[bsp/stm32/rmc] Robomaster C BSP configuration.

489c2f9f · crazt · 1d013484 · 489c2f9f · 489c2f9f · 489c2f9f
10 changed file
--- a/bsp/stm32/stm32f407-robomaster-c/.config
+++ b/bsp/stm32/stm32f407-robomaster-c/.config
@@ -7,6 +7,7 @@
 # RT-Thread Kernel
 #
 CONFIG_RT_NAME_MAX=8
+# CONFIG_RT_USING_ARCH_DATA_TYPE is not set
 # CONFIG_RT_USING_SMP is not set
 CONFIG_RT_ALIGN_SIZE=4
 # CONFIG_RT_THREAD_PRIORITY_8 is not set
@@ -20,6 +21,12 @@ CONFIG_RT_USING_IDLE_HOOK=y
 CONFIG_RT_IDLE_HOOK_LIST_SIZE=4
 CONFIG_IDLE_THREAD_STACK_SIZE=256
 # CONFIG_RT_USING_TIMER_SOFT is not set
+
+#
+# kservice optimization
+#
+# CONFIG_RT_KSERVICE_USING_STDLIB is not set
+# CONFIG_RT_KSERVICE_USING_TINY_SIZE is not set
 CONFIG_RT_DEBUG=y
 CONFIG_RT_DEBUG_COLOR=y
 # CONFIG_RT_DEBUG_INIT_CONFIG is not set
@@ -51,6 +58,7 @@ CONFIG_RT_USING_MEMPOOL=y
 # CONFIG_RT_USING_NOHEAP is not set
 CONFIG_RT_USING_SMALL_MEM=y
 # CONFIG_RT_USING_SLAB is not set
+# CONFIG_RT_USING_USERHEAP is not set
 # CONFIG_RT_USING_MEMTRACE is not set
 CONFIG_RT_USING_HEAP=y

@@ -63,8 +71,9 @@ CONFIG_RT_USING_DEVICE=y
 CONFIG_RT_USING_CONSOLE=y
 CONFIG_RT_CONSOLEBUF_SIZE=128
 CONFIG_RT_CONSOLE_DEVICE_NAME="uart1"
-CONFIG_RT_VER_NUM=0x40000
+CONFIG_RT_VER_NUM=0x40004
 CONFIG_ARCH_ARM=y
+CONFIG_RT_USING_CPU_FFS=y
 CONFIG_ARCH_ARM_CORTEX_M=y
 CONFIG_ARCH_ARM_CORTEX_M4=y
 # CONFIG_ARCH_CPU_STACK_GROWS_UPWARD is not set
@@ -111,28 +120,34 @@ CONFIG_FINSH_ARG_MAX=10
 #
 CONFIG_RT_USING_DEVICE_IPC=y
 CONFIG_RT_PIPE_BUFSZ=512
+# CONFIG_RT_USING_SYSTEM_WORKQUEUE is not set
 CONFIG_RT_USING_SERIAL=y
+CONFIG_RT_USING_SERIAL_V1=y
+# CONFIG_RT_USING_SERIAL_V2 is not set
 CONFIG_RT_SERIAL_USING_DMA=y
+CONFIG_RT_SERIAL_RB_BUFSZ=64
 # CONFIG_RT_USING_CAN is not set
 # CONFIG_RT_USING_HWTIMER is not set
 # CONFIG_RT_USING_CPUTIME is not set
 # CONFIG_RT_USING_I2C is not set
+# CONFIG_RT_USING_PHY is not set
 CONFIG_RT_USING_PIN=y
 # CONFIG_RT_USING_ADC is not set
+# CONFIG_RT_USING_DAC is not set
 # CONFIG_RT_USING_PWM is not set
 # CONFIG_RT_USING_MTD_NOR is not set
 # CONFIG_RT_USING_MTD_NAND is not set
-# CONFIG_RT_USING_MTD is not set
 # CONFIG_RT_USING_PM is not set
 # CONFIG_RT_USING_RTC is not set
 # CONFIG_RT_USING_SDIO is not set
 # CONFIG_RT_USING_SPI is not set
 # CONFIG_RT_USING_WDT is not set
 # CONFIG_RT_USING_AUDIO is not set
-
-#
-# Using WiFi
-#
+# CONFIG_RT_USING_SENSOR is not set
+# CONFIG_RT_USING_TOUCH is not set
+# CONFIG_RT_USING_HWCRYPTO is not set
+# CONFIG_RT_USING_PULSE_ENCODER is not set
+# CONFIG_RT_USING_INPUT_CAPTURE is not set
 # CONFIG_RT_USING_WIFI is not set

