[bsp][stm32] 更新f407-robomaster-c板的bsp, 添加stm32定时器8 pwm默认配置 (#6201)

* [bsp][stm32] f407-robomaster-c板, 添加stm32定时器8pwm默认配置

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Co-authored-by: Meco Man <920369182@qq.com>

bsp/stm32/libraries/HAL_Drivers/config/f4/pwm_config.h

@@ -72,6 +72,17 @@ extern "C" {
 #endif /* PWM5_CONFIG */
 #endif /* BSP_USING_PWM5 */
 
+#ifdef BSP_USING_PWM8
+#ifndef PWM8_CONFIG
+#define PWM8_CONFIG                             \
+    {                                           \
+       .tim_handle.Instance     = TIM8,         \
+       .name                    = "pwm8",       \
+       .channel                 = 0             \
+    }
+#endif /* PWM8_CONFIG */
+#endif /* BSP_USING_PWM8 */
+
 #ifdef BSP_USING_PWM9
 #ifndef PWM9_CONFIG
 #define PWM9_CONFIG                             \

bsp/stm32/stm32f407-robomaster-c/.config

@@ -21,17 +21,20 @@ CONFIG_RT_HOOK_USING_FUNC_PTR=y
 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
+CONFIG_RT_USING_TIMER_SOFT=y
+CONFIG_RT_TIMER_THREAD_PRIO=4
+CONFIG_RT_TIMER_THREAD_STACK_SIZE=512
 
 #
 # kservice optimization
 #
-# CONFIG_RT_KSERVICE_USING_STDLIB is not set
+CONFIG_RT_KSERVICE_USING_STDLIB=y
+# CONFIG_RT_KSERVICE_USING_STDLIB_MEMORY is not set
 # CONFIG_RT_KSERVICE_USING_TINY_SIZE is not set
 # CONFIG_RT_USING_TINY_FFS is not set
-# CONFIG_RT_PRINTF_LONGLONG is not set
+# CONFIG_RT_KPRINTF_USING_LONGLONG is not set
 CONFIG_RT_DEBUG=y
-CONFIG_RT_DEBUG_COLOR=y
+# CONFIG_RT_DEBUG_COLOR is not set
 # CONFIG_RT_DEBUG_INIT_CONFIG is not set
 # CONFIG_RT_DEBUG_THREAD_CONFIG is not set
 # CONFIG_RT_DEBUG_SCHEDULER_CONFIG is not set
@@ -78,7 +81,7 @@ 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=0x40100
+CONFIG_RT_VER_NUM=0x40101
 CONFIG_ARCH_ARM=y
 CONFIG_RT_USING_CPU_FFS=y
 CONFIG_ARCH_ARM_CORTEX_M=y
@@ -261,6 +264,7 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_UCLOUD_IOT_SDK is not set
 # CONFIG_PKG_USING_JOYLINK is not set
 # CONFIG_PKG_USING_EZ_IOT_OS is not set
+# CONFIG_PKG_USING_IOTSHARP_SDK is not set
 # CONFIG_PKG_USING_NIMBLE is not set
 # CONFIG_PKG_USING_LLSYNC_SDK_ADAPTER is not set
 # CONFIG_PKG_USING_OTA_DOWNLOADER is not set
@@ -294,12 +298,14 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_HM is not set
 # CONFIG_PKG_USING_SMALL_MODBUS is not set
 # CONFIG_PKG_USING_NET_SERVER is not set
+# CONFIG_PKG_USING_ZFTP is not set
 
 #
 # security packages
 #
 # CONFIG_PKG_USING_MBEDTLS is not set
 # CONFIG_PKG_USING_LIBSODIUM is not set
+# CONFIG_PKG_USING_LIBHYDROGEN 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
@@ -317,6 +323,7 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_RAPIDJSON is not set
 # CONFIG_PKG_USING_JSMN is not set
 # CONFIG_PKG_USING_AGILE_JSMN is not set
+# CONFIG_PKG_USING_PARSON is not set
 
