├── .gitignore
├── .mxproject
├── Documentation
└── Release_Notes.md
├── Drivers
├── BSP
│ ├── BSP_accelero.c
│ ├── BSP_accelero.h
│ ├── BSP_gyro.c
│ ├── BSP_gyro.h
│ ├── BSP_magneto.c
│ ├── BSP_magneto.h
│ ├── BSP_pressure.c
│ ├── BSP_pressure.h
│ ├── Common
│ │ ├── accelerometer.h
│ │ ├── component.h
│ │ ├── gyroscope.h
│ │ ├── magnetometer.h
│ │ ├── pressure.h
│ │ └── sensor.h
│ ├── hts221
│ │ ├── HTS221_Driver.c
│ │ ├── HTS221_Driver.h
│ │ ├── HTS221_Driver_HL.c
│ │ ├── HTS221_Driver_HL.h
│ │ └── Release_Notes.html
│ ├── lsm303agr
│ │ ├── LSM303AGR_ACC_driver.c
│ │ ├── LSM303AGR_ACC_driver.h
│ │ ├── LSM303AGR_ACC_driver_HL.c
│ │ ├── LSM303AGR_ACC_driver_HL.h
│ │ ├── LSM303AGR_Combo_driver_HL.h
│ │ ├── LSM303AGR_MAG_driver.c
│ │ ├── LSM303AGR_MAG_driver.h
│ │ ├── LSM303AGR_MAG_driver_HL.c
│ │ ├── LSM303AGR_MAG_driver_HL.h
│ │ └── Release_Notes.html
│ ├── lsm6dsm
│ │ ├── LSM6DSM_ACC_GYRO_driver.c
│ │ ├── LSM6DSM_ACC_GYRO_driver.h
│ │ ├── LSM6DSM_ACC_GYRO_driver_HL.c
│ │ └── LSM6DSM_ACC_GYRO_driver_HL.h
│ └── mpu9250
│ │ ├── mpu9250.c
│ │ └── mpu9250.h
├── CMSIS
│ ├── Device
│ │ └── ST
│ │ │ └── STM32F7xx
│ │ │ ├── Include
│ │ │ ├── stm32f767xx.h
│ │ │ ├── stm32f7xx.h
│ │ │ └── system_stm32f7xx.h
│ │ │ └── Source
│ │ │ └── Templates
│ │ │ └── iar
│ │ │ └── startup_stm32f767xx.s
│ └── Include
│ │ ├── arm_common_tables.h
│ │ ├── arm_const_structs.h
│ │ ├── arm_math.h
│ │ ├── cmsis_armcc.h
│ │ ├── cmsis_armcc_V6.h
│ │ ├── cmsis_gcc.h
│ │ ├── core_cm0.h
│ │ ├── core_cm0plus.h
│ │ ├── core_cm3.h
│ │ ├── core_cm4.h
│ │ ├── core_cm7.h
│ │ ├── core_cmFunc.h
│ │ ├── core_cmInstr.h
│ │ ├── core_cmSimd.h
│ │ ├── core_sc000.h
│ │ └── core_sc300.h
├── STM32F7xx_HAL_Driver
│ ├── Inc
│ │ ├── Legacy
│ │ │ └── stm32_hal_legacy.h
│ │ ├── stm32f7xx_hal.h
│ │ ├── stm32f7xx_hal_adc.h
│ │ ├── stm32f7xx_hal_adc_ex.h
│ │ ├── stm32f7xx_hal_can.h
│ │ ├── stm32f7xx_hal_cortex.h
│ │ ├── stm32f7xx_hal_def.h
│ │ ├── stm32f7xx_hal_dma.h
│ │ ├── stm32f7xx_hal_dma_ex.h
│ │ ├── stm32f7xx_hal_eth.h
│ │ ├── stm32f7xx_hal_flash.h
│ │ ├── stm32f7xx_hal_flash_ex.h
│ │ ├── stm32f7xx_hal_gpio.h
│ │ ├── stm32f7xx_hal_gpio_ex.h
│ │ ├── stm32f7xx_hal_i2c.h
│ │ ├── stm32f7xx_hal_i2c_ex.h
│ │ ├── stm32f7xx_hal_mmc.h
│ │ ├── stm32f7xx_hal_pcd.h
│ │ ├── stm32f7xx_hal_pcd_ex.h
│ │ ├── stm32f7xx_hal_pwr.h
│ │ ├── stm32f7xx_hal_pwr_ex.h
│ │ ├── stm32f7xx_hal_qspi.h
│ │ ├── stm32f7xx_hal_rcc.h
│ │ ├── stm32f7xx_hal_rcc_ex.h
│ │ ├── stm32f7xx_hal_sai.h
│ │ ├── stm32f7xx_hal_sai_ex.h
│ │ ├── stm32f7xx_hal_sd.h
│ │ ├── stm32f7xx_hal_spi.h
│ │ ├── stm32f7xx_hal_tim.h
│ │ ├── stm32f7xx_hal_tim_ex.h
│ │ ├── stm32f7xx_hal_uart.h
│ │ ├── stm32f7xx_hal_uart_ex.h
│ │ ├── stm32f7xx_ll_bus.h
│ │ ├── stm32f7xx_ll_dma.h
│ │ ├── stm32f7xx_ll_gpio.h
│ │ ├── stm32f7xx_ll_rcc.h
│ │ ├── stm32f7xx_ll_sdmmc.h
│ │ ├── stm32f7xx_ll_spi.h
│ │ ├── stm32f7xx_ll_tim.h
│ │ ├── stm32f7xx_ll_usart.h
│ │ └── stm32f7xx_ll_usb.h
│ └── Src
│ │ ├── stm32f7xx_hal.c
│ │ ├── stm32f7xx_hal_adc.c
│ │ ├── stm32f7xx_hal_adc_ex.c
│ │ ├── stm32f7xx_hal_can.c
│ │ ├── stm32f7xx_hal_cortex.c
│ │ ├── stm32f7xx_hal_dma.c
│ │ ├── stm32f7xx_hal_dma_ex.c
│ │ ├── stm32f7xx_hal_eth.c
│ │ ├── stm32f7xx_hal_flash.c
│ │ ├── stm32f7xx_hal_flash_ex.c
│ │ ├── stm32f7xx_hal_gpio.c
│ │ ├── stm32f7xx_hal_i2c.c
│ │ ├── stm32f7xx_hal_i2c_ex.c
│ │ ├── stm32f7xx_hal_mmc.c
│ │ ├── stm32f7xx_hal_pcd.c
│ │ ├── stm32f7xx_hal_pcd_ex.c
│ │ ├── stm32f7xx_hal_pwr.c
│ │ ├── stm32f7xx_hal_pwr_ex.c
│ │ ├── stm32f7xx_hal_qspi.c
│ │ ├── stm32f7xx_hal_rcc.c
│ │ ├── stm32f7xx_hal_rcc_ex.c
│ │ ├── stm32f7xx_hal_sai.c
│ │ ├── stm32f7xx_hal_sai_ex.c
│ │ ├── stm32f7xx_hal_sd.c
│ │ ├── stm32f7xx_hal_spi.c
│ │ ├── stm32f7xx_hal_tim.c
│ │ ├── stm32f7xx_hal_tim_ex.c
│ │ ├── stm32f7xx_hal_uart.c
│ │ ├── stm32f7xx_ll_dma.c
│ │ ├── stm32f7xx_ll_gpio.c
│ │ ├── stm32f7xx_ll_sdmmc.c
│ │ ├── stm32f7xx_ll_spi.c
│ │ ├── stm32f7xx_ll_tim.c
│ │ ├── stm32f7xx_ll_usart.c
│ │ └── stm32f7xx_ll_usb.c
├── gpio.c
├── gpio.h
├── spi.c
├── spi.h
├── stm32f7xx_hal_msp.c
├── stm32f7xx_it.c
├── stm32f7xx_it.h
├── tim.c
├── tim.h
├── usart.c
└── usart.h
├── EEDrone.ioc
├── EWARM
├── EEDrone.ewd
├── EEDrone.ewp
├── Project.eww
├── startup_stm32f767xx.s
├── stm32f767xx_ITCM_flash.icf
├── stm32f767xx_flash.icf
└── stm32f767xx_sram.icf
├── Example
├── AHRS_Test
│ ├── main.c
│ ├── system.c
│ └── system.h
├── DSP_Test
│ └── main.c
├── FreeRTOS_Test
│ ├── freertos.c
│ └── main.c
├── MavLink_Test
│ ├── main.c
│ ├── mavlink.c
│ ├── system.c
│ └── system.h
├── Sensor_Test
│ ├── main.c
│ ├── system.c
│ └── system.h
├── UART_DMA_Test
│ └── main.c
└── UART_Test
│ └── main.c
├── Inc
├── FreeRTOSConfig.h
├── adc.h
├── bsp_driver_sd.h
├── can.h
├── config.h
├── eth.h
├── ethernetif.h
├── fatfs.h
├── ffconf.h
├── gpio.h
├── i2c.h
├── lwip.h
├── lwipopts.h
├── main.h
├── quadspi.h
├── sai.h
├── sdmmc.h
├── stm32f7xx_hal_conf.h
├── stm32f7xx_it.h
├── usb_device.h
├── usbd_cdc_if.h
├── usbd_conf.h
└── usbd_desc.h
├── LICENSE.md
├── Middlewares
├── ST
│ └── STM32_USB_Device_Library
│ │ ├── Class
│ │ └── CDC
│ │ │ ├── Inc
│ │ │ └── usbd_cdc.h
│ │ │ └── Src
│ │ │ └── usbd_cdc.c
│ │ └── Core
│ │ ├── Inc
│ │ ├── usbd_core.h
│ │ ├── usbd_ctlreq.h
│ │ ├── usbd_def.h
│ │ └── usbd_ioreq.h
│ │ └── Src
│ │ ├── usbd_core.c
│ │ ├── usbd_ctlreq.c
│ │ └── usbd_ioreq.c
└── Third_Party
│ ├── FatFs
│ └── src
│ │ ├── diskio.c
│ │ ├── diskio.h
│ │ ├── drivers
│ │ ├── sd_diskio.c
│ │ └── sd_diskio.h
│ │ ├── ff.c
│ │ ├── ff.h
│ │ ├── ff_gen_drv.c
│ │ ├── ff_gen_drv.h
│ │ ├── ffconf_template.h
│ │ ├── integer.h
│ │ └── option
│ │ └── syscall.c
│ ├── FreeRTOS-Plus-CLI
│ ├── CLI_Commands.c
│ ├── FreeRTOS_CLI.c
│ ├── FreeRTOS_CLI.h
│ ├── UARTCommandConsole.c
│ ├── serial.c
│ └── serial.h
│ └── FreeRTOS
│ └── Source
│ ├── CMSIS_RTOS
│ ├── cmsis_os.c
│ └── cmsis_os.h
│ ├── UARTCommandConsole.c
│ ├── croutine.c
│ ├── event_groups.c
│ ├── include
│ ├── FreeRTOS.h
│ ├── FreeRTOSConfig_template.h
│ ├── StackMacros.h
│ ├── croutine.h
│ ├── deprecated_definitions.h
│ ├── event_groups.h
│ ├── list.h
│ ├── mpu_prototypes.h
│ ├── mpu_wrappers.h
│ ├── portable.h
│ ├── projdefs.h
│ ├── queue.h
│ ├── semphr.h
│ ├── task.h
│ └── timers.h
│ ├── list.c
│ ├── portable
│ ├── IAR
│ │ └── ARM_CM7
│ │ │ └── r0p1
│ │ │ ├── port.c
│ │ │ ├── portasm.s
│ │ │ └── portmacro.h
│ └── MemMang
│ │ └── heap_4.c
│ ├── queue.c
│ ├── tasks.c
│ └── timers.c
├── Modules
├── AHRS
│ ├── CKF.C
│ ├── CKF.h
│ ├── Double.h
│ ├── EKF.c
│ ├── EKF.h
│ ├── INS_EKF.c
│ ├── INS_EKF.h
│ ├── Quaternion.c
│ ├── Quaternion.h
│ ├── SRCKF.c
│ ├── SRCKF.h
│ ├── UKF.c
│ ├── UKF.h
│ ├── miniAHRS
│ │ ├── miniAHRS.c
│ │ └── miniAHRS.h
│ └── miniIMU
│ │ ├── FP
│ │ ├── FP_Math.c
│ │ ├── FP_Math.h
│ │ ├── FP_Matrix.c
│ │ ├── FP_Matrix.h
│ │ ├── FP_miniIMU.c
│ │ └── FP_miniIMU.h
│ │ ├── Usage.txt
│ │ ├── miniIMU.c
│ │ ├── miniIMU.h
│ │ ├── miniMatrix.c
│ │ └── miniMatrix.h
├── Math
│ ├── FastMath.c
│ └── FastMath.h
├── Matrix
│ ├── DoubleMatrix.c
│ ├── DoubleMatrix.h
│ ├── Matrix.c
│ └── Matrix.h
└── MavLink
│ ├── checksum.h
│ ├── common
│ ├── common.h
│ ├── mavlink.h
│ ├── mavlink_msg_actuator_control_target.h
│ ├── mavlink_msg_adsb_vehicle.h
│ ├── mavlink_msg_altitude.h
│ ├── mavlink_msg_att_pos_mocap.h
│ ├── mavlink_msg_attitude.h
│ ├── mavlink_msg_attitude_quaternion.h
│ ├── mavlink_msg_attitude_quaternion_cov.h
│ ├── mavlink_msg_attitude_target.h
│ ├── mavlink_msg_auth_key.h
│ ├── mavlink_msg_autopilot_version.h
│ ├── mavlink_msg_battery_status.h
│ ├── mavlink_msg_camera_trigger.h
│ ├── mavlink_msg_change_operator_control.h
│ ├── mavlink_msg_change_operator_control_ack.h
│ ├── mavlink_msg_collision.h
│ ├── mavlink_msg_command_ack.h
│ ├── mavlink_msg_command_int.h
│ ├── mavlink_msg_command_long.h
│ ├── mavlink_msg_control_system_state.h
│ ├── mavlink_msg_data_stream.h
│ ├── mavlink_msg_data_transmission_handshake.h
│ ├── mavlink_msg_debug.h
│ ├── mavlink_msg_debug_vect.h
│ ├── mavlink_msg_distance_sensor.h
│ ├── mavlink_msg_encapsulated_data.h
│ ├── mavlink_msg_estimator_status.h
│ ├── mavlink_msg_extended_sys_state.h
│ ├── mavlink_msg_file_transfer_protocol.h
│ ├── mavlink_msg_follow_target.h
│ ├── mavlink_msg_global_position_int.h
│ ├── mavlink_msg_global_position_int_cov.h
│ ├── mavlink_msg_global_vision_position_estimate.h
│ ├── mavlink_msg_gps2_raw.h
│ ├── mavlink_msg_gps2_rtk.h
│ ├── mavlink_msg_gps_global_origin.h
│ ├── mavlink_msg_gps_inject_data.h
│ ├── mavlink_msg_gps_input.h
│ ├── mavlink_msg_gps_raw_int.h
│ ├── mavlink_msg_gps_rtcm_data.h
│ ├── mavlink_msg_gps_rtk.h
│ ├── mavlink_msg_gps_status.h
│ ├── mavlink_msg_heartbeat.h
│ ├── mavlink_msg_high_latency.h
│ ├── mavlink_msg_highres_imu.h
│ ├── mavlink_msg_hil_actuator_controls.h
│ ├── mavlink_msg_hil_controls.h
│ ├── mavlink_msg_hil_gps.h
│ ├── mavlink_msg_hil_optical_flow.h
│ ├── mavlink_msg_hil_rc_inputs_raw.h
│ ├── mavlink_msg_hil_sensor.h
│ ├── mavlink_msg_hil_state.h
│ ├── mavlink_msg_hil_state_quaternion.h
│ ├── mavlink_msg_home_position.h
│ ├── mavlink_msg_landing_target.h
│ ├── mavlink_msg_local_position_ned.h
│ ├── mavlink_msg_local_position_ned_cov.h
│ ├── mavlink_msg_local_position_ned_system_global_offset.h
│ ├── mavlink_msg_log_data.h
│ ├── mavlink_msg_log_entry.h
│ ├── mavlink_msg_log_erase.h
│ ├── mavlink_msg_log_request_data.h
│ ├── mavlink_msg_log_request_end.h
│ ├── mavlink_msg_log_request_list.h
│ ├── mavlink_msg_manual_control.h
│ ├── mavlink_msg_manual_setpoint.h
│ ├── mavlink_msg_memory_vect.h
│ ├── mavlink_msg_message_interval.h
│ ├── mavlink_msg_mission_ack.h
│ ├── mavlink_msg_mission_clear_all.h
│ ├── mavlink_msg_mission_count.h
│ ├── mavlink_msg_mission_current.h
│ ├── mavlink_msg_mission_item.h
│ ├── mavlink_msg_mission_item_int.h
│ ├── mavlink_msg_mission_item_reached.h
│ ├── mavlink_msg_mission_request.h
│ ├── mavlink_msg_mission_request_int.h
│ ├── mavlink_msg_mission_request_list.h
│ ├── mavlink_msg_mission_request_partial_list.h
│ ├── mavlink_msg_mission_set_current.h
│ ├── mavlink_msg_mission_write_partial_list.h
│ ├── mavlink_msg_named_value_float.h
│ ├── mavlink_msg_named_value_int.h
│ ├── mavlink_msg_nav_controller_output.h
│ ├── mavlink_msg_optical_flow.h
│ ├── mavlink_msg_optical_flow_rad.h
│ ├── mavlink_msg_param_map_rc.h
│ ├── mavlink_msg_param_request_list.h
│ ├── mavlink_msg_param_request_read.h
│ ├── mavlink_msg_param_set.h
│ ├── mavlink_msg_param_value.h
│ ├── mavlink_msg_ping.h
│ ├── mavlink_msg_position_target_global_int.h
│ ├── mavlink_msg_position_target_local_ned.h
│ ├── mavlink_msg_power_status.h
│ ├── mavlink_msg_radio_status.h
│ ├── mavlink_msg_raw_imu.h
│ ├── mavlink_msg_raw_pressure.h
│ ├── mavlink_msg_rc_channels.h
│ ├── mavlink_msg_rc_channels_override.h
│ ├── mavlink_msg_rc_channels_raw.h
│ ├── mavlink_msg_rc_channels_scaled.h
│ ├── mavlink_msg_request_data_stream.h
│ ├── mavlink_msg_resource_request.h
│ ├── mavlink_msg_safety_allowed_area.h
│ ├── mavlink_msg_safety_set_allowed_area.h
│ ├── mavlink_msg_scaled_imu.h
│ ├── mavlink_msg_scaled_imu2.h
│ ├── mavlink_msg_scaled_imu3.h
│ ├── mavlink_msg_scaled_pressure.h
│ ├── mavlink_msg_scaled_pressure2.h
│ ├── mavlink_msg_scaled_pressure3.h
│ ├── mavlink_msg_serial_control.h
│ ├── mavlink_msg_servo_output_raw.h
│ ├── mavlink_msg_set_actuator_control_target.h
│ ├── mavlink_msg_set_attitude_target.h
│ ├── mavlink_msg_set_gps_global_origin.h
│ ├── mavlink_msg_set_home_position.h
│ ├── mavlink_msg_set_mode.h
│ ├── mavlink_msg_set_position_target_global_int.h
│ ├── mavlink_msg_set_position_target_local_ned.h
│ ├── mavlink_msg_sim_state.h
│ ├── mavlink_msg_statustext.h
│ ├── mavlink_msg_sys_status.h
│ ├── mavlink_msg_system_time.h
│ ├── mavlink_msg_terrain_check.h
│ ├── mavlink_msg_terrain_data.h
│ ├── mavlink_msg_terrain_report.h
│ ├── mavlink_msg_terrain_request.h
│ ├── mavlink_msg_timesync.h
│ ├── mavlink_msg_v2_extension.h
│ ├── mavlink_msg_vfr_hud.h
│ ├── mavlink_msg_vibration.h
│ ├── mavlink_msg_vicon_position_estimate.h
│ ├── mavlink_msg_vision_position_estimate.h
│ ├── mavlink_msg_vision_speed_estimate.h
│ ├── mavlink_msg_wind_cov.h
│ ├── testsuite.h
│ └── version.h
│ ├── mavlink_conversions.h
│ ├── mavlink_helpers.h
│ ├── mavlink_types.h
│ └── protocol.h
├── README.md
└── Src
├── adc.c
├── bsp_driver_sd.c
├── can.c
├── eth.c
├── ethernetif.c
├── fatfs.c
├── freertos.c
├── gpio.c
├── i2c.c
├── lwip.c
├── main.c
├── quadspi.c
├── sai.c
├── sdmmc.c
├── spi.c
├── stm32f7xx_hal_msp.c
├── stm32f7xx_it.c
├── system_stm32f7xx.c
├── tim.c
├── usart.c
├── usb_device.c
├── usbd_cdc_if.c
├── usbd_conf.c
└── usbd_desc.c
/.gitignore:
--------------------------------------------------------------------------------
1 | EWARM/**
2 | !*.icf
3 | !*.eww
4 | !*.ewp
5 | !*.ewd
6 | !*.s
7 | MDK-ARM/**
8 | !*.uvoptx
9 | !*.uvprojx
10 | !*.s
11 | SW4STM32/EEDrone/**
12 | !*.cproject
13 | !*.project
14 | !*.xml
15 | !*.ld
16 | SI/
--------------------------------------------------------------------------------
/.mxproject:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/EEDrone/Firmware/98d3d5969d87e3986ba10375fed9ac72fd81d35a/.mxproject
--------------------------------------------------------------------------------
/Documentation/Release_Notes.md:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/EEDrone/Firmware/98d3d5969d87e3986ba10375fed9ac72fd81d35a/Documentation/Release_Notes.md
--------------------------------------------------------------------------------
/Drivers/BSP/Common/component.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file component.h
4 | * @author MEMS Application Team
5 | * @version V3.0.0
6 | * @date 12-August-2016
7 | * @brief This header file contains the functions prototypes common for all
8 | * drivers
9 | ******************************************************************************
10 | * @attention
11 | *
12 | * © COPYRIGHT(c) 2016 STMicroelectronics
13 | *
14 | * Redistribution and use in source and binary forms, with or without modification,
15 | * are permitted provided that the following conditions are met:
16 | * 1. Redistributions of source code must retain the above copyright notice,
17 | * this list of conditions and the following disclaimer.
18 | * 2. Redistributions in binary form must reproduce the above copyright notice,
19 | * this list of conditions and the following disclaimer in the documentation
20 | * and/or other materials provided with the distribution.
21 | * 3. Neither the name of STMicroelectronics nor the names of its contributors
22 | * may be used to endorse or promote products derived from this software
23 | * without specific prior written permission.
24 | *
25 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
26 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
27 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
28 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
29 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
30 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
31 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
33 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
34 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
35 | *
36 | ******************************************************************************
37 | */
38 |
39 | /* Define to prevent recursive inclusion -------------------------------------*/
40 | #ifndef __COMPONENT_H
41 | #define __COMPONENT_H
42 |
43 | #ifdef __cplusplus
44 | extern "C" {
45 | #endif
46 |
47 |
48 |
49 | /* Includes ------------------------------------------------------------------*/
50 |
51 | #include
52 |
53 | /** @addtogroup BSP BSP
54 | * @{
55 | */
56 |
57 | /** @addtogroup COMPONENTS COMPONENTS
58 | * @{
59 | */
60 |
61 | /** @addtogroup COMMON COMMON
62 | * @{
63 | */
64 |
65 | /** @addtogroup COMPONENT COMPONENT
66 | * @{
67 | */
68 |
69 | /** @addtogroup COMPONENT_Public_Constants Public constants
70 | * @{
71 | */
72 |
73 | /**
74 | * @brief NULL pointer definition
75 | */
76 | #ifndef NULL
77 | #define NULL ( void * )0
78 | #endif
79 |
80 | /**
81 | * @}
82 | */
83 |
84 | /** @addtogroup COMPONENT_Public_Types COMPONENT Public Types
85 | * @{
86 | */
87 |
88 | /**
89 | * @brief Component's Context structure definition.
90 | */
91 | typedef struct
92 | {
93 |
94 | /* Identity */
95 | uint8_t who_am_i;
96 |
97 | /* Configuration */
98 | uint8_t ifType; /* 0 means I2C, 1 means SPI, etc. */
99 | uint8_t address; /* Sensor I2C address (NOTE: Not a unique sensor ID). */
100 | uint8_t spiDevice; /* Sensor Chip Select for SPI Bus */
101 | uint8_t instance; /* Sensor instance (NOTE: Sensor ID unique only within its class). */
102 | uint8_t isInitialized; /* Sensor setup done. */
103 | uint8_t isEnabled; /* Sensor ON. */
104 | uint8_t isCombo; /* Combo sensor (component consists of more sensors). */
105 |
106 | /* Pointer to the Data */
107 | void *pData;
108 |
109 | /* Pointer to the Virtual Table */
110 | void *pVTable;
111 | /* Pointer to the Extended Virtual Table */
112 | void *pExtVTable;
113 | } DrvContextTypeDef;
114 |
115 |
116 |
117 | /**
118 | * @brief Component's Status enumerator definition.
119 | */
120 | typedef enum
121 | {
122 | COMPONENT_OK = 0,
123 | COMPONENT_ERROR,
124 | COMPONENT_TIMEOUT,
125 | COMPONENT_NOT_IMPLEMENTED
126 | } DrvStatusTypeDef;
127 |
128 | /**
129 | * @}
130 | */
131 |
132 | /**
133 | * @}
134 | */
135 |
136 | /**
137 | * @}
138 | */
139 |
140 | /**
141 | * @}
142 | */
143 |
144 | /**
145 | * @}
146 | */
147 |
148 | #ifdef __cplusplus
149 | }
150 | #endif
151 |
152 | #endif /* __COMPONENT_H */
153 |
154 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
155 |
--------------------------------------------------------------------------------
/Drivers/BSP/Common/pressure.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file pressure.h
4 | * @author MEMS Application Team
5 | * @version V3.0.0
6 | * @date 12-August-2016
7 | * @brief This header file contains the functions prototypes for the
8 | * pressure driver
9 | ******************************************************************************
10 | * @attention
11 | *
12 | * © COPYRIGHT(c) 2016 STMicroelectronics
13 | *
14 | * Redistribution and use in source and binary forms, with or without modification,
15 | * are permitted provided that the following conditions are met:
16 | * 1. Redistributions of source code must retain the above copyright notice,
17 | * this list of conditions and the following disclaimer.
18 | * 2. Redistributions in binary form must reproduce the above copyright notice,
19 | * this list of conditions and the following disclaimer in the documentation
20 | * and/or other materials provided with the distribution.
21 | * 3. Neither the name of STMicroelectronics nor the names of its contributors
22 | * may be used to endorse or promote products derived from this software
23 | * without specific prior written permission.
