[arduino][stm32f407-robomaster-c] 对接RTduino (#6759)

2026-03-27 09:32:28 +08:00 · 2022-12-20 13:59:54 +08:00
parent 8ade08799b
commit ba2d7ba4c0
13 changed files with 301 additions and 1546 deletions
--- a/bsp/stm32/stm32f407-robomaster-c/applications/SConscript
+++ b/bsp/stm32/stm32f407-robomaster-c/applications/SConscript
@@ -1,9 +1,12 @@
 from building import *
 import os

-cwd = GetCurrentDir()
-src = Glob('*.c')
+cwd     = GetCurrentDir()
 CPPPATH = [cwd]
+src     = Glob('*.c')
+
+if GetDepend(['PKG_USING_RTDUINO']) and not GetDepend(['RTDUINO_NO_SETUP_LOOP']):
+    src += ['arduino_main.cpp']

 group = DefineGroup('Applications', src, depend = [''], CPPPATH = CPPPATH)

--- a/bsp/stm32/stm32f407-robomaster-c/applications/arduino_main.cpp
+++ b/bsp/stm32/stm32f407-robomaster-c/applications/arduino_main.cpp
@@ -0,0 +1,24 @@
+/*
+ * Copyright (c) 2006-2022, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2022-12-20     default      first version
+ */
+
+#include <Arduino.h>
+
+void setup(void)
+{
+    /* put your setup code here, to run once: */
+    pinMode(LED_BUILTIN, OUTPUT);
+}
+
+void loop(void)
+{
+    /* put your main code here, to run repeatedly: */
+    digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN));
+    delay(100);
+}
--- a/bsp/stm32/stm32f407-robomaster-c/applications/arduino_pinout/README.md
+++ b/bsp/stm32/stm32f407-robomaster-c/applications/arduino_pinout/README.md
@@ -0,0 +1,41 @@
+# xxx 开发板的Arduino生态兼容说明
+
+## 1 RTduino - RT-Thread的Arduino生态兼容层
+
+stm32f407-robomaster-c 开发板已经完整适配了[RTduino软件包](https://github.com/RTduino/RTduino)，即RT-Thread的Arduino生态兼容层。用户可以按照Arduino的编程习惯来操作该BSP，并且可以使用大量Arduino社区丰富的库，是对RT-Thread生态的极大增强。更多信息，请参见[RTduino软件包说明文档](https://github.com/RTduino/RTduino)。
+
+### 1.1 如何开启针对本BSP的Arduino生态兼容层
+
+Env 工具下敲入 menuconfig 命令，或者 RT-Thread Studio IDE 下选择 RT-Thread Settings：
+
+```Kconfig
+Hardware Drivers Config --->
+    Onboard Peripheral Drivers --->
+        [*] Compatible with Arduino Ecosystem (RTduino)
+```
+
+## 2 Arduino引脚排布
+
+更多引脚布局相关信息参见 [pins_arduino.c](pins_arduino.c) 和 [pins_arduino.h](pins_arduino.h)。
+
+![xxx-pinout](xxx-pinout.jpg)
+| Arduino引脚编号  | STM32引脚编号 | 5V容忍 | 备注  |
+| ------------------- | --------- | ---- | ------------------------------------------------------------------------- |
+| 0 (D0) | PH11 | 是/否 | 板载用户LED |
+| 1 (D1) | PB7 | 是/否 | Serial-RX，默认被RT-Thread的UART设备框架uart1接管 |
+| 2 (D2) | PA9 | 是/否 | Serial-TX，默认被RT-Thread的UART设备框架uart1接管 |
+| 3 (D3) | PG9 | 是/否 | Serial-RX，默认被RT-Thread的UART设备框架uart6接管 |
+| 4 (D4) | PG14 | 是/否 | Serial-TX，默认被RT-Thread的UART设备框架uart6接管 |
+| 5 (D5) | PB0 | 是/否 | I2C1-SCL，默认被RT-Thread的I2C设备框架i2c1接管 |
+| 6 (D6) | PB0 | 是/否 | I2C1-SDA，默认被RT-Thread的I2C设备框架i2c1接管 |
+| 7 (D7) | PE9 | 是/否 | PWM1-CH1，默认被RT-Thread的PWM设备框架pwm1接管 |
+| 8 (D8) | PE11 | 是/否 | PWM1-CH2，默认被RT-Thread的PWM设备框架pwm1接管 |
+| 9 (D9) | PE13 | 是/否 | PWM1-CH3，默认被RT-Thread的PWM设备框架pwm1接管 |
+| 10 (D10) | PE14 | 是/否 | PWM1-CH4，默认被RT-Thread的PWM设备框架pwm1接管 |
+| 11 (D11) | PE14 | 是/否 | PWM1-CH4，默认被RT-Thread的PWM设备框架pwm1接管 |
+| 12 (D12) | PC6 | 是/否 | PWM8-CH1，默认被RT-Thread的PWM设备框架pwm8接管 |
+| 13 (D13) | PI6 | 是/否 | PWM8-CH2，默认被RT-Thread的PWM设备框架pwm8接管 |
