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RaKalelRaKalel
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66 files changed

Lines changed: 14144 additions & 31981 deletions

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‎microros_stm32f4_disco_extensions/Inc/stm32f4xx_hal_conf.h‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -68,7 +68,7 @@
6868
/* #define HAL_SMARTCARD_MODULE_ENABLED */
6969
/* #define HAL_SMBUS_MODULE_ENABLED */
7070
/* #define HAL_WWDG_MODULE_ENABLED */
71-
#define HAL_PCD_MODULE_ENABLED
71+
/* #define HAL_PCD_MODULE_ENABLED */
7272
/* #define HAL_HCD_MODULE_ENABLED */
7373
/* #define HAL_DSI_MODULE_ENABLED */
7474
/* #define HAL_QSPI_MODULE_ENABLED */

‎microros_stm32f4_disco_extensions/Src/main.c‎

Lines changed: 33 additions & 15 deletions
Original file line numberDiff line numberDiff line change
@@ -62,14 +62,16 @@ osThreadId_t defaultTaskHandle;
6262
const osThreadAttr_t defaultTask_attributes = {
6363
.name = "defaultTask",
6464
.priority = (osPriority_t)osPriorityBelowNormal,
65-
.stack_size = 1500};
65+
.stack_size = 1500 * 4
66+
};
6667
/* USER CODE BEGIN PV */
6768

6869
/* USER CODE END PV */
6970

7071
/* Private function prototypes -----------------------------------------------*/
7172
void SystemClock_Config(void);
7273
static void MX_GPIO_Init(void);
74+
static void MX_DMA_Init(void);
7375
static void MX_USART2_UART_Init(void);
7476
void StartDefaultTask(void *argument);
7577

@@ -128,19 +130,18 @@ int main(void) {
128130

129131
/* Initialize all configured peripherals */
130132
MX_GPIO_Init();
133+
MX_DMA_Init();
131134
MX_USART2_UART_Init();
132135
/* USER CODE BEGIN 2 */
133136
#ifdef MICRO_XRCEDDS_UDP
134137
printf_uart = &huart2;
135138
#elif defined(MICRO_XRCEDDS_CUSTOM_SERIAL)
136139
if (strcmp("2", RMW_UXRCE_DEFAULT_SERIAL_DEVICE)) {
137140
printf_uart = &huart2;
138-
HAL_GPIO_WritePin(LD4_GPIO_Port, LD4_Pin, GPIO_PIN_SET);
139141
}
140142
#endif
141143
/* USER CODE END 2 */
142144

143-
//HAL_GPIO_WritePin(LD4_GPIO_Port, LD4_Pin, GPIO_PIN_SET);
144145

145146

146147
/* Init scheduler */
@@ -201,15 +202,16 @@ void SystemClock_Config(void) {
201202
/** Initializes the CPU, AHB and APB busses clocks
202203
*/
203204
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
204-
RCC_OscInitStruct.HSEState = RCC_HSI_ON;
205+
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
206+
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
205207
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
206208
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
207209
RCC_OscInitStruct.PLL.PLLM = 8;
208210
RCC_OscInitStruct.PLL.PLLN = 50;
209211
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV4;
210212
RCC_OscInitStruct.PLL.PLLQ = 7;
211-
//RCC_OscInitStruct.PLL.PLLR = 2;
212-
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
213+
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
214+
{
213215
Error_Handler();
214216
}
215217
/** Initializes the CPU, AHB and APB busses clocks
@@ -221,7 +223,7 @@ void SystemClock_Config(void) {
221223
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
222224
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
223225

224-
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) {
226+
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK) {
225227
Error_Handler();
226228
}
227229
/*
@@ -254,16 +256,33 @@ static void MX_USART2_UART_Init(void) {
254256
huart2.Init.Mode = UART_MODE_TX_RX;
255257
huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
256258
huart2.Init.OverSampling = UART_OVERSAMPLING_16;
257-
if (HAL_UART_Init(&huart2) != HAL_OK) {
259+
if (HAL_UART_Init(&huart2) != HAL_OK)
260+
{
258261
Error_Handler();
259262
}
260263
/* USER CODE BEGIN USART2_Init 2 */
261264

