fix driver for stm32h7.

.gitmodules

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

.gitmodules_cn

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

hw/bsp/mc02/config/blink.config

@@ -3,7 +3,6 @@
 # CONFIG_auto_generated_config_prefix_board-esp32-c3-arduino is not set
 # CONFIG_auto_generated_config_prefix_board-esp32-c3-idf is not set
 # CONFIG_auto_generated_config_prefix_board-f103_can is not set
-# CONFIG_auto_generated_config_prefix_board-f334_supercap is not set
 # CONFIG_auto_generated_config_prefix_board-mangopi_r818 is not set
 CONFIG_auto_generated_config_prefix_board-mc02=y
 # CONFIG_auto_generated_config_prefix_board-microswitch is not set
@@ -12,6 +11,10 @@ CONFIG_auto_generated_config_prefix_board-mc02=y
 # CONFIG_auto_generated_config_prefix_board-node_imu is not set
 # CONFIG_auto_generated_config_prefix_board-rm-c is not set
 # CONFIG_auto_generated_config_prefix_board-Webots is not set
+# CONFIG_auto_generated_config_prefix_board-canfd_imu_bsp is not set
+# CONFIG_auto_generated_config_prefix_board-collar is not set
+# CONFIG_auto_generated_config_prefix_board-emg-bsp-stm32g431cb is not set
+# CONFIG_auto_generated_config_prefix_board-esp32c3_wifi_imu is not set
 # CONFIG_auto_generated_config_prefix_system-Bootloader is not set
 CONFIG_auto_generated_config_prefix_system-FreeRTOS=y
 # CONFIG_auto_generated_config_prefix_system-Linux is not set
@@ -35,9 +38,9 @@ CONFIG_auto_generated_config_prefix_robot-blink=y
 # CONFIG_auto_generated_config_prefix_robot-can_to_uart is not set
 # CONFIG_auto_generated_config_prefix_robot-custom_controller is not set
 # CONFIG_auto_generated_config_prefix_robot-dart is not set
-# CONFIG_auto_generated_config_prefix_robot-dev_7darm is not set
-# CONFIG_auto_generated_config_prefix_robot-dev_supercap is not set
+# CONFIG_auto_generated_config_prefix_robot-drone_gimbal is not set
 # CONFIG_auto_generated_config_prefix_robot-engineer is not set
+# CONFIG_auto_generated_config_prefix_robot-helm_infantry is not set
 # CONFIG_auto_generated_config_prefix_robot-hero is not set
 # CONFIG_auto_generated_config_prefix_robot-infantry is not set
 # CONFIG_auto_generated_config_prefix_robot-microswitch is not set
@@ -47,8 +50,8 @@ CONFIG_auto_generated_config_prefix_robot-blink=y
 # CONFIG_auto_generated_config_prefix_robot-uart_net_config is not set
 # CONFIG_auto_generated_config_prefix_robot-udp_to_uart is not set
 # CONFIG_auto_generated_config_prefix_robot-wearlab_imu is not set
-# CONFIG_auto_generated_config_prefix_robot-wheelleg_chassis is not set
-# CONFIG_auto_generated_config_prefix_robot-wheelleg_gimbal is not set
+# CONFIG_auto_generated_config_prefix_robot-robot_collar is not set
+# CONFIG_auto_generated_config_prefix_robot-robot_wifi_imu is not set
 
