update driver for mc02.

hw/bsp/mc02/drivers/bsp_can.c

@@ -86,7 +86,7 @@ void bsp_can_init(void) {
   can_filter.IdType = FDCAN_STANDARD_ID;
   can_filter.FilterIndex = 1;
   can_filter.FilterType = FDCAN_FILTER_MASK;
-  can_filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO1;
+  can_filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
   can_filter.FilterID1 = 0x0000;
   can_filter.FilterID2 = 0x0000;
   if (HAL_FDCAN_ConfigFilter(&hfdcan2, &can_filter) != HAL_OK) {
@@ -99,7 +99,7 @@ void bsp_can_init(void) {
   can_filter.IdType = FDCAN_EXTENDED_ID;
   can_filter.FilterIndex = 1;
   can_filter.FilterType = FDCAN_FILTER_MASK;
-  can_filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO1;
+  can_filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
   can_filter.FilterID1 = 0x0000;
   can_filter.FilterID2 = 0x0000;
   if (HAL_FDCAN_ConfigFilter(&hfdcan2, &can_filter) != HAL_OK) {
@@ -109,11 +109,11 @@ void bsp_can_init(void) {
     XB_ASSERT(false);
   }
 
-  if (HAL_FDCAN_ConfigGlobalFilter(&hfdcan2, FDCAN_ACCEPT_IN_RX_FIFO1,
+  if (HAL_FDCAN_ConfigGlobalFilter(&hfdcan2, FDCAN_ACCEPT_IN_RX_FIFO0,
                                    FDCAN_REJECT, ENABLE, ENABLE) != HAL_OK) {
     XB_ASSERT(false);
   };
-  if (HAL_FDCAN_ConfigGlobalFilter(&hfdcan3, FDCAN_ACCEPT_IN_RX_FIFO1,
+  if (HAL_FDCAN_ConfigGlobalFilter(&hfdcan3, FDCAN_ACCEPT_IN_RX_FIFO0,
                                    FDCAN_REJECT, ENABLE, ENABLE) != HAL_OK) {
     XB_ASSERT(false);
   };
@@ -123,9 +123,9 @@ void bsp_can_init(void) {
   HAL_FDCAN_Start(&hfdcan3);  // 开启FDCAN
   HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0);
   HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_TX_FIFO_EMPTY, 0);
-  HAL_FDCAN_ActivateNotification(&hfdcan2, FDCAN_IT_RX_FIFO1_NEW_MESSAGE, 0);
+  HAL_FDCAN_ActivateNotification(&hfdcan2, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0);
   HAL_FDCAN_ActivateNotification(&hfdcan2, FDCAN_IT_TX_FIFO_EMPTY, 0);
-  HAL_FDCAN_ActivateNotification(&hfdcan3, FDCAN_IT_RX_FIFO1_NEW_MESSAGE, 0);
+  HAL_FDCAN_ActivateNotification(&hfdcan3, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0);
   HAL_FDCAN_ActivateNotification(&hfdcan3, FDCAN_IT_TX_FIFO_EMPTY, 0);
 
   bsp_can_initd = true;
@@ -163,10 +163,12 @@ void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hcan, uint32_t RxFifo0ITs) {
   can_rx_cb_fn(can_get(hcan), FDCAN_RX_FIFO0);
 }
 
+#if 0
 void HAL_FDCAN_RxFifo1Callback(FDCAN_HandleTypeDef *hcan, uint32_t RxFifo1ITs) {
   (void)RxFifo1ITs;
   can_rx_cb_fn(can_get(hcan), FDCAN_RX_FIFO1);
 }
+#endif
 
 bsp_status_t bsp_can_register_callback(
     bsp_can_t can, bsp_can_callback_t type,

hw/bsp/mc02/drivers/bsp_gpio.c

@@ -1,5 +1,6 @@
 #include "bsp_gpio.h"
 
+#include "bsp_pwm.h"
 #include "bsp_spi.h"
 #include "main.h"
 
