-
Notifications
You must be signed in to change notification settings - Fork 2
/
standard_robot.ioc
700 lines (700 loc) · 24.7 KB
/
standard_robot.ioc
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
#MicroXplorer Configuration settings - do not modify
ADC1.Channel-0\#ChannelRegularConversion=ADC_CHANNEL_TEMPSENSOR
ADC1.ClockPrescaler=ADC_CLOCK_SYNC_PCLK_DIV6
ADC1.IPParameters=Rank-0\#ChannelRegularConversion,master,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,NbrOfConversionFlag,ClockPrescaler
ADC1.NbrOfConversionFlag=1
ADC1.Rank-0\#ChannelRegularConversion=1
ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
ADC1.master=1
ADC3.Channel-0\#ChannelRegularConversion=ADC_CHANNEL_8
ADC3.ClockPrescaler=ADC_CLOCK_SYNC_PCLK_DIV6
ADC3.IPParameters=Rank-0\#ChannelRegularConversion,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,NbrOfConversionFlag,ClockPrescaler
ADC3.NbrOfConversionFlag=1
ADC3.Rank-0\#ChannelRegularConversion=1
ADC3.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
CAN1.BS1=CAN_BS1_10TQ
CAN1.BS2=CAN_BS2_3TQ
CAN1.CalculateBaudRate=1000000
CAN1.CalculateTimeQuantum=71.42857142857143
CAN1.IPParameters=CalculateTimeQuantum,BS1,BS2,Prescaler,CalculateBaudRate
CAN1.Prescaler=3
CAN2.BS1=CAN_BS1_10TQ
CAN2.BS2=CAN_BS2_3TQ
CAN2.CalculateBaudRate=1000000
CAN2.CalculateTimeQuantum=71.42857142857143
CAN2.IPParameters=CalculateTimeQuantum,BS1,BS2,Prescaler,CalculateBaudRate
CAN2.Prescaler=3
Dma.I2C2_TX.2.Direction=DMA_MEMORY_TO_PERIPH
Dma.I2C2_TX.2.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.I2C2_TX.2.Instance=DMA1_Stream7
Dma.I2C2_TX.2.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.I2C2_TX.2.MemInc=DMA_MINC_ENABLE
Dma.I2C2_TX.2.Mode=DMA_NORMAL
Dma.I2C2_TX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.I2C2_TX.2.PeriphInc=DMA_PINC_DISABLE
Dma.I2C2_TX.2.Priority=DMA_PRIORITY_HIGH
Dma.I2C2_TX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
Dma.Request0=SPI1_RX
Dma.Request1=SPI1_TX
Dma.Request2=I2C2_TX
Dma.Request3=USART3_RX
Dma.Request4=USART6_RX
Dma.Request5=USART6_TX
Dma.Request6=USART1_TX
Dma.RequestsNb=7
Dma.SPI1_RX.0.Direction=DMA_PERIPH_TO_MEMORY
Dma.SPI1_RX.0.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.SPI1_RX.0.Instance=DMA2_Stream2
Dma.SPI1_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.SPI1_RX.0.MemInc=DMA_MINC_ENABLE
Dma.SPI1_RX.0.Mode=DMA_NORMAL
Dma.SPI1_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.SPI1_RX.0.PeriphInc=DMA_PINC_DISABLE
Dma.SPI1_RX.0.Priority=DMA_PRIORITY_VERY_HIGH
Dma.SPI1_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
Dma.SPI1_TX.1.Direction=DMA_MEMORY_TO_PERIPH
Dma.SPI1_TX.1.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.SPI1_TX.1.Instance=DMA2_Stream3
Dma.SPI1_TX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.SPI1_TX.1.MemInc=DMA_MINC_ENABLE
Dma.SPI1_TX.1.Mode=DMA_NORMAL
Dma.SPI1_TX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.SPI1_TX.1.PeriphInc=DMA_PINC_DISABLE
Dma.SPI1_TX.1.Priority=DMA_PRIORITY_HIGH
Dma.SPI1_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
Dma.USART1_TX.6.Direction=DMA_MEMORY_TO_PERIPH