 #
 # XML: Extensible Markup Language
@@ -328,6 +335,7 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_JERRYSCRIPT is not set
 # CONFIG_PKG_USING_MICROPYTHON is not set
 # CONFIG_PKG_USING_PIKASCRIPT is not set
+# CONFIG_PKG_USING_RTT_RUST is not set
 
 #
 # multimedia packages
@@ -339,6 +347,7 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_LVGL is not set
 # CONFIG_PKG_USING_LITTLEVGL2RTT is not set
 # CONFIG_PKG_USING_LV_MUSIC_DEMO is not set
+# CONFIG_PKG_USING_GUI_GUIDER_DEMO is not set
 
 #
 # u8g2: a monochrome graphic library
@@ -414,6 +423,9 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_FDT is not set
 # CONFIG_PKG_USING_CBOX is not set
 # CONFIG_PKG_USING_SNOWFLAKE is not set
+# CONFIG_PKG_USING_HASH_MATCH is not set
+# CONFIG_PKG_USING_FIRE_PID_CURVE is not set
+# CONFIG_PKG_USING_ARMV7M_DWT_TOOL is not set
 
 #
 # system packages
@@ -426,14 +438,6 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_RT_KPRINTF_THREADSAFE is not set
 # CONFIG_PKG_USING_RT_VSNPRINTF_FULL is not set
 
-#
-# POSIX extension functions
-#
-# CONFIG_PKG_USING_POSIX_GETLINE is not set
-# CONFIG_PKG_USING_POSIX_WCWIDTH is not set
-# CONFIG_PKG_USING_POSIX_ITOA is not set
-# CONFIG_PKG_USING_POSIX_STRINGS is not set
-
 #
 # acceleration: Assembly language or algorithmic acceleration packages
 #
@@ -445,6 +449,7 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CMSIS: ARM Cortex-M Microcontroller Software Interface Standard
 #
 # CONFIG_PKG_USING_CMSIS_5 is not set
+# CONFIG_PKG_USING_CMSIS_RTOS1 is not set
 # CONFIG_PKG_USING_CMSIS_RTOS2 is not set
 
 #
@@ -457,9 +462,11 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_UC_COMMON is not set
 # CONFIG_PKG_USING_UC_MODBUS is not set
 # CONFIG_PKG_USING_RTDUINO is not set
+# CONFIG_PKG_USING_FREERTOS_WRAPPER is not set
 # CONFIG_PKG_USING_CAIRO is not set
 # CONFIG_PKG_USING_PIXMAN is not set
 # CONFIG_PKG_USING_PARTITION is not set
+# CONFIG_PKG_USING_PERF_COUNTER is not set
 # CONFIG_PKG_USING_FLASHDB is not set
 # CONFIG_PKG_USING_SQLITE is not set
 # CONFIG_PKG_USING_RTI is not set
@@ -487,6 +494,8 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_TINYUSB is not set
 # CONFIG_PKG_USING_CHERRYUSB is not set
 # CONFIG_PKG_USING_KMULTI_RTIMER is not set
+# CONFIG_PKG_USING_TFDB is not set
+# CONFIG_PKG_USING_QPC is not set
 
 #
 # peripheral libraries and drivers
@@ -495,8 +504,10 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_REALTEK_AMEBA is not set
 # CONFIG_PKG_USING_SHT2X is not set
 # CONFIG_PKG_USING_SHT3X is not set
+# CONFIG_PKG_USING_ADT74XX is not set
 # CONFIG_PKG_USING_AS7341 is not set
 # CONFIG_PKG_USING_STM32_SDIO is not set
+# CONFIG_PKG_USING_RTT_ESP_IDF is not set
 # CONFIG_PKG_USING_ICM20608 is not set
 # CONFIG_PKG_USING_BUTTON is not set
 # CONFIG_PKG_USING_PCF8574 is not set
@@ -508,6 +519,11 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_NRF5X_SDK is not set
 # CONFIG_PKG_USING_NRFX is not set
 # CONFIG_PKG_USING_WM_LIBRARIES is not set
+
+#
+# Kendryte SDK
+#
+# CONFIG_PKG_USING_K210_SDK is not set
 # CONFIG_PKG_USING_KENDRYTE_SDK is not set
 # CONFIG_PKG_USING_INFRARED is not set
 # CONFIG_PKG_USING_MULTI_INFRARED is not set
@@ -568,6 +584,7 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_MB85RS16 is not set
 # CONFIG_PKG_USING_CW2015 is not set
 # CONFIG_PKG_USING_RFM300 is not set
+# CONFIG_PKG_USING_IO_INPUT_FILTER is not set
 
