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Jiu-xiaoJiu-xiao
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Merge pull request #68 from xrobot-org/dev
Add support for mc02 & add custom controller
2 parents d9253e8 + f767d04 commit 2ed8fe1

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Diff for: ‎.gitmodules

+6
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@@ -64,3 +64,9 @@
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[submodule "lib/eigen"]
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path = lib/eigen
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url = https://gitlab.com/libeigen/eigen.git
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[submodule "hw/mcu/st/stm32h7xx_hal_driver"]
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path = hw/mcu/st/stm32h7xx_hal_driver
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url = https://github.com/STMicroelectronics/stm32h7xx_hal_driver.git
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[submodule "hw/mcu/st/cmsis_device_h7"]
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path = hw/mcu/st/cmsis_device_h7
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url = https://github.com/STMicroelectronics/cmsis_device_h7.git

Diff for: ‎.gitmodules_cn

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@@ -64,3 +64,9 @@
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[submodule "lib/eigen"]
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path = lib/eigen
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url = https://gitee.com/x-robot/eigen.git
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[submodule "hw/mcu/st/stm32h7xx_hal_driver"]
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path = hw/mcu/st/stm32h7xx_hal_driver
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url = https://gitee.com/x-robot/stm32h7xx_hal_driver.git
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[submodule "hw/mcu/st/cmsis_device_h7"]
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path = hw/mcu/st/cmsis_device_h7
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url = https://gitee.com/x-robot/cmsis_device_h7.git

Diff for: ‎hw/bsp/atom/Kconfig

Whitespace-only changes.

Diff for: ‎hw/bsp/atom/board.cmake

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@@ -0,0 +1,55 @@
1+
cmake_minimum_required(VERSION 3.11)
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add_compile_definitions(STM32G431xx)
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set(HAL_DIR ${MCU_DIR}/st/stm32g4xx_hal_driver)
6+
set(STM32_CMSIS_DIR ${MCU_DIR}/st/cmsis_device_g4)
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set(ARM_CMSIS_DIR ${LIB_DIR}/cmsis_5)
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include(${MCU_DIR}/st/cmake/mcu_stm32g4.cmake)
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include(${MCU_DIR}/st/cmake/toolchain_utils.cmake)
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add_subdirectory(${BOARD_DIR}/drivers)
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add_executable(${PROJECT_NAME}.elf ${BOARD_DIR}/main.cpp)
15+
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add_executable(${PROJECT_NAME}_with_bl.elf ${BOARD_DIR}/main.cpp)
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target_link_libraries(
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${PROJECT_NAME}.elf
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PUBLIC bsp
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PUBLIC system
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PUBLIC robot)
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target_link_libraries(
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${PROJECT_NAME}_with_bl.elf
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PUBLIC bsp
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PUBLIC system
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PUBLIC robot)
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target_include_directories(
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${PROJECT_NAME}.elf
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PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}
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PRIVATE $<TARGET_PROPERTY:bsp,INTERFACE_INCLUDE_DIRECTORIES>
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PRIVATE $<TARGET_PROPERTY:system,INTERFACE_INCLUDE_DIRECTORIES>
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PRIVATE $<TARGET_PROPERTY:robot,INTERFACE_INCLUDE_DIRECTORIES>
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)
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target_include_directories(
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${PROJECT_NAME}_with_bl.elf
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PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}
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PRIVATE $<TARGET_PROPERTY:bsp,INTERFACE_INCLUDE_DIRECTORIES>
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PRIVATE $<TARGET_PROPERTY:system,INTERFACE_INCLUDE_DIRECTORIES>
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PRIVATE $<TARGET_PROPERTY:robot,INTERFACE_INCLUDE_DIRECTORIES>
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)
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target_link_options(${PROJECT_NAME}_with_bl.elf PRIVATE "-T${BOARD_DIR}/ld/LinkerScripts_with_bl.ld")
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create_hex_output(${PROJECT_NAME})
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create_bin_output(${PROJECT_NAME})
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print_section_sizes(${PROJECT_NAME}.elf)
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create_hex_output(${PROJECT_NAME}_with_bl)
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create_bin_output(${PROJECT_NAME}_with_bl)
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print_section_sizes(${PROJECT_NAME}_with_bl.elf)