 #
@@ -146,6 +161,8 @@ CONFIG_RT_USING_PIN=y
 #
 # CONFIG_RT_USING_LIBC is not set
 # CONFIG_RT_USING_PTHREADS is not set
+CONFIG_RT_LIBC_USING_TIME=y
+CONFIG_RT_LIBC_FIXED_TIMEZONE=8

 #
 # Network
@@ -157,14 +174,14 @@ CONFIG_RT_USING_PIN=y
 # CONFIG_RT_USING_SAL is not set

 #
-# light weight TCP/IP stack
+# Network interface device
 #
-# CONFIG_RT_USING_LWIP is not set
+# CONFIG_RT_USING_NETDEV is not set

 #
-# Modbus master and slave stack
+# light weight TCP/IP stack
 #
-# CONFIG_RT_USING_MODBUS is not set
+# CONFIG_RT_USING_LWIP is not set

 #
 # AT commands
@@ -179,17 +196,16 @@ CONFIG_RT_USING_PIN=y
 #
 # Utilities
 #
-# CONFIG_RT_USING_LOGTRACE is not set
 # CONFIG_RT_USING_RYM is not set
 # CONFIG_RT_USING_ULOG is not set
 # CONFIG_RT_USING_UTEST is not set
+# CONFIG_RT_USING_RT_LINK is not set
+# CONFIG_RT_USING_LWP is not set

 #
-# ARM CMSIS
+# RT-Thread Utestcases
 #
-# CONFIG_RT_USING_CMSIS_OS is not set
-# CONFIG_RT_USING_RTT_CMSIS is not set
-# CONFIG_RT_USING_LWP is not set
+# CONFIG_RT_USING_UTESTCASES is not set

 #
 # RT-Thread online packages
@@ -198,13 +214,20 @@ CONFIG_RT_USING_PIN=y
 #
 # IoT - internet of things
 #
+# CONFIG_PKG_USING_LORAWAN_DRIVER is not set
 # CONFIG_PKG_USING_PAHOMQTT is not set
+# CONFIG_PKG_USING_UMQTT is not set
 # CONFIG_PKG_USING_WEBCLIENT is not set
 # CONFIG_PKG_USING_WEBNET is not set
 # CONFIG_PKG_USING_MONGOOSE is not set
+# CONFIG_PKG_USING_MYMQTT is not set
+# CONFIG_PKG_USING_KAWAII_MQTT is not set
+# CONFIG_PKG_USING_BC28_MQTT is not set
 # CONFIG_PKG_USING_WEBTERMINAL is not set
 # CONFIG_PKG_USING_CJSON is not set
 # CONFIG_PKG_USING_JSMN is not set
+# CONFIG_PKG_USING_LIBMODBUS is not set
+# CONFIG_PKG_USING_FREEMODBUS is not set
 # CONFIG_PKG_USING_LJSON is not set
 # CONFIG_PKG_USING_EZXML is not set
 # CONFIG_PKG_USING_NANOPB is not set
@@ -222,10 +245,14 @@ CONFIG_RT_USING_PIN=y
 # Wiced WiFi
 #
 # CONFIG_PKG_USING_WLAN_WICED is not set
+# CONFIG_PKG_USING_RW007 is not set
 # CONFIG_PKG_USING_COAP is not set
 # CONFIG_PKG_USING_NOPOLL is not set
 # CONFIG_PKG_USING_NETUTILS is not set
+# CONFIG_PKG_USING_CMUX is not set
+# CONFIG_PKG_USING_PPP_DEVICE is not set
 # CONFIG_PKG_USING_AT_DEVICE is not set
+# CONFIG_PKG_USING_ATSRV_SOCKET is not set
 # CONFIG_PKG_USING_WIZNET is not set