24 | *
25 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
26 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
27 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
28 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
29 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
30 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
31 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
33 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
34 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
35 | *
36 | ******************************************************************************
37 | */
38 |
39 | /* Define to prevent recursive inclusion -------------------------------------*/
40 | #ifndef __PRESSURE_H
41 | #define __PRESSURE_H
42 |
43 | #ifdef __cplusplus
44 | extern "C" {
45 | #endif
46 |
47 |
48 |
49 | /* Includes ------------------------------------------------------------------*/
50 | #include "sensor.h"
51 |
52 | /** @addtogroup BSP BSP
53 | * @{
54 | */
55 |
56 | /** @addtogroup COMPONENTS COMPONENTS
57 | * @{
58 | */
59 |
60 | /** @addtogroup COMMON COMMON
61 | * @{
62 | */
63 |
64 | /** @addtogroup PRESSURE PRESSURE
65 | * @{
66 | */
67 |
68 | /** @addtogroup PRESSURE_Public_Types PRESSURE Public types
69 | * @{
70 | */
71 |
72 | /**
73 | * @brief PRESSURE driver structure definition
74 | */
75 | typedef struct
76 | {
77 | DrvStatusTypeDef ( *Init ) ( DrvContextTypeDef* );
78 | DrvStatusTypeDef ( *DeInit ) ( DrvContextTypeDef* );
79 | DrvStatusTypeDef ( *Sensor_Enable ) ( DrvContextTypeDef* );
80 | DrvStatusTypeDef ( *Sensor_Disable ) ( DrvContextTypeDef* );
81 | DrvStatusTypeDef ( *Get_WhoAmI ) ( DrvContextTypeDef*, uint8_t* );
82 | DrvStatusTypeDef ( *Check_WhoAmI ) ( DrvContextTypeDef* );
83 | DrvStatusTypeDef ( *Get_Press ) ( DrvContextTypeDef*, float* );
84 | DrvStatusTypeDef ( *Get_ODR ) ( DrvContextTypeDef*, float* );
85 | DrvStatusTypeDef ( *Set_ODR ) ( DrvContextTypeDef*, SensorOdr_t );
86 | DrvStatusTypeDef ( *Set_ODR_Value ) ( DrvContextTypeDef*, float );
87 | DrvStatusTypeDef ( *Read_Reg ) ( DrvContextTypeDef*, uint8_t, uint8_t* );
88 | DrvStatusTypeDef ( *Write_Reg ) ( DrvContextTypeDef*, uint8_t, uint8_t );
89 | DrvStatusTypeDef ( *Get_DRDY_Status ) ( DrvContextTypeDef*, uint8_t* );
90 | } PRESSURE_Drv_t;
91 |
92 | /**
93 | * @brief PRESSURE data structure definition
94 | */
95 | typedef struct
96 | {
97 | void *pComponentData; /* Component specific data. */
98 | void *pExtData; /* Other data. */
99 | } PRESSURE_Data_t;
100 |
101 | /**
102 | * @}
103 | */
104 |
105 | /**
106 | * @}
107 | */
108 |
109 | /**
110 | * @}
111 | */
112 |
113 | /**
114 | * @}
115 | */
116 |
117 | /**
118 | * @}
119 | */
120 |
121 | #ifdef __cplusplus
122 | }
123 | #endif
124 |
125 | #endif /* __PRESSURE_H */
126 |
127 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
128 |
--------------------------------------------------------------------------------
/Drivers/BSP/Common/sensor.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file sensor.h
4 | * @author MEMS Application Team
5 | * @version V3.0.0
6 | * @date 12-August-2016
7 | * @brief This header file contains the functions prototypes common for all
8 | * sensor drivers
9 | ******************************************************************************
10 | * @attention
11 | *
12 | * © COPYRIGHT(c) 2016 STMicroelectronics
13 | *
14 | * Redistribution and use in source and binary forms, with or without modification,
15 | * are permitted provided that the following conditions are met:
16 | * 1. Redistributions of source code must retain the above copyright notice,
17 | * this list of conditions and the following disclaimer.
18 | * 2. Redistributions in binary form must reproduce the above copyright notice,
19 | * this list of conditions and the following disclaimer in the documentation
20 | * and/or other materials provided with the distribution.
21 | * 3. Neither the name of STMicroelectronics nor the names of its contributors
22 | * may be used to endorse or promote products derived from this software
23 | * without specific prior written permission.
24 | *
25 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
26 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
27 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
28 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
29 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
30 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
31 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
33 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
34 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
35 | *
36 | ******************************************************************************
37 | */
38 |
39 | /* Define to prevent recursive inclusion -------------------------------------*/
40 | #ifndef __SENSOR_H
41 | #define __SENSOR_H
42 |
43 | #ifdef __cplusplus
44 | extern "C" {
45 | #endif
46 |
47 |
48 |
49 | /* Includes ------------------------------------------------------------------*/
50 |
51 | #include
52 | #include "component.h"
53 |
54 | /** @addtogroup BSP BSP
55 | * @{
56 | */
57 |
58 | /** @addtogroup COMPONENTS COMPONENTS
59 | * @{
60 | */
61 |
62 | /** @addtogroup COMMON COMMON
63 | * @{
64 | */
65 |
66 | /** @addtogroup SENSOR SENSOR
67 | * @{
68 | */
69 |
70 | /** @addtogroup SENSOR_Public_Types SENSOR Public types
71 | * @{
72 | */
73 |
74 | /**
75 | * @brief Sensor axes raw data structure definition
76 | */
77 | typedef struct
78 | {
79 | int16_t AXIS_X;
80 | int16_t AXIS_Y;
81 | int16_t AXIS_Z;
82 | } SensorAxesRaw_t;
83 |
84 | /**
85 | * @brief Sensor axes data structure definition
86 | */
87 | typedef struct
88 | {
89 | int32_t AXIS_X;
90 | int32_t AXIS_Y;
91 | int32_t AXIS_Z;
92 | } SensorAxes_t;
93 |
94 | /**
95 | * @brief Sensor output data rate enumerator definition
96 | */
97 | typedef enum
98 | {
99 | ODR_LOW,
100 | ODR_MID_LOW,
101 | ODR_MID,
102 | ODR_MID_HIGH,
103 | ODR_HIGH
104 | } SensorOdr_t;
105 |
106 | /**
107 | * @brief Sensor full scale enumerator definition
108 | */
109 | typedef enum
110 | {
111 | FS_LOW,
112 | FS_MID_LOW,
113 | FS_MID,
114 | FS_MID_HIGH,
115 | FS_HIGH
116 | } SensorFs_t;
117 |
118 | /**
119 | * @brief Sensor interrupt pin enumerator definition
120 | */
121 | typedef enum
122 | {
123 | INT1_PIN,
124 | INT2_PIN
125 | } SensorIntPin_t;
126 |
127 | /**
128 | * @}
129 | */
130 |
131 | /**
132 | * @}
133 | */
134 |
135 | /**
136 | * @}
137 | */
138 |
139 | /**
140 | * @}
141 | */
142 |
143 | /**
144 | * @}
145 | */
146 |
147 | #ifdef __cplusplus
148 | }
149 | #endif
150 |
151 | #endif /* __SENSOR_H */
152 |
153 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
154 |
--------------------------------------------------------------------------------
/Drivers/BSP/lsm303agr/LSM303AGR_Combo_driver_HL.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file LSM303AGR_Combo_driver_HL.h
4 | * @author MEMS Application Team
5 | * @version V3.0.0
6 | * @date 27-January-2016
7 | * @brief This file contains definitions for the LSM303AGR combo driver
8 | ******************************************************************************
9 | * @attention
10 | *
11 | * © COPYRIGHT(c) 2016 STMicroelectronics
12 | *
13 | * Redistribution and use in source and binary forms, with or without modification,
14 | * are permitted provided that the following conditions are met:
15 | * 1. Redistributions of source code must retain the above copyright notice,
16 | * this list of conditions and the following disclaimer.
17 | * 2. Redistributions in binary form must reproduce the above copyright notice,
18 | * this list of conditions and the following disclaimer in the documentation
19 | * and/or other materials provided with the distribution.
20 | * 3. Neither the name of STMicroelectronics nor the names of its contributors
21 | * may be used to endorse or promote products derived from this software
22 | * without specific prior written permission.
23 | *
24 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
25 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
26 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
27 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
28 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
29 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
30 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
32 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
33 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
34 | *
35 | ******************************************************************************
36 | */
37 |
38 | /* Define to prevent recursive inclusion -------------------------------------*/
39 | #ifndef __LSM303AGR_COMBO_DRIVER_HL_H
40 | #define __LSM303AGR_COMBO_DRIVER_HL_H
41 |
42 | #ifdef __cplusplus
43 | extern "C" {
44 | #endif
45 |
46 |
47 | /** @addtogroup BSP BSP
48 | * @{
49 | */
50 |
51 | /** @addtogroup COMPONENTS COMPONENTS
52 | * @{
53 | */
54 |
55 | /** @addtogroup LSM303AGR_COMBO LSM303AGR_COMBO
56 | * @{
57 | */
58 |
59 | /** @addtogroup LSM303AGR_COMBO_Public_Constants Public constants
60 | * @{
61 | */
62 | #define LSM303AGR_SENSORS_MAX_NUM 1 /**< LSM303AGR max number of instances */
63 |
64 | /**
65 | * @}
66 | */
67 |
68 | /** @addtogroup LSM303AGR_COMBO_Public_Types LSM303AGR_COMBO Public Types
69 | * @{
70 | */
71 |
72 | /**
73 | * @brief LSM303AGR combo specific data internal structure definition
74 | */
75 | typedef struct
76 | {
77 | uint8_t isAccInitialized;
78 | uint8_t isMagInitialized;
79 | } LSM303AGR_Combo_Data_t;
80 |
81 | /**
82 | * @}
83 | */
84 |
85 | /** @addtogroup LSM303AGR_COMBO_Public_Variables Public variables
86 | * @{
87 | */
88 |
89 | extern LSM303AGR_Combo_Data_t LSM303AGR_Combo_Data[LSM303AGR_SENSORS_MAX_NUM];
90 |
91 | /**
92 | * @}
93 | */
94 |
95 | /**
96 | * @}
97 | */
98 |
99 | /**
100 | * @}
101 | */
102 |
103 | /**
104 | * @}
105 | */
106 |
107 | #ifdef __cplusplus
108 | }
109 | #endif
110 |
111 | #endif /* __LSM303AGR_COMBO_DRIVER_HL_H */
112 |
113 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
114 |
--------------------------------------------------------------------------------
/Drivers/BSP/lsm303agr/LSM303AGR_MAG_driver_HL.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file LSM303AGR_MAG_driver_HL.h
4 | * @author MEMS Application Team
5 | * @version V3.0.0
6 | * @date 12-August-2016
7 | * @brief This file contains definitions for the LSM303AGR_MAG_driver_HL.c firmware driver
8 | ******************************************************************************
9 | * @attention
10 | *
11 | * © COPYRIGHT(c) 2016 STMicroelectronics
12 | *
13 | * Redistribution and use in source and binary forms, with or without modification,
14 | * are permitted provided that the following conditions are met:
15 | * 1. Redistributions of source code must retain the above copyright notice,
16 | * this list of conditions and the following disclaimer.
17 | * 2. Redistributions in binary form must reproduce the above copyright notice,
18 | * this list of conditions and the following disclaimer in the documentation
19 | * and/or other materials provided with the distribution.
20 | * 3. Neither the name of STMicroelectronics nor the names of its contributors
21 | * may be used to endorse or promote products derived from this software
22 | * without specific prior written permission.
23 | *
24 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
25 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
26 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
27 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
28 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
29 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
30 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
32 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
33 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
34 | *
35 | ******************************************************************************
36 | */
37 |
38 | /* Define to prevent recursive inclusion -------------------------------------*/
39 | #ifndef __LSM303AGR_MAG_DRIVER_HL_H
40 | #define __LSM303AGR_MAG_DRIVER_HL_H
41 |
42 | #ifdef __cplusplus
43 | extern "C" {
44 | #endif
45 |
46 |
47 |
48 | /* Includes ------------------------------------------------------------------*/
49 | #include "magnetometer.h"
50 |
51 | /* Include magnetic sensor component drivers. */
52 | #include "LSM303AGR_MAG_driver.h"
53 | #include "LSM303AGR_Combo_driver_HL.h"
54 |
55 |
56 | /** @addtogroup BSP BSP
57 | * @{
58 | */
59 |
60 | /** @addtogroup COMPONENTS COMPONENTS
61 | * @{
62 | */
63 |
64 | /** @addtogroup LSM303AGR_MAG LSM303AGR_MAG
65 | * @{
66 | */
67 |
68 | /** @addtogroup LSM303AGR_MAG_Public_Constants Public constants
69 | * @{
70 | */
71 |
72 | /** @addtogroup LSM303AGR_MAG_SENSITIVITY Sensitivity values based on selected full scale
73 | * @{
74 | */
75 |
76 | #define LSM303AGR_MAG_SENSITIVITY_FOR_FS_4G 0.14 /**< Sensitivity value for 4 gauss full scale [LSB/gauss] */
77 | #define LSM303AGR_MAG_SENSITIVITY_FOR_FS_8G 0.29 /**< Sensitivity value for 8 gauss full scale [LSB/gauss] */
78 | #define LSM303AGR_MAG_SENSITIVITY_FOR_FS_12G 0.43 /**< Sensitivity value for 12 gauss full scale [LSB/gauss] */
79 | #define LSM303AGR_MAG_SENSITIVITY_FOR_FS_16G 0.58 /**< Sensitivity value for 16 gauss full scale [LSB/gauss] */
80 |
81 | /**
82 | * @}
83 | */
84 |
85 | /**
86 | * @}
87 | */
88 |
89 | /** @addtogroup LSM303AGR_MAG_Public_Types LSM303AGR_MAG Public Types
90 | * @{
91 | */
92 |
93 | /**
94 | * @brief LSM303AGR_MAG magneto specific data internal structure definition
95 | */
96 |
97 | typedef struct
98 | {
99 | LSM303AGR_Combo_Data_t *comboData; /* Combo data to manage in software SPI 3-Wire initialization of the combo sensors */
100 | } LSM303AGR_M_Data_t;
101 |
102 | /**
103 | * @}
104 | */
105 |
106 | /** @addtogroup LSM303AGR_MAG_Public_Variables Public variables
107 | * @{
108 | */
109 |
110 | extern MAGNETO_Drv_t LSM303AGR_M_Drv;
111 |
112 | /**
113 | * @}
114 | */
115 |
116 | /**
117 | * @}
118 | */
119 |
120 | /**
121 | * @}
122 | */
123 |
124 | /**
125 | * @}
126 | */
127 |
128 | #ifdef __cplusplus
129 | }
130 | #endif
131 |
132 | #endif /* __LSM303AGR_MAG_DRIVER_HL_H */
133 |
134 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
135 |
--------------------------------------------------------------------------------
/Drivers/CMSIS/Device/ST/STM32F7xx/Include/stm32f767xx.h:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/EEDrone/Firmware/98d3d5969d87e3986ba10375fed9ac72fd81d35a/Drivers/CMSIS/Device/ST/STM32F7xx/Include/stm32f767xx.h
--------------------------------------------------------------------------------
/Drivers/CMSIS/Device/ST/STM32F7xx/Include/stm32f7xx.h:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/EEDrone/Firmware/98d3d5969d87e3986ba10375fed9ac72fd81d35a/Drivers/CMSIS/Device/ST/STM32F7xx/Include/stm32f7xx.h
--------------------------------------------------------------------------------
/Drivers/CMSIS/Device/ST/STM32F7xx/Include/system_stm32f7xx.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file system_stm32f7xx.h
4 | * @author MCD Application Team
5 | * @version V1.2.0
6 | * @date 30-December-2016
7 | * @brief CMSIS Cortex-M7 Device System Source File for STM32F7xx devices.
8 | ******************************************************************************
9 | * @attention
10 | *
11 | * © COPYRIGHT(c) 2016 STMicroelectronics
12 | *
13 | * Redistribution and use in source and binary forms, with or without modification,
14 | * are permitted provided that the following conditions are met:
15 | * 1. Redistributions of source code must retain the above copyright notice,
16 | * this list of conditions and the following disclaimer.
17 | * 2. Redistributions in binary form must reproduce the above copyright notice,
18 | * this list of conditions and the following disclaimer in the documentation
19 | * and/or other materials provided with the distribution.
20 | * 3. Neither the name of STMicroelectronics nor the names of its contributors
21 | * may be used to endorse or promote products derived from this software
22 | * without specific prior written permission.
23 | *
24 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
25 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
26 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
27 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
28 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
29 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
30 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
32 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
33 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
34 | *
35 | ******************************************************************************
36 | */
37 |
38 | /** @addtogroup CMSIS
39 | * @{
40 | */
41 |
42 | /** @addtogroup stm32f7xx_system
43 | * @{
44 | */
45 |
46 | /**
47 | * @brief Define to prevent recursive inclusion
48 | */
49 | #ifndef __SYSTEM_STM32F7XX_H
50 | #define __SYSTEM_STM32F7XX_H
51 |
52 | #ifdef __cplusplus
53 | extern "C" {
54 | #endif
55 |
56 | /** @addtogroup STM32F7xx_System_Includes
57 | * @{
58 | */
59 |
60 | /**
61 | * @}
62 | */
63 |
64 |
65 | /** @addtogroup STM32F7xx_System_Exported_Variables
66 | * @{
67 | */
68 | /* The SystemCoreClock variable is updated in three ways:
69 | 1) by calling CMSIS function SystemCoreClockUpdate()
70 | 2) by calling HAL API function HAL_RCC_GetSysClockFreq()
71 | 3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency
72 | Note: If you use this function to configure the system clock; then there
73 | is no need to call the 2 first functions listed above, since SystemCoreClock
74 | variable is updated automatically.
75 | */
76 | extern uint32_t SystemCoreClock; /*!< System Clock Frequency (Core Clock) */
77 |
78 | extern const uint8_t AHBPrescTable[16]; /*!< AHB prescalers table values */
79 | extern const uint8_t APBPrescTable[8]; /*!< APB prescalers table values */
80 |
81 |
82 | /**
83 | * @}
84 | */
85 |
86 | /** @addtogroup STM32F7xx_System_Exported_Constants
87 | * @{
88 | */
89 |
90 | /**
91 | * @}
92 | */
93 |
94 | /** @addtogroup STM32F7xx_System_Exported_Macros
95 | * @{
96 | */
97 |
98 | /**
99 | * @}
100 | */
101 |
102 | /** @addtogroup STM32F7xx_System_Exported_Functions
103 | * @{
104 | */
105 |
106 | extern void SystemInit(void);
107 | extern void SystemCoreClockUpdate(void);
108 | /**
109 | * @}
110 | */
111 |
112 | #ifdef __cplusplus
113 | }
114 | #endif
115 |
116 | #endif /*__SYSTEM_STM32F7XX_H */
117 |
118 | /**
119 | * @}
120 | */
121 |
122 | /**
123 | * @}
124 | */
125 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
126 |
--------------------------------------------------------------------------------
/Drivers/CMSIS/Include/arm_const_structs.h:
--------------------------------------------------------------------------------
1 | /* ----------------------------------------------------------------------
2 | * Copyright (C) 2010-2014 ARM Limited. All rights reserved.
3 | *
4 | * $Date: 19. March 2015
5 | * $Revision: V.1.4.5
6 | *
7 | * Project: CMSIS DSP Library
8 | * Title: arm_const_structs.h
9 | *
10 | * Description: This file has constant structs that are initialized for
11 | * user convenience. For example, some can be given as
12 | * arguments to the arm_cfft_f32() function.
13 | *
14 | * Target Processor: Cortex-M4/Cortex-M3
15 | *
16 | * Redistribution and use in source and binary forms, with or without
17 | * modification, are permitted provided that the following conditions
18 | * are met:
19 | * - Redistributions of source code must retain the above copyright
20 | * notice, this list of conditions and the following disclaimer.
21 | * - Redistributions in binary form must reproduce the above copyright
22 | * notice, this list of conditions and the following disclaimer in
23 | * the documentation and/or other materials provided with the
24 | * distribution.
25 | * - Neither the name of ARM LIMITED nor the names of its contributors
26 | * may be used to endorse or promote products derived from this
27 | * software without specific prior written permission.
28 | *
29 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
30 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
31 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
32 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
33 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
34 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
35 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
36 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
37 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
38 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
39 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
40 | * POSSIBILITY OF SUCH DAMAGE.
41 | * -------------------------------------------------------------------- */
42 |
43 | #ifndef _ARM_CONST_STRUCTS_H
44 | #define _ARM_CONST_STRUCTS_H
45 |
46 | #include "arm_math.h"
47 | #include "arm_common_tables.h"
48 |
49 | extern const arm_cfft_instance_f32 arm_cfft_sR_f32_len16;
50 | extern const arm_cfft_instance_f32 arm_cfft_sR_f32_len32;
51 | extern const arm_cfft_instance_f32 arm_cfft_sR_f32_len64;
52 | extern const arm_cfft_instance_f32 arm_cfft_sR_f32_len128;
53 | extern const arm_cfft_instance_f32 arm_cfft_sR_f32_len256;
54 | extern const arm_cfft_instance_f32 arm_cfft_sR_f32_len512;
55 | extern const arm_cfft_instance_f32 arm_cfft_sR_f32_len1024;
56 | extern const arm_cfft_instance_f32 arm_cfft_sR_f32_len2048;
57 | extern const arm_cfft_instance_f32 arm_cfft_sR_f32_len4096;
58 |
59 | extern const arm_cfft_instance_q31 arm_cfft_sR_q31_len16;
60 | extern const arm_cfft_instance_q31 arm_cfft_sR_q31_len32;
61 | extern const arm_cfft_instance_q31 arm_cfft_sR_q31_len64;
62 | extern const arm_cfft_instance_q31 arm_cfft_sR_q31_len128;
63 | extern const arm_cfft_instance_q31 arm_cfft_sR_q31_len256;
64 | extern const arm_cfft_instance_q31 arm_cfft_sR_q31_len512;
65 | extern const arm_cfft_instance_q31 arm_cfft_sR_q31_len1024;
66 | extern const arm_cfft_instance_q31 arm_cfft_sR_q31_len2048;
67 | extern const arm_cfft_instance_q31 arm_cfft_sR_q31_len4096;
68 |
69 | extern const arm_cfft_instance_q15 arm_cfft_sR_q15_len16;
70 | extern const arm_cfft_instance_q15 arm_cfft_sR_q15_len32;
71 | extern const arm_cfft_instance_q15 arm_cfft_sR_q15_len64;
72 | extern const arm_cfft_instance_q15 arm_cfft_sR_q15_len128;
73 | extern const arm_cfft_instance_q15 arm_cfft_sR_q15_len256;
74 | extern const arm_cfft_instance_q15 arm_cfft_sR_q15_len512;
75 | extern const arm_cfft_instance_q15 arm_cfft_sR_q15_len1024;
76 | extern const arm_cfft_instance_q15 arm_cfft_sR_q15_len2048;
77 | extern const arm_cfft_instance_q15 arm_cfft_sR_q15_len4096;
78 |
79 | #endif
80 |
--------------------------------------------------------------------------------
/Drivers/CMSIS/Include/core_cmFunc.h:
--------------------------------------------------------------------------------
1 | /**************************************************************************//**
2 | * @file core_cmFunc.h
3 | * @brief CMSIS Cortex-M Core Function Access Header File
4 | * @version V4.30
5 | * @date 20. October 2015
6 | ******************************************************************************/
7 | /* Copyright (c) 2009 - 2015 ARM LIMITED
8 |
9 | All rights reserved.
10 | Redistribution and use in source and binary forms, with or without
11 | modification, are permitted provided that the following conditions are met:
12 | - Redistributions of source code must retain the above copyright
13 | notice, this list of conditions and the following disclaimer.
14 | - Redistributions in binary form must reproduce the above copyright
15 | notice, this list of conditions and the following disclaimer in the
16 | documentation and/or other materials provided with the distribution.
17 | - Neither the name of ARM nor the names of its contributors may be used
18 | to endorse or promote products derived from this software without
19 | specific prior written permission.
20 | *
21 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
22 | AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
23 | IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
24 | ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
25 | LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
26 | CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
27 | SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
28 | INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
29 | CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
30 | ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
31 | POSSIBILITY OF SUCH DAMAGE.
32 | ---------------------------------------------------------------------------*/
33 |
34 |
35 | #if defined ( __ICCARM__ )
36 | #pragma system_include /* treat file as system include file for MISRA check */
37 | #elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
38 | #pragma clang system_header /* treat file as system include file */
39 | #endif
40 |
41 | #ifndef __CORE_CMFUNC_H
42 | #define __CORE_CMFUNC_H
43 |
44 |
45 | /* ########################### Core Function Access ########################### */
46 | /** \ingroup CMSIS_Core_FunctionInterface
47 | \defgroup CMSIS_Core_RegAccFunctions CMSIS Core Register Access Functions
48 | @{
49 | */
50 |
51 | /*------------------ RealView Compiler -----------------*/
52 | #if defined ( __CC_ARM )
53 | #include "cmsis_armcc.h"
54 |
55 | /*------------------ ARM Compiler V6 -------------------*/
56 | #elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
57 | #include "cmsis_armcc_V6.h"
58 |
59 | /*------------------ GNU Compiler ----------------------*/
60 | #elif defined ( __GNUC__ )
61 | #include "cmsis_gcc.h"
62 |
63 | /*------------------ ICC Compiler ----------------------*/
64 | #elif defined ( __ICCARM__ )
65 | #include
66 |
67 | /*------------------ TI CCS Compiler -------------------*/
68 | #elif defined ( __TMS470__ )
69 | #include
70 |
71 | /*------------------ TASKING Compiler ------------------*/
72 | #elif defined ( __TASKING__ )
73 | /*
74 | * The CMSIS functions have been implemented as intrinsics in the compiler.
75 | * Please use "carm -?i" to get an up to date list of all intrinsics,
76 | * Including the CMSIS ones.
77 | */
78 |
79 | /*------------------ COSMIC Compiler -------------------*/
80 | #elif defined ( __CSMC__ )
81 | #include
82 |
83 | #endif
84 |
85 | /*@} end of CMSIS_Core_RegAccFunctions */
86 |
87 | #endif /* __CORE_CMFUNC_H */
88 |
--------------------------------------------------------------------------------
/Drivers/CMSIS/Include/core_cmInstr.h:
--------------------------------------------------------------------------------
1 | /**************************************************************************//**
2 | * @file core_cmInstr.h
3 | * @brief CMSIS Cortex-M Core Instruction Access Header File
4 | * @version V4.30
5 | * @date 20. October 2015
6 | ******************************************************************************/
7 | /* Copyright (c) 2009 - 2015 ARM LIMITED
8 |
9 | All rights reserved.
10 | Redistribution and use in source and binary forms, with or without
11 | modification, are permitted provided that the following conditions are met:
12 | - Redistributions of source code must retain the above copyright
13 | notice, this list of conditions and the following disclaimer.
14 | - Redistributions in binary form must reproduce the above copyright
15 | notice, this list of conditions and the following disclaimer in the
16 | documentation and/or other materials provided with the distribution.
17 | - Neither the name of ARM nor the names of its contributors may be used
18 | to endorse or promote products derived from this software without
19 | specific prior written permission.
20 | *
21 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
22 | AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
23 | IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
24 | ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
25 | LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
26 | CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
27 | SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
28 | INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
29 | CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
30 | ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
31 | POSSIBILITY OF SUCH DAMAGE.
32 | ---------------------------------------------------------------------------*/
33 |
34 |
35 | #if defined ( __ICCARM__ )
36 | #pragma system_include /* treat file as system include file for MISRA check */
37 | #elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
38 | #pragma clang system_header /* treat file as system include file */
39 | #endif
40 |
41 | #ifndef __CORE_CMINSTR_H
42 | #define __CORE_CMINSTR_H
43 |
44 |
45 | /* ########################## Core Instruction Access ######################### */
46 | /** \defgroup CMSIS_Core_InstructionInterface CMSIS Core Instruction Interface
47 | Access to dedicated instructions
48 | @{
49 | */
50 |
51 | /*------------------ RealView Compiler -----------------*/
52 | #if defined ( __CC_ARM )
53 | #include "cmsis_armcc.h"
54 |
55 | /*------------------ ARM Compiler V6 -------------------*/
56 | #elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
57 | #include "cmsis_armcc_V6.h"
58 |
59 | /*------------------ GNU Compiler ----------------------*/
60 | #elif defined ( __GNUC__ )
61 | #include "cmsis_gcc.h"
62 |
63 | /*------------------ ICC Compiler ----------------------*/
64 | #elif defined ( __ICCARM__ )
65 | #include
66 |
67 | /*------------------ TI CCS Compiler -------------------*/
68 | #elif defined ( __TMS470__ )
69 | #include
70 |
71 | /*------------------ TASKING Compiler ------------------*/
72 | #elif defined ( __TASKING__ )
73 | /*
74 | * The CMSIS functions have been implemented as intrinsics in the compiler.
