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l-proger
2025-05-13 03:26:56 +03:00
parent 87a14db6f4
commit 154af64dde
563 changed files with 797817 additions and 0 deletions
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firmware/flight_controller_f4discovery/generated/Src/freertos.c
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/**
******************************************************************************
* File Name : freertos.c
* Description : Code for freertos applications
******************************************************************************
*
* COPYRIGHT(c) 2016 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 "FreeRTOS.h"
#include "task.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Variables -----------------------------------------------------------------*/
/* USER CODE BEGIN Variables */
/* USER CODE END Variables */
/* Function prototypes -------------------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
/* USER CODE END FunctionPrototypes */
/* Hook prototypes */
void configureTimerForRunTimeStats(void);
unsigned long getRunTimeCounterValue(void);
void vApplicationStackOverflowHook(TaskHandle_t xTask, signed char *pcTaskName);
void vApplicationMallocFailedHook(void);
/* USER CODE BEGIN 1 */
/* Functions needed when configGENERATE_RUN_TIME_STATS is on */
void configureTimerForRunTimeStats(void)
{
}
unsigned long getRunTimeCounterValue(void)
{
return 0;
}
/* USER CODE END 1 */
/* USER CODE BEGIN 4 */
void vApplicationStackOverflowHook(TaskHandle_t xTask, signed char *pcTaskName)
{
/* Run time stack overflow checking is performed if
configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook function is
called if a stack overflow is detected. */
}
/* USER CODE END 4 */
/* USER CODE BEGIN 5 */
void vApplicationMallocFailedHook(void)
{
/* vApplicationMallocFailedHook() will only be called if
configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
function that will get called if a call to pvPortMalloc() fails.
pvPortMalloc() is called internally by the kernel whenever a task, queue,
timer or semaphore is created. It is also called by various parts of the
demo application. If heap_1.c or heap_2.c are used, then the size of the
heap available to pvPortMalloc() is defined by configTOTAL_HEAP_SIZE in
FreeRTOSConfig.h, and the xPortGetFreeHeapSize() API function can be used
to query the size of free heap space that remains (although it does not
provide information on how the remaining heap might be fragmented). */
}
/* USER CODE END 5 */
/* USER CODE BEGIN Application */
/* USER CODE END Application */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
firmware/flight_controller_f4discovery/generated/Src/main.c
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/**
******************************************************************************
* File Name : main.c
* Description : Main program body
******************************************************************************
*
* COPYRIGHT(c) 2016 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 "cmsis_os.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private variables ---------------------------------------------------------*/
SPI_HandleTypeDef hspi2;
TIM_HandleTypeDef htim1;
UART_HandleTypeDef huart2;
PCD_HandleTypeDef hpcd_USB_OTG_FS;
osThreadId defaultTaskHandle;
/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_SPI2_Init(void);
static void MX_USART2_UART_Init(void);
static void MX_TIM1_Init(void);
static void MX_USB_OTG_FS_PCD_Init(void);
void StartDefaultTask(void const * argument);
/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE END PFP */
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_SPI2_Init();
MX_USART2_UART_Init();
MX_TIM1_Init();
MX_USB_OTG_FS_PCD_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
/* USER CODE BEGIN RTOS_MUTEX */
/* add mutexes, ... */
/* USER CODE END RTOS_MUTEX */
/* USER CODE BEGIN RTOS_SEMAPHORES */
/* add semaphores, ... */
/* USER CODE END RTOS_SEMAPHORES */
/* USER CODE BEGIN RTOS_TIMERS */
/* start timers, add new ones, ... */