@@ -13,7 +14,9 @@ static const bsp_gpio_map_t bsp_gpio_map[BSP_GPIO_NUM] = {
     {GYRO_CS_Pin, GYRO_CS_GPIO_Port},
     {ACCL_INT_Pin, ACCL_INT_GPIO_Port},
     {GYRO_INT_Pin, GYRO_INT_GPIO_Port},
-    // {CAM_TRIG_Pin, CAM_TRIG_GPIO_Port},
+    {POWER_5V_Pin, POWER_5V_GPIO_Port},
+    {POWER_24V_1_Pin, POWER_24V_1_GPIO_Port},
+    {POWER_24V_2_Pin, POWER_24V_2_GPIO_Port},
 };
 
 static bsp_callback_t callback_list[16];
@@ -95,15 +98,10 @@ bsp_status_t bsp_gpio_disable_irq(bsp_gpio_t gpio) {
 
 inline bsp_status_t bsp_gpio_write_pin(bsp_gpio_t gpio, bool value) {
   if (gpio == BSP_GPIO_LED) {
-    uint8_t txbuff[24];
-    memset(txbuff, 0xC, 24);
     if (value) {
-      memset(txbuff, 0XF, 8);
-      bsp_spi_transmit(BSP_SPI_LED, txbuff, 24, true);
-    }
-    if (!value) {
-      memset(txbuff + 16, 0XF, 8);
-      bsp_spi_transmit(BSP_SPI_LED, txbuff, 24, true);
+      bsp_pwm_set_comp(BSP_PWM_LED_RED, 1.0f);
+    } else if (!value) {
+      bsp_pwm_set_comp(BSP_PWM_LED_RED, 0.0f);
     }
 
     return BSP_OK;

hw/bsp/mc02/drivers/bsp_gpio.h

@@ -11,7 +11,9 @@ typedef enum {
   BSP_GPIO_IMU_GYRO_CS,
   BSP_GPIO_IMU_ACCL_INT,
   BSP_GPIO_IMU_GYRO_INT,
-  // BSP_GPIO_TRIG,
+  BSP_GPIO_IMU_POWER_5V_EN,
+  BSP_GPIO_IMU_POWER_24V_1_EN,
+  BSP_GPIO_IMU_POWER_24V_2_EN,
   BSP_GPIO_LED,
   BSP_GPIO_NUM,
 } bsp_gpio_t;

hw/bsp/mc02/drivers/bsp_pwm.c

@@ -2,18 +2,58 @@
 
 #include "main.h"
 
+#define WS2812_LowLevel 0xC0
+#define WS2812_HighLevel 0xF0
+
+extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim2;
 extern TIM_HandleTypeDef htim3;
+extern TIM_HandleTypeDef htim7;
+extern TIM_HandleTypeDef htim12;
+extern SPI_HandleTypeDef hspi6;
+
+static uint8_t ws2812_color_grb[3] = {0}, spi_tx_buff[24] = {0};
 
 typedef struct {
   TIM_HandleTypeDef *tim;
   uint16_t channel;
 } bsp_pwm_config_t;
 
+static void ws2812_ctrl() {
+  for (int i = 0; i < 8; i++) {
+    spi_tx_buff[7 - i] =
+        (((ws2812_color_grb[0] >> i) & 0x01) ? WS2812_HighLevel
+                                             : WS2812_LowLevel) >>
+        1;
+    spi_tx_buff[15 - i] =
+        (((ws2812_color_grb[1] >> i) & 0x01) ? WS2812_HighLevel
+                                             : WS2812_LowLevel) >>
+        1;
+    spi_tx_buff[23 - i] =
+        (((ws2812_color_grb[2] >> i) & 0x01) ? WS2812_HighLevel
+                                             : WS2812_LowLevel) >>
+        1;
+  }
+  HAL_SPI_Transmit_DMA(&hspi6, spi_tx_buff, sizeof(spi_tx_buff));
+}
+
 static bsp_pwm_config_t bsp_pwm_map[BSP_PWM_NUMBER] = {
-    [BSP_PWM_IMU_HEAT] = {&htim3, TIM_CHANNEL_1},
+    [BSP_PWM_IMU_HEAT] = {&htim3, TIM_CHANNEL_4},
+    [BSP_PWM_BUZZER] = {&htim12, TIM_CHANNEL_2},
+    [BSP_PWM_LED_GRN] = {&htim1, TIM_CHANNEL_2},
+    [BSP_PWM_LED_RED] = {&htim1, TIM_CHANNEL_2},
+    [BSP_PWM_LED_BLU] = {&htim1, TIM_CHANNEL_2},
+    [BSP_PWM_SERVO_A] = {&htim1, TIM_CHANNEL_1},
+    [BSP_PWM_SERVO_B] = {&htim1, TIM_CHANNEL_3},
+    [BSP_PWM_SERVO_C] = {&htim2, TIM_CHANNEL_1},
+    [BSP_PWM_SERVO_D] = {&htim2, TIM_CHANNEL_3},
 };
 
 bsp_status_t bsp_pwm_start(bsp_pwm_channel_t ch) {
+  if (ch >= BSP_PWM_LED_GRN && ch <= BSP_PWM_LED_BLU) {
+    ws2812_ctrl();
+    return BSP_OK;
+  }
   HAL_TIM_PWM_Start(bsp_pwm_map[ch].tim, bsp_pwm_map[ch].channel);
 
   return BSP_OK;
@@ -28,6 +68,12 @@ bsp_status_t bsp_pwm_set_comp(bsp_pwm_channel_t ch, float duty_cycle) {
     duty_cycle = 0.f;
   }
 