75 | * Please use "carm -?i" to get an up to date list of all intrinsics,
76 | * Including the CMSIS ones.
77 | */
78 |
79 | /*------------------ COSMIC Compiler -------------------*/
80 | #elif defined ( __CSMC__ )
81 | #include
82 |
83 | #endif
84 |
85 | /*@}*/ /* end of group CMSIS_Core_InstructionInterface */
86 |
87 | #endif /* __CORE_CMINSTR_H */
88 |
--------------------------------------------------------------------------------
/Drivers/CMSIS/Include/core_cmSimd.h:
--------------------------------------------------------------------------------
1 | /**************************************************************************//**
2 | * @file core_cmSimd.h
3 | * @brief CMSIS Cortex-M SIMD Header File
4 | * @version V4.30
5 | * @date 20. October 2015
6 | ******************************************************************************/
7 | /* Copyright (c) 2009 - 2015 ARM LIMITED
8 |
9 | All rights reserved.
10 | Redistribution and use in source and binary forms, with or without
11 | modification, are permitted provided that the following conditions are met:
12 | - Redistributions of source code must retain the above copyright
13 | notice, this list of conditions and the following disclaimer.
14 | - Redistributions in binary form must reproduce the above copyright
15 | notice, this list of conditions and the following disclaimer in the
16 | documentation and/or other materials provided with the distribution.
17 | - Neither the name of ARM nor the names of its contributors may be used
18 | to endorse or promote products derived from this software without
19 | specific prior written permission.
20 | *
21 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
22 | AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
23 | IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
24 | ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
25 | LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
26 | CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
27 | SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
28 | INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
29 | CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
30 | ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
31 | POSSIBILITY OF SUCH DAMAGE.
32 | ---------------------------------------------------------------------------*/
33 |
34 |
35 | #if defined ( __ICCARM__ )
36 | #pragma system_include /* treat file as system include file for MISRA check */
37 | #elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
38 | #pragma clang system_header /* treat file as system include file */
39 | #endif
40 |
41 | #ifndef __CORE_CMSIMD_H
42 | #define __CORE_CMSIMD_H
43 |
44 | #ifdef __cplusplus
45 | extern "C" {
46 | #endif
47 |
48 |
49 | /* ################### Compiler specific Intrinsics ########################### */
50 | /** \defgroup CMSIS_SIMD_intrinsics CMSIS SIMD Intrinsics
51 | Access to dedicated SIMD instructions
52 | @{
53 | */
54 |
55 | /*------------------ RealView Compiler -----------------*/
56 | #if defined ( __CC_ARM )
57 | #include "cmsis_armcc.h"
58 |
59 | /*------------------ ARM Compiler V6 -------------------*/
60 | #elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
61 | #include "cmsis_armcc_V6.h"
62 |
63 | /*------------------ GNU Compiler ----------------------*/
64 | #elif defined ( __GNUC__ )
65 | #include "cmsis_gcc.h"
66 |
67 | /*------------------ ICC Compiler ----------------------*/
68 | #elif defined ( __ICCARM__ )
69 | #include
70 |
71 | /*------------------ TI CCS Compiler -------------------*/
72 | #elif defined ( __TMS470__ )
73 | #include
74 |
75 | /*------------------ TASKING Compiler ------------------*/
76 | #elif defined ( __TASKING__ )
77 | /*
78 | * The CMSIS functions have been implemented as intrinsics in the compiler.
79 | * Please use "carm -?i" to get an up to date list of all intrinsics,
80 | * Including the CMSIS ones.
81 | */
82 |
83 | /*------------------ COSMIC Compiler -------------------*/
84 | #elif defined ( __CSMC__ )
85 | #include
86 |
87 | #endif
88 |
89 | /*@} end of group CMSIS_SIMD_intrinsics */
90 |
91 |
92 | #ifdef __cplusplus
93 | }
94 | #endif
95 |
96 | #endif /* __CORE_CMSIMD_H */
97 |
--------------------------------------------------------------------------------
/Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_pcd_ex.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file stm32f7xx_hal_pcd_ex.h
4 | * @author MCD Application Team
5 | * @version V1.2.0
6 | * @date 30-December-2016
7 | * @brief Header file of PCD HAL module.
8 | ******************************************************************************
9 | * @attention
10 | *
11 | * © COPYRIGHT(c) 2016 STMicroelectronics
12 | *
13 | * Redistribution and use in source and binary forms, with or without modification,
14 | * are permitted provided that the following conditions are met:
15 | * 1. Redistributions of source code must retain the above copyright notice,
16 | * this list of conditions and the following disclaimer.
17 | * 2. Redistributions in binary form must reproduce the above copyright notice,
18 | * this list of conditions and the following disclaimer in the documentation
19 | * and/or other materials provided with the distribution.
20 | * 3. Neither the name of STMicroelectronics nor the names of its contributors
21 | * may be used to endorse or promote products derived from this software
22 | * without specific prior written permission.
23 | *
24 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
25 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
26 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
27 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
28 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
29 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
30 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
32 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
33 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
34 | *
35 | ******************************************************************************
36 | */
37 |
38 | /* Define to prevent recursive inclusion -------------------------------------*/
39 | #ifndef __STM32F7xx_HAL_PCD_EX_H
40 | #define __STM32F7xx_HAL_PCD_EX_H
41 |
42 | #ifdef __cplusplus
43 | extern "C" {
44 | #endif
45 |
46 | /* Includes ------------------------------------------------------------------*/
47 | #include "stm32f7xx_hal_def.h"
48 |
49 | /** @addtogroup STM32F7xx_HAL_Driver
50 | * @{
51 | */
52 |
53 | /** @addtogroup PCDEx
54 | * @{
55 | */
56 | /* Exported types ------------------------------------------------------------*/
57 | typedef enum
58 | {
59 | PCD_LPM_L0_ACTIVE = 0x00U, /* on */
60 | PCD_LPM_L1_ACTIVE = 0x01U, /* LPM L1 sleep */
61 | }PCD_LPM_MsgTypeDef;
62 |
63 | typedef enum
64 | {
65 | PCD_BCD_ERROR = 0xFF,
66 | PCD_BCD_CONTACT_DETECTION = 0xFE,
67 | PCD_BCD_STD_DOWNSTREAM_PORT = 0xFD,
68 | PCD_BCD_CHARGING_DOWNSTREAM_PORT = 0xFC,
69 | PCD_BCD_DEDICATED_CHARGING_PORT = 0xFB,
70 | PCD_BCD_DISCOVERY_COMPLETED = 0x00,
71 |
72 | }PCD_BCD_MsgTypeDef;
73 |
74 | /* Exported constants --------------------------------------------------------*/
75 | /* Exported macros -----------------------------------------------------------*/
76 | /* Exported functions --------------------------------------------------------*/
77 | /** @addtogroup PCDEx_Exported_Functions PCDEx Exported Functions
78 | * @{
79 | */
80 | /** @addtogroup PCDEx_Exported_Functions_Group1 Peripheral Control functions
81 | * @{
82 | */
83 | HAL_StatusTypeDef HAL_PCDEx_SetTxFiFo(PCD_HandleTypeDef *hpcd, uint8_t fifo, uint16_t size);
84 | HAL_StatusTypeDef HAL_PCDEx_SetRxFiFo(PCD_HandleTypeDef *hpcd, uint16_t size);
85 | HAL_StatusTypeDef HAL_PCDEx_ActivateLPM(PCD_HandleTypeDef *hpcd);
86 | HAL_StatusTypeDef HAL_PCDEx_DeActivateLPM(PCD_HandleTypeDef *hpcd);
87 | HAL_StatusTypeDef HAL_PCDEx_ActivateBCD(PCD_HandleTypeDef *hpcd);
88 | HAL_StatusTypeDef HAL_PCDEx_DeActivateBCD(PCD_HandleTypeDef *hpcd);
89 | void HAL_PCDEx_BCD_VBUSDetect(PCD_HandleTypeDef *hpcd);
90 | void HAL_PCDEx_LPM_Callback(PCD_HandleTypeDef *hpcd, PCD_LPM_MsgTypeDef msg);
91 | void HAL_PCDEx_BCD_Callback(PCD_HandleTypeDef *hpcd, PCD_BCD_MsgTypeDef msg);
92 |
93 | /**
94 | * @}
95 | */
96 |
97 | /**
98 | * @}
99 | */
100 |
101 | /**
102 | * @}
103 | */
104 |
105 | /**
106 | * @}
107 | */
108 |
109 | #ifdef __cplusplus
110 | }
111 | #endif
112 |
113 |
114 | #endif /* __STM32F7xx_HAL_PCD_EX_H */
115 |
116 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
117 |
--------------------------------------------------------------------------------
/Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_sai_ex.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file stm32f7xx_hal_sai_ex.h
4 | * @author MCD Application Team
5 | * @version V1.2.0
6 | * @date 30-December-2016
7 | * @brief Header file of SAI Extension HAL module.
8 | ******************************************************************************
9 | * @attention
10 | *
11 | * © COPYRIGHT(c) 2016 STMicroelectronics
12 | *
13 | * Redistribution and use in source and binary forms, with or without modification,
14 | * are permitted provided that the following conditions are met:
15 | * 1. Redistributions of source code must retain the above copyright notice,
16 | * this list of conditions and the following disclaimer.
17 | * 2. Redistributions in binary form must reproduce the above copyright notice,
18 | * this list of conditions and the following disclaimer in the documentation
19 | * and/or other materials provided with the distribution.
20 | * 3. Neither the name of STMicroelectronics nor the names of its contributors
21 | * may be used to endorse or promote products derived from this software
22 | * without specific prior written permission.
23 | *
24 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
25 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
26 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
27 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
28 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
29 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
30 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
32 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
33 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
34 | *
35 | ******************************************************************************
36 | */
37 |
38 | /* Define to prevent recursive inclusion -------------------------------------*/
39 | #ifndef __STM32F7xx_HAL_SAI_EX_H
40 | #define __STM32F7xx_HAL_SAI_EX_H
41 |
42 |
43 | /* Includes ------------------------------------------------------------------*/
44 | /* Exported types ------------------------------------------------------------*/
45 | /* Exported constants --------------------------------------------------------*/
46 | /* Exported functions --------------------------------------------------------*/
47 | /* Extended features functions ************************************************/
48 | /* Private types -------------------------------------------------------------*/
49 | /* Private variables ---------------------------------------------------------*/
50 | /* Private constants ---------------------------------------------------------*/
51 | /* Private macros ------------------------------------------------------------*/
52 | /* Private functions ---------------------------------------------------------*/
53 |
54 | #endif /* __STM32F7xx_HAL_SAI_EX_H */
55 |
56 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
57 |
--------------------------------------------------------------------------------
/Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_sai_ex.c:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file stm32f7xx_hal_sai_ex.c
4 | * @author MCD Application Team
5 | * @version V1.2.0
6 | * @date 30-December-2016
7 | * @brief Empty file; This file is no longer used to set synchronization and
8 | * to get SAI block frequency. Its content is now moved to common files
9 | * (stm32f7xx_hal_sai.c/.h) as there's no device's dependency within F7
10 | * family. It's just kept for compatibility reasons.
11 | *
12 | ******************************************************************************
13 | * @attention
14 | *
15 | * © COPYRIGHT(c) 2016 STMicroelectronics
16 | *
17 | * Redistribution and use in source and binary forms, with or without modification,
18 | * are permitted provided that the following conditions are met:
19 | * 1. Redistributions of source code must retain the above copyright notice,
20 | * this list of conditions and the following disclaimer.
21 | * 2. Redistributions in binary form must reproduce the above copyright notice,
22 | * this list of conditions and the following disclaimer in the documentation
23 | * and/or other materials provided with the distribution.
24 | * 3. Neither the name of STMicroelectronics nor the names of its contributors
25 | * may be used to endorse or promote products derived from this software
26 | * without specific prior written permission.
27 | *
28 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
29 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
30 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
31 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
32 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
33 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
34 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
35 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
36 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
37 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
38 | *
39 | ******************************************************************************
40 | */
41 |
42 | /* Includes ------------------------------------------------------------------*/
43 | #include "stm32f7xx_hal.h"
44 | /* Private typedef -----------------------------------------------------------*/
45 | /* Private define ------------------------------------------------------------*/
46 | /* Private macro -------------------------------------------------------------*/
47 | /* Private variables ---------------------------------------------------------*/
48 | /* Private function prototypes -----------------------------------------------*/
49 | /* Private functions ---------------------------------------------------------*/
50 |
51 |
52 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
53 |
--------------------------------------------------------------------------------
/Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_usb.c:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/EEDrone/Firmware/98d3d5969d87e3986ba10375fed9ac72fd81d35a/Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_usb.c
--------------------------------------------------------------------------------
/Drivers/gpio.c:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * File Name : gpio.c
4 | * Description : This file provides code for the configuration
5 | * of all used GPIO pins.
6 | ******************************************************************************
7 | *
8 | * COPYRIGHT(c) 2017 STMicroelectronics
9 | *
10 | * Redistribution and use in source and binary forms, with or without modification,
11 | * are permitted provided that the following conditions are met:
12 | * 1. Redistributions of source code must retain the above copyright notice,
13 | * this list of conditions and the following disclaimer.
14 | * 2. Redistributions in binary form must reproduce the above copyright notice,
15 | * this list of conditions and the following disclaimer in the documentation
16 | * and/or other materials provided with the distribution.
17 | * 3. Neither the name of STMicroelectronics nor the names of its contributors
18 | * may be used to endorse or promote products derived from this software
19 | * without specific prior written permission.
20 | *
21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
22 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
23 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
24 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
25 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
26 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
27 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
28 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
29 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
30 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
31 | *
32 | ******************************************************************************
33 | */
34 |
35 | /* Includes ------------------------------------------------------------------*/
36 | #include "gpio.h"
37 | /* USER CODE BEGIN 0 */
38 |
39 | /* USER CODE END 0 */
40 |
41 | /*----------------------------------------------------------------------------*/
42 | /* Configure GPIO */
43 | /*----------------------------------------------------------------------------*/
44 | /* USER CODE BEGIN 1 */
45 |
46 | /* USER CODE END 1 */
47 |
48 | /** Configure pins as
49 | * Analog
50 | * Input
51 | * Output
52 | * EVENT_OUT
53 | * EXTI
54 | */
55 | void MX_GPIO_Init(void)
56 | {
57 | GPIO_InitTypeDef GPIO_InitStruct;
58 | /* GPIO Ports Clock Enable */
59 | __HAL_RCC_GPIOH_CLK_ENABLE();
60 | __HAL_RCC_GPIOD_CLK_ENABLE();
61 | __HAL_RCC_GPIOA_CLK_ENABLE();
62 | __HAL_RCC_GPIOB_CLK_ENABLE();
63 |
64 | GPIO_InitStruct.Pin = GPIO_PIN_14;
65 | GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
66 | GPIO_InitStruct.Pull = GPIO_NOPULL;
67 | GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
68 |
69 | HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
70 | HAL_GPIO_WritePin(GPIOB, GPIO_PIN_14, GPIO_PIN_SET);
71 |
72 |
73 |
74 | }
75 |
76 | /* USER CODE BEGIN 2 */
77 |
78 | /* USER CODE END 2 */
79 |
80 | /**
81 | * @}
82 | */
83 |
84 | /**
85 | * @}
86 | */
87 |
88 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
89 |
--------------------------------------------------------------------------------
/Drivers/gpio.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * File Name : gpio.h
4 | * Description : This file contains all the functions prototypes for
5 | * the gpio
6 | ******************************************************************************
7 | *
8 | * Copyright (c) 2017 STMicroelectronics International N.V.
9 | * All rights reserved.
10 | *
11 | * Redistribution and use in source and binary forms, with or without
12 | * modification, are permitted, provided that the following conditions are met:
13 | *
14 | * 1. Redistribution of source code must retain the above copyright notice,
15 | * this list of conditions and the following disclaimer.
16 | * 2. Redistributions in binary form must reproduce the above copyright notice,
17 | * this list of conditions and the following disclaimer in the documentation
18 | * and/or other materials provided with the distribution.
19 | * 3. Neither the name of STMicroelectronics nor the names of other
20 | * contributors to this software may be used to endorse or promote products
21 | * derived from this software without specific written permission.
22 | * 4. This software, including modifications and/or derivative works of this
23 | * software, must execute solely and exclusively on microcontroller or
24 | * microprocessor devices manufactured by or for STMicroelectronics.
25 | * 5. Redistribution and use of this software other than as permitted under
26 | * this license is void and will automatically terminate your rights under
27 | * this license.
28 | *
29 | * THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
30 | * AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
31 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
32 | * PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
33 | * RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
34 | * SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
35 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
36 | * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
37 | * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
38 | * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
39 | * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
40 | * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
41 | *
42 | ******************************************************************************
43 | */
44 |
45 | /* Define to prevent recursive inclusion -------------------------------------*/
46 | #ifndef __gpio_H
47 | #define __gpio_H
48 | #ifdef __cplusplus
49 | extern "C" {
50 | #endif
51 |
52 | /* Includes ------------------------------------------------------------------*/
53 | #include "stm32f7xx_hal.h"
54 | #include "main.h"
55 |
56 | /* USER CODE BEGIN Includes */
57 |
58 | /* USER CODE END Includes */
59 |
60 | /* USER CODE BEGIN Private defines */
61 |
62 | /* USER CODE END Private defines */
63 |
64 | void MX_GPIO_Init(void);
65 |
66 | /* USER CODE BEGIN Prototypes */
67 |
68 | /* USER CODE END Prototypes */
69 |
70 | #ifdef __cplusplus
71 | }
72 | #endif
73 | #endif /*__ pinoutConfig_H */
74 |
75 | /**
76 | * @}
77 | */
78 |
79 | /**
80 | * @}
81 | */
82 |
83 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
84 |
--------------------------------------------------------------------------------
/Drivers/stm32f7xx_hal_msp.c:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * File Name : stm32f7xx_hal_msp.c
4 | * Description : This file provides code for the MSP Initialization
5 | * and de-Initialization codes.
6 | ******************************************************************************
7 | *
8 | * COPYRIGHT(c) 2017 STMicroelectronics
9 | *
10 | * Redistribution and use in source and binary forms, with or without modification,
11 | * are permitted provided that the following conditions are met:
12 | * 1. Redistributions of source code must retain the above copyright notice,
13 | * this list of conditions and the following disclaimer.
14 | * 2. Redistributions in binary form must reproduce the above copyright notice,
15 | * this list of conditions and the following disclaimer in the documentation
16 | * and/or other materials provided with the distribution.
17 | * 3. Neither the name of STMicroelectronics nor the names of its contributors
18 | * may be used to endorse or promote products derived from this software
19 | * without specific prior written permission.
20 | *
21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
22 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
23 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
24 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
25 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
26 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
27 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
28 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
29 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
30 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
31 | *
32 | ******************************************************************************
33 | */
34 | /* Includes ------------------------------------------------------------------*/
35 | #include "stm32f7xx_hal.h"
36 |
37 | extern void Error_Handler(void);
38 | /* USER CODE BEGIN 0 */
39 |
40 | /* USER CODE END 0 */
41 | /**
42 | * Initializes the Global MSP.
43 | */
44 | void HAL_MspInit(void)
45 | {
46 | /* USER CODE BEGIN MspInit 0 */
47 |
48 | /* USER CODE END MspInit 0 */
49 |
50 | HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_4);
51 |
52 | /* System interrupt init*/
53 | /* MemoryManagement_IRQn interrupt configuration */
54 | HAL_NVIC_SetPriority(MemoryManagement_IRQn, 0, 0);
55 | /* BusFault_IRQn interrupt configuration */
56 | HAL_NVIC_SetPriority(BusFault_IRQn, 0, 0);
57 | /* UsageFault_IRQn interrupt configuration */
58 | HAL_NVIC_SetPriority(UsageFault_IRQn, 0, 0);
59 | /* SVCall_IRQn interrupt configuration */
60 | HAL_NVIC_SetPriority(SVCall_IRQn, 0, 0);
61 | /* DebugMonitor_IRQn interrupt configuration */
62 | HAL_NVIC_SetPriority(DebugMonitor_IRQn, 0, 0);
63 | /* PendSV_IRQn interrupt configuration */
64 | HAL_NVIC_SetPriority(PendSV_IRQn, 5, 0);
65 | /* SysTick_IRQn interrupt configuration */
66 | HAL_NVIC_SetPriority(SysTick_IRQn, 5, 0);
67 |
68 | /* USER CODE BEGIN MspInit 1 */
69 |
70 | /* USER CODE END MspInit 1 */
71 | }
72 |
73 | /* USER CODE BEGIN 1 */
74 |
75 | /* USER CODE END 1 */
76 |
77 | /**
78 | * @}
79 | */
80 |
81 | /**
82 | * @}
83 | */
84 |
85 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
86 |
--------------------------------------------------------------------------------
/Drivers/stm32f7xx_it.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file stm32f7xx_it.h
4 | * @brief This file contains the headers of the interrupt handlers.
5 | ******************************************************************************
6 | *
7 | * COPYRIGHT(c) 2017 STMicroelectronics
8 | *
9 | * Redistribution and use in source and binary forms, with or without modification,
10 | * are permitted provided that the following conditions are met:
11 | * 1. Redistributions of source code must retain the above copyright notice,
12 | * this list of conditions and the following disclaimer.
13 | * 2. Redistributions in binary form must reproduce the above copyright notice,
14 | * this list of conditions and the following disclaimer in the documentation
15 | * and/or other materials provided with the distribution.
16 | * 3. Neither the name of STMicroelectronics nor the names of its contributors
17 | * may be used to endorse or promote products derived from this software
18 | * without specific prior written permission.
19 | *
20 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
21 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
22 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
23 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
24 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
25 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
26 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
27 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
28 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
29 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
30 | *
31 | ******************************************************************************
32 | */
33 |
34 | /* Define to prevent recursive inclusion -------------------------------------*/
35 | #ifndef __STM32F7xx_IT_H
36 | #define __STM32F7xx_IT_H
37 |
38 | #ifdef __cplusplus
39 | extern "C" {
40 | #endif
41 |
42 | /* Includes ------------------------------------------------------------------*/
43 | /* Exported types ------------------------------------------------------------*/
44 | /* Exported constants --------------------------------------------------------*/
45 | /* Exported macro ------------------------------------------------------------*/
46 | /* Exported functions ------------------------------------------------------- */
47 |
48 | void SysTick_Handler(void);
49 | void TIM6_DAC_IRQHandler(void);
50 | void ETH_IRQHandler(void);
51 | void OTG_FS_IRQHandler(void);
52 |
53 | #ifdef __cplusplus
54 | }
55 | #endif
56 |
57 | #endif /* __STM32F7xx_IT_H */
58 |
59 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
60 |
--------------------------------------------------------------------------------
/Drivers/tim.c:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/EEDrone/Firmware/98d3d5969d87e3986ba10375fed9ac72fd81d35a/Drivers/tim.c
--------------------------------------------------------------------------------
/Drivers/tim.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * File Name : TIM.h
4 | * Description : This file provides code for the configuration
5 | * of the TIM instances.
6 | ******************************************************************************
7 | *
8 | * Copyright (c) 2017 STMicroelectronics International N.V.
9 | * All rights reserved.
10 | *
11 | * Redistribution and use in source and binary forms, with or without
12 | * modification, are permitted, provided that the following conditions are met:
13 | *
14 | * 1. Redistribution of source code must retain the above copyright notice,
15 | * this list of conditions and the following disclaimer.
16 | * 2. Redistributions in binary form must reproduce the above copyright notice,
17 | * this list of conditions and the following disclaimer in the documentation
18 | * and/or other materials provided with the distribution.
19 | * 3. Neither the name of STMicroelectronics nor the names of other
20 | * contributors to this software may be used to endorse or promote products
21 | * derived from this software without specific written permission.
22 | * 4. This software, including modifications and/or derivative works of this
23 | * software, must execute solely and exclusively on microcontroller or
24 | * microprocessor devices manufactured by or for STMicroelectronics.
25 | * 5. Redistribution and use of this software other than as permitted under
26 | * this license is void and will automatically terminate your rights under
27 | * this license.
28 | *
29 | * THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
30 | * AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
31 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
32 | * PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
33 | * RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
34 | * SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
35 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
36 | * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
37 | * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
38 | * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
39 | * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
40 | * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
41 | *
42 | ******************************************************************************
43 | */
44 | /* Define to prevent recursive inclusion -------------------------------------*/
45 | #ifndef __tim_H
46 | #define __tim_H
47 | #ifdef __cplusplus
48 | extern "C" {
49 | #endif
50 |
51 | /* Includes ------------------------------------------------------------------*/
52 | #include "stm32f7xx_hal.h"
53 | #include "main.h"
54 |
55 | /* USER CODE BEGIN Includes */
56 |
57 | /* USER CODE END Includes */
58 |
59 | extern TIM_HandleTypeDef htim1;
60 | extern TIM_HandleTypeDef htim2;
61 | extern TIM_HandleTypeDef htim3;
62 | extern TIM_HandleTypeDef htim4;
63 | extern TIM_HandleTypeDef htim5;
64 | extern TIM_HandleTypeDef htim6;
65 | extern TIM_HandleTypeDef htim8;
66 | extern TIM_HandleTypeDef htim9;
67 | extern TIM_HandleTypeDef htim10;
68 | extern TIM_HandleTypeDef htim11;
69 | extern TIM_HandleTypeDef htim13;
70 | extern TIM_HandleTypeDef htim14;
71 |
72 | /* USER CODE BEGIN Private defines */
73 |
74 | /* USER CODE END Private defines */
75 |
76 | extern void Error_Handler(void);
77 |
78 | void MX_TIM1_Init(void);
79 | void MX_TIM2_Init(void);
80 | void MX_TIM3_Init(void);
81 | void MX_TIM4_Init(void);
82 | void MX_TIM5_Init(void);
83 | void MX_TIM6_Init(void);
84 | void MX_TIM8_Init(void);
85 | void MX_TIM9_Init(void);
86 | void MX_TIM10_Init(void);
87 | void MX_TIM11_Init(void);
88 | void MX_TIM13_Init(void);
89 | void MX_TIM14_Init(void);
90 |
91 | void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
92 |
93 |
94 | /* USER CODE BEGIN Prototypes */
95 |
96 | /* USER CODE END Prototypes */
97 |
98 | #ifdef __cplusplus
99 | }
100 | #endif
101 | #endif /*__ tim_H */
102 |
103 | /**
104 | * @}
105 | */
106 |
107 | /**
108 | * @}
109 | */
110 |
111 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
112 |
--------------------------------------------------------------------------------
/Drivers/usart.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * File Name : USART.h
4 | * Description : This file provides code for the configuration
5 | * of the USART instances.
6 | ******************************************************************************
7 | *
8 | * Copyright (c) 2017 STMicroelectronics International N.V.
9 | * All rights reserved.
10 | *
11 | * Redistribution and use in source and binary forms, with or without
12 | * modification, are permitted, provided that the following conditions are met:
13 | *
14 | * 1. Redistribution of source code must retain the above copyright notice,
15 | * this list of conditions and the following disclaimer.
16 | * 2. Redistributions in binary form must reproduce the above copyright notice,
17 | * this list of conditions and the following disclaimer in the documentation
18 | * and/or other materials provided with the distribution.
19 | * 3. Neither the name of STMicroelectronics nor the names of other
20 | * contributors to this software may be used to endorse or promote products
21 | * derived from this software without specific written permission.
22 | * 4. This software, including modifications and/or derivative works of this
23 | * software, must execute solely and exclusively on microcontroller or
24 | * microprocessor devices manufactured by or for STMicroelectronics.
25 | * 5. Redistribution and use of this software other than as permitted under
26 | * this license is void and will automatically terminate your rights under
27 | * this license.
