[Feat] Add Support for DM-MC01 Board (#72)

* progress save * RTE_Components.h not found * dbus works on mc01 * upload updated board config files * m3508 works; m4310 CAN tx not transmitting (pending transmission request in tx mailbox * A1 works on mc01; need to change usart receive * renamed files and fixed cmakelist * A1 remote control works * setting uart back to dma; issue with rx * added dbus example * add dm mc01 example * add copyright context to CMakeLists.txt * update copyright comment, fixed bug --------- Co-authored-by: rickxu2 <[email protected]> Co-authored-by: Richard Xu <[email protected]>
illini-robomaster · Apr 24, 2024 · caf9091 · caf9091
1 parent d70528d
commit caf9091
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diff --git a/boards/CMakeLists.txt b/boards/CMakeLists.txt
@@ -32,3 +32,4 @@ target_link_libraries(board_interface INTERFACE c m)
 # board specific interfaces
 add_subdirectory(DJI_Board_TypeA)
 add_subdirectory(DJI_Board_TypeC)
+add_subdirectory(DM_MC_01)
diff --git a/boards/DM_MC_01/CMakeLists.txt b/boards/DM_MC_01/CMakeLists.txt
@@ -0,0 +1,72 @@
+
+get_filename_component(CURRENT_DIR_NAME ${CMAKE_CURRENT_SOURCE_DIR} NAME)
+project(${CURRENT_DIR_NAME} C ASM)
+
+set(MCU_LINE STM32F446xx)
+set(MCU_ARCH cortex-m4)
+set(MCU_FLOAT_ABI hard)
+set(MCU_FPU fpv4-sp-d16)
+set(MCU_LINKER_SCRIPT STM32F446RCTx_FLASH.ld)
+set(MCU_OPTIONS -mcpu=${MCU_ARCH} -mthumb -mthumb-interwork
+        -mfpu=${MCU_FPU} -mfloat-abi=${MCU_FLOAT_ABI})
+
+######################################################
+# ----- create board specific interface library -----#
+######################################################
+add_library(${PROJECT_NAME}_interface INTERFACE)
+target_compile_definitions(${PROJECT_NAME}_interface INTERFACE ${MCU_LINE}
+        ARM_MATH_CM4
+        BOARD_HAS_UART_DMA_DOUBLE_BUFFER)
+target_compile_options(${PROJECT_NAME}_interface INTERFACE ${MCU_OPTIONS})
+target_link_options(${PROJECT_NAME}_interface INTERFACE
+        ${MCU_OPTIONS} -T${CMAKE_CURRENT_SOURCE_DIR}/${MCU_LINKER_SCRIPT})
+
+target_link_libraries(${PROJECT_NAME}_interface INTERFACE board_interface)
+target_include_directories(${PROJECT_NAME}_interface INTERFACE
+        ${CMAKE_CURRENT_SOURCE_DIR}/Core/Inc
+        #    ${CMAKE_CURRENT_SOURCE_DIR}/FATFS/Target
+        #    ${CMAKE_CURRENT_SOURCE_DIR}/FATFS/App
+        ${CMAKE_CURRENT_SOURCE_DIR}/USB_DEVICE/App
+        ${CMAKE_CURRENT_SOURCE_DIR}/USB_DEVICE/Target
+        ${CMAKE_CURRENT_SOURCE_DIR}/Drivers/STM32F4xx_HAL_Driver/Inc
+        ${CMAKE_CURRENT_SOURCE_DIR}/Drivers/STM32F4xx_HAL_Driver/Inc/Legacy
+        ${CMAKE_CURRENT_SOURCE_DIR}/Drivers/CMSIS/Include
+        ${CMAKE_CURRENT_SOURCE_DIR}/Drivers/CMSIS/Device/ST/STM32F4xx/Include
+        ${CMAKE_CURRENT_SOURCE_DIR}/DSP/Include
+        ${CMAKE_CURRENT_SOURCE_DIR}/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc
+        ${CMAKE_CURRENT_SOURCE_DIR}/Middlewares/ST/STM32_USB_Device_Library/Core/Inc
+        ${CMAKE_CURRENT_SOURCE_DIR}/Middlewares/Third_Party/FatFs/src
+        ${CMAKE_CURRENT_SOURCE_DIR}/Middlewares/Third_Party/FreeRTOS/Source/include
+        ${CMAKE_CURRENT_SOURCE_DIR}/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2
+        ${CMAKE_CURRENT_SOURCE_DIR}/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F)
+
+#####################################################
+# ----- create board specific arm dsp library ----- #
+#####################################################
+
+file(GLOB_RECURSE DSP_SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/DSP/Source/*.c)
+add_library(${PROJECT_NAME}_libDSP ${DSP_SOURCES})
+target_compile_options(${PROJECT_NAME}_libDSP PRIVATE -Wno-strict-aliasing)
+target_compile_definitions(${PROJECT_NAME}_libDSP PRIVATE __FPU_PRESENT)
+target_link_libraries(${PROJECT_NAME}_libDSP PRIVATE ${PROJECT_NAME}_interface)
+
+###################################################
+# ----- create board specific driver library -----#
+###################################################
+file(GLOB_RECURSE CORE_SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/Core/Src/*.c)
+#file(GLOB_RECURSE FATFS_SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/FATFS/*.c)
+file(GLOB_RECURSE USB_SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/USB_DEVICE/*.c)
+file(GLOB_RECURSE DRIVER_SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/Drivers/*.c)
+file(GLOB_RECURSE MIDDLEWARE_SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/Middlewares/*.c)