+  if (ch >= BSP_PWM_LED_GRN && ch <= BSP_PWM_LED_BLU) {
+    ws2812_color_grb[ch - BSP_PWM_LED_GRN] = (uint8_t)(duty_cycle * 255.0f);
+    ws2812_ctrl();
+    return BSP_OK;
+  }
+
   /* 通过PWM通道对应定时器重载值和给定占空比，计算PWM周期值 */
   uint16_t pulse = (uint16_t)(duty_cycle * (float)__HAL_TIM_GET_AUTORELOAD(
                                                bsp_pwm_map[ch].tim));
@@ -40,6 +86,10 @@ bsp_status_t bsp_pwm_set_comp(bsp_pwm_channel_t ch, float duty_cycle) {
 bsp_status_t bsp_pwm_set_freq(bsp_pwm_channel_t ch, float freq) {
   uint16_t reload = (uint16_t)(1000000U / freq);
 
+  if (ch >= BSP_PWM_LED_GRN && ch <= BSP_PWM_LED_BLU) {
+    return BSP_OK;
+  }
+
   if (reload > 0) {
     __HAL_TIM_PRESCALER(bsp_pwm_map[ch].tim, reload);
   } else {

hw/bsp/mc02/drivers/bsp_pwm.h

@@ -8,20 +8,16 @@ extern "C" {
 /* PWM通道 */
 typedef enum {
   BSP_PWM_IMU_HEAT,
-  // BSP_PWM_LAUNCHER_SERVO,
-  // BSP_PWM_BUZZER,
-  // BSP_PWM_LED_RED,
-  // BSP_PWM_LED_GRN,
-  // BSP_PWM_LED_BLU,
-  // BSP_PWM_LASER,
-  // BSP_PWM_SERVO_A,
-  // BSP_PWM_SERVO_B,
-  // BSP_PWM_SERVO_C,
-  // BSP_PWM_SERVO_D,
-  // BSP_PWM_SERVO_E,
-  // BSP_PWM_SERVO_F,
-  // BSP_PWM_SERVO_G,
+  BSP_PWM_BUZZER,
+  BSP_PWM_LED_GRN,
+  BSP_PWM_LED_RED,
+  BSP_PWM_LED_BLU,
+  BSP_PWM_SERVO_A,
+  BSP_PWM_SERVO_B,
+  BSP_PWM_SERVO_C,
+  BSP_PWM_SERVO_D,
   BSP_PWM_NUMBER,
+  BSP_PWM_LAUNCHER_SERVO = BSP_PWM_SERVO_A
 } bsp_pwm_channel_t;
 
 bsp_status_t bsp_pwm_start(bsp_pwm_channel_t ch);

hw/bsp/mc02/drivers/bsp_uart.c

@@ -4,22 +4,43 @@
 #include "stm32h7xx_it.h"
 
 extern UART_HandleTypeDef huart5;
+extern UART_HandleTypeDef huart7;
+extern UART_HandleTypeDef huart1;
+extern UART_HandleTypeDef huart2;
 extern UART_HandleTypeDef huart3;
+extern UART_HandleTypeDef huart10;
 extern DMA_HandleTypeDef hdma_uart5_rx;
+extern DMA_HandleTypeDef hdma_uart7_rx;
+extern DMA_HandleTypeDef hdma_uart7_tx;
+extern DMA_HandleTypeDef hdma_usart1_rx;
+extern DMA_HandleTypeDef hdma_usart1_tx;
+extern DMA_HandleTypeDef hdma_usart2_rx;
+extern DMA_HandleTypeDef hdma_usart2_tx;
 extern DMA_HandleTypeDef hdma_usart3_tx;
 extern DMA_HandleTypeDef hdma_usart3_rx;
+extern DMA_HandleTypeDef hdma_usart10_rx;
+extern DMA_HandleTypeDef hdma_usart10_tx;
 
 static bsp_callback_t callback_list[BSP_UART_NUM][BSP_UART_CB_NUM];
 