+| 14 (D14) | PI7 | 是/否 | PWM8-CH3，默认被RT-Thread的PWM设备框架pwm8接管 |
+| 15 (A0) | -- |  | 芯片内部温度 ADC，默认被RT-Thread的ADC设备框架adc1接管 |
+| 16 (A1) | -- |  | 芯片内部参考电压 ADC，默认被RT-Thread的ADC设备框架adc1接管 |
+
--- a/bsp/stm32/stm32f407-robomaster-c/applications/arduino_pinout/SConscript
+++ b/bsp/stm32/stm32f407-robomaster-c/applications/arduino_pinout/SConscript
@@ -0,0 +1,9 @@
+from building import *
+
+cwd = GetCurrentDir()
+src = Glob('*.c') + Glob('*.cpp')
+inc = [cwd]
+
+group = DefineGroup('RTduino', src, depend = ['PKG_USING_RTDUINO'], CPPPATH = inc)
+
+Return('group')
--- a/bsp/stm32/stm32f407-robomaster-c/applications/arduino_pinout/pins_arduino.c
+++ b/bsp/stm32/stm32f407-robomaster-c/applications/arduino_pinout/pins_arduino.c
@@ -0,0 +1,41 @@
+/*
+ * Copyright (c) 2006-2022, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2022-12-20     default      first version
+ */
+
+#include <Arduino.h>
+#include <board.h>
+#include "pins_arduino.h"
+
+/*
+ * {Arduino Pin, RT-Thread Pin [, Device Name, Channel]}
+ * [] means optional
+ * Digital pins must NOT give the device name and channel.
+ * Analog pins MUST give the device name and channel(ADC, PWM or DAC).
+ * Arduino Pin must keep in sequence.
+ */
+const pin_map_t pin_map_table[]=
+{
+    {D0, GET_PIN(H,11)},                /* LED_BUILTIN */
+    {D1, GET_PIN(B,7), "uart1"},        /* Serial-RX */
+    {D2, GET_PIN(A,9), "uart1"},        /* Serial-TX */
+    {D3, GET_PIN(G,9), "uart6"},        /* Serial-RX */
+    {D4, GET_PIN(G,14), "uart6"},       /* Serial-TX */
+    {D5, GET_PIN(B,0), "i2c1"},         /* I2C-SCL (Wire) */
+    {D6, GET_PIN(B,0), "i2c1"},         /* I2C-SDA (Wire) */
+    {D7, GET_PIN(E,9), "pwm1", 1},      /* PWM */
+    {D8, GET_PIN(E,11), "pwm1", 2},     /* PWM */
+    {D9, GET_PIN(E,13), "pwm1", 3},     /* PWM */
+    {D10, GET_PIN(E,14), "pwm1", 4},    /* PWM */
+    {D11, GET_PIN(E,14), "pwm1", 4},    /* PWM */
+    {D12, GET_PIN(C,6), "pwm8", 1},     /* PWM */
+    {D13, GET_PIN(I,6), "pwm8", 2},     /* PWM */
+    {D14, GET_PIN(I,7), "pwm8", 3},     /* PWM */
+    {A0, RT_NULL, "adc1", 18},          /* ADC, On-Chip: internal temperature sensor, ADC_CHANNEL_TEMPSENSOR */
+    {A1, RT_NULL, "adc1", 17},          /* ADC, On-Chip: internal reference voltage, ADC_CHANNEL_VREFINT */
+};
--- a/bsp/stm32/stm32f407-robomaster-c/applications/arduino_pinout/pins_arduino.h
+++ b/bsp/stm32/stm32f407-robomaster-c/applications/arduino_pinout/pins_arduino.h
@@ -0,0 +1,40 @@
+/*
+ * Copyright (c) 2006-2022, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2022-12-20     default      first version
+ */
+
+#ifndef Pins_Arduino_h
+#define Pins_Arduino_h
+
+/* pins alias. Must keep in sequence */
+#define D0        (0)
+#define D1        (1)
+#define D2        (2)
+#define D3        (3)
+#define D4        (4)
+#define D5        (5)
+#define D6        (6)
+#define D7        (7)
+#define D8        (8)
+#define D9        (9)
+#define D10       (10)
+#define D11       (11)
+#define D12       (12)
+#define D13       (13)
+#define D14       (14)
+#define A0        (15)
+#define A1        (16)
+
+#define F_CPU          168000000L  /* CPU:168MHz */
