f);
if (norm_phase < 0.0f) norm_phase += 1.0f;
float x_traj, z_traj;
Gen_Bezier_Trajectory(current_phase, swing_ratio,
-half, half, start_z, step_h,
&x_traj, &z_traj);
/* 增加 X 轴静步态偏置 */
x_traj += LEG_STANCE_X_OFFSET[i] * ratio;
int is_swing = (norm_phase < swing_ratio);
/* IK: 直接得到无符号电机角 */
float mt, ms;
Inverse_Calculation(x_traj, z_traj, &mt, &ms, geom);
/* 左右镜像 */
float target_q1 = mt * SIDE_SIGNS[i];
float target_q2 = ms * SIDE_SIGNS[i];
/* PD 参数 */
const ControlGains *gains = is_swing
? &profile->swing_gains
: &profile->stance_gains;
/* VMC 力矩 */
float tau1 = 0.0f, tau2 = 0.0f;
if (profile->use_full_vmc && vmc_offsets_valid) {
const VmcFullConfig *vcfg = is_swing
? &profile->vmc_swing
: &profile->vmc_stance;
vmc_full_torque(leg, x_traj, z_traj, geom, vcfg, &tau1, &tau2);
} else {
vmc_legacy_torque(mt, ms, x_traj, z_traj, geom,
&profile->vmc, &tau1, &tau2);
}
float tlimit = profile->use_full_vmc
? (is_swing ? profile->vmc_swing.torque_limit
: profile->vmc_stance.torque_limit)
: profile->vmc.torque_limit;
float tq1 = clampf(gains->torque + tau1, -tlimit, tlimit);
float tq2 = clampf(gains->torque + tau2, -tlimit, tlimit);
Posture(LEG_MOTOR_MAP[i][0], target_q1, 0.0f,
gains->kp_thigh, gains->kd, tq1);
Posture(LEG_MOTOR_MAP[i][1], target_q2, 0.0f,
gains->kp_shank, gains->kd, tq2);
}
}
/* ============================================================
* 便捷接口
* ============================================================ */
void Quadruped_Forward(float t, const GaitParams *params, const RobotGeometry *geom)
{
Quadruped_Trot(t, params, geom, &PROFILE_TROT_FORWARD);
}
void Quadruped_Backward(float t, const GaitParams *params, const RobotGeometry *geom)
{
GaitParams p = *params;
p.step_length = -50.0f; /* 必须为负数才能向后运动 */
p.turn_rate = 0.0f;
Quadruped_Trot(t, &p, geom, &PROFILE_TROT_WALK);
}
void Quadruped_InPlace(float t, const GaitParams *params, const RobotGeometry *geom)
{
GaitParams p = *params;
p.step_length = 0.0f;
p.turn_rate = 0.0f;
Quadruped_Trot(t, &p, geom, &PROFILE_TROT_INPLACE);
}
void Quadruped_SpinLeft(float t, const GaitParams *params, const RobotGeometry *geom)
{
GaitParams p = *params;
p.step_length = 0.0f;
p.turn_rate = -100.0f; /* 左转：左侧倒退，右侧前进 */
Quadruped_Trot(t, &p, geom, &PROFILE_TROT_INPLACE);
}
void Quadruped_SpinRight(float t, const GaitParams *params, const RobotGeometry *geom)
{
GaitParams p = *params;
p.step_length = 0.0f;
p.turn_rate = 100.0f; /* 右转：左侧前进，右侧倒退 */
Quadruped_Trot(t, &p, geom, &PROFILE_TROT_INPLACE);
}
/* ============================================================
* 爬行步态
* ============================================================ */
void Quadruped_Crawl(float t, const GaitParams *params, const RobotGeometry *geom)
{
float period = params->period;
float start_z = params->start_z;
float step_len = params->step_length;
float step_h = fabsf(params->step_height);
float swing_ratio = params->duty_cycle;
if (swing_ratio < 0.1f || swing_ratio > 0.9f) swing_ratio = 0.5f;
float ratio = (start_z - PRONE_Z) / (STAND_Z - PRONE_Z + 0.1f);
if (ratio < 0.0f) ratio = 0.0f;
if (ratio > 1.0f) ratio = 1.0f;
for (int i = 0; i < LEG_COUNT; i++)
{
float current_phase = (t / period) + CRAWL_PHASES[i];
float norm_phase = fmodf(current_phase, 1.0f);
if (norm_phase < 0.0f) norm_phase += 1.0f;
float half = step_len / 2.0f;
float x_traj, z_traj;
Gen_Bezier_Trajectory(current_phase, swing_ratio,
-half, half, start_z, step_h,
&x_traj, &z_traj);
x_traj += LEG_STANCE_X_OFFSET[i] * ratio;
const ControlGains *gains = (norm_phase < swing_ratio)
? &CRAWL_SWING_GAINS
: &CRAWL_STANCE_GAINS;
float mt, ms;
Inverse_Calculation(x_traj, z_traj, &mt, &ms, geom);
Posture(LEG_MOTOR_MAP[i][0], mt * SIDE_SIGNS[i], 0.0f,
gains->kp_thigh, gains->kd, gains->torque);
Posture(LEG_MOTOR_MAP[i][1], ms * SIDE_SIGNS[i], 0.0f,
gains->kp_shank, gains->kd, gains->torque);
}
}
04_firmware/stm32/dji_a_board/RCPROyuan/User/driver/Movement.h
-49
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@@ -1,49 +0,0 @@
#ifndef __MOVEMENT_H__
#define __MOVEMENT_H__
#include "gait_config.h"
#include "leg.h"
#include "lingzu_motor.h"
/* ============================================================
* 底层: 单电机指令
* ============================================================ */
void Posture(int motor_id, float position, float speed, float kp, float kd, float torque);
/* ============================================================
* 单腿控制
* ============================================================ */
void Leg_Thigh_SetTarget(leg_index_e leg, float q, float speed, float kp, float kd, float torque);
void Leg_Shank_SetTarget(leg_index_e leg, float q, float speed, float kp, float kd, float torque);
void Leg_All_SetTarget(leg_index_e leg, float q1, float q2, float speed, float kp, float kd, float torque);
/* ============================================================
* VMC 编码器偏置同步
* ============================================================ */
void VMC_UpdateEncoderOffsets(const float offsets[8]);
/* ============================================================
* 静态姿态
* ============================================================ */
void Quad_Hold(const RobotGeometry *geom, float base_z, float kp, float kd);
void Quad_Prone(const RobotGeometry *geom, float base_z, float kp, float kd);
void Quad_Stand(const RobotGeometry *geom, float base_z, float kp, float kd);
/* ============================================================
* Trot 步态
* ============================================================ */
void Quadruped_Trot(float t, const GaitParams *params,
const RobotGeometry *geom, const GaitProfile *profile);
void Quadruped_Forward(float t, const GaitParams *params, const RobotGeometry *geom);
void Quadruped_Backward(float t, const GaitParams *params, const RobotGeometry *geom);
void Quadruped_InPlace(float t, const GaitParams *params, const RobotGeometry *geom);
void Quadruped_SpinLeft(float t, const GaitParams *params, const RobotGeometry *geom);
void Quadruped_SpinRight(float t, const GaitParams *params, const RobotGeometry *geom);
/* ============================================================
* 爬行步态
* ============================================================ */
void Quadruped_Crawl(float t, const GaitParams *params, const RobotGeometry *geom);
#endif /* __MOVEMENT_H__ */
04_firmware/stm32/dji_a_board/RCPROyuan/User/driver/gait_config.c
-168
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@@ -1,168 +0,0 @@
#include "gait_config.h"
/* ============================================================
* 默认几何参数 (实测硬件)
* ============================================================ */
const RobotGeometry DEFAULT_GEOMETRY = {
.L1 = 250.0f,
.L2 = 290.0f,
.foot_offset_rad = FOOT_OFFSET_RAD,
.thigh_zero = THIGH_ZERO_RAD,
.shank_coupling_c = SHANK_COUPLING_C,
.splay_angle_rad = LEG_SPLAY_ANGLE_RAD
};
/* ===========================FOOT_OFFSET_RAD=================================
* 步态配置集 — 前进 Trot
* ============================================================ */
const GaitProfile PROFILE_TROT_FORWARD = {
.swing_gains = {
.kp_thigh = 220.0f,
.kp_shank = 210.0f,
.kd = 4.0f,
.torque = 5.5f
},
.stance_gains = {
.kp_thigh = 220.0f,
.kp_shank = 210.0f,
.kd = 4.0f,
.torque = 10.0f
},
.vmc = {
.enable = 1,
.kx = 35.0f,
.kz = 55.0f,
.torque_limit = 8.0f
},
.vmc_stance = {
.enable = 1,
.kx = 50.0f,
.kz = 300.0f,
.bx = 8.0f,
.bz = 15.0f,
.gravity_ff = 0.0f,
.torque_limit = 12.0f
},
.vmc_swing = {
.enable = 1,
.kx = 0.0f,
.kz = 0.0f,
.bx = 2.0f,
.bz = 2.0f,
.gravity_ff = 0.0f,
.torque_limit = 4.0f
},
.use_full_vmc = 0 /* 先关闭, 验证IK正确后再开 */
};
/* ============================================================
* 步态配置集 — 通用行走
* ============================================================ */
const GaitProfile PROFILE_TROT_WALK = {
.swing_gains = {
.kp_thigh = 220.0f,
.kp_shank = 210.0f,
.kd = 3.0f,
.torque = 5.0f
},
.stance_gains = {
.kp_thigh = 220.0f,
.kp_shank = 210.0f,
.kd = 3.0f,
.torque = 5.0f
},
.vmc = {
.enable = 1,
.kx = 35.0f,
.kz = 55.0f,
.torque_limit = 8.0f
},
.vmc_stance = {
.enable = 1,
.kx = 50.0f,
.kz = 300.0f,