28 | *
29 | * THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
30 | * AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
31 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
32 | * PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
33 | * RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
34 | * SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
35 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
36 | * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
37 | * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
38 | * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
39 | * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
40 | * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
41 | *
42 | ******************************************************************************
43 | */
44 | /* Define to prevent recursive inclusion -------------------------------------*/
45 | #ifndef __usart_H
46 | #define __usart_H
47 | #ifdef __cplusplus
48 | extern "C" {
49 | #endif
50 |
51 | /* Includes ------------------------------------------------------------------*/
52 | #include "stm32f7xx_hal.h"
53 |
54 | #include "main.h"
55 |
56 | /* USER CODE BEGIN Includes */
57 |
58 | /* USER CODE END Includes */
59 |
60 | extern UART_HandleTypeDef huart5;
61 | extern UART_HandleTypeDef huart7;
62 | extern UART_HandleTypeDef huart8;
63 | extern UART_HandleTypeDef huart3;
64 | #define UART_RxBufferSize 256
65 | /* USER CODE BEGIN Private defines */
66 | typedef struct {
67 | uint8_t *pDMA_Buffer;
68 | uint16_t StartOfMsg;
69 | } TUart_Engine;
70 | typedef struct {
71 | uint32_t Len;
72 | uint8_t Data[UART_RxBufferSize];
73 | } TMsg;
74 | /* USER CODE END Private defines */
75 |
76 | extern void Error_Handler(void);
77 |
78 | void MX_UART5_Init(void);
79 | void MX_UART7_Init(void);
80 | void MX_UART8_Init(void);
81 | void MX_USART3_DMA_Init(void);
82 | void MX_USART3_UART_Init(void);
83 | int UART_ReceivedMSG(TMsg *Msg);
84 | void LL_UART_IRQHandler_UART3(void);
85 | /* USER CODE BEGIN Prototypes */
86 |
87 | /* USER CODE END Prototypes */
88 |
89 | #ifdef __cplusplus
90 | }
91 | #endif
92 | #endif /*__ usart_H */
93 |
94 | /**
95 | * @}
96 | */
97 |
98 | /**
99 | * @}
100 | */
101 |
102 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
103 |
--------------------------------------------------------------------------------
/EWARM/Project.eww:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 | $WS_DIR$\EEDrone.ewp
5 |
6 |
7 |
8 |
--------------------------------------------------------------------------------
/EWARM/stm32f767xx_ITCM_flash.icf:
--------------------------------------------------------------------------------
1 | /*###ICF### Section handled by ICF editor, don't touch! ****/
2 | /*-Editor annotation file-*/
3 | /* IcfEditorFile="$TOOLKIT_DIR$\config\ide\IcfEditor\cortex_v1_0.xml" */
4 | /*-Specials-*/
5 | define symbol __ICFEDIT_intvec_start__ = 0x00200000;
6 | /*-Memory Regions-*/
7 | define symbol __ICFEDIT_region_ROM_start__ = 0x00200000;
8 | define symbol __ICFEDIT_region_ROM_end__ = 0x003FFFFF;
9 | define symbol __ICFEDIT_region_RAM_start__ = 0x20000000;
10 | define symbol __ICFEDIT_region_RAM_end__ = 0x2007FFFF;
11 | define symbol __ICFEDIT_region_ITCMRAM_start__ = 0x00000000;
12 | define symbol __ICFEDIT_region_ITCMRAM_end__ = 0x00003FFF;
13 | /*-Sizes-*/
14 | define symbol __ICFEDIT_size_cstack__ = 0x800;
15 | define symbol __ICFEDIT_size_heap__ = 0x400;
16 | /**** End of ICF editor section. ###ICF###*/
17 |
18 |
19 | define memory mem with size = 4G;
20 | define region ROM_region = mem:[from __ICFEDIT_region_ROM_start__ to __ICFEDIT_region_ROM_end__];
21 | define region RAM_region = mem:[from __ICFEDIT_region_RAM_start__ to __ICFEDIT_region_RAM_end__];
22 | define region ITCMRAM_region = mem:[from __ICFEDIT_region_ITCMRAM_start__ to __ICFEDIT_region_ITCMRAM_end__];
23 |
24 | define block CSTACK with alignment = 8, size = __ICFEDIT_size_cstack__ { };
25 | define block HEAP with alignment = 8, size = __ICFEDIT_size_heap__ { };
26 |
27 | initialize by copy { readwrite };
28 | do not initialize { section .noinit };
29 |
30 | place at address mem:__ICFEDIT_intvec_start__ { readonly section .intvec };
31 |
32 | place in ROM_region { readonly };
33 | place in RAM_region { readwrite,
34 | block CSTACK, block HEAP };
35 | place in ITCMRAM_region { };
36 |
--------------------------------------------------------------------------------
/EWARM/stm32f767xx_flash.icf:
--------------------------------------------------------------------------------
1 | /*###ICF### Section handled by ICF editor, don't touch! ****/
2 | /*-Editor annotation file-*/
3 | /* IcfEditorFile="$TOOLKIT_DIR$\config\ide\IcfEditor\cortex_v1_0.xml" */
4 | /*-Specials-*/
5 | define symbol __ICFEDIT_intvec_start__ = 0x08000000;
6 | /*-Memory Regions-*/
7 | define symbol __ICFEDIT_region_ROM_start__ = 0x08000000;
8 | define symbol __ICFEDIT_region_ROM_end__ = 0x081FFFFF;
9 | define symbol __ICFEDIT_region_RAM_start__ = 0x20000000;
10 | define symbol __ICFEDIT_region_RAM_end__ = 0x2007FFFF;
11 | define symbol __ICFEDIT_region_ITCMRAM_start__ = 0x00000000;
12 | define symbol __ICFEDIT_region_ITCMRAM_end__ = 0x00003FFF;
13 | /*-Sizes-*/
14 | define symbol __ICFEDIT_size_cstack__ = 0x800;
15 | define symbol __ICFEDIT_size_heap__ = 0x400;
16 | /**** End of ICF editor section. ###ICF###*/
17 |
18 |
19 | define memory mem with size = 4G;
20 | define region ROM_region = mem:[from __ICFEDIT_region_ROM_start__ to __ICFEDIT_region_ROM_end__];
21 | define region RAM_region = mem:[from __ICFEDIT_region_RAM_start__ to __ICFEDIT_region_RAM_end__];
22 | define region ITCMRAM_region = mem:[from __ICFEDIT_region_ITCMRAM_start__ to __ICFEDIT_region_ITCMRAM_end__];
23 |
24 | define block CSTACK with alignment = 8, size = __ICFEDIT_size_cstack__ { };
25 | define block HEAP with alignment = 8, size = __ICFEDIT_size_heap__ { };
26 |
27 | initialize by copy { readwrite };
28 | do not initialize { section .noinit };
29 |
30 | place at address mem:__ICFEDIT_intvec_start__ { readonly section .intvec };
31 |
32 | place in ROM_region { readonly };
33 | place in RAM_region { readwrite,
34 | block CSTACK, block HEAP };
35 |
--------------------------------------------------------------------------------
/EWARM/stm32f767xx_sram.icf:
--------------------------------------------------------------------------------
1 | /*###ICF### Section handled by ICF editor, don't touch! ****/
2 | /*-Editor annotation file-*/
3 | /* IcfEditorFile="$TOOLKIT_DIR$\config\ide\IcfEditor\cortex_v1_0.xml" */
4 | /*-Specials-*/
5 | define symbol __ICFEDIT_intvec_start__ = 0x20000000;
6 | /*-Memory Regions-*/
7 | define symbol __ICFEDIT_region_ROM_start__ = 0x20000000;
8 | define symbol __ICFEDIT_region_ROM_end__ = 0x2004FFFF;
9 | define symbol __ICFEDIT_region_RAM_start__ = 0x20050000;
10 | define symbol __ICFEDIT_region_RAM_end__ = 0x2007FFFF;
11 | define symbol __ICFEDIT_region_ITCMRAM_start__ = 0x00000000;
12 | define symbol __ICFEDIT_region_ITCMRAM_end__ = 0x00003FFF;
13 | /*-Sizes-*/
14 | define symbol __ICFEDIT_size_cstack__ = 0x800;
15 | define symbol __ICFEDIT_size_heap__ = 0x400;
16 | /**** End of ICF editor section. ###ICF###*/
17 |
18 |
19 | define memory mem with size = 4G;
20 | define region ROM_region = mem:[from __ICFEDIT_region_ROM_start__ to __ICFEDIT_region_ROM_end__];
21 | define region RAM_region = mem:[from __ICFEDIT_region_RAM_start__ to __ICFEDIT_region_RAM_end__];
22 | define region ITCMRAM_region = mem:[from __ICFEDIT_region_ITCMRAM_start__ to __ICFEDIT_region_ITCMRAM_end__];
23 |
24 | define block CSTACK with alignment = 8, size = __ICFEDIT_size_cstack__ { };
25 | define block HEAP with alignment = 8, size = __ICFEDIT_size_heap__ { };
26 |
27 | initialize by copy { readwrite };
28 | do not initialize { section .noinit };
29 |
30 | place at address mem:__ICFEDIT_intvec_start__ { readonly section .intvec };
31 |
32 | place in ROM_region { readonly };
33 | place in RAM_region { readwrite,
34 | block CSTACK, block HEAP };
35 |
--------------------------------------------------------------------------------
/Example/AHRS_Test/system.c:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/EEDrone/Firmware/98d3d5969d87e3986ba10375fed9ac72fd81d35a/Example/AHRS_Test/system.c
--------------------------------------------------------------------------------
/Example/AHRS_Test/system.h:
--------------------------------------------------------------------------------
1 | #ifndef __SYSTEM_H__
2 | #define __SYSTEM_H__
3 |
4 | #include "stm32f7xx_hal.h"
5 |
6 |
7 | void System_Launch(void);
8 |
9 | typedef enum
10 | {
11 | TARGET_NUCLEO,
12 | TARGET_BLUECOIN,
13 | TARGET_SENSORTILE,
14 | TARGETS_NUMBER
15 | } TargetType_t;
16 |
17 |
18 | typedef struct
19 | {
20 | TargetType_t BoardType;
21 | int32_t NumTempSensors;
22 |
23 |
24 | void *HandlePressSensor;
25 | void *HandleHumSensor;
26 |
27 | int32_t HWAdvanceFeatures;
28 | void *HandleAccSensor;
29 | void *HandleGyroSensor;
30 | void *HandleMagSensor;
31 |
32 | int32_t NumMicSensors;
33 |
34 | uint8_t LedStatus;
35 | uint8_t bnrg_expansion_board;
36 | } TargetFeatures_t;
37 |
38 | #endif //__SYSTEM_H__
39 |
--------------------------------------------------------------------------------
/Example/MavLink_Test/mavlink.c:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/EEDrone/Firmware/98d3d5969d87e3986ba10375fed9ac72fd81d35a/Example/MavLink_Test/mavlink.c
--------------------------------------------------------------------------------
/Example/MavLink_Test/system.c:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/EEDrone/Firmware/98d3d5969d87e3986ba10375fed9ac72fd81d35a/Example/MavLink_Test/system.c
--------------------------------------------------------------------------------
/Example/MavLink_Test/system.h:
--------------------------------------------------------------------------------
1 | #ifndef __SYSTEM_H__
2 | #define __SYSTEM_H__
3 |
4 | #include "stm32f7xx_hal.h"
5 |
6 |
7 | void System_Launch(void);
8 |
9 | typedef enum
10 | {
11 | TARGET_NUCLEO,
12 | TARGET_BLUECOIN,
13 | TARGET_SENSORTILE,
14 | TARGETS_NUMBER
15 | } TargetType_t;
16 |
17 |
18 | typedef struct
19 | {
20 | TargetType_t BoardType;
21 | int32_t NumTempSensors;
22 |
23 |
24 | void *HandlePressSensor;
25 | void *HandleHumSensor;
26 |
27 | int32_t HWAdvanceFeatures;
28 | void *HandleAccSensor;
29 | void *HandleGyroSensor;
30 | void *HandleMagSensor;
31 |
32 | int32_t NumMicSensors;
33 |
34 | uint8_t LedStatus;
35 | uint8_t bnrg_expansion_board;
36 | } TargetFeatures_t;
37 |
38 |
39 |
40 | #endif //__SYSTEM_H__
41 |
--------------------------------------------------------------------------------
/Example/Sensor_Test/system.c:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/EEDrone/Firmware/98d3d5969d87e3986ba10375fed9ac72fd81d35a/Example/Sensor_Test/system.c
--------------------------------------------------------------------------------
/Example/Sensor_Test/system.h:
--------------------------------------------------------------------------------
1 | #ifndef __SYSTEM_H__
2 | #define __SYSTEM_H__
3 |
4 | #include "stm32f7xx_hal.h"
5 |
6 |
7 | void System_Launch(void);
8 |
9 | typedef enum
10 | {
11 | TARGET_NUCLEO,
12 | TARGET_BLUECOIN,
13 | TARGET_SENSORTILE,
14 | TARGETS_NUMBER
15 | } TargetType_t;
16 |
17 |
18 | typedef struct
19 | {
20 | TargetType_t BoardType;
21 | int32_t NumTempSensors;
22 |
23 |
24 | void *HandlePressSensor;
25 | void *HandleHumSensor;
26 |
27 | int32_t HWAdvanceFeatures;
28 | void *HandleAccSensor;
29 | void *HandleGyroSensor;
30 | void *HandleMagSensor;
31 |
32 | int32_t NumMicSensors;
33 |
34 | uint8_t LedStatus;
35 | uint8_t bnrg_expansion_board;
36 | } TargetFeatures_t;
37 |
38 |
39 |
40 | #endif //__SYSTEM_H__
41 |
--------------------------------------------------------------------------------
/Inc/adc.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * File Name : ADC.h
4 | * Description : This file provides code for the configuration
5 | * of the ADC instances.
6 | ******************************************************************************
7 | *
8 | * Copyright (c) 2017 STMicroelectronics International N.V.
9 | * All rights reserved.
10 | *
11 | * Redistribution and use in source and binary forms, with or without
12 | * modification, are permitted, provided that the following conditions are met:
13 | *
14 | * 1. Redistribution of source code must retain the above copyright notice,
15 | * this list of conditions and the following disclaimer.
16 | * 2. Redistributions in binary form must reproduce the above copyright notice,
17 | * this list of conditions and the following disclaimer in the documentation
18 | * and/or other materials provided with the distribution.
19 | * 3. Neither the name of STMicroelectronics nor the names of other
20 | * contributors to this software may be used to endorse or promote products
21 | * derived from this software without specific written permission.
22 | * 4. This software, including modifications and/or derivative works of this
23 | * software, must execute solely and exclusively on microcontroller or
24 | * microprocessor devices manufactured by or for STMicroelectronics.
25 | * 5. Redistribution and use of this software other than as permitted under
26 | * this license is void and will automatically terminate your rights under
27 | * this license.
28 | *
29 | * THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
30 | * AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
31 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
32 | * PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
33 | * RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
34 | * SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
35 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
36 | * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
37 | * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
38 | * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
39 | * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
40 | * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
41 | *
42 | ******************************************************************************
43 | */
44 | /* Define to prevent recursive inclusion -------------------------------------*/
45 | #ifndef __adc_H
46 | #define __adc_H
47 | #ifdef __cplusplus
48 | extern "C" {
49 | #endif
50 |
51 | /* Includes ------------------------------------------------------------------*/
52 | #include "stm32f7xx_hal.h"
53 | #include "main.h"
54 |
55 | /* USER CODE BEGIN Includes */
56 |
57 | /* USER CODE END Includes */
58 |
59 | extern ADC_HandleTypeDef hadc3;
60 |
61 | /* USER CODE BEGIN Private defines */
62 |
63 | /* USER CODE END Private defines */
64 |
65 | extern void Error_Handler(void);
66 |
67 | void MX_ADC3_Init(void);
68 |
69 | /* USER CODE BEGIN Prototypes */
70 |
71 | /* USER CODE END Prototypes */
72 |
73 | #ifdef __cplusplus
74 | }
75 | #endif
76 | #endif /*__ adc_H */
77 |
78 | /**
79 | * @}
80 | */
81 |
82 | /**
83 | * @}
84 | */
85 |
86 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
87 |
--------------------------------------------------------------------------------
/Inc/can.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * File Name : CAN.h
4 | * Description : This file provides code for the configuration
5 | * of the CAN instances.
6 | ******************************************************************************
7 | *
8 | * Copyright (c) 2017 STMicroelectronics International N.V.
9 | * All rights reserved.
10 | *
11 | * Redistribution and use in source and binary forms, with or without
12 | * modification, are permitted, provided that the following conditions are met:
13 | *
14 | * 1. Redistribution of source code must retain the above copyright notice,
15 | * this list of conditions and the following disclaimer.
16 | * 2. Redistributions in binary form must reproduce the above copyright notice,
17 | * this list of conditions and the following disclaimer in the documentation
18 | * and/or other materials provided with the distribution.
19 | * 3. Neither the name of STMicroelectronics nor the names of other
20 | * contributors to this software may be used to endorse or promote products
21 | * derived from this software without specific written permission.
22 | * 4. This software, including modifications and/or derivative works of this
23 | * software, must execute solely and exclusively on microcontroller or
24 | * microprocessor devices manufactured by or for STMicroelectronics.
25 | * 5. Redistribution and use of this software other than as permitted under
26 | * this license is void and will automatically terminate your rights under
27 | * this license.
28 | *
29 | * THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
30 | * AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
31 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
32 | * PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
33 | * RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
34 | * SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
35 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
36 | * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
37 | * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
38 | * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
39 | * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
40 | * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
41 | *
42 | ******************************************************************************
43 | */
44 | /* Define to prevent recursive inclusion -------------------------------------*/
45 | #ifndef __can_H
46 | #define __can_H
47 | #ifdef __cplusplus
48 | extern "C" {
49 | #endif
50 |
51 | /* Includes ------------------------------------------------------------------*/
52 | #include "stm32f7xx_hal.h"
53 | #include "main.h"
54 |
55 | /* USER CODE BEGIN Includes */
56 |
57 | /* USER CODE END Includes */
58 |
59 | extern CAN_HandleTypeDef hcan1;
60 |
61 | /* USER CODE BEGIN Private defines */
62 |
63 | /* USER CODE END Private defines */
64 |
65 | extern void Error_Handler(void);
66 |
67 | void MX_CAN1_Init(void);
68 |
69 | /* USER CODE BEGIN Prototypes */
70 |
71 | /* USER CODE END Prototypes */
72 |
73 | #ifdef __cplusplus
74 | }
75 | #endif
76 | #endif /*__ can_H */
77 |
78 | /**
79 | * @}
80 | */
81 |
82 | /**
83 | * @}
84 | */
85 |
86 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
87 |
--------------------------------------------------------------------------------
/Inc/config.h:
--------------------------------------------------------------------------------
1 | #ifndef CONFIG_H_
2 | #define CONFIG_H_
3 | // Task names
4 | #define TEST_TASK_NAME "TEST"
5 | #define SYSTEM_TASK_NAME "SYSTEM"
6 | #define INIT_TASK_NAME "INIT"
7 | #define MAIN_TASK_NAME "MAIN"
8 | #define MAVLINK_TASK_NAME "MAVLINK"
9 | // Task priorities. Higher number higher priority
10 | #define TEST_TASK_PRI 2
11 | #define SYSTEM_TASK_PRI 2
12 | #define INIT_TASK_PRI 5
13 | #define MAIN_TASK_PRI 6
14 | #define MAVLINK_TASK_PRI 2
15 | //Task stack sizes
16 | #define TEST_TASK_STACKSIZE configMINIMAL_STACK_SIZE
17 | #define SYSTEM_TASK_STACKSIZE (2* configMINIMAL_STACK_SIZE)
18 | #define INIT_TASK_STACKSIZE (3* configMINIMAL_STACK_SIZE)
19 | #define MAIN_TASK_STACKSIZE (3* configMINIMAL_STACK_SIZE)
20 | #define MAVLINK_TASK_STACKSIZE (3* configMINIMAL_STACK_SIZE)
21 | #endif /* CONFIG_H_ */
22 |
--------------------------------------------------------------------------------
/Inc/eth.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * File Name : ETH.h
4 | * Description : This file provides code for the configuration
5 | * of the ETH instances.
6 | ******************************************************************************
7 | *
8 | * Copyright (c) 2017 STMicroelectronics International N.V.
9 | * All rights reserved.
10 | *
11 | * Redistribution and use in source and binary forms, with or without
12 | * modification, are permitted, provided that the following conditions are met:
13 | *
14 | * 1. Redistribution of source code must retain the above copyright notice,
15 | * this list of conditions and the following disclaimer.
16 | * 2. Redistributions in binary form must reproduce the above copyright notice,
17 | * this list of conditions and the following disclaimer in the documentation
18 | * and/or other materials provided with the distribution.
19 | * 3. Neither the name of STMicroelectronics nor the names of other
20 | * contributors to this software may be used to endorse or promote products
21 | * derived from this software without specific written permission.
22 | * 4. This software, including modifications and/or derivative works of this
23 | * software, must execute solely and exclusively on microcontroller or
24 | * microprocessor devices manufactured by or for STMicroelectronics.
25 | * 5. Redistribution and use of this software other than as permitted under
26 | * this license is void and will automatically terminate your rights under
27 | * this license.
28 | *
29 | * THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
30 | * AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
31 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
32 | * PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
33 | * RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
34 | * SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
35 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
36 | * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
37 | * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
38 | * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
39 | * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
40 | * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
41 | *
42 | ******************************************************************************
43 | */
44 | /* Define to prevent recursive inclusion -------------------------------------*/
45 | #ifndef __eth_H
46 | #define __eth_H
47 | #ifdef __cplusplus
48 | extern "C" {
49 | #endif
50 |
51 | /* Includes ------------------------------------------------------------------*/
52 | #include "stm32f7xx_hal.h"
53 | #include "main.h"
54 |
55 | /* USER CODE BEGIN Includes */
56 |
57 | /* USER CODE END Includes */
58 |
59 | extern ETH_HandleTypeDef heth;
60 |
61 | /* USER CODE BEGIN Private defines */
62 |
63 | /* USER CODE END Private defines */
64 |
65 | extern void Error_Handler(void);
66 |
67 | void MX_ETH_Init(void);
68 |
69 | /* USER CODE BEGIN Prototypes */
70 |
71 | /* USER CODE END Prototypes */
72 |
73 | #ifdef __cplusplus
74 | }
75 | #endif
76 | #endif /*__ eth_H */
77 |
78 | /**
79 | * @}
80 | */
81 |
82 | /**
83 | * @}
84 | */
85 |
86 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
87 |
--------------------------------------------------------------------------------
/Inc/ethernetif.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * File Name : ethernetif.h
4 | * Description : This file provides initialization code for LWIP
5 | * middleWare.
6 | ******************************************************************************
7 | *
8 | * Copyright (c) 2017 STMicroelectronics International N.V.
9 | * All rights reserved.
10 | *
11 | * Redistribution and use in source and binary forms, with or without
12 | * modification, are permitted, provided that the following conditions are met:
13 | *
14 | * 1. Redistribution of source code must retain the above copyright notice,
15 | * this list of conditions and the following disclaimer.
16 | * 2. Redistributions in binary form must reproduce the above copyright notice,
17 | * this list of conditions and the following disclaimer in the documentation
18 | * and/or other materials provided with the distribution.
19 | * 3. Neither the name of STMicroelectronics nor the names of other
20 | * contributors to this software may be used to endorse or promote products
21 | * derived from this software without specific written permission.
22 | * 4. This software, including modifications and/or derivative works of this
23 | * software, must execute solely and exclusively on microcontroller or
24 | * microprocessor devices manufactured by or for STMicroelectronics.
25 | * 5. Redistribution and use of this software other than as permitted under
26 | * this license is void and will automatically terminate your rights under
27 | * this license.
28 | *
29 | * THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
30 | * AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
31 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
32 | * PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
33 | * RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
34 | * SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
35 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
36 | * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
37 | * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
38 | * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
39 | * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
40 | * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
41 | *
42 | ******************************************************************************
43 | */
44 |
45 |
46 | #ifndef __ETHERNETIF_H__
47 | #define __ETHERNETIF_H__
48 |
49 | #include "lwip/err.h"
50 | #include "lwip/netif.h"
51 | #include "cmsis_os.h"
52 |
53 | /* Within 'USER CODE' section, code will be kept by default at each generation */
54 | /* USER CODE BEGIN 0 */
55 |
56 | /* USER CODE END 0 */
57 |
58 | /* Exported functions ------------------------------------------------------- */
59 | err_t ethernetif_init(struct netif *netif);
60 |
61 | void ethernetif_input( void const * argument );
62 |
63 |
64 | void ethernetif_update_config(struct netif *netif);
65 | void ethernetif_notify_conn_changed(struct netif *netif);
66 |
67 | /* USER CODE BEGIN 1 */
68 |
69 | /* USER CODE END 1 */
70 | #endif
71 |
72 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
73 |
--------------------------------------------------------------------------------
/Inc/fatfs.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file fatfs.h
4 | * @brief Header for fatfs applications
5 | ******************************************************************************
6 | *
7 | * Copyright (c) 2017 STMicroelectronics International N.V.
8 | * All rights reserved.
9 | *
10 | * Redistribution and use in source and binary forms, with or without
11 | * modification, are permitted, provided that the following conditions are met:
12 | *
13 | * 1. Redistribution of source code must retain the above copyright notice,
14 | * this list of conditions and the following disclaimer.
15 | * 2. Redistributions in binary form must reproduce the above copyright notice,
16 | * this list of conditions and the following disclaimer in the documentation
17 | * and/or other materials provided with the distribution.
18 | * 3. Neither the name of STMicroelectronics nor the names of other
19 | * contributors to this software may be used to endorse or promote products
20 | * derived from this software without specific written permission.
21 | * 4. This software, including modifications and/or derivative works of this
22 | * software, must execute solely and exclusively on microcontroller or
23 | * microprocessor devices manufactured by or for STMicroelectronics.
24 | * 5. Redistribution and use of this software other than as permitted under
25 | * this license is void and will automatically terminate your rights under
26 | * this license.
27 | *
28 | * THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
29 | * AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
30 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
31 | * PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
32 | * RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
33 | * SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
34 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
35 | * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
36 | * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
37 | * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
38 | * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
39 | * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
40 | *
41 | ******************************************************************************
42 | */
43 |
44 | /* Define to prevent recursive inclusion -------------------------------------*/
45 | #ifndef __fatfs_H
46 | #define __fatfs_H
47 | #ifdef __cplusplus
48 | extern "C" {
49 | #endif
50 |
51 | #include "ff.h"
52 | #include "ff_gen_drv.h"
53 | #include "sd_diskio.h" /* defines SD_Driver as external */
54 |
55 | /* USER CODE BEGIN Includes */
56 |
57 | /* USER CODE END Includes */
58 |
59 | extern uint8_t retSD; /* Return value for SD */
60 | extern char SD_Path[4]; /* SD logical drive path */
61 |
62 | void MX_FATFS_Init(void);
63 |
64 | /* USER CODE BEGIN Prototypes */
65 |
66 | /* USER CODE END Prototypes */
67 | #ifdef __cplusplus
68 | }
69 | #endif
70 | #endif /*__fatfs_H */
71 |
72 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
73 |
--------------------------------------------------------------------------------
/Inc/gpio.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * File Name : gpio.h
4 | * Description : This file contains all the functions prototypes for
5 | * the gpio
6 | ******************************************************************************
7 | *
8 | * Copyright (c) 2017 STMicroelectronics International N.V.
9 | * All rights reserved.
10 | *
11 | * Redistribution and use in source and binary forms, with or without
12 | * modification, are permitted, provided that the following conditions are met:
13 | *
14 | * 1. Redistribution of source code must retain the above copyright notice,
15 | * this list of conditions and the following disclaimer.