Dma.USART1_TX.6.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.USART1_TX.6.Instance=DMA2_Stream7
Dma.USART1_TX.6.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.USART1_TX.6.MemInc=DMA_MINC_ENABLE
Dma.USART1_TX.6.Mode=DMA_NORMAL
Dma.USART1_TX.6.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.USART1_TX.6.PeriphInc=DMA_PINC_DISABLE
Dma.USART1_TX.6.Priority=DMA_PRIORITY_MEDIUM
Dma.USART1_TX.6.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
Dma.USART3_RX.3.Direction=DMA_PERIPH_TO_MEMORY
Dma.USART3_RX.3.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.USART3_RX.3.Instance=DMA1_Stream1
Dma.USART3_RX.3.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.USART3_RX.3.MemInc=DMA_MINC_ENABLE
Dma.USART3_RX.3.Mode=DMA_NORMAL
Dma.USART3_RX.3.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.USART3_RX.3.PeriphInc=DMA_PINC_DISABLE
Dma.USART3_RX.3.Priority=DMA_PRIORITY_HIGH
Dma.USART3_RX.3.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
Dma.USART6_RX.4.Direction=DMA_PERIPH_TO_MEMORY
Dma.USART6_RX.4.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.USART6_RX.4.Instance=DMA2_Stream1
Dma.USART6_RX.4.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.USART6_RX.4.MemInc=DMA_MINC_ENABLE
Dma.USART6_RX.4.Mode=DMA_NORMAL
Dma.USART6_RX.4.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.USART6_RX.4.PeriphInc=DMA_PINC_DISABLE
Dma.USART6_RX.4.Priority=DMA_PRIORITY_HIGH
Dma.USART6_RX.4.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
Dma.USART6_TX.5.Direction=DMA_MEMORY_TO_PERIPH
Dma.USART6_TX.5.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.USART6_TX.5.Instance=DMA2_Stream6
Dma.USART6_TX.5.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.USART6_TX.5.MemInc=DMA_MINC_ENABLE
Dma.USART6_TX.5.Mode=DMA_NORMAL
Dma.USART6_TX.5.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.USART6_TX.5.PeriphInc=DMA_PINC_DISABLE
Dma.USART6_TX.5.Priority=DMA_PRIORITY_MEDIUM
Dma.USART6_TX.5.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
FREERTOS.INCLUDE_eTaskGetState=1
FREERTOS.INCLUDE_pcTaskGetTaskName=1
FREERTOS.INCLUDE_uxTaskGetStackHighWaterMark=1
FREERTOS.INCLUDE_vTaskCleanUpResources=1
FREERTOS.INCLUDE_vTaskDelayUntil=1
FREERTOS.INCLUDE_xEventGroupSetBitFromISR=1
FREERTOS.INCLUDE_xQueueGetMutexHolder=1
FREERTOS.INCLUDE_xSemaphoreGetMutexHolder=1
FREERTOS.INCLUDE_xTaskAbortDelay=1
FREERTOS.INCLUDE_xTaskGetCurrentTaskHandle=1
FREERTOS.INCLUDE_xTaskGetHandle=1
FREERTOS.INCLUDE_xTimerPendFunctionCall=1
FREERTOS.IPParameters=Tasks01,configTOTAL_HEAP_SIZE,INCLUDE_vTaskDelayUntil,INCLUDE_eTaskGetState,INCLUDE_uxTaskGetStackHighWaterMark,INCLUDE_xQueueGetMutexHolder,INCLUDE_xSemaphoreGetMutexHolder,INCLUDE_pcTaskGetTaskName,INCLUDE_xTaskGetCurrentTaskHandle,INCLUDE_xTimerPendFunctionCall,INCLUDE_xEventGroupSetBitFromISR,INCLUDE_xTaskAbortDelay,INCLUDE_xTaskGetHandle,INCLUDE_vTaskCleanUpResources
FREERTOS.Tasks01=test,24,128,test_task,As weak,NULL,Dynamic,NULL,NULL
FREERTOS.configTOTAL_HEAP_SIZE=24576
File.Version=6
I2C1.I2C_Mode=I2C_Fast
I2C1.IPParameters=I2C_Mode
I2C2.I2C_Mode=I2C_Fast
I2C2.IPParameters=I2C_Mode
I2C3.I2C_Mode=I2C_Fast
I2C3.IPParameters=I2C_Mode
KeepUserPlacement=false
Mcu.CPN=STM32F407IGH6
