[Spinal] change usart3 bardrate as 1Mbps

sugihara-16 · Mar 1, 2024 · e3094c5 · e3094c5
1 parent af3f910
commit e3094c5
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diff --git a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Inc/ethernetif.h b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Inc/ethernetif.h
@@ -6,7 +6,7 @@
   ******************************************************************************
   * @attention
   *
-  * <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
+  * <h2><center>&copy; Copyright (c) 2024 STMicroelectronics.
   * All rights reserved.</center></h2>
   *
   * This software component is licensed by ST under Ultimate Liberty license

diff --git a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Inc/lwip.h b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Inc/lwip.h
@@ -6,7 +6,7 @@
   ******************************************************************************
   * @attention
   *
-  * <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
+  * <h2><center>&copy; Copyright (c) 2024 STMicroelectronics.
   * All rights reserved.</center></h2>
   *
   * This software component is licensed by ST under Ultimate Liberty license

diff --git a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Inc/lwipopts.h b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Inc/lwipopts.h
@@ -7,7 +7,7 @@
   ******************************************************************************
   * @attention
   *
-  * <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
+  * <h2><center>&copy; Copyright (c) 2024 STMicroelectronics.
   * All rights reserved.</center></h2>
   *
   * This software component is licensed by ST under Ultimate Liberty license