.bx = 8.0f,
.bz = 15.0f,
.gravity_ff = 0.0f,
.torque_limit = 10.0f
},
.vmc_swing = {
.enable = 1,
.kx = 0.0f,
.kz = 0.0f,
.bx = 2.0f,
.bz = 2.0f,
.gravity_ff = 0.0f,
.torque_limit = 4.0f
},
.use_full_vmc = 0
};
/* ============================================================
* 步态配置集 — 原地踏步/转向
* ============================================================ */
const GaitProfile PROFILE_TROT_INPLACE = {
.swing_gains = {
.kp_thigh = 120.0f,
.kp_shank = 130.0f,
.kd = 15.0f,
.torque = 5.0f
},
.stance_gains = {
.kp_thigh = 140.0f,
.kp_shank = 150.0f,
.kd = 15.0f,
.torque = 7.0f
},
.vmc = {
.enable = 1,
.kx = 35.0f,
.kz = 55.0f,
.torque_limit = 8.0f
},
.vmc_stance = {
.enable = 1,
.kx = 60.0f,
.kz = 300.0f,
.bx = 10.0f,
.bz = 15.0f,
.gravity_ff = 0.0f,
.torque_limit = 12.0f
},
.vmc_swing = {
.enable = 1,
.kx = 0.0f,
.kz = 0.0f,
.bx = 2.0f,
.bz = 2.0f,
.gravity_ff = 0.0f,
.torque_limit = 4.0f
},
.use_full_vmc = 0
};
/* ============================================================
* 爬行模式 PD 参数
* ============================================================ */
const ControlGains CRAWL_SWING_GAINS = {
.kp_thigh = 45.0f,
.kp_shank = 45.0f,
.kd = 8.0f,
.torque = 2.0f
};
const ControlGains CRAWL_STANCE_GAINS = {
.kp_thigh = 40.0f,
.kp_shank = 40.0f,
.kd = 8.0f,
.torque = 6.0f
};
/* 腿部站立初始的 X 轴偏置，可用于改善因为重心靠后导致后腿受力过大的问题 */
// 前腿稍微往前一点 ，后腿根据需求"靠后一点"给出明显的负数偏置
const float LEG_STANCE_X_OFFSET[LEG_COUNT] = {
10.0f, /* FL */
10.0f, /* FR */
-65.0f, /* RL: 减小负数偏置，以前是*/
-65.0f /* RR */
};
04_firmware/stm32/dji_a_board/RCPROyuan/User/driver/gait_config.h
-157
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@@ -1,157 +0,0 @@
#ifndef __GAIT_CONFIG_H__
#define __GAIT_CONFIG_H__
#include <math.h>
#include <stdint.h>
#ifndef PI
#define PI 3.1415926535f
#endif
#define DEG2RAD(x) ((x) * PI / 180.0f)
/* ============================================================
* 腿部索引 & 镜像
* ============================================================ */
typedef enum {
LEG_FL = 0,
LEG_FR = 1,
LEG_RL = 2,
LEG_RR = 3,
LEG_COUNT = 4
} leg_index_e;
/* 左右镜像: FL/RL = -1, FR/RR = +1 */
static const float SIDE_SIGNS[LEG_COUNT] = {-1.0f, 1.0f, -1.0f, 1.0f};
/* Trot 对角腿同相 */
static const float TROT_PHASES[LEG_COUNT] = {0.0f, 0.5f, 0.5f, 0.0f};
/* Crawl 相位: 依次迈腿 (四拍步态) */
static const float CRAWL_PHASES[LEG_COUNT] = {0.0f, 0.5f, 0.75f, 0.25f};
/* 电机映射: [leg][0]=大腿, [leg][1]=小腿 */
static const int LEG_MOTOR_MAP[LEG_COUNT][2] = {
{1, 2}, /* FL: CAN1 ID1, ID2 */
{3, 4}, /* FR: CAN1 ID3, ID4 */
{5, 6}, /* RL: CAN2 ID1, ID2 */
{7, 8} /* RR: CAN2 ID3, ID4 */
};
/* ============================================================
* 机器人几何参数 (硬件实测)
*
* 坐标系: 原点=髋关节, X前向正, Z向下正
* 电机零位: 趴下时所有电机读数=0
*
* 硬件标定数据 (右侧无符号):
* 大腿垂直时 motor = -1.0 rad
* 小腿链节垂直时 motor = +2.76 rad
* 足端安装偏置 = 40° (小腿前倾40°足端才垂直)
*
* 同步带 1:1 耦合模型:
* θ_hip = -(motor_thigh + THIGH_ZERO)
* θ_shank_link = -(motor_shank + motor_thigh) + SHANK_COUPLING_C
* θ_foot_eff = θ_shank_link - FOOT_OFFSET
*
* IK → 电机角 (无符号):
* motor_thigh = -(θ_hip + THIGH_ZERO)
* motor_shank = -motor_thigh - θ_shank_link + SHANK_COUPLING_C
* ============================================================ */
/* 硬件标定常量 */
#define THIGH_ZERO_RAD 0.95f /* 大腿垂直时电机绝对角 (rad) */
#define SHANK_VERTICAL_RAD 2.76f /* 小腿链节垂直时电机角 (rad) */
#define FOOT_OFFSET_RAD DEG2RAD(40.0f) /* 足端安装偏置 40° */
/* 同步带耦合常量: C = 1.76 */
#define SHANK_COUPLING_C 1.76f
/* 外八补偿角度 */
#define LEG_SPLAY_ANGLE_RAD DEG2RAD(15.0f)
typedef struct {
float L1; /* 大腿长 (mm) */
float L2; /* 小腿到足端球心 (mm) */
float foot_offset_rad; /* 足端偏置角 (rad) */
float thigh_zero; /* 大腿垂直时电机角 */
float shank_coupling_c; /* 耦合常量 */
float splay_angle_rad; /* 外八倾斜角 */
} RobotGeometry;
/* ============================================================
* PD 增益 + 力矩前馈
* ============================================================ */
typedef struct {
float kp_thigh;
float kp_shank;
float kd;
float torque;
} ControlGains;
/* ============================================================
* VMC 全状态参数
* ============================================================ */
typedef struct {
uint8_t enable;
float kx;
float kz;
float torque_limit;
} VmcConfig;
typedef struct {
uint8_t enable;
float kx;
float kz;
float bx;
float bz;
float gravity_ff;
float torque_limit;
} VmcFullConfig;
/* ============================================================
* 步态轨迹参数 (运行时可调)
* ============================================================ */
typedef struct {
float step_length;
float step_height;
float period;
float start_z;
float duty_cycle;
float turn_rate;
} GaitParams;
/* ============================================================
* 完整步态配置集
* 注: PostureConfig 和 GaitScaling 已废除
* IK 直接输出电机角, 无需间接映射
* ============================================================ */
typedef struct {
ControlGains swing_gains;
ControlGains stance_gains;
VmcConfig vmc;
VmcFullConfig vmc_stance;
VmcFullConfig vmc_swing;
uint8_t use_full_vmc;
} GaitProfile;
/* ============================================================
* 预定义配置
* ============================================================ */
extern const RobotGeometry DEFAULT_GEOMETRY;
extern const GaitProfile PROFILE_TROT_FORWARD;
extern const GaitProfile PROFILE_TROT_WALK;
extern const GaitProfile PROFILE_TROT_INPLACE;
extern const ControlGains CRAWL_SWING_GAINS;
extern const ControlGains CRAWL_STANCE_GAINS;
/* 腿部站立初始的 X 轴偏置，可用于改善因为重心靠后导致后腿受力过大的问题 */
extern const float LEG_STANCE_X_OFFSET[LEG_COUNT];
/* 高度常量 (髋关节到足端的距离 mm) */
#define PRONE_Z 150.0f
#define STAND_Z 380.0f
#define ROBOT_MASS_KG 5.0f
#define GRAVITY_FF_PER_LEG (ROBOT_MASS_KG * 9.81f / 4.0f)
#endif /* __GAIT_CONFIG_H__ */
04_firmware/stm32/dji_a_board/RCPROyuan/User/driver/leg.c
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/**
* @file leg.c
* @brief 腿部运动学 — 基于硬件实测标定参数
*
* 物理模型:
* 二连杆串联 + 同步带1:1 + 40度足端偏置
*
* 正运动学 (电机角 → 链节角 → 足端):
* θ_hip = -(motor_thigh + thigh_zero)
* θ_shank_link = -(motor_shank + motor_thigh) + shank_coupling_c
* φ = θ_shank_link - foot_offset (等效足端方向)
* x = L1*sin(θ_hip) + L2*sin(φ)
* z = L1*cos(θ_hip) + L2*cos(φ)
*
* 逆运动学 (足端 → 电机角):
* 标准二连杆IK求 θ_hip 和 φ
* θ_shank_link = φ + foot_offset
* motor_thigh = -(θ_hip + thigh_zero)
* motor_shank = -motor_thigh - θ_shank_link + shank_coupling_c
*
* IK 选择"后倾解" (θ_hip = ψ - β):
* 大腿略向后倾, 膝关节在前方弯曲
* 这是该四足的自然站立构型
*/
#include "leg.h"
#include <math.h>
/* ============================================================
* 逆运动学 — 直接输出无符号电机角
*
* X: 足端前向偏移 (mm), 前向为正
* Z: 足端向下距离 (mm), 向下为正
*
* 使用"后倾解": θ_hip = ψ - β
* 验证: 趴下(motors≈0), 垂直(thigh=-1.0, shank=2.76)
* ============================================================ */
void Inverse_Calculation(float X, float Z,
float *motor_thigh, float *motor_shank,
const RobotGeometry *geom)
{
float L1 = geom->L1;
float L2 = geom->L2;
float foff = geom->foot_offset_rad;
float tzero = geom->thigh_zero;
float sc = geom->shank_coupling_c;
float splay = geom->splay_angle_rad;
/* 补偿15度外八倾角: 实际腿在倾斜平面内, 达到垂直高度Z需要的计算长度会变长 */
float Z_leg = Z / cosf(splay);
float L = sqrtf(X * X + Z_leg * Z_leg);
/* 防止超出工作空间 */
float L_max = L1 + L2 - 1.0f;
float L_min = fabsf(L1 - L2) + 1.0f;
if (L > L_max) L = L_max;
if (L < L_min) L = L_min;
/* --- 标准二连杆 IK --- */
/* 膝关节内角 (L1和L2之间的三角形内角) */
float cos_knee_int = (L1 * L1 + L2 * L2 - L * L) / (2.0f * L1 * L2);
if (cos_knee_int > 1.0f) cos_knee_int = 1.0f;
if (cos_knee_int < -1.0f) cos_knee_int = -1.0f;
/* 髋关节处三角形内角 */
float cos_hip_int = (L * L + L1 * L1 - L2 * L2) / (2.0f * L * L1);
if (cos_hip_int > 1.0f) cos_hip_int = 1.0f;
if (cos_hip_int < -1.0f) cos_hip_int = -1.0f;
float beta = acosf(cos_hip_int);
/* 髋到足连线与竖直方向的夹角 */
float psi = atan2f(X, Z_leg);
/* "后倾解": θ_hip = ψ - β
* 大腿向后倾斜, 膝关节在前方 — 匹配该四足的自然构型 */
float theta_hip = psi - beta;
/* 等效足端方向角 φ (第二连杆在IK空间中的绝对角) */
float sin_phi = (X - L1 * sinf(theta_hip)) / L2;
float cos_phi = (Z_leg - L1 * cosf(theta_hip)) / L2;
float phi = atan2f(sin_phi, cos_phi);
/* 小腿链节角 = φ + 足端偏置 */
float theta_shank_link = phi + foff;
/* --- 转换为电机角 ---
* 恢复物理耦合: 之前因为趴下高度的问题误以为解耦, 但实际上用户的 PRONE_Z 是一个较小的非完全趴下的高度
* 电机实际上是带有跟随耦合的机制, 小腿绝对角度受大腿牵连!