 #
@@ -235,7 +262,36 @@ CONFIG_RT_USING_PIN=y
 # CONFIG_PKG_USING_GAGENT_CLOUD is not set
 # CONFIG_PKG_USING_ALI_IOTKIT is not set
 # CONFIG_PKG_USING_AZURE is not set
-# CONFIG_PKG_USING_TENCENT_IOTKIT is not set
+# CONFIG_PKG_USING_TENCENT_IOT_EXPLORER is not set
+# CONFIG_PKG_USING_JIOT-C-SDK is not set
+# CONFIG_PKG_USING_UCLOUD_IOT_SDK is not set
+# CONFIG_PKG_USING_JOYLINK is not set
+# CONFIG_PKG_USING_NIMBLE is not set
+# CONFIG_PKG_USING_OTA_DOWNLOADER is not set
+# CONFIG_PKG_USING_IPMSG is not set
+# CONFIG_PKG_USING_LSSDP is not set
+# CONFIG_PKG_USING_AIRKISS_OPEN is not set
+# CONFIG_PKG_USING_LIBRWS is not set
+# CONFIG_PKG_USING_TCPSERVER is not set
+# CONFIG_PKG_USING_PROTOBUF_C is not set
+# CONFIG_PKG_USING_DLT645 is not set
+# CONFIG_PKG_USING_QXWZ is not set
+# CONFIG_PKG_USING_SMTP_CLIENT is not set
+# CONFIG_PKG_USING_ABUP_FOTA is not set
+# CONFIG_PKG_USING_LIBCURL2RTT is not set
+# CONFIG_PKG_USING_CAPNP is not set
+# CONFIG_PKG_USING_RT_CJSON_TOOLS is not set
+# CONFIG_PKG_USING_AGILE_TELNET is not set
+# CONFIG_PKG_USING_NMEALIB is not set
+# CONFIG_PKG_USING_AGILE_JSMN is not set
+# CONFIG_PKG_USING_PDULIB is not set
+# CONFIG_PKG_USING_BTSTACK is not set
+# CONFIG_PKG_USING_LORAWAN_ED_STACK is not set
+# CONFIG_PKG_USING_WAYZ_IOTKIT is not set
+# CONFIG_PKG_USING_MAVLINK is not set
+# CONFIG_PKG_USING_RAPIDJSON is not set
+# CONFIG_PKG_USING_BSAL is not set
+# CONFIG_PKG_USING_AGILE_MODBUS is not set

 #
 # security packages
@@ -243,6 +299,8 @@ CONFIG_RT_USING_PIN=y
 # CONFIG_PKG_USING_MBEDTLS is not set
 # CONFIG_PKG_USING_libsodium is not set
 # CONFIG_PKG_USING_TINYCRYPT is not set
+# CONFIG_PKG_USING_TFM is not set
+# CONFIG_PKG_USING_YD_CRYPTO is not set

 #
 # language packages
@@ -256,6 +314,13 @@ CONFIG_RT_USING_PIN=y
 #
 # CONFIG_PKG_USING_OPENMV is not set
 # CONFIG_PKG_USING_MUPDF is not set
+# CONFIG_PKG_USING_STEMWIN is not set
+# CONFIG_PKG_USING_WAVPLAYER is not set
+# CONFIG_PKG_USING_TJPGD is not set
+# CONFIG_PKG_USING_PDFGEN is not set
+# CONFIG_PKG_USING_HELIX is not set
+# CONFIG_PKG_USING_AZUREGUIX is not set
+# CONFIG_PKG_USING_TOUCHGFX2RTT is not set

 #
 # tools packages
@@ -267,6 +332,33 @@ CONFIG_RT_USING_PIN=y
 # CONFIG_PKG_USING_RDB is not set
 # CONFIG_PKG_USING_QRCODE is not set
 # CONFIG_PKG_USING_ULOG_EASYFLASH is not set
+# CONFIG_PKG_USING_ULOG_FILE is not set
+# CONFIG_PKG_USING_LOGMGR is not set
+# CONFIG_PKG_USING_ADBD is not set
+# CONFIG_PKG_USING_COREMARK is not set
+# CONFIG_PKG_USING_DHRYSTONE is not set
+# CONFIG_PKG_USING_MEMORYPERF is not set
+# CONFIG_PKG_USING_NR_MICRO_SHELL is not set
+# CONFIG_PKG_USING_CHINESE_FONT_LIBRARY is not set
+# CONFIG_PKG_USING_LUNAR_CALENDAR is not set
+# CONFIG_PKG_USING_BS8116A is not set
+# CONFIG_PKG_USING_GPS_RMC is not set
+# CONFIG_PKG_USING_URLENCODE is not set
+# CONFIG_PKG_USING_UMCN is not set
+# CONFIG_PKG_USING_LWRB2RTT is not set
+# CONFIG_PKG_USING_CPU_USAGE is not set
+# CONFIG_PKG_USING_GBK2UTF8 is not set
+# CONFIG_PKG_USING_VCONSOLE is not set
+# CONFIG_PKG_USING_KDB is not set
+# CONFIG_PKG_USING_WAMR is not set
+# CONFIG_PKG_USING_MICRO_XRCE_DDS_CLIENT is not set
+# CONFIG_PKG_USING_LWLOG is not set
+# CONFIG_PKG_USING_ANV_TRACE is not set
+# CONFIG_PKG_USING_ANV_MEMLEAK is not set
+# CONFIG_PKG_USING_ANV_TESTSUIT is not set
+# CONFIG_PKG_USING_ANV_BENCH is not set
+# CONFIG_PKG_USING_DEVMEM is not set
+# CONFIG_PKG_USING_MEM_SANDBOX is not set