262265
/* USER CODE END USART2_Init 2 */
263266
}
264267

268+
/**
269+
* Enable DMA controller clock
270+
*/
271+
static void MX_DMA_Init(void)
272+
{
273+
274+
/* DMA controller clock enable */
275+
__HAL_RCC_DMA1_CLK_ENABLE();
265276

277+
/* DMA interrupt init */
278+
/* DMA1_Stream5_IRQn interrupt configuration */
279+
HAL_NVIC_SetPriority(DMA1_Stream5_IRQn, 0, 0);
280+
HAL_NVIC_EnableIRQ(DMA1_Stream5_IRQn);
281+
/* DMA1_Stream6_IRQn interrupt configuration */
282+
HAL_NVIC_SetPriority(DMA1_Stream6_IRQn, 0, 0);
283+
HAL_NVIC_EnableIRQ(DMA1_Stream6_IRQn);
266284

285+
}
267286

268287

269288
/**
@@ -275,11 +294,8 @@ static void MX_GPIO_Init(void) {
275294
GPIO_InitTypeDef GPIO_InitStruct = {0};
276295

277296
/* GPIO Ports Clock Enable */
278-
__HAL_RCC_GPIOC_CLK_ENABLE();
279-
__HAL_RCC_GPIOH_CLK_ENABLE();
280297
__HAL_RCC_GPIOB_CLK_ENABLE();
281298
__HAL_RCC_GPIOD_CLK_ENABLE();
282-
__HAL_RCC_GPIOG_CLK_ENABLE();
283299
__HAL_RCC_GPIOA_CLK_ENABLE();
284300

285301
/*Configure GPIO pin Output Level */
@@ -320,9 +336,11 @@ static void MX_GPIO_Init(void) {
320336
void StartDefaultTask(void *argument) {
321337
/* USER CODE BEGIN 5 */
322338
/* Infinite loop */
339+
HAL_GPIO_WritePin(LD4_GPIO_Port, LD4_Pin, GPIO_PIN_SET);
323340
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_SET);
324341
bool availableNetwork = false;
325342

343+
326344
#ifdef MICRO_XRCEDDS_CUSTOM_SERIAL
327345
availableNetwork = true;
328346
#elif defined(MICRO_XRCEDDS_UDP)
@@ -384,13 +402,13 @@ void StartDefaultTask(void *argument) {
384402

385403
while (1) {
386404
if (eTaskGetState(xHandle) != eSuspended && availableNetwork) {
387-
HAL_GPIO_WritePin(LD5_GPIO_Port, LD5_Pin, GPIO_PIN_RESET);
405+
HAL_GPIO_WritePin(LD4_GPIO_Port, LD4_Pin, GPIO_PIN_RESET);
388406
osDelay(100);
389-
HAL_GPIO_WritePin(LD5_GPIO_Port, LD5_Pin, GPIO_PIN_SET);
407+
HAL_GPIO_WritePin(LD4_GPIO_Port, LD4_Pin, GPIO_PIN_SET);
390408
osDelay(100);
391-
HAL_GPIO_WritePin(LD5_GPIO_Port, LD5_Pin, GPIO_PIN_RESET);
409+
HAL_GPIO_WritePin(LD4_GPIO_Port, LD4_Pin, GPIO_PIN_RESET);
392410
osDelay(150);
393-
HAL_GPIO_WritePin(LD5_GPIO_Port, LD5_Pin, GPIO_PIN_SET);
411+
HAL_GPIO_WritePin(LD4_GPIO_Port, LD4_Pin, GPIO_PIN_SET);
394412
osDelay(500);
395413
} else {
396414
HAL_GPIO_WritePin(LD5_GPIO_Port, LD5_Pin, GPIO_PIN_RESET);

‎microros_stm32f4_disco_extensions/Src/stm32f4xx_hal_msp.c‎

Lines changed: 8 additions & 85 deletions
Original file line numberDiff line numberDiff line change
@@ -100,7 +100,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
100100
__HAL_RCC_USART2_CLK_ENABLE();
101101

102102
__HAL_RCC_GPIOD_CLK_ENABLE();
103-
/**USART3 GPIO Configuration
103+
/**USART2 GPIO Configuration
104104
PA2 ------> USART2_TX
105105
PA3 ------> USART2_RX
106106
*/
@@ -111,8 +111,8 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
111111
GPIO_InitStruct.Alternate = GPIO_AF7_USART2;
112112
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
113113