* θ_shank_link = -(ms + mt) + sc
*/
float mt = -(theta_hip + tzero);
float ms = -mt - theta_shank_link + sc;
*motor_thigh = mt;
*motor_shank = ms;
}
/* ============================================================
* 摆线轨迹生成
* ============================================================ */
void Gen_Cycloid_Trajectory(float phase, float swing_ratio,
float Xs, float Xe, float Zs, float h,
float *x, float *z)
{
phase = fmodf(phase, 1.0f);
if (phase < 0.0f) phase += 1.0f;
if (phase < swing_ratio)
{
float t = phase / swing_ratio;
/* 标准摆线: 起步和落地时速度和加速度均为0，减小冲击 */
*x = Xs + (Xe - Xs) * (t - 1.0f / (2.0f * PI) * sinf(2.0f * PI * t));
*z = Zs - h * (1.0f - cosf(2.0f * PI * t)) / 2.0f;
}
else
{
/* 支撑相，地面上匀速滑行/静止 */
float t = (phase - swing_ratio) / (1.0f - swing_ratio);
*x = Xe + (Xs - Xe) * t;
*z = Zs;
}
}
/* ============================================================
* 三次贝塞尔曲线轨迹生成
* 比摆线具有更高的提腿速度，灵活性更强
* ============================================================ */
void Gen_Bezier_Trajectory(float phase, float swing_ratio,
float Xs, float Xe, float Zs, float h,
float *x, float *z)
{
phase = fmodf(phase, 1.0f);
if (phase < 0.0f) phase += 1.0f;
if (phase < swing_ratio)
{
float tau = phase / swing_ratio;
float tau2 = tau * tau;
float tau3 = tau2 * tau;
float one_minus_tau = 1.0f - tau;
float one_minus_tau2 = one_minus_tau * one_minus_tau;
float one_minus_tau3 = one_minus_tau2 * one_minus_tau;
float step_length = Xe - Xs;
/* 贝塞尔多项式系数 */
float b = 3.0f * one_minus_tau2 * tau;
float c = 3.0f * one_minus_tau * tau2;
float d = tau3;
/* X方向控制点: 匀速推进 P1=1/3, P2=2/3
* 若要前扫/后扫不对称，可调整这两个除数参数 */
*x = Xs + b * (step_length / 3.0f) +
c * (2.0f * step_length / 3.0f) +
d * step_length;
/* Z方向控制点:
* 如果设为h/2，最高点只有 0.375*h。
* 为了让它刚好在 tau=0.5 时抬高 h，控制点需设为 4/3 * h */
float p_z = h * 4.0f / 3.0f;
*z = Zs - (b * p_z + c * p_z);
}
else
{
/* 支撑相，地面上匀速滑行/静止 */
float t = (phase - swing_ratio) / (1.0f - swing_ratio);
*x = Xe + (Xs - Xe) * t;
*z = Zs;
}
}
/* ============================================================
* 正运动学 — 电机无符号角 → 足端位置 (mm)
*
* 从电机角还原链节角, 再算足端位置
* ============================================================ */
void FK_LegPosition(float mt, float ms,
const RobotGeometry *geom,
float *x_out, float *z_out)
{
float L1 = geom->L1;
float L2 = geom->L2;
float foff = geom->foot_offset_rad;
float tzero = geom->thigh_zero;
float sc = geom->shank_coupling_c;
float splay = geom->splay_angle_rad;
/* 电机角 → 链节角 */
float theta_hip = -(mt + tzero);
float theta_shank_link = -(ms + mt) + sc;
/* 等效足端方向 */
float phi = theta_shank_link - foff;
*x_out = L1 * sinf(theta_hip) + L2 * sinf(phi);
/* 腿平面内的Z长度，再投射回垂直身体距离 */
float Z_leg = L1 * cosf(theta_hip) + L2 * cosf(phi);
*z_out = Z_leg * cosf(splay);
}
/* ============================================================
* 足端速度 — Jacobian × 电机角速度
*
* 设 q = [mt, ms]^T (无符号电机角)
* θ_hip = -(mt + C1) → dθ_hip/dmt = -1, dθ_hip/dms = 0
* θ_sl = -(ms + mt) + C2 → dθ_sl/dmt = -1, dθ_sl/dms = -1
* φ = θ_sl - foff → dφ/dmt = -1, dφ/dms = -1
*
* x = L1*sin(θh) + L2*sin(φ)
* dx/dmt = L1*cos(θh)*(-1) + L2*cos(φ)*(-1) = -(L1*cos(θh) + L2*cos(φ))
* dx/dms = L2*cos(φ)*(-1) = -L2*cos(φ)
*
* z = L1*cos(θh) + L2*cos(φ)
* dz/dmt = -L1*sin(θh)*(-1) - L2*sin(φ)*(-1) = L1*sin(θh) + L2*sin(φ)
* dz/dms = -L2*sin(φ)*(-1) = L2*sin(φ)
* ============================================================ */
void FK_LegVelocity(float mt, float ms,
float vel_mt, float vel_ms,
const RobotGeometry *geom,
float *xdot, float *zdot)
{
float L1 = geom->L1;
float L2 = geom->L2;
float foff = geom->foot_offset_rad;
float tzero = geom->thigh_zero;
float sc = geom->shank_coupling_c;
float splay = geom->splay_angle_rad;
float theta_hip = -(mt + tzero);
float theta_sl = -(ms + mt) + sc;
float phi = theta_sl - foff;
float ch = cosf(theta_hip);
float sh = sinf(theta_hip);
float cp = cosf(phi);
float sp = sinf(phi);
/* Jacobian J = [dx/dmt, dx/dms; dz/dmt, dz/dms] */
float Jx_mt = -(L1 * ch + L2 * cp);
float Jx_ms = -(L2 * cp);
float cos_splay = cosf(splay);
float Jz_mt = (L1 * sh + L2 * sp) * cos_splay;
float Jz_ms = (L2 * sp) * cos_splay;
*xdot = Jx_mt * vel_mt + Jx_ms * vel_ms;
*zdot = Jz_mt * vel_mt + Jz_ms * vel_ms;
}
04_firmware/stm32/dji_a_board/RCPROyuan/User/driver/leg.h
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#ifndef __LEG_H__
#define __LEG_H__
#include <math.h>
#include "gait_config.h"
/* ============================================================
* 逆运动学 — 直接输出无符号电机角
*
* 输入: X (前后偏移 mm, 前向正), Z (高度 mm, 向下正)
* 输出: motor_thigh (大腿无符号电机角 rad)
* motor_shank (小腿无符号电机角 rad)
*
* 调用方在外部乘 SIDE_SIGNS[leg] 做左右镜像
*
* 内部使用:
* θ_hip = ψ - β (后倾解, 适合膝前弯四足)
* motor_thigh = -(θ_hip + thigh_zero)
* motor_shank = -motor_thigh - θ_shank + shank_coupling_c
* ============================================================ */
void Inverse_Calculation(float X, float Z,
float *motor_thigh, float *motor_shank,
const RobotGeometry *geom);
/* ============================================================
* 摆线轨迹生成
* ============================================================ */
void Gen_Cycloid_Trajectory(float phase, float swing_ratio,
float Xs, float Xe, float Zs, float h,
float *x, float *z);
/* ============================================================
* 三次贝塞尔曲线轨迹生成
* ============================================================ */
void Gen_Bezier_Trajectory(float phase, float swing_ratio,
float Xs, float Xe, float Zs, float h,
float *x, float *z);
/* ============================================================
* 正运动学 — 电机无符号角 → 足端位置 (mm)
* 注意: 输入是无符号电机角 (已去掉SIDE_SIGNS)
* ============================================================ */
void FK_LegPosition(float motor_thigh_unsigned, float motor_shank_unsigned,
const RobotGeometry *geom,
float *x_out, float *z_out);
/* ============================================================
* 足端速度 — Jacobian × 电机角速度
* 输入: 无符号电机角 + 无符号角速度
* ============================================================ */
void FK_LegVelocity(float motor_thigh_unsigned, float motor_shank_unsigned,
float vel_thigh_unsigned, float vel_shank_unsigned,
const RobotGeometry *geom,
float *xdot, float *zdot);
#endif /* __LEG_H__ */
04_firmware/stm32/dji_a_board/RCPROyuan/User/driver/lingzu_motor.c
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@@ -1,598 +0,0 @@
#include "lingzu_motor.h"
#include "cmsis_os.h"
#include "can.h"
#include <stdio.h> // For potential debug
#include <string.h> // For memset if needed
#include <math.h>
#ifndef isnan
#define isnan(x) ((x) != (x))
#endif
#define PI 3.1415926535f
#define RS02_SAFE_POS_RAD (200.0f * PI / 180.0f)
Can_Bus_Data_Struct CAN_1;
Can_Bus_Data_Struct CAN_2;
Motor_CAN_Recieve_Struct Motor_Recieve_Single_CAN1;
Motor_CAN_Recieve_Struct Motor_Recieve_Single_CAN2;
// Private variables for sending
static CanTxMsgTypeDef txMsg_CAN;
static Motor_CAN_Send_Struct* rs02_get_send_struct(uint8_t motor_index)
{
switch (motor_index)
{
case RS02_MOTOR_1: return &CAN_1.ID_1_Motor_send;
case RS02_MOTOR_2: return &CAN_1.ID_2_Motor_send;
case RS02_MOTOR_3: return &CAN_1.ID_3_Motor_send;
case RS02_MOTOR_4: return &CAN_1.ID_4_Motor_send;
case RS02_MOTOR_5: return &CAN_2.ID_1_Motor_send;
case RS02_MOTOR_6: return &CAN_2.ID_2_Motor_send;
case RS02_MOTOR_7: return &CAN_2.ID_3_Motor_send;
case RS02_MOTOR_8: return &CAN_2.ID_4_Motor_send;
default: return NULL;
}
}
static Motor_CAN_Recieve_Struct* rs02_get_recv_struct(uint8_t motor_index)
{
switch (motor_index)
{
case RS02_MOTOR_1: return &CAN_1.ID_1_Motor_recieve;
case RS02_MOTOR_2: return &CAN_1.ID_2_Motor_recieve;
case RS02_MOTOR_3: return &CAN_1.ID_3_Motor_recieve;
case RS02_MOTOR_4: return &CAN_1.ID_4_Motor_recieve;
case RS02_MOTOR_5: return &CAN_2.ID_1_Motor_recieve;
case RS02_MOTOR_6: return &CAN_2.ID_2_Motor_recieve;
case RS02_MOTOR_7: return &CAN_2.ID_3_Motor_recieve;
case RS02_MOTOR_8: return &CAN_2.ID_4_Motor_recieve;
default: return NULL;
}
}
void rs02_set_target_rad(uint8_t motor_index, float position, float speed, float kp, float kd, float torque)
{
Motor_CAN_Send_Struct *send_struct = rs02_get_send_struct(motor_index);
if (send_struct == NULL)
{
return;
}
// motor_index 取值范围为 1~8，对应 1~8 号关节电机
if (motor_index == 0 || motor_index > 8)
{
return;
}
// 对目标位置做绝对角度限幅，防止指令过大导致潜在疯转
float p = position;
if (p > RS02_SAFE_POS_RAD)
{
p = RS02_SAFE_POS_RAD;
}
else if (p < -RS02_SAFE_POS_RAD)
{
p = -RS02_SAFE_POS_RAD;
}
send_struct->position = p;
send_struct->speed = speed;
send_struct->kp = kp;
send_struct->kd = kd;
send_struct->torque = torque;
}
float rs02_get_position_rad(uint8_t motor_index)
{
Motor_CAN_Recieve_Struct *recv_struct = rs02_get_recv_struct(motor_index);
if (recv_struct == NULL)
{
return 0.0f;
}
return recv_struct->current_position_f;
}
float rs02_get_velocity_rad(uint8_t motor_index)
{
Motor_CAN_Recieve_Struct *recv_struct = rs02_get_recv_struct(motor_index);
if (recv_struct == NULL)
{
return 0.0f;
}
return recv_struct->current_speed_f;
}
float rs02_get_error_rad(uint8_t motor_index, float target_position)
{
float current = rs02_get_position_rad(motor_index);
return target_position - current;
}
/* Per-motor wrapper functions removed in refactoring.