 #
 # system packages
@@ -275,30 +367,127 @@ CONFIG_RT_USING_PIN=y
 # CONFIG_PKG_USING_PERSIMMON is not set
 # CONFIG_PKG_USING_CAIRO is not set
 # CONFIG_PKG_USING_PIXMAN is not set
-# CONFIG_PKG_USING_LWEXT4 is not set
 # CONFIG_PKG_USING_PARTITION is not set
 # CONFIG_PKG_USING_FAL is not set
+# CONFIG_PKG_USING_FLASHDB is not set
 # CONFIG_PKG_USING_SQLITE is not set
 # CONFIG_PKG_USING_RTI is not set
 # CONFIG_PKG_USING_LITTLEVGL2RTT is not set
 # CONFIG_PKG_USING_CMSIS is not set
 # CONFIG_PKG_USING_DFS_YAFFS is not set
 # CONFIG_PKG_USING_LITTLEFS is not set
+# CONFIG_PKG_USING_DFS_JFFS2 is not set
+# CONFIG_PKG_USING_DFS_UFFS is not set
+# CONFIG_PKG_USING_LWEXT4 is not set
+# CONFIG_PKG_USING_THREAD_POOL is not set
+# CONFIG_PKG_USING_ROBOTS is not set
+# CONFIG_PKG_USING_EV is not set
+# CONFIG_PKG_USING_SYSWATCH is not set
+# CONFIG_PKG_USING_SYS_LOAD_MONITOR is not set
+# CONFIG_PKG_USING_PLCCORE is not set
+# CONFIG_PKG_USING_RAMDISK is not set
+# CONFIG_PKG_USING_MININI is not set
+# CONFIG_PKG_USING_QBOOT is not set
+
+#
+# Micrium: Micrium software products porting for RT-Thread
+#
+# CONFIG_PKG_USING_UCOSIII_WRAPPER is not set
+# CONFIG_PKG_USING_UCOSII_WRAPPER is not set
+# CONFIG_PKG_USING_UC_CRC is not set
+# CONFIG_PKG_USING_UC_CLK is not set
+# CONFIG_PKG_USING_UC_COMMON is not set
+# CONFIG_PKG_USING_UC_MODBUS is not set
+# CONFIG_PKG_USING_PPOOL is not set
+# CONFIG_PKG_USING_OPENAMP is not set
+# CONFIG_PKG_USING_RT_KPRINTF_THREADSAFE is not set
+# CONFIG_PKG_USING_RT_MEMCPY_CM is not set
+# CONFIG_PKG_USING_QFPLIB_M0_FULL is not set
+# CONFIG_PKG_USING_QFPLIB_M0_TINY is not set
+# CONFIG_PKG_USING_QFPLIB_M3 is not set
+# CONFIG_PKG_USING_LPM is not set
+# CONFIG_PKG_USING_TLSF is not set
+# CONFIG_PKG_USING_EVENT_RECORDER is not set