Mcu.Family=STM32F4
Mcu.IP0=ADC1
Mcu.IP1=ADC3
Mcu.IP10=NVIC
Mcu.IP11=RCC
Mcu.IP12=RNG
Mcu.IP13=RTC
Mcu.IP14=SPI1
Mcu.IP15=SPI2
Mcu.IP16=SYS
Mcu.IP17=TIM1
Mcu.IP18=TIM3
Mcu.IP19=TIM4
Mcu.IP2=CAN1
Mcu.IP20=TIM5
Mcu.IP21=TIM8
Mcu.IP22=TIM10
Mcu.IP23=USART1
Mcu.IP24=USART3
Mcu.IP25=USART6
Mcu.IP26=USB_DEVICE
Mcu.IP27=USB_OTG_FS
Mcu.IP3=CAN2
Mcu.IP4=CRC
Mcu.IP5=DMA
Mcu.IP6=FREERTOS
Mcu.IP7=I2C1
Mcu.IP8=I2C2
Mcu.IP9=I2C3
Mcu.IPNb=28
Mcu.Name=STM32F407I(E-G)Hx
Mcu.Package=UFBGA176
Mcu.Pin0=PB8
Mcu.Pin1=PB5
Mcu.Pin10=PD0
Mcu.Pin11=PC11
Mcu.Pin12=PC10
Mcu.Pin13=PA12
Mcu.Pin14=PI7
Mcu.Pin15=PI6
Mcu.Pin16=PG9
Mcu.Pin17=PD1
Mcu.Pin18=PA11
Mcu.Pin19=PF0
Mcu.Pin2=PG14
Mcu.Pin20=PA9
Mcu.Pin21=PC9
Mcu.Pin22=PA8
Mcu.Pin23=PH0-OSC_IN
Mcu.Pin24=PC8
Mcu.Pin25=PH1-OSC_OUT
Mcu.Pin26=PF1
Mcu.Pin27=PC6
Mcu.Pin28=PG6
Mcu.Pin29=PF6
Mcu.Pin3=PB4
Mcu.Pin30=PH12
Mcu.Pin31=PG3
Mcu.Pin32=PF10
Mcu.Pin33=PH11
Mcu.Pin34=PH10
Mcu.Pin35=PC0
Mcu.Pin36=PC1
Mcu.Pin37=PC2
Mcu.Pin38=PD14
Mcu.Pin39=PA0-WKUP
Mcu.Pin4=PB3
Mcu.Pin40=PA4
Mcu.Pin41=PC4
Mcu.Pin42=PG0
Mcu.Pin43=PE13
Mcu.Pin44=PC5
Mcu.Pin45=PE9
Mcu.Pin46=PE11
Mcu.Pin47=PE14
Mcu.Pin48=PB12
Mcu.Pin49=PB13
Mcu.Pin5=PA14
Mcu.Pin50=PA7
Mcu.Pin51=PB0
Mcu.Pin52=PB14
Mcu.Pin53=PB15
Mcu.Pin54=VP_ADC1_TempSens_Input
Mcu.Pin55=VP_ADC1_Vref_Input
Mcu.Pin56=VP_CRC_VS_CRC
Mcu.Pin57=VP_FREERTOS_VS_CMSIS_V1
Mcu.Pin58=VP_RNG_VS_RNG
Mcu.Pin59=VP_RTC_VS_RTC_Activate
Mcu.Pin6=PA13
Mcu.Pin60=VP_SYS_VS_Systick
Mcu.Pin61=VP_TIM1_VS_ClockSourceINT
Mcu.Pin62=VP_TIM3_VS_ClockSourceINT
Mcu.Pin63=VP_TIM4_VS_ClockSourceINT
Mcu.Pin64=VP_TIM5_VS_ClockSourceINT
Mcu.Pin65=VP_TIM8_VS_ClockSourceINT
Mcu.Pin66=VP_TIM10_VS_ClockSourceINT
Mcu.Pin67=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
Mcu.Pin7=PB9
Mcu.Pin8=PB7
Mcu.Pin9=PB6
Mcu.PinsNb=68
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32F407IGHx
MxCube.Version=6.6.1
MxDb.Version=DB.6.0.60
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.CAN1_RX0_IRQn=true\:6\:0\:true\:false\:true\:true\:true\:true\:true
NVIC.CAN2_RX0_IRQn=true\:6\:0\:true\:false\:true\:true\:true\:true\:true
NVIC.DMA1_Stream1_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:false\:true
NVIC.DMA1_Stream7_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
NVIC.DMA2_Stream1_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
NVIC.DMA2_Stream2_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
NVIC.DMA2_Stream3_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
NVIC.DMA2_Stream6_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
NVIC.DMA2_Stream7_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.EXTI0_IRQn=true\:6\:0\:true\:false\:true\:true\:true\:true\:true
NVIC.EXTI3_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
NVIC.EXTI4_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
NVIC.EXTI9_5_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
NVIC.ForceEnableDMAVector=true
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.OTG_FS_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false\:false
NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false
NVIC.SavedPendsvIrqHandlerGenerated=true
NVIC.SavedSvcallIrqHandlerGenerated=true