+file(GLOB_RECURSE STARTUP_ASM ${CMAKE_CURRENT_SOURCE_DIR}/startup_stm32f446xx.s)
+
+add_library(${PROJECT_NAME} OBJECT
+        ${CORE_SOURCES} ${FATFS_SOURCES} ${USB_SOURCES}
+        ${DRIVER_SOURCES} ${MIDDLEWARE_SOURCES} ${STARTUP_ASM})
+# ST libraries throws those warnings
+target_compile_options(${PROJECT_NAME} PRIVATE
+        -Wno-maybe-uninitialized -Wno-unused-parameter -Wno-sign-compare -Wno-int-conversion)
+# link against board specific arm dsp library and interface
+target_link_libraries(${PROJECT_NAME}
+        PRIVATE ${PROJECT_NAME}_libDSP
+        PUBLIC ${PROJECT_NAME}_interface)
diff --git a/boards/DM_MC_01/Core/Inc/FreeRTOSConfig.h b/boards/DM_MC_01/Core/Inc/FreeRTOSConfig.h
@@ -0,0 +1,183 @@
+/* USER CODE BEGIN Header */
+/*
+ * FreeRTOS Kernel V10.2.1
+ * Portion Copyright (C) 2017 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * Portion Copyright (C) 2019 StMicroelectronics, Inc.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+/* USER CODE END Header */
+
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+/*-----------------------------------------------------------
+ * Application specific definitions.
+ *
+ * These definitions should be adjusted for your particular hardware and
+ * application requirements.
+ *
+ * These parameters and more are described within the 'configuration' section of the
+ * FreeRTOS API documentation available on the FreeRTOS.org web site.
+ *
+ * See http://www.freertos.org/a00110.html
+ *----------------------------------------------------------*/
+
+/* USER CODE BEGIN Includes */
+/* Section where include file can be added */
+/* USER CODE END Includes */
+
+/* Ensure definitions are only used by the compiler, and not by the assembler. */
+#if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
+  #include <stdint.h>
+  extern uint32_t SystemCoreClock;
+/* USER CODE BEGIN 0 */
+  extern void configureTimerForRunTimeStats(void);
+  extern unsigned long getRunTimeCounterValue(void);
+/* USER CODE END 0 */
+#endif
+#ifndef CMSIS_device_header
+#define CMSIS_device_header "stm32f4xx.h"
+#endif /* CMSIS_device_header */
+
+#define configENABLE_FPU                         1
+#define configENABLE_MPU                         0
+
+#define configUSE_PREEMPTION                     1
+#define configSUPPORT_STATIC_ALLOCATION          1
+#define configSUPPORT_DYNAMIC_ALLOCATION         1
+#define configUSE_IDLE_HOOK                      0
+#define configUSE_TICK_HOOK                      0
+#define configCPU_CLOCK_HZ                       ( SystemCoreClock )
+#define configTICK_RATE_HZ                       ((TickType_t)1000)
+#define configMAX_PRIORITIES                     ( 56 )
+#define configMINIMAL_STACK_SIZE                 ((uint16_t)128)
+#define configTOTAL_HEAP_SIZE                    ((size_t)65536)
+#define configMAX_TASK_NAME_LEN                  ( 16 )
+#define configGENERATE_RUN_TIME_STATS            1
+#define configUSE_TRACE_FACILITY                 1
+#define configUSE_16_BIT_TICKS                   0
+#define configUSE_MUTEXES                        1
+#define configQUEUE_REGISTRY_SIZE                8
+#define configCHECK_FOR_STACK_OVERFLOW           2
+#define configUSE_RECURSIVE_MUTEXES              1
+#define configUSE_COUNTING_SEMAPHORES            1
+#define configUSE_PORT_OPTIMISED_TASK_SELECTION  0
+/* USER CODE BEGIN MESSAGE_BUFFER_LENGTH_TYPE */
+/* Defaults to size_t for backward compatibility, but can be changed
+   if lengths will always be less than the number of bytes in a size_t. */
+#define configMESSAGE_BUFFER_LENGTH_TYPE         size_t
+/* USER CODE END MESSAGE_BUFFER_LENGTH_TYPE */
+
+/* Co-routine definitions. */
+#define configUSE_CO_ROUTINES                    0
+#define configMAX_CO_ROUTINE_PRIORITIES          ( 2 )
+
+/* Software timer definitions. */
+#define configUSE_TIMERS                         1
+#define configTIMER_TASK_PRIORITY                ( 2 )
+#define configTIMER_QUEUE_LENGTH                 10
+#define configTIMER_TASK_STACK_DEPTH             256
+
+/* CMSIS-RTOS V2 flags */
+#define configUSE_OS2_THREAD_SUSPEND_RESUME  1
+#define configUSE_OS2_THREAD_ENUMERATE       1
+#define configUSE_OS2_EVENTFLAGS_FROM_ISR    1
+#define configUSE_OS2_THREAD_FLAGS           1
+#define configUSE_OS2_TIMER                  1
+#define configUSE_OS2_MUTEX                  1
+