 #
 # peripheral libraries and drivers
 #
+# CONFIG_PKG_USING_SENSORS_DRIVERS is not set
 # CONFIG_PKG_USING_REALTEK_AMEBA is not set
 # CONFIG_PKG_USING_SHT2X is not set
-# CONFIG_PKG_USING_AHT10 is not set
-# CONFIG_PKG_USING_AP3216C is not set
+# CONFIG_PKG_USING_SHT3X is not set
+# CONFIG_PKG_USING_AS7341 is not set
 # CONFIG_PKG_USING_STM32_SDIO is not set
 # CONFIG_PKG_USING_ICM20608 is not set
 # CONFIG_PKG_USING_U8G2 is not set
 # CONFIG_PKG_USING_BUTTON is not set
-# CONFIG_PKG_USING_MPU6XXX is not set
 # CONFIG_PKG_USING_PCF8574 is not set
+# CONFIG_PKG_USING_SX12XX is not set
+# CONFIG_PKG_USING_SIGNAL_LED is not set
+# CONFIG_PKG_USING_LEDBLINK is not set
+# CONFIG_PKG_USING_LITTLED is not set
+# CONFIG_PKG_USING_LKDGUI is not set
+# CONFIG_PKG_USING_NRF5X_SDK is not set
+# CONFIG_PKG_USING_NRFX is not set
+# CONFIG_PKG_USING_WM_LIBRARIES is not set
 # CONFIG_PKG_USING_KENDRYTE_SDK is not set
+# CONFIG_PKG_USING_INFRARED is not set
+# CONFIG_PKG_USING_ROSSERIAL is not set
+# CONFIG_PKG_USING_AGILE_BUTTON is not set
+# CONFIG_PKG_USING_AGILE_LED is not set
+# CONFIG_PKG_USING_AT24CXX is not set
+# CONFIG_PKG_USING_MOTIONDRIVER2RTT is not set
+# CONFIG_PKG_USING_AD7746 is not set
+# CONFIG_PKG_USING_PCA9685 is not set
+# CONFIG_PKG_USING_I2C_TOOLS is not set
+# CONFIG_PKG_USING_NRF24L01 is not set
+# CONFIG_PKG_USING_TOUCH_DRIVERS is not set
+# CONFIG_PKG_USING_MAX17048 is not set
+# CONFIG_PKG_USING_RPLIDAR is not set
+# CONFIG_PKG_USING_AS608 is not set
+# CONFIG_PKG_USING_RC522 is not set
+# CONFIG_PKG_USING_WS2812B is not set
+# CONFIG_PKG_USING_EMBARC_BSP is not set
+# CONFIG_PKG_USING_EXTERN_RTC_DRIVERS is not set
+# CONFIG_PKG_USING_MULTI_RTIMER is not set
+# CONFIG_PKG_USING_MAX7219 is not set
+# CONFIG_PKG_USING_BEEP is not set
+# CONFIG_PKG_USING_EASYBLINK is not set
+# CONFIG_PKG_USING_PMS_SERIES is not set
+# CONFIG_PKG_USING_CAN_YMODEM is not set
+# CONFIG_PKG_USING_LORA_RADIO_DRIVER is not set
+# CONFIG_PKG_USING_QLED is not set
+# CONFIG_PKG_USING_PAJ7620 is not set
+# CONFIG_PKG_USING_AGILE_CONSOLE is not set
+# CONFIG_PKG_USING_LD3320 is not set
+# CONFIG_PKG_USING_WK2124 is not set
+# CONFIG_PKG_USING_LY68L6400 is not set
+# CONFIG_PKG_USING_DM9051 is not set
+# CONFIG_PKG_USING_SSD1306 is not set
+# CONFIG_PKG_USING_QKEY is not set
+# CONFIG_PKG_USING_RS485 is not set
+# CONFIG_PKG_USING_NES is not set
+# CONFIG_PKG_USING_VIRTUAL_SENSOR is not set
+# CONFIG_PKG_USING_VDEVICE is not set
+# CONFIG_PKG_USING_SGM706 is not set
+# CONFIG_PKG_USING_STM32WB55_SDK is not set
+# CONFIG_PKG_USING_RDA58XX is not set
+# CONFIG_PKG_USING_LIBNFC is not set
+# CONFIG_PKG_USING_MFOC is not set
+# CONFIG_PKG_USING_TMC51XX is not set
+
+#
+# AI packages
+#
+# CONFIG_PKG_USING_LIBANN is not set
+# CONFIG_PKG_USING_NNOM is not set
+# CONFIG_PKG_USING_ONNX_BACKEND is not set
+# CONFIG_PKG_USING_ONNX_PARSER is not set
+# CONFIG_PKG_USING_TENSORFLOWLITEMICRO is not set
+# CONFIG_PKG_USING_ELAPACK is not set
+# CONFIG_PKG_USING_ULAPACK is not set
+# CONFIG_PKG_USING_QUEST is not set
+# CONFIG_PKG_USING_NAXOS is not set

 #
 # miscellaneous packages
@@ -308,12 +497,17 @@ CONFIG_RT_USING_PIN=y
 # CONFIG_PKG_USING_FASTLZ is not set
 # CONFIG_PKG_USING_MINILZO is not set
 # CONFIG_PKG_USING_QUICKLZ is not set
+# CONFIG_PKG_USING_LZMA is not set
 # CONFIG_PKG_USING_MULTIBUTTON is not set
+# CONFIG_PKG_USING_FLEXIBLE_BUTTON is not set
 # CONFIG_PKG_USING_CANFESTIVAL is not set
 # CONFIG_PKG_USING_ZLIB is not set
 # CONFIG_PKG_USING_DSTR is not set
 # CONFIG_PKG_USING_TINYFRAME is not set
 # CONFIG_PKG_USING_KENDRYTE_DEMO is not set
+# CONFIG_PKG_USING_DIGITALCTRL is not set
+# CONFIG_PKG_USING_UPACKER is not set
+# CONFIG_PKG_USING_UPARAM is not set