NVIC.SavedSystickIrqHandlerGenerated=true
NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:true\:false\:true\:false
NVIC.USART3_IRQn=true\:4\:0\:true\:false\:true\:false\:true\:true\:true
NVIC.USART6_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
NVIC.UsageFault_IRQn=true\:0\:0\:true\:false\:true\:false\:false\:false\:false
PA0-WKUP.GPIOParameters=GPIO_PuPd,GPIO_Label
PA0-WKUP.GPIO_Label=KEY
PA0-WKUP.GPIO_PuPd=GPIO_PULLUP
PA0-WKUP.Locked=true
PA0-WKUP.Signal=GPIO_Input
PA11.Mode=Device_Only
PA11.Signal=USB_OTG_FS_DM
PA12.Mode=Device_Only
PA12.Signal=USB_OTG_FS_DP
PA13.Mode=Serial_Wire
PA13.Signal=SYS_JTMS-SWDIO
PA14.Mode=Serial_Wire
PA14.Signal=SYS_JTCK-SWCLK
PA4.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label
PA4.GPIO_Label=CS1_ACCEL
PA4.GPIO_PuPd=GPIO_PULLUP
PA4.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PA4.Locked=true
PA4.PinState=GPIO_PIN_SET
PA4.Signal=GPIO_Output
PA7.GPIOParameters=GPIO_PuPd
PA7.GPIO_PuPd=GPIO_PULLUP
PA7.Locked=true
PA7.Mode=Full_Duplex_Master
PA7.Signal=SPI1_MOSI
PA8.GPIOParameters=GPIO_Pu
PA8.GPIO_Pu=GPIO_PULLUP
PA8.Locked=true
PA8.Mode=I2C
PA8.Signal=I2C3_SCL
PA9.Locked=true
PA9.Mode=Asynchronous
PA9.Signal=USART1_TX
PB0.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label
PB0.GPIO_Label=CS1_GYRO
PB0.GPIO_PuPd=GPIO_PULLUP
PB0.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PB0.Locked=true
PB0.PinState=GPIO_PIN_SET
PB0.Signal=GPIO_Output
PB12.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label
PB12.GPIO_Label=SPI2_CS
PB12.GPIO_PuPd=GPIO_PULLUP
PB12.GPIO_Speed=GPIO_SPEED_FREQ_MEDIUM
PB12.Locked=true
PB12.PinState=GPIO_PIN_SET
PB12.Signal=GPIO_Output
PB13.GPIOParameters=GPIO_PuPd
PB13.GPIO_PuPd=GPIO_PULLUP
PB13.Locked=true
PB13.Mode=Full_Duplex_Master
PB13.Signal=SPI2_SCK
PB14.GPIOParameters=GPIO_PuPd
PB14.GPIO_PuPd=GPIO_PULLUP
PB14.Locked=true
PB14.Mode=Full_Duplex_Master
PB14.Signal=SPI2_MISO
PB15.GPIOParameters=GPIO_PuPd
PB15.GPIO_PuPd=GPIO_PULLUP
PB15.Locked=true
PB15.Mode=Full_Duplex_Master
PB15.Signal=SPI2_MOSI
PB3.GPIOParameters=GPIO_PuPd
PB3.GPIO_PuPd=GPIO_PULLUP
PB3.Locked=true
PB3.Mode=Full_Duplex_Master
PB3.Signal=SPI1_SCK
PB4.GPIOParameters=GPIO_PuPd
PB4.GPIO_PuPd=GPIO_PULLUP
PB4.Locked=true
PB4.Mode=Full_Duplex_Master
PB4.Signal=SPI1_MISO
PB5.Locked=true
PB5.Mode=CAN_Activate
PB5.Signal=CAN2_RX
PB6.Locked=true
PB6.Mode=CAN_Activate
PB6.Signal=CAN2_TX
PB7.Locked=true
PB7.Mode=Asynchronous
PB7.Signal=USART1_RX
PB8.GPIOParameters=GPIO_Pu
PB8.GPIO_Pu=GPIO_PULLUP
PB8.Locked=true
PB8.Mode=I2C
PB8.Signal=I2C1_SCL
PB9.GPIOParameters=GPIO_Pu
PB9.GPIO_Pu=GPIO_PULLUP
PB9.Locked=true
PB9.Mode=I2C
PB9.Signal=I2C1_SDA
PC0.GPIOParameters=GPIO_Label
PC0.GPIO_Label=HW0
PC0.Locked=true
PC0.Signal=GPIO_Input
PC1.GPIOParameters=GPIO_Label
PC1.GPIO_Label=HW1
PC1.Locked=true
PC1.Signal=GPIO_Input
PC10.Locked=true
PC10.Mode=Asynchronous
PC10.Signal=USART3_TX
PC11.Locked=true
PC11.Mode=Asynchronous
PC11.Signal=USART3_RX
PC2.GPIOParameters=GPIO_Label
PC2.GPIO_Label=HW2
PC2.Locked=true
PC2.Signal=GPIO_Input
PC4.GPIOParameters=GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultEXTI
PC4.GPIO_Label=INT1_ACCEL