* Use rs02_set_target_rad(motor_index, ...) directly. */
int float_to_uint(float x, float x_min, float x_max, int bits)
{
float span = x_max - x_min;
float offset = x_min;
if(x > x_max) x = x_max;
else if(x < x_min) x = x_min;
return (int) ((x-offset)*((float)((1<<bits)-1))/span);
}
// 适配 Python 驱动的映射算法: int(((x / limit) + 1.0) * 32767.0)
// x_max 对应 limit. x_min 对应 -limit.
int float_to_uint_mit(float x, float limit, int bits)
{
float max = limit;
float min = -limit;
if(x > max) x = max;
else if(x < min) x = min;
// Python Logic: ((x / limit) + 1.0) * 32767.0
// Maps [-limit, limit] to [0, 65534] approx
// Using 32767.0 as scale factor
return (int)(((x / limit) + 1.0f) * 32767.0f);
}
// Kp/Kd 映射: int((val / limit) * 65535.0)
// Maps [0, limit] to [0, 65535]
int float_to_uint_mit_param(float x, float limit)
{
if (x > limit) x = limit;
if (x < 0) x = 0;
return (int)((x / limit) * 65535.0f);
}
float uint_to_float(int x_int, float x_min, float x_max, int bits)
{
float span = x_max - x_min;
float offset = x_min;
return ((float)x_int)*span/((float)((1<<bits)-1)) + offset;
}
// 适配 Python 驱动的反向映射 (仅用于参考，接收时可能用不上，接收用 uint_to_float 即可)
// 实际上 Python 接收解析是 struct.unpack，得到的是 uint16。
// 并没有展示 uint -> float 的逻辑，但通常是对称的。
// 假设接收也是同样的逻辑，或者直接用 float_to_uint 的逆运算。
// 但根据 constants.py, Python 并没有做 float conversion regarding feedback except printing?
// robstride_driver.py line 295: unpacks to u16.
// line 298: p_limit etc.
// The code cuts off at line 301. It presumably converts u16 back to float.
// Let's assume symmetric mapping.
float uint_to_float_mit(int x_int, float limit, int bits)
{
// y = ((x/L) + 1) * 32767
// y/32767 = x/L + 1
// x/L = y/32767 - 1
// x = (y/32767 - 1) * L
return ((float)x_int / 32767.0f - 1.0f) * limit;
}
// Kp/Kd/Torque(Received?)
// Feedback T is signed int16? Python unpacks >HHHH, but names it t_i16?
// If unpacks as H, it is u16.
// If the feedback torque is indeed signed int16 in the motor firmware, struct.unpack should use 'h'.
// If Python uses 'H', it treats it as unsigned.
// Let's assume standard mapping for now.
// 通讯类型 3: 电机使能运行
void Motor_Enable(CAN_HandleTypeDef *hcan, Motor_CAN_Send_Struct *Motor_Data)
{
hcan->pTxMsg = &txMsg_CAN;
hcan->pTxMsg->StdId = 0;
// bit28~24: 0x3 (通讯类型)
// bit23~8: bit15~8 用标识主CAN_ID (0xFD) -> Extra Data
// bit7~0: 目标电机CAN_ID
// Python: _send_command(ENABLE, host_id, motor.id)
// Extra Data = host_id
// Device ID = motor.id
uint32_t cmd_type = 0x3;
uint32_t host_id = 0xFD; // Master ID
uint32_t motor_id = Motor_Data->id;
hcan->pTxMsg->ExtId = (cmd_type << 24) | (host_id << 8) | motor_id;
hcan->pTxMsg->IDE = CAN_ID_EXT;
hcan->pTxMsg->RTR = CAN_RTR_DATA;
hcan->pTxMsg->DLC = 8;
for(int i=0; i<8; i++)
{
hcan->pTxMsg->Data[i] = 0;
}
// 2025-01-26 Mod: Set zero_sta = 1 (Data[0])
// 0: 0-2PI (Default, may take long path)
// 1: -PI~PI (Shortest path/优弧)
hcan->pTxMsg->Data[0] = 1;
// Retry mechanism for reliable transmission
uint8_t retry = 0;
while(HAL_CAN_Transmit(hcan, 2) != HAL_OK && retry < 5)
{
retry++;
osDelay(1);
}
}
// 通讯类型 4: 电机停止运行
void Motor_Disable(CAN_HandleTypeDef *hcan, Motor_CAN_Send_Struct *Motor_Data)
{
hcan->pTxMsg = &txMsg_CAN;
hcan->pTxMsg->StdId = 0;
// bit28~24: 0x4 (通讯类型)
// bit23~8: Extra Data (Host ID)
// bit7~0: 目标电机CAN_ID
uint32_t cmd_type = 0x4;
uint32_t host_id = 0xFD;
uint32_t motor_id = Motor_Data->id;
hcan->pTxMsg->ExtId = (cmd_type << 24) | (host_id << 8) | motor_id;
hcan->pTxMsg->IDE = CAN_ID_EXT;
hcan->pTxMsg->RTR = CAN_RTR_DATA;
hcan->pTxMsg->DLC = 8;
for(int i=0; i<8; i++)
{
hcan->pTxMsg->Data[i] = 0;
}
// 正常停止时Data清0
uint8_t retry = 0;
while(HAL_CAN_Transmit(hcan, 2) != HAL_OK && retry < 5)
{
retry++;
osDelay(1);
}
}
// 通讯类型 6: 设置电机机械零位
// 注意: 此指令仅将当前位置重置为0，不会修改 zero_sta 标志位。
// 若需修改位置范围(0~2PI 或 -PI~PI)，请使用上位机修改 zero_sta 并保存。
void Motor_Zore(CAN_HandleTypeDef *hcan, Motor_CAN_Send_Struct *Motor_Data)
{
hcan->pTxMsg = &txMsg_CAN;
hcan->pTxMsg->StdId = 0;
// bit28~24: 0x6 (通讯类型)
// bit23~8: Extra Data (Host ID)
// bit7~0: 目标电机CAN_ID
uint32_t cmd_type = 0x6;
uint32_t host_id = 0xFD;
uint32_t motor_id = Motor_Data->id;
hcan->pTxMsg->ExtId = (cmd_type << 24) | (host_id << 8) | motor_id;
hcan->pTxMsg->IDE = CAN_ID_EXT;
hcan->pTxMsg->RTR = CAN_RTR_DATA;
hcan->pTxMsg->DLC = 8;
for(int i=0; i<8; i++)
{
hcan->pTxMsg->Data[i] = 0;
}
hcan->pTxMsg->Data[0] = 1; // 触发设置零点动作 (并非设置 zero_sta=1)
uint8_t retry = 0;
while(HAL_CAN_Transmit(hcan, 2) != HAL_OK && retry < 5)
{
retry++;
osDelay(1);
}
}
// 通讯类型 1: 遥控模式电机控制指令
void CAN_Send_Control(CAN_HandleTypeDef *hcan, Motor_CAN_Send_Struct *Motor_Data)
{
// Safety check: Do not send if position is NaN
if (isnan(Motor_Data->position))
{
return;
}
CanTxMsgTypeDef txMsg_Control;
hcan->pTxMsg = &txMsg_Control;
txMsg_Control.StdId = 0;
txMsg_Control.IDE = CAN_ID_EXT;
txMsg_Control.RTR = CAN_RTR_DATA;
txMsg_Control.DLC = 8;
// bit28~24: 0x1 (指令)
// bit23~8: Extra Data (Torque)
// Bit7~0: 目标电机CAN_ID
uint32_t cmd_type = 0x1;
// ExtId力矩 (Mapped T_MIN ~ T_MAX -> 0~65535)
// Python Logic: t_u16 = int(((torque / t_limit) + 1.0) * 32767.0)
uint16_t torque_ext_id = float_to_uint_mit(Motor_Data->torque, T_MAX, 16); // T_MAX corresponds to limit
txMsg_Control.ExtId = (cmd_type << 24) | (torque_ext_id << 8) | Motor_Data->id;
// Data Structure: Big Endian [Pos, Vel, Kp, Kd]
// Byte0~1: 角度 (Mapped)
// Python Logic: p_u16 = int(((position / p_limit) + 1.0) * 32767.0)
uint16_t pos_int = float_to_uint_mit(Motor_Data->position, P_MAX, 16);
txMsg_Control.Data[0] = pos_int >> 8; // 高字节在前 (Big Endian)
txMsg_Control.Data[1] = pos_int & 0xFF; // 低字节在后
// Byte2~3: 速度 (Mapped)
// Python Logic: v_u16 = int(((velocity / v_limit) + 1.0) * 32767.0)
uint16_t spd_int = float_to_uint_mit(Motor_Data->speed, V_MAX, 16);
txMsg_Control.Data[2] = spd_int >> 8;
txMsg_Control.Data[3] = spd_int & 0xFF;
// Byte4~5: Kp (Mapped 0~Limit -> 0~65535)
uint16_t kp_int = float_to_uint_mit_param(Motor_Data->kp, KP_MAX);
txMsg_Control.Data[4] = kp_int >> 8;
txMsg_Control.Data[5] = kp_int & 0xFF;
// Byte6~7: Kd (Mapped 0~Limit -> 0~65535)
uint16_t kd_int = float_to_uint_mit_param(Motor_Data->kd, KD_MAX);
txMsg_Control.Data[6] = kd_int >> 8;
txMsg_Control.Data[7] = kd_int & 0xFF;
// 2025-01-26 Fix: Add retry logic for CAN Mailbox Full
// If HAL_CAN_Transmit returns HAL_BUSY, we should retry.
uint8_t retry = 0;
HAL_StatusTypeDef status;
// Explicitly check if mailbox is full (for old HAL lib, Transmit is blocking if timeout != 0)
// But if timeout occurs, it returns HAL_TIMEOUT.
// If all mailboxes are busy, it waits until timeout.
// We should try a few times.
do {
status = HAL_CAN_Transmit(hcan, 2); // 2ms timeout per attempt
if (status == HAL_OK) break;
retry++;
// If we are stuck in a busy loop, maybe we should yield or delay slightly more?
// But we want to send ASAP.