 #
 # 组件
@@ -61,58 +64,38 @@ CONFIG_auto_generated_config_prefix_robot-blink=y
 # CONFIG_auto_generated_config_prefix_device-ahrs-9 is not set
 # CONFIG_auto_generated_config_prefix_device-ai is not set
 CONFIG_auto_generated_config_prefix_device-blink_led=y
-CONFIG_auto_generated_config_prefix_device-bmi088=y
-CONFIG_DEVICE_BMI088_TASK_STACK_DEPTH=256
+# CONFIG_auto_generated_config_prefix_device-bmi088 is not set
+# CONFIG_auto_generated_config_prefix_device-bq27220 is not set
 # CONFIG_auto_generated_config_prefix_device-buzzer is not set
 # CONFIG_auto_generated_config_prefix_device-can is not set
 # CONFIG_auto_generated_config_prefix_device-canfd is not set
 # CONFIG_auto_generated_config_prefix_device-cap is not set
 # CONFIG_auto_generated_config_prefix_device-custom_controller is not set
-CONFIG_auto_generated_config_prefix_device-dr16=y
-CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=256
+# CONFIG_auto_generated_config_prefix_device-dev_bw16 is not set
+# CONFIG_auto_generated_config_prefix_device-dr16 is not set
 # CONFIG_auto_generated_config_prefix_device-icm42688 is not set
 # CONFIG_auto_generated_config_prefix_device-imu is not set
 # CONFIG_auto_generated_config_prefix_device-ina226 is not set
-CONFIG_auto_generated_config_prefix_device-ins=y
-CONFIG_DEVICE_QEKFIns_TASK_STACK_DEPTH=1024
 # CONFIG_auto_generated_config_prefix_device-laser is not set
 # CONFIG_auto_generated_config_prefix_device-led_rgb is not set
 # CONFIG_auto_generated_config_prefix_device-mech is not set
 # CONFIG_auto_generated_config_prefix_device-microswitch is not set
 # CONFIG_auto_generated_config_prefix_device-mmc5603 is not set
 # CONFIG_auto_generated_config_prefix_device-motor is not set
 # CONFIG_auto_generated_config_prefix_device-net_config is not set
-CONFIG_auto_generated_config_prefix_device-referee=y
-CONFIG_DEVICE_REF_TRANS_TASK_STACK_DEPTH=256
-CONFIG_DEVICE_REF_RECV_TASK_STACK_DEPTH=256
-
-#
-# 裁判系统
-#
-# CONFIG_REF_VIRTUAL is not set
-CONFIG_REF_LAUNCH_SPEED=30
-CONFIG_REF_HEAT_LIMIT_17=100
-CONFIG_REF_HEAT_LIMIT_42=100
-CONFIG_REF_POWER_LIMIT=200
-CONFIG_REF_POWER_BUFF=100
-# end of 裁判系统
-
-#
-# 操作手UI
-#
-CONFIG_UI_DYNAMIC_CYCLE=20
-CONFIG_UI_STATIC_CYCLE=1000
-# end of 操作手UI
-
+# CONFIG_auto_generated_config_prefix_device-referee is not set
 # CONFIG_auto_generated_config_prefix_device-servo is not set
 # CONFIG_auto_generated_config_prefix_device-simulator is not set
+# CONFIG_auto_generated_config_prefix_device-spl06_001 is not set
 # CONFIG_auto_generated_config_prefix_device-tof is not set
+# CONFIG_auto_generated_config_prefix_device-dev_gps is not set
+# CONFIG_auto_generated_config_prefix_device-dev_net_config_smartconfig is not set
+# CONFIG_auto_generated_config_prefix_device-dev_rdss is not set
 # end of 设备
 