 #
 # AI packages
@@ -641,6 +658,8 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_CONTROLLER is not set
 # CONFIG_PKG_USING_PHASE_LOCKED_LOOP is not set
 # CONFIG_PKG_USING_MFBD is not set
+# CONFIG_PKG_USING_SLCAN2RTT is not set
+# CONFIG_PKG_USING_SOEM is not set
 CONFIG_SOC_FAMILY_STM32=y
 CONFIG_SOC_SERIES_STM32F4=y
 
@@ -660,6 +679,13 @@ 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_UART3 is not set
+# CONFIG_BSP_USING_UART6 is not set
+# CONFIG_BSP_USING_CAN is not set
+# CONFIG_BSP_USING_PWM is not set
+# CONFIG_BSP_USING_ADC 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
 

bsp/stm32/stm32f407-robomaster-c/README.md

@@ -24,10 +24,14 @@ Robomaster 开发板C型 是大疆创新科技有限公司推出的一款基于
 
 该开发板常用 **板载资源** 如下：
 
-- MCU: STM32F407IGH6TR, 168MHz Freq, 1024KB FLASH, 192KB RAM(含64KB CCM RAM)。
+- MCU：STM32F407IGH6TR, 主频 168MHz, 1024KB FLASH, 192KB RAM(含64KB CCM RAM)
+- 常用外设
+  - 三色 LED：LED_R(PH12), LED_G(PH11), LED_B(PH11), 
+  - 按键：KEY(PA0)
+  - 电压检测：ADC_BAT(PF10)
+- 常用接口：UART 接口、CAN 总线接口、PWM 接口
 - 调试接口：SWD
-- 常用外设：用户自定义 LED、按键、蜂鸣器、六轴惯性测量单元和磁力计、电压检测 ADC。
-- 常用接口：5V 接口、BOOT 配置接口、micro USB 接口、可配置 I/O 接口、UART 接口、CAN 总线接口、PWM 接口、DBUS接口、数字摄像头 FPC 接口。
+
 
 开发板的用户手册：[RoboMaster 开发板 C 型用户手册.pdf](https://rm-static.djicdn.com/tem/35228/RoboMaster%20%20%E5%BC%80%E5%8F%91%E6%9D%BF%20C%20%E5%9E%8B%E7%94%A8%E6%88%B7%E6%89%8B%E5%86%8C.pdf)
 
@@ -43,14 +47,11 @@ Robomaster 开发板C型 是大疆创新科技有限公司推出的一款基于
 | IST8310      |   暂不支持   | 三轴磁力计                           |
 | **片上外设** | **支持情况** | **备注**                             |
 | GPIO         |     支持     | PA0, PA1... PH1 ---> PIN: 0, 1...144 |
-| UART         |     支持     | UART1,  UART3(DBUS),  UART6          |
-| CAN          |   下阶段支持   | CAN1, CAN2                           |
-| PWM          |   下阶段支持   |                                      |
-| SPI          |   下阶段支持   | BMI088, 用户SPI接口 |
-| I2C          |   下阶段支持   | IST8310, 用户 I2C 接口 |
-| USB          |   暂不支持   |                                      |
-| **扩展模块** | **支持情况** | **备注**                             |
-| 无           |              |                                      |
+| UART         |     支持     | UART1(FinSH),  UART3(DBUS),  UART6          |
+| CAN          |     支持    | CAN1, CAN2                           |
+| PWM          |   支持   | TIM1(CH1/2/3/4), TIM4(CH3), TIM8(CH1/2/3)  |
+| SPI          |   支持   | SPI2 |
+| IIC          |   支持   | 模拟IIC(SDA-->PF0, SCL-->PF1) |
 