Diff for: ‎hw/bsp/atom/config/blink.config

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@@ -0,0 +1,96 @@
1+
# CONFIG_auto_generated_config_prefix_board-rm-c is not set
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# CONFIG_auto_generated_config_prefix_board-node_imu is not set
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# CONFIG_auto_generated_config_prefix_board-f103_can is not set
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CONFIG_auto_generated_config_prefix_board-atom=y
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# CONFIG_auto_generated_config_prefix_board-microswitch is not set
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# CONFIG_auto_generated_config_prefix_board-esp32-c3-idf is not set
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# CONFIG_auto_generated_config_prefix_board-mangopi_r818 is not set
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# CONFIG_auto_generated_config_prefix_board-MiniPC is not set
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# CONFIG_auto_generated_config_prefix_board-Webots is not set
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# CONFIG_auto_generated_config_prefix_board-esp32-c3-arduino is not set
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# CONFIG_auto_generated_config_prefix_board-c-mini is not set
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# CONFIG_auto_generated_config_prefix_system-None is not set
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CONFIG_auto_generated_config_prefix_system-FreeRTOS=y
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# CONFIG_auto_generated_config_prefix_system-Linux_Webots is not set
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# CONFIG_auto_generated_config_prefix_system-Linux is not set
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#
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# FreeRTOS
19+
#
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CONFIG_INIT_TASK_STACK_DEPTH=1024
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CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH=256
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CONFIG_FREERTOS_USB_TASK_STACK_DEPTH=256
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CONFIG_FREERTOS_TERM_TASK_STACK_DEPTH=512
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# end of FreeRTOS
25+
26+
# CONFIG_auto_generated_config_prefix_robot-dart is not set
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# CONFIG_auto_generated_config_prefix_robot-uart_net_config is not set
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# CONFIG_auto_generated_config_prefix_robot-engineer is not set
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# CONFIG_auto_generated_config_prefix_robot-infantry is not set
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# CONFIG_auto_generated_config_prefix_robot-microswitch is not set
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# CONFIG_auto_generated_config_prefix_robot-can_to_uart is not set
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CONFIG_auto_generated_config_prefix_robot-blink=y
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# CONFIG_auto_generated_config_prefix_robot-sentry is not set
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# CONFIG_auto_generated_config_prefix_robot-ble_net_config is not set
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# CONFIG_auto_generated_config_prefix_robot-wearlab_imu is not set
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# CONFIG_auto_generated_config_prefix_robot-hero is not set
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# CONFIG_auto_generated_config_prefix_robot-custom_controller is not set
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# CONFIG_auto_generated_config_prefix_robot-sim_balance is not set
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# CONFIG_auto_generated_config_prefix_robot-sim_mecanum is not set
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# CONFIG_auto_generated_config_prefix_robot-balance_infantry is not set
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# CONFIG_auto_generated_config_prefix_robot-udp_to_uart is not set
42+
43+
#
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# 组件
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#
46+
47+
#
48+
# 设备
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#
50+
# CONFIG_auto_generated_config_prefix_device-wearlab is not set
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# CONFIG_auto_generated_config_prefix_device-imu is not set
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# CONFIG_auto_generated_config_prefix_device-ahrs is not set