 #
 # 模块
 #
-# CONFIG_auto_generated_config_prefix_module-7dof_arm is not set
 # CONFIG_auto_generated_config_prefix_module-balance is not set
 # CONFIG_auto_generated_config_prefix_module-ble_net_config is not set
 # CONFIG_auto_generated_config_prefix_module-canfd_to_uart is not set
@@ -124,17 +107,17 @@ CONFIG_UI_STATIC_CYCLE=1000
 # CONFIG_auto_generated_config_prefix_module-dart_gimbal is not set
 # CONFIG_auto_generated_config_prefix_module-dart_launcher is not set
 # CONFIG_auto_generated_config_prefix_module-engineer_chassis is not set
-# CONFIG_auto_generated_config_prefix_module-free_gimbal is not set
 # CONFIG_auto_generated_config_prefix_module-gimbal is not set
+# CONFIG_auto_generated_config_prefix_module-helm_chassis is not set
 # CONFIG_auto_generated_config_prefix_module-launcher is not set
-# CONFIG_auto_generated_config_prefix_module-launcher_can is not set
+# CONFIG_auto_generated_config_prefix_module-launcher_drone is not set
 # CONFIG_auto_generated_config_prefix_module-microswitch is not set
 # CONFIG_auto_generated_config_prefix_module-ore_collect is not set
 CONFIG_auto_generated_config_prefix_module-performance=y
-# CONFIG_auto_generated_config_prefix_module-super_cap_buck is not set
 # CONFIG_auto_generated_config_prefix_module-topic_share_uart is not set
 # CONFIG_auto_generated_config_prefix_module-uart_update is not set
 # CONFIG_auto_generated_config_prefix_module-wheel_leg is not set
-# CONFIG_auto_generated_config_prefix_module-wheel_leg_eigen is not set
-# CONFIG_auto_generated_config_prefix_module-wheel_leg_gimbal is not set
+# CONFIG_auto_generated_config_prefix_module-canfd_imu is not set
+# CONFIG_auto_generated_config_prefix_module-collar_ctrl is not set
+# CONFIG_auto_generated_config_prefix_module-mod_research_imu is not set
 # end of 模块

hw/bsp/mc02/drivers/CMakeLists.txt

@@ -6,13 +6,14 @@ add_library(${PROJECT_NAME} STATIC)
 
 target_sources(${PROJECT_NAME} PRIVATE ${${PROJECT_NAME}_SOURCES})
 
+include(${MCU_DIR}/default/CMakeLists.txt)
+
 target_link_libraries(
   ${PROJECT_NAME}
   PRIVATE hal
   PUBLIC flash
   PUBLIC rtos
   PUBLIC usb
-  PUBLIC armtool
   )
 
 target_include_directories(
@@ -22,13 +23,11 @@ target_include_directories(
   PUBLIC $<TARGET_PROPERTY:flash,INTERFACE_INCLUDE_DIRECTORIES>
   PUBLIC $<TARGET_PROPERTY:rtos,INTERFACE_INCLUDE_DIRECTORIES>
   PUBLIC $<TARGET_PROPERTY:usb,INTERFACE_INCLUDE_DIRECTORIES>
-  PRIVATE $<TARGET_PROPERTY:armtool,INTERFACE_INCLUDE_DIRECTORIES>
 )
 
-add_dependencies(${PROJECT_NAME} hal flash rtos usb armtool)
+add_dependencies(${PROJECT_NAME} hal flash rtos usb)
 
 add_subdirectory(${BOARD_DIR}/drivers/hal)
 add_subdirectory(${BOARD_DIR}/drivers/rtos)
 add_subdirectory(${BOARD_DIR}/drivers/usb)
 add_subdirectory(${BOARD_DIR}/drivers/flash)
-add_subdirectory(${BOARD_DIR}/drivers/armtoolbox)

hw/bsp/mc02/drivers/bsp.c

@@ -1,10 +1,10 @@
 #include "bsp.h"
 
-#include "bsp_dwt.h"
 #include "bsp_uart.h"
 #include "main.h"
 #include "stm32h7xx_hal_tim.h"
 #include "stm32h7xx_it.h"
+
 extern TIM_HandleTypeDef htim23;
 void bsp_init(void) {
   HAL_Init();
@@ -34,6 +34,5 @@ void bsp_init(void) {
   MX_USB_OTG_HS_PCD_Init();
   MX_TIM7_Init();
   MX_SPI6_Init();
-  DWT_Init(550);  // 喵喵时钟频率550MHz
   HAL_TIM_Base_Stop_IT(&htim23);
 }