 ## 使用说明
 
@@ -83,20 +84,20 @@ Robomaster 开发板C型 是大疆创新科技有限公司推出的一款基于
 
 下载程序成功之后，系统会自动运行，观察开发板上 LED 的运行效果，LED 会以蓝光进行周期性闪烁。
 
-此 BSP 的 FinSH 默认使用串口 1 (C板外壳上标有UART2的4Pin接口)，在终端工具里打开相应的串口（115200-8-1-N），复位设备后，可以看到 RT-Thread 的输出信息:
+此 BSP 的 FinSH 默认使用串口 1 ( C 板外壳上标有 UART2 的 4Pin 接口)，在终端工具里打开相应的串口（115200-8-1-N），复位设备后，可以看到 RT-Thread 的输出信息:
 
 ```bash
  \ | /
 - RT -     Thread Operating System
- / | \     4.0.4 build Jun 30 2021
- 2006 - 2021 Copyright by rt-thread team
+ / | \     4.1.1 build Jul 29 2022 23:31:38
+ 2006 - 2022 Copyright by RT-Thread team
 msh >
 ```
 > 终端工具推荐使用 [MobaXterm](https://mobaxterm.mobatek.net/) 或 [Xshell](https://www.netsarang.com/en/free-for-home-school/)，均有免费的个人版本
 
 ### 进阶使用
 
-此 BSP 默认只开启了 GPIO 和 串口 2 的功能，更多高级功能需要利用 ENV 工具对 BSP 进行配置，步骤如下：
+此 BSP 默认只开启了 GPIO 和 UART1(丝印为 UART2 4pin 接口) 的功能，更多高级功能需要利用 ENV 工具对 BSP 进行配置，步骤如下：
 
 1. 在 BSP 下打开 env 工具。
 
@@ -117,4 +118,6 @@ msh >
 
 维护人:
 
-- [crazt](https://github.com/CraztTnspt) ，邮箱：<crazt@foxmail.com>
+- [crazt](https://github.com/CraztTnspt) ，邮箱：<crazt@foxmail.com>
+- [Meng](https://github.com/Meng2025) ，邮箱：<m@njust.edu.cn>
+

bsp/stm32/stm32f407-robomaster-c/applications/main.c

@@ -13,7 +13,7 @@
 #include <rtdevice.h>
 #include <board.h>
 
-/* defined the LED Blue pin: PB1 */
+/* defined the LED Blue pin: PH10 */
 #define LED_B_PIN    GET_PIN(H, 10)
 
 int main(void)

bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/.mxproject

@@ -1,14 +1,14 @@
 [PreviousLibFiles]
-LibFiles=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/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/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/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/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/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/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.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;
+LibFiles=Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_adc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_adc_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_adc.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_ll_bus.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_system.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_utils.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_ll_gpio.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_ll_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dmamux.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_ll_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_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_ll_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.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_ll_tim.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usart.h;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_adc.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_can.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_adc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_adc_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_adc.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_ll_bus.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_system.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_utils.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_ll_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h;Drivers\STMLine truncated
 
 [PreviousUsedKeilFiles]
-SourceFiles=..\Src\main.c;..\Src\stm32f4xx_it.c;..\Src\stm32f4xx_hal_msp.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/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;..\\Src/system_stm32f4xx.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/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;..\\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_adc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_adc.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_can.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\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;..\\Src\system_stm32f4xx.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_adc.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_can.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\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;..\\Src\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;STM32F407xx;USE_HAL_DRIVER;USE_HAL_DRIVER;
 
 [PreviousGenFiles]
-HeaderPath=C:/CraztDoc/RTT/github_repo/rt-thread/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Inc
+HeaderPath=..\Inc
 HeaderFiles=stm32f4xx_it.h;stm32f4xx_hal_conf.h;main.h;
-SourcePath=C:/CraztDoc/RTT/github_repo/rt-thread/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src
+SourcePath=..\Src
 SourceFiles=stm32f4xx_it.c;stm32f4xx_hal_msp.c;main.c;
 

bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Inc/main.h

@@ -50,6 +50,8 @@ extern "C" {
 
 /* USER CODE END EM */
 
+void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
+
 /* Exported functions prototypes ---------------------------------------------*/
 void Error_Handler(void);
 
