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Rickxu2/engineer2024 #77

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7c3eba0
add base translate motor to arm
AzulRadio Jul 13, 2023
3a2577e
edit comment for steering motor example
AzulRadio Jul 13, 2023
295867e
add forearm rotate motor 4310
AzulRadio Jul 17, 2023
ad4761e
add elbow rotate motor
AzulRadio Jul 18, 2023
1928d7a
add library for engineer arm
AzulRadio Jul 27, 2023
4afb213
Merge branch 'main' into youhy/arm_driver
AzulRadio Jul 27, 2023
0817779
fix upstream API changes for 4310
AzulRadio Jul 27, 2023
dd165e4
[chore]: Add engineer dbus control demo
MD-20880 Jul 31, 2023
3e90484
[chore]: Add motor can id
MD-20880 Jul 31, 2023
2ff71a4
[chore]: Upload staged outcome
MD-20880 Jul 31, 2023
1f235a7
[chore]: Staged change
MD-20880 Aug 1, 2023
106901f
[update]: Engineer chassis skeleton done
MD-20880 Aug 2, 2023
7f55b69
[chore]: Update engineer arm code skeleton.
MD-20880 Aug 2, 2023
f803bcb
[chore] optimize steering logic
MD-20880 Aug 2, 2023
ccb7582
[chore]:add ui_skeleton
MD-20880 Aug 2, 2023
7f1f18a
[update]: chassis move complete
MD-20880 Aug 2, 2023
fb26077
[chore]: sync
MD-20880 Aug 3, 2023
6da1f10
[chore]: Sync Again
MD-20880 Aug 3, 2023
18b3faa
[feat] 0.1 ver
AlchemicRonin Aug 3, 2023
cd3ca4c
[update]: Engineer arm update, 4310 control available.
MD-20880 Aug 5, 2023
6b91449
[feat] sync
AlchemicRonin Aug 5, 2023
0ba35ac
steer motors now ok
rickxu2 Jan 29, 2024
53bd572
delete test number
rickxu2 Jan 29, 2024
ac1a9f1
fixed mistake in comparing the two opposite directions of steer
rickxu2 Feb 3, 2024
9949a53
progress save
jerrywrx Feb 3, 2024
f0c3ac0
remove power limit
rickxu2 Feb 10, 2024
a337d0e
add 3 joints 4310 example in m4310_mit.cc
jerrywrx Feb 18, 2024
c8aae2a
RTE_Components.h not found
jerrywrx Feb 18, 2024
810d8ac
save remote config
jerrywrx Feb 18, 2024
abdb825
update chassis directions
jerrywrx Feb 18, 2024
8a31b94
dbus works on mc01
jerrywrx Feb 18, 2024
0a4d6b0
upload updated board config files
jerrywrx Feb 18, 2024
47d3796
m3508 works; m4310 CAN tx not transmitting (pending transmission requ…
jerrywrx Feb 25, 2024
6c278bf
Merge branch 'main' into jerrywrx/dm_mc_01
jerrywrx Feb 25, 2024
55dbc3c
A1 works on mc01; need to change usart receive
jerrywrx Apr 6, 2024
b2673c5
renamed files and fixed cmakelist
jerrywrx Apr 6, 2024
8d28e34
A1 remote control works
jerrywrx Apr 7, 2024
928d034
Arm Translate Init
rickxu2 Apr 13, 2024
672b4c6
real arm translate init
rickxu2 Apr 13, 2024
98a7f8e
setting uart back to dma; issue with rx
jerrywrx Apr 13, 2024
3cbea8e
soft limit
rickxu2 Apr 13, 2024
6008a31
optimize soft limit
rickxu2 Apr 13, 2024
b59e78f
added dbus example
jerrywrx Apr 14, 2024
f8a72e4
PID Tuned
rickxu2 Apr 14, 2024
bdfc6a4
Change velocity unit to m/s, new method for smoothing,
rickxu2 Apr 20, 2024
3bc709c
add dm mc01 example
jerrywrx Apr 21, 2024
449a077
add type C for BRT encoder
rickxu2 Apr 21, 2024
b624232
add geometry class and use that to implement engineering chassis
