Browse Source

update

master
zhaohe 2 years ago
parent
commit
1dcc626188
  1. 13
      .cproject
  2. 3
      .gitignore
  3. 420
      .metadata/.ide.log
  4. 0
      .metadata/.lock
  5. 15
      .metadata/.log
  6. 18
      .metadata/.log4j2.xml
  7. 0
      .metadata/.plugins/com.st.stm32cube.ide.mcu.informationcenter/2.2.0.202306231147
  8. 1
      .metadata/.plugins/org.eclipse.cdt.core/.log
  9. 1
      .metadata/.plugins/org.eclipse.cdt.make.core/specs.c
  10. 1
      .metadata/.plugins/org.eclipse.cdt.make.core/specs.cpp
  11. 5
      .metadata/.plugins/org.eclipse.cdt.make.ui/dialog_settings.xml
  12. 1
      .metadata/.plugins/org.eclipse.core.resources/.root/.indexes/history.version
  13. 1
      .metadata/.plugins/org.eclipse.core.resources/.root/.indexes/properties.version
  14. BIN
      .metadata/.plugins/org.eclipse.core.resources/.root/1.tree
  15. BIN
      .metadata/.plugins/org.eclipse.core.resources/.safetable/org.eclipse.core.resources
  16. 2
      .metadata/.plugins/org.eclipse.core.runtime/.settings/com.st.stm32cube.ide.mcu.ide.oss.prefs
  17. 2
      .metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.cdt.debug.core.prefs
  18. 4
      .metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.cdt.ui.prefs
  19. 2
      .metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.core.resources.prefs
  20. 5
      .metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.debug.core.prefs
  21. 2
      .metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.debug.ui.prefs
  22. 2
      .metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.browser.prefs
  23. 4
      .metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.ide.prefs
  24. 2
      .metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.navigator.prefs
  25. 2
      .metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.prefs
  26. 9
      .metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.workbench.prefs
  27. 2
      .metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.urischeme.prefs
  28. 1949
      .metadata/.plugins/org.eclipse.e4.workbench/workbench.xmi
  29. 16
      .metadata/.plugins/org.eclipse.ui.ide/dialog_settings.xml
  30. 5
      .metadata/.plugins/org.eclipse.ui.workbench/dialog_settings.xml
  31. 4
      .metadata/.plugins/org.eclipse.ui.workbench/workingsets.xml
  32. 3
      .metadata/version.ini
  33. 2
      .settings/language.settings.xml
  34. 2
      Core/Inc/stm32f4xx_it.h
  35. 30
      Core/Src/stm32f4xx_it.c
  36. 14
      Core/Src/tim.c
  37. 44
      flia_robot_arm_v1 Debug.cfg
  38. 98
      flia_robot_arm_v1 Debug.launch
  39. 2
      flia_robot_arm_v1.ioc
  40. 2
      sdk
  41. 6
      usrc/project_configs.h

13
.cproject

@ -84,6 +84,11 @@
<listOptionValue builtIn="false" value="../Drivers/CMSIS/Include"/>
</option>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.languagestandard.1505174756" name="Language standard" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.languagestandard" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.languagestandard.value.gnupp20" valueType="enumerated"/>
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.otherflags.1130332628" name="Other flags" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.otherflags" useByScannerDiscovery="true" valueType="stringList">
<listOptionValue builtIn="false" value="-Wno-volatile"/>
<listOptionValue builtIn="false" value="-Wno-sign-compare"/>
<listOptionValue builtIn="false" value="-Wno-unused-variable"/>
</option>
<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.input.cpp.54112860" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.input.cpp"/>
</tool>
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.163881313" name="MCU GCC Linker" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker"/>
@ -105,11 +110,11 @@
</toolChain>
</folderInfo>
<sourceEntries>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="sdk"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Core"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Middlewares"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="sdk"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="usrc"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
</sourceEntries>
</configuration>
</storageModule>
@ -202,11 +207,11 @@
</toolChain>
</folderInfo>
<sourceEntries>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="sdk"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Core"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Middlewares"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="sdk"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="usrc"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
</sourceEntries>
</configuration>
</storageModule>