/* USER CODE END RTOS_TIMERS */
/* Create the thread(s) */
/* definition and creation of defaultTask */
osThreadDef(defaultTask, StartDefaultTask, osPriorityNormal, 0, 800);
defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL);
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
/* USER CODE END RTOS_THREADS */
/* USER CODE BEGIN RTOS_QUEUES */
/* add queues, ... */
/* USER CODE END RTOS_QUEUES */
/* Start scheduler */
osKernelStart();
/* We should never get here as control is now taken by the scheduler */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/** System Clock Configuration
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct;
RCC_ClkInitTypeDef RCC_ClkInitStruct;
__PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 8;
RCC_OscInitStruct.PLL.PLLN = 336;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 7;
HAL_RCC_OscConfig(&RCC_OscInitStruct);
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5);
HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
/* SysTick_IRQn interrupt configuration */
HAL_NVIC_SetPriority(SysTick_IRQn, 15, 0);
}
/* SPI2 init function */
void MX_SPI2_Init(void)
{
hspi2.Instance = SPI2;
hspi2.Init.Mode = SPI_MODE_MASTER;
hspi2.Init.Direction = SPI_DIRECTION_2LINES;
hspi2.Init.DataSize = SPI_DATASIZE_8BIT;
hspi2.Init.CLKPolarity = SPI_POLARITY_LOW;
hspi2.Init.CLKPhase = SPI_PHASE_1EDGE;
hspi2.Init.NSS = SPI_NSS_SOFT;
hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8;
hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB;
hspi2.Init.TIMode = SPI_TIMODE_DISABLED;
hspi2.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLED;
hspi2.Init.CRCPolynomial = 10;
HAL_SPI_Init(&hspi2);
}
/* TIM1 init function */
void MX_TIM1_Init(void)
{
TIM_ClockConfigTypeDef sClockSourceConfig;
TIM_MasterConfigTypeDef sMasterConfig;
TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig;
TIM_OC_InitTypeDef sConfigOC;
htim1.Instance = TIM1;
htim1.Init.Prescaler = 0;
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
htim1.Init.Period = 0;
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim1.Init.RepetitionCounter = 0;
HAL_TIM_Base_Init(&htim1);
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig);
HAL_TIM_OC_Init(&htim1);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig);
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
sBreakDeadTimeConfig.DeadTime = 0;
sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig);
sConfigOC.OCMode = TIM_OCMODE_TIMING;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
HAL_TIM_OC_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1);
}
/* USART2 init function */
void MX_USART2_UART_Init(void)
{
huart2.Instance = USART2;
huart2.Init.BaudRate = 256000;
huart2.Init.WordLength = UART_WORDLENGTH_8B;
huart2.Init.StopBits = UART_STOPBITS_1;
huart2.Init.Parity = UART_PARITY_NONE;
huart2.Init.Mode = UART_MODE_TX_RX;
huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart2.Init.OverSampling = UART_OVERSAMPLING_16;
HAL_UART_Init(&huart2);
}
/* USB_OTG_FS init function */
void MX_USB_OTG_FS_PCD_Init(void)
{
hpcd_USB_OTG_FS.Instance = USB_OTG_FS;
hpcd_USB_OTG_FS.Init.dev_endpoints = 7;
hpcd_USB_OTG_FS.Init.speed = PCD_SPEED_FULL;
hpcd_USB_OTG_FS.Init.dma_enable = DISABLE;
hpcd_USB_OTG_FS.Init.ep0_mps = DEP0CTL_MPS_64;
hpcd_USB_OTG_FS.Init.phy_itface = PCD_PHY_EMBEDDED;
hpcd_USB_OTG_FS.Init.Sof_enable = DISABLE;
hpcd_USB_OTG_FS.Init.low_power_enable = DISABLE;
hpcd_USB_OTG_FS.Init.lpm_enable = DISABLE;
hpcd_USB_OTG_FS.Init.vbus_sensing_enable = DISABLE;
hpcd_USB_OTG_FS.Init.use_dedicated_ep1 = DISABLE;
HAL_PCD_Init(&hpcd_USB_OTG_FS);
}
/** Configure pins as
* Analog
* Input
* Output
* EVENT_OUT
* EXTI
PC3 ------> I2S2_SD
PA4 ------> I2S3_WS
PA5 ------> SPI1_SCK
PA6 ------> SPI1_MISO
PA7 ------> SPI1_MOSI
PB10 ------> I2S2_CK
PC7 ------> I2S3_MCK
PC10 ------> I2S3_CK
PC12 ------> I2S3_SD
PB6 ------> I2C1_SCL
PB9 ------> I2C1_SDA
*/
void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
/* GPIO Ports Clock Enable */
