Merge pull request #38 from xrobot-org/dev

Dev
xrobot-org · Nov 8, 2023 · 8a579c1 · 8a579c1
2 parents 0d8e0e0 + 1f41aac
commit 8a579c1
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Showing 84 changed files with 792 additions and 381 deletions.
diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -40,8 +40,7 @@
         "--enable-config",
         "--fallback-style=Google",
         "--function-arg-placeholders=false",
-        "--header-insertion-decorators",
-        "--header-insertion=iwyu",
+        "--header-insertion=never",
         "--log=verbose",
         "--pch-storage=memory",
         "--pretty",

diff --git a/hw/bsp/atom/board.cmake b/hw/bsp/atom/board.cmake
@@ -13,12 +13,20 @@ add_subdirectory(${BOARD_DIR}/drivers)
 
 add_executable(${PROJECT_NAME}.elf ${BOARD_DIR}/main.cpp)
 
+add_executable(${PROJECT_NAME}_with_bl.elf ${BOARD_DIR}/main.cpp)
+
 target_link_libraries(
   ${PROJECT_NAME}.elf
   PUBLIC bsp
   PUBLIC system
   PUBLIC robot)
 
+target_link_libraries(
+  ${PROJECT_NAME}_with_bl.elf
+  PUBLIC bsp
+  PUBLIC system
+  PUBLIC robot)
+
 
 target_include_directories(
   ${PROJECT_NAME}.elf
@@ -28,6 +36,20 @@ target_include_directories(
   PRIVATE $<TARGET_PROPERTY:robot,INTERFACE_INCLUDE_DIRECTORIES>
 )
 
+target_include_directories(
+  ${PROJECT_NAME}_with_bl.elf
+  PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}
+  PRIVATE $<TARGET_PROPERTY:bsp,INTERFACE_INCLUDE_DIRECTORIES>
+  PRIVATE $<TARGET_PROPERTY:system,INTERFACE_INCLUDE_DIRECTORIES>
+  PRIVATE $<TARGET_PROPERTY:robot,INTERFACE_INCLUDE_DIRECTORIES>
+)
+
+target_link_options(${PROJECT_NAME}_with_bl.elf PRIVATE "-T${BOARD_DIR}/ld/LinkerScripts_with_bl.ld")
+
 create_hex_output(${PROJECT_NAME})
 create_bin_output(${PROJECT_NAME})
 print_section_sizes(${PROJECT_NAME}.elf)
+
+create_hex_output(${PROJECT_NAME}_with_bl)
+create_bin_output(${PROJECT_NAME}_with_bl)
+print_section_sizes(${PROJECT_NAME}_with_bl.elf)
diff --git a/hw/bsp/atom/drivers/hal/.mxproject b/hw/bsp/atom/drivers/hal/.mxproject
diff --git a/hw/bsp/atom/drivers/hal/Core/Inc/stm32g4xx_it.h b/hw/bsp/atom/drivers/hal/Core/Inc/stm32g4xx_it.h
@@ -65,6 +65,8 @@ void TIM1_BRK_TIM15_IRQHandler(void);
 void I2C1_EV_IRQHandler(void);
 void SPI1_IRQHandler(void);
 void USART2_IRQHandler(void);
+void DMA2_Channel1_IRQHandler(void);
+void DMA2_Channel2_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 void HAL_UART_RegisterUserCallback(void (*fn)(UART_HandleTypeDef *huart));
 /* USER CODE END EFP */

diff --git a/hw/bsp/atom/drivers/hal/Core/Src/main.c b/hw/bsp/atom/drivers/hal/Core/Src/main.c
@@ -50,7 +50,10 @@ SPI_HandleTypeDef hspi1;
 DMA_HandleTypeDef hdma_spi1_rx;
 DMA_HandleTypeDef hdma_spi1_tx;
 
+UART_HandleTypeDef huart1;
 UART_HandleTypeDef huart2;
+DMA_HandleTypeDef hdma_usart1_rx;
+DMA_HandleTypeDef hdma_usart1_tx;
 DMA_HandleTypeDef hdma_usart2_rx;
 DMA_HandleTypeDef hdma_usart2_tx;
 
@@ -60,6 +63,7 @@ DMA_HandleTypeDef hdma_usart2_tx;
 
 /* Private function prototypes -----------------------------------------------*/
 void SystemClock_Config(void);
+static void MX_USART1_UART_Init(void);
 /* USER CODE BEGIN PFP */
 
