Add support for mc02 & add custom controller

.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/atom/board.cmake

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

hw/bsp/atom/config/blink.config

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

hw/bsp/atom/config/canfd_imu.config

@@ -0,0 +1,128 @@
+# CONFIG_auto_generated_config_prefix_board-c-mini is not set
+# CONFIG_auto_generated_config_prefix_board-dual_canfd is not set
+# 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-mangopi_r818 is not set
+# CONFIG_auto_generated_config_prefix_board-mc02 is not set
+# CONFIG_auto_generated_config_prefix_board-microswitch is not set
+# CONFIG_auto_generated_config_prefix_board-MiniPC is not set
+# CONFIG_auto_generated_config_prefix_board-MiniPC_with_canfd is not set
+# 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-atom=y
+# 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
+# CONFIG_auto_generated_config_prefix_system-Linux_Webots is not set
+# CONFIG_auto_generated_config_prefix_system-None is not set
+
+#
+# FreeRTOS
+#
+CONFIG_INIT_TASK_STACK_DEPTH=768
+CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH=256
+CONFIG_FREERTOS_USB_TASK_STACK_DEPTH=256
+CONFIG_FREERTOS_TERM_TASK_STACK_DEPTH=384
+# end of FreeRTOS
+
+# CONFIG_auto_generated_config_prefix_robot-balance_infantry is not set
+# CONFIG_auto_generated_config_prefix_robot-ble_net_config is not set
+# CONFIG_auto_generated_config_prefix_robot-blink is not set
+# CONFIG_auto_generated_config_prefix_robot-bootloader is not set
+# CONFIG_auto_generated_config_prefix_robot-canfd_to_uart is not set
+# 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-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
+# CONFIG_auto_generated_config_prefix_robot-sentry is not set
+# CONFIG_auto_generated_config_prefix_robot-sim_balance is not set
+# CONFIG_auto_generated_config_prefix_robot-sim_mecanum is not set
+# 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-canfd_imu=y
+# 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
+#
+
+#
+# 设备
+#
+# CONFIG_auto_generated_config_prefix_device-ahrs is not set
+CONFIG_DEVICE_AHRS_TASK_STACK_DEPTH=256
+CONFIG_auto_generated_config_prefix_device-ahrs-9=y
+# 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 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=y
+# 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-dev_bw16 is not set
+# CONFIG_auto_generated_config_prefix_device-dr16 is not set
+CONFIG_auto_generated_config_prefix_device-icm42688=y
+CONFIG_DEVICE_ICM42688_TASK_STACK_DEPTH=256
+# 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-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=y
+CONFIG_DEVICE_MMC5603_TASK_STACK_DEPTH=384
+# 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 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
+CONFIG_auto_generated_config_prefix_device-wearlab=y
+# end of 设备
+
+#
+# 模块
+#
+# 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
+# CONFIG_auto_generated_config_prefix_module-can_imu is not set
+# CONFIG_auto_generated_config_prefix_module-can_imu_wearlab is not set
+# CONFIG_auto_generated_config_prefix_module-can_usart is not set
+# CONFIG_auto_generated_config_prefix_module-chassis is not set
+# CONFIG_auto_generated_config_prefix_module-custom_controller is not set
+# 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-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_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 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-canfd_imu=y
+# 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