rickxu2 Apr 21, 2024
dea9a25
merged main to current branch
jerrywrx Apr 21, 2024
4da27a5
add copyright context to CMakeLists.txt
rickxu2 Apr 23, 2024
c2ced4f
update copyright comment, fixed bug
rickxu2 Apr 24, 2024
5dcc69a
Merge remote-tracking branch 'origin/jerrywrx/dm_mc_01' into MD-20880…
rickxu2 Apr 24, 2024
ef69dee
progress save
rickxu2 Apr 24, 2024
15e58b4
Merge remote-tracking branch 'origin/main' into MD-20880/Arm_Update
rickxu2 Apr 24, 2024
043cac1
added gimbal code for Hero2024
Andd54 Apr 26, 2024
c77a018
A1 stay at same position after powered on
rickxu2 Apr 26, 2024
38da29e
added gimbal code for Hero2024
Andd54 Apr 26, 2024
6c9df96
added arm example
jerrywrx Apr 26, 2024
8fd01d9
multiple threads problem solved
Andd54 Apr 28, 2024
c838d68
arm zeroing complete, safety if init position is A1 zero
rickxu2 Apr 28, 2024
f148bf8
encoder class invert
rickxu2 Apr 28, 2024
6e331be
Combine Arm and Chassis into the same project, separately tested
rickxu2 Apr 28, 2024
54d9e65
changed shooting speed and escalation stability
Andd54 Apr 28, 2024
45dc68c
added impulse filter
jerrywrx Apr 28, 2024
13a8c7c
added average filter; impulse filter not working well due to noisy se…
jerrywrx Apr 29, 2024
d847651
combing file and out 5v
rickxu2 Apr 29, 2024
5189b25
first two A1 joint tested,
rickxu2 Apr 29, 2024
77c536e
added mc01 arm example
jerrywrx May 2, 2024
0cfe233
testing 0510
rickxu2 May 11, 2024
952b7ec
Merge remote-tracking branch 'origin/jerrywrx/arm_4310' into MD-20880…
rickxu2 May 11, 2024
9b5d450
add dm_mc_01
rickxu2 May 11, 2024
4f0c5e2
change 4310 to dm board and sbus
rickxu2 May 11, 2024
4dd8a4a
testing 4310
rickxu2 May 11, 2024
3e0a2df
add user key for 4310 example
rickxu2 May 11, 2024
ab1e697
4310 worked but not really
rickxu2 May 11, 2024
475454c
Merge remote-tracking branch 'origin/jerrywrx/arm_4310' into MD-20880…
rickxu2 May 11, 2024
af9ec97
4310 oscillates
rickxu2 May 11, 2024
a6e1653
added pitch servo for gimbal
Andd54 May 11, 2024
ab82fd1
arm 6 axis
rickxu2 May 11, 2024
60aeb00
fixed compile error occured using dbus
jerrywrx May 15, 2024
1ede6ac
pending UI tasks
Andd54 May 15, 2024
9528771
Merge remote-tracking branch 'origin/MD-20880/Arm_Update' into andd54…
Andd54 May 15, 2024
245cac3
temporarily removed engineer
Andd54 May 15, 2024
2a43348
temporarily removed engineer
Andd54 May 15, 2024
ac01534
added barrel rotation
jerrywrx May 18, 2024
d2520ec
add 485 dir
rickxu2 Jun 6, 2024
a3e9cfa
update generated files
rickxu2 Jun 6, 2024
f2ab5fa
use two ports to see if working
rickxu2 Jun 12, 2024
b36cbeb
try to use ZJUI code
rickxu2 Jun 12, 2024
65f256f
A1 able to receive data
rickxu2 Jun 13, 2024
59dc8c2
Merge branch 'a1_test' into MD-20880/Arm_Update
rickxu2 Jun 15, 2024
93ca45a
geometry class
rickxu2 Jun 16, 2024
ab3d9f0
update gimbal code with refereeTask and basic ui tasks
Andd54 Jun 16, 2024
cbb3b94
all 6 axis can move
rickxu2 Jun 16, 2024
28c34a1
real all 6 axis can move
rickxu2 Jun 16, 2024
b624faa
disabled error examples due to library updates and controls to gimbal…