} while (retry < 5);
}
void Lingzu_Motor_Init_Structs(void)
{
// Initialize CAN 1 Motor Structs
CAN_1.ID_1_Motor_send.id=1;
CAN_1.ID_1_Motor_send.res=0x04;
CAN_1.ID_1_Motor_send.max_position=2;
CAN_1.ID_1_Motor_send.min_position=-2;
CAN_1.ID_2_Motor_send.id=2;
CAN_1.ID_2_Motor_send.res=0x04;
CAN_1.ID_2_Motor_send.max_position=2;
CAN_1.ID_2_Motor_send.min_position=-2;
CAN_1.ID_3_Motor_send.id=3;
CAN_1.ID_3_Motor_send.res=0x04;
CAN_1.ID_3_Motor_send.max_position=2;
CAN_1.ID_3_Motor_send.min_position=-2;
CAN_1.ID_4_Motor_send.id=4;
CAN_1.ID_4_Motor_send.res=0x04;
// Initialize CAN 2 Motor Structs
CAN_2.ID_1_Motor_send.id=1;
CAN_2.ID_1_Motor_send.res=0x04;
CAN_2.ID_1_Motor_send.max_position=2;
CAN_2.ID_1_Motor_send.min_position=-2;
CAN_2.ID_2_Motor_send.id=2;
CAN_2.ID_2_Motor_send.res=0x04;
CAN_2.ID_2_Motor_send.max_position=2;
CAN_2.ID_2_Motor_send.min_position=-2;
CAN_2.ID_3_Motor_send.id=3;
CAN_2.ID_3_Motor_send.res=0x04;
CAN_2.ID_3_Motor_send.max_position=2;
CAN_2.ID_3_Motor_send.min_position=-2;
CAN_2.ID_4_Motor_send.id=4;
CAN_2.ID_4_Motor_send.res=0x04;
CAN_2.ID_4_Motor_send.max_position=2;
CAN_2.ID_4_Motor_send.min_position=-2;
}
void ENABLE_ALL_LINGZU_MOTORS(void)
{
Motor_Enable(&hcan1, &CAN_1.ID_1_Motor_send);
osDelay(2);
Motor_Enable(&hcan2, &CAN_2.ID_1_Motor_send);
osDelay(2);
Motor_Enable(&hcan1, &CAN_1.ID_2_Motor_send);
osDelay(2);
Motor_Enable(&hcan2, &CAN_2.ID_2_Motor_send);
osDelay(2);
Motor_Enable(&hcan1, &CAN_1.ID_3_Motor_send);
osDelay(2);
Motor_Enable(&hcan2, &CAN_2.ID_3_Motor_send);
osDelay(2);
Motor_Enable(&hcan1, &CAN_1.ID_4_Motor_send);
osDelay(2);
Motor_Enable(&hcan2, &CAN_2.ID_4_Motor_send);
osDelay(2);
}
void DISABLE_ALL_LINGZU_MOTORS(void)
{
Motor_Disable(&hcan1, &CAN_1.ID_1_Motor_send);
osDelay(1);
Motor_Disable(&hcan2, &CAN_2.ID_1_Motor_send);
osDelay(1);
Motor_Disable(&hcan1, &CAN_1.ID_2_Motor_send);
osDelay(1);
Motor_Disable(&hcan2, &CAN_2.ID_2_Motor_send);
osDelay(1);
Motor_Disable(&hcan1, &CAN_1.ID_3_Motor_send);
osDelay(1);
Motor_Disable(&hcan2, &CAN_2.ID_3_Motor_send);
osDelay(1);
Motor_Disable(&hcan1, &CAN_1.ID_4_Motor_send);
osDelay(1);
Motor_Disable(&hcan2, &CAN_2.ID_4_Motor_send);
osDelay(1);
}
void ZERO_ALL_LINGZU_MOTORS(void)
{
Motor_Zore(&hcan1, &CAN_1.ID_1_Motor_send);
osDelay(1);
Motor_Zore(&hcan2, &CAN_2.ID_1_Motor_send);
osDelay(1);
Motor_Zore(&hcan1, &CAN_1.ID_2_Motor_send);
osDelay(1);
Motor_Zore(&hcan2, &CAN_2.ID_2_Motor_send);
osDelay(1);
Motor_Zore(&hcan1, &CAN_1.ID_3_Motor_send);
osDelay(1);
Motor_Zore(&hcan2, &CAN_2.ID_3_Motor_send);
osDelay(1);
Motor_Zore(&hcan1, &CAN_1.ID_4_Motor_send);
osDelay(1);
Motor_Zore(&hcan2, &CAN_2.ID_4_Motor_send);
osDelay(1);
}
void LINGZU_All_Motors_Limp(void)
{
CAN_1.ID_1_Motor_send.torque = 0; CAN_1.ID_1_Motor_send.kp = 0; CAN_1.ID_1_Motor_send.kd = 0; CAN_1.ID_1_Motor_send.speed = 0;
CAN_1.ID_2_Motor_send.torque = 0; CAN_1.ID_2_Motor_send.kp = 0; CAN_1.ID_2_Motor_send.kd = 0; CAN_1.ID_2_Motor_send.speed = 0;
CAN_1.ID_3_Motor_send.torque = 0; CAN_1.ID_3_Motor_send.kp = 0; CAN_1.ID_3_Motor_send.kd = 0; CAN_1.ID_3_Motor_send.speed = 0;
CAN_1.ID_4_Motor_send.torque = 0; CAN_1.ID_4_Motor_send.kp = 0; CAN_1.ID_4_Motor_send.kd = 0; CAN_1.ID_4_Motor_send.speed = 0;
CAN_2.ID_1_Motor_send.torque = 0; CAN_2.ID_1_Motor_send.kp = 0; CAN_2.ID_1_Motor_send.kd = 0; CAN_2.ID_1_Motor_send.speed = 0;
CAN_2.ID_2_Motor_send.torque = 0; CAN_2.ID_2_Motor_send.kp = 0; CAN_2.ID_2_Motor_send.kd = 0; CAN_2.ID_2_Motor_send.speed = 0;
CAN_2.ID_3_Motor_send.torque = 0; CAN_2.ID_3_Motor_send.kp = 0; CAN_2.ID_3_Motor_send.kd = 0; CAN_2.ID_3_Motor_send.speed = 0;
CAN_2.ID_4_Motor_send.torque = 0; CAN_2.ID_4_Motor_send.kp = 0; CAN_2.ID_4_Motor_send.kd = 0; CAN_2.ID_4_Motor_send.speed = 0;
CAN_Send_Control(&hcan1, &CAN_1.ID_1_Motor_send);
CAN_Send_Control(&hcan1, &CAN_1.ID_2_Motor_send);
CAN_Send_Control(&hcan1, &CAN_1.ID_3_Motor_send);
CAN_Send_Control(&hcan1, &CAN_1.ID_4_Motor_send);
CAN_Send_Control(&hcan2, &CAN_2.ID_1_Motor_send);
CAN_Send_Control(&hcan2, &CAN_2.ID_2_Motor_send);
CAN_Send_Control(&hcan2, &CAN_2.ID_3_Motor_send);
CAN_Send_Control(&hcan2, &CAN_2.ID_4_Motor_send);
}
/* ============================================================
* CAN 接收回调 (原 can_device.c, 合并至此)
* ============================================================ */
/* 速度低通滤波系数: 新值权重 0.25, 保留 75% 历史
* 等效时间常数 ≈ 3 × 控制周期 (2ms) = 6ms
* 足以抑制 CAN 量化噪声, 同时对步态响应无明显滞后 */
#define SPEED_LPF_ALPHA 0.25f
static void parse_motor_feedback(Motor_CAN_Recieve_Struct *out,
uint32_t actual_id, uint8_t data[])
{
uint32_t motor_id = (actual_id >> 8) & 0xFF;
uint32_t master_id = actual_id & 0xFF;
uint8_t status = (actual_id >> 16) & 0xFF;
out->master_id = master_id;
out->motor_id = motor_id;
uint16_t pos_int = (data[0] << 8) | data[1];
out->current_position_f = uint_to_float_mit(pos_int, P_MAX, 16);
/* 速度: 一阶低通滤波, 抑制量化噪声 */
uint16_t spd_int = (data[2] << 8) | data[3];
float new_speed = uint_to_float_mit(spd_int, V_MAX, 16);
out->current_speed_f = SPEED_LPF_ALPHA * new_speed
+ (1.0f - SPEED_LPF_ALPHA) * out->current_speed_f;
uint16_t tor_int = (data[4] << 8) | data[5];
out->current_torque_f = uint_to_float_mit(tor_int, T_MAX, 16);
uint16_t temp_int = (data[6] << 8) | data[7];
out->current_temp_f = (float)temp_int * 0.1f;
out->last_update_time = HAL_GetTick();
out->fault_message = status;
}
void can1_recv_callback(uint32_t recv_id, uint8_t data[])
{
uint32_t actual_id = recv_id;
if (hcan1.pRxMsg != NULL && hcan1.pRxMsg->IDE == CAN_ID_EXT)
actual_id = hcan1.pRxMsg->ExtId;
if (((actual_id >> 24) & 0x1F) != 0x2) return;
parse_motor_feedback(&Motor_Recieve_Single_CAN1, actual_id, data);
switch (Motor_Recieve_Single_CAN1.motor_id) {
case 1: CAN_1.ID_1_Motor_recieve = Motor_Recieve_Single_CAN1; break;
case 2: CAN_1.ID_2_Motor_recieve = Motor_Recieve_Single_CAN1; break;
case 3: CAN_1.ID_3_Motor_recieve = Motor_Recieve_Single_CAN1; break;
case 4: CAN_1.ID_4_Motor_recieve = Motor_Recieve_Single_CAN1; break;
}
}
void can2_recv_callback(uint32_t recv_id, uint8_t data[])
{
uint32_t actual_id = recv_id;
if (hcan2.pRxMsg != NULL && hcan2.pRxMsg->IDE == CAN_ID_EXT)
actual_id = hcan2.pRxMsg->ExtId;
if (((actual_id >> 24) & 0x1F) != 0x2) return;
parse_motor_feedback(&Motor_Recieve_Single_CAN2, actual_id, data);
switch (Motor_Recieve_Single_CAN2.motor_id) {
case 1: CAN_2.ID_1_Motor_recieve = Motor_Recieve_Single_CAN2; break;
case 2: CAN_2.ID_2_Motor_recieve = Motor_Recieve_Single_CAN2; break;
case 3: CAN_2.ID_3_Motor_recieve = Motor_Recieve_Single_CAN2; break;
case 4: CAN_2.ID_4_Motor_recieve = Motor_Recieve_Single_CAN2; break;
}
}
/* CAN 总线滤波器初始化 */
static CanRxMsgTypeDef Rx1Message;
static CanRxMsgTypeDef Rx2Message;
void can_manual_init(void)
{
CAN_FilterConfTypeDef f;
f.FilterActivation = ENABLE;
f.FilterMode = CAN_FILTERMODE_IDMASK;
f.FilterScale = CAN_FILTERSCALE_32BIT;
f.FilterIdHigh = 0; f.FilterIdLow = 0;
f.FilterMaskIdHigh = 0; f.FilterMaskIdLow = 0;
f.FilterFIFOAssignment = CAN_FILTER_FIFO0;
f.BankNumber = 14;
f.FilterNumber = 0;
HAL_CAN_ConfigFilter(&hcan1, &f);
if (hcan1.pRxMsg == NULL) hcan1.pRxMsg = &Rx1Message;
HAL_CAN_Receive_IT(&hcan1, CAN_FIFO0);
f.FilterNumber = 14;
f.FilterActivation = DISABLE;
HAL_CAN_ConfigFilter(&hcan2, &f);
f.FilterActivation = ENABLE;
HAL_CAN_ConfigFilter(&hcan2, &f);
if (hcan2.pRxMsg == NULL) hcan2.pRxMsg = &Rx2Message;
HAL_CAN_Receive_IT(&hcan2, CAN_FIFO0);
}
04_firmware/stm32/dji_a_board/RCPROyuan/User/driver/lingzu_motor.h
-142
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@@ -1,142 +0,0 @@
#ifndef __LINGZU_MOTOR_H__
#define __LINGZU_MOTOR_H__
#include "stm32f4xx_hal.h"
#include "can.h" // For CAN_HandleTypeDef
/* RS02 电机协议范围（私有协议运控模式）
* P: 新固件 >= 0.2.2.11 使用 ±12.57
* V: RS02 额定 ±44 rad/s
* T: RS02 峰值 ±17 Nm
* Kp: RS02 最大 500, Kd: RS02 最大 5
*/
#define P_MIN -12.57f
#define P_MAX 12.57f
#define V_MIN -44.0f
#define V_MAX 44.0f
#define KP_MIN 0.0f
#define KP_MAX 500.0f
#define KD_MIN 0.0f
#define KD_MAX 5.0f
#define T_MIN -17.0f
#define T_MAX 17.0f
#define KP_SOFTSTOP 400.0f
#define KD_SOFTSTOP 3.0f
typedef struct
{
uint8_t id;
uint8_t mode;
uint16_t exdata;
uint8_t res;
float position;
float speed;
float kp;
float kd;
float torque;
//位置限制
float max_position;
float min_position;
} Motor_CAN_Send_Struct;
typedef struct
{
uint8_t master_id;
uint8_t motor_id;
uint8_t fault_message;
uint8_t motor_state;
uint8_t mode;
uint16_t current_position; // [0~65535] (-4π~4π)
uint16_t current_speed; // [0~65535] (-15rad/s~15rad/s)