PC4.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_FALLING
PC4.GPIO_PuPd=GPIO_PULLUP
PC4.Locked=true
PC4.Signal=GPXTI4
PC5.GPIOParameters=GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultEXTI
PC5.GPIO_Label=INT1_GYRO
PC5.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_FALLING
PC5.GPIO_PuPd=GPIO_PULLUP
PC5.Locked=true
PC5.Signal=GPXTI5
PC6.GPIOParameters=GPIO_Speed,GPIO_PuPd
PC6.GPIO_PuPd=GPIO_PULLUP
PC6.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PC6.Locked=true
PC6.Signal=S_TIM8_CH1
PC8.GPIOParameters=GPIO_Speed,GPIO_PuPd
PC8.GPIO_PuPd=GPIO_PULLUP
PC8.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PC8.Locked=true
PC8.Signal=S_TIM3_CH3
PC9.GPIOParameters=GPIO_Pu
PC9.GPIO_Pu=GPIO_PULLUP
PC9.Locked=true
PC9.Mode=I2C
PC9.Signal=I2C3_SDA
PD0.Locked=true
PD0.Mode=CAN_Activate
PD0.Signal=CAN1_RX
PD1.Locked=true
PD1.Mode=CAN_Activate
PD1.Signal=CAN1_TX
PD14.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
PD14.GPIO_Label=BUZZER
PD14.GPIO_PuPd=GPIO_PULLUP
PD14.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
PD14.Locked=true
PD14.Signal=S_TIM4_CH3
PE11.GPIOParameters=GPIO_Speed,GPIO_PuPd
PE11.GPIO_PuPd=GPIO_PULLUP
PE11.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PE11.Locked=true
PE11.Signal=S_TIM1_CH2
PE13.GPIOParameters=GPIO_Speed,GPIO_PuPd
PE13.GPIO_PuPd=GPIO_PULLUP
PE13.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PE13.Locked=true
PE13.Signal=S_TIM1_CH3
PE14.GPIOParameters=GPIO_Speed,GPIO_PuPd
PE14.GPIO_PuPd=GPIO_PULLUP
PE14.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PE14.Locked=true
PE14.Signal=S_TIM1_CH4
PE9.GPIOParameters=GPIO_Speed,GPIO_PuPd
PE9.GPIO_PuPd=GPIO_PULLUP
PE9.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PE9.Locked=true
PE9.Signal=S_TIM1_CH1
PF0.GPIOParameters=GPIO_Pu
PF0.GPIO_Pu=GPIO_PULLUP
PF0.Locked=true
PF0.Mode=I2C
PF0.Signal=I2C2_SDA
PF1.GPIOParameters=GPIO_Pu
PF1.GPIO_Pu=GPIO_PULLUP
PF1.Locked=true
PF1.Mode=I2C
PF1.Signal=I2C2_SCL
PF10.GPIOParameters=GPIO_Label
PF10.GPIO_Label=ADC_BAT
PF10.Locked=true
PF10.Mode=IN8
PF10.Signal=ADC3_IN8
PF6.GPIOParameters=GPIO_Speed,GPIO_PuPd
PF6.GPIO_PuPd=GPIO_PULLUP
PF6.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PF6.Locked=true
PF6.Signal=S_TIM10_CH1
PG0.GPIOParameters=GPIO_PuPd,GPIO_ModeDefaultEXTI
PG0.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_FALLING
PG0.GPIO_PuPd=GPIO_PULLUP
PG0.Locked=true
PG0.Signal=GPXTI0
PG14.Locked=true
PG14.Mode=Asynchronous
PG14.Signal=USART6_TX
PG3.GPIOParameters=GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultEXTI
PG3.GPIO_Label=DRDY_IST8310
PG3.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_FALLING
PG3.GPIO_PuPd=GPIO_PULLUP
PG3.Locked=true
PG3.Signal=GPXTI3
PG6.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label
PG6.GPIO_Label=RSTN_IST8310
PG6.GPIO_PuPd=GPIO_PULLUP
PG6.GPIO_Speed=GPIO_SPEED_FREQ_MEDIUM
PG6.Locked=true
PG6.PinState=GPIO_PIN_SET
PG6.Signal=GPIO_Output
PG9.Locked=true
PG9.Mode=Asynchronous
PG9.Signal=USART6_RX
PH0-OSC_IN.Mode=HSE-External-Oscillator
PH0-OSC_IN.Signal=RCC_OSC_IN
PH1-OSC_OUT.Mode=HSE-External-Oscillator
PH1-OSC_OUT.Signal=RCC_OSC_OUT
PH10.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