+
+#define LED_BUILTIN     D0  /* Default Built-in LED */
+
+/* i2c1 : PF0-SDA PF1-SCL */
+#define RTDUINO_DEFAULT_IIC_BUS_NAME    "i2c1"
+
+#endif /* Pins_Arduino_h */
--- a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/.mxproject
+++ b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/.mxproject
--- a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/CubeMX_Config.ioc
+++ b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/CubeMX_Config.ioc
@@ -1,9 +1,18 @@
 #MicroXplorer Configuration settings - do not modify
+ADC1.Channel-0\#ChannelRegularConversion=ADC_CHANNEL_TEMPSENSOR
+ADC1.IPParameters=Rank-0\#ChannelRegularConversion,master,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,NbrOfConversionFlag
+ADC1.NbrOfConversionFlag=1
+ADC1.Rank-0\#ChannelRegularConversion=1
+ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
+ADC1.master=1
 ADC3.Channel-1\#ChannelRegularConversion=ADC_CHANNEL_8
 ADC3.IPParameters=Rank-1\#ChannelRegularConversion,Channel-1\#ChannelRegularConversion,SamplingTime-1\#ChannelRegularConversion,NbrOfConversionFlag
 ADC3.NbrOfConversionFlag=1
 ADC3.Rank-1\#ChannelRegularConversion=1
 ADC3.SamplingTime-1\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
+CAD.formats=
+CAD.pinconfig=
+CAD.provider=
 CAN1.BS1=CAN_BS1_1TQ
 CAN1.BS2=CAN_BS2_1TQ
 CAN1.CalculateBaudRate=875000
@@ -17,23 +26,25 @@ CAN2.CalculateTimeBit=1142
 CAN2.CalculateTimeQuantum=380.95238095238096
 CAN2.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,BS1,BS2
 File.Version=6
-GPIO.groupedBy=
+GPIO.groupedBy=Group By Peripherals
 KeepUserPlacement=false
 Mcu.CPN=STM32F407IGH6
 Mcu.Family=STM32F4
-Mcu.IP0=ADC3
-Mcu.IP1=CAN1
-Mcu.IP10=USART3
-Mcu.IP11=USART6
-Mcu.IP2=CAN2
-Mcu.IP3=NVIC
-Mcu.IP4=RCC
-Mcu.IP5=SYS
-Mcu.IP6=TIM1
-Mcu.IP7=TIM4
-Mcu.IP8=TIM8
-Mcu.IP9=USART1
-Mcu.IPNb=12
+Mcu.IP0=ADC1
+Mcu.IP1=ADC3
+Mcu.IP10=TIM8
+Mcu.IP11=USART1
+Mcu.IP12=USART3
+Mcu.IP13=USART6
+Mcu.IP2=CAN1
+Mcu.IP3=CAN2
+Mcu.IP4=I2C2
+Mcu.IP5=NVIC
+Mcu.IP6=RCC
+Mcu.IP7=SYS
+Mcu.IP8=TIM1
+Mcu.IP9=TIM4
+Mcu.IPNb=14
 Mcu.Name=STM32F407I(E-G)Hx
 Mcu.Package=UFBGA176
 Mcu.Pin0=PB5
@@ -41,29 +52,33 @@ Mcu.Pin1=PG14
 Mcu.Pin10=PI6
 Mcu.Pin11=PG9
 Mcu.Pin12=PD1
-Mcu.Pin13=PA9
-Mcu.Pin14=PH0-OSC_IN
-Mcu.Pin15=PH1-OSC_OUT
-Mcu.Pin16=PC6
-Mcu.Pin17=PF10
-Mcu.Pin18=PD14
-Mcu.Pin19=PE13
+Mcu.Pin13=PF0
+Mcu.Pin14=PA9
+Mcu.Pin15=PH0-OSC_IN
+Mcu.Pin16=PH1-OSC_OUT
+Mcu.Pin17=PF1
+Mcu.Pin18=PC6
+Mcu.Pin19=PF10
 Mcu.Pin2=PA14
-Mcu.Pin20=PE9
-Mcu.Pin21=PE11
-Mcu.Pin22=PE14
-Mcu.Pin23=VP_SYS_VS_Systick
-Mcu.Pin24=VP_TIM1_VS_ClockSourceINT
-Mcu.Pin25=VP_TIM4_VS_ClockSourceINT
-Mcu.Pin26=VP_TIM8_VS_ClockSourceINT
+Mcu.Pin20=PD14
+Mcu.Pin21=PE13
+Mcu.Pin22=PE9
+Mcu.Pin23=PE11
+Mcu.Pin24=PE14
+Mcu.Pin25=VP_ADC1_TempSens_Input
+Mcu.Pin26=VP_ADC1_Vref_Input
+Mcu.Pin27=VP_SYS_VS_Systick
+Mcu.Pin28=VP_TIM1_VS_ClockSourceINT
+Mcu.Pin29=VP_TIM4_VS_ClockSourceINT
 Mcu.Pin3=PA13
+Mcu.Pin30=VP_TIM8_VS_ClockSourceINT
 Mcu.Pin4=PB7
 Mcu.Pin5=PB6
 Mcu.Pin6=PD0
 Mcu.Pin7=PC11
 Mcu.Pin8=PC10
 Mcu.Pin9=PI7
-Mcu.PinsNb=27
+Mcu.PinsNb=31
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F407IGHx
@@ -117,6 +132,10 @@ PE14.Locked=true