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# CONFIG_auto_generated_config_prefix_device-dr16 is not set
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# CONFIG_auto_generated_config_prefix_device-mech is not set
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# CONFIG_auto_generated_config_prefix_device-microswitch is not set
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# CONFIG_auto_generated_config_prefix_device-net_config is not set
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# CONFIG_auto_generated_config_prefix_device-laser is not set
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# CONFIG_auto_generated_config_prefix_device-simulator is not set
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# CONFIG_auto_generated_config_prefix_device-buzzer is not set
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# CONFIG_auto_generated_config_prefix_device-tof is not set
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# CONFIG_auto_generated_config_prefix_device-custom_controller is not set
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CONFIG_auto_generated_config_prefix_device-blink_led=y
63+
# CONFIG_auto_generated_config_prefix_device-led_rgb is not set
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# CONFIG_auto_generated_config_prefix_device-motor is not set
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# CONFIG_auto_generated_config_prefix_device-cap is not set
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# CONFIG_auto_generated_config_prefix_device-can is not set
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# CONFIG_auto_generated_config_prefix_device-ai is not set
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# CONFIG_auto_generated_config_prefix_device-servo is not set
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# CONFIG_auto_generated_config_prefix_device-bmi088 is not set
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# CONFIG_auto_generated_config_prefix_device-referee is not set
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# end of 设备
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#
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# 模块
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#
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# CONFIG_auto_generated_config_prefix_module-gimbal is not set
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# CONFIG_auto_generated_config_prefix_module-uart_udp is not set
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# CONFIG_auto_generated_config_prefix_module-chassis is not set
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# CONFIG_auto_generated_config_prefix_module-balance is not set
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# CONFIG_auto_generated_config_prefix_module-dart_gimbal is not set
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# CONFIG_auto_generated_config_prefix_module-uart_udp_client is not set
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# CONFIG_auto_generated_config_prefix_module-ore_collect is not set
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# CONFIG_auto_generated_config_prefix_module-microswitch is not set
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# CONFIG_auto_generated_config_prefix_module-wheel_leg is not set
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# CONFIG_auto_generated_config_prefix_module-can_usart is not set
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# CONFIG_auto_generated_config_prefix_module-ble_net_config is not set
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# CONFIG_auto_generated_config_prefix_module-dart_launcher is not set
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# CONFIG_auto_generated_config_prefix_module-custom_controller is not set
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# CONFIG_auto_generated_config_prefix_module-can_imu is not set
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# CONFIG_auto_generated_config_prefix_module-free_gimbal is not set
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CONFIG_auto_generated_config_prefix_module-performance=y
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# CONFIG_auto_generated_config_prefix_module-topic_share_uart is not set
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# CONFIG_auto_generated_config_prefix_module-engineer_chassis is not set
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# CONFIG_auto_generated_config_prefix_module-can_imu_wearlab is not set
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# CONFIG_auto_generated_config_prefix_module-launcher is not set
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# end of 模块