Andd54 Jun 18, 2024
2682f63
trapezoid profile
rickxu2 Jun 22, 2024
032fa79
trapezoid profile pc test
rickxu2 Jun 22, 2024
438964d
build error
rickxu2 Jun 22, 2024
0e6db73
fixed trapezoid_profile
rickxu2 Jun 22, 2024
ce5f509
ok to compile
rickxu2 Jun 22, 2024
f4f539b
Merge branch 'test_branch' into MD-20880/Arm_Update
rickxu2 Jun 22, 2024
3eeda49
reorganize
rickxu2 Jun 22, 2024
f9fef6b
4310 init don't jerk; trapezoid profile works
rickxu2 Jun 22, 2024
0f6b497
temporarily fix 4310 jerk
rickxu2 Jun 22, 2024
4401ae6
added fundamental support for laser distance sensor SEN0366
Andd54 Jun 23, 2024
48a77b0
update example for SEN0366
Andd54 Jun 23, 2024
2aa5cf2
inverse kinematics in process
rickxu2 Jun 24, 2024
490ffc2
verified rotaiton3d
rickxu2 Jun 24, 2024
a9cac8d
everywhere kill and revive
rickxu2 Jun 25, 2024
d41057b
test inv kinematics
rickxu2 Jun 25, 2024
498e764
3 joint inverse kinematics kinda work
rickxu2 Jun 25, 2024
881f255
updated support for distance sensor, add distance sensor to gimbal ta…
Andd54 Jun 29, 2024
356dcec
added new motors and self_check flag for sen_0366
Andd54 Jul 3, 2024
76ede96
basic UI structure for current pitch and suggested pitch added
Andd54 Jul 3, 2024
74be895
UI task updated, waiting for test and deploy. Chassis code added, mor…
Andd54 Jul 11, 2024
69b8498
fix minute errors of examples and libraries
Andd54 Jul 11, 2024
d9e9088
merged with Arm-Update
Andd54 Jul 12, 2024
fddc8a7
temporarily removed code of TYPE:Engineer
Andd54 Jul 12, 2024
d36c5b1
implement function in vector3d for vector rotate by a 3d rotation, ge…
rickxu2 Jul 17, 2024
4d632f1
[feat] Arm first three joints (A1) inverse kinematics now works, use …
rickxu2 Jul 17, 2024
7ea03c2
Extended geometry classes to do more calculations: Mainly the 3d rota…
rickxu2 Jul 17, 2024
c8c21b4
referee for gimbal is there now, a functioning UI data pipeline is th…
Andd54 Jul 18, 2024
6e656e2
better CROSSHAIR! Hooray\(≧▽≦)/
Andd54 Jul 18, 2024
b7231e6
geometry add axis-angle represnetation && 6 joint inv_kinematics shou…
rickxu2 Jul 19, 2024
bbb951a
starwar
Andd54 Jul 19, 2024
d625127
6 joints inverse kinematics v1; use wfly controller channels to contr…
rickxu2 Jul 20, 2024
3c5b5cb
delete main.cc which is for testing inverse kinematics only
rickxu2 Jul 20, 2024
1de7db1
optimize j4 angle when wrist pointing forward, now don't rotate to 0 …
rickxu2 Jul 21, 2024
67038cc
wrist orientation relative to field
rickxu2 Jul 21, 2024
5bf49fb
fix bug for roll angle, now we can control the field position of the …
rickxu2 Jul 21, 2024
83fc5bb
fix bug (naming of inverse_kinematics() parameter)
rickxu2 Jul 21, 2024
5442af1
fix: change to a legal initial position
rickxu2 Jul 21, 2024
7f6455b
6 joint inverse kinematics generally ok, need to test if there's any bug
rickxu2 Jul 22, 2024
c1257de
optimize j4 and j6, now they have 2 rotations of freedom
rickxu2 Jul 22, 2024
c5e09d0
add movement protection and allow 90 degree offset between exchange o…
rickxu2 Jul 23, 2024
a2da9de
trapezoid velocity profile in xyz position
rickxu2 Jul 23, 2024
b63960f
comment clean up and safety bug fix
rickxu2 Jul 23, 2024
8270c01
change end 4310 id
rickxu2 Jul 24, 2024
89e82e5
added additional servo example for scope
Andd54 Jul 25, 2024
e572a9c
added scope servo
Andd54 Jul 26, 2024
0fc08a8
added few features for shooting speed
Andd54 Jul 26, 2024
4d1567c
Revert "added variation for shooting speed"
Andd54 Jul 26, 2024
4d5fe87
added sensor example update
Andd54 Jul 27, 2024
38ddd98
added zeroing for gimbal pitch
Andd54 Jul 27, 2024
5d26b68
hero chassis can now move but cannot read referee system output
rickxu2 Jul 28, 2024
5b0df3d
Merge branch 'andd54/Hero2024_new' of https://github.com/illini-robom…
rickxu2 Jul 28, 2024
564e014
now able to read referee system power, but not power limit, need to u…
rickxu2 Jul 28, 2024
d07a487
update referee system protocol to 1.6.4
rickxu2 Jul 28, 2024
bded598
update protocol in fortress and steering, need to update firmware of …
rickxu2 Jul 28, 2024
156ca86
Merge branch 'rickxu2/referee_protocol_update_1.6.4' into andd54/Hero…
rickxu2 Jul 28, 2024
0028d75
try to control power
rickxu2 Jul 29, 2024
57ef4f3
Merge branch 'rickxu2/inv_kinematics_test' into rickxu2/Engineer2024
rickxu2 Jul 29, 2024
3416d2c
separate chassis and arm, chassis can now move
rickxu2 Jul 29, 2024
7125a8a
fix chassis (need test) and add supercap
rickxu2 Jul 29, 2024
eca1b7d
all six angles can move according to small demo arm
rickxu2 Jul 29, 2024
a86c18e
add hrb supercap protocol
rickxu2 Jul 30, 2024
71d522b
arm translate
rickxu2 Jul 30, 2024
414dd21
change power limit to adapt to hrb supercap
rickxu2 Jul 30, 2024
852bb9a
try to implement can bridge (need testing)
rickxu2 Jul 30, 2024
bef242e
try to use pump
rickxu2 Jul 30, 2024
493c711
add power 5v enable to dm board
rickxu2 Jul 30, 2024
a9f3639
reconfigure sbus channels
rickxu2 Jul 30, 2024
290eb45
modify can bridge
rickxu2 Jul 30, 2024
085db58
two board communication on engineer
rickxu2 Jul 30, 2024
d4def33
remove Hero2024 due to possible merge conflict in the future, added r…
Andd54 Jul 30, 2024
678ee10
merged with Head, currently with board comms enabled
Andd54 Jul 30, 2024
b964c25
arm entire robot works
rickxu2 Jul 31, 2024
9743491
Merge branch 'rickxu2/Engineer2024' of https://github.com/illini-robo…
rickxu2 Jul 31, 2024
8671ba1
Fix trapezoid_profile/CMakeLists.txt name
Aug 2, 2024
2b82d6e
Change arm send from can1 to can2
Aug 2, 2024
9712c0c
change arm translate align direction
rickxu2 Aug 3, 2024
831e4ab
change driving direction and correct printing float
rickxu2 Oct 5, 2024
bfaf532
can bus connection change, now feedback frequency is 250Hz per motor …
rickxu2 Nov 9, 2024
e32944d
disable arm_translate (physically unplugged)
rickxu2 Nov 10, 2024
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2 changes: 1 addition & 1 deletion boards/DJI_Board_TypeA/Core/Src/usart.c
Original file line number Diff line number Diff line change
Expand Up @@ -118,7 +118,7 @@ void MX_USART6_UART_Init(void)
{