 PE14.Signal=S_TIM1_CH4
 PE9.Locked=true
 PE9.Signal=S_TIM1_CH1
+PF0.Mode=I2C
+PF0.Signal=I2C2_SDA
+PF1.Mode=I2C
+PF1.Signal=I2C2_SCL
 PF10.Locked=true
 PF10.Mode=IN8
 PF10.Signal=ADC3_IN8
@@ -159,7 +178,7 @@ ProjectManager.StackSize=0x400
 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-false,3-MX_USART1_UART_Init-USART1-false-HAL-true,4-MX_ADC3_Init-ADC3-false-HAL-true,5-MX_CAN1_Init-CAN1-false-HAL-true,6-MX_CAN2_Init-CAN2-false-HAL-true,7-MX_TIM1_Init-TIM1-false-HAL-true,8-MX_TIM4_Init-TIM4-false-HAL-true,9-MX_TIM8_Init-TIM8-false-HAL-true,10-MX_USART3_UART_Init-USART3-false-HAL-true,11-MX_USART6_UART_Init-USART6-false-HAL-true
+ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_USART1_UART_Init-USART1-false-HAL-true,4-MX_ADC3_Init-ADC3-false-HAL-true,5-MX_CAN1_Init-CAN1-false-HAL-true,6-MX_CAN2_Init-CAN2-false-HAL-true,7-MX_TIM1_Init-TIM1-false-HAL-true,8-MX_TIM4_Init-TIM4-false-HAL-true,9-MX_TIM8_Init-TIM8-false-HAL-true,10-MX_USART3_UART_Init-USART3-false-HAL-true,11-MX_USART6_UART_Init-USART6-false-HAL-true,12-MX_ADC1_Init-ADC1-false-HAL-true
 RCC.48MHZClocksFreq_Value=84000000
 RCC.AHBFreq_Value=168000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV4
@@ -226,6 +245,10 @@ USART3.IPParameters=VirtualMode
 USART3.VirtualMode=VM_ASYNC
 USART6.IPParameters=VirtualMode
 USART6.VirtualMode=VM_ASYNC
+VP_ADC1_TempSens_Input.Mode=IN-TempSens
+VP_ADC1_TempSens_Input.Signal=ADC1_TempSens_Input
+VP_ADC1_Vref_Input.Mode=IN-Vrefint
+VP_ADC1_Vref_Input.Signal=ADC1_Vref_Input
 VP_SYS_VS_Systick.Mode=SysTick
 VP_SYS_VS_Systick.Signal=SYS_VS_Systick
 VP_TIM1_VS_ClockSourceINT.Mode=Internal
--- a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h
+++ b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h
@@ -53,7 +53,7 @@
 /* #define HAL_SRAM_MODULE_ENABLED   */
 /* #define HAL_SDRAM_MODULE_ENABLED   */
 /* #define HAL_HASH_MODULE_ENABLED   */
-/* #define HAL_I2C_MODULE_ENABLED   */
+#define HAL_I2C_MODULE_ENABLED
 /* #define HAL_I2S_MODULE_ENABLED   */
 /* #define HAL_IWDG_MODULE_ENABLED   */
 /* #define HAL_LTDC_MODULE_ENABLED   */
@@ -62,7 +62,7 @@
 /* #define HAL_SAI_MODULE_ENABLED   */
 /* #define HAL_SD_MODULE_ENABLED   */
 /* #define HAL_MMC_MODULE_ENABLED   */
-#define HAL_SPI_MODULE_ENABLED
+/* #define HAL_SPI_MODULE_ENABLED   */
 #define HAL_TIM_MODULE_ENABLED
 #define HAL_UART_MODULE_ENABLED
 /* #define HAL_USART_MODULE_ENABLED   */
--- a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/main.c
+++ b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/main.c
--- a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c
+++ b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c
@@ -88,7 +88,18 @@ void HAL_MspInit(void)
 void HAL_ADC_MspInit(ADC_HandleTypeDef* hadc)
 {
  GPIO_InitTypeDef GPIO_InitStruct = {0};
-  if(hadc->Instance==ADC3)
+  if(hadc->Instance==ADC1)
+  {
+  /* USER CODE BEGIN ADC1_MspInit 0 */
+
+  /* USER CODE END ADC1_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_ADC1_CLK_ENABLE();
+  /* USER CODE BEGIN ADC1_MspInit 1 */
+
+  /* USER CODE END ADC1_MspInit 1 */
+  }
+  else if(hadc->Instance==ADC3)
  {
  /* USER CODE BEGIN ADC3_MspInit 0 */

