FC: add test FW for STM32

modules/FC/.gitignore

@@ -0,0 +1,4 @@
+FC-backups/
+*.bak
+.kiri/
+gerbers/

modules/FC/FC.kicad_prl

@@ -62,11 +62,11 @@
       35,
       36
     ],
-    "visible_layers": "ffcffff_ffffffff",
+    "visible_layers": "000fdf0_80000001",
     "zone_display_mode": 0
   },
   "meta": {
-    "filename": "Sun_sensor.kicad_prl",
+    "filename": "FC.kicad_prl",
     "version": 3
   },
   "project": {

modules/FC/FC.kicad_pro

@@ -33,9 +33,9 @@
         "other_text_thickness": 0.15,
         "other_text_upright": false,
         "pads": {
-          "drill": 0.762,
+          "drill": 0.0,
-          "height": 1.524,
+          "height": 0.3,
-          "width": 1.524
+          "width": 0.625
         },
         "silk_line_width": 0.15,
         "silk_text_italic": false,
@@ -45,7 +45,7 @@
         "silk_text_upright": false,
         "zones": {
           "45_degree_only": false,
-          "min_clearance": 0.254
+          "min_clearance": 0.19999999999999998
         }
       },
       "diff_pair_dimensions": [
@@ -352,24 +352,24 @@
     "pinned_symbol_libs": []
   },
   "meta": {
-    "filename": "Sun_sensor.kicad_pro",
+    "filename": "FC.kicad_pro",
     "version": 1
   },
   "net_settings": {
     "classes": [
       {
         "bus_width": 12.0,
-        "clearance": 0.15,
+        "clearance": 0.2,
         "diff_pair_gap": 0.25,
         "diff_pair_via_gap": 0.25,
         "diff_pair_width": 0.2,
         "line_style": 0,
-        "microvia_diameter": 0.45,
+        "microvia_diameter": 0.3,
-        "microvia_drill": 0.2,
+        "microvia_drill": 0.1,
         "name": "Default",
         "pcb_color": "rgba(0, 0, 0, 0.000)",
         "schematic_color": "rgba(0, 0, 0, 0.000)",
-        "track_width": 0.15,
+        "track_width": 0.25,
         "via_diameter": 0.45,
         "via_drill": 0.2,
         "wire_width": 6.0
@@ -386,7 +386,7 @@
       "idf": "",
       "netlist": "",
       "specctra_dsn": "",
-      "step": "Sun_sensor.step",
+      "step": "",
       "vrml": ""
     },
     "page_layout_descr_file": "/home/petr/work/butcube/resources/kicad_page_layout.kicad_wks"
@@ -431,8 +431,36 @@
   },
   "sheets": [
     [
-      "b4fcae78-0ce7-4618-9b55-3d67c0b38940",
+      "e63e39d7-6ac0-4ffd-8aa3-1841a4541b55",
       ""
+    ],
+    [
+      "89c18b9c-1cb9-45ef-bf7e-879d882b206b",
+      "MCU"
+    ],
+    [
+      "24115169-fbaf-42f8-8ea2-50b53559acae",
+      "Camera"
+    ],
+    [
+      "e4664c1b-a4cd-4eed-8c0f-efff7b6d7960",
+      "External_sensors"
+    ],
+    [
+      "5f4fd338-1c9e-4638-abf9-b24cce2a1173",
+      "IMU"
+    ],
+    [
+      "2505c719-4f81-44f4-a7a9-014d02ea119f",
+      "Memory"
+    ],
+    [
+      "edeb4030-7f14-49fb-9462-99707ceae37e",
+      "Power"
+    ],
+    [
+      "2db60271-e8e5-4def-ae3d-d6e19678f4e1",
+      "Flash"
     ]
   ],
   "text_variables": {}