huart6.Instance = USART6;
huart6.Init.BaudRate = 115200;
huart6.Init.BaudRate = 4800000;
huart6.Init.WordLength = UART_WORDLENGTH_8B;
huart6.Init.StopBits = UART_STOPBITS_1;
huart6.Init.Parity = UART_PARITY_NONE;
Expand Down
93 changes: 50 additions & 43 deletions boards/DJI_Board_TypeA/DJI_Board_TypeA.ioc
Original file line number Diff line number Diff line change
Expand Up @@ -27,10 +27,13 @@ ADC1.SamplingTime-7\#ChannelRegularConversion=ADC_SAMPLETIME_144CYCLES
ADC1.SamplingTime-8\#ChannelRegularConversion=ADC_SAMPLETIME_144CYCLES
ADC1.ScanConvMode=ENABLE
ADC1.master=1
CAD.formats=
CAD.pinconfig=
CAD.provider=
CAN1.ABOM=ENABLE
CAN1.BS1=CAN_BS1_9TQ
CAN1.BS2=CAN_BS2_4TQ
CAN1.CalculateBaudRate=1000000000/999.999999992
CAN1.CalculateBaudRate=1000000000/1000.0
CAN1.CalculateTimeBit=3*23.80952380952381*14
CAN1.CalculateTimeQuantum=3*23.80952380952381
CAN1.IPParameters=CalculateTimeQuantum,Prescaler,BS1,BS2,ABOM,NART,CalculateTimeBit,CalculateBaudRate,SJW
Expand All @@ -42,7 +45,7 @@ CAN2.ABOM=ENABLE
CAN2.BS1=CAN_BS1_9TQ
CAN2.BS2=CAN_BS2_4TQ
CAN2.CalculateBaudRate=1000000
CAN2.CalculateTimeBit=999.99
CAN2.CalculateTimeBit=1000
CAN2.CalculateTimeQuantum=71.42857142857143
CAN2.IPParameters=CalculateTimeQuantum,Prescaler,BS1,BS2,ABOM,NART,CalculateTimeBit,CalculateBaudRate
CAN2.NART=ENABLE
Expand Down Expand Up @@ -202,8 +205,6 @@ FATFS0.BSP.STBoard=false
FATFS0.BSP.api=Unknown
FATFS0.BSP.component=
FATFS0.BSP.condition=
FATFS0.BSP.i2caddr=0
FATFS0.BSP.i2creg=
FATFS0.BSP.instance=PE15
FATFS0.BSP.ip=GPIO
FATFS0.BSP.mode=Input
Expand All @@ -222,6 +223,7 @@ FREERTOS.configUSE_STATS_FORMATTING_FUNCTIONS=0
File.Version=6
GPIO.groupedBy=Group By Peripherals
KeepUserPlacement=false
Mcu.CPN=STM32F427IIH6
Mcu.Family=STM32F4
Mcu.IP0=ADC1
Mcu.IP1=CAN1
Expand Down Expand Up @@ -349,51 +351,51 @@ Mcu.UserConstants=
Mcu.UserName=STM32F427IIHx
MxCube.Version=6.1.1
MxDb.Version=DB.6.0.10
NVIC.ADC_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.CAN1_RX0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true
NVIC.CAN1_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true
NVIC.CAN2_RX0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true
NVIC.CAN2_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true
NVIC.DMA1_Stream0_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true
NVIC.DMA1_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true
NVIC.DMA1_Stream3_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true
NVIC.DMA1_Stream4_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true
NVIC.DMA1_Stream6_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true
NVIC.DMA2_Stream0_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true
NVIC.DMA2_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true
NVIC.DMA2_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true
NVIC.DMA2_Stream3_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true
NVIC.DMA2_Stream4_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true
NVIC.DMA2_Stream5_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true
NVIC.DMA2_Stream6_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true
NVIC.DMA2_Stream7_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.EXTI4_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true
NVIC.EXTI9_5_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true
NVIC.ADC_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.CAN1_RX0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.CAN1_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.CAN2_RX0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.CAN2_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.DMA1_Stream0_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA1_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA1_Stream3_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA1_Stream4_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA1_Stream6_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA2_Stream0_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA2_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA2_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA2_Stream3_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA2_Stream4_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA2_Stream5_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA2_Stream6_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA2_Stream7_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.EXTI4_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.EXTI9_5_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.ForceEnableDMAVector=true