 static bsp_uart_t uart_get(UART_HandleTypeDef *huart) {
   if (huart->Instance == UART5) {
     return BSP_UART_DR16;
-  } else if (huart->Instance == USART3) {
+  } else if (huart->Instance == USART1) {
     return BSP_UART_REF;
-  } /*
-   else if (huart->Instance == USARTX)
-                   return BSP_UART_XXX;
-   */
+  } else if (huart->Instance == UART7) {
+    return BSP_UART_AI;
+  } else if (huart->Instance == USART10) {
+    return BSP_UART_CUSTOM;
+  } else if (huart->Instance == USART2) {
+    return BSP_UART_RS485_1;
+  } else if (huart->Instance == USART3) {
+    return BSP_UART_RS485_2;
+  }
+  /*
+  else if (huart->Instance == USARTX)
+                  return BSP_UART_XXX;
+  */
   else {
     return BSP_UART_ERR;
   }
@@ -29,6 +50,14 @@ UART_HandleTypeDef *bsp_uart_get_handle(bsp_uart_t uart) {
     case BSP_UART_DR16:
       return &huart5;
     case BSP_UART_REF:
+      return &huart1;
+    case BSP_UART_AI:
+      return &huart7;
+    case BSP_UART_CUSTOM:
+      return &huart10;
+    case BSP_UART_RS485_1:
+      return &huart2;
+    case BSP_UART_RS485_2:
       return &huart3;
     /*
     case BSP_UART_XXX:
@@ -115,6 +144,22 @@ bsp_status_t bsp_uart_abort_receive(bsp_uart_t uart) {
       break;
     }
     case BSP_UART_REF: {
+      __HAL_DMA_SET_COUNTER(&hdma_usart1_rx, 0);
+      break;
+    }
+    case BSP_UART_AI: {
+      __HAL_DMA_SET_COUNTER(&hdma_uart7_rx, 0);
+      break;
+    }
+    case BSP_UART_CUSTOM: {
+      __HAL_DMA_SET_COUNTER(&hdma_usart10_rx, 0);
+      break;
+    }
+    case BSP_UART_RS485_1: {
+      __HAL_DMA_SET_COUNTER(&hdma_usart2_rx, 0);
+      break;
+    }
+    case BSP_UART_RS485_2: {
       __HAL_DMA_SET_COUNTER(&hdma_usart3_rx, 0);
       break;
     }
@@ -133,6 +178,22 @@ bsp_status_t bsp_uart_abort_transmit(bsp_uart_t uart) {
       break;
     }
     case BSP_UART_REF: {
+      __HAL_DMA_SET_COUNTER(&hdma_usart1_tx, 0);
+      break;
+    }
+    case BSP_UART_AI: {
+      __HAL_DMA_SET_COUNTER(&hdma_uart7_tx, 0);
+      break;
+    }
+    case BSP_UART_CUSTOM: {
+      __HAL_DMA_SET_COUNTER(&hdma_usart10_tx, 0);
+      break;
+    }
+    case BSP_UART_RS485_1: {
+      __HAL_DMA_SET_COUNTER(&hdma_usart2_tx, 0);
+      break;
+    }
+    case BSP_UART_RS485_2: {
       __HAL_DMA_SET_COUNTER(&hdma_usart3_tx, 0);
       break;
     }

hw/bsp/mc02/drivers/bsp_uart.h

@@ -13,7 +13,10 @@ extern "C" {
 typedef enum {
   BSP_UART_DR16,
   BSP_UART_REF,
-  // BSP_UART_AI,
+  BSP_UART_AI,
+  BSP_UART_CUSTOM,
+  BSP_UART_RS485_1,
+  BSP_UART_RS485_2,
   /* BSP_UART_XXX, */
   BSP_UART_NUM,
   BSP_UART_ERR,

hw/bsp/mc02/drivers/hal/Core/Inc/stm32h7xx_it.h

@@ -60,6 +60,8 @@ void DMA1_Stream5_IRQHandler(void);
 void DMA1_Stream6_IRQHandler(void);
 void FDCAN1_IT0_IRQHandler(void);
 void FDCAN2_IT0_IRQHandler(void);
+void FDCAN1_IT1_IRQHandler(void);
+void FDCAN2_IT1_IRQHandler(void);
 void SPI2_IRQHandler(void);
 void USART1_IRQHandler(void);
 void USART2_IRQHandler(void);
@@ -79,6 +81,7 @@ void SPI6_IRQHandler(void);
 void BDMA_Channel0_IRQHandler(void);
 void USART10_IRQHandler(void);
 void FDCAN3_IT0_IRQHandler(void);
+void FDCAN3_IT1_IRQHandler(void);
 void TIM23_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 void HAL_UART_RegisterUserCallback(void (*fn)(UART_HandleTypeDef *huart));