 /* USER CODE END PFP */
@@ -251,6 +255,54 @@ void MX_SPI1_Init(void)
 
 }
 
+/**
+  * @brief USART1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_USART1_UART_Init(void)
+{
+
+  /* USER CODE BEGIN USART1_Init 0 */
+
+  /* USER CODE END USART1_Init 0 */
+
+  /* USER CODE BEGIN USART1_Init 1 */
+
+  /* USER CODE END USART1_Init 1 */
+  huart1.Instance = USART1;
+  huart1.Init.BaudRate = 115200;
+  huart1.Init.WordLength = UART_WORDLENGTH_8B;
+  huart1.Init.StopBits = UART_STOPBITS_1;
+  huart1.Init.Parity = UART_PARITY_NONE;
+  huart1.Init.Mode = UART_MODE_TX_RX;
+  huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+  huart1.Init.OverSampling = UART_OVERSAMPLING_16;
+  huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
+  huart1.Init.ClockPrescaler = UART_PRESCALER_DIV1;
+  huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
+  if (HAL_UART_Init(&huart1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_UARTEx_SetTxFifoThreshold(&huart1, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_UARTEx_SetRxFifoThreshold(&huart1, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_UARTEx_DisableFifoMode(&huart1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN USART1_Init 2 */
+
+  /* USER CODE END USART1_Init 2 */
+
+}
+
 /**
   * @brief USART2 Initialization Function
   * @param None
@@ -267,7 +319,7 @@ void MX_USART2_UART_Init(void)
 
   /* USER CODE END USART2_Init 1 */
   huart2.Instance = USART2;
-  huart2.Init.BaudRate = 460800;
+  huart2.Init.BaudRate = 1000000;
   huart2.Init.WordLength = UART_WORDLENGTH_8B;
   huart2.Init.StopBits = UART_STOPBITS_1;
   huart2.Init.Parity = UART_PARITY_NONE;
@@ -308,6 +360,7 @@ void MX_DMA_Init(void)
   /* DMA controller clock enable */
   __HAL_RCC_DMAMUX1_CLK_ENABLE();
   __HAL_RCC_DMA1_CLK_ENABLE();
+  __HAL_RCC_DMA2_CLK_ENABLE();
 
   /* DMA interrupt init */
   /* DMA1_Channel1_IRQn interrupt configuration */
@@ -328,6 +381,12 @@ void MX_DMA_Init(void)
   /* DMA1_Channel6_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(DMA1_Channel6_IRQn, 5, 0);
   HAL_NVIC_EnableIRQ(DMA1_Channel6_IRQn);
+  /* DMA2_Channel1_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA2_Channel1_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(DMA2_Channel1_IRQn);
+  /* DMA2_Channel2_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA2_Channel2_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(DMA2_Channel2_IRQn);
 
 }
 

diff --git a/hw/bsp/atom/drivers/hal/Core/Src/stm32g4xx_hal_msp.c b/hw/bsp/atom/drivers/hal/Core/Src/stm32g4xx_hal_msp.c
@@ -32,6 +32,10 @@ extern DMA_HandleTypeDef hdma_spi1_rx;
 
 extern DMA_HandleTypeDef hdma_spi1_tx;
 
+extern DMA_HandleTypeDef hdma_usart1_rx;
+
+extern DMA_HandleTypeDef hdma_usart1_tx;
+
 extern DMA_HandleTypeDef hdma_usart2_rx;
 