diff --git a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/STM32CubeIDE/.cproject b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/STM32CubeIDE/.cproject
@@ -25,7 +25,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.1560105099" name="Floating-point unit" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.value.fpv5-d16" valueType="enumerated"/>
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 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.1123785686" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.785140283" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32 || STM32H743VITx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../../Drivers/CMSIS/Include | ../../Middlewares/Third_Party/LwIP/src/include/lwip/priv | ../../Middlewares/Third_Party/LwIP/src/include/netif/ppp | ../../Middlewares/Third_Party/LwIP/src/include/lwip/apps | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix/net | ../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS | ../../Middlewares/Third_Party/LwIP/src/include/lwip | ../../Middlewares/Third_Party/LwIP/src/include/lwip/prot | ../../Drivers/STM32H7xx_HAL_Driver/Inc | ../../Middlewares/Third_Party/LwIP/src/include/compat/stdc | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix | ../../Drivers/CMSIS/Device/ST/STM32H7xx/Include | ../../Middlewares/Third_Party/LwIP/system/arch | ../../Middlewares/Third_Party/FreeRTOS/Source/include | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix/sys | ../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F | ../../Inc | ../../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy | ../../Middlewares/Third_Party/LwIP/system | ../../Middlewares/Third_Party/LwIP/src/include | ../../Middlewares/Third_Party/LwIP/src/include/netif | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix/arpa | ../../Drivers/BSP/Components/lan8742 ||  ||  || USE_HAL_DRIVER | STM32H743xx ||  ||  ||  ||  || ${workspace_loc:/${ProjName}/STM32H743VITX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None || " valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.785140283" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32 || STM32H743VITx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../../Drivers/CMSIS/Include | ../../Middlewares/Third_Party/LwIP/src/include/lwip/priv | ../../Middlewares/Third_Party/LwIP/src/include/netif/ppp | ../../Middlewares/Third_Party/LwIP/src/include/lwip/apps | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix/net | ../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS | ../../Middlewares/Third_Party/LwIP/src/include/lwip | ../../Middlewares/Third_Party/LwIP/src/include/lwip/prot | ../../Drivers/STM32H7xx_HAL_Driver/Inc | ../../Middlewares/Third_Party/LwIP/src/include/compat/stdc | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix | ../../Drivers/BSP/Components/lan8742 | ../../Drivers/CMSIS/Device/ST/STM32H7xx/Include | ../../Middlewares/Third_Party/LwIP/system/arch | ../../Middlewares/Third_Party/FreeRTOS/Source/include | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix/sys | ../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F | ../../Inc | ../../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy | ../../Middlewares/Third_Party/LwIP/system | ../../Middlewares/Third_Party/LwIP/src/include | ../../Middlewares/Third_Party/LwIP/src/include/netif | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix/arpa ||  ||  || USE_HAL_DRIVER | STM32H743xx ||  ||  ||  ||  || ${workspace_loc:/${ProjName}/STM32H743VITX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None || " valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.1808345384" name="Toolchain" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32.9-2020-q2-update" valueType="string"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.1732425603" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/spinal}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.530361035" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
@@ -209,7 +209,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.619623993" name="Floating-point unit" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.value.fpv5-d16" valueType="enumerated"/>
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 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.1946193872" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.15398046" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32 || STM32H743VITx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../../Drivers/CMSIS/Include | ../../Middlewares/Third_Party/LwIP/src/include/lwip/priv | ../../Middlewares/Third_Party/LwIP/src/include/netif/ppp | ../../Middlewares/Third_Party/LwIP/src/include/lwip/apps | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix/net | ../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS | ../../Middlewares/Third_Party/LwIP/src/include/lwip | ../../Middlewares/Third_Party/LwIP/src/include/lwip/prot | ../../Drivers/STM32H7xx_HAL_Driver/Inc | ../../Middlewares/Third_Party/LwIP/src/include/compat/stdc | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix | ../../Drivers/CMSIS/Device/ST/STM32H7xx/Include | ../../Middlewares/Third_Party/LwIP/system/arch | ../../Middlewares/Third_Party/FreeRTOS/Source/include | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix/sys | ../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F | ../../Inc | ../../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy | ../../Middlewares/Third_Party/LwIP/system | ../../Middlewares/Third_Party/LwIP/src/include | ../../Middlewares/Third_Party/LwIP/src/include/netif | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix/arpa | ../../Drivers/BSP/Components/lan8742 ||  ||  || USE_HAL_DRIVER | STM32H743xx ||  ||  ||  ||  || ${workspace_loc:/${ProjName}/STM32H743VITX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None || " valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.15398046" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32 || STM32H743VITx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../../Drivers/CMSIS/Include | ../../Middlewares/Third_Party/LwIP/src/include/lwip/priv | ../../Middlewares/Third_Party/LwIP/src/include/netif/ppp | ../../Middlewares/Third_Party/LwIP/src/include/lwip/apps | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix/net | ../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS | ../../Middlewares/Third_Party/LwIP/src/include/lwip | ../../Middlewares/Third_Party/LwIP/src/include/lwip/prot | ../../Drivers/STM32H7xx_HAL_Driver/Inc | ../../Middlewares/Third_Party/LwIP/src/include/compat/stdc | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix | ../../Drivers/BSP/Components/lan8742 | ../../Drivers/CMSIS/Device/ST/STM32H7xx/Include | ../../Middlewares/Third_Party/LwIP/system/arch | ../../Middlewares/Third_Party/FreeRTOS/Source/include | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix/sys | ../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F | ../../Inc | ../../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy | ../../Middlewares/Third_Party/LwIP/system | ../../Middlewares/Third_Party/LwIP/src/include | ../../Middlewares/Third_Party/LwIP/src/include/netif | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix/arpa ||  ||  || USE_HAL_DRIVER | STM32H743xx ||  ||  ||  ||  || ${workspace_loc:/${ProjName}/STM32H743VITX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None || " valueType="string"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.2052134197" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/spinal}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.843691260" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.1567965632" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">

diff --git a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/STM32CubeIDE/.project b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/STM32CubeIDE/.project
@@ -67,6 +67,11 @@
 			<type>1</type>
 			<locationURI>PARENT-1-PROJECT_LOC/Src/lwip.c</locationURI>
 		</link>
+		<link>
+			<name>Application/User/main.c</name>
+			<type>1</type>
+			<locationURI>PARENT-1-PROJECT_LOC/Src/main.c</locationURI>
+		</link>
 		<link>
 			<name>Application/User/main.cpp</name>
 			<type>1</type>

diff --git a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/ethernetif.c b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/ethernetif.c
@@ -6,7 +6,7 @@
   ******************************************************************************
   * @attention
   *
-  * <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
+  * <h2><center>&copy; Copyright (c) 2024 STMicroelectronics.
   * All rights reserved.</center></h2>
   *
   * This software component is licensed by ST under Ultimate Liberty license