modules/FC/Flash.kicad_sch

@@ -0,0 +1,898 @@
+(kicad_sch (version 20211123) (generator eeschema)
+
+  (uuid 2545c40d-c5a0-44b7-87db-18f60adb5bad)
+
+  (paper "A4")
+
+  (title_block
+    (title "BUTCube - Flight controller")
+    (date "2022-03-11")
+    (rev "v1.0")
+    (comment 1 "Author: Petr Malaník")
+  )
+
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+        (effects (font (size 1.27 1.27)) (justify left))
+      )
+      (property "Value" "C" (id 1) (at 0.635 -2.54 0)
+        (effects (font (size 1.27 1.27)) (justify left))
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+        (effects (font (size 1.27 1.27)) hide)
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+      (property "Datasheet" "~" (id 3) (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (property "ki_keywords" "cap capacitor" (id 4) (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (property "ki_description" "Unpolarized capacitor" (id 5) (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (property "ki_fp_filters" "C_*" (id 6) (at 0 0 0)
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+        (effects (font (size 1.27 1.27)) hide)
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+          (number "2" (effects (font (size 1.27 1.27))))
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+      )
+    )
+    (symbol "MT29F1G01ABAFDSF_1" (in_bom yes) (on_board yes)
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+      (property "Value" "MT29F1G01ABAFDSF_1" (id 1) (at 12.7 15.24 0)
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+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (property "Datasheet" "https://www.micron.com/-/media/client/global/documents/products/data-sheet/nand-flash/70-series/m78a_1gb_3v_nand_spi.pdf?rev=7270128474b44126bb737f0f07976723" (id 3) (at 0 -27.94 0)
+        (effects (font (size 1.27 1.27)) hide)
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+      (property "ki_keywords" "SPI 32Mbit 1.65V-3.6V" (id 4) (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (property "ki_description" "32-Mbit, Wide Range Voltage SPI Serial Flash Memory, SOP-8" (id 5) (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (property "ki_fp_filters" "SOP*5.28x5.23mm*P1.27mm*" (id 6) (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
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+    )
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+      (property "Value" "MT29F1G01ABAFDSF" (id 1) (at 12.7 15.24 0)
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+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "~" (id 3) (at 172.72 83.82 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "1" (uuid c859d017-10c1-40ed-93bf-e12b3ef17052))
+    (pin "2" (uuid 32293d93-b56b-4021-8658-40534f1a6130))
+  )
+
+  (symbol (lib_id "power:+3V3") (at 179.07 127 270) (unit 1)
+    (in_bom yes) (on_board yes) (fields_autoplaced)
+    (uuid e6d7e1bd-4b19-45dd-97c8-dd3d180ade81)
+    (property "Reference" "#PWR0153" (id 0) (at 175.26 127 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Value" "+3V3" (id 1) (at 182.245 127.4338 90)
+      (effects (font (size 1.27 1.27)) (justify left))
+    )
+    (property "Footprint" "" (id 2) (at 179.07 127 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "" (id 3) (at 179.07 127 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "1" (uuid ef666c94-1f02-4b1c-959c-4e9c65899f81))
+  )
+
+  (symbol (lib_id "TCY_memory:MT29F1G01ABAFDSF") (at 153.67 124.46 0) (unit 1)
+    (in_bom yes) (on_board yes) (fields_autoplaced)
+    (uuid f7d84e3f-f667-4649-b074-3c85ea256b8a)
+    (property "Reference" "U21" (id 0) (at 155.6894 110.6002 0)
+      (effects (font (size 1.27 1.27)) (justify left))
+    )
+    (property "Value" "MT29F1G01ABAFDSF" (id 1) (at 155.6894 113.1371 0)
+      (effects (font (size 1.27 1.27)) (justify left))
+    )
+    (property "Footprint" "TCY_IC:DFN-8_8x6mm_P1.27mm" (id 2) (at 153.67 154.94 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "https://www.micron.com/-/media/client/global/documents/products/data-sheet/nand-flash/70-series/m78a_1gb_3v_nand_spi.pdf?rev=7270128474b44126bb737f0f07976723" (id 3) (at 153.67 152.4 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "1" (uuid e753b840-67f3-489e-9f9e-9f24a613e978))
+    (pin "2" (uuid c00c3d16-ff1b-4667-8c1a-e89564548068))
+    (pin "3" (uuid c1a5108b-f59e-4cb8-bdc5-c79b8f1be77b))
+    (pin "4" (uuid f18d308d-be58-4128-890c-3df0044b44fa))
+    (pin "5" (uuid 67e65f34-630f-4ece-8177-851864edb272))
+    (pin "6" (uuid 6f8a0e94-501d-4fdf-8e73-cfcb70c37432))
+    (pin "7" (uuid 52c52128-60ce-4bdd-a458-759388b98e0f))
+    (pin "8" (uuid 8a6f90f7-1fba-4c82-8672-2a1150026469))
+  )
+
+  (symbol (lib_id "power:GND") (at 153.67 99.06 0) (unit 1)
+    (in_bom yes) (on_board yes) (fields_autoplaced)
+    (uuid f7ded48a-3462-4eed-9700-a9900ab3fb3b)
+    (property "Reference" "#PWR0147" (id 0) (at 153.67 105.41 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Value" "GND" (id 1) (at 153.67 103.5034 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Footprint" "" (id 2) (at 153.67 99.06 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "" (id 3) (at 153.67 99.06 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "1" (uuid 8e1420c9-3be0-4faf-b09b-0ae88e1e1d10))
+  )
+
+  (symbol (lib_id "Device:C") (at 184.15 71.12 0) (unit 1)
+    (in_bom yes) (on_board yes) (fields_autoplaced)
+    (uuid ff7520c4-64bd-4f84-9461-bde3e199c7fe)
+    (property "Reference" "C36" (id 0) (at 187.0711 70.2115 0)
+      (effects (font (size 1.27 1.27)) (justify left))
+    )
+    (property "Value" "100nF" (id 1) (at 187.0711 72.9866 0)
+      (effects (font (size 1.27 1.27)) (justify left))
+    )
+    (property "Footprint" "TCY_passives:C_0603_1608Metric" (id 2) (at 185.1152 74.93 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "~" (id 3) (at 184.15 71.12 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "1" (uuid adbd4734-30c7-4b53-a21a-efcd65b6f6b3))
+    (pin "2" (uuid 4730dbc3-3b5e-4c61-994f-a147f57c1af8))
+  )
+)

modules/FC/Longterm_memory.kicad_sch

@@ -0,0 +1,10 @@
+(kicad_sch (version 20211123) (generator eeschema)
+
+  (uuid 2545c40d-c5a0-44b7-87db-18f60adb5bad)
+
+  (paper "A4")
+
+  (lib_symbols
+  )
+
+)

modules/FC/RAM.kicad_sch

@@ -0,0 +1,10 @@
+(kicad_sch (version 20211123) (generator eeschema)
+
+  (uuid 2545c40d-c5a0-44b7-87db-18f60adb5bad)
+
+  (paper "A4")
+
+  (lib_symbols
+  )
+
+)

modules/FC/Shell_sensors.kicad_sch

@@ -0,0 +1,10 @@
+(kicad_sch (version 20211123) (generator eeschema)
+
+  (uuid 2545c40d-c5a0-44b7-87db-18f60adb5bad)
+
+  (paper "A4")
+
+  (lib_symbols
+  )
+
+)