PH10.GPIO_Label=LED_B
PH10.GPIO_PuPd=GPIO_PULLUP
PH10.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PH10.Locked=true
PH10.Signal=S_TIM5_CH1
PH11.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
PH11.GPIO_Label=LED_G
PH11.GPIO_PuPd=GPIO_PULLUP
PH11.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PH11.Locked=true
PH11.Signal=S_TIM5_CH2
PH12.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
PH12.GPIO_Label=LED_R
PH12.GPIO_PuPd=GPIO_PULLUP
PH12.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PH12.Locked=true
PH12.Signal=S_TIM5_CH3
PI6.GPIOParameters=GPIO_Speed,GPIO_PuPd
PI6.GPIO_PuPd=GPIO_PULLUP
PI6.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PI6.Signal=S_TIM8_CH2
PI7.GPIOParameters=GPIO_PuPd,GPIO_Label
PI7.GPIO_Label=BUTTON_TRIG
PI7.GPIO_PuPd=GPIO_PULLUP
PI7.Locked=true
PI7.Signal=GPIO_Input
PinOutPanel.CurrentBGAView=Top
PinOutPanel.RotationAngle=0
ProjectManager.AskForMigrate=true
ProjectManager.BackupPrevious=false
ProjectManager.CompilerOptimize=6
ProjectManager.ComputerToolchain=false
ProjectManager.CoupleFile=true
ProjectManager.CustomerFirmwarePackage=
ProjectManager.DefaultFWLocation=true
ProjectManager.DeletePrevious=true
ProjectManager.DeviceId=STM32F407IGHx
ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.27.1
ProjectManager.FreePins=false
ProjectManager.HalAssertFull=false
ProjectManager.HeapSize=0x2000
ProjectManager.KeepUserCode=true
ProjectManager.LastFirmware=true
ProjectManager.LibraryCopy=1
ProjectManager.MainLocation=Src
ProjectManager.NoMain=false
ProjectManager.PreviousToolchain=
ProjectManager.ProjectBuild=false
ProjectManager.ProjectFileName=standard_robot.ioc
ProjectManager.ProjectName=standard_robot
ProjectManager.RegisterCallBack=
ProjectManager.StackSize=0x2000
ProjectManager.TargetToolchain=MDK-ARM V5
ProjectManager.ToolChainLocation=
ProjectManager.UnderRoot=false
ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-MX_DMA_Init-DMA-false-HAL-true,3-SystemClock_Config-RCC-false-HAL-false,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_ADC3_Init-ADC3-false-HAL-true,6-MX_CAN1_Init-CAN1-false-HAL-true,7-MX_CAN2_Init-CAN2-false-HAL-true,8-MX_I2C1_Init-I2C1-false-HAL-true,9-MX_SPI1_Init-SPI1-false-HAL-true,10-MX_TIM4_Init-TIM4-false-HAL-true,11-MX_TIM5_Init-TIM5-false-HAL-true,12-MX_USART3_UART_Init-USART3-false-HAL-true,13-MX_TIM8_Init-TIM8-false-HAL-true,14-MX_CRC_Init-CRC-false-HAL-true,15-MX_RNG_Init-RNG-false-HAL-true,16-MX_I2C2_Init-I2C2-false-HAL-true,17-MX_I2C3_Init-I2C3-false-HAL-true,18-MX_RTC_Init-RTC-false-HAL-true,19-MX_SPI2_Init-SPI2-false-HAL-true,20-MX_TIM1_Init-TIM1-false-HAL-true,21-MX_TIM3_Init-TIM3-false-HAL-true,22-MX_TIM10_Init-TIM10-false-HAL-true,23-MX_USART1_UART_Init-USART1-false-HAL-true,24-MX_USART6_UART_Init-USART6-false-HAL-true,25-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false
RCC.48MHZClocksFreq_Value=48000000
RCC.AHBFreq_Value=168000000
RCC.APB1CLKDivider=RCC_HCLK_DIV4
RCC.APB1Freq_Value=42000000
RCC.APB1TimFreq_Value=84000000
RCC.APB2CLKDivider=RCC_HCLK_DIV2
RCC.APB2Freq_Value=84000000
RCC.APB2TimFreq_Value=168000000
RCC.CortexFreq_Value=168000000