__GPIOE_CLK_ENABLE();
__GPIOC_CLK_ENABLE();
__GPIOH_CLK_ENABLE();
__GPIOA_CLK_ENABLE();
__GPIOB_CLK_ENABLE();
__GPIOD_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(CS_I2C_SPI_GPIO_Port, CS_I2C_SPI_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(OTG_FS_PowerSwitchOn_GPIO_Port, OTG_FS_PowerSwitchOn_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOD, RADIO_CE_Pin|RADIO_CSN_Pin|LD4_Pin|LD3_Pin
|LD5_Pin|LD6_Pin|Audio_RST_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : CS_I2C_SPI_Pin */
GPIO_InitStruct.Pin = CS_I2C_SPI_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
HAL_GPIO_Init(CS_I2C_SPI_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : OTG_FS_PowerSwitchOn_Pin */
GPIO_InitStruct.Pin = OTG_FS_PowerSwitchOn_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
HAL_GPIO_Init(OTG_FS_PowerSwitchOn_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : PDM_OUT_Pin */
GPIO_InitStruct.Pin = PDM_OUT_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF5_SPI2;
HAL_GPIO_Init(PDM_OUT_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : B1_Pin */
GPIO_InitStruct.Pin = B1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_EVT_RISING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(B1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : PA4 */
GPIO_InitStruct.Pin = GPIO_PIN_4;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF6_SPI3;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pins : PA5 PA6 PA7 */
GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF5_SPI1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pin : BOOT1_Pin */
GPIO_InitStruct.Pin = BOOT1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(BOOT1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : CLK_IN_Pin */
GPIO_InitStruct.Pin = CLK_IN_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF5_SPI2;
HAL_GPIO_Init(CLK_IN_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : RADIO_IRQ_Pin */
GPIO_InitStruct.Pin = RADIO_IRQ_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(RADIO_IRQ_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : RADIO_CE_Pin RADIO_CSN_Pin LD4_Pin LD3_Pin
LD5_Pin LD6_Pin Audio_RST_Pin */
GPIO_InitStruct.Pin = RADIO_CE_Pin|RADIO_CSN_Pin|LD4_Pin|LD3_Pin
|LD5_Pin|LD6_Pin|Audio_RST_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
/*Configure GPIO pins : PC7 I2S3_SCK_Pin PC12 */
GPIO_InitStruct.Pin = GPIO_PIN_7|I2S3_SCK_Pin|GPIO_PIN_12;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF6_SPI3;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : OTG_FS_OverCurrent_Pin */
GPIO_InitStruct.Pin = OTG_FS_OverCurrent_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(OTG_FS_OverCurrent_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : Audio_SCL_Pin Audio_SDA_Pin */
GPIO_InitStruct.Pin = Audio_SCL_Pin|Audio_SDA_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF4_I2C1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pin : MEMS_INT2_Pin */
GPIO_InitStruct.Pin = MEMS_INT2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_EVT_RISING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(MEMS_INT2_GPIO_Port, &GPIO_InitStruct);
/* EXTI interrupt init*/
HAL_NVIC_SetPriority(EXTI15_10_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);
}
/* USER CODE BEGIN 4 */
extern void flight_controller_main();
/* USER CODE END 4 */
/* StartDefaultTask function */
void StartDefaultTask(void const * argument)
{
/* USER CODE BEGIN 5 */
/* Infinite loop */
flight_controller_main();
for(;;)
{
osDelay(1);
}
/* USER CODE END 5 */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t* file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
firmware/flight_controller_f4discovery/generated/Src/stm32f4xx_hal_msp.c
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/**tttttttttt
******************************************************************************
* File Name : stm32f4xx_hal_msp.c
* Description : This file provides code for the MSP Initialization
* and de-Initialization codes.
******************************************************************************
*
* COPYRIGHT(c) 2016 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"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* Initializes the Global MSP.