modules/FC/fp-info-cache

@@ -0,0 +1 @@
+0

modules/FC/fw/.gitignore

@@ -0,0 +1 @@
+build/

modules/FC/fw/Core/Inc/main.h

@@ -0,0 +1,129 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file           : main.h
+  * @brief          : Header for main.c file.
+  *                   This file contains the common defines of the application.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2023 STMicroelectronics.
+  * All rights reserved.
+  *
+  * 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 __MAIN_H
+#define __MAIN_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32l4xx_hal.h"
+
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+/* Exported types ------------------------------------------------------------*/
+/* USER CODE BEGIN ET */
+
+/* USER CODE END ET */
+
+/* Exported constants --------------------------------------------------------*/
+/* USER CODE BEGIN EC */
+
+/* USER CODE END EC */
+
+/* Exported macro ------------------------------------------------------------*/
+/* USER CODE BEGIN EM */
+
+/* USER CODE END EM */
+
+/* Exported functions prototypes ---------------------------------------------*/
+void Error_Handler(void);
+
+/* USER CODE BEGIN EFP */
+
+/* USER CODE END EFP */
+
+/* Private defines -----------------------------------------------------------*/
+#define WDG_RESET_Pin GPIO_PIN_13
+#define WDG_RESET_GPIO_Port GPIOC
+#define LSE_Pin GPIO_PIN_14
+#define LSE_GPIO_Port GPIOC
+#define I2C_MUX_2_Pin GPIO_PIN_15
+#define I2C_MUX_2_GPIO_Port GPIOC
+#define HSE_Pin GPIO_PIN_0
+#define HSE_GPIO_Port GPIOH
+#define I2C_MUX_1_Pin GPIO_PIN_1
+#define I2C_MUX_1_GPIO_Port GPIOH
+#define EEPROM_CS_Pin GPIO_PIN_0
+#define EEPROM_CS_GPIO_Port GPIOA
+#define MRAM_CS_Pin GPIO_PIN_1
+#define MRAM_CS_GPIO_Port GPIOA
+#define FRAM_CS_Pin GPIO_PIN_2
+#define FRAM_CS_GPIO_Port GPIOA
+#define I2C_FAULT_Pin GPIO_PIN_3
+#define I2C_FAULT_GPIO_Port GPIOA
+#define CAMERA_EN_Pin GPIO_PIN_4
+#define CAMERA_EN_GPIO_Port GPIOA
+#define SPI_PER_SCK_Pin GPIO_PIN_5
+#define SPI_PER_SCK_GPIO_Port GPIOA
+#define SPI_PER_MISO_Pin GPIO_PIN_6
+#define SPI_PER_MISO_GPIO_Port GPIOA
+#define SPI_PER_MOSI_Pin GPIO_PIN_7
+#define SPI_PER_MOSI_GPIO_Port GPIOA
+#define CAMERA_CS_Pin GPIO_PIN_0
+#define CAMERA_CS_GPIO_Port GPIOB
+#define RS_485_T_EN_Pin GPIO_PIN_1
+#define RS_485_T_EN_GPIO_Port GPIOB
+#define RS_485_R_EN_Pin GPIO_PIN_2
+#define RS_485_R_EN_GPIO_Port GPIOB
+#define UART_RS_485_R_Pin GPIO_PIN_10
+#define UART_RS_485_R_GPIO_Port GPIOB
+#define UART_RS_485_T_Pin GPIO_PIN_11
+#define UART_RS_485_T_GPIO_Port GPIOB
+#define CAN1_RS_Pin GPIO_PIN_14
+#define CAN1_RS_GPIO_Port GPIOB
+#define LED1_Pin GPIO_PIN_15
+#define LED1_GPIO_Port GPIOB
+#define LED2_Pin GPIO_PIN_8
+#define LED2_GPIO_Port GPIOA
+#define UART_DBG_Pin GPIO_PIN_9
+#define UART_DBG_GPIO_Port GPIOA
+#define UART_DBGA10_Pin GPIO_PIN_10
+#define UART_DBGA10_GPIO_Port GPIOA
+#define GYRO_ACC_CS_Pin GPIO_PIN_15
+#define GYRO_ACC_CS_GPIO_Port GPIOA
+#define SPI_MEM_SCK_Pin GPIO_PIN_3
+#define SPI_MEM_SCK_GPIO_Port GPIOB
+#define SPI_MEM_MISO_Pin GPIO_PIN_4
+#define SPI_MEM_MISO_GPIO_Port GPIOB
+#define SPI_MEM_MOSI_Pin GPIO_PIN_5
+#define SPI_MEM_MOSI_GPIO_Port GPIOB
+#define BANK_1_CS_Pin GPIO_PIN_6
+#define BANK_1_CS_GPIO_Port GPIOB
+#define BANK_2_CS_Pin GPIO_PIN_7
+#define BANK_2_CS_GPIO_Port GPIOB
+#define MAGNETO_CS_Pin GPIO_PIN_3
+#define MAGNETO_CS_GPIO_Port GPIOH
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __MAIN_H */

modules/FC/fw/Core/Inc/stm32l4xx_hal_conf.h

@@ -1,3 +1,4 @@
+/* USER CODE BEGIN Header */
 /**
   ******************************************************************************
   * @file    stm32l4xx_hal_conf.h
@@ -8,16 +9,16 @@
   ******************************************************************************
   * @attention
   *
-  * <h2><center>&copy; Copyright (c) 2017 STMicroelectronics.
+  * Copyright (c) 2017 STMicroelectronics.
-  * All rights reserved.</center></h2>
+  * All rights reserved.
   *
-  * This software component is licensed by ST under BSD 3-Clause license,
+  * This software is licensed under terms that can be found in the LICENSE file
-  * the "License"; You may not use this file except in compliance with the
+  * in the root directory of this software component.
-  * License. You may obtain a copy of the License at:
+  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *                        opensource.org/licenses/BSD-3-Clause
   *
   ******************************************************************************
   */
+/* USER CODE END Header */
 
