From 316d2e8847d4889d307574476c3ac66e3a4b7350 Mon Sep 17 00:00:00 2001 From: a1012112796 <1012112796@qq.com> Date: Tue, 10 Dec 2019 23:04:25 +0800 Subject: [PATCH] [BSP/stm32f427-robomaster-a] add SD card suport --- ...73\345\212\240\346\214\207\345\215\227.md" | 1 + bsp/stm32/stm32f427-robomaster-a/README.md | 2 +- .../board/CubeMX_Config/.mxproject | 4 +- .../board/CubeMX_Config/CubeMX_Config.ioc | 118 ++++++++++-------- .../CubeMX_Config/Inc/stm32f4xx_hal_conf.h | 2 +- .../board/CubeMX_Config/Src/main.c | 43 ++++++- .../CubeMX_Config/Src/stm32f4xx_hal_msp.c | 85 +++++++++++++ .../stm32f427-robomaster-a/board/Kconfig | 12 ++ .../stm32f427-robomaster-a/board/SConscript | 3 + .../stm32f427-robomaster-a/board/board.c | 2 +- .../board/ports/sdcard_port.c | 62 +++++++++ 11 files changed, 279 insertions(+), 55 deletions(-) create mode 100644 bsp/stm32/stm32f427-robomaster-a/board/ports/sdcard_port.c diff --git "a/bsp/stm32/docs/STM32\347\263\273\345\210\227\345\244\226\350\256\276\351\251\261\345\212\250\346\267\273\345\212\240\346\214\207\345\215\227.md" "b/bsp/stm32/docs/STM32\347\263\273\345\210\227\345\244\226\350\256\276\351\251\261\345\212\250\346\267\273\345\212\240\346\214\207\345\215\227.md" index 41ffcecd5..48369f1d5 100644 --- "a/bsp/stm32/docs/STM32\347\263\273\345\210\227\345\244\226\350\256\276\351\251\261\345\212\250\346\267\273\345\212\240\346\214\207\345\215\227.md" +++ "b/bsp/stm32/docs/STM32\347\263\273\345\210\227\345\244\226\350\256\276\351\251\261\345\212\250\346\267\273\345\212\240\346\214\207\345\215\227.md" @@ -95,6 +95,7 @@ | 10 | Watchdog | **开启该外设** | | 11 | EMAC | **配置 ETH 外设的工作模式（一般为 RMII 模式）** | | 12 | SDRAM | **需要根据板载的 SDRAM 型号配置片选脚，地址线，数据线等** | +| 13 | SDIO | **开启该外设，配置引脚（或者使用默认引脚），SDIO会改变时钟结构，故需重新配置时钟并修改board.c** | ### 5.3 复杂外设配置说明 diff --git a/bsp/stm32/stm32f427-robomaster-a/README.md b/bsp/stm32/stm32f427-robomaster-a/README.md index 60984270d..9b288d504 100644 --- a/bsp/stm32/stm32f427-robomaster-a/README.md +++ b/bsp/stm32/stm32f427-robomaster-a/README.md @@ -37,7 +37,7 @@ RoboMaster开发板套件是一款面向机器人DIY的开源主控套件。开 | **板载外设** | **支持情况** | **备注** | | :----------------- | :----------: | :------------------------------------- | -| SD卡 | 暂不支持 | | +| SD卡 | 支持 | | | CAN | 支持 | 需通过24vXT30接口或usb接口供电 | | **片上外设** | **支持情况** | **备注** | | GPIO | 支持 | PA0, PA1... PK15 ---> PIN: 0, 1...176 | diff --git a/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/.mxproject b/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/.mxproject index 24e8a91dd..48bd0f039 100644 --- a/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/.mxproject +++ b/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/.mxproject @@ -5,10 +5,10 @@ SourcePath=F:/rt-thread/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/Src SourceFiles=stm32f4xx_it.c;stm32f4xx_hal_msp.c;main.c;gpio.c;spi.c;usart.c; [PreviousLibFiles] -LibFiles=Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h;Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h;Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f427xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Include/cmsis_armclang.h;Drivers/CMSIS/Include/cmsis_compiler.h;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/cmsis_iccarm.h;Drivers/CMSIS/Include/cmsis_version.h;Drivers/CMSIS/Include/core_armv8mbl.h;Drivers/CMSIS/Include/core_armv8mml.h;Drivers/CMSIS/Include/core_cm0.