@@ -67,5 +69,3 @@ void Error_Handler(void);
 #endif
 
 #endif /* __MAIN_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h

@@ -1,3 +1,4 @@
+/* USER CODE BEGIN Header */
 /**
   ******************************************************************************
   * @file    stm32f4xx_hal_conf_template.h
@@ -8,16 +9,16 @@
   ******************************************************************************
   * @attention
   *
-  * <h2><center>&copy; Copyright (c) 2017 STMicroelectronics.
-  * All rights reserved.</center></h2>
+  * Copyright (c) 2017 STMicroelectronics.
+  * All rights reserved.
   *
-  * This software component is licensed by ST under BSD 3-Clause license,
-  * the "License"; You may not use this file except in compliance with the
-  * License. You may obtain a copy of the License at:
-  *                        opensource.org/licenses/BSD-3-Clause
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
   *
   ******************************************************************************
   */
+/* USER CODE END Header */
 
 /* Define to prevent recursive inclusion -------------------------------------*/
 #ifndef __STM32F4xx_HAL_CONF_H
@@ -36,9 +37,9 @@
   */
 #define HAL_MODULE_ENABLED
 
-  /* #define HAL_ADC_MODULE_ENABLED   */
+  #define HAL_ADC_MODULE_ENABLED
 /* #define HAL_CRYP_MODULE_ENABLED   */
-/* #define HAL_CAN_MODULE_ENABLED   */
+#define HAL_CAN_MODULE_ENABLED
 /* #define HAL_CRC_MODULE_ENABLED   */
 /* #define HAL_CAN_LEGACY_MODULE_ENABLED   */
 /* #define HAL_CRYP_MODULE_ENABLED   */
@@ -61,8 +62,8 @@
 /* #define HAL_SAI_MODULE_ENABLED   */
 /* #define HAL_SD_MODULE_ENABLED   */
 /* #define HAL_MMC_MODULE_ENABLED   */
-/* #define HAL_SPI_MODULE_ENABLED   */
-/* #define HAL_TIM_MODULE_ENABLED   */
+#define HAL_SPI_MODULE_ENABLED
+#define HAL_TIM_MODULE_ENABLED
 #define HAL_UART_MODULE_ENABLED
 /* #define HAL_USART_MODULE_ENABLED   */
 /* #define HAL_IRDA_MODULE_ENABLED   */
@@ -76,6 +77,7 @@
 /* #define HAL_QSPI_MODULE_ENABLED   */
 /* #define HAL_CEC_MODULE_ENABLED   */
 /* #define HAL_FMPI2C_MODULE_ENABLED   */
+/* #define HAL_FMPSMBUS_MODULE_ENABLED   */
 /* #define HAL_SPDIFRX_MODULE_ENABLED   */
 /* #define HAL_DFSDM_MODULE_ENABLED   */
 /* #define HAL_LPTIM_MODULE_ENABLED   */
@@ -94,11 +96,11 @@
   *        (when HSE is used as system clock source, directly or through the PLL).
   */
 #if !defined  (HSE_VALUE)
-  #define HSE_VALUE    ((uint32_t)12000000U) /*!< Value of the External oscillator in Hz */
+  #define HSE_VALUE    12000000U /*!< Value of the External oscillator in Hz */
 #endif /* HSE_VALUE */
 
 #if !defined  (HSE_STARTUP_TIMEOUT)
-  #define HSE_STARTUP_TIMEOUT    ((uint32_t)100U)   /*!< Time out for HSE start up, in ms */
+  #define HSE_STARTUP_TIMEOUT    100U   /*!< Time out for HSE start up, in ms */
 #endif /* HSE_STARTUP_TIMEOUT */
 