 #
 # samples: kernel and components samples
@@ -324,13 +518,32 @@ CONFIG_RT_USING_PIN=y
 # CONFIG_PKG_USING_PERIPHERAL_SAMPLES is not set
 # CONFIG_PKG_USING_HELLO is not set
 # CONFIG_PKG_USING_VI is not set
+# CONFIG_PKG_USING_KI is not set
+# CONFIG_PKG_USING_ARMv7M_DWT is not set
+# CONFIG_PKG_USING_VT100 is not set
+# CONFIG_PKG_USING_UKAL is not set
+# CONFIG_PKG_USING_CRCLIB is not set
+
+#
+# entertainment: terminal games and other interesting software packages
+#
+# CONFIG_PKG_USING_THREES is not set
+# CONFIG_PKG_USING_2048 is not set
+# CONFIG_PKG_USING_SNAKE is not set
+# CONFIG_PKG_USING_TETRIS is not set
+# CONFIG_PKG_USING_DONUT is not set
+# CONFIG_PKG_USING_ACLOCK is not set
+# CONFIG_PKG_USING_LWGPS is not set
+# CONFIG_PKG_USING_STATE_MACHINE is not set
+# CONFIG_PKG_USING_MCURSES is not set
+# CONFIG_PKG_USING_COWSAY is not set
 CONFIG_SOC_FAMILY_STM32=y
 CONFIG_SOC_SERIES_STM32F4=y

 #
 # Hardware Drivers Config
 #
-CONFIG_SOC_STM32F407ZG=y
+CONFIG_SOC_STM32F407IG=y

 #
 # Onboard Peripheral Drivers
@@ -343,8 +556,8 @@ CONFIG_BSP_USING_GPIO=y
 CONFIG_BSP_USING_UART=y
 CONFIG_BSP_USING_UART1=y
 # CONFIG_BSP_UART1_RX_USING_DMA is not set
-# CONFIG_BSP_USING_SPI is not set
-# CONFIG_BSP_USING_I2C1 is not set
+# CONFIG_BSP_USING_RNG is not set
+# CONFIG_BSP_USING_UDID is not set

 #
 # Board extended module Drivers

--- a/bsp/stm32/stm32f407-robomaster-c/applications/main.c
+++ b/bsp/stm32/stm32f407-robomaster-c/applications/main.c
@@ -6,26 +6,27 @@
 * Change Logs:
 * Date           Author       Notes
 * 2018-11-06     SummerGift   first version
+ * 2021-06-30     crazt        modify for robomaster C board
 */

 #include <rtthread.h>
 #include <rtdevice.h>
 #include <board.h>

-/* defined the LED0 pin: PB1 */
-#define LED0_PIN    GET_PIN(B, 1)
+/* defined the LED Blue pin: PB1 */
+#define LED_B_PIN    GET_PIN(H, 10)

 int main(void)
 {
    int count = 1;
    /* set LED0 pin mode to output */
-    rt_pin_mode(LED0_PIN, PIN_MODE_OUTPUT);
+    rt_pin_mode(LED_B_PIN, PIN_MODE_OUTPUT);

    while (count++)
    {
-        rt_pin_write(LED0_PIN, PIN_HIGH);
+        rt_pin_write(LED_B_PIN, PIN_HIGH);
        rt_thread_mdelay(500);
-        rt_pin_write(LED0_PIN, PIN_LOW);
+        rt_pin_write(LED_B_PIN, PIN_LOW);
        rt_thread_mdelay(500);
    }


--- a/bsp/stm32/stm32f407-robomaster-c/board/Kconfig
+++ b/bsp/stm32/stm32f407-robomaster-c/board/Kconfig
 menu "Hardware Drivers Config"

-config SOC_STM32F407ZG
+config SOC_STM32F407IG
    bool
    select SOC_SERIES_STM32F4
    select RT_USING_COMPONENTS_INIT

--- a/bsp/stm32/stm32f407-robomaster-c/board/board.c
+++ b/bsp/stm32/stm32f407-robomaster-c/board/board.c
@@ -6,6 +6,7 @@
 * Change Logs:
 * Date           Author       Notes
 * 2018-11-06     SummerGift   first version
+ * 2021-06-30     crazt        modify for robomaster C board
 */

 #include "board.h"
@@ -15,17 +16,18 @@ void SystemClock_Config(void)
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

-  /**Configure the main internal regulator output voltage 
+  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
-  /**Initializes the CPU, AHB and APB busses clocks 
+  /** Initializes the RCC Oscillators according to the specified parameters
+  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
-  RCC_OscInitStruct.PLL.PLLM = 4;
+  RCC_OscInitStruct.PLL.PLLM = 6;
  RCC_OscInitStruct.PLL.PLLN = 168;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
@@ -33,7 +35,7 @@ void SystemClock_Config(void)
  {
    Error_Handler();
  }
-  /**Initializes the CPU, AHB and APB busses clocks 
+  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;

--- a/bsp/stm32/stm32f407-robomaster-c/board/board.h
+++ b/bsp/stm32/stm32f407-robomaster-c/board/board.h
@@ -6,6 +6,7 @@
 * Change Logs:
 * Date           Author       Notes
 * 2018-11-5      SummerGift   first version
+ * 2021-06-30     crazt        modify for robomaster C board
 */