16 | * 2. Redistributions in binary form must reproduce the above copyright notice,
17 | * this list of conditions and the following disclaimer in the documentation
18 | * and/or other materials provided with the distribution.
19 | * 3. Neither the name of STMicroelectronics nor the names of other
20 | * contributors to this software may be used to endorse or promote products
21 | * derived from this software without specific written permission.
22 | * 4. This software, including modifications and/or derivative works of this
23 | * software, must execute solely and exclusively on microcontroller or
24 | * microprocessor devices manufactured by or for STMicroelectronics.
25 | * 5. Redistribution and use of this software other than as permitted under
26 | * this license is void and will automatically terminate your rights under
27 | * this license.
28 | *
29 | * THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
30 | * AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
31 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
32 | * PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
33 | * RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
34 | * SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
35 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
36 | * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
37 | * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
38 | * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
39 | * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
40 | * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
41 | *
42 | ******************************************************************************
43 | */
44 |
45 | /* Define to prevent recursive inclusion -------------------------------------*/
46 | #ifndef __gpio_H
47 | #define __gpio_H
48 | #ifdef __cplusplus
49 | extern "C" {
50 | #endif
51 |
52 | /* Includes ------------------------------------------------------------------*/
53 | #include "stm32f7xx_hal.h"
54 | #include "main.h"
55 |
56 | /* USER CODE BEGIN Includes */
57 |
58 | /* USER CODE END Includes */
59 |
60 | /* USER CODE BEGIN Private defines */
61 |
62 | /* USER CODE END Private defines */
63 |
64 | void MX_GPIO_Init(void);
65 |
66 | /* USER CODE BEGIN Prototypes */
67 |
68 | /* USER CODE END Prototypes */
69 |
70 | #ifdef __cplusplus
71 | }
72 | #endif
73 | #endif /*__ pinoutConfig_H */
74 |
75 | /**
76 | * @}
77 | */
78 |
79 | /**
80 | * @}
81 | */
82 |
83 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
84 |
--------------------------------------------------------------------------------
/Inc/i2c.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * File Name : I2C.h
4 | * Description : This file provides code for the configuration
5 | * of the I2C instances.
6 | ******************************************************************************
7 | *
8 | * Copyright (c) 2017 STMicroelectronics International N.V.
9 | * All rights reserved.
10 | *
11 | * Redistribution and use in source and binary forms, with or without
12 | * modification, are permitted, provided that the following conditions are met:
13 | *
14 | * 1. Redistribution of source code must retain the above copyright notice,
15 | * this list of conditions and the following disclaimer.
16 | * 2. Redistributions in binary form must reproduce the above copyright notice,
17 | * this list of conditions and the following disclaimer in the documentation
18 | * and/or other materials provided with the distribution.
19 | * 3. Neither the name of STMicroelectronics nor the names of other
20 | * contributors to this software may be used to endorse or promote products
21 | * derived from this software without specific written permission.
22 | * 4. This software, including modifications and/or derivative works of this
23 | * software, must execute solely and exclusively on microcontroller or
24 | * microprocessor devices manufactured by or for STMicroelectronics.
25 | * 5. Redistribution and use of this software other than as permitted under
26 | * this license is void and will automatically terminate your rights under
27 | * this license.
28 | *
29 | * THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
30 | * AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
31 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
32 | * PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
33 | * RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
34 | * SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
35 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
36 | * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
37 | * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
38 | * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
39 | * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
40 | * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
41 | *
42 | ******************************************************************************
43 | */
44 | /* Define to prevent recursive inclusion -------------------------------------*/
45 | #ifndef __i2c_H
46 | #define __i2c_H
47 | #ifdef __cplusplus
48 | extern "C" {
49 | #endif
50 |
51 | /* Includes ------------------------------------------------------------------*/
52 | #include "stm32f7xx_hal.h"
53 | #include "main.h"
54 |
55 | /* USER CODE BEGIN Includes */
56 |
57 | /* USER CODE END Includes */
58 |
59 | extern I2C_HandleTypeDef hi2c2;
60 | extern I2C_HandleTypeDef hi2c4;
61 |
62 | /* USER CODE BEGIN Private defines */
63 |
64 | /* USER CODE END Private defines */
65 |
66 | extern void Error_Handler(void);
67 |
68 | void MX_I2C2_Init(void);
69 | void MX_I2C4_Init(void);
70 |
71 | /* USER CODE BEGIN Prototypes */
72 |
73 | /* USER CODE END Prototypes */
74 |
75 | #ifdef __cplusplus
76 | }
77 | #endif
78 | #endif /*__ i2c_H */
79 |
80 | /**
81 | * @}
82 | */
83 |
84 | /**
85 | * @}
86 | */
87 |
88 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
89 |
--------------------------------------------------------------------------------
/Inc/lwip.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * File Name : LWIP.h
4 | * Description : This file provides code for the configuration
5 | * of the LWIP.
6 | ******************************************************************************
7 | *
8 | * Copyright (c) 2017 STMicroelectronics International N.V.
9 | * All rights reserved.
10 | *
11 | * Redistribution and use in source and binary forms, with or without
12 | * modification, are permitted, provided that the following conditions are met:
13 | *
14 | * 1. Redistribution of source code must retain the above copyright notice,
15 | * this list of conditions and the following disclaimer.
16 | * 2. Redistributions in binary form must reproduce the above copyright notice,
17 | * this list of conditions and the following disclaimer in the documentation
18 | * and/or other materials provided with the distribution.
19 | * 3. Neither the name of STMicroelectronics nor the names of other
20 | * contributors to this software may be used to endorse or promote products
21 | * derived from this software without specific written permission.
22 | * 4. This software, including modifications and/or derivative works of this
23 | * software, must execute solely and exclusively on microcontroller or
24 | * microprocessor devices manufactured by or for STMicroelectronics.
25 | * 5. Redistribution and use of this software other than as permitted under
26 | * this license is void and will automatically terminate your rights under
27 | * this license.
28 | *
29 | * THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
30 | * AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
31 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
32 | * PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
33 | * RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
34 | * SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
35 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
36 | * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
37 | * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
38 | * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
39 | * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
40 | * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
41 | *
42 | *************************************************************************
43 |
44 | */
45 | /* Define to prevent recursive inclusion -------------------------------------*/
46 | #ifndef __mx_lwip_H
47 | #define __mx_lwip_H
48 | #ifdef __cplusplus
49 | extern "C" {
50 | #endif
51 |
52 | /* Includes ------------------------------------------------------------------*/
53 | #include "lwip/opt.h"
54 | #include "lwip/mem.h"
55 | #include "lwip/memp.h"
56 | #include "netif/etharp.h"
57 | #include "lwip/dhcp.h"
58 | #include "lwip/netif.h"
59 | #include "lwip/timeouts.h"
60 | #include "ethernetif.h"
61 |
62 | /* Includes for RTOS ---------------------------------------------------------*/
63 | #if WITH_RTOS
64 | #include "lwip/tcpip.h"
65 | #endif /* WITH_RTOS */
66 |
67 | /* USER CODE BEGIN 0 */
68 |
69 | /* USER CODE END 0 */
70 |
71 | /* Global Variables ----------------------------------------------------------*/
72 | extern ETH_HandleTypeDef heth;
73 |
74 | /* LWIP init function */
75 | void MX_LWIP_Init(void);
76 |
77 | /* USER CODE BEGIN 1 */
78 | /* Function defined in lwip.c to:
79 | * - Read a received packet from the Ethernet buffers
80 | * - Send it to the lwIP stack for handling
81 | * - Handle timeouts if NO_SYS_NO_TIMERS not set
82 | */
83 | void MX_LWIP_Process(void);
84 |
85 | /* USER CODE END 1 */
86 |
87 | #ifdef __cplusplus
88 | }
89 | #endif
90 | #endif /*__ mx_lwip_H */
91 |
92 | /**
93 | * @}
94 | */
95 |
96 | /**
97 | * @}
98 | */
99 |
100 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
101 |
--------------------------------------------------------------------------------
/Inc/main.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * File Name : main.h
4 | * Description : This file contains the common defines of the application
5 | ******************************************************************************
6 | *
7 | * Copyright (c) 2017 STMicroelectronics International N.V.
8 | * All rights reserved.
9 | *
10 | * Redistribution and use in source and binary forms, with or without
11 | * modification, are permitted, provided that the following conditions are met:
12 | *
13 | * 1. Redistribution of source code must retain the above copyright notice,
14 | * this list of conditions and the following disclaimer.
15 | * 2. Redistributions in binary form must reproduce the above copyright notice,
16 | * this list of conditions and the following disclaimer in the documentation
17 | * and/or other materials provided with the distribution.
18 | * 3. Neither the name of STMicroelectronics nor the names of other
19 | * contributors to this software may be used to endorse or promote products
20 | * derived from this software without specific written permission.
21 | * 4. This software, including modifications and/or derivative works of this
22 | * software, must execute solely and exclusively on microcontroller or
23 | * microprocessor devices manufactured by or for STMicroelectronics.
24 | * 5. Redistribution and use of this software other than as permitted under
25 | * this license is void and will automatically terminate your rights under
26 | * this license.
27 | *
28 | * THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
29 | * AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
30 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
31 | * PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
32 | * RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
33 | * SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
34 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
35 | * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
36 | * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
37 | * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
38 | * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
39 | * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
40 | *
41 | ******************************************************************************
42 | */
43 | /* Define to prevent recursive inclusion -------------------------------------*/
44 | #ifndef __MAIN_H
45 | #define __MAIN_H
46 | /* Includes ------------------------------------------------------------------*/
47 |
48 | /* USER CODE BEGIN Includes */
49 |
50 |
51 | #include "stm32f7xx_ll_usart.h"
52 | #include "stm32f7xx_ll_dma.h"
53 |
54 |
55 |
56 | // #include "stm32f7xx_ll_gpio.h"
57 | // #include "stm32f7xx_ll_bus.h"
58 | // #include "stm32f7xx_ll_rcc.h"
59 | /* USER CODE END Includes */
60 |
61 | /* Private define ------------------------------------------------------------*/
62 |
63 |
64 | /* USER CODE BEGIN Private defines */
65 |
66 | /* USER CODE END Private defines */
67 |
68 | /**
69 | * @}
70 | */
71 |
72 | /**
73 | * @}
74 | */
75 |
76 | #endif /* __MAIN_H */
77 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
78 |
--------------------------------------------------------------------------------
/Inc/quadspi.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * File Name : QUADSPI.h
4 | * Description : This file provides code for the configuration
5 | * of the QUADSPI instances.
6 | ******************************************************************************
7 | *
8 | * Copyright (c) 2017 STMicroelectronics International N.V.
9 | * All rights reserved.
10 | *
11 | * Redistribution and use in source and binary forms, with or without
12 | * modification, are permitted, provided that the following conditions are met:
13 | *
14 | * 1. Redistribution of source code must retain the above copyright notice,
15 | * this list of conditions and the following disclaimer.
16 | * 2. Redistributions in binary form must reproduce the above copyright notice,
17 | * this list of conditions and the following disclaimer in the documentation
18 | * and/or other materials provided with the distribution.
19 | * 3. Neither the name of STMicroelectronics nor the names of other
20 | * contributors to this software may be used to endorse or promote products
21 | * derived from this software without specific written permission.
22 | * 4. This software, including modifications and/or derivative works of this
23 | * software, must execute solely and exclusively on microcontroller or
24 | * microprocessor devices manufactured by or for STMicroelectronics.
25 | * 5. Redistribution and use of this software other than as permitted under
26 | * this license is void and will automatically terminate your rights under
27 | * this license.
28 | *
29 | * THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
30 | * AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
31 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
32 | * PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
33 | * RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
34 | * SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
35 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
36 | * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
37 | * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
38 | * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
39 | * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
40 | * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
41 | *
42 | ******************************************************************************
43 | */
44 | /* Define to prevent recursive inclusion -------------------------------------*/
45 | #ifndef __quadspi_H
46 | #define __quadspi_H
47 | #ifdef __cplusplus
48 | extern "C" {
49 | #endif
50 |
51 | /* Includes ------------------------------------------------------------------*/
52 | #include "stm32f7xx_hal.h"
53 | #include "main.h"
54 |
55 | /* USER CODE BEGIN Includes */
56 |
57 | /* USER CODE END Includes */
58 |
59 | extern QSPI_HandleTypeDef hqspi;
60 |
61 | /* USER CODE BEGIN Private defines */
62 |
63 | /* USER CODE END Private defines */
64 |
65 | extern void Error_Handler(void);
66 |
67 | void MX_QUADSPI_Init(void);
68 |
69 | /* USER CODE BEGIN Prototypes */
70 |
71 | /* USER CODE END Prototypes */
72 |
73 | #ifdef __cplusplus
74 | }
75 | #endif
76 | #endif /*__ quadspi_H */
77 |
78 | /**
79 | * @}
80 | */
81 |
82 | /**
83 | * @}
84 | */
85 |
86 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
87 |
--------------------------------------------------------------------------------
/Inc/sai.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * File Name : SAI.h
4 | * Description : This file provides code for the configuration
5 | * of the SAI instances.
6 | ******************************************************************************
7 | *
8 | * Copyright (c) 2017 STMicroelectronics International N.V.
9 | * All rights reserved.
10 | *
11 | * Redistribution and use in source and binary forms, with or without
12 | * modification, are permitted, provided that the following conditions are met:
13 | *
14 | * 1. Redistribution of source code must retain the above copyright notice,
15 | * this list of conditions and the following disclaimer.
16 | * 2. Redistributions in binary form must reproduce the above copyright notice,
17 | * this list of conditions and the following disclaimer in the documentation
18 | * and/or other materials provided with the distribution.
19 | * 3. Neither the name of STMicroelectronics nor the names of other
20 | * contributors to this software may be used to endorse or promote products
21 | * derived from this software without specific written permission.
22 | * 4. This software, including modifications and/or derivative works of this
23 | * software, must execute solely and exclusively on microcontroller or
24 | * microprocessor devices manufactured by or for STMicroelectronics.
25 | * 5. Redistribution and use of this software other than as permitted under
26 | * this license is void and will automatically terminate your rights under
27 | * this license.
28 | *
29 | * THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
30 | * AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
31 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
32 | * PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
33 | * RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
34 | * SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
35 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
36 | * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
37 | * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
38 | * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
39 | * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
40 | * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
41 | *
42 | ******************************************************************************
43 | */
44 | /* Define to prevent recursive inclusion -------------------------------------*/
45 | #ifndef __sai_H
46 | #define __sai_H
47 | #ifdef __cplusplus
48 | extern "C" {
49 | #endif
50 |
51 | /* Includes ------------------------------------------------------------------*/
52 | #include "stm32f7xx_hal.h"
53 | #include "main.h"
54 |
55 | /* USER CODE BEGIN Includes */
56 |
57 | /* USER CODE END Includes */
58 |
59 | extern SAI_HandleTypeDef hsai_BlockA1;
60 |
61 | /* USER CODE BEGIN Private defines */
62 |
63 | /* USER CODE END Private defines */
64 |
65 | extern void Error_Handler(void);
66 |
67 | void MX_SAI1_Init(void);
68 |
69 | /* USER CODE BEGIN Prototypes */
70 |
71 | /* USER CODE END Prototypes */
72 |
73 | #ifdef __cplusplus
74 | }
75 | #endif
76 | #endif /*__ sai_H */
77 |
78 | /**
79 | * @}
80 | */
81 |
82 | /**
83 | * @}
84 | */
85 |
86 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
87 |
--------------------------------------------------------------------------------
/Inc/sdmmc.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * File Name : SDMMC.h
4 | * Description : This file provides code for the configuration
5 | * of the SDMMC instances.
6 | ******************************************************************************
7 | *
8 | * Copyright (c) 2017 STMicroelectronics International N.V.
9 | * All rights reserved.
10 | *
11 | * Redistribution and use in source and binary forms, with or without
12 | * modification, are permitted, provided that the following conditions are met:
13 | *
14 | * 1. Redistribution of source code must retain the above copyright notice,
15 | * this list of conditions and the following disclaimer.
16 | * 2. Redistributions in binary form must reproduce the above copyright notice,
17 | * this list of conditions and the following disclaimer in the documentation
18 | * and/or other materials provided with the distribution.
19 | * 3. Neither the name of STMicroelectronics nor the names of other
20 | * contributors to this software may be used to endorse or promote products
21 | * derived from this software without specific written permission.
22 | * 4. This software, including modifications and/or derivative works of this
23 | * software, must execute solely and exclusively on microcontroller or
24 | * microprocessor devices manufactured by or for STMicroelectronics.
25 | * 5. Redistribution and use of this software other than as permitted under
26 | * this license is void and will automatically terminate your rights under
27 | * this license.
28 | *
29 | * THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
30 | * AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
31 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
32 | * PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
33 | * RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
34 | * SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
35 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
36 | * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
37 | * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
38 | * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
39 | * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
40 | * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
41 | *
42 | ******************************************************************************
43 | */
44 | /* Define to prevent recursive inclusion -------------------------------------*/
45 | #ifndef __sdmmc_H
46 | #define __sdmmc_H
47 | #ifdef __cplusplus
48 | extern "C" {
49 | #endif
50 |
51 | /* Includes ------------------------------------------------------------------*/
52 | #include "stm32f7xx_hal.h"
53 | #include "main.h"
54 |
55 | /* USER CODE BEGIN Includes */
56 |
57 | /* USER CODE END Includes */
58 |
59 | extern SD_HandleTypeDef hsd1;
60 | extern SD_HandleTypeDef hsd2;
61 |
62 | /* USER CODE BEGIN Private defines */
63 |
64 | /* USER CODE END Private defines */
65 |
66 | extern void Error_Handler(void);
67 |
68 | void MX_SDMMC1_SD_Init(void);
69 | void MX_SDMMC2_SD_Init(void);
70 |
71 | /* USER CODE BEGIN Prototypes */
72 |
73 | /* USER CODE END Prototypes */
74 |
75 | #ifdef __cplusplus
76 | }
77 | #endif
78 | #endif /*__ sdmmc_H */
79 |
80 | /**
81 | * @}
82 | */
83 |
84 | /**
85 | * @}
86 | */
87 |
88 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
89 |
--------------------------------------------------------------------------------
/Inc/stm32f7xx_it.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file stm32f7xx_it.h
4 | * @brief This file contains the headers of the interrupt handlers.
5 | ******************************************************************************
6 | *
7 | * COPYRIGHT(c) 2017 STMicroelectronics
8 | *
9 | * Redistribution and use in source and binary forms, with or without modification,
10 | * are permitted provided that the following conditions are met:
11 | * 1. Redistributions of source code must retain the above copyright notice,
12 | * this list of conditions and the following disclaimer.
13 | * 2. Redistributions in binary form must reproduce the above copyright notice,
14 | * this list of conditions and the following disclaimer in the documentation
15 | * and/or other materials provided with the distribution.
16 | * 3. Neither the name of STMicroelectronics nor the names of its contributors
17 | * may be used to endorse or promote products derived from this software
18 | * without specific prior written permission.
19 | *
20 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
21 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
22 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
23 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
24 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
25 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
26 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
27 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
28 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
29 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
30 | *
31 | ******************************************************************************
32 | */
33 |
34 | /* Define to prevent recursive inclusion -------------------------------------*/
35 | #ifndef __STM32F7xx_IT_H
36 | #define __STM32F7xx_IT_H
37 |
38 | #ifdef __cplusplus
39 | extern "C" {
40 | #endif
41 |
42 | /* Includes ------------------------------------------------------------------*/
43 | /* Exported types ------------------------------------------------------------*/
44 | /* Exported constants --------------------------------------------------------*/
45 | /* Exported macro ------------------------------------------------------------*/
46 | /* Exported functions ------------------------------------------------------- */
47 |
48 | void SysTick_Handler(void);
49 | void TIM6_DAC_IRQHandler(void);
50 | void ETH_IRQHandler(void);
51 | void OTG_FS_IRQHandler(void);
52 |
53 | #ifdef __cplusplus
54 | }
55 | #endif
56 |
57 | #endif /* __STM32F7xx_IT_H */
58 |
59 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
60 |
--------------------------------------------------------------------------------
/Inc/usb_device.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file : USB_DEVICE
4 | * @version : v1.0_Cube
5 | * @brief : Header for usb_device file.
6 | ******************************************************************************
7 | *
8 | * Copyright (c) 2017 STMicroelectronics International N.V.
9 | * All rights reserved.
10 | *
11 | * Redistribution and use in source and binary forms, with or without
12 | * modification, are permitted, provided that the following conditions are met:
13 | *
14 | * 1. Redistribution of source code must retain the above copyright notice,
15 | * this list of conditions and the following disclaimer.
16 | * 2. Redistributions in binary form must reproduce the above copyright notice,
17 | * this list of conditions and the following disclaimer in the documentation
18 | * and/or other materials provided with the distribution.
19 | * 3. Neither the name of STMicroelectronics nor the names of other
20 | * contributors to this software may be used to endorse or promote products
21 | * derived from this software without specific written permission.
22 | * 4. This software, including modifications and/or derivative works of this
23 | * software, must execute solely and exclusively on microcontroller or
24 | * microprocessor devices manufactured by or for STMicroelectronics.
25 | * 5. Redistribution and use of this software other than as permitted under
26 | * this license is void and will automatically terminate your rights under
27 | * this license.
28 | *
29 | * THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
30 | * AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
31 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
32 | * PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
33 | * RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
34 | * SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
35 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
36 | * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
37 | * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
38 | * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
39 | * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
40 | * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
41 | *
42 | ******************************************************************************
43 | */
44 | /* Define to prevent recursive inclusion -------------------------------------*/
45 | #ifndef __usb_device_H
46 | #define __usb_device_H
47 | #ifdef __cplusplus
48 | extern "C" {
49 | #endif
50 |
51 | /* Includes ------------------------------------------------------------------*/
52 | #include "stm32f7xx.h"
53 | #include "stm32f7xx_hal.h"
54 | #include "usbd_def.h"
55 |
56 | extern USBD_HandleTypeDef hUsbDeviceFS;
57 |
58 | /* USB_Device init function */
59 | void MX_USB_DEVICE_Init(void);
60 |
61 | #ifdef __cplusplus
62 | }
63 | #endif
64 | #endif /*__usb_device_H */
65 |
66 | /**
67 | * @}
68 | */
69 |
70 | /**
71 | * @}
72 | */
73 |
74 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
75 |
--------------------------------------------------------------------------------
/Inc/usbd_cdc_if.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file : usbd_cdc_if.h
4 | * @brief : Header for usbd_cdc_if file.
5 | ******************************************************************************
6 | *
7 | * Copyright (c) 2017 STMicroelectronics International N.V.
8 | * All rights reserved.
9 | *
10 | * Redistribution and use in source and binary forms, with or without
11 | * modification, are permitted, provided that the following conditions are met:
12 | *
13 | * 1. Redistribution of source code must retain the above copyright notice,
14 | * this list of conditions and the following disclaimer.
15 | * 2. Redistributions in binary form must reproduce the above copyright notice,
16 | * this list of conditions and the following disclaimer in the documentation
17 | * and/or other materials provided with the distribution.
18 | * 3. Neither the name of STMicroelectronics nor the names of other
19 | * contributors to this software may be used to endorse or promote products
20 | * derived from this software without specific written permission.
21 | * 4. This software, including modifications and/or derivative works of this
22 | * software, must execute solely and exclusively on microcontroller or
23 | * microprocessor devices manufactured by or for STMicroelectronics.
24 | * 5. Redistribution and use of this software other than as permitted under
25 | * this license is void and will automatically terminate your rights under
26 | * this license.
27 | *
28 | * THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
29 | * AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
30 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
31 | * PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
32 | * RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
33 | * SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
34 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
35 | * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
36 | * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
37 | * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
38 | * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
39 | * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
40 | *
41 | ******************************************************************************
42 | */
43 |
44 | /* Define to prevent recursive inclusion -------------------------------------*/
45 | #ifndef __USBD_CDC_IF_H
46 | #define __USBD_CDC_IF_H
47 |
48 | #ifdef __cplusplus
49 | extern "C" {
50 | #endif
51 | /* Includes ------------------------------------------------------------------*/
52 | #include "usbd_cdc.h"
53 | /* USER CODE BEGIN INCLUDE */
54 | /* USER CODE END INCLUDE */
55 |
56 | /** @addtogroup STM32_USB_OTG_DEVICE_LIBRARY
57 | * @{
58 | */
59 |
60 | /** @defgroup USBD_CDC_IF
61 | * @brief header
62 | * @{
63 | */
64 |
65 | /** @defgroup USBD_CDC_IF_Exported_Defines
66 | * @{
67 | */
68 | /* USER CODE BEGIN EXPORTED_DEFINES */
69 | /* USER CODE END EXPORTED_DEFINES */
70 |
71 | /**
72 | * @}
73 | */
74 |
75 | /** @defgroup USBD_CDC_IF_Exported_Types
76 | * @{
77 | */
78 | /* USER CODE BEGIN EXPORTED_TYPES */
79 | /* USER CODE END EXPORTED_TYPES */
80 |
81 | /**
82 | * @}
83 | */
84 |
85 | /** @defgroup USBD_CDC_IF_Exported_Macros
86 | * @{
87 | */
88 | /* USER CODE BEGIN EXPORTED_MACRO */
89 | /* USER CODE END EXPORTED_MACRO */
90 |
91 | /**
92 | * @}
93 | */
94 |
95 | /** @defgroup USBD_AUDIO_IF_Exported_Variables
96 | * @{
97 | */
98 | extern USBD_CDC_ItfTypeDef USBD_Interface_fops_FS;
99 |
100 | /* USER CODE BEGIN EXPORTED_VARIABLES */
101 | /* USER CODE END EXPORTED_VARIABLES */
102 |
103 | /**
104 | * @}
105 | */
106 |
107 | /** @defgroup USBD_CDC_IF_Exported_FunctionsPrototype
108 | * @{
109 | */
110 | uint8_t CDC_Transmit_FS(uint8_t* Buf, uint16_t Len);
111 |
112 | /* USER CODE BEGIN EXPORTED_FUNCTIONS */
113 | /* USER CODE END EXPORTED_FUNCTIONS */
114 | /**
115 | * @}
116 | */
117 |
118 | /**
119 | * @}
120 | */
121 |
122 | /**
123 | * @}
124 | */
125 |
126 | #ifdef __cplusplus
127 | }
128 | #endif
129 |
130 | #endif /* __USBD_CDC_IF_H */
131 |
132 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
133 |
--------------------------------------------------------------------------------
/Inc/usbd_desc.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file : usbd_desc.h
4 | * @version : v1.0_Cube
5 | * @brief : Header for usbd_desc file.
6 | ******************************************************************************
7 | *
8 | * Copyright (c) 2017 STMicroelectronics International N.V.
9 | * All rights reserved.
10 | *
11 | * Redistribution and use in source and binary forms, with or without
12 | * modification, are permitted, provided that the following conditions are met:
13 | *
14 | * 1. Redistribution of source code must retain the above copyright notice,
15 | * this list of conditions and the following disclaimer.
16 | * 2. Redistributions in binary form must reproduce the above copyright notice,
17 | * this list of conditions and the following disclaimer in the documentation
18 | * and/or other materials provided with the distribution.
19 | * 3. Neither the name of STMicroelectronics nor the names of other
20 | * contributors to this software may be used to endorse or promote products
21 | * derived from this software without specific written permission.
22 | * 4. This software, including modifications and/or derivative works of this
23 | * software, must execute solely and exclusively on microcontroller or
24 | * microprocessor devices manufactured by or for STMicroelectronics.
25 | * 5. Redistribution and use of this software other than as permitted under
26 | * this license is void and will automatically terminate your rights under
27 | * this license.