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/core_cm1.h;Drivers/CMSIS/Include/core_cm23.h;Drivers/CMSIS/Include/core_cm3.h;Drivers/CMSIS/Include/core_cm33.h;Drivers/CMSIS/Include/core_cm4.h;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/core_sc300.h;Drivers/CMSIS/Include/mpu_armv7.h;Drivers/CMSIS/Include/mpu_armv8.h;Drivers/CMSIS/Include/tz_context.h; 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[PreviousUsedKeilFiles] -SourceFiles=..\Src\main.c;..\Src\stm32f4xx_it.c;..\Src\stm32f4xx_hal_msp.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;..\\Src/system_stm32f4xx.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;..\\Src/system_stm32f4xx.c;..\Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;; +SourceFiles=..\Src\main.c;..\Src\stm32f4xx_it.c;..\Src\stm32f4xx_hal_msp.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_sdmmc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sd.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;..\\Src/system_stm32f4xx.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_sdmmc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sd.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;..\\Src/system_stm32f4xx.c;..\Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;; HeaderPath=..\Drivers\STM32F4xx_HAL_Driver\Inc;..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy;..\Drivers\CMSIS\Device\ST\STM32F4xx\Include;..\Drivers\CMSIS\Include;..\Inc; CDefines=USE_HAL_DRIVER;STM32F427xx;USE_HAL_DRIVER;USE_HAL_DRIVER; diff --git a/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/CubeMX_Config.ioc b/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/CubeMX_Config.ioc index cc0c04b90..14cf6a327 100644 --- a/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/CubeMX_Config.ioc +++ b/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/CubeMX_Config.ioc @@ -8,59 +8,66 @@ KeepUserPlacement=true Mcu.Family=STM32F4 Mcu.IP0=CAN1 Mcu.IP1=CAN2 -Mcu.IP10=UART8 -Mcu.IP11=USART1 -Mcu.IP12=USART3 -Mcu.IP13=USART6 +Mcu.IP10=UART7 +Mcu.IP11=UART8 +Mcu.IP12=USART1 +Mcu.IP13=USART3 +Mcu.IP14=USART6 Mcu.IP2=NVIC Mcu.IP3=RCC -Mcu.IP4=SPI5 -Mcu.IP5=SYS -Mcu.IP6=TIM4 -Mcu.IP7=TIM5 -Mcu.IP8=TIM12 -Mcu.IP9=UART7 -Mcu.IPNb=14 +Mcu.IP4=SDIO +Mcu.IP5=SPI5 +Mcu.IP6=SYS +Mcu.IP7=TIM4 +Mcu.IP8=TIM5 +Mcu.IP9=TIM12 +Mcu.IPNb=15 Mcu.Name=STM32F427I(G-I)Hx Mcu.Package=UFBGA176 Mcu.Pin0=PE1 Mcu.Pin1=PE0 -Mcu.Pin10=PI0 -Mcu.Pin11=PH0/OSC_IN -Mcu.Pin12=PH1/OSC_OUT -Mcu.Pin13=PF7 -Mcu.Pin14=PF6 -Mcu.Pin15=PH12 -Mcu.Pin16=PF9 -Mcu.Pin17=PF8 -Mcu.Pin18=PH11 -Mcu.Pin19=PH10 +Mcu.Pin10=PC10 +Mcu.Pin11=PG9 +Mcu.Pin12=PD1 +Mcu.Pin13=PD2 +Mcu.Pin14=PI0 +Mcu.Pin15=PC9 +Mcu.Pin16=PH0/OSC_IN +Mcu.Pin17=PC8 +Mcu.Pin18=PH1/OSC_OUT +Mcu.Pin19=PF7 Mcu.Pin2=PG14 -Mcu.Pin20=PD15 -Mcu.Pin21=PH6 -Mcu.Pin22=PD14 -Mcu.Pin23=PD13 -Mcu.Pin24=PD12 -Mcu.Pin25=PE8 -Mcu.Pin26=PE11 -Mcu.Pin27=PB12 -Mcu.Pin28=PB13 -Mcu.Pin29=PD9 -Mcu.Pin3=PA14 -Mcu.Pin30=PD8 -Mcu.Pin31=PF14 -Mcu.Pin32=PE7 -Mcu.Pin33=VP_SYS_VS_Systick -Mcu.Pin34=VP_TIM4_VS_ClockSourceINT -Mcu.Pin35=VP_TIM5_VS_ClockSourceINT -Mcu.Pin36=VP_TIM12_VS_ClockSourceINT -Mcu.Pin4=PA13 -Mcu.Pin5=PB7 -Mcu.Pin6=PB6 -Mcu.Pin7=PD0 -Mcu.Pin8=PG9 -Mcu.Pin9=PD1 -Mcu.PinsNb=37 +Mcu.Pin20=PF6 +Mcu.Pin21=PH12 +Mcu.Pin22=PF9 +Mcu.Pin23=PF8 +Mcu.Pin24=PH11 +Mcu.Pin25=PH10 +Mcu.Pin26=PD15 +Mcu.Pin27=PH6 +Mcu.Pin28=PD14 +Mcu.Pin29=PD13 +Mcu.Pin3=PC12 +Mcu.Pin30=PD12 +Mcu.Pin31=PE8 +Mcu.Pin32=PE11 +Mcu.Pin33=PB12 +Mcu.Pin34=PB13 +Mcu.Pin35=PD9 +Mcu.Pin36=PD8 +Mcu.Pin37=PF14 +Mcu.Pin38=PE7 +Mcu.Pin39=VP_SYS_VS_Systick +Mcu.Pin4=PA14 +Mcu.Pin40=VP_TIM4_VS_ClockSourceINT +Mcu.Pin41=VP_TIM5_VS_ClockSourceINT +Mcu.Pin42=VP_TIM12_VS_ClockSourceINT +Mcu.Pin5=PA13 +Mcu.Pin6=PB7 +Mcu.Pin7=PB6 +Mcu.Pin8=PD0 +Mcu.Pin9=PC11 +Mcu.PinsNb=43 Mcu.ThirdPartyNb=0 Mcu.UserConstants= Mcu.UserName=STM32F427IIHx @@ -93,6 +100,16 @@ PB6.Signal=USART1_TX PB7.Locked=true PB7.Mode=Asynchronous PB7.Signal=USART1_RX +PC10.Mode=SD_4_bits_Wide_bus +PC10.Signal=SDIO_D2 +PC11.Mode=SD_4_bits_Wide_bus +PC11.Signal=SDIO_D3 +PC12.Mode=SD_4_bits_Wide_bus +PC12.Signal=SDIO_CK +PC8.Mode=SD_4_bits_Wide_bus +PC8.Signal=SDIO_D0 +PC9.Mode=SD_4_bits_Wide_bus +PC9.Signal=SDIO_D1 PCC.Checker=false PCC.Line=STM32F427/437 PCC.MCU=STM32F427I(G-I)Hx @@ -114,6 +131,8 @@ PD14.Locked=true PD14.Signal=S_TIM4_CH3 PD15.Locked=true PD15.Signal=S_TIM4_CH4 +PD2.Mode=SD_4_bits_Wide_bus +PD2.Signal=SDIO_CMD PD8.Locked=true PD8.Mode=Asynchronous PD8.Signal=USART3_TX @@ -194,7 +213,7 @@ ProjectManager.TargetToolchain=MDK-ARM V5 ProjectManager.ToolChainLocation= ProjectManager.UnderRoot=false ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-true,3-MX_SPI5_Init-SPI5-false-HAL-true,4-MX_USART6_UART_Init-USART6-false-HAL-true,5-MX_CAN1_Init-CAN1-false-HAL-true,6-MX_CAN2_Init-CAN2-false-HAL-true,7-MX_TIM4_Init-TIM4-false-HAL-true,8-MX_TIM5_Init-TIM5-false-HAL-true,9-MX_TIM12_Init-TIM12-false-HAL-true,10-MX_UART7_Init-UART7-false-HAL-true,11-MX_UART8_Init-UART8-false-HAL-true,12-MX_USART1_UART_Init-USART1-false-HAL-true,13-MX_USART3_UART_Init-USART3-false-HAL-true -RCC.48MHZClocksFreq_Value=90000000 +RCC.48MHZClocksFreq_Value=45000000 RCC.AHBFreq_Value=180000000 RCC.APB1CLKDivider=RCC_HCLK_DIV4 RCC.APB1Freq_Value=45000000 @@ -210,14 +229,15 @@ RCC.HCLKFreq_Value=180000000 RCC.HSE_VALUE=12000000 RCC.HSI_VALUE=16000000 RCC.I2SClocksFreq_Value=192000000 -RCC.IPParameters=48MHZClocksFreq_Value,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2CLKDivider,APB2Freq_Value,APB2TimFreq_Value,CortexFreq_Value,EthernetFreq_Value,FCLKCortexFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI_VALUE,I2SClocksFreq_Value,LSE_VALUE,LSI_VALUE,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLM,PLLN,PLLQCLKFreq_Value,PLLSourceVirtual,RTCFreq_Value,RTCHSEDivFreq_Value,SAI_AClocksFreq_Value,SAI_BClocksFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VCOSAIOutputFreq_Value,VCOSAIOutputFreq_ValueQ,VcooutputI2S,VcooutputI2SQ +RCC.IPParameters=48MHZClocksFreq_Value,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2CLKDivider,APB2Freq_Value,APB2TimFreq_Value,CortexFreq_Value,EthernetFreq_Value,FCLKCortexFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI_VALUE,I2SClocksFreq_Value,LSE_VALUE,LSI_VALUE,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLM,PLLN,PLLQ,PLLQCLKFreq_Value,PLLSourceVirtual,RTCFreq_Value,RTCHSEDivFreq_Value,SAI_AClocksFreq_Value,SAI_BClocksFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VCOSAIOutputFreq_Value,VCOSAIOutputFreq_ValueQ,VcooutputI2S,VcooutputI2SQ RCC.LSE_VALUE=32768 RCC.LSI_VALUE=32000 RCC.MCO2PinFreq_Value=180000000 RCC.PLLCLKFreq_Value=180000000 RCC.PLLM=6 RCC.PLLN=180 -RCC.PLLQCLKFreq_Value=90000000 +RCC.PLLQ=8 +RCC.PLLQCLKFreq_Value=45000000 RCC.PLLSourceVirtual=RCC_PLLSOURCE_HSE RCC.RTCFreq_Value=32000 RCC.RTCHSEDivFreq_Value=6000000 diff --git a/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h b/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h index 4381f2c79..059668d21 100644 --- a/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h +++ b/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h @@ -58,7 +58,7 @@ /* #define HAL_RNG_MODULE_ENABLED */ /* #define HAL_RTC_MODULE_ENABLED */ /* #define HAL_SAI_MODULE_ENABLED */ -/* #define HAL_SD_MODULE_ENABLED */ +#define HAL_SD_MODULE_ENABLED /* #define HAL_MMC_MODULE_ENABLED */ #define HAL_SPI_MODULE_ENABLED #define HAL_TIM_MODULE_ENABLED diff --git a/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/Src/main.c b/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/Src/main.c index 9a25813ef..0a4607049 100644 --- a/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/Src/main.c +++ b/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/Src/main.c @@ -65,6 +65,8 @@ CAN_HandleTypeDef hcan1; CAN_HandleTypeDef hcan2; +SD_HandleTypeDef hsd; + SPI_HandleTypeDef hspi5; TIM_HandleTypeDef htim4; @@ -95,6 +97,7 @@ static void MX_UART7_Init(void); static void MX_UART8_Init(void); static void MX_USART1_UART_Init(void); static void MX_USART3_UART_Init(void); +static void MX_SDIO_SD_Init(void); /* USER CODE BEGIN PFP */ /* USER CODE END PFP */ @@ -144,6 +147,7 @@ int main(void) MX_UART8_Init(); MX_USART1_UART_Init(); MX_USART3_UART_Init(); + MX_SDIO_SD_Init(); /* USER CODE BEGIN 2 */ /* USER CODE END 2 */ @@ -181,7 +185,7 @@ void SystemClock_Config(void) RCC_OscInitStruct.PLL.PLLM = 6; RCC_OscInitStruct.PLL.PLLN = 180; RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; - RCC_OscInitStruct.PLL.PLLQ = 4; + RCC_OscInitStruct.PLL.PLLQ = 8; if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { Error_Handler(); @@ -281,6 +285,42 @@ static void MX_CAN2_Init(void) } +/** + * @brief SDIO Initialization Function + * @param None + * @retval None + */ +static void MX_SDIO_SD_Init(void) +{ + + /* USER CODE BEGIN SDIO_Init 0 */ + + /* USER CODE END SDIO_Init 0 */ + + /* USER CODE BEGIN SDIO_Init 1 */ + + /* USER CODE END SDIO_Init 1 */ + hsd.Instance = SDIO; + hsd.Init.ClockEdge = SDIO_CLOCK_EDGE_RISING; + hsd.Init.ClockBypass = SDIO_CLOCK_BYPASS_DISABLE; + hsd.Init.ClockPowerSave = SDIO_CLOCK_POWER_SAVE_DISABLE; + hsd.Init.BusWide = SDIO_BUS_WIDE_1B; + hsd.Init.HardwareFlowControl = SDIO_HARDWARE_FLOW_CONTROL_DISABLE; + hsd.Init.ClockDiv = 0; + if (HAL_SD_Init(&hsd) != HAL_OK) + { + Error_Handler(); + } + if (HAL_SD_ConfigWideBusOperation(&hsd, SDIO_BUS_WIDE_4B) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN SDIO_Init 2 */ + + /* USER CODE END SDIO_Init 2 */ + +} + /** * @brief SPI5 Initialization Function * @param None @@ -690,6 +730,7 @@ static void MX_GPIO_Init(void) /* GPIO Ports Clock Enable */ __HAL_RCC_GPIOE_CLK_ENABLE(); __HAL_RCC_GPIOG_CLK_ENABLE(); + __HAL_RCC_GPIOC_CLK_ENABLE(); __HAL_RCC_GPIOA_CLK_ENABLE(); __HAL_RCC_GPIOB_CLK_ENABLE(); __HAL_RCC_GPIOD_CLK_ENABLE(); diff --git a/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c b/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c index 2871a6694..19b391828 100644 --- a/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c +++ b/bsp/stm32/stm32f427-robomaster-a/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c @@ -222,6 +222,91 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan) } +/** +* @brief SD MSP Initialization +* This function configures the hardware resources used in this example +* @param hsd: SD handle pointer +* @retval None +*/ +void HAL_SD_MspInit(SD_HandleTypeDef* hsd) +{ + GPIO_InitTypeDef GPIO_InitStruct = {0}; + if(hsd->Instance==SDIO) + { + /* USER CODE BEGIN SDIO_MspInit 0 */ + + /* USER CODE END SDIO_MspInit 0 */ + /* Peripheral clock enable */ + __HAL_RCC_SDIO_CLK_ENABLE(); + + __HAL_RCC_GPIOC_CLK_ENABLE(); + __HAL_RCC_GPIOD_CLK_ENABLE(); + /**SDIO GPIO Configuration + PC12 ------> SDIO_CK + PC11 ------> SDIO_D3 + PC10 ------> SDIO_D2 + PD2 ------> SDIO_CMD + PC9 ------> SDIO_D1 + PC8 ------> SDIO_D0 + */ + GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_11|GPIO_PIN_10|GPIO_PIN_9 + |GPIO_PIN_8; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; + GPIO_InitStruct.Alternate = GPIO_AF12_SDIO; + HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); + + GPIO_InitStruct.Pin = GPIO_PIN_2; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; + GPIO_InitStruct.Alternate = GPIO_AF12_SDIO; + HAL_GPIO_Init(GPIOD, &GPIO_InitStruct); + + /* USER CODE BEGIN SDIO_MspInit 1 */ + + /* USER CODE END SDIO_MspInit 1 */ + } + +} + +/** +* @brief SD MSP De-Initialization +* This function freeze the hardware resources used in this example +* @param hsd: SD handle pointer +* @retval None +*/ +void HAL_SD_MspDeInit(SD_HandleTypeDef* hsd) +{ + if(hsd->Instance==SDIO) + { + /* USER CODE BEGIN SDIO_MspDeInit 0 */ + + /* USER CODE END SDIO_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_SDIO_CLK_DISABLE(); + + /**SDIO GPIO Configuration + PC12 ------> SDIO_CK + PC11 ------> SDIO_D3 + PC10 ------> SDIO_D2 + PD2 ------> SDIO_CMD + PC9 ------> SDIO_D1 + PC8 ------> SDIO_D0 + */ + HAL_GPIO_DeInit(GPIOC, GPIO_PIN_12|GPIO_PIN_11|GPIO_PIN_10|GPIO_PIN_9 + |GPIO_PIN_8); + + HAL_GPIO_DeInit(GPIOD, GPIO_PIN_2); + + /* USER CODE BEGIN SDIO_MspDeInit 1 */ + + /* USER CODE END SDIO_MspDeInit 1 */ + } + +} + /** * @brief SPI MSP Initialization * This function configures the hardware resources used in this example diff --git a/bsp/stm32/stm32f427-robomaster-a/board/Kconfig b/bsp/stm32/stm32f427-robomaster-a/board/Kconfig index e5b9236f3..1d7a7aa9d 100644 --- a/bsp/stm32/stm32f427-robomaster-a/board/Kconfig +++ b/bsp/stm32/stm32f427-robomaster-a/board/Kconfig @@ -8,6 +8,12 @@ config SOC_STM32F427II default y menu "Onboard Peripheral Drivers" + config BSP_USING_SDCARD + bool "Enable SDCARD (sdio)" + select BSP_USING_SDIO + select RT_USING_DFS + select RT_USING_DFS_ELMFAT + default n endmenu menu "On-chip Peripheral Drivers" @@ -76,6 +82,12 @@ menu "On-chip Peripheral Drivers" default n endif + config BSP_USING_SDIO + bool "Enable SDIO" + select RT_USING_SDIO + select RT_USING_DFS + default n + menuconfig BSP_USING_PWM bool "Enable pwm" default n diff --git a/bsp/stm32/stm32f427-robomaster-a/board/SConscript b/bsp/stm32/stm32f427-robomaster-a/board/SConscript index 2a6e17831..7d5ac61de 100644 --- a/bsp/stm32/stm32f427-robomaster-a/board/SConscript +++ b/bsp/stm32/stm32f427-robomaster-a/board/SConscript @@ -12,6 +12,9 @@ board.c CubeMX_Config/Src/stm32f4xx_hal_msp.c ''') +if GetDepend(['BSP_USING_SDCARD']): + src += Glob('ports/sdcard_port.c') + path = [cwd] path += [cwd + '/CubeMX_Config/Inc'] path += [cwd + '/ports'] diff --git a/bsp/stm32/stm32f427-robomaster-a/board/board.c b/bsp/stm32/stm32f427-robomaster-a/board/board.c index c4c3f7743..a0901feba 100644 --- a/bsp/stm32/stm32f427-robomaster-a/board/board.c +++ b/bsp/stm32/stm32f427-robomaster-a/board/board.c @@ -32,7 +32,7 @@ void SystemClock_Config(void) RCC_OscInitStruct.PLL.PLLM = 6; RCC_OscInitStruct.PLL.PLLN = 180; RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; - RCC_OscInitStruct.PLL.PLLQ = 4; + RCC_OscInitStruct.PLL.PLLQ = 8; if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { Error_Handler(); diff --git a/bsp/stm32/stm32f427-robomaster-a/board/ports/sdcard_port.c b/bsp/stm32/stm32f427-robomaster-a/board/ports/sdcard_port.c new file mode 100644 index 000000000..b46537d31 --- /dev/null +++ b/bsp/stm32/stm32f427-robomaster-a/board/ports/sdcard_port.c @@ -0,0 +1,62 @@ +/* + * Copyright (c) 2006-2018, RT-Thread Development Team + * + * SPDX-License-Identifier: Apache-2.0 + * + * Change Logs: + * Date Author Notes + * 2018-12-13 balanceTWK add sdcard port file + */ + +#include + +#ifdef RT_USING_DFS + +#include +#include +#include + +#define DBG_TAG "app.card" +#define DBG_LVL DBG_INFO +#include + +void sd_mount(void *parameter) +{ + while (1) + { + rt_thread_mdelay(500); + if(rt_device_find("sd0") != RT_NULL) + { + if (dfs_mount("sd0", "/", "elm", 0, 0) == RT_EOK) + { + LOG_I("sd card mount to '/'"); + break; + } + else + { + LOG_W("sd card mount to '/' failed!"); + } + } + } +} + +int stm32_sdcard_mount(void) +{ + rt_thread_t tid; + + tid = rt_thread_create("sd_mount", sd_mount, RT_NULL, + 1024, RT_THREAD_PRIORITY_MAX - 2, 20); + if (tid != RT_NULL) + { + rt_thread_startup(tid); + } + else + { + LOG_E("create sd_mount thread err!"); + } + return RT_EOK; +} +INIT_APP_EXPORT(stm32_sdcard_mount); + +#endif + -- GitLab