 /* Define to prevent recursive inclusion -------------------------------------*/
 #ifndef STM32L4xx_HAL_CONF_H
@@ -62,7 +63,7 @@
 /*#define HAL_OPAMP_MODULE_ENABLED   */
 /*#define HAL_OSPI_MODULE_ENABLED   */
 /*#define HAL_OSPI_MODULE_ENABLED   */
-/*#define HAL_PCD_MODULE_ENABLED   */
+#define HAL_PCD_MODULE_ENABLED
 /*#define HAL_PKA_MODULE_ENABLED   */
 /*#define HAL_QSPI_MODULE_ENABLED   */
 /*#define HAL_QSPI_MODULE_ENABLED   */
@@ -479,5 +480,3 @@
 #endif
 
 #endif /* STM32L4xx_HAL_CONF_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

modules/FC/fw/Core/Inc/stm32l4xx_it.h

@@ -6,13 +6,12 @@
   ******************************************************************************
   * @attention
   *
-  * <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
+  * Copyright (c) 2023 STMicroelectronics.
-  * All rights reserved.</center></h2>
+  * All rights reserved.
   *
-  * This software component is licensed by ST under BSD 3-Clause license,
+  * This software is licensed under terms that can be found in the LICENSE file
-  * the "License"; You may not use this file except in compliance with the
+  * in the root directory of this software component.
-  * License. You may obtain a copy of the License at:
+  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *                        opensource.org/licenses/BSD-3-Clause
   *
  ******************************************************************************
   */
@@ -56,6 +55,7 @@ void SVC_Handler(void);
 void DebugMon_Handler(void);
 void PendSV_Handler(void);
 void SysTick_Handler(void);
+void USB_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */
@@ -65,5 +65,3 @@ void SysTick_Handler(void);
 #endif
 
 #endif /* __STM32L4xx_IT_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

modules/FC/fw/Core/Src/main.c

@@ -6,19 +6,19 @@
   ******************************************************************************
   * @attention
   *
-  * <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
+  * Copyright (c) 2023 STMicroelectronics.
-  * All rights reserved.</center></h2>
+  * All rights reserved.
   *
-  * This software component is licensed by ST under BSD 3-Clause license,
+  * This software is licensed under terms that can be found in the LICENSE file
-  * the "License"; You may not use this file except in compliance with the
+  * in the root directory of this software component.
-  * License. You may obtain a copy of the License at:
+  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *                        opensource.org/licenses/BSD-3-Clause
   *
   ******************************************************************************
   */
 /* USER CODE END Header */
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
+#include "usb_device.h"
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
@@ -42,9 +42,13 @@
 /* Private variables ---------------------------------------------------------*/
 CAN_HandleTypeDef hcan1;
 
+I2C_HandleTypeDef hi2c1;
+
 SPI_HandleTypeDef hspi1;
+SPI_HandleTypeDef hspi3;
 
 UART_HandleTypeDef huart1;
+UART_HandleTypeDef huart3;
 
 /* USER CODE BEGIN PV */
 
@@ -54,8 +58,11 @@ UART_HandleTypeDef huart1;
 void SystemClock_Config(void);
 static void MX_GPIO_Init(void);
 static void MX_CAN1_Init(void);
+static void MX_I2C1_Init(void);
 static void MX_SPI1_Init(void);
+static void MX_SPI3_Init(void);
 static void MX_USART1_UART_Init(void);
+static void MX_USART3_UART_Init(void);
 /* USER CODE BEGIN PFP */
 
 /* USER CODE END PFP */
@@ -94,8 +101,12 @@ int main(void)
   /* Initialize all configured peripherals */
   MX_GPIO_Init();
   MX_CAN1_Init();
+  MX_I2C1_Init();
   MX_SPI1_Init();
+  MX_SPI3_Init();
   MX_USART1_UART_Init();
+  MX_USART3_UART_Init();
+  MX_USB_DEVICE_Init();
   /* USER CODE BEGIN 2 */
 
   /* USER CODE END 2 */
@@ -105,7 +116,12 @@ int main(void)
   while (1)
   {
     /* USER CODE END WHILE */
-
+    HAL_Delay(500);
+    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_15, GPIO_PIN_RESET);
+    HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, GPIO_PIN_SET);
+    HAL_Delay(500);
+    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_15, GPIO_PIN_SET);
+    HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, GPIO_PIN_RESET);
     /* USER CODE BEGIN 3 */
   }
   /* USER CODE END 3 */
@@ -119,18 +135,26 @@ void SystemClock_Config(void)
 {
   RCC_OscInitTypeDef RCC_OscInitStruct = {0};
   RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
-  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
+
+  /** Configure the main internal regulator output voltage
+  */
+  if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK)
+  {
+    Error_Handler();
+  }
 