uint16_t current_torque; // [0~65535] (-120Nm~120Nm)
uint16_t current_temp; // Temp * 10
float current_position_f;
float current_speed_f;
float current_torque_f;
float current_temp_f;
uint32_t last_update_time; // Timestamp of last valid feedback
} Motor_CAN_Recieve_Struct;
typedef struct
{
Motor_CAN_Send_Struct ID_1_Motor_send, ID_2_Motor_send, ID_3_Motor_send, ID_4_Motor_send;
Motor_CAN_Recieve_Struct ID_1_Motor_recieve, ID_2_Motor_recieve, ID_3_Motor_recieve, ID_4_Motor_recieve;
} Can_Bus_Data_Struct;
typedef enum
{
RS02_MOTOR_1 = 1,
RS02_MOTOR_2 = 2,
RS02_MOTOR_3 = 3,
RS02_MOTOR_4 = 4,
RS02_MOTOR_5 = 5,
RS02_MOTOR_6 = 6,
RS02_MOTOR_7 = 7,
RS02_MOTOR_8 = 8
} rs02_motor_index_e;
extern Motor_CAN_Recieve_Struct Motor_Recieve_Single_CAN1;
extern Motor_CAN_Recieve_Struct Motor_Recieve_Single_CAN2;
extern Can_Bus_Data_Struct CAN_1, CAN_2;
// Functions
void Lingzu_Motor_Init_Structs(void);
void Motor_Enable(CAN_HandleTypeDef *hcan, Motor_CAN_Send_Struct *Motor_Data);
void Motor_Disable(CAN_HandleTypeDef *hcan, Motor_CAN_Send_Struct *Motor_Data);
void Motor_Zore(CAN_HandleTypeDef *hcan, Motor_CAN_Send_Struct *Motor_Data);
void CAN_Send_Control(CAN_HandleTypeDef *hcan, Motor_CAN_Send_Struct *Motor_Data);
void ENABLE_ALL_LINGZU_MOTORS(void);
void DISABLE_ALL_LINGZU_MOTORS(void);
void ZERO_ALL_LINGZU_MOTORS(void);
void LINGZU_All_Motors_Limp(void);
/**
* 输入: motor_index(uint8_t), position(float), speed(float), kp(float), kd(float), torque(float)
* 输出: 无
* 作用: 设置指定编号RS02电机的目标角度及控制参数
*/
void rs02_set_target_rad(uint8_t motor_index, float position, float speed, float kp, float kd, float torque);
/**
* 输入: motor_index(uint8_t)
* 输出: 当前角度(float, rad)
* 作用: 读取指定编号RS02电机的当前关节角度（来自CAN反馈帧）
*/
float rs02_get_position_rad(uint8_t motor_index);
/**
* 输入: motor_index(uint8_t)
* 输出: 当前角速度(float, rad/s)
* 作用: 读取指定编号RS02电机的当前角速度（来自CAN反馈帧）
*/
float rs02_get_velocity_rad(uint8_t motor_index);
/**
* 输入: motor_index(uint8_t), target_position(float)
* 输出: 角度误差(float, rad)
* 作用: 计算目标角度与当前角度的误差
*/
float rs02_get_error_rad(uint8_t motor_index, float target_position);
// Utils
float uint_to_float(int x_int, float x_min, float x_max, int bits);
int float_to_uint(float x, float x_min, float x_max, int bits);
float uint_to_float_mit(int x_int, float limit, int bits);
int float_to_uint_mit(float x, float limit, int bits);
int float_to_uint_mit_param(float x, float limit);
// CAN 接收回调 (原 can_device.h)
void can1_recv_callback(uint32_t recv_id, uint8_t data[]);
void can2_recv_callback(uint32_t recv_id, uint8_t data[]);
void can_manual_init(void);
#endif
04_firmware/stm32/dji_a_board/RCPROyuan/User/driver/uart_device.c
-138
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@@ -1,138 +0,0 @@
/****************************************************************************
* RoboMentors www.robomentors.com.
* wechat:superzz8080
* 基于RoboMaster二次开发
***************************************************************************/
#include "uart_device.h"
#include "sys.h"
#include "stdlib.h"
#include "string.h"
/* 解析后的遥控器数据 */
rc_type_t rc;
/* 接收到的遥控器原始数据 */
uint8_t dbus_recv[DBUS_FRAME_SIZE];
/**
* @brief 遥控器中断回调函数，在设置 UART 接收时注册
*/
void dbus_uart_callback(void)
{
remote_data_handle(&rc, dbus_recv);
}
/**
* @brief 解析遥控器数据
* @param rc: 解析后的遥控器数据结构体指针
* @param buff: 串口接收到的遥控器原始数据指针
*/
static void remote_data_handle(rc_type_t *rc, uint8_t *buff)
{
/* SBUS Start Byte Check */
// if (buff[0] != 0x0F) // DJI SBUS uses 0x00? Standard SBUS uses 0x0F.
// 暂时移除起始字节检查，防止协议差异导致丢包
// {
// memset(rc, 0, sizeof(rc_type_t));
// return;
// }
/* Parse SBUS Channels (11 bits per channel) */
int16_t ch[16];
ch[0] = ((buff[1] | buff[2]<<8) & 0x07FF);
/*
* CRITICAL FIX: 过滤全0或极低值的噪声数据
* 正常 SBUS 通道值范围通常在 200 到 1800 之间。
* 如果接收到 0 或者非常小的值，说明是无效帧（可能是全0噪声）。
* 直接丢弃该帧，保留上一次的有效 rc 状态。
*/
if (ch[0] < 100)
{
return;
}
ch[1] = ((buff[2]>>3 | buff[3]<<5) & 0x07FF);
ch[2] = ((buff[3]>>6 | buff[4]<<2 | buff[5]<<10) & 0x07FF);
ch[3] = ((buff[5]>>1 | buff[6]<<7) & 0x07FF);
ch[4] = ((buff[6]>>4 | buff[7]<<4) & 0x07FF);
// ch[5] = ((buff[7]>>7 | buff[8]<<1 | buff[9]<<9) & 0x07FF);
ch[6] = ((buff[9]>>2 | buff[10]<<6) & 0x07FF);
ch[7] = ((buff[10]>>5 | buff[11]<<3) & 0x07FF);
/* Corrected SBUS Parsing for Ch9-Ch12 (Indices 8-11) */
/* Pattern repeats every 11 bytes (8 channels) */
/* ch[8] corresponds to ch[0] pattern, shifted by 11 bytes */
ch[8] = ((buff[12] | buff[13]<<8) & 0x07FF);
ch[9] = ((buff[13]>>3 | buff[14]<<5) & 0x07FF);
// ch[10] = ((buff[14]>>6 | buff[15]<<2 | buff[16]<<10) & 0x07FF);
// ch[11] = ((buff[16]>>1 | buff[17]<<7) & 0x07FF);
/* Map Channels to rc structure
RadioLink AT9S Pro (SBUS) mapping:
Ch1: Aileron (Right LR) -> rc->ch1
Ch2: Elevator (Right UD) -> rc->ch2
Ch3: Throttle (Left UD) -> rc->ch4 (Note: rc->ch4 is Left UD in current struct comments)
Ch4: Rudder (Left LR) -> rc->ch3 (Note: rc->ch3 is Left LR in current struct comments)
*/
/* Normalize to -660 ~ 660 range (SBUS range approx 200~1800, center 1024) */
/* Scaling factor: 660 / (1800-1024) approx 0.85 */
rc->ch1 = (ch[0] - SBUS_RC_MID) * 660 / 800;
rc->ch2 = (ch[1] - SBUS_RC_MID) * 660 / 800;
rc->ch3 = (ch[3] - SBUS_RC_MID) * 660 / 800; // Map SBUS Ch4 (Rudder) to rc->ch3
rc->ch4 = (ch[2] - SBUS_RC_MID) * 660 / 800; // Map SBUS Ch3 (Throttle) to rc->ch4
/* 防止遥控器零点有偏差 */
if(abs(rc->ch1) < 50) rc->ch1 = 0;
if(abs(rc->ch2) < 50) rc->ch2 = 0;
if(abs(rc->ch3) < 50) rc->ch3 = 0;
if(abs(rc->ch4) < 50) rc->ch4 = 0;
/* SwC (Ch8) */
if (ch[7] < 500) rc->swC = RC_DN;
else if (ch[7] > 1500) rc->swC = RC_UP;
else rc->swC = RC_MI;
/* SwA (Ch10) */
if (ch[9] < 500) rc->swA = RC_DN;
else if (ch[9] > 1500) rc->swA = RC_UP;
else rc->swA = RC_MI;
/* SwD (Ch7) */
if (ch[6] < 500) rc->swD = RC_DN;
else if (ch[6] > 1500) rc->swD = RC_UP;
else rc->swD = RC_MI;
/* SwG (Ch5) */
if (ch[4] < 500) rc->swG = RC_DN;
else if (ch[4] > 1500) rc->swG = RC_UP;
else rc->swG = RC_MI;
/*
* CRITICAL FIX: 如果遥控器还没开，接收到的数据可能是全0
* 这种情况下，ch[4] = 0 -> rc->sw1 = RC_DN
* 这会导致系统认为开关处于“向下”状态（趴下模式）。
* 但如果此时 LED1 快闪，说明确实收到了数据帧。
*
* 问题：为什么快闪（有数据）但没反应？
* 可能是遥控器通道映射不对，或者开关值反了。
*/
/* 遥控器异常值处理，函数直接返回 */
// 暂时放宽限制，防止轻微越界导致丢失控制
if ((abs(rc->ch1) > 800) || \
(abs(rc->ch2) > 800) || \
(abs(rc->ch3) > 800) || \
(abs(rc->ch4) > 800))
{
return ;
}
/* Clear Mouse and Keyboard (Not available in SBUS) - Removed
memset(&rc->mouse, 0, sizeof(rc->mouse));
memset(&rc->kb, 0, sizeof(rc->kb));
*/
}
04_firmware/stm32/dji_a_board/RCPROyuan/User/driver/uart_device.h
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/****************************************************************************
* RoboMentors www.robomentors.com.
* wechat:superzz8080
* 基于RoboMaster二次开发
***************************************************************************/
#ifndef __UART_DEVICE_H__
#define __UART_DEVICE_H__
#include "rm_hal_lib.h"
#define SBUS_RC_MIN 200
#define SBUS_RC_MID 1024
#define SBUS_RC_MAX 1800
/**
* @brief 解析后的遥控器数据结构体
*/
typedef struct
{
/* 遥控器的通道数据，数值范围：-660 ~ 660 */
int16_t ch1; //右侧左右
int16_t ch2; //右侧上下
int16_t ch3; //左侧左右
int16_t ch4; //左侧上下
/* 遥控器的拨杆数据，上中下分别为：1、3、2 */
uint8_t sw1; //SwF (Ch5) - Left Switch
uint8_t sw2; //SwG? (Ch6) - Right Switch (Undefined in doc)
uint8_t sw3; //SwC (Ch7)
uint8_t sw4; //VrB/SwD? (Ch8) - Knob/Switch
/* 新增辅助通道映射 */
uint8_t swA; //SwA (Ch10)
uint8_t swB; //SwB (Ch9)
uint8_t swC; //SwC (Ch7) - Alias for sw3
uint8_t swD; //SwD (Ch7)
uint8_t swF; //SwF (Ch5) - Alias for sw1
uint8_t swG; //SwG (Ch5)
uint8_t swH; //SwH (Ch7)
/* PC 鼠标数据 */
struct
{
/* 鼠标移动相关 */
int16_t x; //鼠标平移
int16_t y; //鼠标上下
/* 鼠标按键相关，1为按下，0为松开 */
uint8_t l; //左侧按键
uint8_t r; //右侧按键
}mouse;
/* PC 键盘按键数据 */
union
{
uint16_t key_code;
struct
{
uint16_t W:1;
uint16_t S:1;
uint16_t A:1;
uint16_t D:1;
uint16_t SHIFT:1;
uint16_t CTRL:1;
uint16_t Q:1;
uint16_t E:1;
uint16_t R:1;
uint16_t F:1;
uint16_t G:1;
uint16_t Z:1;
uint16_t X:1;
uint16_t C:1;
uint16_t V:1;
uint16_t B:1;
}bit;
}kb;
/* 遥控器左侧拨轮数据 */
int16_t wheel;
} rc_type_t;
/**
* @brief 遥控器拨杆数据枚举
*/
enum
{
RC_UP = 1,
RC_MI = 3,
RC_DN = 2,
};
/**
* @brief 解析遥控器数据
* @param rc: 解析后的遥控器数据结构体指针
* @param buff: 串口接收到的遥控器原始数据指针
*/
static void remote_data_handle(rc_type_t *rc, uint8_t *buff);
/**
* @brief 遥控器中断回调函数，在设置 UART 接收时注册
*/
void dbus_uart_callback(void);
extern rc_type_t rc;
extern uint8_t dbus_recv[];
#endif
04_firmware/stm32/dji_a_board/RCPROyuan/User/rm_hal_lib.h
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/****************************************************************************
* RoboMentors www.robomentors.com.