+/* Set the following definitions to 1 to include the API function, or zero
+to exclude the API function. */
+#define INCLUDE_vTaskPrioritySet             1
+#define INCLUDE_uxTaskPriorityGet            1
+#define INCLUDE_vTaskDelete                  1
+#define INCLUDE_vTaskCleanUpResources        0
+#define INCLUDE_vTaskSuspend                 1
+#define INCLUDE_vTaskDelayUntil              1
+#define INCLUDE_vTaskDelay                   1
+#define INCLUDE_xTaskGetSchedulerState       1
+#define INCLUDE_xTimerPendFunctionCall       1
+#define INCLUDE_xQueueGetMutexHolder         1
+#define INCLUDE_uxTaskGetStackHighWaterMark  1
+#define INCLUDE_xTaskGetCurrentTaskHandle    1
+#define INCLUDE_eTaskGetState                1
+
+/*
+ * The CMSIS-RTOS V2 FreeRTOS wrapper is dependent on the heap implementation used
+ * by the application thus the correct define need to be enabled below
+ */
+#define USE_FreeRTOS_HEAP_4
+
+/* Cortex-M specific definitions. */
+#ifdef __NVIC_PRIO_BITS
+ /* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
+ #define configPRIO_BITS         __NVIC_PRIO_BITS
+#else
+ #define configPRIO_BITS         4
+#endif
+
+/* The lowest interrupt priority that can be used in a call to a "set priority"
+function. */
+#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY   15
+
+/* The highest interrupt priority that can be used by any interrupt service
+routine that makes calls to interrupt safe FreeRTOS API functions.  DO NOT CALL
+INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
+PRIORITY THAN THIS! (higher priorities are lower numeric values. */
+#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
+
+/* Interrupt priorities used by the kernel port layer itself.  These are generic
+to all Cortex-M ports, and do not rely on any particular library functions. */
+#define configKERNEL_INTERRUPT_PRIORITY 		( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
+/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
+See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY 	( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
+
+/* Normal assert() semantics without relying on the provision of an assert.h
+header file. */
+/* USER CODE BEGIN 1 */
+#define configASSERT( x ) if ((x) == 0) {taskDISABLE_INTERRUPTS(); for( ;; );}
+/* USER CODE END 1 */
+
+/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
+standard names. */
+#define vPortSVCHandler    SVC_Handler
+#define xPortPendSVHandler PendSV_Handler
+
+/* IMPORTANT: After 10.3.1 update, Systick_Handler comes from NVIC (if SYS timebase = systick), otherwise from cmsis_os2.c */
+
+#define USE_CUSTOM_SYSTICK_HANDLER_IMPLEMENTATION 0
+
+/* USER CODE BEGIN 2 */
+/* Definitions needed when configGENERATE_RUN_TIME_STATS is on */
+#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS configureTimerForRunTimeStats
+#define portGET_RUN_TIME_COUNTER_VALUE getRunTimeCounterValue
+/* USER CODE END 2 */
+
+/* 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 */
diff --git a/boards/DM_MC_01/Core/Inc/adc.h b/boards/DM_MC_01/Core/Inc/adc.h
@@ -0,0 +1,52 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    adc.h
+  * @brief   This file contains all the function prototypes for
+  *          the adc.c file
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2023 STMicroelectronics.
+  * All rights reserved.
+  *
+  * 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.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __ADC_H__
+#define __ADC_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+extern ADC_HandleTypeDef hadc1;
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+void MX_ADC1_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __ADC_H__ */
+
diff --git a/boards/DM_MC_01/Core/Inc/can.h b/boards/DM_MC_01/Core/Inc/can.h
@@ -0,0 +1,55 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    can.h
+  * @brief   This file contains all the function prototypes for
+  *          the can.c file
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2023 STMicroelectronics.
+  * All rights reserved.
+  *
+  * 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.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __CAN_H__
+#define __CAN_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+extern CAN_HandleTypeDef hcan1;
+
+extern CAN_HandleTypeDef hcan2;
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+void MX_CAN1_Init(void);
+void MX_CAN2_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __CAN_H__ */
+