114-
/* USART3 DMA Init */
115-
/* USART3_TX Init */
114+
/* USART2 DMA Init */
115+
/* USART2_TX Init */
116116
hdma_usart2_tx.Instance = DMA1_Stream6;
117117
hdma_usart2_tx.Init.Channel = DMA_CHANNEL_4;
118118
hdma_usart2_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
@@ -148,12 +148,12 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
148148

149149
__HAL_LINKDMA(huart,hdmarx,hdma_usart2_rx);
150150

151-
/* USART3 interrupt Init */
151+
/* USART2 interrupt Init */
152152
HAL_NVIC_SetPriority(USART2_IRQn, 5, 0);
153153
HAL_NVIC_EnableIRQ(USART2_IRQn);
154-
/* USER CODE BEGIN USART3_MspInit 1 */
154+
/* USER CODE BEGIN USART2_MspInit 1 */
155155

156-
/* USER CODE END USART3_MspInit 1 */
156+
/* USER CODE END USART2_MspInit 1 */
157157
}
158158

159159
}
@@ -186,86 +186,9 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
186186

187187
/* USART3 interrupt DeInit */
188188
HAL_NVIC_DisableIRQ(USART2_IRQn);
189-
/* USER CODE BEGIN USART3_MspDeInit 1 */
190-
191-
/* USER CODE END USART3_MspDeInit 1 */
192-
}
193-
194-
}
195-
196-
/**
197-
* @brief PCD MSP Initialization
198-
* This function configures the hardware resources used in this example
199-
* @param hpcd: PCD handle pointer
200-
* @retval None
201-
*/
202-
void HAL_PCD_MspInit(PCD_HandleTypeDef* hpcd)
203-
{
204-
GPIO_InitTypeDef GPIO_InitStruct = {0};
205-
if(hpcd->Instance==USB_OTG_FS)
206-
{
207-
/* USER CODE BEGIN USB_OTG_FS_MspInit 0 */
208-
209-
/* USER CODE END USB_OTG_FS_MspInit 0 */
210-
211-
__HAL_RCC_GPIOA_CLK_ENABLE();
212-
/**USB_OTG_FS GPIO Configuration
213-
PA8 ------> USB_OTG_FS_SOF
214-
PA9 ------> USB_OTG_FS_VBUS
215-
PA10 ------> USB_OTG_FS_ID
216-
PA11 ------> USB_OTG_FS_DM
217-
PA12 ------> USB_OTG_FS_DP
218-
*/
219-
GPIO_InitStruct.Pin = USB_SOF_Pin|USB_ID_Pin|USB_DM_Pin|USB_DP_Pin;
220-
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
221-
GPIO_InitStruct.Pull = GPIO_NOPULL;
222-
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
223-
GPIO_InitStruct.Alternate = GPIO_AF10_OTG_FS;
224-
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
225-
226-
GPIO_InitStruct.Pin = USB_VBUS_Pin;
227-
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
228-
GPIO_InitStruct.Pull = GPIO_NOPULL;
229-
HAL_GPIO_Init(USB_VBUS_GPIO_Port, &GPIO_InitStruct);
230-
231-
/* Peripheral clock enable */
232-
__HAL_RCC_USB_OTG_FS_CLK_ENABLE();
233-
/* USER CODE BEGIN USB_OTG_FS_MspInit 1 */
234-
235-
/* USER CODE END USB_OTG_FS_MspInit 1 */
236-
}
237-
238-
}
239-
240-
/**
241-
* @brief PCD MSP De-Initialization
242-
* This function freeze the hardware resources used in this example
243-
* @param hpcd: PCD handle pointer
244-
* @retval None
245-
*/
246-
void HAL_PCD_MspDeInit(PCD_HandleTypeDef* hpcd)
247-
{
248-
if(hpcd->Instance==USB_OTG_FS)
249-
{
250-
/* USER CODE BEGIN USB_OTG_FS_MspDeInit 0 */
251-
252-
/* USER CODE END USB_OTG_FS_MspDeInit 0 */
253-
/* Peripheral clock disable */
254-
__HAL_RCC_USB_OTG_FS_CLK_DISABLE();
255-
256-
/**USB_OTG_FS GPIO Configuration
257-
PA8 ------> USB_OTG_FS_SOF
258-
PA9 ------> USB_OTG_FS_VBUS
259-
PA10 ------> USB_OTG_FS_ID
260-
PA11 ------> USB_OTG_FS_DM
261-
PA12 ------> USB_OTG_FS_DP
262-
*/
263-
HAL_GPIO_DeInit(GPIOA, USB_SOF_Pin|USB_VBUS_Pin|USB_ID_Pin|USB_DM_Pin
264-
|USB_DP_Pin);
265-
266-
/* USER CODE BEGIN USB_OTG_FS_MspDeInit 1 */
189+
/* USER CODE BEGIN USART2_MspDeInit 1 */
267190