28 | *
29 | * THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
30 | * AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
31 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
32 | * PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
33 | * RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
34 | * SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
35 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
36 | * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
37 | * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
38 | * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
39 | * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
40 | * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
41 | *
42 | ******************************************************************************
43 | */
44 |
45 | /* Define to prevent recursive inclusion -------------------------------------*/
46 | #ifndef __USBD_DESC__H__
47 | #define __USBD_DESC__H__
48 |
49 | #ifdef __cplusplus
50 | extern "C" {
51 | #endif
52 | /* Includes ------------------------------------------------------------------*/
53 | #include "usbd_def.h"
54 |
55 | /** @addtogroup STM32_USB_OTG_DEVICE_LIBRARY
56 | * @{
57 | */
58 |
59 | /** @defgroup USB_DESC
60 | * @brief general defines for the usb device library file
61 | * @{
62 | */
63 |
64 | /** @defgroup USB_DESC_Exported_Defines
65 | * @{
66 | */
67 |
68 | /**
69 | * @}
70 | */
71 |
72 | /** @defgroup USBD_DESC_Exported_TypesDefinitions
73 | * @{
74 | */
75 | /**
76 | * @}
77 | */
78 |
79 | /** @defgroup USBD_DESC_Exported_Macros
80 | * @{
81 | */
82 | /**
83 | * @}
84 | */
85 |
86 | /** @defgroup USBD_DESC_Exported_Variables
87 | * @{
88 | */
89 | extern USBD_DescriptorsTypeDef FS_Desc;
90 | /**
91 | * @}
92 | */
93 |
94 | /** @defgroup USBD_DESC_Exported_FunctionsPrototype
95 | * @{
96 | */
97 |
98 | /**
99 | * @}
100 | */
101 | #ifdef __cplusplus
102 | }
103 | #endif
104 |
105 | #endif /* __USBD_DESC_H */
106 |
107 | /**
108 | * @}
109 | */
110 |
111 | /**
112 | * @}
113 | */
114 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
115 |
--------------------------------------------------------------------------------
/LICENSE.md:
--------------------------------------------------------------------------------
1 | The EEDrone firmware is licensed generally under a permissive 3-clause BSD license. Contributions are required
2 | to be made under the same license. Any exception to this general rule is listed below.
3 |
4 | /****************************************************************************
5 | *
6 | * Copyright (c) 2016-2017 EEDrone Development Team. All rights reserved.
7 | *
8 | * Redistribution and use in source and binary forms, with or without
9 | * modification, are permitted provided that the following conditions
10 | * are met:
11 | *
12 | * 1. Redistributions of source code must retain the above copyright
13 | * notice, this list of conditions and the following disclaimer.
14 | * 2. Redistributions in binary form must reproduce the above copyright
15 | * notice, this list of conditions and the following disclaimer in
16 | * the documentation and/or other materials provided with the
17 | * distribution.
18 | * 3. Neither the name EEDrone nor the names of its contributors may be
19 | * used to endorse or promote products derived from this software
20 | * without specific prior written permission.
21 | *
22 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
29 | * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
30 | * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33 | * POSSIBILITY OF SUCH DAMAGE.
34 | *
35 | ****************************************************************************/
36 |
--------------------------------------------------------------------------------
/Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_ctlreq.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file usbd_req.h
4 | * @author MCD Application Team
5 | * @version V2.4.2
6 | * @date 11-December-2015
7 | * @brief Header file for the usbd_req.c file
8 | ******************************************************************************
9 | * @attention
10 | *
11 | * © COPYRIGHT 2015 STMicroelectronics
12 | *
13 | * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
14 | * You may not use this file except in compliance with the License.
15 | * You may obtain a copy of the License at:
16 | *
17 | * http://www.st.com/software_license_agreement_liberty_v2
18 | *
19 | * Unless required by applicable law or agreed to in writing, software
20 | * distributed under the License is distributed on an "AS IS" BASIS,
21 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
22 | * See the License for the specific language governing permissions and
23 | * limitations under the License.
24 | *
25 | ******************************************************************************
26 | */
27 |
28 | /* Define to prevent recursive inclusion -------------------------------------*/
29 | #ifndef __USB_REQUEST_H
30 | #define __USB_REQUEST_H
31 |
32 | #ifdef __cplusplus
33 | extern "C" {
34 | #endif
35 |
36 | /* Includes ------------------------------------------------------------------*/
37 | #include "usbd_def.h"
38 |
39 |
40 | /** @addtogroup STM32_USB_DEVICE_LIBRARY
41 | * @{
42 | */
43 |
44 | /** @defgroup USBD_REQ
45 | * @brief header file for the usbd_req.c file
46 | * @{
47 | */
48 |
49 | /** @defgroup USBD_REQ_Exported_Defines
50 | * @{
51 | */
52 | /**
53 | * @}
54 | */
55 |
56 |
57 | /** @defgroup USBD_REQ_Exported_Types
58 | * @{
59 | */
60 | /**
61 | * @}
62 | */
63 |
64 |
65 |
66 | /** @defgroup USBD_REQ_Exported_Macros
67 | * @{
68 | */
69 | /**
70 | * @}
71 | */
72 |
73 | /** @defgroup USBD_REQ_Exported_Variables
74 | * @{
75 | */
76 | /**
77 | * @}
78 | */
79 |
80 | /** @defgroup USBD_REQ_Exported_FunctionsPrototype
81 | * @{
82 | */
83 |
84 | USBD_StatusTypeDef USBD_StdDevReq (USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req);
85 | USBD_StatusTypeDef USBD_StdItfReq (USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req);
86 | USBD_StatusTypeDef USBD_StdEPReq (USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req);
87 |
88 |
89 | void USBD_CtlError (USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req);
90 |
91 | void USBD_ParseSetupRequest (USBD_SetupReqTypedef *req, uint8_t *pdata);
92 |
93 | void USBD_GetString (uint8_t *desc, uint8_t *unicode, uint16_t *len);
94 | /**
95 | * @}
96 | */
97 |
98 | #ifdef __cplusplus
99 | }
100 | #endif
101 |
102 | #endif /* __USB_REQUEST_H */
103 |
104 | /**
105 | * @}
106 | */
107 |
108 | /**
109 | * @}
110 | */
111 |
112 |
113 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
114 |
--------------------------------------------------------------------------------
/Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_ioreq.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file usbd_ioreq.h
4 | * @author MCD Application Team
5 | * @version V2.4.2
6 | * @date 11-December-2015
7 | * @brief Header file for the usbd_ioreq.c file
8 | ******************************************************************************
9 | * @attention
10 | *
11 | * © COPYRIGHT 2015 STMicroelectronics
12 | *
13 | * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
14 | * You may not use this file except in compliance with the License.
15 | * You may obtain a copy of the License at:
16 | *
17 | * http://www.st.com/software_license_agreement_liberty_v2
18 | *
19 | * Unless required by applicable law or agreed to in writing, software
20 | * distributed under the License is distributed on an "AS IS" BASIS,
21 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
22 | * See the License for the specific language governing permissions and
23 | * limitations under the License.
24 | *
25 | ******************************************************************************
26 | */
27 |
28 | /* Define to prevent recursive inclusion -------------------------------------*/
29 | #ifndef __USBD_IOREQ_H
30 | #define __USBD_IOREQ_H
31 |
32 | #ifdef __cplusplus
33 | extern "C" {
34 | #endif
35 |
36 | /* Includes ------------------------------------------------------------------*/
37 | #include "usbd_def.h"
38 | #include "usbd_core.h"
39 |
40 | /** @addtogroup STM32_USB_DEVICE_LIBRARY
41 | * @{
42 | */
43 |
44 | /** @defgroup USBD_IOREQ
45 | * @brief header file for the usbd_ioreq.c file
46 | * @{
47 | */
48 |
49 | /** @defgroup USBD_IOREQ_Exported_Defines
50 | * @{
51 | */
52 | /**
53 | * @}
54 | */
55 |
56 |
57 | /** @defgroup USBD_IOREQ_Exported_Types
58 | * @{
59 | */
60 |
61 |
62 | /**
63 | * @}
64 | */
65 |
66 |
67 |
68 | /** @defgroup USBD_IOREQ_Exported_Macros
69 | * @{
70 | */
71 |
72 | /**
73 | * @}
74 | */
75 |
76 | /** @defgroup USBD_IOREQ_Exported_Variables
77 | * @{
78 | */
79 |
80 | /**
81 | * @}
82 | */
83 |
84 | /** @defgroup USBD_IOREQ_Exported_FunctionsPrototype
85 | * @{
86 | */
87 |
88 | USBD_StatusTypeDef USBD_CtlSendData (USBD_HandleTypeDef *pdev,
89 | uint8_t *buf,
90 | uint16_t len);
91 |
92 | USBD_StatusTypeDef USBD_CtlContinueSendData (USBD_HandleTypeDef *pdev,
93 | uint8_t *pbuf,
94 | uint16_t len);
95 |
96 | USBD_StatusTypeDef USBD_CtlPrepareRx (USBD_HandleTypeDef *pdev,
97 | uint8_t *pbuf,
98 | uint16_t len);
99 |
100 | USBD_StatusTypeDef USBD_CtlContinueRx (USBD_HandleTypeDef *pdev,
101 | uint8_t *pbuf,
102 | uint16_t len);
103 |
104 | USBD_StatusTypeDef USBD_CtlSendStatus (USBD_HandleTypeDef *pdev);
105 |
106 | USBD_StatusTypeDef USBD_CtlReceiveStatus (USBD_HandleTypeDef *pdev);
107 |
108 | uint16_t USBD_GetRxCount (USBD_HandleTypeDef *pdev ,
109 | uint8_t epnum);
110 |
111 | /**
112 | * @}
113 | */
114 |
115 | #ifdef __cplusplus
116 | }
117 | #endif
118 |
119 | #endif /* __USBD_IOREQ_H */
120 |
121 | /**
122 | * @}
123 | */
124 |
125 | /**
126 | * @}
127 | */
128 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
129 |
--------------------------------------------------------------------------------
/Middlewares/Third_Party/FatFs/src/diskio.h:
--------------------------------------------------------------------------------
1 | /*-----------------------------------------------------------------------/
2 | / Low level disk interface modlue include file (C)ChaN, 2014 /
3 | /-----------------------------------------------------------------------*/
4 |
5 | #ifndef _DISKIO_DEFINED
6 | #define _DISKIO_DEFINED
7 |
8 | #ifdef __cplusplus
9 | extern "C" {
10 | #endif
11 |
12 | #define _USE_WRITE 1 /* 1: Enable disk_write function */
13 | #define _USE_IOCTL 1 /* 1: Enable disk_ioctl fucntion */
14 |
15 | #include "integer.h"
16 |
17 |
18 | /* Status of Disk Functions */
19 | typedef BYTE DSTATUS;
20 |
21 | /* Results of Disk Functions */
22 | typedef enum {
23 | RES_OK = 0, /* 0: Successful */
24 | RES_ERROR, /* 1: R/W Error */
25 | RES_WRPRT, /* 2: Write Protected */
26 | RES_NOTRDY, /* 3: Not Ready */
27 | RES_PARERR /* 4: Invalid Parameter */
28 | } DRESULT;
29 |
30 |
31 | /*---------------------------------------*/
32 | /* Prototypes for disk control functions */
33 |
34 |
35 | DSTATUS disk_initialize (BYTE pdrv);
36 | DSTATUS disk_status (BYTE pdrv);
37 | DRESULT disk_read (BYTE pdrv, BYTE* buff, DWORD sector, UINT count);
38 | DRESULT disk_write (BYTE pdrv, const BYTE* buff, DWORD sector, UINT count);
39 | DRESULT disk_ioctl (BYTE pdrv, BYTE cmd, void* buff);
40 | DWORD get_fattime (void);
41 |
42 | /* Disk Status Bits (DSTATUS) */
43 |
44 | #define STA_NOINIT 0x01 /* Drive not initialized */
45 | #define STA_NODISK 0x02 /* No medium in the drive */
46 | #define STA_PROTECT 0x04 /* Write protected */
47 |
48 |
49 | /* Command code for disk_ioctrl fucntion */
50 |
51 | /* Generic command (Used by FatFs) */
52 | #define CTRL_SYNC 0 /* Complete pending write process (needed at _FS_READONLY == 0) */
53 | #define GET_SECTOR_COUNT 1 /* Get media size (needed at _USE_MKFS == 1) */
54 | #define GET_SECTOR_SIZE 2 /* Get sector size (needed at _MAX_SS != _MIN_SS) */
55 | #define GET_BLOCK_SIZE 3 /* Get erase block size (needed at _USE_MKFS == 1) */
56 | #define CTRL_TRIM 4 /* Inform device that the data on the block of sectors is no longer used (needed at _USE_TRIM == 1) */
57 |
58 | /* Generic command (Not used by FatFs) */
59 | #define CTRL_POWER 5 /* Get/Set power status */
60 | #define CTRL_LOCK 6 /* Lock/Unlock media removal */
61 | #define CTRL_EJECT 7 /* Eject media */
62 | #define CTRL_FORMAT 8 /* Create physical format on the media */
63 |
64 | /* MMC/SDC specific ioctl command */
65 | #define MMC_GET_TYPE 10 /* Get card type */
66 | #define MMC_GET_CSD 11 /* Get CSD */
67 | #define MMC_GET_CID 12 /* Get CID */
68 | #define MMC_GET_OCR 13 /* Get OCR */
69 | #define MMC_GET_SDSTAT 14 /* Get SD status */
70 |
71 | /* ATA/CF specific ioctl command */
72 | #define ATA_GET_REV 20 /* Get F/W revision */
73 | #define ATA_GET_MODEL 21 /* Get model name */
74 | #define ATA_GET_SN 22 /* Get serial number */
75 |
76 | #ifdef __cplusplus
77 | }
78 | #endif
79 |
80 | #endif
81 |
--------------------------------------------------------------------------------
/Middlewares/Third_Party/FatFs/src/drivers/sd_diskio.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file sd_diskio.h
4 | * @author MCD Application Team
5 | * @version V1.4.0
6 | * @date 23-December-2016
7 | * @brief Header for sd_diskio.c module
8 | ******************************************************************************
9 | * @attention
10 | *
11 | * © COPYRIGHT 2016 STMicroelectronics
12 | *
13 | * Redistribution and use in source and binary forms, with or without
14 | * modification, are permitted, provided that the following conditions are met:
15 | *
16 | * 1. Redistribution of source code must retain the above copyright notice,
17 | * this list of conditions and the following disclaimer.
18 | * 2. Redistributions in binary form must reproduce the above copyright notice,
19 | * this list of conditions and the following disclaimer in the documentation
20 | * and/or other materials provided with the distribution.
21 | * 3. Neither the name of STMicroelectronics nor the names of other
22 | * contributors to this software may be used to endorse or promote products
23 | * derived from this software without specific written permission.
24 | * 4. This software, including modifications and/or derivative works of this
25 | * software, must execute solely and exclusively on microcontroller or
26 | * microprocessor devices manufactured by or for STMicroelectronics.
27 | * 5. Redistribution and use of this software other than as permitted under
28 | * this license is void and will automatically terminate your rights under
29 | * this license.
30 | *
31 | * THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
32 | * AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
33 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
34 | * PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
35 | * RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
36 | * SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
37 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
38 | * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
39 | * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
40 | * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
41 | * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
42 | * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
43 | *
44 | ******************************************************************************
45 | */
46 |
47 | /* Define to prevent recursive inclusion -------------------------------------*/
48 | #ifndef __SD_DISKIO_H
49 | #define __SD_DISKIO_H
50 |
51 | /* Includes ------------------------------------------------------------------*/
52 | /* Exported types ------------------------------------------------------------*/
53 | /* Exported constants --------------------------------------------------------*/
54 | /* Exported functions ------------------------------------------------------- */
55 | extern Diskio_drvTypeDef SD_Driver;
56 |
57 | #endif /* __SD_DISKIO_H */
58 |
59 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
60 |
61 |
--------------------------------------------------------------------------------
/Middlewares/Third_Party/FatFs/src/integer.h:
--------------------------------------------------------------------------------
1 | /*-------------------------------------------*/
2 | /* Integer type definitions for FatFs module */
3 | /*-------------------------------------------*/
4 |
5 | #ifndef _FF_INTEGER
6 | #define _FF_INTEGER
7 |
8 | #ifdef _WIN32 /* FatFs development platform */
9 |
10 | #include
11 | #include
12 |
13 | #else /* Embedded platform */
14 |
15 | /* This type MUST be 8 bit */
16 | typedef unsigned char BYTE;
17 |
18 | /* These types MUST be 16 bit */
19 | typedef short SHORT;
20 | typedef unsigned short WORD;
21 | typedef unsigned short WCHAR;
22 |
23 | /* These types MUST be 16 bit or 32 bit */
24 | typedef int INT;
25 | typedef unsigned int UINT;
26 |
27 | /* These types MUST be 32 bit */
28 | typedef long LONG;
29 | typedef unsigned long DWORD;
30 |
31 | #endif
32 |
33 | #endif
34 |
--------------------------------------------------------------------------------
/Middlewares/Third_Party/FatFs/src/option/syscall.c:
--------------------------------------------------------------------------------
1 | /*------------------------------------------------------------------------*/
2 | /* Sample code of OS dependent controls for FatFs */
3 | /* (C)ChaN, 2014 */
4 | /*------------------------------------------------------------------------*/
5 |
6 | #include /* ANSI memory controls */
7 | #include "../ff.h"
8 |
9 | #if _FS_REENTRANT
10 | /*-----------------------------------------------------------------------
11 | Create a Synchronization Object
12 | ------------------------------------------------------------------------
13 | This function is called in f_mount function to create a new
14 | synchronization object, such as semaphore and mutex. When a zero is
15 | returned, the f_mount function fails with FR_INT_ERR.
16 | */
17 |
18 | int ff_cre_syncobj ( /* TRUE:Function succeeded, FALSE:Could not create due to any error */
19 | BYTE vol, /* Corresponding logical drive being processed */
20 | _SYNC_t *sobj /* Pointer to return the created sync object */
21 | )
22 | {
23 | int ret;
24 |
25 | osSemaphoreDef(SEM);
26 | *sobj = osSemaphoreCreate(osSemaphore(SEM), 1);
27 | ret = (*sobj != NULL);
28 |
29 | return ret;
30 | }
31 |
32 |
33 |
34 | /*------------------------------------------------------------------------*/
35 | /* Delete a Synchronization Object */
36 | /*------------------------------------------------------------------------*/
37 | /* This function is called in f_mount function to delete a synchronization
38 | / object that created with ff_cre_syncobj function. When a zero is
39 | / returned, the f_mount function fails with FR_INT_ERR.
40 | */
41 |
42 | int ff_del_syncobj ( /* TRUE:Function succeeded, FALSE:Could not delete due to any error */
43 | _SYNC_t sobj /* Sync object tied to the logical drive to be deleted */
44 | )
45 | {
46 | osSemaphoreDelete (sobj);
47 | return 1;
48 | }
49 |
50 |
51 |
52 | /*------------------------------------------------------------------------*/
53 | /* Request Grant to Access the Volume */
54 | /*------------------------------------------------------------------------*/
55 | /* This function is called on entering file functions to lock the volume.
56 | / When a zero is returned, the file function fails with FR_TIMEOUT.
57 | */
58 |
59 | int ff_req_grant ( /* TRUE:Got a grant to access the volume, FALSE:Could not get a grant */
60 | _SYNC_t sobj /* Sync object to wait */
61 | )
62 | {
63 | int ret = 0;
64 |
65 | if(osSemaphoreWait(sobj, _FS_TIMEOUT) == osOK)
66 | {
67 | ret = 1;
68 | }
69 |
70 | return ret;
71 | }
72 |
73 |
74 |
75 | /*------------------------------------------------------------------------*/
76 | /* Release Grant to Access the Volume */
77 | /*------------------------------------------------------------------------*/
78 | /* This function is called on leaving file functions to unlock the volume.
79 | */
80 |
81 | void ff_rel_grant (
82 | _SYNC_t sobj /* Sync object to be signaled */
83 | )
84 | {
85 | osSemaphoreRelease(sobj);
86 | }
87 |
88 | #endif
89 |
90 |
91 |
92 |
93 | #if _USE_LFN == 3 /* LFN with a working buffer on the heap */
94 | /*------------------------------------------------------------------------*/
95 | /* Allocate a memory block */
96 | /*------------------------------------------------------------------------*/
97 | /* If a NULL is returned, the file function fails with FR_NOT_ENOUGH_CORE.
98 | */
99 |
100 | void* ff_memalloc ( /* Returns pointer to the allocated memory block */
101 | UINT msize /* Number of bytes to allocate */
102 | )
103 | {
104 | return malloc(msize); /* Allocate a new memory block with POSIX API */
105 | }
106 |
107 |
108 | /*------------------------------------------------------------------------*/
109 | /* Free a memory block */
110 | /*------------------------------------------------------------------------*/
111 |
112 | void ff_memfree (
113 | void* mblock /* Pointer to the memory block to free */
114 | )
115 | {
116 | free(mblock); /* Discard the memory block with POSIX API */
117 | }
118 |
119 | #endif
120 |
--------------------------------------------------------------------------------
/Middlewares/Third_Party/FreeRTOS-Plus-CLI/UARTCommandConsole.c:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/EEDrone/Firmware/98d3d5969d87e3986ba10375fed9ac72fd81d35a/Middlewares/Third_Party/FreeRTOS-Plus-CLI/UARTCommandConsole.c
--------------------------------------------------------------------------------
/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.c:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/EEDrone/Firmware/98d3d5969d87e3986ba10375fed9ac72fd81d35a/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.c
--------------------------------------------------------------------------------
/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.h:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/EEDrone/Firmware/98d3d5969d87e3986ba10375fed9ac72fd81d35a/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.h
--------------------------------------------------------------------------------
/Middlewares/Third_Party/FreeRTOS/Source/UARTCommandConsole.c:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/EEDrone/Firmware/98d3d5969d87e3986ba10375fed9ac72fd81d35a/Middlewares/Third_Party/FreeRTOS/Source/UARTCommandConsole.c
--------------------------------------------------------------------------------
/Modules/AHRS/CKF.h:
--------------------------------------------------------------------------------
1 | /*
2 | The MIT License (MIT)
3 |
4 | Copyright (c) 2015-? suhetao
5 |
6 | Permission is hereby granted, free of charge, to any person obtaining a copy of
7 | this software and associated documentation files (the "Software"), to deal in
8 | the Software without restriction, including without limitation the rights to
9 | use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
10 | the Software, and to permit persons to whom the Software is furnished to do so,
11 | subject to the following conditions:
12 |
13 | The above copyright notice and this permission notice shall be included in all
14 | copies or substantial portions of the Software.
15 |
16 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
17 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
18 | FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
19 | COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
20 | IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
21 | CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
22 | */
23 |
24 | #ifndef _CKF_H
25 | #define _CKF_H
26 |
27 | #include "Matrix.h"
28 |
29 | //7-state q0 q1 q2 q3 wx wy wz
30 | #define CKF_STATE_DIM 7
31 | //13-measurement q0 q1 q2 q3 ax ay az wx wy wz mx my mz
32 | #define CKF_MEASUREMENT_DIM 13
33 |
34 | #define CKF_CP_POINTS 14//(2 * CKF_STATE_DIM)
35 |
36 | #define CKF_HALFPI 1.5707963267948966192313216916398f
37 | #define CKF_PI 3.1415926535897932384626433832795f
38 | #define CKF_TWOPI 6.283185307179586476925286766559f
39 | #define CKF_TODEG(x) ((x) * 57.2957796f)
40 |
41 | typedef struct CKF_FILTER_T{
42 | //weights
43 | float32_t W;
44 | //Kesi
45 | float32_t Kesi_f32[CKF_STATE_DIM * CKF_CP_POINTS];
46 | float32_t iKesi_f32[CKF_STATE_DIM];
47 | //state covariance
48 | float32_t P_f32[CKF_STATE_DIM * CKF_STATE_DIM];
49 | float32_t PX_f32[CKF_STATE_DIM * CKF_STATE_DIM];
50 | float32_t PY_f32[CKF_MEASUREMENT_DIM * CKF_MEASUREMENT_DIM];
51 | float32_t tmpPY_f32[CKF_MEASUREMENT_DIM * CKF_MEASUREMENT_DIM];
52 | float32_t PXY_f32[CKF_STATE_DIM * CKF_MEASUREMENT_DIM];
53 | float32_t tmpPXY_f32[CKF_STATE_DIM * CKF_MEASUREMENT_DIM];
54 | float32_t Q_f32[CKF_STATE_DIM * CKF_STATE_DIM];
55 | float32_t R_f32[CKF_MEASUREMENT_DIM * CKF_MEASUREMENT_DIM];
56 | //cubature points
57 | float32_t XCP_f32[CKF_STATE_DIM * CKF_CP_POINTS];
58 | float32_t XminusCP_f32[CKF_STATE_DIM * CKF_CP_POINTS];
59 | float32_t YSP_f32[CKF_MEASUREMENT_DIM * CKF_CP_POINTS];
60 |
61 | //Kalman gain
62 | float32_t K_f32[CKF_STATE_DIM * CKF_MEASUREMENT_DIM];
63 | float32_t KT_f32[CKF_MEASUREMENT_DIM * CKF_STATE_DIM];
64 | //state vector
65 | float32_t X_f32[CKF_STATE_DIM];
66 | float32_t XT_f32[CKF_STATE_DIM];
67 | float32_t Xminus_f32[CKF_STATE_DIM];
68 | float32_t XminusT_f32[CKF_STATE_DIM];
69 | float32_t tmpX_f32[CKF_STATE_DIM];
70 | float32_t tmpS_f32[CKF_STATE_DIM];
71 | //measurement vector
72 | float32_t Y_f32[CKF_MEASUREMENT_DIM];
73 | float32_t YT_f32[CKF_MEASUREMENT_DIM];
74 | float32_t Yminus_f32[CKF_MEASUREMENT_DIM];
75 | float32_t YminusT_f32[CKF_MEASUREMENT_DIM];
76 | float32_t tmpY_f32[CKF_MEASUREMENT_DIM];
77 | //
78 | arm_matrix_instance_f32 Kesi;
79 | arm_matrix_instance_f32 iKesi;
80 | arm_matrix_instance_f32 P;
81 | arm_matrix_instance_f32 PX;
82 | arm_matrix_instance_f32 PY;
83 | arm_matrix_instance_f32 tmpPY;
84 | arm_matrix_instance_f32 PXY;
85 | arm_matrix_instance_f32 tmpPXY;
86 | arm_matrix_instance_f32 Q;
87 | arm_matrix_instance_f32 R;
88 | //
89 | arm_matrix_instance_f32 XCP;
90 | arm_matrix_instance_f32 XminusCP;
91 | arm_matrix_instance_f32 YCP;
92 | //
93 | arm_matrix_instance_f32 K;
94 | arm_matrix_instance_f32 KT;
95 | //
96 | arm_matrix_instance_f32 X;
97 | arm_matrix_instance_f32 XT;
98 | arm_matrix_instance_f32 Xminus;
99 | arm_matrix_instance_f32 XminusT;
100 | arm_matrix_instance_f32 tmpX;
101 | arm_matrix_instance_f32 tmpS;
102 | arm_matrix_instance_f32 Y;
103 | arm_matrix_instance_f32 YT;
104 | arm_matrix_instance_f32 Yminus;
105 | arm_matrix_instance_f32 YminusT;
106 | arm_matrix_instance_f32 tmpY;
107 | }CKF_Filter;
108 |
109 | void CKF_New(CKF_Filter* ckf);
110 | void CKF_Init(CKF_Filter* ckf, float32_t *q, float32_t *gyro);
111 | void CKF_Update(CKF_Filter* ckf, float32_t *q, float32_t *gyro, float32_t *accel, float32_t *mag, float32_t dt);
112 | void CKF_GetAngle(CKF_Filter* ckf, float32_t* rpy);
113 |
114 | inline void CKF_GetQ(CKF_Filter* ckf, float32_t* Q)
115 | {
116 | Q[0] = ckf->X_f32[0];
117 | Q[1] = ckf->X_f32[1];
118 | Q[2] = ckf->X_f32[2];
119 | Q[3] = ckf->X_f32[3];
120 | }
121 |
122 | #endif
123 |
--------------------------------------------------------------------------------
/Modules/AHRS/EKF.h:
--------------------------------------------------------------------------------
1 | /*
2 | The MIT License (MIT)
3 |
4 | Copyright (c) 2015-? suhetao
5 |
6 | Permission is hereby granted, free of charge, to any person obtaining a copy of
7 | this software and associated documentation files (the "Software"), to deal in
8 | the Software without restriction, including without limitation the rights to
9 | use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
10 | the Software, and to permit persons to whom the Software is furnished to do so,
11 | subject to the following conditions:
12 |
13 | The above copyright notice and this permission notice shall be included in all
14 | copies or substantial portions of the Software.