* wechat:superzz8080
* 基于RoboMaster二次开发
***************************************************************************/
#ifndef __RM_LIB_H__
#define __RM_LIB_H__
#include "stm32f4xx_hal.h"
/**
* @brief IMU 数据结构体
*/
typedef struct
{
float acc_x; //m/s^2
float acc_y; //m/s^2
float acc_z; //m/s^2
float gyro_x; //degree/s
float gyro_y; //degree/s
float gyro_z; //degree/s
float angle_x; //degree
float angle_y; //degree
float angle_z; //degree
} imu_t;
/**
* @brief UART 配置类型枚举
*/
typedef enum
{
WORD_LEN_8B = 0,
WORD_LEN_9B,
STOP_BITS_1,
STOP_BITS_2,
PARITY_NONE,
PARITY_EVEN,
PARITY_ODD,
} uart_config_e;
/**
* @brief 数字 IO 引脚方向枚举
*/
typedef enum
{
IO_INPUT = 1,
IO_OUTPUT = 2,
} digital_io_e;
/**
* @brief LED IO 状态
*/
typedef enum
{
LED_ON = 0,
LED_OFF = 1,
} led_io_e;
//CAN 设备端口定义
#define USER_CAN1 1 //CAN1
#define USER_CAN2 2 //CAN2
#define CHASSIS_CAN 1 //底盘电机使用CAN1
#define GIMBAL_CAN 1 //云台电机使用CAN1
#define TRIGGER_CAN 1 //拨弹电机使用CAN1
//CAN 设备相关函数
/**
* @brief CAN 设备初始化
*/
void can_device_init(void);
/**
* @brief 发送 CAN 数据
* @param can_id: CAN 设备 ID，只有 CAN1 或者 CAN2
* @param send_id: 发送数据 ID
* @param send_data: 发送数据指针，大小为 8 位
*/
void write_can(uint8_t can_id, uint32_t send_id, uint8_t send_data[]);
/**
* @brief 注册 CAN 接收回调函数
* @param can_id: CAN 设备 ID
* @param callback: 接收回调函数指针
*/
void can_recv_callback_register(uint8_t can_id, void (* callback)(uint32_t recv_id, uint8_t data[]));
/**
* @brief 开启 CAN 接收数据中断
*/
void can_receive_start(void);
//UART 设备端口定义
#define DBUS_UART 1 //遥控器接收机串口
#define USER_UART1 1 //用户串口1，遥控器接收机使用
#define USER_UART2 2 //用户串口2
#define USER_UART3 3 //用户串口3
#define USER_UART4 4 //用户串口4
#define USER_UART5 5 //用户串口5，用于和官方上位机通信
//UART 设备相关函数
/**
* @brief UART 设备初始化
* @param uart_id: UART 设备 ID
* @param baud_rate: 波特率
* @param word_len: 字长，数据类型为 uart_config_e
* @param stop_bits: 停止位，数据类型为 uart_config_e
* @param parity: 校验位，数据类型为 uart_config_e
*/
void uart_init(uint8_t uart_id, uint32_t baud_rate, uart_config_e word_len, \
uart_config_e stop_bits, uart_config_e parity);
/**
* @brief 发送 UART 数据
* @param uart_id: UART ID
* @param send_data: 发送数据指针
* @param size: 发送数据的长度
*/
void write_uart(uint8_t uart_id, uint8_t *send_data, uint16_t size);
/**
* @brief 注册 UART 接收回调函数
* @param uart_id: UART ID
* @param callback: 接收回调函数指针
*/
void uart_recv_callback_register(uint8_t uart_id, void (* callback)(void));
/**
* @brief 开启 UART 接收数据中断
* @param uart_id: UART ID
* @param recv_data: 要接收数据的指针
* @param size: 要接收的数据的长度
*/
void uart_receive_start(uint8_t uart_id, uint8_t *recv_data, uint16_t size);
//数字 IO 接口定义
#define DIGI_IO1 1
#define DIGI_IO2 2
#define DIGI_IO3 3
#define DIGI_IO4 4
#define DIGI_IO5 5
#define DIGI_IO6 6
#define DIGI_IO7 7
#define DIGI_IO8 8
#define DIGI_IO9 9
//数字 IO 相关函数
/**
* @brief 设置数字 IO 方向
* @param io_id: 数字 IO 的 ID
* @param io_type: IO 方向，数据类型为 digital_io_e
*/
void set_digital_io_dir(uint8_t io_id, digital_io_e io_type);
/**
* @brief 写数字 IO
* @param io_id: 数字 IO 的 ID
* @param value: 写入的数据值，只能为0或1，否则设置不成功
*/
void write_digital_io(uint8_t io_id, uint8_t value);
/**
* @brief 读数字 IO
* @param io_id: 数字 IO 的 ID
* @param value: 读取数据值的指针，读取的数据值为0或1
*/
void read_digital_io(uint8_t io_id, uint8_t *value);
//LED IO 接口定义
#define LED_IO1 1 //LED1 IO
#define LED_IO2 2 //LED2 IO
#define LED_IO3 3 //LED3 IO
#define LED_IO4 4 //LED4 IO
#define LED_IO5 5 //LED5 IO
#define LED_IO6 6 //LED6 IO
#define LED_IO7 7 //LED7 IO
#define LED_IO8 8 //LED8 IO
#define LED_G 9 //绿色 LED IO
#define LED_R 10 //红色 LED IO
#define LASER_IO 11 //激光 IO
//LED IO 相关函数
/**
* @brief 写 LED IO
* @param led_id: LED IO 的 ID
* @param value: 写入的数据值，数据类型为 led_io_e，状态为亮或灭
*/
void write_led_io(uint8_t led_id, led_io_e value);
//PWM IO 接口定义
#define PWM_GROUP1 1 //第一组 PWM IO
#define PWM_IO1 1
#define PWM_IO2 2
#define PWM_IO3 3
#define PWM_IO4 4
#define PWM_GROUP2 2 //第二组 PWM IO
#define PWM_IO5 5
#define PWM_IO6 6
#define PWM_IO7 7
#define PWM_IO8 8
#define PWM_GROUP3 3 //第三组 PWM IO
#define PWM_IO9 9
#define PWM_IO10 10
#define PWM_IO11 11
#define PWM_IO12 12
#define PWM_GROUP4 4 //第四组 PWM IO
#define PWM_IO13 13
#define PWM_IO14 14
#define PWM_IO15 15
#define PWM_IO16 16
//PWM IO 相关函数
/**
* @brief 开启 PWM 输出
* @param pwm_id: PWM IO 的 ID
*/
void start_pwm_output(uint8_t pwm_id);
/**
* @brief 设置 PWM 组对应参数
* @param pwm_group: PWM 组别，目前有 4 组PWM
* @param period: 每组 PWM 对应周期时间，单位是微秒(us)
*/
void set_pwm_group_param(uint8_t pwm_group, uint32_t period);
/**
* @brief 设置 PWM IO 参数
* @param pwm_id: PWM IO 的 ID
* @param pulse: 配置 PWM 的高电平时间，单位是微秒(us)
*/
void set_pwm_param(uint8_t pwm_id, uint32_t pulse);
//蜂鸣器 IO
/* 板子上只有一个蜂鸣器 */
#define BEEP1_IO 1 //蜂鸣器1 IO
#define BEEP_FREQ 3000 //默认蜂鸣器频率
#define BEEP_ON 1 //打开蜂鸣器
#define BEEP_OFF 0 //关闭蜂鸣器
//蜂鸣器 IO 相关函数
/**
* @brief 设置蜂鸣器 IO 参数
* @param beep_id: 蜂鸣器的 ID
* @param freq: 配置蜂鸣器响的声音的频率(Hz)
* @param ctrl: 蜂鸣器开启控制，参数可以为BEEP_ON/BEEP_OFF
*/
void set_beep_param(uint8_t beep_id, uint32_t freq, uint8_t ctrl);
//按键 IO 接口定义
#define KEY_IO1 1 //用户按键1
#define KEY_IO2 2 //用户按键2
#define KEY_IO3 3 //用户按键3
#define KEY_IO4 4 //用户按键4
//按键 IO 相关函数
/**
* @brief 读按键 IO
* @param key_id: 按键 IO 的 ID
* @param value: 读取数据值的指针，读取的数据值为0或1，按键没有按下时为1，按下为0
*/
void read_key_io(uint8_t key_id, uint8_t *value);
//ADC IO 接口定义
#define ADC_IO1 1 //ADC接口1
//ADC IO 相关函数
/**
* @brief 读 ADC IO 数据
* @param adc_id: ADC IO 的 ID
* @param value: 读取数据值的指针，读取的数据值为 uint32_t 类型的正整数，
* 数据范围为 0 ~ 65535
* 目前只有一个 ADC 接口，用于拓展版上的霍尔传感器
*/
void read_adc_io(uint8_t adc_id, uint32_t *value);
//数码管接口定义
#define DIG_TUBE1 1
#define DIG_TUBE2 2
#define DIG_TUBE3 3
#define DIG_TUBE4 4
#define DIG_TUBE5 5
#define DIG_TUBE6 6
#define DIG_TUBE7 7
#define DIG_TUBE8 8
#define TUBE_ALL_ON 255 //数码管全亮
#define TUBE_ALL_OFF 0 //数码管全灭
//数码管接口相关函数
/**
* @brief 数码管初始化
* @usage 在使用数码管显示前使用，配置数码管各个控制引脚的功能，
* @attention 因为数码管控制接口和用户接口复用，在使用数码管时 9 个用户数字 IO 不能再被使用
*/
void digital_tube_init(void);
/**
* @brief 刷新所有数码管
* @usage 数码管需要显示新的数据时使用
*/
void refresh_digital_tube(void);
/**
* @brief 第几个数码管显示具体数字
* @param pos: 从左到右第几个数码管
* @param code: 数码管需要显示的数据，数据类型为 uint8_t 用 10 进制表示的范围为 0 ~ 255
* 8位数据由高到低分别对应每段的：A B C D E F G P
* 数码管的段和数据代码的对应位置1即可点亮，例如显示数字1，数据代码为96
* 每位的具体位置见说明书，其中 P 为小数点
*/
void switch_display_num(uint8_t pos, uint8_t code);
//其他外设接口相关函数
//flash
/**
* @brief 写 FLASH 设备
* @param write_data: 写入数据的指针
* @param len: 写入数据的长度
*/
void write_flash(uint8_t *write_data, uint32_t len);
/**
* @brief 读 FLASH 设备
* @param read_data: 读取数据的指针
* @param len: 读取数据的长度
*/
void read_flash(uint8_t *read_data, uint32_t len);
//imu
/**
* @brief 读取 IMU 数据
* @param imu_data: 接收 IMU 数据的结构体指针
* @usage 需要在循环任务中调用，用来刷新 IMU 数据
*/
void get_imu_data(imu_t *imu_data);
#endif
04_firmware/stm32/dji_a_board/RCPROyuan/User/startup.c
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/****************************************************************************
* RoboMentors www.robomentors.com.