 /**
@@ -114,7 +116,7 @@
   * @brief Internal Low Speed oscillator (LSI) value.
   */
 #if !defined  (LSI_VALUE)
- #define LSI_VALUE  ((uint32_t)32000U)       /*!< LSI Typical Value in Hz*/
+ #define LSI_VALUE  32000U       /*!< LSI Typical Value in Hz*/
 #endif /* LSI_VALUE */                      /*!< Value of the Internal Low Speed oscillator in Hz
                                              The real value may vary depending on the variations
                                              in voltage and temperature.*/
@@ -122,11 +124,11 @@
   * @brief External Low Speed oscillator (LSE) value.
   */
 #if !defined  (LSE_VALUE)
- #define LSE_VALUE  ((uint32_t)32768U)    /*!< Value of the External Low Speed oscillator in Hz */
+ #define LSE_VALUE  32768U    /*!< Value of the External Low Speed oscillator in Hz */
 #endif /* LSE_VALUE */
 
 #if !defined  (LSE_STARTUP_TIMEOUT)
-  #define LSE_STARTUP_TIMEOUT    ((uint32_t)5000U)   /*!< Time out for LSE start up, in ms */
+  #define LSE_STARTUP_TIMEOUT    5000U   /*!< Time out for LSE start up, in ms */
 #endif /* LSE_STARTUP_TIMEOUT */
 
 /**
@@ -135,7 +137,7 @@
   *        frequency, this source is inserted directly through I2S_CKIN pad.
   */
 #if !defined  (EXTERNAL_CLOCK_VALUE)
-  #define EXTERNAL_CLOCK_VALUE    ((uint32_t)12288000U) /*!< Value of the External audio frequency in Hz*/
+  #define EXTERNAL_CLOCK_VALUE    12288000U /*!< Value of the External audio frequency in Hz*/
 #endif /* EXTERNAL_CLOCK_VALUE */
 
 /* Tip: To avoid modifying this file each time you need to use different HSE,
@@ -145,8 +147,8 @@
 /**
   * @brief This is the HAL system configuration section
   */
-#define  VDD_VALUE            ((uint32_t)3300U) /*!< Value of VDD in mv */
-#define  TICK_INT_PRIORITY            ((uint32_t)0U)   /*!< tick interrupt priority */
+#define  VDD_VALUE		      3300U /*!< Value of VDD in mv */
+#define  TICK_INT_PRIORITY            0U   /*!< tick interrupt priority */
 #define  USE_RTOS                     0U
 #define  PREFETCH_ENABLE              1U
 #define  INSTRUCTION_CACHE_ENABLE     1U
@@ -166,6 +168,7 @@
 #define  USE_HAL_HCD_REGISTER_CALLBACKS         0U /* HCD register callback disabled       */
 #define  USE_HAL_I2C_REGISTER_CALLBACKS         0U /* I2C register callback disabled       */
 #define  USE_HAL_FMPI2C_REGISTER_CALLBACKS      0U /* FMPI2C register callback disabled    */
+#define  USE_HAL_FMPSMBUS_REGISTER_CALLBACKS    0U /* FMPSMBUS register callback disabled  */
 #define  USE_HAL_I2S_REGISTER_CALLBACKS         0U /* I2S register callback disabled       */
 #define  USE_HAL_IRDA_REGISTER_CALLBACKS        0U /* IRDA register callback disabled      */
 #define  USE_HAL_LPTIM_REGISTER_CALLBACKS       0U /* LPTIM register callback disabled     */
@@ -213,20 +216,20 @@
 /* Definition of the Ethernet driver buffers size and count */
 #define ETH_RX_BUF_SIZE                ETH_MAX_PACKET_SIZE /* buffer size for receive               */
 #define ETH_TX_BUF_SIZE                ETH_MAX_PACKET_SIZE /* buffer size for transmit              */
-#define ETH_RXBUFNB                    ((uint32_t)4U)       /* 4 Rx buffers of size ETH_RX_BUF_SIZE  */
-#define ETH_TXBUFNB                    ((uint32_t)4U)       /* 4 Tx buffers of size ETH_TX_BUF_SIZE  */
+#define ETH_RXBUFNB                    4U       /* 4 Rx buffers of size ETH_RX_BUF_SIZE  */
+#define ETH_TXBUFNB                    4U       /* 4 Tx buffers of size ETH_TX_BUF_SIZE  */
 