15 |
16 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
17 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
18 | FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
19 | COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
20 | IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
21 | CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
22 | */
23 |
24 | #ifndef _EKF_H
25 | #define _EKF_H
26 |
27 | #include "Matrix.h"
28 |
29 | //7-state q0 q1 q2 q3 wx wy wz
30 | #define EKF_STATE_DIM 7
31 | //13-measurement q0 q1 q2 q3 ax ay az wx wy wz mx my mz
32 | #define EKF_MEASUREMENT_DIM 13
33 |
34 | #define EKF_HALFPI 1.5707963267948966192313216916398f
35 | #define EKF_PI 3.1415926535897932384626433832795f
36 | #define EKF_TWOPI 6.283185307179586476925286766559f
37 | #define EKF_TODEG(x) ((x) * 57.2957796f)
38 |
39 | typedef struct EKF_FILTER_T{
40 | //state covariance
41 | float32_t P_f32[EKF_STATE_DIM * EKF_STATE_DIM];
42 | float32_t Q_f32[EKF_STATE_DIM * EKF_STATE_DIM];
43 | float32_t R_f32[EKF_MEASUREMENT_DIM * EKF_MEASUREMENT_DIM];
44 | //Kalman gain
45 | float32_t K_f32[EKF_STATE_DIM * EKF_MEASUREMENT_DIM];
46 | float32_t KT_f32[EKF_MEASUREMENT_DIM * EKF_STATE_DIM];
47 | //Measurement covariance
48 | float32_t S_f32[EKF_MEASUREMENT_DIM * EKF_MEASUREMENT_DIM];
49 | //The H matrix maps the measurement to the states
50 | float32_t F_f32[EKF_STATE_DIM * EKF_STATE_DIM];
51 | float32_t FT_f32[EKF_STATE_DIM * EKF_STATE_DIM];
52 | float32_t H_f32[EKF_MEASUREMENT_DIM * EKF_STATE_DIM];
53 | float32_t HT_f32[EKF_STATE_DIM * EKF_MEASUREMENT_DIM];
54 | float32_t I_f32[EKF_STATE_DIM * EKF_STATE_DIM];
55 | //state vector
56 | float32_t X_f32[EKF_STATE_DIM];
57 | //measurement vector
58 | float32_t Y_f32[EKF_MEASUREMENT_DIM];
59 | //
60 | float32_t tmpP_f32[EKF_STATE_DIM * EKF_STATE_DIM];
61 | float32_t tmpS_f32[EKF_MEASUREMENT_DIM * EKF_MEASUREMENT_DIM];
62 | float32_t tmpX_f32[EKF_STATE_DIM];
63 | float32_t tmpXX_f32[EKF_STATE_DIM * EKF_STATE_DIM];
64 | float32_t tmpXXT_f32[EKF_STATE_DIM * EKF_STATE_DIM];
65 | float32_t tmpXY_f32[EKF_STATE_DIM * EKF_MEASUREMENT_DIM];
66 | float32_t tmpYX_f32[EKF_MEASUREMENT_DIM * EKF_STATE_DIM];
67 |
68 | arm_matrix_instance_f32 P;
69 | arm_matrix_instance_f32 Q;
70 | arm_matrix_instance_f32 R;
71 | arm_matrix_instance_f32 K;
72 | arm_matrix_instance_f32 KT;
73 | arm_matrix_instance_f32 S;
74 | arm_matrix_instance_f32 F;
75 | arm_matrix_instance_f32 FT;
76 | arm_matrix_instance_f32 H;
77 | arm_matrix_instance_f32 HT;
78 | arm_matrix_instance_f32 I;
79 | //
80 | arm_matrix_instance_f32 X;
81 | arm_matrix_instance_f32 Y;
82 | //
83 | arm_matrix_instance_f32 tmpP;
84 | arm_matrix_instance_f32 tmpX;
85 | arm_matrix_instance_f32 tmpYX;
86 | arm_matrix_instance_f32 tmpXY;
87 | arm_matrix_instance_f32 tmpXX;
88 | arm_matrix_instance_f32 tmpXXT;
89 | arm_matrix_instance_f32 tmpS;
90 | }EKF_Filter;
91 |
92 | void EKF_New(EKF_Filter* ekf);
93 | void EKF_Init(EKF_Filter* ekf, float32_t *q, float32_t *gyro);
94 | void EFK_Update(EKF_Filter* ekf, float32_t *q, float32_t *gyro, float32_t *accel, float32_t *mag, float32_t dt);
95 | void EKF_GetAngle(EKF_Filter* ekf, float32_t* rpy);
96 |
97 | inline void EKF_GetQ(EKF_Filter* efk, float32_t* Q)
98 | {
99 | Q[0] = efk->X_f32[0];
100 | Q[1] = efk->X_f32[1];
101 | Q[2] = efk->X_f32[2];
102 | Q[3] = efk->X_f32[3];
103 | }
104 |
105 | #endif
106 |
--------------------------------------------------------------------------------
/Modules/AHRS/INS_EKF.h:
--------------------------------------------------------------------------------
1 | /*
2 | The MIT License (MIT)
3 |
4 | Copyright (c) 2015-? suhetao
5 |
6 | Permission is hereby granted, free of charge, to any person obtaining a copy of
7 | this software and associated documentation files (the "Software"), to deal in
8 | the Software without restriction, including without limitation the rights to
9 | use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
10 | the Software, and to permit persons to whom the Software is furnished to do so,
11 | subject to the following conditions:
12 |
13 | The above copyright notice and this permission notice shall be included in all
14 | copies or substantial portions of the Software.
15 |
16 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
17 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
18 | FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
19 | COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
20 | IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
21 | CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
22 | */
23 |
24 | #ifndef _INS_EKF_H_
25 | #define _INS_EKF_H_
26 |
27 | #include "Matrix.h"
28 |
29 | //16-state q0 q1 q2 q3 Pn Pe Alt Vn Ve Vd bwx bwy bwz bax bay baz
30 | #define INS_EKF_STATE_DIM 16
31 |
32 | //9-measurement mx my mz (3D magnetometer) Pn Pe Alt Vn Ve Vd
33 | //unit vector pointing to MagNorth in body coords
34 | //north pos, east pos, altitude
35 | //north vel, east vel, down velocity
36 | #define INS_EKF_MEASUREMENT_DIM 9
37 |
38 | #define INS_EKF_HALFPI 1.5707963267948966192313216916398f
39 | #define INS_EKF_PI 3.1415926535897932384626433832795f
40 | #define INS_EKF_TWOPI 6.283185307179586476925286766559f
41 | #define INS_EKF_TODEG(x) ((x) * 57.2957796f)
42 |
43 | typedef struct INS_EKF_FILTER_T{
44 | //state covariance
45 | float32_t P_f32[INS_EKF_STATE_DIM * INS_EKF_STATE_DIM];
46 | float32_t PX_f32[INS_EKF_STATE_DIM * INS_EKF_STATE_DIM];
47 | float32_t PHT_f32[INS_EKF_STATE_DIM * INS_EKF_MEASUREMENT_DIM];
48 |
49 | float32_t Q_f32[INS_EKF_STATE_DIM * INS_EKF_STATE_DIM];
50 | float32_t R_f32[INS_EKF_MEASUREMENT_DIM * INS_EKF_MEASUREMENT_DIM];
51 |
52 | float32_t K_f32[INS_EKF_STATE_DIM * INS_EKF_MEASUREMENT_DIM];
53 | float32_t KH_f32[INS_EKF_STATE_DIM * INS_EKF_STATE_DIM];
54 | float32_t KHP_f32[INS_EKF_STATE_DIM * INS_EKF_STATE_DIM];
55 |
56 | float32_t KY_f32[INS_EKF_STATE_DIM];
57 |
58 | float32_t F_f32[INS_EKF_STATE_DIM * INS_EKF_STATE_DIM];
59 | float32_t FT_f32[INS_EKF_STATE_DIM * INS_EKF_STATE_DIM];
60 | //The H matrix maps the measurement to the states
61 | float32_t H_f32[INS_EKF_MEASUREMENT_DIM * INS_EKF_STATE_DIM];
62 | float32_t HT_f32[INS_EKF_STATE_DIM * INS_EKF_MEASUREMENT_DIM];
63 | float32_t HP_f32[INS_EKF_MEASUREMENT_DIM * INS_EKF_STATE_DIM];
64 |
65 | float32_t S_f32[INS_EKF_MEASUREMENT_DIM * INS_EKF_MEASUREMENT_DIM];
66 | float32_t SI_f32[INS_EKF_MEASUREMENT_DIM * INS_EKF_MEASUREMENT_DIM];
67 | //state vector
68 | float32_t X_f32[INS_EKF_STATE_DIM];
69 | //measurement vector
70 | float32_t Y_f32[INS_EKF_MEASUREMENT_DIM];
71 |
72 | arm_matrix_instance_f32 P;
73 | arm_matrix_instance_f32 PX;
74 | arm_matrix_instance_f32 PHT;
75 | arm_matrix_instance_f32 Q;
76 | arm_matrix_instance_f32 R;
77 | arm_matrix_instance_f32 K;
78 | arm_matrix_instance_f32 KH;
79 | arm_matrix_instance_f32 KHP;
80 | arm_matrix_instance_f32 KY;
81 | arm_matrix_instance_f32 F;
82 | arm_matrix_instance_f32 FT;
83 | arm_matrix_instance_f32 H;
84 | arm_matrix_instance_f32 HT;
85 | arm_matrix_instance_f32 HP;
86 | arm_matrix_instance_f32 S;
87 | arm_matrix_instance_f32 SI;
88 |
89 | arm_matrix_instance_f32 X;
90 | arm_matrix_instance_f32 Y;
91 |
92 | float32_t declination;
93 | float32_t gravity; //m/s^2
94 | }INS_EKF_Filter;
95 |
96 | void INS_EKF_New(INS_EKF_Filter* ins);
97 | void INS_EKF_Init(INS_EKF_Filter* ins, float32_t *p, float32_t *v, float32_t *accel, float32_t *mag);
98 | void INS_EFK_Update(INS_EKF_Filter* ins, float32_t *mag, float32_t *p, float32_t *v, float32_t *gyro, float32_t *accel, float32_t dt);
99 | void INS_EKF_GetAngle(INS_EKF_Filter* ins, float32_t* rpy);
100 |
101 | #endif
102 |
--------------------------------------------------------------------------------
/Modules/AHRS/Quaternion.h:
--------------------------------------------------------------------------------
1 | /*
2 | The MIT License (MIT)
3 |
4 | Copyright (c) 2015-? suhetao
5 |
6 | Permission is hereby granted, free of charge, to any person obtaining a copy of
7 | this software and associated documentation files (the "Software"), to deal in
8 | the Software without restriction, including without limitation the rights to
9 | use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
10 | the Software, and to permit persons to whom the Software is furnished to do so,
11 | subject to the following conditions:
12 |
13 | The above copyright notice and this permission notice shall be included in all
14 | copies or substantial portions of the Software.
15 |
16 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
17 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
18 | FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
19 | COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
20 | IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
21 | CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
22 | */
23 |
24 | #ifndef _QUATERNION_H_
25 | #define _QUATERNION_H_
26 |
27 | #include "FastMath.h"
28 |
29 | inline void Quaternion_Add(float *r, float *a, float *b)
30 | {
31 | r[0] = a[0] + b[0];
32 | r[1] = a[1] + b[1];
33 | r[2] = a[2] + b[2];
34 | r[3] = a[3] + b[3];
35 | }
36 |
37 | inline void Quaternion_Sub(float *r, float *a, float *b)
38 | {
39 | r[0] = a[0] - b[0];
40 | r[1] = a[1] - b[1];
41 | r[2] = a[2] - b[2];
42 | r[3] = a[3] - b[3];
43 | }
44 |
45 | inline void Quaternion_Multiply(float *r, float *a, float *b)
46 | {
47 | r[0] = a[0] * b[0] - a[1] * b[1] - a[2] * b[2] - a[3] * b[3];
48 | r[1] = a[0] * b[1] + a[1] * b[0] + a[2] * b[3] - a[3] * b[2];
49 | r[2] = a[0] * b[2] - a[1] * b[3] + a[2] * b[0] + a[3] * b[1];
50 | r[3] = a[0] * b[3] + a[1] * b[2] - a[2] * b[1] + a[3] * b[0];
51 | }
52 |
53 | inline void Quaternion_Conjugate(float *r, float *a)
54 | {
55 | r[0] = a[0];
56 | r[1] = -a[1];
57 | r[2] = -a[2];
58 | r[3] = -a[3];
59 | }
60 |
61 | inline void Quaternion_Scalar(float *r, float *q, float scalar)
62 | {
63 | r[0] = q[0] * scalar;
64 | r[1] = q[1] * scalar;
65 | r[2] = q[2] * scalar;
66 | r[3] = q[3] * scalar;
67 | }
68 |
69 | void Quaternion_Normalize(float *q);
70 | void Quaternion_FromEuler(float *q, float *rpy);
71 | void Quaternion_ToEuler(float *q, float* rpy);
72 | void Quaternion_FromRotationMatrix(float *R, float *Q);
73 | void Quaternion_RungeKutta4(float *q, float *w, float dt, int normalize);
74 | void Quaternion_From6AxisData(float* q, float *accel, float *mag);
75 |
76 | #endif
77 |
--------------------------------------------------------------------------------
/Modules/AHRS/UKF.h:
--------------------------------------------------------------------------------
1 | /*
2 | The MIT License (MIT)
3 |
4 | Copyright (c) 2015-? suhetao
5 |
6 | Permission is hereby granted, free of charge, to any person obtaining a copy of
7 | this software and associated documentation files (the "Software"), to deal in
8 | the Software without restriction, including without limitation the rights to
9 | use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
10 | the Software, and to permit persons to whom the Software is furnished to do so,
11 | subject to the following conditions:
12 |
13 | The above copyright notice and this permission notice shall be included in all
14 | copies or substantial portions of the Software.
15 |
16 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
17 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
18 | FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
19 | COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
20 | IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
21 | CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
22 | */
23 |
24 | #ifndef _UKF_H
25 | #define _UKF_H
26 |
27 | #include "Matrix.h"
28 |
29 | //7-state q0 q1 q2 q3 wx wy wz
30 | #define UKF_STATE_DIM 7
31 | //13-measurement q0 q1 q2 q3 ax ay az wx wy wz mx my mz
32 | #define UKF_MEASUREMENT_DIM 13
33 |
34 | #define UKF_SP_POINTS 15//(2 * UKF_STATE_DIM + 1)
35 |
36 | #define UKF_HALFPI 1.5707963267948966192313216916398f
37 | #define UKF_PI 3.1415926535897932384626433832795f
38 | #define UKF_TWOPI 6.283185307179586476925286766559f
39 | #define UKF_TODEG(x) ((x) * 57.2957796f)
40 |
41 | typedef struct UKF_FILTER_T{
42 | //scaling factor
43 | float32_t gamma;
44 | //weights for means
45 | float32_t Wm0, Wmi;
46 | //weights for covariance
47 | float32_t Wc_f32[UKF_SP_POINTS * UKF_SP_POINTS];
48 | //state covariance
49 | float32_t P_f32[UKF_STATE_DIM * UKF_STATE_DIM];
50 | float32_t PX_f32[UKF_STATE_DIM * UKF_STATE_DIM];
51 | float32_t PY_f32[UKF_MEASUREMENT_DIM * UKF_MEASUREMENT_DIM];
52 | float32_t tmpPY_f32[UKF_MEASUREMENT_DIM * UKF_MEASUREMENT_DIM];
53 | float32_t PXY_f32[UKF_STATE_DIM * UKF_MEASUREMENT_DIM];
54 | float32_t PXYT_f32[UKF_MEASUREMENT_DIM * UKF_STATE_DIM];
55 | float32_t Q_f32[UKF_STATE_DIM * UKF_STATE_DIM];
56 | float32_t R_f32[UKF_MEASUREMENT_DIM * UKF_MEASUREMENT_DIM];
57 | //Sigma points
58 | float32_t XSP_f32[UKF_STATE_DIM * UKF_SP_POINTS];
59 | float32_t tmpXSP_f32[UKF_STATE_DIM * UKF_SP_POINTS];
60 | float32_t tmpXSPT_f32[UKF_SP_POINTS * UKF_STATE_DIM];
61 | float32_t tmpWcXSP_f32[UKF_STATE_DIM * UKF_SP_POINTS];
62 | float32_t tmpWcYSP_f32[UKF_MEASUREMENT_DIM * UKF_SP_POINTS];
63 | float32_t YSP_f32[UKF_MEASUREMENT_DIM * UKF_SP_POINTS];
64 | float32_t tmpYSP_f32[UKF_MEASUREMENT_DIM * UKF_SP_POINTS];
65 | float32_t tmpYSPT_f32[UKF_SP_POINTS * UKF_MEASUREMENT_DIM];
66 | //Kalman gain
67 | float32_t K_f32[UKF_STATE_DIM * UKF_MEASUREMENT_DIM];
68 | float32_t KT_f32[UKF_MEASUREMENT_DIM * UKF_STATE_DIM];
69 | //state vector
70 | float32_t X_f32[UKF_STATE_DIM];
71 | float32_t tmpX_f32[UKF_STATE_DIM];
72 | //measurement vector
73 | float32_t Y_f32[UKF_MEASUREMENT_DIM];
74 | float32_t tmpY_f32[UKF_MEASUREMENT_DIM];
75 | //
76 | arm_matrix_instance_f32 Wc;
77 | arm_matrix_instance_f32 P;
78 | arm_matrix_instance_f32 PX;
79 | arm_matrix_instance_f32 PY;
80 | arm_matrix_instance_f32 tmpPY;
81 | arm_matrix_instance_f32 PXY;
82 | arm_matrix_instance_f32 PXYT;
83 | arm_matrix_instance_f32 Q;
84 | arm_matrix_instance_f32 R;
85 | //
86 | arm_matrix_instance_f32 XSP;
87 | arm_matrix_instance_f32 tmpXSP;
88 | arm_matrix_instance_f32 tmpXSPT;
89 | arm_matrix_instance_f32 tmpWcXSP;
90 | arm_matrix_instance_f32 tmpWcYSP;
91 | arm_matrix_instance_f32 YSP;
92 | arm_matrix_instance_f32 tmpYSP;
93 | arm_matrix_instance_f32 tmpYSPT;
94 | //
95 | arm_matrix_instance_f32 K;
96 | arm_matrix_instance_f32 KT;
97 | //
98 | arm_matrix_instance_f32 X;
99 | arm_matrix_instance_f32 tmpX;
100 | arm_matrix_instance_f32 Y;
101 | arm_matrix_instance_f32 tmpY;
102 | }UKF_Filter;
103 |
104 | void UKF_New(UKF_Filter* UKF);
105 | void UKF_Init(UKF_Filter* UKF, float32_t *q, float32_t *gyro);
106 | void UKF_Update(UKF_Filter* UKF, float32_t *q, float32_t *gyro, float32_t *accel, float32_t *mag, float32_t dt);
107 | void UKF_GetAngle(UKF_Filter* UKF, float32_t* rpy);
108 |
109 | inline void UKF_GetQ(UKF_Filter* ukf, float32_t* Q)
110 | {
111 | Q[0] = ukf->X_f32[0];
112 | Q[1] = ukf->X_f32[1];
113 | Q[2] = ukf->X_f32[2];
114 | Q[3] = ukf->X_f32[3];
115 | }
116 |
117 | #endif
118 |
--------------------------------------------------------------------------------
/Modules/AHRS/miniAHRS/miniAHRS.h:
--------------------------------------------------------------------------------
1 | /*
2 | The MIT License (MIT)
3 |
4 | Copyright (c) 2015-? suhetao
5 |
6 | Permission is hereby granted, free of charge, to any person obtaining a copy of
7 | this software and associated documentation files (the "Software"), to deal in
8 | the Software without restriction, including without limitation the rights to
9 | use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
10 | the Software, and to permit persons to whom the Software is furnished to do so,
11 | subject to the following conditions:
12 |
13 | The above copyright notice and this permission notice shall be included in all
14 | copies or substantial portions of the Software.
15 |
16 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
17 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
18 | FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
19 | COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
20 | IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
21 | CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
22 | */
23 |
24 | #ifndef MINIAHRS_H_
25 | #define MINIAHRS_H_
26 | //////////////////////////////////////////////////////////////////////////
27 | //
28 | #define EKF_STATE_DIM 7 //q0 q1 q2 q3 wxb wyb wzb
29 | #define EKF_MEASUREMENT_DIM 6 //ax ay az and mx my mz
30 |
31 | #define EKF_HALFPI 1.5707963267948966192313216916398f
32 | #define EKF_PI 3.1415926535897932384626433832795f
33 | #define EKF_TWOPI 6.283185307179586476925286766559f
34 | #define EKF_TODEG(x) ((x) * 57.2957796f)
35 |
36 | void EKF_AHRSInit(float *accel, float *mag);
37 | void EKF_AHRSUpdate(float *gyro, float *accel, float *mag, float dt);
38 | void EKF_AHRSGetAngle(float* rpy);
39 |
40 | void EKF_AHRSGetQ(float* Q);
41 |
42 | #endif
43 |
--------------------------------------------------------------------------------
/Modules/AHRS/miniIMU/FP/FP_Math.h:
--------------------------------------------------------------------------------
1 | /*
2 | The MIT License (MIT)
3 |
4 | Copyright (c) 2015-? suhetao
5 |
6 | Permission is hereby granted, free of charge, to any person obtaining a copy of
7 | this software and associated documentation files (the "Software"), to deal in
8 | the Software without restriction, including without limitation the rights to
9 | use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
10 | the Software, and to permit persons to whom the Software is furnished to do so,
11 | subject to the following conditions:
12 |
13 | The above copyright notice and this permission notice shall be included in all
14 | copies or substantial portions of the Software.
15 |
16 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
17 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
18 | FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
19 | COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
20 | IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
21 | CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
22 | */
23 |
24 | #ifndef _FP_FASTMATH_H_
25 | #define _FP_FASTMATH_H_
26 |
27 | #define FIXED_POINT
28 | #define PRECISION 16
29 |
30 | #define OPTIMIZE_SDIV
31 |
32 | typedef int Q16;
33 | typedef int int32_t;
34 | typedef unsigned int uint32_t;
35 | typedef unsigned char uint8_t;
36 | typedef unsigned short uint16_t;
37 | typedef signed __int64 int64_t;
38 | typedef unsigned __int64 uint64_t;
39 |
40 | #define Q16_One 65536
41 |
42 | //////////////////////////////////////////////////////////////////////////
43 | //S16.16
44 | #define FP_ADDS(a, b) ((a) + (b))
45 | #define FP_SUBS(a, b) ((a) - (b))
46 |
47 | #define FP_SMUL_FRAC(a, b, frac) \
48 | ((int32_t)((int64_t)(a)*(int64_t)(b) >> (frac)))
49 |
50 | #define FP_UMUL_FRAC(a, b, frac) \
51 | ((uint32_t)((uint64_t)(a)*(uint64_t)(b) >> (frac)))
52 |
53 | #define FP_SMUL(a, b) \
54 | ((int32_t)((int64_t)(a)*(int64_t)(b) >> 16))
55 |
56 | #define FP_UMUL(a, b) \
57 | ((uint32_t)((uint64_t)(a)*(uint64_t)(b) >> 16))
58 |
59 | Q16 FP_SDIV(Q16 a, Q16 b);
60 |
61 | //////////////////////////////////////////////////////////////////////////
62 | #define FP_ISQRT_UPDATE(est, mant2) \
63 | (((est) + ((est) >> 1)) - \
64 | FP_UMUL_FRAC(FP_UMUL_FRAC(mant2, est, 31), \
65 | FP_UMUL_FRAC(est, est, 31), 31))
66 |
67 | Q16 FT_Q16(float f);
68 |
69 | Q16 FP_Sqrt(Q16 xval, uint32_t frac);
70 | Q16 FP_SqrtI(Q16 xval, int32_t frac);
71 |
72 | __inline float Q16_FT(Q16 x)
73 | {
74 | return ((float)x) / 65536.0f;
75 | }
76 | //////////////////////////////////////////////////////////////////////////
77 | //translate from google's skia fixed-point dsp Library.
78 | //
79 | #define TO_FLOAT_DEGREE(x) (((float)(x)) * 0.000874264215087890625f)
80 | #define Q16_TWOPI 411775
81 | #define Q16_PI 205887
82 | #define Q16_HALFPI 102944
83 |
84 | Q16 FP_FastAsin(Q16 a);
85 | Q16 FP_FastAtan2(Q16 y, Q16 x);
86 |
87 | #endif
88 |
--------------------------------------------------------------------------------
/Modules/AHRS/miniIMU/FP/FP_Matrix.h:
--------------------------------------------------------------------------------
1 | /*
2 | The MIT License (MIT)
3 |
4 | Copyright (c) 2015-? suhetao
5 |
6 | Permission is hereby granted, free of charge, to any person obtaining a copy of
7 | this software and associated documentation files (the "Software"), to deal in
8 | the Software without restriction, including without limitation the rights to
9 | use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
10 | the Software, and to permit persons to whom the Software is furnished to do so,
11 | subject to the following conditions:
12 |
13 | The above copyright notice and this permission notice shall be included in all
14 | copies or substantial portions of the Software.
15 |
16 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
17 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
18 | FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
19 | COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
20 | IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
21 | CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
22 | */
23 |
24 | #ifndef _FP_MAXTRIX_H_
25 | #define _FP_MAXTRIX_H_
26 |
27 | #include "FP_Math.h"
28 | //////////////////////////////////////////////////////////////////////////
29 | //
30 | void FP_Matrix_Copy(Q16 *pSrc, int numRows, int numCols, Q16 *pDst);
31 | int FP_Maxtrix_Add(Q16 *pSrcA, unsigned short numRows, unsigned short numCols, Q16 *pSrcB, Q16 *pDst);
32 | int FP_Maxtrix_Sub(Q16 *pSrcA, unsigned short numRows, unsigned short numCols, Q16 *pSrcB, Q16 *pDst);
33 | int FP_Matrix_Multiply(Q16 *A, int nrows, int ncols, Q16 *B, int mcols, Q16 *C);
34 | void FP_Matrix_Multiply_With_Transpose(Q16 *A, int nrows, int ncols, Q16 *B, int mrows, Q16 *C);
35 | int FP_Matrix_Inverse(Q16* pSrc, unsigned short n, Q16* pDst);
36 | #endif
37 |
--------------------------------------------------------------------------------
/Modules/AHRS/miniIMU/FP/FP_miniIMU.h:
--------------------------------------------------------------------------------
1 | /*
2 | The MIT License (MIT)
3 |
4 | Copyright (c) 2015-? suhetao
5 |
6 | Permission is hereby granted, free of charge, to any person obtaining a copy of
7 | this software and associated documentation files (the "Software"), to deal in
8 | the Software without restriction, including without limitation the rights to
9 | use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
10 | the Software, and to permit persons to whom the Software is furnished to do so,
11 | subject to the following conditions:
12 |
13 | The above copyright notice and this permission notice shall be included in all
14 | copies or substantial portions of the Software.