@@ -120,7 +131,18 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef* hadc)
 */
 void HAL_ADC_MspDeInit(ADC_HandleTypeDef* hadc)
 {
-  if(hadc->Instance==ADC3)
+  if(hadc->Instance==ADC1)
+  {
+  /* USER CODE BEGIN ADC1_MspDeInit 0 */
+
+  /* USER CODE END ADC1_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_ADC1_CLK_DISABLE();
+  /* USER CODE BEGIN ADC1_MspDeInit 1 */
+
+  /* USER CODE END ADC1_MspDeInit 1 */
+  }
+  else if(hadc->Instance==ADC3)
  {
  /* USER CODE BEGIN ADC3_MspDeInit 0 */

@@ -264,68 +286,68 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan)
 }

 /**
-* @brief SPI MSP Initialization
+* @brief I2C MSP Initialization
 * This function configures the hardware resources used in this example
-* @param hspi: SPI handle pointer
+* @param hi2c: I2C handle pointer
 * @retval None
 */
-void HAL_SPI_MspInit(SPI_HandleTypeDef* hspi)
+void HAL_I2C_MspInit(I2C_HandleTypeDef* hi2c)
 {
  GPIO_InitTypeDef GPIO_InitStruct = {0};
-  if(hspi->Instance==SPI2)
+  if(hi2c->Instance==I2C2)
  {
-  /* USER CODE BEGIN SPI2_MspInit 0 */
+  /* USER CODE BEGIN I2C2_MspInit 0 */

-  /* USER CODE END SPI2_MspInit 0 */
-    /* Peripheral clock enable */
-    __HAL_RCC_SPI2_CLK_ENABLE();
+  /* USER CODE END I2C2_MspInit 0 */

-    __HAL_RCC_GPIOB_CLK_ENABLE();
-    /**SPI2 GPIO Configuration
-    PB13     ------> SPI2_SCK
-    PB14     ------> SPI2_MISO
-    PB15     ------> SPI2_MOSI
+    __HAL_RCC_GPIOF_CLK_ENABLE();
+    /**I2C2 GPIO Configuration
+    PF0     ------> I2C2_SDA
+    PF1     ------> I2C2_SCL
    */
-    GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15;
-    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
-    GPIO_InitStruct.Alternate = GPIO_AF5_SPI2;
-    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+    GPIO_InitStruct.Alternate = GPIO_AF4_I2C2;
+    HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);