* wechat:superzz8080
* 基于RoboMaster二次开发
***************************************************************************/
#include "startup.h"
#include "sys.h"
#include "uart_device.h"
#include "lingzu_motor.h"
#include "uart_task.h"
//运行在定义的任务函数执行前，可以用来初始化任务中用到的 IO 端口，配置、开启外界硬件设备，注册硬件设备的接收回调函数
void init_setup(void){
//关闭所有LED灯
write_led_io(LED_IO1, LED_OFF);
write_led_io(LED_IO2, LED_OFF);
write_led_io(LED_IO3, LED_OFF);
write_led_io(LED_IO4, LED_OFF);
write_led_io(LED_IO5, LED_OFF);
write_led_io(LED_IO6, LED_OFF);
write_led_io(LED_IO7, LED_OFF);
write_led_io(LED_IO8, LED_OFF);
digital_tube_init();
HAL_Delay(2000);
//初始化遥控器接收串口
uart_init(DBUS_UART, 100000, WORD_LEN_8B, STOP_BITS_2, PARITY_EVEN);
//注册遥控器接收数据回调函数
uart_recv_callback_register(DBUS_UART, dbus_uart_callback);
//开启遥控器接收
uart_receive_start(DBUS_UART, dbus_recv, DBUS_FRAME_SIZE);
//初始化 CAN 设备
can_device_init();
can_manual_init();
// 初始化灵足电机数据结构
Lingzu_Motor_Init_Structs();
//注册CAN的回调函数
can_recv_callback_register(USER_CAN1, can1_recv_callback);
can_recv_callback_register(USER_CAN2, can2_recv_callback);
//开启CAN接收数据中断
can_receive_start();
}
//开启相关任务函数
extern TaskHandle_t task1_t;
extern TaskHandle_t task2_t;
extern TaskHandle_t task3_t;
extern TaskHandle_t task4_t;
extern TaskHandle_t task5_t;
void sys_start_task(void){
#ifdef USER_TASK1
osThreadDef(ostask1, USER_TASK1, osPriorityAboveNormal, 0, 1024);
task1_t = osThreadCreate(osThread(ostask1), NULL);
#endif
#ifdef USER_TASK2
osThreadDef(ostask2, USER_TASK2, osPriorityAboveNormal, 0, 128);
task2_t = osThreadCreate(osThread(ostask2), NULL);
#endif
#ifdef USER_TASK3
osThreadDef(ostask3, USER_TASK3, osPriorityHigh, 0, 128);
task3_t = osThreadCreate(osThread(ostask3), NULL);
#endif
#ifdef USER_TASK4
osThreadDef(ostask4, USER_TASK4, osPriorityNormal, 0, 512);
task4_t = osThreadCreate(osThread(ostask4), NULL);
#endif
#ifdef USER_TASK5
osThreadDef(ostask5, USER_TASK5, osPriorityNormal, 0, 128);
task5_t = osThreadCreate(osThread(ostask5), NULL);
#endif
}
04_firmware/stm32/dji_a_board/RCPROyuan/User/startup.h
-58
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@@ -1,58 +0,0 @@
/****************************************************************************
* Copyright (C) 2018 RoboMaster.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of 
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
***************************************************************************/
/**
*********************** (C) COPYRIGHT 2018 DJI **********************
* @update
* @history
* Version Date Author Modification
* V1.0.0 January-15-2018 ric.luo
* @verbatim
*********************** (C) COPYRIGHT 2018 DJI **********************
*/
#ifndef __START_UP_H__
#define __START_UP_H__
#include "rm_hal_lib.h"
#include "cmsis_os.h"
#include "lingzu_task.h"
#include "uart_task.h"
/**
* @brief 最多支持 5 个任务函数的配置和开启
* @usage 首先开启 USER_TASKx 的宏定义，然后在 USER_TASKx 后添加需要开启的任务函数名
*/
#define USER_TASK1 lingzu_task
//#define USER_TASK2
//#define USER_TASK3
#define USER_TASK4 uart_task
//#define USER_TASK5
/**
* @brief 在任务函数执行前运行，可以用来初始化任务中用到的 IO 端口，
* 配置、开启外界硬件设备，注册硬件设备的接收回调函数
*/
void init_setup(void);
/**
* @brief 开启任务相关函数，在这里定义不需要改动
*/
void sys_start_task(void);
#endif
04_firmware/stm32/dji_a_board/RCPROyuan/User/sys.h
-35
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@@ -1,35 +0,0 @@
/**
* @file sys.h
* @brief 四足机器人系统配置 (精简版)
*
* 原文件来自 RoboMaster 步兵车模板, 包含大量底盘/云台/发射参数。
* 已删除所有与四足无关的内容, 仅保留系统级必要宏定义。
*/
#ifndef __SYS_H__
#define __SYS_H__
#include "rm_hal_lib.h"
/* ============================================================
* 串口 / DBUS 配置
* ============================================================ */
#define MAX_DMA_COUNT 200
#define DBUS_FRAME_SIZE 25
/* ============================================================
* 通用工具宏
* ============================================================ */
/** @brief 极值限制 */
#define VAL_LIMIT(val, min, max) \
if((val) <= (min)) \
{ \
(val) = (min); \
} \
else if((val) >= (max)) \
{ \
(val) = (max); \
}
#endif /* __SYS_H__ */
04_firmware/stm32/dji_a_board/RCPROyuan/keilkilll.bat
-27
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@@ -1,27 +0,0 @@
del *.bak /s
del *.ddk /s
del *.edk /s
del *.lst /s
del *.lnp /s
del *.mpf /s
del *.mpj /s
del *.obj /s
del *.omf /s
::del *.opt /s ::不允许删除JLINK的设置
del *.plg /s
del *.rpt /s
del *.tmp /s
del *.__i /s
del *.crf /s
del *.o /s
del *.d /s
del *.axf /s
del *.tra /s
del *.dep /s
del JLinkLog.txt /s
del *.iex /s
del *.htm /s
del *.sct /s
del *.map /s
exit
04_firmware/stm32/dji_a_board/rc_/.gitignore
-3
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@@ -1,3 +0,0 @@
.idea
.DS*
.git
04_firmware/stm32/dji_a_board/rc_/111.c
-1050
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File diff suppressed because it is too large Load Diff
04_firmware/stm32/dji_a_board/rc_/Inc/FreeRTOSConfig.h
-175
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@@ -1,175 +0,0 @@
/*
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
This file is part of the FreeRTOS distribution.
FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
***************************************************************************
>>! NOTE: The modification to the GPL is included to allow you to !<<
>>! distribute a combined work that includes FreeRTOS without being !<<
>>! obliged to provide the source code for proprietary components !<<
>>! outside of the FreeRTOS kernel. !<<
***************************************************************************
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. Full license text is available on the following
link: http://www.freertos.org/a00114.html
***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that is more than just the market leader, it *
* is the industry's de facto standard. *
* *
* Help yourself get started quickly while simultaneously helping *
* to support the FreeRTOS project by purchasing a FreeRTOS *
* tutorial book, reference manual, or both: *
* http://www.FreeRTOS.org/Documentation *
* *
***************************************************************************
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
the FAQ page "My application does not run, what could be wrong?". Have you
defined configASSERT()?
http://www.FreeRTOS.org/support - In return for receiving this top quality
embedded software for free we request you assist our global community by
participating in the support forum.
http://www.FreeRTOS.org/training - Investing in training allows your team to
be as productive as possible as early as possible. Now you can receive
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
Ltd, and the world's leading authority on the world's leading RTOS.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and commercial middleware.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
1 tab == 4 spaces!
*/
#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H
/*-----------------------------------------------------------
* Application specific definitions.
*
* These definitions should be adjusted for your particular hardware and
* application requirements.
*
* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
*
* See http://www.freertos.org/a00110.html.
*----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* Section where include file can be added */
/* USER CODE END Includes */
/* Ensure stdint is only used by the compiler, and not the assembler. */
#if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
#include <stdint.h>
#include "main.h"
extern uint32_t SystemCoreClock;
#endif
#define configUSE_PREEMPTION 1
#define configSUPPORT_STATIC_ALLOCATION 0
#define configSUPPORT_DYNAMIC_ALLOCATION 1
#define configUSE_IDLE_HOOK 0
#define configUSE_TICK_HOOK 0
#define configCPU_CLOCK_HZ ( SystemCoreClock )
#define configTICK_RATE_HZ ((TickType_t)1000)
#define configMAX_PRIORITIES ( 7 )
#define configMINIMAL_STACK_SIZE ((uint16_t)128)
#define configTOTAL_HEAP_SIZE ((size_t)15360)
#define configMAX_TASK_NAME_LEN ( 16 )
#define configUSE_16_BIT_TICKS 0
#define configUSE_MUTEXES 1
#define configQUEUE_REGISTRY_SIZE 8
#define configCHECK_FOR_STACK_OVERFLOW 1
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_COUNTING_SEMAPHORES 1
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
/* Co-routine definitions. */
#define configUSE_CO_ROUTINES 0
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */
#define INCLUDE_vTaskPrioritySet 1
#define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskCleanUpResources 0
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
#define INCLUDE_xTaskGetSchedulerState 1
#define INCLUDE_uxTaskGetStackHighWaterMark 1
/* Cortex-M specific definitions. */
#ifdef __NVIC_PRIO_BITS
/* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
#define configPRIO_BITS __NVIC_PRIO_BITS
#else
#define configPRIO_BITS 4
#endif
/* The lowest interrupt priority that can be used in a call to a "set priority"
function. */
#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 15
/* The highest interrupt priority that can be used by any interrupt service
routine that makes calls to interrupt safe FreeRTOS API functions. DO NOT CALL
INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
PRIORITY THAN THIS! (higher priorities are lower numeric values. */
#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
/* Interrupt priorities used by the kernel port layer itself. These are generic
to all Cortex-M ports, and do not rely on any particular library functions. */
#define configKERNEL_INTERRUPT_PRIORITY ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
#define configMAX_SYSCALL_INTERRUPT_PRIORITY ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
/* Normal assert() semantics without relying on the provision of an assert.h
header file. */
/* USER CODE BEGIN 1 */
#define configASSERT( x ) if ((x) == 0) {taskDISABLE_INTERRUPTS(); for( ;; );}
/* USER CODE END 1 */
/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
standard names. */
#define vPortSVCHandler SVC_Handler
#define xPortPendSVHandler PendSV_Handler
/* IMPORTANT: This define MUST be commented when used with STM32Cube firmware,
to prevent overwriting SysTick_Handler defined within STM32Cube HAL */
/* #define xPortSysTickHandler SysTick_Handler */
/* USER CODE BEGIN Defines */
/* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */
/* USER CODE END Defines */
#endif /* FREERTOS_CONFIG_H */
04_firmware/stm32/dji_a_board/rc_/Inc/RoboMentors_Board1_3.lib
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