 #ifndef __BOARD_H__

--- a/bsp/stm32/stm32f407-robomaster-c/project.uvoptx
+++ b/bsp/stm32/stm32f407-robomaster-c/project.uvoptx
--- a/bsp/stm32/stm32f407-robomaster-c/project.uvprojx
+++ b/bsp/stm32/stm32f407-robomaster-c/project.uvprojx
--- a/bsp/stm32/stm32f407-robomaster-c/rtconfig.h
+++ b/bsp/stm32/stm32f407-robomaster-c/rtconfig.h
@@ -16,6 +16,9 @@
 #define RT_USING_IDLE_HOOK
 #define RT_IDLE_HOOK_LIST_SIZE 4
 #define IDLE_THREAD_STACK_SIZE 256
+
+/* kservice optimization */
+
 #define RT_DEBUG
 #define RT_DEBUG_COLOR

@@ -39,8 +42,9 @@
 #define RT_USING_CONSOLE
 #define RT_CONSOLEBUF_SIZE 128
 #define RT_CONSOLE_DEVICE_NAME "uart1"
-#define RT_VER_NUM 0x40000
+#define RT_VER_NUM 0x40004
 #define ARCH_ARM
+#define RT_USING_CPU_FFS
 #define ARCH_ARM_CORTEX_M
 #define ARCH_ARM_CORTEX_M4

@@ -78,27 +82,28 @@
 #define RT_USING_DEVICE_IPC
 #define RT_PIPE_BUFSZ 512
 #define RT_USING_SERIAL
+#define RT_USING_SERIAL_V1
 #define RT_SERIAL_USING_DMA
+#define RT_SERIAL_RB_BUFSZ 64
 #define RT_USING_PIN

-/* Using WiFi */
-
-
 /* Using USB */


 /* POSIX layer and C standard library */

+#define RT_LIBC_USING_TIME
+#define RT_LIBC_FIXED_TIMEZONE 8

 /* Network */

 /* Socket abstraction layer */


-/* light weight TCP/IP stack */
+/* Network interface device */


-/* Modbus master and slave stack */
+/* light weight TCP/IP stack */


 /* AT commands */
@@ -110,7 +115,7 @@
 /* Utilities */


-/* ARM CMSIS */
+/* RT-Thread Utestcases */


 /* RT-Thread online packages */
@@ -144,20 +149,29 @@
 /* system packages */


+/* Micrium: Micrium software products porting for RT-Thread */
+
+
 /* peripheral libraries and drivers */


+/* AI packages */
+
+
 /* miscellaneous packages */


 /* samples: kernel and components samples */

+
+/* entertainment: terminal games and other interesting software packages */
+
 #define SOC_FAMILY_STM32
 #define SOC_SERIES_STM32F4

 /* Hardware Drivers Config */

-#define SOC_STM32F407ZG
+#define SOC_STM32F407IG

 /* Onboard Peripheral Drivers */


--- a/bsp/stm32/stm32f407-robomaster-c/template.uvoptx
+++ b/bsp/stm32/stm32f407-robomaster-c/template.uvoptx
@@ -73,7 +73,7 @@
        <LExpSel>0</LExpSel>
      </OPTXL>
      <OPTFL>
-        <tvExp>0</tvExp>
+        <tvExp>1</tvExp>
        <tvExpOptDlg>0</tvExpOptDlg>
        <IsCurrentTarget>1</IsCurrentTarget>
      </OPTFL>
@@ -103,7 +103,7 @@
        <bEvRecOn>1</bEvRecOn>
        <bSchkAxf>0</bSchkAxf>
        <bTchkAxf>0</bTchkAxf>
-        <nTsel>4</nTsel>
+        <nTsel>6</nTsel>
        <sDll></sDll>
        <sDllPa></sDllPa>
        <sDlgDll></sDlgDll>
@@ -114,18 +114,23 @@
        <tDlgDll></tDlgDll>
        <tDlgPa></tDlgPa>
        <tIfile></tIfile>
-        <pMon>Segger\JL2CM3.dll</pMon>
+        <pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
      </DebugOpt>
      <TargetDriverDllRegistry>
        <SetRegEntry>
          <Number>0</Number>
-          <Key>JL2CM3</Key>
-          <Name>-U30000299 -O78 -S2 -ZTIFSpeedSel5000 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(4) -TO18 -TC10000000 -TP21 -TDS8001 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407ZGTx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
+          <Key>ST-LINKIII-KEIL_SWO</Key>
+          <Name>-U0674FF504955857567053730 -O206 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
        </SetRegEntry>
        <SetRegEntry>
          <Number>0</Number>
          <Key>UL2CM3</Key>
-          <Name>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024 -FS08000000 -FL0100000 -FP0($$Device:STM32F407ZGTx$CMSIS\Flash\STM32F4xx_1024.FLM))</Name>
+          <Name>UL2CM3(-S0 -C0 -P0 ) -FN1 -FC1000 -FD20000000 -FF0STM32F4xx_1024 -FL0100000 -FS08000000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>JL2CM3</Key>
+          <Name>-U30000299 -O78 -S2 -ZTIFSpeedSel5000 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(4) -TO18 -TC10000000 -TP21 -TDS8001 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
        </SetRegEntry>
      </TargetDriverDllRegistry>
      <Breakpoint/>
@@ -173,6 +178,7 @@
      <pMultCmdsp></pMultCmdsp>
      <DebugDescription>
        <Enable>1</Enable>
+        <EnableFlashSeq>0</EnableFlashSeq>
        <EnableLog>0</EnableLog>
        <Protocol>2</Protocol>
        <DbgClock>10000000</DbgClock>