Diff for: ‎hw/bsp/atom/config/canfd_imu.config

+128
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1+
# CONFIG_auto_generated_config_prefix_board-c-mini is not set
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# CONFIG_auto_generated_config_prefix_board-dual_canfd is not set
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# CONFIG_auto_generated_config_prefix_board-esp32-c3-arduino is not set
4+
# CONFIG_auto_generated_config_prefix_board-esp32-c3-idf is not set
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# CONFIG_auto_generated_config_prefix_board-f103_can is not set
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# CONFIG_auto_generated_config_prefix_board-mangopi_r818 is not set
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# CONFIG_auto_generated_config_prefix_board-mc02 is not set
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# CONFIG_auto_generated_config_prefix_board-microswitch is not set
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# CONFIG_auto_generated_config_prefix_board-MiniPC is not set
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# CONFIG_auto_generated_config_prefix_board-MiniPC_with_canfd is not set
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# CONFIG_auto_generated_config_prefix_board-node_imu is not set
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# CONFIG_auto_generated_config_prefix_board-rm-c is not set
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# CONFIG_auto_generated_config_prefix_board-Webots is not set
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CONFIG_auto_generated_config_prefix_board-atom=y
15+
# CONFIG_auto_generated_config_prefix_board-collar is not set
16+
# CONFIG_auto_generated_config_prefix_board-emg-bsp-stm32g431cb is not set
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# CONFIG_auto_generated_config_prefix_board-esp32c3_wifi_imu is not set
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# CONFIG_auto_generated_config_prefix_system-Bootloader is not set
19+
CONFIG_auto_generated_config_prefix_system-FreeRTOS=y
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# CONFIG_auto_generated_config_prefix_system-Linux is not set
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# CONFIG_auto_generated_config_prefix_system-Linux_Webots is not set
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# CONFIG_auto_generated_config_prefix_system-None is not set
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#
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# FreeRTOS
26+
#
27+
CONFIG_INIT_TASK_STACK_DEPTH=768
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CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH=256
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CONFIG_FREERTOS_USB_TASK_STACK_DEPTH=256
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CONFIG_FREERTOS_TERM_TASK_STACK_DEPTH=384
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# end of FreeRTOS
32+
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# CONFIG_auto_generated_config_prefix_robot-balance_infantry is not set
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# CONFIG_auto_generated_config_prefix_robot-ble_net_config is not set
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# CONFIG_auto_generated_config_prefix_robot-blink is not set
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# CONFIG_auto_generated_config_prefix_robot-bootloader is not set
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# CONFIG_auto_generated_config_prefix_robot-canfd_to_uart is not set
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# CONFIG_auto_generated_config_prefix_robot-can_to_uart is not set
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# CONFIG_auto_generated_config_prefix_robot-custom_controller is not set
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# CONFIG_auto_generated_config_prefix_robot-dart is not set
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# CONFIG_auto_generated_config_prefix_robot-drone_gimbal is not set
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# CONFIG_auto_generated_config_prefix_robot-engineer is not set
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# CONFIG_auto_generated_config_prefix_robot-helm_infantry is not set
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# CONFIG_auto_generated_config_prefix_robot-hero is not set
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# CONFIG_auto_generated_config_prefix_robot-infantry is not set
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# CONFIG_auto_generated_config_prefix_robot-microswitch is not set
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# CONFIG_auto_generated_config_prefix_robot-sentry is not set
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# CONFIG_auto_generated_config_prefix_robot-sim_balance is not set
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# CONFIG_auto_generated_config_prefix_robot-sim_mecanum is not set
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# CONFIG_auto_generated_config_prefix_robot-uart_net_config is not set
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# CONFIG_auto_generated_config_prefix_robot-udp_to_uart is not set
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# CONFIG_auto_generated_config_prefix_robot-wearlab_imu is not set
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CONFIG_auto_generated_config_prefix_robot-canfd_imu=y
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# CONFIG_auto_generated_config_prefix_robot-robot_collar is not set