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.OTG_FS_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true
NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.OTG_FS_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false\:false
NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
NVIC.SDIO_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false
NVIC.SDIO_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false
NVIC.SavedPendsvIrqHandlerGenerated=true
NVIC.SavedSvcallIrqHandlerGenerated=true
NVIC.SavedSystickIrqHandlerGenerated=true
NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true
NVIC.TIM3_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
NVIC.TIM8_BRK_TIM12_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true
NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false
NVIC.TIM3_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true\:true
NVIC.TIM8_BRK_TIM12_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.TimeBase=TIM3_IRQn
NVIC.TimeBaseIP=TIM3
NVIC.UART7_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true
NVIC.UART8_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true
NVIC.USART1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true
NVIC.USART3_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true
NVIC.USART6_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.UART7_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.UART8_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.USART1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.USART3_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.USART6_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
PA11.Mode=Device_Only
PA11.Signal=USB_OTG_FS_DM
PA12.Mode=Device_Only
Expand Down Expand Up @@ -657,10 +659,13 @@ ProjectManager.PreviousToolchain=SW4STM32
ProjectManager.ProjectBuild=false
ProjectManager.ProjectFileName=DJI_Board_TypeA.ioc
ProjectManager.ProjectName=DJI_Board_TypeA
ProjectManager.ProjectStructure=
ProjectManager.RegisterCallBack=CAN,SPI,TIM,UART,USART
ProjectManager.StackSize=0x800
ProjectManager.TargetToolchain=Makefile
ProjectManager.ToolChainLocation=
ProjectManager.UAScriptAfterPath=
ProjectManager.UAScriptBeforePath=
ProjectManager.UnderRoot=false
ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-MX_DMA_Init-DMA-false-HAL-true,3-SystemClock_Config-RCC-false-HAL-true,4-MX_SDIO_SD_Init-SDIO-false-HAL-true,5-MX_USART6_UART_Init-USART6-false-HAL-true,6-MX_TIM12_Init-TIM12-false-HAL-true,7-MX_SPI1_Init-SPI1-false-HAL-true,8-MX_ADC1_Init-ADC1-false-HAL-true,9-MX_SPI5_Init-SPI5-false-HAL-true,10-MX_CAN1_Init-CAN1-false-HAL-true,11-MX_CAN2_Init-CAN2-false-HAL-true,12-MX_USART3_UART_Init-USART3-false-HAL-true,13-MX_UART7_Init-UART7-false-HAL-true,14-MX_UART8_Init-UART8-false-HAL-true,15-MX_TIM4_Init-TIM4-false-HAL-true,16-MX_TIM5_Init-TIM5-false-HAL-true,17-MX_USART1_UART_Init-USART1-false-HAL-true,18-MX_TIM1_Init-TIM1-false-HAL-true,19-MX_I2C2_Init-I2C2-false-HAL-true,20-MX_FATFS_Init-FATFS-false-HAL-false,21-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false,22-MX_TIM2_Init-TIM2-false-HAL-true
RCC.48MHZClocksFreq_Value=48000000
Expand Down Expand Up @@ -791,7 +796,8 @@ USART1.VirtualMode=VM_ASYNC
USART1.WordLength=WORDLENGTH_9B
USART3.IPParameters=VirtualMode
USART3.VirtualMode=VM_ASYNC
USART6.IPParameters=VirtualMode
USART6.BaudRate=4800000
USART6.IPParameters=VirtualMode,BaudRate
USART6.VirtualMode=VM_ASYNC
USB_DEVICE.CLASS_NAME_FS=CDC
USB_DEVICE.IPParameters=VirtualMode-CDC_FS,VirtualModeFS,CLASS_NAME_FS,USBD_SELF_POWERED-CDC_FS,PRODUCT_STRING_CDC_FS
Expand Down Expand Up @@ -820,3 +826,4 @@ VP_TIM5_VS_ClockSourceINT.Signal=TIM5_VS_ClockSourceINT
VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS.Mode=CDC_FS
VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS.Signal=USB_DEVICE_VS_USB_DEVICE_CDC_FS
board=iRM_2018_Type_A
rtos.0.ip=FREERTOS
2 changes: 1 addition & 1 deletion boards/DJI_Board_TypeA/Makefile
Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
##########################################################################################################################
# File automatically-generated by tool: [projectgenerator] version: [3.15.2] date: [Sun Jan 16 16:41:11 CST 2022]
# File automatically-generated by tool: [projectgenerator] version: [4.1.0] date: [Sat Aug 05 08:38:41 CST 2023]
##########################################################################################################################