   /** Initializes the RCC Oscillators according to the specified parameters
   * in the RCC_OscInitTypeDef structure.
   */
-  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
+  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSE|RCC_OSCILLATORTYPE_MSI;
-  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
+  RCC_OscInitStruct.LSEState = RCC_LSE_BYPASS;
-  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
+  RCC_OscInitStruct.MSIState = RCC_MSI_ON;
+  RCC_OscInitStruct.MSICalibrationValue = 0;
+  RCC_OscInitStruct.MSIClockRange = RCC_MSIRANGE_6;
   RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
-  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
+  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_MSI;
   RCC_OscInitStruct.PLL.PLLM = 1;
-  RCC_OscInitStruct.PLL.PLLN = 10;
+  RCC_OscInitStruct.PLL.PLLN = 40;
   RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV7;
   RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
   RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
@@ -138,6 +162,7 @@ void SystemClock_Config(void)
   {
     Error_Handler();
   }
+
   /** Initializes the CPU, AHB and APB buses clocks
   */
   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
@@ -151,18 +176,10 @@ void SystemClock_Config(void)
   {
     Error_Handler();
   }
-  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1;
+
-  PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK2;
+  /** Enable MSI Auto calibration
-  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /** Configure the main internal regulator output voltage
   */
-  if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK)
+  HAL_RCCEx_EnableMSIPLLMode();
-  {
-    Error_Handler();
-  }
 }
 
 /**
@@ -181,7 +198,7 @@ static void MX_CAN1_Init(void)
 
   /* USER CODE END CAN1_Init 1 */
   hcan1.Instance = CAN1;
-  hcan1.Init.Prescaler = 32;
+  hcan1.Init.Prescaler = 80;
   hcan1.Init.Mode = CAN_MODE_NORMAL;
   hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
   hcan1.Init.TimeSeg1 = CAN_BS1_1TQ;
@@ -202,6 +219,54 @@ static void MX_CAN1_Init(void)
 
 }
 
+/**
+  * @brief I2C1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_I2C1_Init(void)
+{
+
+  /* USER CODE BEGIN I2C1_Init 0 */
+
+  /* USER CODE END I2C1_Init 0 */
+
+  /* USER CODE BEGIN I2C1_Init 1 */
+
+  /* USER CODE END I2C1_Init 1 */
+  hi2c1.Instance = I2C1;
+  hi2c1.Init.Timing = 0x10909CEC;
+  hi2c1.Init.OwnAddress1 = 0;
+  hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
+  hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
+  hi2c1.Init.OwnAddress2 = 0;
+  hi2c1.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
+  hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
+  hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
+  if (HAL_I2C_Init(&hi2c1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Analogue filter
+  */
+  if (HAL_I2CEx_ConfigAnalogFilter(&hi2c1, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Digital filter
+  */
+  if (HAL_I2CEx_ConfigDigitalFilter(&hi2c1, 0) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN I2C1_Init 2 */
+
+  /* USER CODE END I2C1_Init 2 */
+
+}
+
 /**
   * @brief SPI1 Initialization Function
   * @param None
@@ -242,6 +307,46 @@ static void MX_SPI1_Init(void)
 
 }
 
+/**
+  * @brief SPI3 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_SPI3_Init(void)
+{
+
+  /* USER CODE BEGIN SPI3_Init 0 */
+
+  /* USER CODE END SPI3_Init 0 */
+
+  /* USER CODE BEGIN SPI3_Init 1 */
+
+  /* USER CODE END SPI3_Init 1 */
+  /* SPI3 parameter configuration*/
+  hspi3.Instance = SPI3;
+  hspi3.Init.Mode = SPI_MODE_MASTER;
+  hspi3.Init.Direction = SPI_DIRECTION_2LINES;
+  hspi3.Init.DataSize = SPI_DATASIZE_4BIT;
+  hspi3.Init.CLKPolarity = SPI_POLARITY_LOW;
+  hspi3.Init.CLKPhase = SPI_PHASE_1EDGE;
+  hspi3.Init.NSS = SPI_NSS_SOFT;
+  hspi3.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2;
+  hspi3.Init.FirstBit = SPI_FIRSTBIT_MSB;
+  hspi3.Init.TIMode = SPI_TIMODE_DISABLE;
+  hspi3.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
+  hspi3.Init.CRCPolynomial = 7;
+  hspi3.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE;
+  hspi3.Init.NSSPMode = SPI_NSS_PULSE_ENABLE;
+  if (HAL_SPI_Init(&hspi3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN SPI3_Init 2 */
+
+  /* USER CODE END SPI3_Init 2 */
+
+}
+
 /**
   * @brief USART1 Initialization Function
   * @param None
@@ -277,6 +382,41 @@ static void MX_USART1_UART_Init(void)
 
 }
 
+/**
+  * @brief USART3 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_USART3_UART_Init(void)
+{
+
+  /* USER CODE BEGIN USART3_Init 0 */
+
+  /* USER CODE END USART3_Init 0 */
+
+  /* USER CODE BEGIN USART3_Init 1 */
+
+  /* USER CODE END USART3_Init 1 */
+  huart3.Instance = USART3;
+  huart3.Init.BaudRate = 115200;
+  huart3.Init.WordLength = UART_WORDLENGTH_8B;
+  huart3.Init.StopBits = UART_STOPBITS_1;
+  huart3.Init.Parity = UART_PARITY_NONE;
+  huart3.Init.Mode = UART_MODE_TX_RX;
+  huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+  huart3.Init.OverSampling = UART_OVERSAMPLING_16;
+  huart3.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
+  huart3.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
+  if (HAL_UART_Init(&huart3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN USART3_Init 2 */
+
+  /* USER CODE END USART3_Init 2 */
+
+}
+
 /**
   * @brief GPIO Initialization Function
   * @param None
@@ -284,12 +424,66 @@ static void MX_USART1_UART_Init(void)
   */
 static void MX_GPIO_Init(void)
 {
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
 