3
.gitignore

@ -1 +1,2 @@
Debug
Debug
Release

420
.metadata/.ide.log
File diff suppressed because it is too large
View File

0
.metadata/.lock

15
.metadata/.log

@ -0,0 +1,15 @@
!SESSION 2023-09-25 09:29:27.836 -----------------------------------------------
eclipse.buildId=Version 1.13.0
java.version=17.0.6
java.vendor=Eclipse Adoptium
BootLoader constants: OS=win32, ARCH=x86_64, WS=win32, NL=zh_CN
Command-line arguments: -os win32 -ws win32 -arch x86_64
!ENTRY com.st.stm32cube.ide.mcu.informationcenter 4 4 2023-09-25 09:30:09.967
!MESSAGE CubeMX plugin appears to be active, Log4j initialization might be too late.
!ENTRY com.st.stm32cube.ide.mcu.informationcenter 1 1 2023-09-25 09:30:09.988
!MESSAGE Log4j2 initialized with config file D:\workspace\project_boditech_vidas_a8000_v2\flia_robot_arm_v1\.metadata\.log4j2.xml
!ENTRY com.st.stm32cube.ide.mcu.ide 1 1 2023-09-25 09:30:12.412
!MESSAGE Started RMI Server, listening on port 41337

18
.metadata/.log4j2.xml

@ -0,0 +1,18 @@
<?xml version="1.0" encoding="UTF-8"?>
<Configuration status="info">
<ThresholdFilter level="INFO"/>
<Appenders>
<RollingFile name="DEBUGFILE" fileName="D:/workspace/project_boditech_vidas_a8000_v2/flia_robot_arm_v1/.metadata/.ide.log" filePattern="D:/workspace/project_boditech_vidas_a8000_v2/flia_robot_arm_v1/.metadata/.ide.log-%d{yyyy-MM-dd}.log">
<PatternLayout pattern="%d{yyyy-MM-dd HH:mm:ss,SSS} [%p] %c{1}:%L - %m%n" />
<Policies>
<TimeBasedTriggeringPolicy interval="1" modulate="true" />
<SizeBasedTriggeringPolicy size="50MB"/>
</Policies>
</RollingFile>
</Appenders>
<Loggers>
<Root level="ALL">
<AppenderRef ref="DEBUGFILE" />
</Root>
</Loggers>
</Configuration>

0
.metadata/.plugins/com.st.stm32cube.ide.mcu.informationcenter/2.2.0.202306231147

1
.metadata/.plugins/org.eclipse.cdt.core/.log

@ -0,0 +1 @@
*** SESSION 9月 25, 2023 09:30:07.997 -------------------------------------------

1
.metadata/.plugins/org.eclipse.cdt.make.core/specs.c

@ -0,0 +1 @@

1
.metadata/.plugins/org.eclipse.cdt.make.core/specs.cpp

@ -0,0 +1 @@

5
.metadata/.plugins/org.eclipse.cdt.make.ui/dialog_settings.xml

@ -0,0 +1,5 @@
<?xml version="1.0" encoding="UTF-8"?>
<section name="Workbench">
<section name="org.eclipse.cdt.internal.ui.MakeView">
</section>
</section>

1
.metadata/.plugins/org.eclipse.core.resources/.root/.indexes/history.version

@ -0,0 +1 @@


1
.metadata/.plugins/org.eclipse.core.resources/.root/.indexes/properties.version

@ -0,0 +1 @@


BIN
.metadata/.plugins/org.eclipse.core.resources/.root/1.tree

BIN
.metadata/.plugins/org.eclipse.core.resources/.safetable/org.eclipse.core.resources

2
.metadata/.plugins/org.eclipse.core.runtime/.settings/com.st.stm32cube.ide.mcu.ide.oss.prefs

@ -0,0 +1,2 @@
eclipse.preferences.version=1
project_presentation/setHierarchicalMode=false

2
.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.cdt.debug.core.prefs

@ -0,0 +1,2 @@
eclipse.preferences.version=1
org.eclipse.cdt.debug.core.cDebug.default_source_containers=<?xml version\="1.0" encoding\="UTF-8" standalone\="no"?>\r\n<sourceLookupDirector>\r\n <sourceContainers duplicates\="false">\r\n <container memento\="AbsolutePath" typeId\="org.eclipse.cdt.debug.core.containerType.absolutePath"/>\r\n <container memento\="programRelativePath" typeId\="org.eclipse.cdt.debug.core.containerType.programRelativePath"/>\r\n <container memento\="&lt;?xml version\=&quot;1.0&quot; encoding\=&quot;UTF-8&quot; standalone\=&quot;no&quot;?&gt;&\#13;&\#10;&lt;project referencedProjects\=&quot;true&quot;/&gt;&\#13;&\#10;" typeId\="org.eclipse.cdt.debug.core.containerType.project"/>\r\n </sourceContainers>\r\n</sourceLookupDirector>\r\n