diff --git a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/lwip.c b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/lwip.c
@@ -6,7 +6,7 @@
   ******************************************************************************
   * @attention
   *
-  * <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
+  * <h2><center>&copy; Copyright (c) 2024 STMicroelectronics.
   * All rights reserved.</center></h2>
   *
   * This software component is licensed by ST under Ultimate Liberty license

diff --git a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/main.c b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/main.c
@@ -906,7 +906,7 @@ static void MX_USART3_UART_Init(void)
 
   /* USER CODE END USART3_Init 1 */
   huart3.Instance = USART3;
-  huart3.Init.BaudRate = 19200;
+  huart3.Init.BaudRate = 1000000;
   huart3.Init.WordLength = UART_WORDLENGTH_8B;
   huart3.Init.StopBits = UART_STOPBITS_1;
   huart3.Init.Parity = UART_PARITY_NONE;
@@ -1019,6 +1019,8 @@ static void MX_GPIO_Init(void)
 /* USER CODE END Header_coreTaskFunc */
 void coreTaskFunc(void const * argument)
 {
+  /* init code for LWIP */
+  MX_LWIP_Init();
   /* USER CODE BEGIN 5 */
 #ifdef USE_ETH
   /* init code for LWIP */

diff --git a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/stm32h7xx_hal_msp.c b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/stm32h7xx_hal_msp.c
@@ -613,7 +613,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
     GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
     GPIO_InitStruct.Alternate = GPIO_AF7_USART3;
     HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
 
@@ -627,7 +627,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
     hdma_usart3_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
     hdma_usart3_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
     hdma_usart3_rx.Init.Mode = DMA_CIRCULAR;
-    hdma_usart3_rx.Init.Priority = DMA_PRIORITY_HIGH;
+    hdma_usart3_rx.Init.Priority = DMA_PRIORITY_VERY_HIGH;
     hdma_usart3_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
     if (HAL_DMA_Init(&hdma_usart3_rx) != HAL_OK)
     {

diff --git a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/spinal.ioc b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/spinal.ioc
@@ -93,7 +93,7 @@ Dma.USART3_RX.2.Mode=DMA_CIRCULAR
 Dma.USART3_RX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
 Dma.USART3_RX.2.PeriphInc=DMA_PINC_DISABLE
 Dma.USART3_RX.2.Polarity=HAL_DMAMUX_REQ_GEN_RISING
-Dma.USART3_RX.2.Priority=DMA_PRIORITY_HIGH
+Dma.USART3_RX.2.Priority=DMA_PRIORITY_VERY_HIGH
 Dma.USART3_RX.2.RequestNumber=1
 Dma.USART3_RX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
 Dma.USART3_RX.2.SignalID=NONE
@@ -358,9 +358,13 @@ PD14.Locked=true
 PD14.Signal=S_TIM4_CH3
 PD15.Locked=true
 PD15.Signal=S_TIM4_CH4
+PD8.GPIOParameters=GPIO_Speed
+PD8.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
 PD8.Locked=true
 PD8.Mode=Asynchronous
 PD8.Signal=USART3_TX
+PD9.GPIOParameters=GPIO_Speed
+PD9.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
 PD9.Mode=Asynchronous
 PD9.Signal=USART3_RX
 PE1.GPIOParameters=GPIO_Label
@@ -566,7 +570,7 @@ TIM4.Pulse-PWM\ Generation4\ CH4=10000
 USART1.BaudRate=921600
 USART1.IPParameters=VirtualMode-Asynchronous,BaudRate
 USART1.VirtualMode-Asynchronous=VM_ASYNC
-USART3.BaudRate=19200
+USART3.BaudRate=1000000
 USART3.IPParameters=VirtualMode-Asynchronous,BaudRate
 USART3.VirtualMode-Asynchronous=VM_ASYNC
 VP_FREERTOS_VS_CMSIS_V1.Mode=CMSIS_V1