sub up

CMakePresets.json

@@ -53,7 +53,11 @@
         "USE_W25QXX": true,
         "PRINT_ID": "3",
         "USE_FREERTOS": true,
-        "RD_VERSION": "paint_robot_new v1.5"
+        "CFG_MK32_COM": "COM_SBUS",
+        "CFG_CLI_SET_COM": "COM_LPUART",
+        "CFG_TL720D_COM": "COM_RS485_1",
+        "TREE_SUPPORT_NULL": false,
+        "RD_VERSION": "paint_robot_new v1.6"
       }
     }
   ]

Core/Src/stm32h7xx_it.c

@@ -119,7 +119,7 @@ __attribute__((naked)) void HardFault_Handler(void)
 	"ITE EQ \n"
 	"MRSEQ r0, MSP \n"
 	"MRSNE r0, PSP \n"
-	"B hard_fault_handler_c \n"
+	"BL hard_fault_handler_c \n"
   );
   /* USER CODE END HardFault_IRQn 0 */
   while (1)
@@ -140,7 +140,7 @@ __attribute__((naked)) void MemManage_Handler(void)
 	"ITE EQ \n"
 	"MRSEQ r0, MSP \n"
 	"MRSNE r0, PSP \n"
-	"B hard_fault_handler_c \n"
+	"BL hard_fault_handler_c \n"
   );
   /* USER CODE END MemoryManagement_IRQn 0 */
   while (1)
@@ -161,7 +161,7 @@ __attribute__((naked)) void BusFault_Handler(void)
 	"ITE EQ \n"
 	"MRSEQ r0, MSP \n"
 	"MRSNE r0, PSP \n"
-	"B hard_fault_handler_c \n"
+	"BL hard_fault_handler_c \n"
   );
   /* USER CODE END BusFault_IRQn 0 */
   while (1)
@@ -182,7 +182,7 @@ __attribute__((naked)) void UsageFault_Handler(void)
 	"ITE EQ \n"
 	"MRSEQ r0, MSP \n"
 	"MRSNE r0, PSP \n"
-	"B hard_fault_handler_c \n"
+	"BL hard_fault_handler_c \n"
   );
   /* USER CODE END UsageFault_IRQn 0 */
   while (1)
@@ -372,7 +372,7 @@ void TIM3_IRQHandler(void)
 void USART1_IRQHandler(void)
 {
   /* USER CODE BEGIN USART1_IRQn 0 */
-  UART_DMA_RX_IRQHandler(g_ptrs485_1);
+  UART_DMA_RX_IRQHandler(g_apstUart[COM_RS485_1]);
   /* USER CODE END USART1_IRQn 0 */
   HAL_UART_IRQHandler(&huart1);
   /* USER CODE BEGIN USART1_IRQn 1 */
@@ -386,7 +386,7 @@ void USART1_IRQHandler(void)
 void USART2_IRQHandler(void)
 {
   /* USER CODE BEGIN USART2_IRQn 0 */
-  UART_DMA_RX_IRQHandler(g_ptlte_7S0);
+  UART_DMA_RX_IRQHandler(g_apstUart[COM_LTE_7S0]);
   /* USER CODE END USART2_IRQn 0 */
   HAL_UART_IRQHandler(&huart2);
   /* USER CODE BEGIN USART2_IRQn 1 */
@@ -403,7 +403,7 @@ void USART3_IRQHandler(void)
 #ifdef USE_PRINT
   UART_DMA_RX_IRQHandler(g_ptUartCtrl);
 #else
-  UART_DMA_RX_IRQHandler(g_ptrs485_2);
+  UART_DMA_RX_IRQHandler(g_apstUart[COM_RS485_2]);
 #endif
   /* USER CODE END USART3_IRQn 0 */
   HAL_UART_IRQHandler(&huart3);
@@ -446,7 +446,7 @@ void DMA1_Stream7_IRQHandler(void)
 void UART4_IRQHandler(void)
 {
   /* USER CODE BEGIN UART4_IRQn 0 */
-  UART_DMA_RX_IRQHandler(g_ptInterCall);
+  UART_DMA_RX_IRQHandler(g_apstUart[COM_INTERCALL]);
   /* USER CODE END UART4_IRQn 0 */
   HAL_UART_IRQHandler(&huart4);
   /* USER CODE BEGIN UART4_IRQn 1 */
@@ -460,7 +460,7 @@ void UART4_IRQHandler(void)
 void UART5_IRQHandler(void)
 {
   /* USER CODE BEGIN UART5_IRQn 0 */
-  UART_DMA_RX_IRQHandler(g_ptSbus);
+  UART_DMA_RX_IRQHandler(g_apstUart[COM_SBUS]);
   /* USER CODE END UART5_IRQn 0 */
   HAL_UART_IRQHandler(&huart5);
   /* USER CODE BEGIN UART5_IRQn 1 */
@@ -572,7 +572,7 @@ void DMA2_Stream5_IRQHandler(void)
 void USART6_IRQHandler(void)
 {
   /* USER CODE BEGIN USART6_IRQn 0 */
-  UART_DMA_RX_IRQHandler(g_ptrs485_3);
+  UART_DMA_RX_IRQHandler(g_apstUart[COM_RS485_3]);
   /* USER CODE END USART6_IRQn 0 */
   HAL_UART_IRQHandler(&huart6);
   /* USER CODE BEGIN USART6_IRQn 1 */
@@ -586,7 +586,7 @@ void USART6_IRQHandler(void)
 void UART7_IRQHandler(void)
 {
   /* USER CODE BEGIN UART7_IRQn 0 */
-  UART_DMA_RX_IRQHandler(g_ptrs485_4);
+  UART_DMA_RX_IRQHandler(g_apstUart[COM_RS485_4]);
   /* USER CODE END UART7_IRQn 0 */
   HAL_UART_IRQHandler(&huart7);
   /* USER CODE BEGIN UART7_IRQn 1 */
@@ -628,7 +628,7 @@ void I2C4_ER_IRQHandler(void)
 void LPUART1_IRQHandler(void)
 {
   /* USER CODE BEGIN LPUART1_IRQn 0 */
-  UART_DMA_RX_IRQHandler(g_ptlpuart);
+  UART_DMA_RX_IRQHandler(g_apstUart[COM_LPUART]);
   /* USER CODE END LPUART1_IRQn 0 */
   HAL_UART_IRQHandler(&hlpuart1);
   /* USER CODE BEGIN LPUART1_IRQn 1 */

Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c

@@ -89,6 +89,7 @@
 * heap - probably so it can be placed in a special segment or address. */
     extern uint8_t ucHeap[ configTOTAL_HEAP_SIZE ];
 #else
+    __attribute__((section(".rtos_heap")))
     PRIVILEGED_DATA static uint8_t ucHeap[ configTOTAL_HEAP_SIZE ];
 #endif /* configAPPLICATION_ALLOCATED_HEAP */
 

STM32H743XG_FLASH.ld

@@ -264,6 +264,12 @@ SECTIONS
       . = ALIGN(32);
   } > RAM
 
+  .rtos_heap (NOLOAD) :
+  {
+      . = ALIGN(8);
+      *(.rtos_heap)
+      . = ALIGN(8);
+  } > RAM
   /* Remove information from the standard libraries */
   /DISCARD/ :
   {

robot

@@ -1 +1 @@
-Subproject commit 00ad2af94d754ac4bae5f8ba0177837e2bbe99cc
+Subproject commit c7d5b6774124b0508f3c3a2aec8d92655a46b75e