-  /* USER CODE BEGIN SPI2_MspInit 1 */
+    /* Peripheral clock enable */
+    __HAL_RCC_I2C2_CLK_ENABLE();
+  /* USER CODE BEGIN I2C2_MspInit 1 */

-  /* USER CODE END SPI2_MspInit 1 */
+  /* USER CODE END I2C2_MspInit 1 */
  }

 }

 /**
-* @brief SPI MSP De-Initialization
+* @brief I2C MSP De-Initialization
 * This function freeze the hardware resources used in this example
-* @param hspi: SPI handle pointer
+* @param hi2c: I2C handle pointer
 * @retval None
 */
-void HAL_SPI_MspDeInit(SPI_HandleTypeDef* hspi)
+void HAL_I2C_MspDeInit(I2C_HandleTypeDef* hi2c)
 {
-  if(hspi->Instance==SPI2)
+  if(hi2c->Instance==I2C2)
  {
-  /* USER CODE BEGIN SPI2_MspDeInit 0 */
+  /* USER CODE BEGIN I2C2_MspDeInit 0 */

-  /* USER CODE END SPI2_MspDeInit 0 */
+  /* USER CODE END I2C2_MspDeInit 0 */
    /* Peripheral clock disable */
-    __HAL_RCC_SPI2_CLK_DISABLE();
+    __HAL_RCC_I2C2_CLK_DISABLE();

-    /**SPI2 GPIO Configuration
-    PB13     ------> SPI2_SCK
-    PB14     ------> SPI2_MISO
-    PB15     ------> SPI2_MOSI
+    /**I2C2 GPIO Configuration
+    PF0     ------> I2C2_SDA
+    PF1     ------> I2C2_SCL
    */
-    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15);
+    HAL_GPIO_DeInit(GPIOF, GPIO_PIN_0);

-  /* USER CODE BEGIN SPI2_MspDeInit 1 */
+    HAL_GPIO_DeInit(GPIOF, GPIO_PIN_1);

-  /* USER CODE END SPI2_MspDeInit 1 */
+  /* USER CODE BEGIN I2C2_MspDeInit 1 */
+
+  /* USER CODE END I2C2_MspDeInit 1 */
  }

 }
--- a/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/system_stm32f4xx.c
+++ b/bsp/stm32/stm32f407-robomaster-c/board/CubeMX_Config/Src/system_stm32f4xx.c
--- a/bsp/stm32/stm32f407-robomaster-c/board/Kconfig
+++ b/bsp/stm32/stm32f407-robomaster-c/board/Kconfig
@@ -9,6 +9,29 @@ config SOC_STM32F407IG

 menu "Onboard Peripheral Drivers"

+    config BSP_USING_ARDUINO
+        bool "Compatible with Arduino Ecosystem (RTduino)"
+        select PKG_USING_RTDUINO
+        select BSP_USING_STLINK_TO_USART
+        select BSP_USING_GPIO
+        select BSP_USING_ADC
+        select BSP_USING_ADC1
+        select BSP_USING_PWM
+        select BSP_USING_PWM1
+        select BSP_USING_PWM1_CH1
+        select BSP_USING_PWM1_CH2
+        select BSP_USING_PWM1_CH3
+        select BSP_USING_PWM1_CH4
+        select BSP_USING_PWM8
+        select BSP_USING_PWM8_CH1
+        select BSP_USING_PWM8_CH2
+        select BSP_USING_PWM8_CH3
+        select BSP_USING_I2C
+        select BSP_USING_I2C1
+        imply RTDUINO_USING_SERVO
+        imply RTDUINO_USING_WIRE
+        default n
+        
 endmenu

 menu "On-chip Peripheral Drivers"
@@ -118,6 +141,9 @@ menu "On-chip Peripheral Drivers"
        default n
        select RT_USING_ADC
        if BSP_USING_ADC
+            config BSP_USING_ADC1
+                bool "Enable ADC1"
+                default n
            config BSP_USING_ADC3
                bool "Enable ADC3"
                default n
@@ -151,6 +177,7 @@ menu "On-chip Peripheral Drivers"
        select RT_USING_I2C_BITOPS
        select RT_USING_PIN
        if BSP_USING_I2C1
+            comment "Notice: PF0 --> 80; PF1 --> 81"
            config BSP_I2C1_SCL_PIN
                int "i2c1 scl pin number"
                default 81