第一版代码，为了在EEPROM保存参数的时候走STM32的CRC，让Codex修改了一下，现在的效果是无法存储，codex表示原因是CRC方法不同，修改到一半今天的额度使用完了，有待后续解决CRC的bug

2026-02-28 17:36:05 +08:00
commit b2fedd58b2
212 changed files with 208290 additions and 0 deletions
--- a/Core/Src/gpio.c
+++ b/Core/Src/gpio.c
@@ -0,0 +1,129 @@
+/* USER CODE BEGIN Header */
+/**
+ ******************************************************************************
+ * @file    gpio.c
+ * @brief   This file provides code for the configuration
+ *          of all used GPIO pins.
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2025 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 "gpio.h"
+
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+
+/*----------------------------------------------------------------------------*/
+/* Configure GPIO                                                             */
+/*----------------------------------------------------------------------------*/
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */
+
+/** Configure pins as
+        * Analog
+        * Input
+        * Output
+        * EVENT_OUT
+        * EXTI
+*/
+void MX_GPIO_Init(void)
+{
+
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+
+  /* GPIO Ports Clock Enable */
+  __HAL_RCC_GPIOE_CLK_ENABLE();
+  __HAL_RCC_GPIOC_CLK_ENABLE();
+  __HAL_RCC_GPIOF_CLK_ENABLE();
+  __HAL_RCC_GPIOH_CLK_ENABLE();
+  __HAL_RCC_GPIOA_CLK_ENABLE();
+  __HAL_RCC_GPIOG_CLK_ENABLE();
+  __HAL_RCC_GPIOB_CLK_ENABLE();
+  __HAL_RCC_GPIOD_CLK_ENABLE();
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(GPIOC, POWER_12V_EN_Pin|POWER_5V_EN_Pin, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(GPIOA, STEPPER2_STEP_Pin|STEPPER1_DIR_Pin|ENCODER1_EN_Pin, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(GPIOG, STEPPER123_EN_Pin|ENCODER_MODE_Pin, GPIO_PIN_RESET);
+
+  /*Configure GPIO pins : KEY1_Pin KEY2_Pin KEY3_Pin KEY4_Pin */
+  GPIO_InitStruct.Pin = KEY1_Pin|KEY2_Pin|KEY3_Pin|KEY4_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
+
+  /*Configure GPIO pin : KEY5_Pin */
+  GPIO_InitStruct.Pin = KEY5_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
+  GPIO_InitStruct.Pull = GPIO_PULLUP;
+  HAL_GPIO_Init(KEY5_GPIO_Port, &GPIO_InitStruct);
+
+  /*Configure GPIO pins : POWER_12V_EN_Pin POWER_5V_EN_Pin */
+  GPIO_InitStruct.Pin = POWER_12V_EN_Pin|POWER_5V_EN_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 : STEPPER2_STEP_Pin STEPPER1_DIR_Pin */
+  GPIO_InitStruct.Pin = STEPPER2_STEP_Pin|STEPPER1_DIR_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
+  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+  /*Configure GPIO pins : STEPPER123_EN_Pin ENCODER_MODE_Pin */
+  GPIO_InitStruct.Pin = STEPPER123_EN_Pin|ENCODER_MODE_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);
+
+  /*Configure GPIO pin : X_ZERO_Pin */
+  GPIO_InitStruct.Pin = X_ZERO_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
+  GPIO_InitStruct.Pull = GPIO_PULLUP;
+  HAL_GPIO_Init(X_ZERO_GPIO_Port, &GPIO_InitStruct);
+
+  /*Configure GPIO pin : ENCODER1_Z_Pin */
+  GPIO_InitStruct.Pin = ENCODER1_Z_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(ENCODER1_Z_GPIO_Port, &GPIO_InitStruct);
+
+  /*Configure GPIO pin : ENCODER1_EN_Pin */
+  GPIO_InitStruct.Pin = ENCODER1_EN_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(ENCODER1_EN_GPIO_Port, &GPIO_InitStruct);
+
+  /* EXTI interrupt init*/
+  HAL_NVIC_SetPriority(EXTI2_IRQn, 1, 0);
+  HAL_NVIC_EnableIRQ(EXTI2_IRQn);
+
+  HAL_NVIC_SetPriority(EXTI9_5_IRQn, 5, 0);
+  HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);
+
+}
+
+/* USER CODE BEGIN 2 */
+
+/* USER CODE END 2 */