4
.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.cdt.ui.prefs

@ -0,0 +1,4 @@
eclipse.preferences.version=1
spelling_locale_initialized=true
useAnnotationsPrefPage=true
useQuickDiffPrefPage=true

2
.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.core.resources.prefs

@ -0,0 +1,2 @@
eclipse.preferences.version=1
version=1

5
.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.debug.core.prefs

@ -0,0 +1,5 @@
//org.eclipse.debug.core.PREFERRED_DELEGATES/org.eclipse.cdt.launch.applicationLaunchType=org.eclipse.cdt.dsf.gdb.launch.localCLaunch,debug,;org.eclipse.cdt.cdi.launch.localCLaunch,run,;
//org.eclipse.debug.core.PREFERRED_DELEGATES/org.eclipse.cdt.launch.attachLaunchType=org.eclipse.cdt.dsf.gdb.launch.attachCLaunch,debug,;
//org.eclipse.debug.core.PREFERRED_DELEGATES/org.eclipse.cdt.launch.postmortemLaunchType=org.eclipse.cdt.dsf.gdb.launch.coreCLaunch,debug,;
//org.eclipse.debug.core.PREFERRED_DELEGATES/org.eclipse.cdt.launch.remoteApplicationLaunchType=org.eclipse.rse.remotecdt.dsf.debug,debug,;
eclipse.preferences.version=1

2
.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.debug.ui.prefs

@ -0,0 +1,2 @@
eclipse.preferences.version=1
org.eclipse.debug.ui.PREF_LAUNCH_PERSPECTIVES=<?xml version\="1.0" encoding\="UTF-8" standalone\="no"?>\r\n<launchPerspectives/>\r\n

2
.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.browser.prefs

@ -0,0 +1,2 @@
browsers=<?xml version\="1.0" encoding\="UTF-8"?>\r\n<web-browsers current\="0">\r\n<system/>\r\n<external location\="C\:\\Program Files\\Internet Explorer\\iexplore.exe" name\="Internet Explorer"/>\r\n<external location\="C\:\\Program Files (x86)\\Microsoft\\Edge\\Application\\msedge.exe" name\="Microsoft Edge"/>\r\n<external location\="C\:\\Program Files\\Google\\Chrome\\Application\\chrome.exe" name\="Chrome"/>\r\n</web-browsers>
eclipse.preferences.version=1

4
.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.ide.prefs

@ -0,0 +1,4 @@
eclipse.preferences.version=1
platformState=1690251244954
quickStart=false
tipsAndTricks=true

2
.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.navigator.prefs

@ -0,0 +1,2 @@
eclipse.preferences.version=1
org.eclipse.ui.navigator.ProjectExplorer.filterActivation=\:org.eclipse.ui.navigator.resources.filters.startsWithDot\:org.eclipse.cdt.ui.navigator.filters.AnonymousStructFilter\:org.eclipse.ui.navigator.resources.nested.HideTopLevelProjectIfNested\:org.eclipse.ui.navigator.resources.nested.HideFolderWhenProjectIsShownAsNested\:org.eclipse.cdt.ui.navigator.filters.ForwardDeclarationFilter\:

2
.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.prefs

@ -0,0 +1,2 @@
eclipse.preferences.version=1
showIntro=false

9
.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.workbench.prefs

@ -0,0 +1,9 @@
//org.eclipse.ui.commands/state/com.st.stm32cube.ide.mcu.buildanalyzer.showstate/org.eclipse.ui.commands.radioState=human
//org.eclipse.ui.commands/state/org.eclipse.ui.navigator.resources.nested.changeProjectPresentation/org.eclipse.ui.commands.radioState=false
eclipse.preferences.version=1
org.eclipse.ui.workbench.ACTIVE_NOFOCUS_TAB_BG_END=255,255,255
org.eclipse.ui.workbench.ACTIVE_NOFOCUS_TAB_BG_START=255,255,255
org.eclipse.ui.workbench.ACTIVE_NOFOCUS_TAB_TEXT_COLOR=16,16,16
org.eclipse.ui.workbench.ACTIVE_TAB_BG_END=255,255,255
org.eclipse.ui.workbench.ACTIVE_TAB_BG_START=255,255,255
org.eclipse.ui.workbench.INACTIVE_TAB_BG_START=242,242,242