*/
void HAL_MspInit(void)
{
/* USER CODE BEGIN MspInit 0 */
/* USER CODE END MspInit 0 */
HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_4);
/* System interrupt init*/
/* SysTick_IRQn interrupt configuration */
HAL_NVIC_SetPriority(SysTick_IRQn, 15, 0);
/* Peripheral interrupt init*/
/* PVD_IRQn interrupt configuration */
HAL_NVIC_SetPriority(PVD_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(PVD_IRQn);
/* USER CODE BEGIN MspInit 1 */
/* USER CODE END MspInit 1 */
}
void HAL_SPI_MspInit(SPI_HandleTypeDef* hspi)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(hspi->Instance==SPI2)
{
/* USER CODE BEGIN SPI2_MspInit 0 */
/* USER CODE END SPI2_MspInit 0 */
/* Peripheral clock enable */
__SPI2_CLK_ENABLE();
/**SPI2 GPIO Configuration
PC2 ------> SPI2_MISO
PB13 ------> SPI2_SCK
PB15 ------> SPI2_MOSI
*/
GPIO_InitStruct.Pin = GPIO_PIN_2;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF5_SPI2;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_15;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF5_SPI2;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* USER CODE BEGIN SPI2_MspInit 1 */
/* USER CODE END SPI2_MspInit 1 */
}
}
void HAL_SPI_MspDeInit(SPI_HandleTypeDef* hspi)
{
if(hspi->Instance==SPI2)
{
/* USER CODE BEGIN SPI2_MspDeInit 0 */
/* USER CODE END SPI2_MspDeInit 0 */
/* Peripheral clock disable */
__SPI2_CLK_DISABLE();
/**SPI2 GPIO Configuration
PC2 ------> SPI2_MISO
PB13 ------> SPI2_SCK
PB15 ------> SPI2_MOSI
*/
HAL_GPIO_DeInit(GPIOC, GPIO_PIN_2);
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_13|GPIO_PIN_15);
}
/* USER CODE BEGIN SPI2_MspDeInit 1 */
/* USER CODE END SPI2_MspDeInit 1 */
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
{
if(htim_base->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspInit 0 */
/* USER CODE END TIM1_MspInit 0 */
/* Peripheral clock enable */
__TIM1_CLK_ENABLE();
/* USER CODE BEGIN TIM1_MspInit 1 */
/* USER CODE END TIM1_MspInit 1 */
}
}
void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
{
if(htim_base->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspDeInit 0 */
/* USER CODE END TIM1_MspDeInit 0 */
/* Peripheral clock disable */
__TIM1_CLK_DISABLE();
}
/* USER CODE BEGIN TIM1_MspDeInit 1 */
/* USER CODE END TIM1_MspDeInit 1 */
}
void HAL_UART_MspInit(UART_HandleTypeDef* huart)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(huart->Instance==USART2)
{
/* USER CODE BEGIN USART2_MspInit 0 */
/* USER CODE END USART2_MspInit 0 */
/* Peripheral clock enable */
__USART2_CLK_ENABLE();
/**USART2 GPIO Configuration
PA2 ------> USART2_TX
PA3 ------> USART2_RX
*/
GPIO_InitStruct.Pin = GPIO_PIN_2|GPIO_PIN_3;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF7_USART2;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN USART2_MspInit 1 */
/* USER CODE END USART2_MspInit 1 */
}
}
void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
{
if(huart->Instance==USART2)
{
/* USER CODE BEGIN USART2_MspDeInit 0 */
/* USER CODE END USART2_MspDeInit 0 */
/* Peripheral clock disable */
__USART2_CLK_DISABLE();
/**USART2 GPIO Configuration
PA2 ------> USART2_TX
PA3 ------> USART2_RX
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_2|GPIO_PIN_3);
}
/* USER CODE BEGIN USART2_MspDeInit 1 */
/* USER CODE END USART2_MspDeInit 1 */
}
void HAL_PCD_MspInit(PCD_HandleTypeDef* hpcd)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(hpcd->Instance==USB_OTG_FS)
{
/* USER CODE BEGIN USB_OTG_FS_MspInit 0 */
/* USER CODE END USB_OTG_FS_MspInit 0 */