RCC.EthernetFreq_Value=168000000
RCC.FCLKCortexFreq_Value=168000000
RCC.FamilyName=M
RCC.HCLKFreq_Value=168000000
RCC.HSE_VALUE=12000000
RCC.HSI_VALUE=16000000
RCC.I2SClocksFreq_Value=192000000
RCC.IPParameters=48MHZClocksFreq_Value,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2CLKDivider,APB2Freq_Value,APB2TimFreq_Value,CortexFreq_Value,EthernetFreq_Value,FCLKCortexFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI_VALUE,I2SClocksFreq_Value,LSE_VALUE,LSI_VALUE,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLM,PLLN,PLLQ,PLLQCLKFreq_Value,RCC_RTC_Clock_SourceVirtual,RCC_RTC_Clock_Source_FROM_HSE,RTCFreq_Value,RTCHSEDivFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VcooutputI2S
RCC.LSE_VALUE=32768
RCC.LSI_VALUE=32000
RCC.MCO2PinFreq_Value=168000000
RCC.PLLCLKFreq_Value=168000000
RCC.PLLM=6
RCC.PLLN=168
RCC.PLLQ=7
RCC.PLLQCLKFreq_Value=48000000
RCC.RCC_RTC_Clock_SourceVirtual=RCC_RTCCLKSOURCE_HSE_DIV30
RCC.RCC_RTC_Clock_Source_FROM_HSE=RCC_RTCCLKSOURCE_HSE_DIV30
RCC.RTCFreq_Value=400000
RCC.RTCHSEDivFreq_Value=400000
RCC.SYSCLKFreq_VALUE=168000000
RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
RCC.VCOI2SOutputFreq_Value=384000000
RCC.VCOInputFreq_Value=2000000
RCC.VCOOutputFreq_Value=336000000
RCC.VcooutputI2S=192000000
RTC.AsynchPrediv=124
RTC.IPParameters=SynchPrediv,AsynchPrediv
RTC.SynchPrediv=3199
SH.GPXTI0.0=GPIO_EXTI0
SH.GPXTI0.ConfNb=1
SH.GPXTI3.0=GPIO_EXTI3
SH.GPXTI3.ConfNb=1
SH.GPXTI4.0=GPIO_EXTI4
SH.GPXTI4.ConfNb=1
SH.GPXTI5.0=GPIO_EXTI5
SH.GPXTI5.ConfNb=1
SH.S_TIM10_CH1.0=TIM10_CH1,PWM Generation1 CH1
SH.S_TIM10_CH1.ConfNb=1
SH.S_TIM1_CH1.0=TIM1_CH1,PWM Generation1 CH1
SH.S_TIM1_CH1.ConfNb=1
SH.S_TIM1_CH2.0=TIM1_CH2,PWM Generation2 CH2
SH.S_TIM1_CH2.ConfNb=1
SH.S_TIM1_CH3.0=TIM1_CH3,PWM Generation3 CH3
SH.S_TIM1_CH3.ConfNb=1
SH.S_TIM1_CH4.0=TIM1_CH4,PWM Generation4 CH4
SH.S_TIM1_CH4.ConfNb=1
SH.S_TIM3_CH3.0=TIM3_CH3,PWM Generation3 CH3
SH.S_TIM3_CH3.ConfNb=1
SH.S_TIM4_CH3.0=TIM4_CH3,PWM Generation3 CH3
SH.S_TIM4_CH3.ConfNb=1
SH.S_TIM5_CH1.0=TIM5_CH1,PWM Generation1 CH1
SH.S_TIM5_CH1.ConfNb=1
SH.S_TIM5_CH2.0=TIM5_CH2,PWM Generation2 CH2
SH.S_TIM5_CH2.ConfNb=1
SH.S_TIM5_CH3.0=TIM5_CH3,PWM Generation3 CH3
SH.S_TIM5_CH3.ConfNb=1
SH.S_TIM8_CH1.0=TIM8_CH1,PWM Generation1 CH1
SH.S_TIM8_CH1.ConfNb=1
SH.S_TIM8_CH2.0=TIM8_CH2,PWM Generation2 CH2
SH.S_TIM8_CH2.ConfNb=1
SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_256
SPI1.CLKPhase=SPI_PHASE_2EDGE
SPI1.CLKPolarity=SPI_POLARITY_HIGH
SPI1.CalculateBaudRate=328.125 KBits/s
SPI1.Direction=SPI_DIRECTION_2LINES
SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler,CLKPolarity,CLKPhase
SPI1.Mode=SPI_MODE_MASTER
SPI1.VirtualType=VM_MASTER
SPI2.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_256
SPI2.CLKPhase=SPI_PHASE_2EDGE
SPI2.CLKPolarity=SPI_POLARITY_HIGH
SPI2.CalculateBaudRate=164.062 KBits/s
SPI2.Direction=SPI_DIRECTION_2LINES
SPI2.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler,CLKPolarity,CLKPhase
SPI2.Mode=SPI_MODE_MASTER
SPI2.VirtualType=VM_MASTER
TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
TIM1.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