2
.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.urischeme.prefs

@ -0,0 +1,2 @@
eclipse.preferences.version=1
processedSchemes=,eclipse+command,eclipse+mpc

1949
.metadata/.plugins/org.eclipse.e4.workbench/workbench.xmi
File diff suppressed because it is too large
View File

16
.metadata/.plugins/org.eclipse.ui.ide/dialog_settings.xml

@ -0,0 +1,16 @@
<?xml version="1.0" encoding="UTF-8"?>
<section name="Workbench">
<section name="ExternalProjectImportWizard">
<item key="WizardProjectsImportPage.STORE_NESTED_PROJECTS" value="true"/>
<item key="WizardProjectsImportPage.STORE_COPY_PROJECT_ID" value="false"/>
<item key="WizardProjectsImportPage.STORE_ARCHIVE_SELECTED" value="false"/>
<item key="WizardProjectsImportPage.STORE_CLOSE_CREATED_PROJECTS_ID" value="false"/>
<item key="WizardProjectsImportPage.STORE_HIDE_CONFLICTING_PROJECTS_ID" value="false"/>
<list key="WizardProjectsImportPage.STORE_DIRECTORIES">
<item value="D:\workspace\project_boditech_vidas_a8000_v2\flia_robot_arm_v1"/>
</list>
<list key="WizardProjectsImportPage.STORE_ARCHIVES">
<item value=""/>
</list>
</section>
</section>

5
.metadata/.plugins/org.eclipse.ui.workbench/dialog_settings.xml

@ -0,0 +1,5 @@
<?xml version="1.0" encoding="UTF-8"?>
<section name="Workbench">
<section name="ImportExportAction">
</section>
</section>

4
.metadata/.plugins/org.eclipse.ui.workbench/workingsets.xml

@ -0,0 +1,4 @@
<?xml version="1.0" encoding="UTF-8"?>
<workingSetManager>
<workingSet aggregate="true" factoryID="org.eclipse.ui.internal.WorkingSetFactory" id="1695605409958_0" label="Window Working Set" name="Aggregate for window 1695605409957"/>
</workingSetManager>

3
.metadata/version.ini

@ -0,0 +1,3 @@
#Mon Sep 25 09:29:43 CST 2023
org.eclipse.core.runtime=2
org.eclipse.platform=4.27.0.v20230302-0300

2
.settings/language.settings.xml

@ -5,7 +5,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="995387051772299586" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="995387734699203926" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>

2
Core/Inc/stm32f4xx_it.h

@ -58,6 +58,8 @@ void CAN1_RX1_IRQHandler(void);
void CAN1_SCE_IRQHandler(void);
void TIM1_TRG_COM_TIM11_IRQHandler(void);
void USART3_IRQHandler(void);
void TIM6_DAC_IRQHandler(void);
void TIM7_IRQHandler(void);
/* USER CODE BEGIN EFP */
/* USER CODE END EFP */

30
Core/Src/stm32f4xx_it.c

@ -57,6 +57,8 @@
/* External variables --------------------------------------------------------*/
extern CAN_HandleTypeDef hcan1;
extern TIM_HandleTypeDef htim1;
extern TIM_HandleTypeDef htim6;
extern TIM_HandleTypeDef htim7;
extern UART_HandleTypeDef huart3;
extern TIM_HandleTypeDef htim11;
@ -247,6 +249,34 @@ void USART3_IRQHandler(void)
/* 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 TIM7 global interrupt.
*/
void TIM7_IRQHandler(void)
{
/* USER CODE BEGIN TIM7_IRQn 0 */
/* USER CODE END TIM7_IRQn 0 */
HAL_TIM_IRQHandler(&htim7);
/* USER CODE BEGIN TIM7_IRQn 1 */
/* USER CODE END TIM7_IRQn 1 */
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