--- a/bsp/stm32/stm32f407-robomaster-c/template.uvprojx
+++ b/bsp/stm32/stm32f407-robomaster-c/template.uvprojx
@@ -14,16 +14,16 @@
      <uAC6>0</uAC6>
      <TargetOption>
        <TargetCommonOption>
-          <Device>STM32F407ZGTx</Device>
+          <Device>STM32F407IGHx</Device>
          <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F4xx_DFP.2.13.0</PackID>
-          <PackURL>http://www.keil.com/pack</PackURL>
-          <Cpu>IRAM(0x20000000,0x20000) IRAM2(0x10000000,0x10000) IROM(0x08000000,0x100000) CPUTYPE("Cortex-M4") FPU2 CLOCK(12000000) ELITTLE</Cpu>
+          <PackID>Keil.STM32F4xx_DFP.2.15.0</PackID>
+          <PackURL>http://www.keil.com/pack/</PackURL>
+          <Cpu>IRAM(0x20000000,0x00020000) IRAM2(0x10000000,0x00010000) IROM(0x08000000,0x00100000) CPUTYPE("Cortex-M4") FPU2 CLOCK(12000000) ELITTLE</Cpu>
          <FlashUtilSpec></FlashUtilSpec>
          <StartupFile></StartupFile>
-          <FlashDriverDll>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024 -FS08000000 -FL0100000 -FP0($$Device:STM32F407ZGTx$CMSIS\Flash\STM32F4xx_1024.FLM))</FlashDriverDll>
+          <FlashDriverDll>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024 -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM))</FlashDriverDll>
          <DeviceId>0</DeviceId>
-          <RegisterFile>$$Device:STM32F407ZGTx$Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h</RegisterFile>
+          <RegisterFile>$$Device:STM32F407IGHx$Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h</RegisterFile>
          <MemoryEnv></MemoryEnv>
          <Cmp></Cmp>
          <Asm></Asm>
@@ -33,7 +33,7 @@
          <SLE66CMisc></SLE66CMisc>
          <SLE66AMisc></SLE66AMisc>
          <SLE66LinkerMisc></SLE66LinkerMisc>
-          <SFDFile>$$Device:STM32F407ZGTx$CMSIS\SVD\STM32F40x.svd</SFDFile>
+          <SFDFile>$$Device:STM32F407IGHx$CMSIS\SVD\STM32F40x.svd</SFDFile>
          <bCustSvd>0</bCustSvd>
          <UseEnv>0</UseEnv>
          <BinPath></BinPath>
@@ -138,7 +138,7 @@
          </Flash1>
          <bUseTDR>1</bUseTDR>
          <Flash2>BIN\UL2CM3.DLL</Flash2>
-          <Flash3>"" ()</Flash3>
+          <Flash3></Flash3>
          <Flash4></Flash4>
          <pFcarmOut></pFcarmOut>
          <pFcarmGrp></pFcarmGrp>
@@ -184,6 +184,7 @@
            <hadXRAM>0</hadXRAM>
            <uocXRam>0</uocXRam>
            <RvdsVP>2</RvdsVP>
+            <RvdsMve>0</RvdsMve>
            <hadIRAM2>1</hadIRAM2>
            <hadIROM2>0</hadIROM2>
            <StupSel>8</StupSel>
@@ -208,8 +209,8 @@
            <Ra1Chk>0</Ra1Chk>
            <Ra2Chk>0</Ra2Chk>
            <Ra3Chk>0</Ra3Chk>
-            <Im1Chk>0</Im1Chk>
-            <Im2Chk>1</Im2Chk>
+            <Im1Chk>1</Im1Chk>
+            <Im2Chk>0</Im2Chk>
            <OnChipMemories>
              <Ocm1>
                <Type>0</Type>