 /* Section 2: PHY configuration section */
 
 /* DP83848_PHY_ADDRESS Address*/
 #define DP83848_PHY_ADDRESS           0x01U
 /* PHY Reset delay these values are based on a 1 ms Systick interrupt*/
-#define PHY_RESET_DELAY                 ((uint32_t)0x000000FFU)
+#define PHY_RESET_DELAY                 0x000000FFU
 /* PHY Configuration delay */
-#define PHY_CONFIG_DELAY                ((uint32_t)0x00000FFFU)
+#define PHY_CONFIG_DELAY                0x00000FFFU
 
-#define PHY_READ_TO                     ((uint32_t)0x0000FFFFU)
-#define PHY_WRITE_TO                    ((uint32_t)0x0000FFFFU)
+#define PHY_READ_TO                     0x0000FFFFU
+#define PHY_WRITE_TO                    0x0000FFFFU
 
 /* Section 3: Common PHY Registers */
 
@@ -444,6 +447,10 @@
  #include "stm32f4xx_hal_fmpi2c.h"
 #endif /* HAL_FMPI2C_MODULE_ENABLED */
 
+#ifdef HAL_FMPSMBUS_MODULE_ENABLED
+ #include "stm32f4xx_hal_fmpsmbus.h"
+#endif /* HAL_FMPSMBUS_MODULE_ENABLED */
+
 #ifdef HAL_SPDIFRX_MODULE_ENABLED
  #include "stm32f4xx_hal_spdifrx.h"
 #endif /* HAL_SPDIFRX_MODULE_ENABLED */
@@ -482,5 +489,3 @@
 #endif
 
 #endif /* __STM32F4xx_HAL_CONF_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Inc/stm32f4xx_it.h

@@ -65,5 +65,3 @@ void SysTick_Handler(void);
 #endif
 
 #endif /* __STM32F4xx_IT_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/stm32f4xx_it.c

@@ -202,4 +202,3 @@ void SysTick_Handler(void)
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

bsp/stm32/stm32f407-robomaster-c/board/Kconfig

@@ -24,14 +24,141 @@ menu "On-chip Peripheral Drivers"
         select RT_USING_SERIAL
         if BSP_USING_UART
             config BSP_USING_UART1
-                bool "Enable UART1"
+                bool "Enable UART1 (FinSH , symbol UART2 on board)"
                 default y
 