   /* GPIO Ports Clock Enable */
   __HAL_RCC_GPIOC_CLK_ENABLE();
+  __HAL_RCC_GPIOH_CLK_ENABLE();
   __HAL_RCC_GPIOA_CLK_ENABLE();
   __HAL_RCC_GPIOB_CLK_ENABLE();
 
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(GPIOC, WDG_RESET_Pin|I2C_MUX_2_Pin, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(GPIOH, I2C_MUX_1_Pin|MAGNETO_CS_Pin, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(GPIOA, EEPROM_CS_Pin|MRAM_CS_Pin|FRAM_CS_Pin|CAMERA_EN_Pin
+                          |LED2_Pin|GYRO_ACC_CS_Pin, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(GPIOB, CAMERA_CS_Pin|RS_485_T_EN_Pin|RS_485_R_EN_Pin|CAN1_RS_Pin
+                          |LED1_Pin|BANK_1_CS_Pin|BANK_2_CS_Pin, GPIO_PIN_RESET);
+
+  /*Configure GPIO pins : WDG_RESET_Pin I2C_MUX_2_Pin */
+  GPIO_InitStruct.Pin = WDG_RESET_Pin|I2C_MUX_2_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+  /*Configure GPIO pins : I2C_MUX_1_Pin MAGNETO_CS_Pin */
+  GPIO_InitStruct.Pin = I2C_MUX_1_Pin|MAGNETO_CS_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(GPIOH, &GPIO_InitStruct);
+
+  /*Configure GPIO pins : EEPROM_CS_Pin MRAM_CS_Pin FRAM_CS_Pin CAMERA_EN_Pin
+                           LED2_Pin GYRO_ACC_CS_Pin */
+  GPIO_InitStruct.Pin = EEPROM_CS_Pin|MRAM_CS_Pin|FRAM_CS_Pin|CAMERA_EN_Pin
+                          |LED2_Pin|GYRO_ACC_CS_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+  /*Configure GPIO pin : I2C_FAULT_Pin */
+  GPIO_InitStruct.Pin = I2C_FAULT_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(I2C_FAULT_GPIO_Port, &GPIO_InitStruct);
+
+  /*Configure GPIO pins : CAMERA_CS_Pin RS_485_T_EN_Pin RS_485_R_EN_Pin CAN1_RS_Pin
+                           LED1_Pin BANK_1_CS_Pin BANK_2_CS_Pin */
+  GPIO_InitStruct.Pin = CAMERA_CS_Pin|RS_485_T_EN_Pin|RS_485_R_EN_Pin|CAN1_RS_Pin
+                          |LED1_Pin|BANK_1_CS_Pin|BANK_2_CS_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
 }
 
 /* USER CODE BEGIN 4 */
@@ -327,5 +521,3 @@ void assert_failed(uint8_t *file, uint32_t line)
   /* USER CODE END 6 */
 }
 #endif /* USE_FULL_ASSERT */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