TIM1.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
TIM1.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
TIM1.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4,Period,Prescaler,Pulse-PWM Generation1 CH1,Pulse-PWM Generation2 CH2,Pulse-PWM Generation3 CH3,Pulse-PWM Generation4 CH4
TIM1.Period=19999
TIM1.Prescaler=167
TIM1.Pulse-PWM\ Generation1\ CH1=1000
TIM1.Pulse-PWM\ Generation2\ CH2=1000
TIM1.Pulse-PWM\ Generation3\ CH3=1000
TIM1.Pulse-PWM\ Generation4\ CH4=1000
TIM10.Channel=TIM_CHANNEL_1
TIM10.IPParameters=Channel,Period
TIM10.Period=4999
TIM3.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
TIM3.IPParameters=Channel-PWM Generation3 CH3,Period
TIM3.Period=8399
TIM4.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
TIM4.IPParameters=Channel-PWM Generation3 CH3,Prescaler,Period
TIM4.Period=65535
TIM4.Prescaler=167
TIM5.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
TIM5.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
TIM5.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
TIM5.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Prescaler,Period
TIM5.Period=65535
TIM5.Prescaler=0
TIM8.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
TIM8.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
TIM8.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Prescaler,Period,Pulse-PWM Generation1 CH1,Pulse-PWM Generation2 CH2
TIM8.Period=19999
TIM8.Prescaler=167
TIM8.Pulse-PWM\ Generation1\ CH1=1000
TIM8.Pulse-PWM\ Generation2\ CH2=1000
USART1.IPParameters=VirtualMode
USART1.VirtualMode=VM_ASYNC
USART3.BaudRate=100000
USART3.IPParameters=VirtualMode,BaudRate,Parity
USART3.Parity=PARITY_EVEN
USART3.VirtualMode=VM_ASYNC
USART6.IPParameters=VirtualMode
USART6.VirtualMode=VM_ASYNC
USB_DEVICE.CLASS_NAME_FS=CDC
USB_DEVICE.IPParameters=VirtualMode-CDC_FS,VirtualModeFS,CLASS_NAME_FS
USB_DEVICE.VirtualMode-CDC_FS=Cdc
USB_DEVICE.VirtualModeFS=Cdc_FS
USB_OTG_FS.IPParameters=VirtualMode
USB_OTG_FS.VirtualMode=Device_Only
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_CRC_VS_CRC.Mode=CRC_Activate
VP_CRC_VS_CRC.Signal=CRC_VS_CRC
VP_FREERTOS_VS_CMSIS_V1.Mode=CMSIS_V1
VP_FREERTOS_VS_CMSIS_V1.Signal=FREERTOS_VS_CMSIS_V1
VP_RNG_VS_RNG.Mode=RNG_Activate
VP_RNG_VS_RNG.Signal=RNG_VS_RNG
VP_RTC_VS_RTC_Activate.Mode=RTC_Enabled
VP_RTC_VS_RTC_Activate.Signal=RTC_VS_RTC_Activate
VP_SYS_VS_Systick.Mode=SysTick
VP_SYS_VS_Systick.Signal=SYS_VS_Systick
VP_TIM10_VS_ClockSourceINT.Mode=Enable_Timer
VP_TIM10_VS_ClockSourceINT.Signal=TIM10_VS_ClockSourceINT
VP_TIM1_VS_ClockSourceINT.Mode=Internal
VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT
VP_TIM3_VS_ClockSourceINT.Mode=Internal
VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT
VP_TIM4_VS_ClockSourceINT.Mode=Internal
VP_TIM4_VS_ClockSourceINT.Signal=TIM4_VS_ClockSourceINT
VP_TIM5_VS_ClockSourceINT.Mode=Internal
VP_TIM5_VS_ClockSourceINT.Signal=TIM5_VS_ClockSourceINT
VP_TIM8_VS_ClockSourceINT.Mode=Internal
VP_TIM8_VS_ClockSourceINT.Signal=TIM8_VS_ClockSourceINT
VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS.Mode=CDC_FS
VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS.Signal=USB_DEVICE_VS_USB_DEVICE_CDC_FS
board=custom