             config BSP_UART1_RX_USING_DMA
                 bool "Enable UART1 RX DMA"
                 depends on BSP_USING_UART1 && RT_SERIAL_USING_DMA
                 default n
+
+            config BSP_USING_UART3
+                bool "Enable UART3 (DBUS)"
+                default n
+            config BSP_UART3_RX_USING_DMA
+                bool "Enable UART3 RX DMA"
+                depends on BSP_USING_UART3 && RT_SERIAL_USING_DMA
+                default n
+
+            config BSP_USING_UART6
+                bool "Enable UART6"
+                default n
+            config BSP_UART6_RX_USING_DMA
+                bool "Enable UART6 RX DMA"
+                depends on BSP_USING_UART6 && RT_SERIAL_USING_DMA
+                default n
+
         endif
+
+    menuconfig BSP_USING_CAN
+        bool "Enable CAN"
+        default n
+        select RT_USING_CAN
+        if BSP_USING_CAN
+            config BSP_USING_CAN1
+                bool "using CAN1 (2pin)"
+                default n
+            config BSP_USING_CAN2
+                bool "using CAN2 (4pin)"
+                default n
+        endif
+
+    menuconfig BSP_USING_PWM
+        bool "Enable PWM"
+        default n
+        select RT_USING_PWM
+        if BSP_USING_PWM
+            
+            menuconfig BSP_USING_PWM1
+                bool "Enable timer1 output PWM"
+                default n
+                if BSP_USING_PWM1
+                    config BSP_USING_PWM1_CH1
+                        bool "Enable PWM1 channel1"
+                        default n
+                    config BSP_USING_PWM1_CH2
+                        bool "Enable PWM1 channel2"
+                        default n
+                    config BSP_USING_PWM1_CH3
+                        bool "Enable PWM1 channel3"
+                        default n
+                    config BSP_USING_PWM1_CH4
+                        bool "Enable PWM1 channel4"
+                        default n
+                endif
+
+            menuconfig BSP_USING_PWM4
+                bool "Enable timer4 output PWM"
+                default n
+                if BSP_USING_PWM4
+                    config BSP_USING_PWM4_CH3
+                        bool "Enable PWM4 channel3 (buzzer)"
+                        default n
+                endif
+
+            menuconfig BSP_USING_PWM8
+                bool "Enable timer8 output PWM"
+                default n
+                if BSP_USING_PWM8
+                    config BSP_USING_PWM8_CH1
+                        bool "Enable PWM8 channel1"
+                        default n
+                    config BSP_USING_PWM8_CH2
+                        bool "Enable PWM8 channel2"
+                        default n
+                    config BSP_USING_PWM8_CH3
+                        bool "Enable PWM8 channel3"
+                        default n
+                endif
+
+        endif
+        
+    menuconfig BSP_USING_ADC
+        bool "Enable ADC"
+        default n
+        select RT_USING_ADC
+        if BSP_USING_ADC
+            config BSP_USING_ADC3
+                bool "Enable ADC3"
+                default n
+        endif
+
+    menuconfig BSP_USING_SPI
+        bool "Enable SPI BUS"
+        default n
+        select RT_USING_SPI
+        if BSP_USING_SPI
+            config BSP_USING_SPI2
+                bool "Enable SPI2 BUS"
+                default n  
+                        
+            config BSP_SPI2_TX_USING_DMA
+                bool "Enable SPI2 TX DMA"
+                depends on BSP_USING_SPI2
+                default n
+                        
+            config BSP_SPI2_RX_USING_DMA
+                bool "Enable SPI2 RX DMA"
+                depends on BSP_USING_SPI2
+                select BSP_SPI2_TX_USING_DMA
+                default n
+        endif
+
+    menuconfig BSP_USING_I2C1
+        bool "Enable I2C1 BUS (software simulation)"
+        default n
+        select RT_USING_I2C
+        select RT_USING_I2C_BITOPS
+        select RT_USING_PIN
+        if BSP_USING_I2C1
+            config BSP_I2C1_SCL_PIN
+                int "i2c1 scl pin number"
+                default 81
+            config BSP_I2C1_SDA_PIN
+                int "I2C1 sda pin number"
+                default 80
+        endif
+
         
     source "../libraries/HAL_Drivers/Kconfig"    
     

bsp/stm32/stm32f407-robomaster-c/rtconfig.h

@@ -17,11 +17,14 @@
 #define RT_USING_IDLE_HOOK
 #define RT_IDLE_HOOK_LIST_SIZE 4
 #define IDLE_THREAD_STACK_SIZE 256
+#define RT_USING_TIMER_SOFT
+#define RT_TIMER_THREAD_PRIO 4
+#define RT_TIMER_THREAD_STACK_SIZE 512
 
 /* kservice optimization */
 
+#define RT_KSERVICE_USING_STDLIB
 #define RT_DEBUG
-#define RT_DEBUG_COLOR
 
 /* Inter-Thread communication */
 
@@ -44,7 +47,7 @@
 #define RT_USING_CONSOLE
 #define RT_CONSOLEBUF_SIZE 128
 #define RT_CONSOLE_DEVICE_NAME "uart1"
-#define RT_VER_NUM 0x40100
+#define RT_VER_NUM 0x40101
 #define ARCH_ARM
 #define RT_USING_CPU_FFS
 #define ARCH_ARM_CORTEX_M
@@ -150,9 +153,6 @@
 /* enhanced kernel services */
 
 
-/* POSIX extension functions */
-
-
 /* acceleration: Assembly language or algorithmic acceleration packages */
 
 
@@ -165,6 +165,9 @@
 /* peripheral libraries and drivers */
 
 
+/* Kendryte SDK */
+
+
 /* AI packages */