15 |
16 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
17 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
18 | FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
19 | COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
20 | IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
21 | CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
22 | */
23 |
24 | #ifndef _FP_MINIIMU_H_
25 | #define _FP_MINIIMU_H_
26 |
27 | //////////////////////////////////////////////////////////////////////////
28 | //S16.16
29 | //#define FP_EKF_STATE_DIM 4 //q0 q1 q2 q3
30 | #define FP_EKF_STATE_DIM 7 //q0 q1 q2 q3 wxb wyb wzb
31 | #define FP_EKF_MEASUREMENT_DIM 3 //ax ay az
32 |
33 | void FP_EKF_IMUInit(float *accel, float *gyro);
34 | void FP_EKF_IMUUpdate(float *gyro, float *accel, float dt);
35 | void FP_EKF_IMUGetAngle(float* rpy);
36 |
37 | #endif
38 |
--------------------------------------------------------------------------------
/Modules/AHRS/miniIMU/Usage.txt:
--------------------------------------------------------------------------------
1 | /*
2 | The MIT License (MIT)
3 |
4 | Copyright (c) 2015-? suhetao
5 |
6 | Permission is hereby granted, free of charge, to any person obtaining a copy of
7 | this software and associated documentation files (the "Software"), to deal in
8 | the Software without restriction, including without limitation the rights to
9 | use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
10 | the Software, and to permit persons to whom the Software is furnished to do so,
11 | subject to the following conditions:
12 |
13 | The above copyright notice and this permission notice shall be included in all
14 | copies or substantial portions of the Software.
15 |
16 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
17 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
18 | FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
19 | COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
20 | IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
21 | CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
22 | */
23 |
24 | //////////////////////////////////////////////////////////////////////////
25 | //setp 1:
26 | Decide how many states do you want to use.
27 | Look into the filename of "miniIMU.h"
28 |
29 | either uncomment #define EKF_STATE_DIM 4
30 | or uncomment #define EKF_STATE_DIM 7 on your own,
31 | by default is "define EKF_STATE_DIM 7"
32 |
33 | //////////////////////////////////////////////////////////////////////////
34 | //setp 2:
35 | //
36 | using the struct as below,In the main loop of the program
37 | ......
38 | if EKF is not initialization
39 | EKF_IMUInit(accel, gyro);
40 | else
41 | EKF_IMUUpdate(gyro, accel, dt);
42 | ......
43 | EKF_IMUGetAngle(rpy);
44 |
45 |
46 | Enjoy it!
--------------------------------------------------------------------------------
/Modules/AHRS/miniIMU/miniIMU.h:
--------------------------------------------------------------------------------
1 | /*
2 | The MIT License (MIT)
3 |
4 | Copyright (c) 2015-? suhetao
5 |
6 | Permission is hereby granted, free of charge, to any person obtaining a copy of
7 | this software and associated documentation files (the "Software"), to deal in
8 | the Software without restriction, including without limitation the rights to
9 | use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
10 | the Software, and to permit persons to whom the Software is furnished to do so,
11 | subject to the following conditions:
12 |
13 | The above copyright notice and this permission notice shall be included in all
14 | copies or substantial portions of the Software.
15 |
16 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
17 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
18 | FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
19 | COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
20 | IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
21 | CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
22 | */
23 |
24 | #ifndef MINIIMU_H_
25 | #define MINIIMU_H_
26 | //////////////////////////////////////////////////////////////////////////
27 | //
28 | //#define EKF_STATE_DIM 4 //q0 q1 q2 q3
29 | #define EKF_STATE_DIM 7 //q0 q1 q2 q3 wxb wyb wzb
30 | #define EKF_MEASUREMENT_DIM 3 //ax ay az
31 |
32 | #define EKF_HALFPI 1.5707963267948966192313216916398f
33 | #define EKF_PI 3.1415926535897932384626433832795f
34 | #define EKF_TWOPI 6.283185307179586476925286766559f
35 | #define EKF_TODEG(x) ((x) * 57.2957796f)
36 |
37 | void EKF_IMUInit(float *accel, float *gyro);
38 | void EKF_IMUUpdate(float *gyro, float *accel, float dt);
39 | void EKF_IMUGetAngle(float* rpy);
40 |
41 | void EKF_IMUGetQ(float *Q);
42 |
43 | #endif
44 |
--------------------------------------------------------------------------------
/Modules/AHRS/miniIMU/miniMatrix.h:
--------------------------------------------------------------------------------
1 | /*
2 | The MIT License (MIT)
3 |
4 | Copyright (c) 2015-? suhetao
5 |
6 | Permission is hereby granted, free of charge, to any person obtaining a copy of
7 | this software and associated documentation files (the "Software"), to deal in
8 | the Software without restriction, including without limitation the rights to
9 | use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
10 | the Software, and to permit persons to whom the Software is furnished to do so,
11 | subject to the following conditions:
12 |
13 | The above copyright notice and this permission notice shall be included in all
14 | copies or substantial portions of the Software.
15 |
16 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
17 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
18 | FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
19 | COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
20 | IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
21 | CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
22 | */
23 |
24 | #ifndef _MAXTRIX_H_
25 | #define _MAXTRIX_H_
26 |
27 | #include "FastMath.h"
28 |
29 | //////////////////////////////////////////////////////////////////////////
30 | //
31 |
32 | void Matrix_Zero(float *A, unsigned short numRows, unsigned short numCols);
33 | void Matrix_Copy(float *pSrc, unsigned short numRows, unsigned short numCols, float *pDst);
34 | int Maxtrix_Add(float *pSrcA, unsigned short numRows, unsigned short numCols, float *pSrcB, float *pDst);
35 | int Maxtrix_Sub(float *pSrcA, unsigned short numRows, unsigned short numCols, float *pSrcB, float *pDst);
36 | int Matrix_Multiply(float* pSrcA, unsigned short numRowsA, unsigned short numColsA, float* pSrcB, unsigned short numColsB, float* pDst);
37 | void Matrix_Multiply_With_Transpose(float *A, unsigned short nrows, unsigned short ncols, float *B, unsigned short mrows, float *C);
38 | void Maxtrix_Transpose(float *pSrc, unsigned short nRows, unsigned short nCols, float *pDst);
39 | int Matrix_Inverse(float* pDst, unsigned short n, float * pSrc);
40 |
41 | #endif
42 |
--------------------------------------------------------------------------------
/Modules/Matrix/DoubleMatrix.c:
--------------------------------------------------------------------------------
1 | /*
2 | The MIT License (MIT)
3 |
4 | Copyright (c) 2015-? suhetao
5 |
6 | Permission is hereby granted, free of charge, to any person obtaining a copy of
7 | this software and associated documentation files (the "Software"), to deal in
8 | the Software without restriction, including without limitation the rights to
9 | use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
10 | the Software, and to permit persons to whom the Software is furnished to do so,
11 | subject to the following conditions:
12 |
13 | The above copyright notice and this permission notice shall be included in all
14 | copies or substantial portions of the Software.
15 |
16 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
17 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
18 | FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
19 | COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
20 | IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
21 | CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
22 | */
23 |
24 | #include "DoubleMatrix.h"
25 | #include "FastMath.h"
26 |
27 |
--------------------------------------------------------------------------------
/Modules/Matrix/DoubleMatrix.h:
--------------------------------------------------------------------------------
1 | /*
2 | The MIT License (MIT)
3 |
4 | Copyright (c) 2015-? suhetao
5 |
6 | Permission is hereby granted, free of charge, to any person obtaining a copy of
7 | this software and associated documentation files (the "Software"), to deal in
8 | the Software without restriction, including without limitation the rights to
9 | use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
10 | the Software, and to permit persons to whom the Software is furnished to do so,
11 | subject to the following conditions:
12 |
13 | The above copyright notice and this permission notice shall be included in all
14 | copies or substantial portions of the Software.
15 |
16 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
17 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
18 | FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
19 | COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
20 | IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
21 | CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
22 | */
23 |
24 | #ifndef _DOUBLEMATRIX_H_
25 | #define _DOUBLEMATRIX_H_
26 |
27 | #include "Double.h"
28 |
29 | #endif
30 |
--------------------------------------------------------------------------------
/Modules/Matrix/Matrix.h:
--------------------------------------------------------------------------------
1 | /*
2 | The MIT License (MIT)
3 |
4 | Copyright (c) 2015-? suhetao
5 |
6 | Permission is hereby granted, free of charge, to any person obtaining a copy of
7 | this software and associated documentation files (the "Software"), to deal in
8 | the Software without restriction, including without limitation the rights to
9 | use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
10 | the Software, and to permit persons to whom the Software is furnished to do so,
11 | subject to the following conditions:
12 |
13 | The above copyright notice and this permission notice shall be included in all
14 | copies or substantial portions of the Software.
15 |
16 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
17 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
18 | FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
19 | COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
20 | IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
21 | CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
22 | */
23 |
24 | #ifndef _MATRIX_H_
25 | #define _MATRIX_H_
26 |
27 | #include "arm_math.h"
28 |
29 | void arm_mat_zero_f32(arm_matrix_instance_f32* s);
30 | arm_status mat_identity(float32_t *pData, uint16_t numRows, uint16_t numCols, float32_t value);
31 | arm_status arm_mat_identity_f32(arm_matrix_instance_f32* s, float32_t value);
32 | arm_status arm_mat_fill_f32(arm_matrix_instance_f32* s, float32_t *pData, uint32_t blockSize);
33 | arm_status arm_mat_chol_f32(arm_matrix_instance_f32* s);
34 | arm_status arm_mat_remainlower_f32(arm_matrix_instance_f32* s);
35 |
36 | void arm_mat_getsubmatrix_f32(arm_matrix_instance_f32* s, arm_matrix_instance_f32 *a, int row, int col);
37 | void arm_mat_setsubmatrix_f32(arm_matrix_instance_f32* a, arm_matrix_instance_f32 *s, int row, int col);
38 |
39 | void arm_mat_getcolumn_f32(arm_matrix_instance_f32* s, float32_t *x, uint32_t col);
40 | void arm_mat_setcolumn_f32(arm_matrix_instance_f32* s, float32_t *x, uint32_t col);
41 | void arm_mat_cumsum_f32(arm_matrix_instance_f32* s, float32_t *tmp, float32_t *x);
42 | int arm_mat_qr_decompositionT_f32(arm_matrix_instance_f32 *A, arm_matrix_instance_f32 *R);
43 |
44 | #endif
45 |
--------------------------------------------------------------------------------
/Modules/MavLink/checksum.h:
--------------------------------------------------------------------------------
1 | #ifdef __cplusplus
2 | extern "C" {
3 | #endif
4 |
5 | #ifndef _CHECKSUM_H_
6 | #define _CHECKSUM_H_
7 |
8 | // Visual Studio versions before 2010 don't have stdint.h, so we just error out.
9 | #if (defined _MSC_VER) && (_MSC_VER < 1600)
10 | #error "The C-MAVLink implementation requires Visual Studio 2010 or greater"
11 | #endif
12 |
13 | #include
14 |
15 | /**
16 | *
17 | * CALCULATE THE CHECKSUM
18 | *
19 | */
20 |
21 | #define X25_INIT_CRC 0xffff
22 | #define X25_VALIDATE_CRC 0xf0b8
23 |
24 | #ifndef HAVE_CRC_ACCUMULATE
25 | /**
26 | * @brief Accumulate the X.25 CRC by adding one char at a time.
27 | *
28 | * The checksum function adds the hash of one char at a time to the
29 | * 16 bit checksum (uint16_t).
30 | *
31 | * @param data new char to hash
32 | * @param crcAccum the already accumulated checksum
33 | **/
34 | static inline void crc_accumulate(uint8_t data, uint16_t *crcAccum)
35 | {
36 | /*Accumulate one byte of data into the CRC*/
37 | uint8_t tmp;
38 |
39 | tmp = data ^ (uint8_t)(*crcAccum &0xff);
40 | tmp ^= (tmp<<4);
41 | *crcAccum = (*crcAccum>>8) ^ (tmp<<8) ^ (tmp <<3) ^ (tmp>>4);
42 | }
43 | #endif
44 |
45 |
46 | /**
47 | * @brief Initiliaze the buffer for the X.25 CRC
48 | *
49 | * @param crcAccum the 16 bit X.25 CRC
50 | */
51 | static inline void crc_init(uint16_t* crcAccum)
52 | {
53 | *crcAccum = X25_INIT_CRC;
54 | }
55 |
56 |
57 | /**
58 | * @brief Calculates the X.25 checksum on a byte buffer
59 | *
60 | * @param pBuffer buffer containing the byte array to hash
61 | * @param length length of the byte array
62 | * @return the checksum over the buffer bytes
63 | **/
64 | static inline uint16_t crc_calculate(const uint8_t* pBuffer, uint16_t length)
65 | {
66 | uint16_t crcTmp;
67 | crc_init(&crcTmp);
68 | while (length--) {
69 | crc_accumulate(*pBuffer++, &crcTmp);
70 | }
71 | return crcTmp;
72 | }
73 |
74 |
75 | /**
76 | * @brief Accumulate the X.25 CRC by adding an array of bytes
77 | *
78 | * The checksum function adds the hash of one char at a time to the
79 | * 16 bit checksum (uint16_t).
80 | *
81 | * @param data new bytes to hash
82 | * @param crcAccum the already accumulated checksum
83 | **/
84 | static inline void crc_accumulate_buffer(uint16_t *crcAccum, const char *pBuffer, uint16_t length)
85 | {
86 | const uint8_t *p = (const uint8_t *)pBuffer;
87 | while (length--) {
88 | crc_accumulate(*p++, crcAccum);
89 | }
90 | }
91 |
92 | #endif /* _CHECKSUM_H_ */
93 |
94 | #ifdef __cplusplus
95 | }
96 | #endif
97 |
--------------------------------------------------------------------------------
/Modules/MavLink/common/mavlink.h:
--------------------------------------------------------------------------------
1 | /** @file
2 | * @brief MAVLink comm protocol built from common.xml
3 | * @see http://mavlink.org
4 | */
5 | #pragma once
6 | #ifndef MAVLINK_H
7 | #define MAVLINK_H
8 |
9 | #define MAVLINK_PRIMARY_XML_IDX 1
10 |
11 | #ifndef MAVLINK_STX
12 | #define MAVLINK_STX 254
13 | #endif
14 |
15 | #ifndef MAVLINK_ENDIAN
16 | #define MAVLINK_ENDIAN MAVLINK_LITTLE_ENDIAN
17 | #endif
18 |
19 | #ifndef MAVLINK_ALIGNED_FIELDS
20 | #define MAVLINK_ALIGNED_FIELDS 1
21 | #endif
22 |
23 | #ifndef MAVLINK_CRC_EXTRA
24 | #define MAVLINK_CRC_EXTRA 1
25 | #endif
26 |
27 | #ifndef MAVLINK_COMMAND_24BIT
28 | #define MAVLINK_COMMAND_24BIT 0
29 | #endif
30 |
31 | #include "version.h"
32 | #include "common.h"
33 |
34 | void Mavlink_Task (void const * argument);
35 |
36 | #endif // MAVLINK_H
37 |
--------------------------------------------------------------------------------
/Modules/MavLink/common/version.h:
--------------------------------------------------------------------------------
1 | /** @file
2 | * @brief MAVLink comm protocol built from common.xml
3 | * @see http://mavlink.org
4 | */
5 | #pragma once
6 |
7 | #ifndef MAVLINK_VERSION_H
8 | #define MAVLINK_VERSION_H
9 |
10 | #define MAVLINK_BUILD_DATE "Mon Jun 26 2017"
11 | #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
12 | #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
13 |
14 | #endif // MAVLINK_VERSION_H
15 |
--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
1 | # Firmware
2 | 飞控固件
3 |
--------------------------------------------------------------------------------
/Src/fatfs.c:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file fatfs.c
4 | * @brief Code for fatfs applications
5 | ******************************************************************************
6 | *
7 | * Copyright (c) 2017 STMicroelectronics International N.V.
8 | * All rights reserved.
9 | *
10 | * Redistribution and use in source and binary forms, with or without
11 | * modification, are permitted, provided that the following conditions are met:
12 | *
13 | * 1. Redistribution of source code must retain the above copyright notice,
14 | * this list of conditions and the following disclaimer.
15 | * 2. Redistributions in binary form must reproduce the above copyright notice,
16 | * this list of conditions and the following disclaimer in the documentation
17 | * and/or other materials provided with the distribution.
18 | * 3. Neither the name of STMicroelectronics nor the names of other
19 | * contributors to this software may be used to endorse or promote products
20 | * derived from this software without specific written permission.
21 | * 4. This software, including modifications and/or derivative works of this
22 | * software, must execute solely and exclusively on microcontroller or
23 | * microprocessor devices manufactured by or for STMicroelectronics.
24 | * 5. Redistribution and use of this software other than as permitted under
25 | * this license is void and will automatically terminate your rights under
26 | * this license.
27 | *
28 | * THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
29 | * AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
30 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
31 | * PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
32 | * RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
33 | * SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
34 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
35 | * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
36 | * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
37 | * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
38 | * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
39 | * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
40 | *
41 | ******************************************************************************
42 | */
43 |
44 | #include "fatfs.h"
45 |
46 | uint8_t retSD; /* Return value for SD */
47 | char SD_Path[4]; /* SD logical drive path */
48 |
49 | /* USER CODE BEGIN Variables */
50 |
51 | /* USER CODE END Variables */
52 |
53 | void MX_FATFS_Init(void)
54 | {
55 | /*## FatFS: Link the SD driver ###########################*/
56 | retSD = FATFS_LinkDriver(&SD_Driver, SD_Path);
57 |
58 | /* USER CODE BEGIN Init */
59 | /* additional user code for init */
60 | /* USER CODE END Init */
61 | }
62 |
63 | /**
64 | * @brief Gets Time from RTC
65 | * @param None
66 | * @retval Time in DWORD
67 | */
68 | DWORD get_fattime(void)
69 | {
70 | /* USER CODE BEGIN get_fattime */
71 | return 0;
72 | /* USER CODE END get_fattime */
73 | }
74 |
75 | /* USER CODE BEGIN Application */
76 |
77 | /* USER CODE END Application */
78 |
79 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
80 |
--------------------------------------------------------------------------------
/Src/lwip.c:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * File Name : LWIP.c
4 | * Description : This file provides initialization code for LWIP
5 | * middleWare.
6 | ******************************************************************************
7 | *
8 | * Copyright (c) 2017 STMicroelectronics International N.V.
9 | * All rights reserved.
10 | *
11 | * Redistribution and use in source and binary forms, with or without
12 | * modification, are permitted, provided that the following conditions are met:
13 | *
14 | * 1. Redistribution of source code must retain the above copyright notice,
15 | * this list of conditions and the following disclaimer.
16 | * 2. Redistributions in binary form must reproduce the above copyright notice,
17 | * this list of conditions and the following disclaimer in the documentation
18 | * and/or other materials provided with the distribution.
19 | * 3. Neither the name of STMicroelectronics nor the names of other
20 | * contributors to this software may be used to endorse or promote products
21 | * derived from this software without specific written permission.
22 | * 4. This software, including modifications and/or derivative works of this
23 | * software, must execute solely and exclusively on microcontroller or
24 | * microprocessor devices manufactured by or for STMicroelectronics.
25 | * 5. Redistribution and use of this software other than as permitted under
26 | * this license is void and will automatically terminate your rights under
27 | * this license.
28 | *
29 | * THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
30 | * AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
31 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
32 | * PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
33 | * RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
34 | * SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
35 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
36 | * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
37 | * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
38 | * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
39 | * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
40 | * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
41 | *
42 | ******************************************************************************
43 | */
44 |
45 | /* Includes ------------------------------------------------------------------*/
46 | #include "lwip.h"
47 | #include "lwip/init.h"
48 | #include "lwip/netif.h"
49 |
50 | /* USER CODE BEGIN 0 */
51 |
52 | /* USER CODE END 0 */
53 |
54 | /* ETH Variables initialization ----------------------------------------------*/
55 | void Error_Handler(void);
56 |
57 | /* USER CODE BEGIN 1 */
58 |
59 | /* USER CODE END 1 */
60 |
61 | /* Variables Initialization */
62 | struct netif gnetif;
63 | ip4_addr_t ipaddr;
64 | ip4_addr_t netmask;
65 | ip4_addr_t gw;
66 |
67 | /* USER CODE BEGIN 2 */
68 |
69 | /* USER CODE END 2 */
70 |
71 | /**
72 | * LwIP initialization function
73 | */
74 | void MX_LWIP_Init(void)
75 | {
76 | /* Initilialize the LwIP stack with RTOS */
77 | tcpip_init( NULL, NULL );
78 |
79 | /* IP addresses initialization with DHCP (IPv4) */
80 | ipaddr.addr = 0;
81 | netmask.addr = 0;
82 | gw.addr = 0;
83 |
84 | /* add the network interface (IPv4/IPv6) with RTOS */
85 | netif_add(&gnetif, &ipaddr, &netmask, &gw, NULL, ðernetif_init, &tcpip_input);
86 |
87 | /* Registers the default network interface */
88 | netif_set_default(&gnetif);
89 |
90 | if (netif_is_link_up(&gnetif))
91 | {
92 | /* When the netif is fully configured this function must be called */
93 | netif_set_up(&gnetif);
94 | }
95 | else
96 | {
97 | /* When the netif link is down this function must be called */
98 | netif_set_down(&gnetif);
99 | }
100 |
101 | /* Start DHCP negotiation for a network interface (IPv4) */
102 | dhcp_start(&gnetif);
103 |
104 | /* USER CODE BEGIN 3 */
105 |
106 | /* USER CODE END 3 */
107 | }
108 | /* USER CODE BEGIN 4 */
109 |
110 | /* USER CODE END 4 */
111 |
112 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
113 |
--------------------------------------------------------------------------------
/Src/stm32f7xx_hal_msp.c:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * File Name : stm32f7xx_hal_msp.c
4 | * Description : This file provides code for the MSP Initialization
5 | * and de-Initialization codes.
6 | ******************************************************************************
7 | *
8 | * Copyright (c) 2017 STMicroelectronics International N.V.
9 | * All rights reserved.
10 | *
11 | * Redistribution and use in source and binary forms, with or without
12 | * modification, are permitted, provided that the following conditions are met:
13 | *
14 | * 1. Redistribution of source code must retain the above copyright notice,
15 | * this list of conditions and the following disclaimer.
16 | * 2. Redistributions in binary form must reproduce the above copyright notice,
17 | * this list of conditions and the following disclaimer in the documentation
18 | * and/or other materials provided with the distribution.
19 | * 3. Neither the name of STMicroelectronics nor the names of other
20 | * contributors to this software may be used to endorse or promote products
21 | * derived from this software without specific written permission.
22 | * 4. This software, including modifications and/or derivative works of this
23 | * software, must execute solely and exclusively on microcontroller or
24 | * microprocessor devices manufactured by or for STMicroelectronics.
25 | * 5. Redistribution and use of this software other than as permitted under
26 | * this license is void and will automatically terminate your rights under
27 | * this license.
28 | *
29 | * THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
30 | * AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
31 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
32 | * PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
33 | * RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
34 | * SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
35 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
36 | * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
37 | * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
38 | * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
39 | * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
40 | * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
41 | *
42 | ******************************************************************************
43 | */
44 | /* Includes ------------------------------------------------------------------*/
45 | #include "stm32f7xx_hal.h"
46 |
47 | extern void Error_Handler(void);
48 | /* USER CODE BEGIN 0 */
49 |
50 | /* USER CODE END 0 */
51 | /**
52 | * Initializes the Global MSP.
53 | */
54 | void HAL_MspInit(void)
55 | {
56 | /* USER CODE BEGIN MspInit 0 */
57 |
58 | /* USER CODE END MspInit 0 */
59 |
60 | HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_4);
61 |
62 | /* System interrupt init*/
63 | /* MemoryManagement_IRQn interrupt configuration */
64 | HAL_NVIC_SetPriority(MemoryManagement_IRQn, 0, 0);
65 | /* BusFault_IRQn interrupt configuration */
66 | HAL_NVIC_SetPriority(BusFault_IRQn, 0, 0);
67 | /* UsageFault_IRQn interrupt configuration */
68 | HAL_NVIC_SetPriority(UsageFault_IRQn, 0, 0);
69 | /* SVCall_IRQn interrupt configuration */
70 | HAL_NVIC_SetPriority(SVCall_IRQn, 0, 0);
71 | /* DebugMonitor_IRQn interrupt configuration */
72 | HAL_NVIC_SetPriority(DebugMonitor_IRQn, 0, 0);
73 | /* PendSV_IRQn interrupt configuration */
74 | HAL_NVIC_SetPriority(PendSV_IRQn, 15, 0);
75 | /* SysTick_IRQn interrupt configuration */
76 | HAL_NVIC_SetPriority(SysTick_IRQn, 15, 0);
77 |
78 | /* USER CODE BEGIN MspInit 1 */
79 |
80 | /* USER CODE END MspInit 1 */
81 | }
82 |
83 | /* USER CODE BEGIN 1 */
84 |
85 | /* USER CODE END 1 */
86 |
87 | /**
88 | * @}
89 | */
90 |
91 | /**
92 | * @}
93 | */
94 |
95 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
96 |
--------------------------------------------------------------------------------
/Src/usb_device.c:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file : USB_DEVICE
4 | * @version : v1.0_Cube
5 | * @brief : This file implements the USB Device
6 | ******************************************************************************
7 | *
8 | * Copyright (c) 2017 STMicroelectronics International N.V.
9 | * All rights reserved.
10 | *
11 | * Redistribution and use in source and binary forms, with or without
12 | * modification, are permitted, provided that the following conditions are met:
13 | *
14 | * 1. Redistribution of source code must retain the above copyright notice,
15 | * this list of conditions and the following disclaimer.
16 | * 2. Redistributions in binary form must reproduce the above copyright notice,
17 | * this list of conditions and the following disclaimer in the documentation
18 | * and/or other materials provided with the distribution.
19 | * 3. Neither the name of STMicroelectronics nor the names of other
20 | * contributors to this software may be used to endorse or promote products
21 | * derived from this software without specific written permission.
22 | * 4. This software, including modifications and/or derivative works of this
23 | * software, must execute solely and exclusively on microcontroller or
24 | * microprocessor devices manufactured by or for STMicroelectronics.
25 | * 5. Redistribution and use of this software other than as permitted under
26 | * this license is void and will automatically terminate your rights under
27 | * this license.
28 | *
29 | * THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
30 | * AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
31 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
32 | * PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
33 | * RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
34 | * SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
35 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
36 | * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
37 | * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
38 | * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
39 | * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
40 | * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
41 | *
42 | ******************************************************************************
43 | */
44 |
45 | /* Includes ------------------------------------------------------------------*/
46 |
47 | #include "usb_device.h"
48 | #include "usbd_core.h"
49 | #include "usbd_desc.h"
50 | #include "usbd_cdc.h"
51 | #include "usbd_cdc_if.h"
52 |
53 | /* USB Device Core handle declaration */
54 | USBD_HandleTypeDef hUsbDeviceFS;
55 |
56 | /* init function */
57 | void MX_USB_DEVICE_Init(void)
58 | {
59 | /* Init Device Library,Add Supported Class and Start the library*/
60 | USBD_Init(&hUsbDeviceFS, &FS_Desc, DEVICE_FS);
61 |
62 | USBD_RegisterClass(&hUsbDeviceFS, &USBD_CDC);
63 |
64 | USBD_CDC_RegisterInterface(&hUsbDeviceFS, &USBD_Interface_fops_FS);
65 |
66 | USBD_Start(&hUsbDeviceFS);
67 |
68 | }
69 | /**
70 | * @}
71 | */
72 |
73 | /**
74 | * @}
75 | */
76 |
77 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
78 |
--------------------------------------------------------------------------------