# ------------------------------------------------
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -446,8 +446,6 @@ __ALIGN_BEGIN static uint8_t USBD_CDC_OtherSpeedCfgDesc[USB_CDC_CONFIG_DESC_SIZ]
* @{
*/

static USBD_CDC_HandleTypeDef hcdc_mem;

/**
* @brief USBD_CDC_Init
* Initialize the CDC interface
Expand All @@ -460,7 +458,7 @@ static uint8_t USBD_CDC_Init(USBD_HandleTypeDef *pdev, uint8_t cfgidx)
UNUSED(cfgidx);
USBD_CDC_HandleTypeDef *hcdc;

hcdc = &hcdc_mem;
hcdc = USBD_malloc(sizeof(USBD_CDC_HandleTypeDef));

if (hcdc == NULL)
{
Expand Down Expand Up @@ -561,6 +559,7 @@ static uint8_t USBD_CDC_DeInit(USBD_HandleTypeDef *pdev, uint8_t cfgidx)
if (pdev->pClassData != NULL)
{
((USBD_CDC_ItfTypeDef *)pdev->pUserData)->DeInit();
(void)USBD_free(pdev->pClassData);
pdev->pClassData = NULL;
}

Expand Down
8 changes: 4 additions & 4 deletions boards/DJI_Board_TypeA/STM32F427IIHx_FLASH.ld
Original file line number Diff line number Diff line change
Expand Up @@ -4,10 +4,10 @@

** File : LinkerScript.ld
**
** Author : Auto-generated by System Workbench for STM32
** Author : STM32CubeMX
**
** Abstract : Linker script for STM32F427IIHx series
** 2048Kbytes FLASH and 192Kbytes RAM
** 2048Kbytes FLASH and 256Kbytes RAM
**
** Set heap size, stack size and stack location according
** to application requirements.
Expand Down Expand Up @@ -53,7 +53,7 @@
ENTRY(Reset_Handler)

/* Highest address of the user mode stack */
_estack = 0x20030000; /* end of RAM */
_estack = ORIGIN(RAM) + LENGTH(RAM); /* end of RAM */
/* Generate a link error if heap and stack don't fit into RAM */
_Min_Heap_Size = 0x600; /* required amount of heap */
_Min_Stack_Size = 0x800; /* required amount of stack */
Expand All @@ -62,7 +62,7 @@ _Min_Stack_Size = 0x800; /* required amount of stack */
MEMORY
{
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 192K
CCMRAM (rw) : ORIGIN = 0x10000000, LENGTH = 64K
CCMRAM (xrw) : ORIGIN = 0x10000000, LENGTH = 64K
FLASH (rx) : ORIGIN = 0x8000000, LENGTH = 2048K
}

Expand Down
1 change: 1 addition & 0 deletions boards/DJI_Board_TypeC/Core/Src/main.c
Original file line number Diff line number Diff line change
Expand Up @@ -209,6 +209,7 @@ void Error_Handler(void)
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
HAL_GPIO_WritePin(LED_R_GPIO_Port, LED_R_Pin, GPIO_PIN_SET);
while (1)
{
}
Expand Down
3 changes: 2 additions & 1 deletion boards/DJI_Board_TypeC/DJI_Board_TypeC.ioc
Original file line number Diff line number Diff line change
Expand Up @@ -569,7 +569,8 @@ TIM5.Pulse-PWM\ Generation3\ CH3=0
TIM8.IPParameters=Prescaler,Period
TIM8.Period=2499
TIM8.Prescaler=167
USART1.IPParameters=VirtualMode
USART1.BaudRate=115200
USART1.IPParameters=VirtualMode,BaudRate
USART1.VirtualMode=VM_ASYNC
USART3.BaudRate=100000
USART3.IPParameters=VirtualMode,BaudRate,WordLength,Parity,Mode
Expand Down
2 changes: 1 addition & 1 deletion boards/DJI_Board_TypeC/Makefile
Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
##########################################################################################################################
# File automatically-generated by tool: [projectgenerator] version: [4.1.0] date: [Mon Jul 24 21:33:59 CST 2023]
# File automatically-generated by tool: [projectgenerator] version: [4.1.0] date: [Fri Aug 04 06:23:34 CST 2023]
##########################################################################################################################