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# CONFIG_auto_generated_config_prefix_robot-robot_wifi_imu is not set
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#
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# 组件
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#
60+
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#
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# 设备
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#
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# CONFIG_auto_generated_config_prefix_device-ahrs is not set
65+
CONFIG_DEVICE_AHRS_TASK_STACK_DEPTH=256
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CONFIG_auto_generated_config_prefix_device-ahrs-9=y
67+
# CONFIG_auto_generated_config_prefix_device-ai is not set
68+
CONFIG_auto_generated_config_prefix_device-blink_led=y
69+
# CONFIG_auto_generated_config_prefix_device-bmi088 is not set
70+
# CONFIG_auto_generated_config_prefix_device-bq27220 is not set
71+
# CONFIG_auto_generated_config_prefix_device-buzzer is not set
72+
# CONFIG_auto_generated_config_prefix_device-can is not set
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CONFIG_auto_generated_config_prefix_device-canfd=y
74+
# CONFIG_auto_generated_config_prefix_device-cap is not set
75+
# CONFIG_auto_generated_config_prefix_device-custom_controller is not set
76+
# CONFIG_auto_generated_config_prefix_device-dev_bw16 is not set
77+
# CONFIG_auto_generated_config_prefix_device-dr16 is not set
78+
CONFIG_auto_generated_config_prefix_device-icm42688=y
79+
CONFIG_DEVICE_ICM42688_TASK_STACK_DEPTH=256
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# CONFIG_auto_generated_config_prefix_device-imu is not set
81+
# CONFIG_auto_generated_config_prefix_device-ina226 is not set
82+
# CONFIG_auto_generated_config_prefix_device-laser is not set
83+
# CONFIG_auto_generated_config_prefix_device-led_rgb is not set
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# CONFIG_auto_generated_config_prefix_device-mech is not set
85+
# CONFIG_auto_generated_config_prefix_device-microswitch is not set
86+
CONFIG_auto_generated_config_prefix_device-mmc5603=y
87+
CONFIG_DEVICE_MMC5603_TASK_STACK_DEPTH=384
88+
# CONFIG_auto_generated_config_prefix_device-motor is not set
89+
# CONFIG_auto_generated_config_prefix_device-net_config is not set
90+
# CONFIG_auto_generated_config_prefix_device-referee is not set
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# CONFIG_auto_generated_config_prefix_device-servo is not set
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# CONFIG_auto_generated_config_prefix_device-simulator is not set
93+
# CONFIG_auto_generated_config_prefix_device-spl06_001 is not set
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# CONFIG_auto_generated_config_prefix_device-tof is not set
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# CONFIG_auto_generated_config_prefix_device-dev_gps is not set
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# CONFIG_auto_generated_config_prefix_device-dev_net_config_smartconfig is not set
97+
# CONFIG_auto_generated_config_prefix_device-dev_rdss is not set
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CONFIG_auto_generated_config_prefix_device-wearlab=y
99+
# end of 设备
100+
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#
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# 模块
103+
#
104+
# CONFIG_auto_generated_config_prefix_module-balance is not set
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# CONFIG_auto_generated_config_prefix_module-ble_net_config is not set
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# CONFIG_auto_generated_config_prefix_module-canfd_to_uart is not set
107+
# CONFIG_auto_generated_config_prefix_module-can_imu is not set
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# CONFIG_auto_generated_config_prefix_module-can_imu_wearlab is not set
109+
# CONFIG_auto_generated_config_prefix_module-can_usart is not set
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# CONFIG_auto_generated_config_prefix_module-chassis is not set
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# CONFIG_auto_generated_config_prefix_module-custom_controller is not set
112+
# CONFIG_auto_generated_config_prefix_module-dart_gimbal is not set
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# CONFIG_auto_generated_config_prefix_module-dart_launcher is not set
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# CONFIG_auto_generated_config_prefix_module-engineer_chassis is not set
115+
# CONFIG_auto_generated_config_prefix_module-gimbal is not set
116+
# CONFIG_auto_generated_config_prefix_module-helm_chassis is not set
117+
# CONFIG_auto_generated_config_prefix_module-launcher is not set
118+
# CONFIG_auto_generated_config_prefix_module-launcher_drone is not set
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# CONFIG_auto_generated_config_prefix_module-microswitch is not set
120+
# CONFIG_auto_generated_config_prefix_module-ore_collect is not set
121+
# CONFIG_auto_generated_config_prefix_module-performance is not set
122+
# CONFIG_auto_generated_config_prefix_module-topic_share_uart is not set
123+
# CONFIG_auto_generated_config_prefix_module-uart_update is not set
124+
# CONFIG_auto_generated_config_prefix_module-wheel_leg is not set
125+
CONFIG_auto_generated_config_prefix_module-canfd_imu=y
126+
# CONFIG_auto_generated_config_prefix_module-collar_ctrl is not set
127+
# CONFIG_auto_generated_config_prefix_module-mod_research_imu is not set
128+
# end of 模块

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