modules/FC/fw/Core/Src/stm32l4xx_hal_msp.c

@@ -0,0 +1,462 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file         stm32l4xx_hal_msp.c
+  * @brief        This file provides code for the MSP Initialization
+  *               and de-Initialization codes.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2023 STMicroelectronics.
+  * All rights reserved.
+  *
+  * 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 */
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+/* Private typedef -----------------------------------------------------------*/
+/* USER CODE BEGIN TD */
+
+/* USER CODE END TD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN Define */
+
+/* USER CODE END Define */
+
+/* Private macro -------------------------------------------------------------*/
+/* USER CODE BEGIN Macro */
+
+/* USER CODE END Macro */
+
+/* Private variables ---------------------------------------------------------*/
+/* USER CODE BEGIN PV */
+
+/* USER CODE END PV */
+
+/* Private function prototypes -----------------------------------------------*/
+/* USER CODE BEGIN PFP */
+
+/* USER CODE END PFP */
+
+/* External functions --------------------------------------------------------*/
+/* USER CODE BEGIN ExternalFunctions */
+
+/* USER CODE END ExternalFunctions */
+
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+/**
+  * Initializes the Global MSP.
+  */
+void HAL_MspInit(void)
+{
+  /* USER CODE BEGIN MspInit 0 */
+
+  /* USER CODE END MspInit 0 */
+
+  __HAL_RCC_SYSCFG_CLK_ENABLE();
+  __HAL_RCC_PWR_CLK_ENABLE();
+
+  /* System interrupt init*/
+
+  /* USER CODE BEGIN MspInit 1 */
+
+  /* USER CODE END MspInit 1 */
+}
+
+/**
+* @brief CAN MSP Initialization
+* This function configures the hardware resources used in this example
+* @param hcan: CAN handle pointer
+* @retval None
+*/
+void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
+{
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  if(hcan->Instance==CAN1)
+  {
+  /* USER CODE BEGIN CAN1_MspInit 0 */
+
+  /* USER CODE END CAN1_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_CAN1_CLK_ENABLE();
+
+    __HAL_RCC_GPIOB_CLK_ENABLE();
+    /**CAN1 GPIO Configuration
+    PB12     ------> CAN1_RX
+    PB13     ------> CAN1_TX
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_13;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF10_CAN1;
+    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN CAN1_MspInit 1 */
+
+  /* USER CODE END CAN1_MspInit 1 */
+  }
+
+}
+
+/**
+* @brief CAN MSP De-Initialization
+* This function freeze the hardware resources used in this example
+* @param hcan: CAN handle pointer
+* @retval None
+*/
+void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan)
+{
+  if(hcan->Instance==CAN1)
+  {
+  /* USER CODE BEGIN CAN1_MspDeInit 0 */
+
+  /* USER CODE END CAN1_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_CAN1_CLK_DISABLE();
+
+    /**CAN1 GPIO Configuration
+    PB12     ------> CAN1_RX
+    PB13     ------> CAN1_TX
+    */
+    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_12|GPIO_PIN_13);
+
+  /* USER CODE BEGIN CAN1_MspDeInit 1 */
+
+  /* USER CODE END CAN1_MspDeInit 1 */
+  }
+
+}
+
+/**
+* @brief I2C MSP Initialization
+* This function configures the hardware resources used in this example
+* @param hi2c: I2C handle pointer
+* @retval None
+*/
+void HAL_I2C_MspInit(I2C_HandleTypeDef* hi2c)
+{
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
+  if(hi2c->Instance==I2C1)
+  {
+  /* USER CODE BEGIN I2C1_MspInit 0 */
+
+  /* USER CODE END I2C1_MspInit 0 */
+
+  /** Initializes the peripherals clock
+  */
+    PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_I2C1;
+    PeriphClkInit.I2c1ClockSelection = RCC_I2C1CLKSOURCE_PCLK1;
+    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_RCC_GPIOB_CLK_ENABLE();
+    /**I2C1 GPIO Configuration
+    PB8     ------> I2C1_SCL
+    PB9     ------> I2C1_SDA
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
+    GPIO_InitStruct.Pull = GPIO_PULLUP;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF4_I2C1;
+    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+    /* Peripheral clock enable */
+    __HAL_RCC_I2C1_CLK_ENABLE();
+  /* USER CODE BEGIN I2C1_MspInit 1 */
+
+  /* USER CODE END I2C1_MspInit 1 */
+  }
+
+}
+
+/**
+* @brief I2C MSP De-Initialization
+* This function freeze the hardware resources used in this example
+* @param hi2c: I2C handle pointer
+* @retval None
+*/
+void HAL_I2C_MspDeInit(I2C_HandleTypeDef* hi2c)
+{
+  if(hi2c->Instance==I2C1)
+  {
+  /* USER CODE BEGIN I2C1_MspDeInit 0 */
+
+  /* USER CODE END I2C1_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_I2C1_CLK_DISABLE();
+
+    /**I2C1 GPIO Configuration
+    PB8     ------> I2C1_SCL
+    PB9     ------> I2C1_SDA
+    */
+    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_8);
+
+    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_9);
+
+  /* USER CODE BEGIN I2C1_MspDeInit 1 */
+
+  /* USER CODE END I2C1_MspDeInit 1 */
+  }
+
+}
+
+/**
+* @brief SPI MSP Initialization
+* This function configures the hardware resources used in this example
+* @param hspi: SPI handle pointer
+* @retval None
+*/
+void HAL_SPI_MspInit(SPI_HandleTypeDef* hspi)
+{
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  if(hspi->Instance==SPI1)
+  {
+  /* USER CODE BEGIN SPI1_MspInit 0 */
+
+  /* USER CODE END SPI1_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_SPI1_CLK_ENABLE();
+
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    /**SPI1 GPIO Configuration
+    PA5     ------> SPI1_SCK
+    PA6     ------> SPI1_MISO
+    PA7     ------> SPI1_MOSI
+    */
+    GPIO_InitStruct.Pin = SPI_PER_SCK_Pin|SPI_PER_MISO_Pin|SPI_PER_MOSI_Pin;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF5_SPI1;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN SPI1_MspInit 1 */
+
+  /* USER CODE END SPI1_MspInit 1 */
+  }
+  else if(hspi->Instance==SPI3)
+  {
+  /* USER CODE BEGIN SPI3_MspInit 0 */
+
+  /* USER CODE END SPI3_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_SPI3_CLK_ENABLE();
+
+    __HAL_RCC_GPIOB_CLK_ENABLE();
+    /**SPI3 GPIO Configuration
+    PB3 (JTDO/TRACESWO)     ------> SPI3_SCK
+    PB4 (NJTRST)     ------> SPI3_MISO
+    PB5     ------> SPI3_MOSI
+    */
+    GPIO_InitStruct.Pin = SPI_MEM_SCK_Pin|SPI_MEM_MISO_Pin|SPI_MEM_MOSI_Pin;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF6_SPI3;
+    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN SPI3_MspInit 1 */
+
+  /* USER CODE END SPI3_MspInit 1 */
+  }
+
+}
+
+/**
+* @brief SPI MSP De-Initialization
+* This function freeze the hardware resources used in this example
+* @param hspi: SPI handle pointer
+* @retval None
+*/
+void HAL_SPI_MspDeInit(SPI_HandleTypeDef* hspi)
+{
+  if(hspi->Instance==SPI1)
+  {
+  /* USER CODE BEGIN SPI1_MspDeInit 0 */
+
+  /* USER CODE END SPI1_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_SPI1_CLK_DISABLE();
+
+    /**SPI1 GPIO Configuration
+    PA5     ------> SPI1_SCK
+    PA6     ------> SPI1_MISO
+    PA7     ------> SPI1_MOSI
+    */
+    HAL_GPIO_DeInit(GPIOA, SPI_PER_SCK_Pin|SPI_PER_MISO_Pin|SPI_PER_MOSI_Pin);
+
+  /* USER CODE BEGIN SPI1_MspDeInit 1 */
+
+  /* USER CODE END SPI1_MspDeInit 1 */
+  }
+  else if(hspi->Instance==SPI3)
+  {
+  /* USER CODE BEGIN SPI3_MspDeInit 0 */
+
+  /* USER CODE END SPI3_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_SPI3_CLK_DISABLE();
+
+    /**SPI3 GPIO Configuration
+    PB3 (JTDO/TRACESWO)     ------> SPI3_SCK
+    PB4 (NJTRST)     ------> SPI3_MISO
+    PB5     ------> SPI3_MOSI
+    */
+    HAL_GPIO_DeInit(GPIOB, SPI_MEM_SCK_Pin|SPI_MEM_MISO_Pin|SPI_MEM_MOSI_Pin);
+
+  /* USER CODE BEGIN SPI3_MspDeInit 1 */
+
+  /* USER CODE END SPI3_MspDeInit 1 */
+  }
+
+}
+
+/**
+* @brief UART MSP Initialization
+* This function configures the hardware resources used in this example
+* @param huart: UART handle pointer
+* @retval None
+*/
+void HAL_UART_MspInit(UART_HandleTypeDef* huart)
+{
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
+  if(huart->Instance==USART1)
+  {
+  /* USER CODE BEGIN USART1_MspInit 0 */
+
+  /* USER CODE END USART1_MspInit 0 */
+
+  /** Initializes the peripherals clock
+  */
+    PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1;
+    PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK2;
+    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    /* Peripheral clock enable */
+    __HAL_RCC_USART1_CLK_ENABLE();
+
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    /**USART1 GPIO Configuration
+    PA9     ------> USART1_TX
+    PA10     ------> USART1_RX
+    */
+    GPIO_InitStruct.Pin = UART_DBG_Pin|UART_DBGA10_Pin;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN USART1_MspInit 1 */
+
+  /* USER CODE END USART1_MspInit 1 */
+  }
+  else if(huart->Instance==USART3)
+  {
+  /* USER CODE BEGIN USART3_MspInit 0 */
+
+  /* USER CODE END USART3_MspInit 0 */
+
+  /** Initializes the peripherals clock
+  */
+    PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART3;
+    PeriphClkInit.Usart3ClockSelection = RCC_USART3CLKSOURCE_PCLK1;
+    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    /* Peripheral clock enable */
+    __HAL_RCC_USART3_CLK_ENABLE();
+
+    __HAL_RCC_GPIOB_CLK_ENABLE();
+    /**USART3 GPIO Configuration
+    PB10     ------> USART3_TX
+    PB11     ------> USART3_RX
+    */
+    GPIO_InitStruct.Pin = UART_RS_485_R_Pin|UART_RS_485_T_Pin;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF7_USART3;
+    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN USART3_MspInit 1 */
+
+  /* USER CODE END USART3_MspInit 1 */
+  }
+
+}
+
+/**
+* @brief UART MSP De-Initialization
+* This function freeze the hardware resources used in this example
+* @param huart: UART handle pointer
+* @retval None
+*/
+void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
+{
+  if(huart->Instance==USART1)
+  {
+  /* USER CODE BEGIN USART1_MspDeInit 0 */
+
+  /* USER CODE END USART1_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_USART1_CLK_DISABLE();
+
+    /**USART1 GPIO Configuration
+    PA9     ------> USART1_TX
+    PA10     ------> USART1_RX
+    */
+    HAL_GPIO_DeInit(GPIOA, UART_DBG_Pin|UART_DBGA10_Pin);
+
+  /* USER CODE BEGIN USART1_MspDeInit 1 */
+
+  /* USER CODE END USART1_MspDeInit 1 */
+  }
+  else if(huart->Instance==USART3)
+  {
+  /* USER CODE BEGIN USART3_MspDeInit 0 */
+
+  /* USER CODE END USART3_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_USART3_CLK_DISABLE();
+
+    /**USART3 GPIO Configuration
+    PB10     ------> USART3_TX
+    PB11     ------> USART3_RX
+    */
+    HAL_GPIO_DeInit(GPIOB, UART_RS_485_R_Pin|UART_RS_485_T_Pin);
+
+  /* USER CODE BEGIN USART3_MspDeInit 1 */
+
+  /* USER CODE END USART3_MspDeInit 1 */
+  }
+
+}
+
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */

modules/FC/fw/Core/Src/stm32l4xx_it.c

@@ -6,13 +6,12 @@
   ******************************************************************************
   * @attention
   *
-  * <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
+  * Copyright (c) 2023 STMicroelectronics.
-  * All rights reserved.</center></h2>
+  * All rights reserved.
   *
-  * This software component is licensed by ST under BSD 3-Clause license,
+  * This software is licensed under terms that can be found in the LICENSE file
-  * the "License"; You may not use this file except in compliance with the
+  * in the root directory of this software component.
-  * License. You may obtain a copy of the License at:
+  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *                        opensource.org/licenses/BSD-3-Clause
   *
   ******************************************************************************
   */
@@ -56,7 +55,7 @@
 /* USER CODE END 0 */
 
 /* External variables --------------------------------------------------------*/
-
+extern PCD_HandleTypeDef hpcd_USB_FS;
 /* USER CODE BEGIN EV */
 
 /* USER CODE END EV */
@@ -199,7 +198,20 @@ void SysTick_Handler(void)
 /* please refer to the startup file (startup_stm32l4xx.s).                    */
 /******************************************************************************/
 
+/**
+  * @brief This function handles USB event interrupt through EXTI line 17.
+  */
+void USB_IRQHandler(void)
+{
+  /* USER CODE BEGIN USB_IRQn 0 */
+
+  /* USER CODE END USB_IRQn 0 */
+  HAL_PCD_IRQHandler(&hpcd_USB_FS);
+  /* USER CODE BEGIN USB_IRQn 1 */
+
+  /* USER CODE END USB_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/