/**USB_OTG_FS GPIO Configuration
PA9 ------> USB_OTG_FS_VBUS
PA10 ------> USB_OTG_FS_ID
PA11 ------> USB_OTG_FS_DM
PA12 ------> USB_OTG_FS_DP
*/
GPIO_InitStruct.Pin = VBUS_FS_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(VBUS_FS_GPIO_Port, &GPIO_InitStruct);
GPIO_InitStruct.Pin = OTG_FS_ID_Pin|OTG_FS_DM_Pin|OTG_FS_DP_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF10_OTG_FS;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* Peripheral clock enable */
__USB_OTG_FS_CLK_ENABLE();
/* Peripheral interrupt init*/
HAL_NVIC_SetPriority(OTG_FS_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(OTG_FS_IRQn);
/* USER CODE BEGIN USB_OTG_FS_MspInit 1 */
/* USER CODE END USB_OTG_FS_MspInit 1 */
}
}
void HAL_PCD_MspDeInit(PCD_HandleTypeDef* hpcd)
{
if(hpcd->Instance==USB_OTG_FS)
{
/* USER CODE BEGIN USB_OTG_FS_MspDeInit 0 */
/* USER CODE END USB_OTG_FS_MspDeInit 0 */
/* Peripheral clock disable */
__USB_OTG_FS_CLK_DISABLE();
/**USB_OTG_FS GPIO Configuration
PA9 ------> USB_OTG_FS_VBUS
PA10 ------> USB_OTG_FS_ID
PA11 ------> USB_OTG_FS_DM
PA12 ------> USB_OTG_FS_DP
*/
HAL_GPIO_DeInit(GPIOA, VBUS_FS_Pin|OTG_FS_ID_Pin|OTG_FS_DM_Pin|OTG_FS_DP_Pin);
/* Peripheral interrupt DeInit*/
HAL_NVIC_DisableIRQ(OTG_FS_IRQn);
}
/* USER CODE BEGIN USB_OTG_FS_MspDeInit 1 */
/* USER CODE END USB_OTG_FS_MspDeInit 1 */
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
firmware/flight_controller_f4discovery/generated/Src/stm32f4xx_hal_timebase_TIM.c
+156
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@@ -0,0 +1,156 @@
/**
******************************************************************************
* @file stm32f4xx_hal_timebase_TIM.c
* @brief HAL time base based on the hardware TIM.
******************************************************************************
*
* COPYRIGHT(c) 2016 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_hal_tim.h"
/** @addtogroup STM32F7xx_HAL_Examples
* @{
*/
/** @addtogroup HAL_TimeBase
* @{
*/
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
TIM_HandleTypeDef htim2;
uint32_t uwIncrementState = 0;
/* Private function prototypes -----------------------------------------------*/
/* Private functions ---------------------------------------------------------*/
/**
* @brief This function configures the TIM2 as a time base source.
* The time source is configured to have 1ms time base with a dedicated
* Tick interrupt priority.
* @note This function is called automatically at the beginning of program after
* reset by HAL_Init() or at any time when clock is configured, by HAL_RCC_ClockConfig().
* @param TickPriority: Tick interrupt priorty.
* @retval HAL status
*/
HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
{
RCC_ClkInitTypeDef clkconfig;
uint32_t uwTimclock = 0;
uint32_t uwPrescalerValue = 0;
uint32_t pFLatency;
/*Configure the TIM2 IRQ priority */
HAL_NVIC_SetPriority(TIM2_IRQn, TickPriority ,0);
/* Enable the TIM2 global Interrupt */
HAL_NVIC_EnableIRQ(TIM2_IRQn);
/* Enable TIM2 clock */
__HAL_RCC_TIM2_CLK_ENABLE();
/* Get clock configuration */
HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);
/* Compute TIM2 clock */
uwTimclock = 2*HAL_RCC_GetPCLK1Freq();
/* Compute the prescaler value to have TIM2 counter clock equal to 1MHz */
uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000) - 1);
/* Initialize TIM2 */
htim2.Instance = TIM2;
/* Initialize TIMx peripheral as follow:
+ Period = [(TIM2CLK/1000) - 1]. to have a (1/1000) s time base.
+ Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock.
+ ClockDivision = 0
+ Counter direction = Up
*/
htim2.Init.Period = (1000000 / 1000) - 1;
htim2.Init.Prescaler = uwPrescalerValue;
htim2.Init.ClockDivision = 0;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
if(HAL_TIM_Base_Init(&htim2) == HAL_OK)
{
/* Start the TIM time Base generation in interrupt mode */
return HAL_TIM_Base_Start_IT(&htim2);
}
/* Return function status */
return HAL_ERROR;
}
/**
* @brief Suspend Tick increment.
* @note Disable the tick increment by disabling TIM2 update interrupt.
* @param None
* @retval None
*/
void HAL_SuspendTick(void)
{
/* Disable TIM2 update Interrupt */
__HAL_TIM_DISABLE_IT(&htim2, TIM_IT_UPDATE);
}
/**
* @brief Resume Tick increment.
* @note Enable the tick increment by Enabling TIM2 update interrupt.
* @param None
* @retval None
*/
void HAL_ResumeTick(void)
{
/* Enable TIM2 Update interrupt */
__HAL_TIM_ENABLE_IT(&htim2, TIM_IT_UPDATE);
}
/**
* @brief Period elapsed callback in non blocking mode
* @note This function is called when TIM2 interrupt took place, inside
* HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
* a global variable "uwTick" used as application time base.
* @param htim : TIM handle
* @retval None
*/
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
HAL_IncTick();
}
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
firmware/flight_controller_f4discovery/generated/Src/stm32f4xx_it.c
+132
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@@ -0,0 +1,132 @@
/**
******************************************************************************
* @file stm32f4xx_it.c
* @brief Interrupt Service Routines.
******************************************************************************
*
* COPYRIGHT(c) 2016 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 */
/* USER CODE END 0 */
/* External variables --------------------------------------------------------*/
extern PCD_HandleTypeDef hpcd_USB_OTG_FS;
extern TIM_HandleTypeDef htim2;
/******************************************************************************/
/* Cortex-M4 Processor Interruption and Exception Handlers */
/******************************************************************************/
/**
* @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 PVD interrupt through EXTI line 16.
*/
void PVD_IRQHandler(void)
{
/* USER CODE BEGIN PVD_IRQn 0 */
/* USER CODE END PVD_IRQn 0 */
HAL_PWR_PVD_IRQHandler();
/* USER CODE BEGIN PVD_IRQn 1 */
/* USER CODE END PVD_IRQn 1 */
}
/**
* @brief This function handles TIM2 global interrupt.
*/
void TIM2_IRQHandler(void)
{
/* USER CODE BEGIN TIM2_IRQn 0 */
/* USER CODE END TIM2_IRQn 0 */
HAL_TIM_IRQHandler(&htim2);
/* USER CODE BEGIN TIM2_IRQn 1 */
/* USER CODE END TIM2_IRQn 1 */
}
/**
* @brief This function handles EXTI line[15:10] interrupts.
*/
void EXTI15_10_IRQHandler(void)
{
/* USER CODE BEGIN EXTI15_10_IRQn 0 */
/* USER CODE END EXTI15_10_IRQn 0 */
HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_14);
/* USER CODE BEGIN EXTI15_10_IRQn 1 */
/* USER CODE END EXTI15_10_IRQn 1 */
}
/**
* @brief This function handles USB On The Go FS global interrupt.
*/
void OTG_FS_IRQHandler(void)
{
/* USER CODE BEGIN OTG_FS_IRQn 0 */
/* USER CODE END OTG_FS_IRQn 0 */
HAL_PCD_IRQHandler(&hpcd_USB_OTG_FS);
/* USER CODE BEGIN OTG_FS_IRQn 1 */
/* USER CODE END OTG_FS_IRQn 1 */
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/