# ------------------------------------------------
Expand Down
3 changes: 1 addition & 2 deletions boards/DM_MC_01/Core/Inc/FreeRTOSConfig.h
100644 → 100755
Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
/* USER CODE BEGIN Header */
/*
* FreeRTOS Kernel V10.2.1
* FreeRTOS Kernel V10.3.1
* Portion Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
* Portion Copyright (C) 2019 StMicroelectronics, Inc. All Rights Reserved.
*
Expand Down Expand Up @@ -177,7 +177,6 @@ standard names. */

/* USER CODE BEGIN Defines */
/* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */
#define configUSE_STATS_FORMATTING_FUNCTIONS 1
/* USER CODE END Defines */

#endif /* FREERTOS_CONFIG_H */
2 changes: 1 addition & 1 deletion boards/DM_MC_01/Core/Inc/adc.h
100644 → 100755
Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
******************************************************************************
* @attention
*
* Copyright (c) 2023 STMicroelectronics.
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
Expand Down
2 changes: 1 addition & 1 deletion boards/DM_MC_01/Core/Inc/can.h
100644 → 100755
Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
******************************************************************************
* @attention
*
* Copyright (c) 2023 STMicroelectronics.
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
Expand Down
2 changes: 1 addition & 1 deletion boards/DM_MC_01/Core/Inc/crc.h
100644 → 100755
Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
******************************************************************************
* @attention
*
* Copyright (c) 2023 STMicroelectronics.
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
Expand Down
2 changes: 1 addition & 1 deletion boards/DM_MC_01/Core/Inc/dma.h
100644 → 100755
Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
******************************************************************************
* @attention
*
* Copyright (c) 2023 STMicroelectronics.
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
Expand Down
2 changes: 1 addition & 1 deletion boards/DM_MC_01/Core/Inc/gpio.h
100644 → 100755
Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
******************************************************************************
* @attention
*
* Copyright (c) 2023 STMicroelectronics.
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
Expand Down
2 changes: 1 addition & 1 deletion boards/DM_MC_01/Core/Inc/i2c.h
100644 → 100755
Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
******************************************************************************
* @attention
*
* Copyright (c) 2023 STMicroelectronics.
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
Expand Down
15 changes: 9 additions & 6 deletions boards/DM_MC_01/Core/Inc/main.h
100644 → 100755
Original file line number Diff line number Diff line change
Expand Up @@ -7,13 +7,12 @@
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2023 STMicroelectronics.
* All rights reserved.</center></h2>
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software component is licensed by ST under Ultimate Liberty license
* SLA0044, the "License"; You may not use this file except in compliance with
* the License. You may obtain a copy of the License at:
* www.st.com/SLA0044
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
Expand Down Expand Up @@ -105,6 +104,10 @@ void RM_RTOS_Default_Task(const void *argument);
#define LCD_RES_GPIO_Port GPIOB
#define IMU_TEMP_Pin GPIO_PIN_5
#define IMU_TEMP_GPIO_Port GPIOB
#define IN1_GPIO_Port GPIOC
#define IN1_Pin GPIO_PIN_6
#define OUT_5V_Port GPIOC
#define OUT_5V_Pin GPIO_PIN_14

/* USER CODE BEGIN Private defines */
#define DM_MC01_GENERAL
Expand Down
2 changes: 1 addition & 1 deletion boards/DM_MC_01/Core/Inc/rtc.h
100644 → 100755
Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
******************************************************************************
* @attention
*
* Copyright (c) 2023 STMicroelectronics.
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
Expand Down
2 changes: 1 addition & 1 deletion boards/DM_MC_01/Core/Inc/spi.h
100644 → 100755
Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
******************************************************************************
* @attention
*
* Copyright (c) 2023 STMicroelectronics.
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
Expand Down
Empty file modified boards/DM_MC_01/Core/Inc/stm32f4xx_hal_conf.h
100644 → 100755
Empty file.
11 changes: 5 additions & 6 deletions boards/DM_MC_01/Core/Inc/stm32f4xx_it.h
100644 → 100755
Original file line number Diff line number Diff line change
Expand Up @@ -6,13 +6,12 @@
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2023 STMicroelectronics.
* All rights reserved.</center></h2>
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software component is licensed by ST under Ultimate Liberty license
* SLA0044, the "License"; You may not use this file except in compliance with
* the License. You may obtain a copy of the License at:
* www.st.com/SLA0044
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
Expand Down
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