268-
/* USER CODE END USB_OTG_FS_MspDeInit 1 */
191+
/* USER CODE END USART2_MspDeInit 1 */
269192
}
270193

271194
}

‎microros_stm32f4_disco_extensions/Src/stm32f4xx_it.c‎

Lines changed: 15 additions & 15 deletions
Original file line numberDiff line numberDiff line change
@@ -164,31 +164,31 @@ void DebugMon_Handler(void)
164164
/******************************************************************************/
165165

166166
/**
167-
* @brief This function handles DMA1 stream1 global interrupt.
167+
* @brief This function handles DMA1 stream5 global interrupt.
168168
*/
169169
void DMA1_Stream5_IRQHandler(void)
170170
{
171-
/* USER CODE BEGIN DMA1_Stream1_IRQn 0 */
171+
/* USER CODE BEGIN DMA1_Stream5_IRQn 0 */
172172

173-
/* USER CODE END DMA1_Stream1_IRQn 0 */
173+
/* USER CODE END DMA1_Stream5_IRQn 0 */
174174
HAL_DMA_IRQHandler(&hdma_usart2_rx);
175-
/* USER CODE BEGIN DMA1_Stream1_IRQn 1 */
175+
/* USER CODE BEGIN DMA1_Stream5_IRQn 1 */
176176

177-
/* USER CODE END DMA1_Stream1_IRQn 1 */
177+
/* USER CODE END DMA1_Stream5_IRQn 1 */
178178
}
179179

180180
/**
181-
* @brief This function handles DMA1 stream3 global interrupt.
181+
* @brief This function handles DMA1 stream6 global interrupt.
182182
*/
183183
void DMA1_Stream6_IRQHandler(void)
184184
{
185-
/* USER CODE BEGIN DMA1_Stream3_IRQn 0 */
185+
/* USER CODE BEGIN DMA1_Stream6_IRQn 0 */
186186

187-
/* USER CODE END DMA1_Stream3_IRQn 0 */
187+
/* USER CODE END DMA1_Stream6_IRQn 0 */
188188
HAL_DMA_IRQHandler(&hdma_usart2_tx);
189-
/* USER CODE BEGIN DMA1_Stream3_IRQn 1 */
189+
/* USER CODE BEGIN DMA1_Stream6_IRQn 1 */
190190

191-
/* USER CODE END DMA1_Stream3_IRQn 1 */
191+
/* USER CODE END DMA1_Stream6_IRQn 1 */
192192
}
193193

194194
/**
@@ -206,17 +206,17 @@ void TIM1_UP_TIM10_IRQHandler(void)
206206
}
207207

208208
/**
209-
* @brief This function handles USART3 global interrupt.
209+
* @brief This function handles USART2 global interrupt.
210210
*/
211211
void USART2_IRQHandler(void)
212212
{
213-
/* USER CODE BEGIN USART3_IRQn 0 */
213+
/* USER CODE BEGIN USART2_IRQn 0 */
214214

215-
/* USER CODE END USART3_IRQn 0 */
215+
/* USER CODE END USART2_IRQn 0 */
216216
HAL_UART_IRQHandler(&huart2);
217-
/* USER CODE BEGIN USART3_IRQn 1 */
217+
/* USER CODE BEGIN USART2_IRQn 1 */
218218

219-
/* USER CODE END USART3_IRQn 1 */
219+
/* USER CODE END USART2_IRQn 1 */
220220
}
221221

222222
/* USER CODE BEGIN 1 */

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