 extern DMA_HandleTypeDef hdma_usart2_tx;
@@ -432,7 +436,76 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
 {
   GPIO_InitTypeDef GPIO_InitStruct = {0};
   RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
-  if(huart->Instance==USART2)
+  if(huart->Instance==USART1)
+  {
+  /* USER CODE BEGIN USART1_MspInit 0 */
+
+  /* USER CODE END USART1_MspInit 0 */
+
+  /** Initializes the peripherals clocks
+  */
+    PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1;
+    PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK2;
+    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    /* Peripheral clock enable */
+    __HAL_RCC_USART1_CLK_ENABLE();
+
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    /**USART1 GPIO Configuration
+    PA9     ------> USART1_TX
+    PA10     ------> USART1_RX
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_10;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+    /* USART1 DMA Init */
+    /* USART1_RX Init */
+    hdma_usart1_rx.Instance = DMA2_Channel1;
+    hdma_usart1_rx.Init.Request = DMA_REQUEST_USART1_RX;
+    hdma_usart1_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
+    hdma_usart1_rx.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_usart1_rx.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_usart1_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+    hdma_usart1_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+    hdma_usart1_rx.Init.Mode = DMA_NORMAL;
+    hdma_usart1_rx.Init.Priority = DMA_PRIORITY_LOW;
+    if (HAL_DMA_Init(&hdma_usart1_rx) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(huart,hdmarx,hdma_usart1_rx);
+
+    /* USART1_TX Init */
+    hdma_usart1_tx.Instance = DMA2_Channel2;
+    hdma_usart1_tx.Init.Request = DMA_REQUEST_USART1_TX;
+    hdma_usart1_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
+    hdma_usart1_tx.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_usart1_tx.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_usart1_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+    hdma_usart1_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+    hdma_usart1_tx.Init.Mode = DMA_NORMAL;
+    hdma_usart1_tx.Init.Priority = DMA_PRIORITY_LOW;
+    if (HAL_DMA_Init(&hdma_usart1_tx) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(huart,hdmatx,hdma_usart1_tx);
+
+  /* USER CODE BEGIN USART1_MspInit 1 */
+
+  /* USER CODE END USART1_MspInit 1 */
+  }
+  else if(huart->Instance==USART2)
   {
   /* USER CODE BEGIN USART2_MspInit 0 */
 
@@ -515,7 +588,28 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
 */
 void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
 {
-  if(huart->Instance==USART2)
+  if(huart->Instance==USART1)
+  {
+  /* USER CODE BEGIN USART1_MspDeInit 0 */
+
+  /* USER CODE END USART1_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_USART1_CLK_DISABLE();
+
+    /**USART1 GPIO Configuration
+    PA9     ------> USART1_TX
+    PA10     ------> USART1_RX
+    */
+    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10);
+
+    /* USART1 DMA DeInit */
+    HAL_DMA_DeInit(huart->hdmarx);
+    HAL_DMA_DeInit(huart->hdmatx);
+  /* USER CODE BEGIN USART1_MspDeInit 1 */
+
+  /* USER CODE END USART1_MspDeInit 1 */
+  }
+  else if(huart->Instance==USART2)
   {
   /* USER CODE BEGIN USART2_MspDeInit 0 */
 

diff --git a/hw/bsp/atom/drivers/hal/Core/Src/stm32g4xx_it.c b/hw/bsp/atom/drivers/hal/Core/Src/stm32g4xx_it.c
@@ -62,6 +62,8 @@ extern I2C_HandleTypeDef hi2c1;
 extern DMA_HandleTypeDef hdma_spi1_rx;
 extern DMA_HandleTypeDef hdma_spi1_tx;
 extern SPI_HandleTypeDef hspi1;
+extern DMA_HandleTypeDef hdma_usart1_rx;
+extern DMA_HandleTypeDef hdma_usart1_tx;
 extern DMA_HandleTypeDef hdma_usart2_rx;
 extern DMA_HandleTypeDef hdma_usart2_tx;
 extern UART_HandleTypeDef huart2;
@@ -349,6 +351,34 @@ void USART2_IRQHandler(void)
   /* USER CODE END USART2_IRQn 1 */
 }
 
+/**
+  * @brief This function handles DMA2 channel1 global interrupt.
+  */
+void DMA2_Channel1_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA2_Channel1_IRQn 0 */
+
+  /* USER CODE END DMA2_Channel1_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_usart1_rx);
+  /* USER CODE BEGIN DMA2_Channel1_IRQn 1 */
+
+  /* USER CODE END DMA2_Channel1_IRQn 1 */
+}
+
+/**
+  * @brief This function handles DMA2 channel2 global interrupt.
+  */
+void DMA2_Channel2_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA2_Channel2_IRQn 0 */
+
+  /* USER CODE END DMA2_Channel2_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_usart1_tx);
+  /* USER CODE BEGIN DMA2_Channel2_IRQn 1 */
+
+  /* USER CODE END DMA2_Channel2_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */
 void HAL_UART_RegisterUserCallback(void (*fn)(UART_HandleTypeDef *huart)) {
   user_uart_irq_handler = fn;

diff --git a/hw/bsp/atom/drivers/hal/Makefile b/hw/bsp/atom/drivers/hal/Makefile
@@ -1,5 +1,5 @@
 ##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [4.1.0] date: [Thu Sep 14 23:13:22 CST 2023] 
+# File automatically-generated by tool: [projectgenerator] version: [4.1.0] date: [Sun Nov 05 11:19:30 CST 2023] 
 ##########################################################################################################################
 
 # ------------------------------------------------