14
Core/Src/tim.c

@ -213,6 +213,10 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
/* USER CODE END TIM6_MspInit 0 */
/* TIM6 clock enable */
__HAL_RCC_TIM6_CLK_ENABLE();
/* TIM6 interrupt Init */
HAL_NVIC_SetPriority(TIM6_DAC_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
/* USER CODE BEGIN TIM6_MspInit 1 */
/* USER CODE END TIM6_MspInit 1 */
@ -224,6 +228,10 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
/* USER CODE END TIM7_MspInit 0 */
/* TIM7 clock enable */
__HAL_RCC_TIM7_CLK_ENABLE();
/* TIM7 interrupt Init */
HAL_NVIC_SetPriority(TIM7_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(TIM7_IRQn);
/* USER CODE BEGIN TIM7_MspInit 1 */
/* USER CODE END TIM7_MspInit 1 */
@ -265,6 +273,9 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
/* USER CODE END TIM6_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM6_CLK_DISABLE();
/* TIM6 interrupt Deinit */
HAL_NVIC_DisableIRQ(TIM6_DAC_IRQn);
/* USER CODE BEGIN TIM6_MspDeInit 1 */
/* USER CODE END TIM6_MspDeInit 1 */
@ -276,6 +287,9 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
/* USER CODE END TIM7_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM7_CLK_DISABLE();
/* TIM7 interrupt Deinit */
HAL_NVIC_DisableIRQ(TIM7_IRQn);
/* USER CODE BEGIN TIM7_MspDeInit 1 */
/* USER CODE END TIM7_MspDeInit 1 */

44
flia_robot_arm_v1 Debug.cfg

@ -0,0 +1,44 @@
# This is an genericBoard board with a single STM32F407VETx chip
#
# Generated by STM32CubeIDE
# Take care that such file, as generated, may be overridden without any early notice. Please have a look to debug launch configuration setup(s)
source [find interface/stlink-dap.cfg]
set WORKAREASIZE 0x8000
transport select "dapdirect_swd"
set CHIPNAME STM32F407VETx
set BOARDNAME genericBoard
# Enable debug when in low power modes
set ENABLE_LOW_POWER 1
# Stop Watchdog counters when halt
set STOP_WATCHDOG 1
# STlink Debug clock frequency
set CLOCK_FREQ 8000
# Reset configuration
# use hardware reset, connect under reset
# connect_assert_srst needed if low power mode application running (WFI...)
reset_config srst_only srst_nogate connect_assert_srst
set CONNECT_UNDER_RESET 1
set CORE_RESET 0
# ACCESS PORT NUMBER
set AP_NUM 0
# GDB PORT
set GDB_PORT 3333
# BCTM CPU variables
source [find target/stm32f4x.cfg]

98
flia_robot_arm_v1 Debug.launch

@ -0,0 +1,98 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<launchConfiguration type="com.st.stm32cube.ide.mcu.debug.launch.launchConfigurationType">
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.access_port_id" value="0"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.cubeprog_external_loaders" value="[]"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_certif_path" value=""/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_check_enable" value="false"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_key_path" value=""/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_permission" value="debug_non_secure_L3"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_live_expr" value="true"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_swv" value="false"/>
<intAttribute key="com.st.stm32cube.ide.mcu.debug.launch.formatVersion" value="2"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.ip_address_local" value="localhost"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.limit_swo_clock.enabled" value="false"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.limit_swo_clock.value" value=""/>
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2
flia_robot_arm_v1.ioc

@ -98,6 +98,8 @@ NVIC.SavedSvcallIrqHandlerGenerated=true
NVIC.SavedSystickIrqHandlerGenerated=true
NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false
NVIC.TIM1_TRG_COM_TIM11_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
NVIC.TIM6_DAC_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.TIM7_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.TimeBase=TIM1_TRG_COM_TIM11_IRQn
NVIC.TimeBaseIP=TIM11
NVIC.USART3_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true

2
sdk

@ -1 +1 @@
Subproject commit dc6e71f6aac60fe6e2a403f790c134bc299769dd
Subproject commit ce97b66ff5b87e53464b361f6f2699969697b6a2

6
usrc/project_configs.h

@ -6,9 +6,9 @@
#define DEBUG_UART huart1
#define DEBUG_LIGHT_GPIO PA1
#define DELAY_US_TIMER htim6 // 瀹氭椂鍣ㄦ棤闇€閰嶇疆浣胯兘鍗冲彲
#define TIM_IRQ_SCHEDULER_TIMER htim7 // 瀹氭椂鍣ㄦ棤闇€閰嶇疆浣胯兘鍗冲彲
#define IFLTYOP_ZTICKET_TIMER TIM11 //
#define DELAY_US_TIMER htim6 // US延时定时器
#define TIM_IRQ_SCHEDULER_TIMER htim7 // 中断定时器中断调度器
#define IFLTYOP_ZTICKET_TIMER TIM11 // 系统ticket定时器
#define IFLYTOP_ENABLE_OS 1
#define IFLYTOP_PREEMPTPRIORITY_DEFAULT 5

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